Upload 20 files

dp/prepare_groceries/pick/all/config.yml

@@ -0,0 +1,63 @@
+seed: 0
+eval_env:
+  env_id: PickSubtaskTrain-v0
+  num_envs: 63
+  max_episode_steps: 200
+  make_env: true
+  continuous_task: true
+  cat_state: true
+  cat_pixels: false
+  frame_stack: null
+  stack: 2
+  stationary_base: false
+  stationary_torso: false
+  stationary_head: true
+  task_plan_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/prepare_groceries/pick/train/all.json
+  spawn_data_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/prepare_groceries/pick/train/spawn_data.pt
+  record_video: false
+  debug_video: false
+  debug_video_gen: false
+  save_video_freq: 1
+  info_on_video: false
+  extra_stat_keys:
+  - is_grasped
+  - ee_rest
+  - robot_rest
+  - is_static
+  - cumulative_force_within_limit
+  env_kwargs:
+    robot_force_mult: 0.001
+    robot_force_penalty_min: 0.2
+    target_randomization: false
+algo:
+  name: diffusion_policy
+  lr: 0.0001
+  batch_size: 256
+  obs_horizon: 2
+  act_horizon: 1
+  pred_horizon: 16
+  diffusion_step_embed_dim: 256
+  unet_dims:
+  - 256
+  - 512
+  - 1024
+  n_groups: 8
+  data_dir_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange-dataset/prepare_groceries/pick
+  trajs_per_obj: all
+  truncate_trajectories_at_success: true
+  max_image_cache_size: all
+  num_dataload_workers: 2
+  num_iterations: 500000
+  eval_episodes: 63
+  log_freq: 1000
+  eval_freq: 5000
+  save_freq: 5000
+  torch_deterministic: true
+  save_backup_ckpts: false
+logger:
+  workspace: mshab_exps
+  exp_name: rcad-prepare_groceries-pick-all
+  clear_out: true
+  tensorboard: true
+  wandb: false
+model_ckpt: "mshab_checkpoints/dp/prepare_groceries/pick/all/policy.pt"

dp/prepare_groceries/pick/all/policy.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d3299c79843c4dcbee31e71276c3aaaa6f546e3d0cd1e2120f429bac1b001b9
+size 1183023810

dp/prepare_groceries/place/all/config.yml

@@ -0,0 +1,63 @@
+seed: 0
+eval_env:
+  env_id: PlaceSubtaskTrain-v0
+  num_envs: 63
+  max_episode_steps: 200
+  make_env: true
+  continuous_task: true
+  cat_state: true
+  cat_pixels: false
+  frame_stack: null
+  stack: 2
+  stationary_base: false
+  stationary_torso: false
+  stationary_head: true
+  task_plan_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/prepare_groceries/place/train/all.json
+  spawn_data_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/prepare_groceries/place/train/spawn_data.pt
+  record_video: false
+  debug_video: false
+  debug_video_gen: false
+  save_video_freq: 1
+  info_on_video: false
+  extra_stat_keys:
+  - is_grasped
+  - ee_rest
+  - robot_rest
+  - is_static
+  - cumulative_force_within_limit
+  env_kwargs:
+    robot_force_mult: 0.001
+    robot_force_penalty_min: 0.2
+    target_randomization: false
+algo:
+  name: diffusion_policy
+  lr: 0.0001
+  batch_size: 256
+  obs_horizon: 2
+  act_horizon: 1
+  pred_horizon: 16
+  diffusion_step_embed_dim: 256
+  unet_dims:
+  - 256
+  - 512
+  - 1024
+  n_groups: 8
+  data_dir_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange-dataset/prepare_groceries/place
+  trajs_per_obj: all
+  truncate_trajectories_at_success: true
+  max_image_cache_size: all
+  num_dataload_workers: 2
+  num_iterations: 500000
+  eval_episodes: 63
+  log_freq: 1000
+  eval_freq: 5000
+  save_freq: 5000
+  torch_deterministic: true
+  save_backup_ckpts: false
+logger:
+  workspace: mshab_exps
+  exp_name: rcad-prepare_groceries-place-all
+  clear_out: true
+  tensorboard: true
+  wandb: false
+model_ckpt: "mshab_checkpoints/dp/prepare_groceries/place/all/policy.pt"

dp/prepare_groceries/place/all/policy.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae3421b5fe11451ff565634a2304a1021dbe8f07f638e3d4260d38e7ba45447d
+size 1183023810

dp/set_table/close/fridge/config.yml

@@ -0,0 +1,64 @@
+seed: 0
+eval_env:
+  env_id: CloseSubtaskTrain-v0
+  num_envs: 63
+  max_episode_steps: 200
+  make_env: true
+  continuous_task: true
+  cat_state: true
+  cat_pixels: false
+  frame_stack: null
+  stack: 2
+  stationary_base: false
+  stationary_torso: false
+  stationary_head: true
+  task_plan_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/set_table/close/train/fridge.json
+  spawn_data_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/set_table/close/train/spawn_data.pt
+  record_video: false
+  debug_video: false
+  debug_video_gen: false
+  save_video_freq: 1
+  info_on_video: false
+  extra_stat_keys:
+  - is_grasped
+  - articulation_closed
+  - ee_rest
+  - robot_rest
+  - is_static
+  - cumulative_force_within_limit
+  env_kwargs:
+    robot_force_mult: 0.001
+    robot_force_penalty_min: 0.2
+    target_randomization: false
+algo:
+  name: diffusion_policy
+  lr: 0.0001
+  batch_size: 256
+  obs_horizon: 2
+  act_horizon: 1
+  pred_horizon: 16
+  diffusion_step_embed_dim: 256
+  unet_dims:
+  - 256
+  - 512
+  - 1024
+  n_groups: 8
+  data_dir_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange-dataset/set_table/close/fridge.h5
+  trajs_per_obj: all
+  truncate_trajectories_at_success: true
+  max_image_cache_size: all
+  num_dataload_workers: 2
+  num_iterations: 500000
+  eval_episodes: 63
+  log_freq: 1000
+  eval_freq: 5000
+  save_freq: 5000
+  torch_deterministic: true
+  save_backup_ckpts: false
+logger:
+  workspace: mshab_exps
+  exp_name: rcad-set_table-close-fridge
+  clear_out: true
+  tensorboard: true
+  wandb: false
+model_ckpt: "mshab_checkpoints/dp/set_table/close/fridge/policy.pt"

dp/set_table/close/fridge/policy.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d74949915c9fff29ad13167e71df3c6c4d86ca63b11f264f4a19f7841011631b
+size 1183023810

dp/set_table/close/kitchen_counter/config.yml

@@ -0,0 +1,64 @@
+seed: 0
+eval_env:
+  env_id: CloseSubtaskTrain-v0
+  num_envs: 63
+  max_episode_steps: 200
+  make_env: true
+  continuous_task: true
+  cat_state: true
+  cat_pixels: false
+  frame_stack: null
+  stack: 2
+  stationary_base: false
+  stationary_torso: false
+  stationary_head: true
+  task_plan_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/set_table/close/train/kitchen_counter.json
+  spawn_data_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/set_table/close/train/spawn_data.pt
+  record_video: false
+  debug_video: false
+  debug_video_gen: false
+  save_video_freq: 1
+  info_on_video: false
+  extra_stat_keys:
+  - is_grasped
+  - articulation_closed
+  - ee_rest
+  - robot_rest
+  - is_static
+  - cumulative_force_within_limit
+  env_kwargs:
+    robot_force_mult: 0.001
+    robot_force_penalty_min: 0.2
+    target_randomization: false
+algo:
+  name: diffusion_policy
+  lr: 0.0001
+  batch_size: 256
+  obs_horizon: 2
+  act_horizon: 1
+  pred_horizon: 16
+  diffusion_step_embed_dim: 256
+  unet_dims:
+  - 256
+  - 512
+  - 1024
+  n_groups: 8
+  data_dir_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange-dataset/set_table/close/kitchen_counter.h5
+  trajs_per_obj: all
+  truncate_trajectories_at_success: true
+  max_image_cache_size: all
+  num_dataload_workers: 2
+  num_iterations: 500000
+  eval_episodes: 63
+  log_freq: 1000
+  eval_freq: 5000
+  save_freq: 5000
+  torch_deterministic: true
+  save_backup_ckpts: false
+logger:
+  workspace: mshab_exps
+  exp_name: rcad-set_table-close-kitchen_counter
+  clear_out: true
+  tensorboard: true
+  wandb: false
+model_ckpt: "mshab_checkpoints/dp/set_table/close/kitchen_counter/policy.pt"

dp/set_table/close/kitchen_counter/policy.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c88f9552fb0f0dc99cf101eef3a5fcc094652f87ae764d4ac281c103c1213f92
+size 1183023810

dp/set_table/open/fridge/config.yml

@@ -0,0 +1,64 @@
+seed: 0
+eval_env:
+  env_id: OpenSubtaskTrain-v0
+  num_envs: 63
+  max_episode_steps: 200
+  make_env: true
+  continuous_task: true
+  cat_state: true
+  cat_pixels: false
+  frame_stack: null
+  stack: 2
+  stationary_base: false
+  stationary_torso: false
+  stationary_head: true
+  task_plan_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/set_table/open/train/fridge.json
+  spawn_data_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/set_table/open/train/spawn_data.pt
+  record_video: false
+  debug_video: false
+  debug_video_gen: false
+  save_video_freq: 1
+  info_on_video: false
+  extra_stat_keys:
+  - is_grasped
+  - articulation_open
+  - ee_rest
+  - robot_rest
+  - is_static
+  - cumulative_force_within_limit
+  env_kwargs:
+    robot_force_mult: 0.001
+    robot_force_penalty_min: 0.2
+    target_randomization: false
+algo:
+  name: diffusion_policy
+  lr: 0.0001
+  batch_size: 256
+  obs_horizon: 2
+  act_horizon: 1
+  pred_horizon: 16
+  diffusion_step_embed_dim: 256
+  unet_dims:
+  - 256
+  - 512
+  - 1024
+  n_groups: 8
+  data_dir_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange-dataset/set_table/open/fridge.h5
+  trajs_per_obj: all
+  truncate_trajectories_at_success: true
+  max_image_cache_size: all
+  num_dataload_workers: 2
+  num_iterations: 500000
+  eval_episodes: 63
+  log_freq: 1000
+  eval_freq: 5000
+  save_freq: 5000
+  torch_deterministic: true
+  save_backup_ckpts: false
+logger:
+  workspace: mshab_exps
+  exp_name: rcad-set_table-open-fridge
+  clear_out: true
+  tensorboard: true
+  wandb: false
+model_ckpt: "mshab_checkpoints/dp/set_table/open/fridge/policy.pt"

dp/set_table/open/fridge/policy.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63ee243cfdc11acad9eb1b2c668418121cf59e75d1feecd8f24f133818c892b1
+size 1183023810

dp/set_table/open/kitchen_counter/config.yml

@@ -0,0 +1,64 @@
+seed: 0
+eval_env:
+  env_id: OpenSubtaskTrain-v0
+  num_envs: 63
+  max_episode_steps: 200
+  make_env: true
+  continuous_task: true
+  cat_state: true
+  cat_pixels: false
+  frame_stack: null
+  stack: 2
+  stationary_base: false
+  stationary_torso: false
+  stationary_head: true
+  task_plan_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/set_table/open/train/kitchen_counter.json
+  spawn_data_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/set_table/open/train/spawn_data.pt
+  record_video: false
+  debug_video: false
+  debug_video_gen: false
+  save_video_freq: 1
+  info_on_video: false
+  extra_stat_keys:
+  - is_grasped
+  - articulation_open
+  - ee_rest
+  - robot_rest
+  - is_static
+  - cumulative_force_within_limit
+  env_kwargs:
+    robot_force_mult: 0.001
+    robot_force_penalty_min: 0.2
+    target_randomization: false
+algo:
+  name: diffusion_policy
+  lr: 0.0001
+  batch_size: 256
+  obs_horizon: 2
+  act_horizon: 1
+  pred_horizon: 16
+  diffusion_step_embed_dim: 256
+  unet_dims:
+  - 256
+  - 512
+  - 1024
+  n_groups: 8
+  data_dir_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange-dataset/set_table/open/kitchen_counter.h5
+  trajs_per_obj: all
+  truncate_trajectories_at_success: true
+  max_image_cache_size: all
+  num_dataload_workers: 2
+  num_iterations: 500000
+  eval_episodes: 63
+  log_freq: 1000
+  eval_freq: 5000
+  save_freq: 5000
+  torch_deterministic: true
+  save_backup_ckpts: false
+logger:
+  workspace: mshab_exps
+  exp_name: rcad-set_table-open-kitchen_counter
+  clear_out: true
+  tensorboard: true
+  wandb: false
+model_ckpt: "mshab_checkpoints/dp/set_table/open/kitchen_counter/policy.pt"

dp/set_table/open/kitchen_counter/policy.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de55c58b3a86efeea8aaf8cb93aca27b42a31633edf5885779cd9dcdbdb458e5
+size 1183023810

dp/set_table/pick/all/config.yml

@@ -0,0 +1,63 @@
+seed: 0
+eval_env:
+  env_id: PickSubtaskTrain-v0
+  num_envs: 63
+  max_episode_steps: 200
+  make_env: true
+  continuous_task: true
+  cat_state: true
+  cat_pixels: false
+  frame_stack: null
+  stack: 2
+  stationary_base: false
+  stationary_torso: false
+  stationary_head: true
+  task_plan_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/set_table/pick/train/all.json
+  spawn_data_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/set_table/pick/train/spawn_data.pt
+  record_video: false
+  debug_video: false
+  debug_video_gen: false
+  save_video_freq: 1
+  info_on_video: false
+  extra_stat_keys:
+  - is_grasped
+  - ee_rest
+  - robot_rest
+  - is_static
+  - cumulative_force_within_limit
+  env_kwargs:
+    robot_force_mult: 0.001
+    robot_force_penalty_min: 0.2
+    target_randomization: false
+algo:
+  name: diffusion_policy
+  lr: 0.0001
+  batch_size: 256
+  obs_horizon: 2
+  act_horizon: 1
+  pred_horizon: 16
+  diffusion_step_embed_dim: 256
+  unet_dims:
+  - 256
+  - 512
+  - 1024
+  n_groups: 8
+  data_dir_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange-dataset/set_table/pick
+  trajs_per_obj: all
+  truncate_trajectories_at_success: true
+  max_image_cache_size: all
+  num_dataload_workers: 2
+  num_iterations: 500000
+  eval_episodes: 63
+  log_freq: 1000
+  eval_freq: 5000
+  save_freq: 5000
+  torch_deterministic: true
+  save_backup_ckpts: false
+logger:
+  workspace: mshab_exps
+  exp_name: rcad-set_table-pick-all
+  clear_out: true
+  tensorboard: true
+  wandb: false
+model_ckpt: "mshab_checkpoints/dp/set_table/pick/all/policy.pt"

dp/set_table/pick/all/policy.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4cc76b7dddd646d4bab32650cc5b640185d8c15e0d1863c3c930d1a282e927a
+size 1183023810

dp/set_table/place/all/config.yml

@@ -0,0 +1,63 @@
+seed: 0
+eval_env:
+  env_id: PlaceSubtaskTrain-v0
+  num_envs: 63
+  max_episode_steps: 200
+  make_env: true
+  continuous_task: true
+  cat_state: true
+  cat_pixels: false
+  frame_stack: null
+  stack: 2
+  stationary_base: false
+  stationary_torso: false
+  stationary_head: true
+  task_plan_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/set_table/place/train/all.json
+  spawn_data_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/set_table/place/train/spawn_data.pt
+  record_video: false
+  debug_video: false
+  debug_video_gen: false
+  save_video_freq: 1
+  info_on_video: false
+  extra_stat_keys:
+  - is_grasped
+  - ee_rest
+  - robot_rest
+  - is_static
+  - cumulative_force_within_limit
+  env_kwargs:
+    robot_force_mult: 0.001
+    robot_force_penalty_min: 0.2
+    target_randomization: false
+algo:
+  name: diffusion_policy
+  lr: 0.0001
+  batch_size: 256
+  obs_horizon: 2
+  act_horizon: 1
+  pred_horizon: 16
+  diffusion_step_embed_dim: 256
+  unet_dims:
+  - 256
+  - 512
+  - 1024
+  n_groups: 8
+  data_dir_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange-dataset/set_table/place
+  trajs_per_obj: all
+  truncate_trajectories_at_success: true
+  max_image_cache_size: all
+  num_dataload_workers: 2
+  num_iterations: 500000
+  eval_episodes: 63
+  log_freq: 1000
+  eval_freq: 5000
+  save_freq: 5000
+  torch_deterministic: true
+  save_backup_ckpts: false
+logger:
+  workspace: mshab_exps
+  exp_name: rcad-set_table-place-all
+  clear_out: true
+  tensorboard: true
+  wandb: false
+model_ckpt: "mshab_checkpoints/dp/set_table/place/all/policy.pt"

dp/set_table/place/all/policy.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec4d3eccffe0ec66d697ecf9a16cc058449bd38db33fe4e96502386a98fc0a5f
+size 1183023810

dp/tidy_house/pick/all/config.yml

@@ -0,0 +1,63 @@
+seed: 0
+eval_env:
+  env_id: PickSubtaskTrain-v0
+  num_envs: 63
+  max_episode_steps: 200
+  make_env: true
+  continuous_task: true
+  cat_state: true
+  cat_pixels: false
+  frame_stack: null
+  stack: 2
+  stationary_base: false
+  stationary_torso: false
+  stationary_head: true
+  task_plan_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/tidy_house/pick/train/all.json
+  spawn_data_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/tidy_house/pick/train/spawn_data.pt
+  record_video: false
+  debug_video: false
+  debug_video_gen: false
+  save_video_freq: 1
+  info_on_video: false
+  extra_stat_keys:
+  - is_grasped
+  - ee_rest
+  - robot_rest
+  - is_static
+  - cumulative_force_within_limit
+  env_kwargs:
+    robot_force_mult: 0.001
+    robot_force_penalty_min: 0.2
+    target_randomization: false
+algo:
+  name: diffusion_policy
+  lr: 0.0001
+  batch_size: 256
+  obs_horizon: 2
+  act_horizon: 1
+  pred_horizon: 16
+  diffusion_step_embed_dim: 256
+  unet_dims:
+  - 256
+  - 512
+  - 1024
+  n_groups: 8
+  data_dir_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange-dataset/tidy_house/pick
+  trajs_per_obj: all
+  truncate_trajectories_at_success: true
+  max_image_cache_size: all
+  num_dataload_workers: 2
+  num_iterations: 500000
+  eval_episodes: 63
+  log_freq: 1000
+  eval_freq: 5000
+  save_freq: 5000
+  torch_deterministic: true
+  save_backup_ckpts: false
+logger:
+  workspace: mshab_exps
+  exp_name: rcad-tidy_house-pick-all
+  clear_out: true
+  tensorboard: true
+  wandb: false
+model_ckpt: "mshab_checkpoints/dp/tidy_house/pick/all/policy.pt"

dp/tidy_house/pick/all/policy.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf2907825f88969bcd4f6469ccfa9d5309060847fe37dfe376623420b7f36a02
+size 1183023810

dp/tidy_house/place/all/config.yml

@@ -0,0 +1,63 @@
+seed: 0
+eval_env:
+  env_id: PlaceSubtaskTrain-v0
+  num_envs: 63
+  max_episode_steps: 200
+  make_env: true
+  continuous_task: true
+  cat_state: true
+  cat_pixels: false
+  frame_stack: null
+  stack: 2
+  stationary_base: false
+  stationary_torso: false
+  stationary_head: true
+  task_plan_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/task_plans/tidy_house/place/train/all.json
+  spawn_data_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange/spawn_data/tidy_house/place/train/spawn_data.pt
+  record_video: false
+  debug_video: false
+  debug_video_gen: false
+  save_video_freq: 1
+  info_on_video: false
+  extra_stat_keys:
+  - is_grasped
+  - ee_rest
+  - robot_rest
+  - is_static
+  - cumulative_force_within_limit
+  env_kwargs:
+    robot_force_mult: 0.001
+    robot_force_penalty_min: 0.2
+    target_randomization: false
+algo:
+  name: diffusion_policy
+  lr: 0.0001
+  batch_size: 256
+  obs_horizon: 2
+  act_horizon: 1
+  pred_horizon: 16
+  diffusion_step_embed_dim: 256
+  unet_dims:
+  - 256
+  - 512
+  - 1024
+  n_groups: 8
+  data_dir_fp: /arshukla-fast-vol-1/ManiSkill/data/scene_datasets/replica_cad_dataset/rearrange-dataset/tidy_house/place
+  trajs_per_obj: all
+  truncate_trajectories_at_success: true
+  max_image_cache_size: all
+  num_dataload_workers: 2
+  num_iterations: 500000
+  eval_episodes: 63
+  log_freq: 1000
+  eval_freq: 5000
+  save_freq: 5000
+  torch_deterministic: true
+  save_backup_ckpts: false
+logger:
+  workspace: mshab_exps
+  exp_name: rcad-tidy_house-place-all
+  clear_out: true
+  tensorboard: true
+  wandb: false
+model_ckpt: "mshab_checkpoints/dp/tidy_house/place/all/policy.pt"

dp/tidy_house/place/all/policy.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0de89ade0116c5044a0a010974a8434d93f4f0e56f0240353f9388606fa9189c
+size 1183023810