| { |
| "name": "TrainConfig", |
| "agent": { |
| "name": "FBcprAuxAgent", |
| "model": { |
| "name": "FBcprAuxModel", |
| "device": "cuda", |
| "archi": { |
| "name": "FBcprAuxModelArchiConfig", |
| "z_dim": 256, |
| "norm_z": true, |
| "f": { |
| "name": "ForwardArchi", |
| "hidden_dim": 2048, |
| "model": "residual", |
| "hidden_layers": 6, |
| "embedding_layers": 2, |
| "num_parallel": 2, |
| "ensemble_mode": "batch", |
| "input_filter": { |
| "name": "DictInputFilterConfig", |
| "key": [ |
| "state", |
| "privileged_state", |
| "last_action", |
| "history_actor" |
| ] |
| } |
| }, |
| "b": { |
| "name": "BackwardArchi", |
| "hidden_dim": 256, |
| "hidden_layers": 1, |
| "norm": true, |
| "input_filter": { |
| "name": "DictInputFilterConfig", |
| "key": [ |
| "state", |
| "privileged_state" |
| ] |
| } |
| }, |
| "actor": { |
| "name": "actor", |
| "model": "residual", |
| "hidden_dim": 2048, |
| "hidden_layers": 6, |
| "embedding_layers": 2, |
| "input_filter": { |
| "name": "DictInputFilterConfig", |
| "key": [ |
| "state", |
| "last_action", |
| "history_actor" |
| ] |
| } |
| }, |
| "critic": { |
| "name": "ForwardArchi", |
| "hidden_dim": 2048, |
| "model": "residual", |
| "hidden_layers": 6, |
| "embedding_layers": 2, |
| "num_parallel": 2, |
| "ensemble_mode": "batch", |
| "input_filter": { |
| "name": "DictInputFilterConfig", |
| "key": [ |
| "state", |
| "privileged_state", |
| "last_action", |
| "history_actor" |
| ] |
| } |
| }, |
| "discriminator": { |
| "name": "DiscriminatorArchi", |
| "hidden_dim": 1024, |
| "hidden_layers": 3, |
| "input_filter": { |
| "name": "DictInputFilterConfig", |
| "key": [ |
| "state", |
| "privileged_state" |
| ] |
| } |
| }, |
| "aux_critic": { |
| "name": "ForwardArchi", |
| "hidden_dim": 2048, |
| "model": "residual", |
| "hidden_layers": 6, |
| "embedding_layers": 2, |
| "num_parallel": 2, |
| "ensemble_mode": "batch", |
| "input_filter": { |
| "name": "DictInputFilterConfig", |
| "key": [ |
| "state", |
| "privileged_state", |
| "last_action", |
| "history_actor" |
| ] |
| } |
| } |
| }, |
| "obs_normalizer": { |
| "name": "ObsNormalizerConfig", |
| "normalizers": { |
| "state": { |
| "name": "BatchNormNormalizerConfig", |
| "momentum": 0.01 |
| }, |
| "privileged_state": { |
| "name": "BatchNormNormalizerConfig", |
| "momentum": 0.01 |
| }, |
| "last_action": { |
| "name": "BatchNormNormalizerConfig", |
| "momentum": 0.01 |
| }, |
| "history_actor": { |
| "name": "BatchNormNormalizerConfig", |
| "momentum": 0.01 |
| } |
| }, |
| "allow_mismatching_keys": true |
| }, |
| "inference_batch_size": 500000, |
| "seq_length": 8, |
| "actor_std": 0.05, |
| "amp": false, |
| "norm_aux_reward": { |
| "name": "RewardNormalizer", |
| "translate": false, |
| "scale": true |
| } |
| }, |
| "train": { |
| "name": "FBcprAuxAgentTrainConfig", |
| "lr_f": 0.0003, |
| "lr_b": 0.00001, |
| "lr_actor": 0.0003, |
| "weight_decay": 0.0, |
| "clip_grad_norm": 0.0, |
| "fb_target_tau": 0.01, |
| "ortho_coef": 100.0, |
| "train_goal_ratio": 0.2, |
| "fb_pessimism_penalty": 0.0, |
| "actor_pessimism_penalty": 0.5, |
| "stddev_clip": 0.3, |
| "q_loss_coef": 0.0, |
| "batch_size": 1024, |
| "discount": 0.98, |
| "use_mix_rollout": true, |
| "update_z_every_step": 100, |
| "z_buffer_size": 8192, |
| "rollout_expert_trajectories": true, |
| "rollout_expert_trajectories_length": 250, |
| "rollout_expert_trajectories_percentage": 0.5, |
| "lr_discriminator": 0.00001, |
| "lr_critic": 0.0003, |
| "critic_target_tau": 0.005, |
| "critic_pessimism_penalty": 0.5, |
| "reg_coeff": 0.05, |
| "scale_reg": true, |
| "expert_asm_ratio": 0.6, |
| "relabel_ratio": 0.8, |
| "grad_penalty_discriminator": 10.0, |
| "weight_decay_discriminator": 0.0, |
| "lr_aux_critic": 0.0003, |
| "reg_coeff_aux": 0.02, |
| "aux_critic_pessimism_penalty": 0.5 |
| }, |
| "aux_rewards": [ |
| "penalty_torques", |
| "penalty_action_rate", |
| "limits_dof_pos", |
| "limits_torque", |
| "penalty_undesired_contact", |
| "penalty_feet_ori", |
| "penalty_ankle_roll", |
| "penalty_slippage" |
| ], |
| "aux_rewards_scaling": { |
| "penalty_action_rate": -0.1, |
| "penalty_feet_ori": -0.4, |
| "penalty_ankle_roll": -4.0, |
| "limits_dof_pos": -10.0, |
| "penalty_slippage": -2.0, |
| "penalty_undesired_contact": -1.0, |
| "penalty_torques": 0.0, |
| "limits_torque": 0.0 |
| }, |
| "cudagraphs": false, |
| "compile": false |
| }, |
| "motions": "", |
| "motions_root": "", |
| "env": { |
| "name": "humanoidverse_mjlab", |
| "device": "cuda:0", |
| "lafan_tail_path": "humanoidverse/data/seed_train_10s_2000.pkl", |
| "data_mix_weights": null, |
| "mjcf_path": "/home/ghw/code/BFM-Zero-MJLab/humanoidverse/data/robots/g1_mjlab/g1_29dof.xml", |
| "robot_config_path": "/home/ghw/code/BFM-Zero-MJLab/configs/robots/g1_29dof.yaml", |
| "robot_training": { |
| "config_path": "/home/ghw/code/BFM-Zero-MJLab/configs/robots/g1_29dof.yaml", |
| "robot": { |
| "name": "g1_29dof", |
| "xml_path": "/home/ghw/code/BFM-Zero-MJLab/humanoidverse/data/robots/g1_mjlab/g1_29dof.xml", |
| "base_body": "pelvis", |
| "control_joint_names": [ |
| "left_hip_pitch_joint", |
| "left_hip_roll_joint", |
| "left_hip_yaw_joint", |
| "left_knee_joint", |
| "left_ankle_pitch_joint", |
| "left_ankle_roll_joint", |
| "right_hip_pitch_joint", |
| "right_hip_roll_joint", |
| "right_hip_yaw_joint", |
| "right_knee_joint", |
| "right_ankle_pitch_joint", |
| "right_ankle_roll_joint", |
| "waist_yaw_joint", |
| "waist_roll_joint", |
| "waist_pitch_joint", |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint" |
| ], |
| "body_names": [ |
| "pelvis", |
| "left_hip_pitch_link", |
| "left_hip_roll_link", |
| "left_hip_yaw_link", |
| "left_knee_link", |
| "left_ankle_pitch_link", |
| "left_ankle_roll_link", |
| "right_hip_pitch_link", |
| "right_hip_roll_link", |
| "right_hip_yaw_link", |
| "right_knee_link", |
| "right_ankle_pitch_link", |
| "right_ankle_roll_link", |
| "waist_yaw_link", |
| "waist_roll_link", |
| "torso_link", |
| "left_shoulder_pitch_link", |
| "left_shoulder_roll_link", |
| "left_shoulder_yaw_link", |
| "left_elbow_link", |
| "left_wrist_roll_link", |
| "left_wrist_pitch_link", |
| "left_wrist_yaw_link", |
| "right_shoulder_pitch_link", |
| "right_shoulder_roll_link", |
| "right_shoulder_yaw_link", |
| "right_elbow_link", |
| "right_wrist_roll_link", |
| "right_wrist_pitch_link", |
| "right_wrist_yaw_link" |
| ], |
| "key_bodies": [ |
| "pelvis", |
| "torso_link", |
| "left_ankle_roll_link", |
| "right_ankle_roll_link", |
| "left_wrist_yaw_link", |
| "right_wrist_yaw_link" |
| ], |
| "feet": [ |
| "left_ankle_roll_link", |
| "right_ankle_roll_link" |
| ], |
| "hands": [ |
| "left_wrist_yaw_link", |
| "right_wrist_yaw_link" |
| ], |
| "joint_ranges": { |
| "floating_base_joint": null, |
| "left_hip_pitch_joint": [ |
| -2.5307, |
| 2.8798 |
| ], |
| "left_hip_roll_joint": [ |
| -0.5236, |
| 2.9671 |
| ], |
| "left_hip_yaw_joint": [ |
| -2.7576, |
| 2.7576 |
| ], |
| "left_knee_joint": [ |
| -0.087267, |
| 2.8798 |
| ], |
| "left_ankle_pitch_joint": [ |
| -0.87267, |
| 0.5236 |
| ], |
| "left_ankle_roll_joint": [ |
| -0.2618, |
| 0.2618 |
| ], |
| "right_hip_pitch_joint": [ |
| -2.5307, |
| 2.8798 |
| ], |
| "right_hip_roll_joint": [ |
| -2.9671, |
| 0.5236 |
| ], |
| "right_hip_yaw_joint": [ |
| -2.7576, |
| 2.7576 |
| ], |
| "right_knee_joint": [ |
| -0.087267, |
| 2.8798 |
| ], |
| "right_ankle_pitch_joint": [ |
| -0.87267, |
| 0.5236 |
| ], |
| "right_ankle_roll_joint": [ |
| -0.2618, |
| 0.2618 |
| ], |
| "waist_yaw_joint": [ |
| -2.618, |
| 2.618 |
| ], |
| "waist_roll_joint": [ |
| -0.52, |
| 0.52 |
| ], |
| "waist_pitch_joint": [ |
| -0.52, |
| 0.52 |
| ], |
| "left_shoulder_pitch_joint": [ |
| -3.0892, |
| 2.6704 |
| ], |
| "left_shoulder_roll_joint": [ |
| -1.5882, |
| 2.2515 |
| ], |
| "left_shoulder_yaw_joint": [ |
| -2.618, |
| 2.618 |
| ], |
| "left_elbow_joint": [ |
| -1.0472, |
| 2.0944 |
| ], |
| "left_wrist_roll_joint": [ |
| -1.97222, |
| 1.97222 |
| ], |
| "left_wrist_pitch_joint": [ |
| -1.61443, |
| 1.61443 |
| ], |
| "left_wrist_yaw_joint": [ |
| -1.61443, |
| 1.61443 |
| ], |
| "right_shoulder_pitch_joint": [ |
| -3.0892, |
| 2.6704 |
| ], |
| "right_shoulder_roll_joint": [ |
| -2.2515, |
| 1.5882 |
| ], |
| "right_shoulder_yaw_joint": [ |
| -2.618, |
| 2.618 |
| ], |
| "right_elbow_joint": [ |
| -1.0472, |
| 2.0944 |
| ], |
| "right_wrist_roll_joint": [ |
| -1.97222, |
| 1.97222 |
| ], |
| "right_wrist_pitch_joint": [ |
| -1.61443, |
| 1.61443 |
| ], |
| "right_wrist_yaw_joint": [ |
| -1.61443, |
| 1.61443 |
| ] |
| } |
| }, |
| "action_scale": 0.25, |
| "action_clip_value": 5.0, |
| "normalize_action_to": 5.0, |
| "init_state": { |
| "pos": [ |
| 0.0, |
| 0.0, |
| 0.8 |
| ], |
| "rot": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "lin_vel": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "ang_vel": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "default_joint_angles": { |
| "left_hip_pitch_joint": -0.1, |
| "left_hip_roll_joint": 0.0, |
| "left_hip_yaw_joint": 0.0, |
| "left_knee_joint": 0.3, |
| "left_ankle_pitch_joint": -0.2, |
| "left_ankle_roll_joint": 0.0, |
| "right_hip_pitch_joint": -0.1, |
| "right_hip_roll_joint": 0.0, |
| "right_hip_yaw_joint": 0.0, |
| "right_knee_joint": 0.3, |
| "right_ankle_pitch_joint": -0.2, |
| "right_ankle_roll_joint": 0.0, |
| "waist_yaw_joint": 0.0, |
| "waist_roll_joint": 0.0, |
| "waist_pitch_joint": 0.0, |
| "left_shoulder_pitch_joint": 0.0, |
| "left_shoulder_roll_joint": 0.0, |
| "left_shoulder_yaw_joint": 0.0, |
| "left_elbow_joint": 0.0, |
| "left_wrist_roll_joint": 0.0, |
| "left_wrist_pitch_joint": 0.0, |
| "left_wrist_yaw_joint": 0.0, |
| "right_shoulder_pitch_joint": 0.0, |
| "right_shoulder_roll_joint": 0.0, |
| "right_shoulder_yaw_joint": 0.0, |
| "right_elbow_joint": 0.0, |
| "right_wrist_roll_joint": 0.0, |
| "right_wrist_pitch_joint": 0.0, |
| "right_wrist_yaw_joint": 0.0 |
| }, |
| "stiffness": { |
| "hip_yaw": 40.17924, |
| "hip_roll": 99.09843, |
| "hip_pitch": 99.09843, |
| "knee": 99.09843, |
| "ankle_pitch": 28.50125, |
| "ankle_roll": 28.50125, |
| "waist_yaw": 300.0, |
| "waist_roll": 300.0, |
| "waist_pitch": 300.0, |
| "shoulder_pitch": 14.25062, |
| "shoulder_roll": 14.25062, |
| "shoulder_yaw": 14.25062, |
| "elbow": 14.25062, |
| "wrist_roll": 14.25062, |
| "wrist_pitch": 8.61103, |
| "wrist_yaw": 8.61103 |
| }, |
| "damping": { |
| "hip_yaw": 2.55789, |
| "hip_roll": 6.3088, |
| "hip_pitch": 6.3088, |
| "knee": 6.3088, |
| "ankle_pitch": 1.81445, |
| "ankle_roll": 1.81445, |
| "waist_yaw": 5.0, |
| "waist_roll": 5.0, |
| "waist_pitch": 5.0, |
| "shoulder_pitch": 0.90722, |
| "shoulder_roll": 0.90722, |
| "shoulder_yaw": 0.90722, |
| "elbow": 0.90722, |
| "wrist_roll": 0.90722, |
| "wrist_pitch": 0.5482, |
| "wrist_yaw": 0.5482 |
| }, |
| "effort_limits": [ |
| 139.0, |
| 139.0, |
| 88.0, |
| 139.0, |
| 50.0, |
| 50.0, |
| 139.0, |
| 139.0, |
| 88.0, |
| 139.0, |
| 50.0, |
| 50.0, |
| 88.0, |
| 50.0, |
| 50.0, |
| 25.0, |
| 25.0, |
| 25.0, |
| 25.0, |
| 25.0, |
| 13.4, |
| 13.4, |
| 25.0, |
| 25.0, |
| 25.0, |
| 25.0, |
| 25.0, |
| 13.4, |
| 13.4 |
| ], |
| "velocity_limits": [ |
| 20.0, |
| 20.0, |
| 32.0, |
| 20.0, |
| 37.0, |
| 37.0, |
| 20.0, |
| 20.0, |
| 32.0, |
| 20.0, |
| 37.0, |
| 37.0, |
| 32.0, |
| 37.0, |
| 37.0, |
| 37.0, |
| 37.0, |
| 37.0, |
| 37.0, |
| 37.0, |
| 27.0, |
| 27.0, |
| 37.0, |
| 37.0, |
| 37.0, |
| 37.0, |
| 37.0, |
| 27.0, |
| 27.0 |
| ], |
| "effort_limit_scale": 0.8, |
| "actuator": { |
| "source": "g1_mode15" |
| }, |
| "contact_bodies": [ |
| "left_ankle_roll_link", |
| "right_ankle_roll_link" |
| ], |
| "undesired_contact_bodies": [ |
| "pelvis", |
| "shoulder", |
| "hip" |
| ], |
| "torso_name": "torso_link", |
| "left_ankle_dof_names": [ |
| "left_ankle_pitch_joint", |
| "left_ankle_roll_joint" |
| ], |
| "right_ankle_dof_names": [ |
| "right_ankle_pitch_joint", |
| "right_ankle_roll_joint" |
| ] |
| }, |
| "max_episode_length_s": null, |
| "disable_obs_noise": false, |
| "disable_domain_randomization": false, |
| "relative_config_path": "exp/bfm_zero/bfm_zero", |
| "include_last_action": true, |
| "hydra_overrides": [ |
| "robot=g1/g1_29dof_hard_waist", |
| "robot.control.action_scale=0.25", |
| "robot.control.action_clip_value=5.0", |
| "robot.control.normalize_action_to=5.0", |
| "env.config.lie_down_init=True", |
| "env.config.lie_down_init_prob=0.3" |
| ], |
| "context_length": null, |
| "include_history_actor": true, |
| "include_history_noaction": false, |
| "root_height_obs": true, |
| "auto_reset": false, |
| "seed": 4728 |
| }, |
| "work_dir": "/home/ghw/code/BFM-Zero-MJLab/runs/bfm_zero_seed", |
| "seed": 4728, |
| "online_parallel_envs": 1024, |
| "log_every_updates": 384000, |
| "num_env_steps": 192000000, |
| "update_agent_every": 1024, |
| "num_seed_steps": 10240, |
| "num_agent_updates": 16, |
| "checkpoint_every_steps": 3200000, |
| "checkpoint_buffer": true, |
| "prioritization": true, |
| "prioritization_min_val": 0.5, |
| "prioritization_max_val": 2.0, |
| "prioritization_scale": 2.0, |
| "prioritization_mode": "exp", |
| "padding_beginning": 0, |
| "padding_end": 0, |
| "use_trajectory_buffer": true, |
| "buffer_size": 5120000, |
| "use_wandb": true, |
| "wandb_ename": "windigal", |
| "wandb_gname": "mjlab", |
| "wandb_pname": "bfm-zero", |
| "wandb_run_name": "bfm_zero_seed", |
| "load_expert_data_from_motion_lib": true, |
| "buffer_device": "cuda", |
| "disable_tqdm": true, |
| "log_torso_contact_forces": true, |
| "torso_contact_force_threshold": 1.0, |
| "distributed_rank": 0, |
| "distributed_world_size": 8, |
| "rank0_only_writes": true, |
| "checkpoint_rank_buffers": true, |
| "distributed_sync": true, |
| "distributed_global_steps": true, |
| "distributed_average_metrics": true, |
| "fail_on_nonfinite": true, |
| "nonfinite_check_model_every_updates": 0, |
| "nonfinite_check_rollout_every_local_steps": 0, |
| "evaluations": [ |
| { |
| "name": "HumanoidVerseMjlabTrackingEvaluationConfig", |
| "generate_videos": false, |
| "videos_dir": "videos", |
| "video_name_prefix": "unknown_agent", |
| "name_in_logs": "humanoidverse_tracking_eval", |
| "env": null, |
| "num_envs": 1024, |
| "n_episodes_per_motion": 1, |
| "include_results_from_all_envs": false, |
| "disable_tqdm": true |
| } |
| ], |
| "eval_every_steps": 3200000, |
| "tags": { |
| "backend": "mjlab", |
| "agent": "fb", |
| "distributed_rank": 0, |
| "distributed_world_size": 8 |
| }, |
| "infra": {} |
| } |
