| { |
| "algorithm": "supermimic", |
| "actor_input_normalization": "rsl_rl_empirical_real_next_obs", |
| "task": "mug_hang", |
| "seed": 1, |
| "smoke": false, |
| "reset_bank": "/mnt/data3/ZhouZhiqiang/supermimic_manipulation/banks/mug_hang.pt", |
| "dataset": { |
| "contract": { |
| "task": "mug_hang", |
| "robot": "arx5", |
| "joint_order": [ |
| "joint1", |
| "joint2", |
| "joint3", |
| "joint4", |
| "joint5", |
| "joint6", |
| "joint7", |
| "joint8" |
| ], |
| "fields": [ |
| "joint_pos", |
| "joint_vel", |
| "mug_pose", |
| "mug_vel", |
| "tree_pose" |
| ], |
| "frame": "environment_world", |
| "pose": "xyz_wxyz", |
| "joint_units": [ |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "m", |
| "m" |
| ], |
| "joint_velocity_units": [ |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "m/s", |
| "m/s" |
| ], |
| "position_unit": "m", |
| "mug_velocity": "root_origin_local_linear_xyz_angular_xyz", |
| "mug_velocity_units": [ |
| "m/s", |
| "m/s", |
| "m/s", |
| "rad/s", |
| "rad/s", |
| "rad/s" |
| ], |
| "tree": "fixed_mocap_pose_constant_within_episode", |
| "categories": [ |
| "ObjectAnywhereEEAnywhere", |
| "ObjectRestingEEGrasped", |
| "ObjectAirborneEEGrasped", |
| "HandleThreadedEEGrasped" |
| ] |
| }, |
| "provenance": { |
| "method": "fresh_rim_ik_and_osc_threading", |
| "workspace": { |
| "frame": "world", |
| "xy_min": [ |
| 0.2, |
| -0.2 |
| ], |
| "xy_max": [ |
| 0.5, |
| 0.3 |
| ], |
| "containment": "complete_object_geometry", |
| "units": "m" |
| }, |
| "workspace_geometry": "conservative_local_envelopes_of_all_visual_collision_geometry", |
| "seed": 42, |
| "proposal_config": { |
| "parallel_chunk_size": 4, |
| "x_range": [ |
| 0.2, |
| 0.5 |
| ], |
| "y_range": [ |
| -0.2, |
| 0.3 |
| ], |
| "tree_y_range": [ |
| -0.2, |
| 0.3 |
| ], |
| "airborne_z": [ |
| 0.09, |
| 0.23 |
| ], |
| "max_penetration": 0.001, |
| "pre_thread_clearance": 0.04, |
| "final_anchor_x": [ |
| 0.04, |
| 0.065 |
| ], |
| "witness_roll_samples": 129, |
| "workspace": { |
| "frame": "world", |
| "xy_min": [ |
| 0.2, |
| -0.2 |
| ], |
| "xy_max": [ |
| 0.5, |
| 0.3 |
| ], |
| "containment": "complete_object_geometry", |
| "units": "m" |
| }, |
| "grasp_point_mug_local": [ |
| 0.0, |
| -0.05, |
| 0.03 |
| ], |
| "handle_anchor_mug_local": [ |
| 0.0, |
| 0.03, |
| 0.0 |
| ], |
| "task3": "outside_branch_tip_then_real_controller_threading_path", |
| "orientation": "rim_closing_axis_roll; airborne_Haar_SO3; thread_axis_aligned", |
| "jaw_turn_branches": [ |
| 0.0, |
| 3.141592653589793 |
| ], |
| "grasp_contact_search": "full_open_free_then_first_contiguous_contact_bracket", |
| "witness_roll_order": "deterministic_uniform_grid_sorted_by_absolute_roll", |
| "witness_scope": "independent_static_grasp_existence_not_transport_path", |
| "resting_pose_count": 10000, |
| "proposal_workers": 64, |
| "proposal_seed_schedule": "seed_sequence_base_seed_and_ordered_chunk_index", |
| "proposal_chunking": "fixed_size_ordered_chunks_dynamic_worker_assignment", |
| "proposal_prefetch": "two_batches_bounded_ordered_results_except_postsettle_category", |
| "proposal_budget_exhaustion": "return_partial_valid_rows_without_relaxing_predicates" |
| }, |
| "proposal_attempts_per_state": 20000, |
| "acceptance": { |
| "max_penetration": 0.001, |
| "stable_seconds": 0.5, |
| "linear_speed_max": 0.03, |
| "angular_speed_max": 0.3, |
| "resting_linear_speed_max": 0.003, |
| "resting_angular_speed_max": 0.05, |
| "joint_speed_max": 2.0, |
| "finger_upper_tolerance": 0.0004, |
| "object_drift_max": 0.02, |
| "minimum_thread_displacement": 0.04, |
| "outside_tip_clearance": [ |
| 0.015, |
| 0.03 |
| ], |
| "outside_tip_transverse_jitter": 0.003, |
| "outside_tip_transverse_max": 0.02 |
| }, |
| "num_envs": 1024, |
| "physics_candidates": { |
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| "ObjectRestingEEGrasped": 12288, |
| "ObjectAirborneEEGrasped": 12717, |
| "HandleThreadedEEGrasped": 12288 |
| }, |
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| "ObjectRestingEEGrasped": 20987480, |
| "ObjectAirborneEEGrasped": 350269887, |
| "HandleThreadedEEGrasped": 15215118 |
| }, |
| "proposal_attempts_scope": "consumed_batches_only_excludes_unused_prefetch", |
| "wall_time": { |
| "initialization_seconds": 10.034658327698708, |
| "categories": { |
| "ObjectAnywhereEEAnywhere": { |
| "proposal_seconds": 2746.244714386761, |
| "physics_seconds": 440.1286013275385, |
| "postsettle_seconds": 79.0680673494935, |
| "total_seconds": 3311.5466208830476 |
| }, |
| "ObjectRestingEEGrasped": { |
| "proposal_seconds": 1907.0405037105083, |
| "physics_seconds": 67.6927042528987, |
| "postsettle_seconds": 0.0001233816146850586, |
| "total_seconds": 2039.4540275633335 |
| }, |
| "ObjectAirborneEEGrasped": { |
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| "physics_seconds": 93.07413939386606, |
| "postsettle_seconds": 0.00019094347953796387, |
| "total_seconds": 5695.0482866466045 |
| }, |
| "HandleThreadedEEGrasped": { |
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| "physics_seconds": 306.5483791977167, |
| "postsettle_seconds": 0.00014368444681167603, |
| "total_seconds": 1518.3833962976933 |
| } |
| }, |
| "total_seconds": 12629.966216474771, |
| "proposal_includes_worker_startup": true, |
| "proposal_seconds_scope": "consumer_wait_not_total_parallel_CPU_work", |
| "resume_time_scope": "saved_checkpoint_segments_excludes_unsaved_interrupted_work", |
| "category_total_scope": "completed_stage_timers_excludes_interrupted_stage_prefix" |
| }, |
| "physics_dt": 0.0020833333333333333, |
| "free_joint_damping": { |
| "joint": "mug/mug_free", |
| "dof_address": 8, |
| "dof_count": 6, |
| "linear": [ |
| 0.0005, |
| 0.0005, |
| 0.0005, |
| 0.0005, |
| 0.0005, |
| 0.0005 |
| ], |
| "quadratic": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "cubic": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "control_dt": 0.05, |
| "decimation": 24, |
| "hold_steps": 20, |
| "settle_steps": 200, |
| "thread_steps": 60, |
| "accepted_consecutive_steps": 10, |
| "hold_command": "fixed_initial_ee_pose_via_relative_osc_action", |
| "task3_path": "outside_tip_to_handle_engaged_by_osc_action_and_free_mug_dynamics", |
| "controller": { |
| "entity_name": "robot", |
| "clip": null, |
| "arm_joints": [ |
| "joint1", |
| "joint2", |
| "joint3", |
| "joint4", |
| "joint5", |
| "joint6" |
| ], |
| "finger_joints": [ |
| "joint7", |
| "joint8" |
| ], |
| "ee_body": "link6", |
| "closed_position": 0.002, |
| "open_position": 0.044, |
| "effort_limit": 50.0, |
| "inertia_solver": "pinv", |
| "inertia_rcond": 1e-10, |
| "uncouple_pos_ori": true, |
| "position_scale": 0.02, |
| "orientation_scale": 0.2, |
| "motion_stiffness": [ |
| 200.0, |
| 200.0, |
| 200.0, |
| 300.0, |
| 300.0, |
| 300.0 |
| ], |
| "motion_damping_ratio": [ |
| 3.0, |
| 3.0, |
| 3.0, |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "input_limit": 12.0, |
| "linear_velocity_limit": 1.5, |
| "angular_velocity_limit": 8.0 |
| }, |
| "physics_randomization": false, |
| "cuda_graph_mode": "plain", |
| "nconmax": 512, |
| "njmax": 2048, |
| "contact_sensor_maxmatch": 128, |
| "candidate_replay": { |
| "all_exported_rows": true, |
| "steps": 20, |
| "required_consecutive_steps": 10, |
| "saved_state": "replay_input_with_projected_fingers" |
| }, |
| "collection_progress": { |
| "enabled": false, |
| "resumed": false, |
| "boundary": null, |
| "physical_continuation": "normal_reset_with_deterministic_batch_seed_not_inflight_simulation" |
| }, |
| "finger_position_projection": { |
| "joints": [ |
| "joint7", |
| "joint8" |
| ], |
| "bounds_m": [ |
| [ |
| 0.0, |
| 0.04399999976158142 |
| ], |
| [ |
| 0.0, |
| 0.04399999976158142 |
| ] |
| ], |
| "upper_overshoot_tolerance_m": 0.0004, |
| "statistics": { |
| "ObjectAnywhereEEAnywhere": { |
| "changed_rows": 195, |
| "max_correction_m": 6.332993507385254e-08 |
| }, |
| "ObjectRestingEEGrasped": { |
| "changed_rows": 0, |
| "max_correction_m": 0.0 |
| }, |
| "ObjectAirborneEEGrasped": { |
| "changed_rows": 0, |
| "max_correction_m": 0.0 |
| }, |
| "HandleThreadedEEGrasped": { |
| "changed_rows": 0, |
| "max_correction_m": 0.0 |
| } |
| }, |
| "simulation_state_modified": false, |
| "projected_contact_hold_revalidated": true |
| } |
| }, |
| "split": "train", |
| "counts": { |
| "ObjectAnywhereEEAnywhere": 10000, |
| "ObjectRestingEEGrasped": 10000, |
| "ObjectAirborneEEGrasped": 10000, |
| "HandleThreadedEEGrasped": 10000 |
| } |
| }, |
| "run": { |
| "iterations": 9000, |
| "buffer_steps": 1000, |
| "warmup_steps": 64, |
| "world_model_batches": 30, |
| "world_model_only_iterations": 1000, |
| "updates_per_sim_step": 0.4, |
| "learning_rate_decay_iterations": 10000, |
| "save_interval": 1000, |
| "log_interval": 50, |
| "action_noise": 0.1, |
| "compile_world_model": true, |
| "compile_policy_update": true, |
| "pin_replay": false, |
| "streaming_buffer_steps": 1000, |
| "world_model_schedule": "epochs", |
| "world_model_epochs": 4.0, |
| "validation_fraction": 0.05, |
| "validation_batches": 4, |
| "validation_recent_steps": 100, |
| "exploration_fraction": 0.0, |
| "exploration_start_probability": 0.05, |
| "exploration_steps": 10, |
| "policy_update_interval": 1 |
| }, |
| "imagination_overrides": {}, |
| "world_model_validation_envs": 205, |
| "agent": { |
| "wm_hidden": [ |
| 2048, |
| 2048, |
| 2048, |
| 2048, |
| 2048 |
| ], |
| "policy_hidden": [ |
| 2048, |
| 1024, |
| 512, |
| 256 |
| ], |
| "critic_hidden": [ |
| 256, |
| 128 |
| ], |
| "wm_window": 8, |
| "horizon": 16, |
| "wm_batch_size": 2048, |
| "policy_batch_size": 4096, |
| "learning_rate": 0.0002, |
| "gamma": 0.99, |
| "lambda_return": 0.95, |
| "critic_epochs": 5, |
| "critic_minibatches": 4, |
| "max_grad_norm": 1.0, |
| "policy_grad_value_clip": 0.1, |
| "normalizer_max_count": 200000000.0, |
| "amp": "bf16", |
| "tf32": true, |
| "wm_ensemble_size": 1, |
| "uncertainty_penalty": 0.0 |
| }, |
| "device": "cuda:0", |
| "device_name": "NVIDIA A100-SXM4-80GB", |
| "torch": "2.9.1+cu128", |
| "cuda": "12.8", |
| "precision": { |
| "parameters_normalizers_state_reward": "float32", |
| "mlp_autocast": "bf16", |
| "controller_ik": "float64", |
| "matmul_allow_tf32": true, |
| "cudnn_allow_tf32": true |
| }, |
| "torch_compile": true, |
| "torch_compile_scope": "world_model_rollout_loss", |
| "torch_compile_options": { |
| "fullgraph": true, |
| "dynamic": false, |
| "mode": "default" |
| }, |
| "torch_compile_policy_update": true, |
| "logger": "tensorboard", |
| "cuda_graph_mode": "plain", |
| "timeout_bootstrap": false, |
| "resume_is_exact": false, |
| "resume_checkpoint": "/mnt/data3/ZhouZhiqiang/supermimic_manipulation/logs/supermimic/mug_hang_s1_20261026/model_001000.pt", |
| "evaluation": "separate complete-episode workflow (clab eval policy)", |
| "limitations": [ |
| "Bank controller match is not a physical hold/capacity certificate", |
| "World model is a reduced stochastic surrogate, not an exact MuJoCo state", |
| "Imagination reward/success is analytic from endpoint states, not a learned reward head", |
| "Endpoint imagination reward/success is approximate and need not match native contacts", |
| "Real collection and evaluation retain native rewards and terminal conditions" |
| ], |
| "reward_mode": "imagined_endpoint_handle_geometry_speed_release_shaped", |
| "reward_matches_native": false, |
| "cuda_graph_runtime": { |
| "enabled": true, |
| "graph_conditional": false, |
| "step_graph_created": true, |
| "forward_graph_created": true, |
| "reset_graph_created": true |
| } |
| } |
