Upload fixed-line curriculum run himalaya-brace-ge-traction-actor
Browse files- runs/himalaya-brace-ge-traction-actor/checkpoint_promotion_report.json +1965 -0
- runs/himalaya-brace-ge-traction-actor/evaluation/evaluations.npz +3 -0
- runs/himalaya-brace-ge-traction-actor/g1_fixed_line_direct_brace_candidate.zip +3 -0
- runs/himalaya-brace-ge-traction-actor/training_metadata.json +90 -0
runs/himalaya-brace-ge-traction-actor/checkpoint_promotion_report.json
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@@ -0,0 +1,1965 @@
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|
| 1933 |
+
"grounded_fraction": 0.916083916083916,
|
| 1934 |
+
"double_support_fraction": 0.3986013986013986,
|
| 1935 |
+
"maximum_airborne_streak": 11,
|
| 1936 |
+
"maximum_rope_cam_lost_streak": 0,
|
| 1937 |
+
"nonfoot_snow_contact_steps": 0,
|
| 1938 |
+
"minimum_rope_snow_contacts": 50,
|
| 1939 |
+
"rope_leg_contact_steps": 3,
|
| 1940 |
+
"rope_leg_contact_fraction": 0.02097902097902098,
|
| 1941 |
+
"minimum_rope_leg_center_clearance_m": 0.0509758366526056,
|
| 1942 |
+
"peak_rope_strain": 0.0831465249382759,
|
| 1943 |
+
"peak_rope_lift_m": 0.8495236531273208,
|
| 1944 |
+
"rope_cam_contact_fraction": 1.0
|
| 1945 |
+
}
|
| 1946 |
+
],
|
| 1947 |
+
"ranking": {
|
| 1948 |
+
"successes": 0,
|
| 1949 |
+
"technique_cycles": 0,
|
| 1950 |
+
"mean_ascent_m": 0.1702115964220653,
|
| 1951 |
+
"mean_stage_progress_m": 0.21907134981326937,
|
| 1952 |
+
"mean_grounded_fraction": 0.9469348389772587,
|
| 1953 |
+
"maximum_target_lanyard_support_streak": 1,
|
| 1954 |
+
"minimum_target_lanyard_support_streak": 1,
|
| 1955 |
+
"maximum_supported_single_support_steps": 1,
|
| 1956 |
+
"minimum_supported_single_support_steps": 1,
|
| 1957 |
+
"maximum_supported_swing_advance_m": 0.0,
|
| 1958 |
+
"maximum_shaped_supported_swing_advance_m": 0.0,
|
| 1959 |
+
"mean_active_lanyard_load_n": 99.50618280689005,
|
| 1960 |
+
"rope_leg_contact_steps": 31,
|
| 1961 |
+
"maximum_boot_anchor_loss_m": 0.4934993207164355
|
| 1962 |
+
}
|
| 1963 |
+
}
|
| 1964 |
+
]
|
| 1965 |
+
}
|
runs/himalaya-brace-ge-traction-actor/evaluation/evaluations.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
|
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|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8c341ffc02347fa34d2a64417148c20b4e697ae1f3049c27cc775ee4f643ef95
|
| 3 |
+
size 1010
|
runs/himalaya-brace-ge-traction-actor/g1_fixed_line_direct_brace_candidate.zip
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a17841e6056810c3d3d86928f87062942f04085ddbcb95addebe62ce62ab25d0
|
| 3 |
+
size 2942854
|
runs/himalaya-brace-ge-traction-actor/training_metadata.json
ADDED
|
@@ -0,0 +1,90 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"algorithm": "PPO",
|
| 3 |
+
"curriculum_stage": "brace",
|
| 4 |
+
"policy_distribution": "generalized state-dependent Gaussian exploration",
|
| 5 |
+
"training_run_target_timesteps": 200000,
|
| 6 |
+
"selected_checkpoint_timesteps": 120000,
|
| 7 |
+
"num_parallel_envs": 16,
|
| 8 |
+
"rollout_steps_per_env": 512,
|
| 9 |
+
"actor_readout_trust_region": {
|
| 10 |
+
"rows": 15,
|
| 11 |
+
"weight_l2_radius": 0.04,
|
| 12 |
+
"bias_l2_radius": 0.0025
|
| 13 |
+
},
|
| 14 |
+
"actor_readout_warmup_timesteps": 0,
|
| 15 |
+
"critic_warmup_learning_rate": null,
|
| 16 |
+
"seed": 20260941,
|
| 17 |
+
"device": "cpu",
|
| 18 |
+
"torch_build": "2.13.0+cu130",
|
| 19 |
+
"observation_dim": 120,
|
| 20 |
+
"action_dim": 29,
|
| 21 |
+
"actions": [
|
| 22 |
+
"left_hip_pitch_joint",
|
| 23 |
+
"left_hip_roll_joint",
|
| 24 |
+
"left_hip_yaw_joint",
|
| 25 |
+
"left_knee_joint",
|
| 26 |
+
"left_ankle_pitch_joint",
|
| 27 |
+
"left_ankle_roll_joint",
|
| 28 |
+
"right_hip_pitch_joint",
|
| 29 |
+
"right_hip_roll_joint",
|
| 30 |
+
"right_hip_yaw_joint",
|
| 31 |
+
"right_knee_joint",
|
| 32 |
+
"right_ankle_pitch_joint",
|
| 33 |
+
"right_ankle_roll_joint",
|
| 34 |
+
"waist_yaw_joint",
|
| 35 |
+
"waist_roll_joint",
|
| 36 |
+
"waist_pitch_joint",
|
| 37 |
+
"left_shoulder_pitch_joint",
|
| 38 |
+
"left_shoulder_roll_joint",
|
| 39 |
+
"left_shoulder_yaw_joint",
|
| 40 |
+
"left_elbow_joint",
|
| 41 |
+
"left_wrist_roll_joint",
|
| 42 |
+
"left_wrist_pitch_joint",
|
| 43 |
+
"left_wrist_yaw_joint",
|
| 44 |
+
"right_shoulder_pitch_joint",
|
| 45 |
+
"right_shoulder_roll_joint",
|
| 46 |
+
"right_shoulder_yaw_joint",
|
| 47 |
+
"right_elbow_joint",
|
| 48 |
+
"right_wrist_roll_joint",
|
| 49 |
+
"right_wrist_pitch_joint",
|
| 50 |
+
"right_wrist_yaw_joint"
|
| 51 |
+
],
|
| 52 |
+
"policy_network": [
|
| 53 |
+
256,
|
| 54 |
+
256,
|
| 55 |
+
256
|
| 56 |
+
],
|
| 57 |
+
"value_network": [
|
| 58 |
+
256,
|
| 59 |
+
256,
|
| 60 |
+
256
|
| 61 |
+
],
|
| 62 |
+
"activation": "tanh",
|
| 63 |
+
"parameter_counts": {
|
| 64 |
+
"actor": 177437,
|
| 65 |
+
"critic": 162817,
|
| 66 |
+
"total": 340254
|
| 67 |
+
},
|
| 68 |
+
"terrain": "physical 28-degree snow slope",
|
| 69 |
+
"rope": "stretchable collidable MuJoCo 1-D flex threaded through the cam and resting on the slope away from the device",
|
| 70 |
+
"ascender": "compact handled cam clamp with an unactuated slide joint and unilateral ratcheting lower limit",
|
| 71 |
+
"prepared_initial_condition": "molded handle center connected inside the right palm between curled fingers and opposing thumb",
|
| 72 |
+
"forbidden_controllers_absent": [
|
| 73 |
+
"gait generator",
|
| 74 |
+
"inverse kinematics",
|
| 75 |
+
"reference motion",
|
| 76 |
+
"step phase machine",
|
| 77 |
+
"pelvis support force",
|
| 78 |
+
"orientation balance torque",
|
| 79 |
+
"direct uphill force"
|
| 80 |
+
],
|
| 81 |
+
"resume": null,
|
| 82 |
+
"fine_tune": true,
|
| 83 |
+
"actor_init": "/workspace/source/models/ppo_fixed_line_learned/g1_fixed_line_direct_brace_final.zip",
|
| 84 |
+
"copy_critic": false,
|
| 85 |
+
"selection_source": "/workspace/himalaya/models/himalaya-brace-ge-traction-actor/checkpoints/g1_fixed_line_direct_120000_steps.zip",
|
| 86 |
+
"selection_uses_shaped_return": false,
|
| 87 |
+
"passes_task_promotion": false,
|
| 88 |
+
"final_policy_updated": false,
|
| 89 |
+
"promotion_report": "/workspace/himalaya/models/himalaya-brace-ge-traction-actor/checkpoint_promotion_report.json"
|
| 90 |
+
}
|