| defaults: |
| - launcher: local |
| - solver: cem |
| - _self_ |
|
|
| world: |
| env_name: swm/OGBCube-v0 |
| num_envs: ${eval.num_eval} |
| max_episode_steps: ??? |
| history_size: 1 |
| frame_skip: 1 |
| env_type: single |
| ob_type: states |
| multiview: False |
| width: 224 |
| height: 224 |
| visualize_info: False |
| terminate_at_goal: True |
|
|
| dataset: |
| stats: ${eval.dataset_name} |
| keys_to_cache: |
| - action |
|
|
| seed: 42 |
| policy: random |
|
|
| planning: |
| successor_mode: |
| enabled: False |
| frontier_weight: 0.25 |
| prototype_weight: 0.10 |
| mode_weight: 0.05 |
| ambiguity_weight: 1.0 |
|
|
| plan_config: |
| horizon: 5 |
| receding_horizon: 5 |
| action_block: 5 |
|
|
| |
| eval: |
| num_eval: 50 |
| goal_offset_steps: 25 |
| eval_budget: 50 |
| img_size: 224 |
| dataset_name: ogbench/cube_single_expert |
| callables: |
| |
| - method: set_state |
| args: |
| qpos: |
| value: qpos |
| qvel: |
| value: qvel |
| |
| - method: set_target_pos |
| args: |
| cube_id: |
| value: 0 |
| in_dataset: False |
| target_pos: |
| value: goal_privileged_block_0_pos |
| target_quat: |
| value: goal_privileged_block_0_quat |
|
|
| output: |
| filename: ogb_cube_results.txt |
|
|
