File size: 22,684 Bytes
2a47f04 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 |
fabric:
_target_: lightning.fabric.Fabric
_convert_: all
accelerator: gpu
devices: ${ngpu}
num_nodes: ${nodes}
strategy:
_target_: lightning.fabric.strategies.DDPStrategy
precision: ${amp_precision}
loggers:
- _target_: lightning.fabric.loggers.TensorBoardLogger
root_dir: ${save_dir}
- _target_: lightning.pytorch.loggers.WandbLogger
name: ${experiment_name}
save_dir: ${save_dir}
project: ${wandb.wandb_project}
tags: ${wandb.wandb_tags}
group: ${wandb.wandb_group}
id: ${wandb.wandb_id}
entity: ${wandb.wandb_entity}
resume: ${wandb.wandb_resume}
ngpu: 1
nodes: 1
torch_deterministic: false
amp_precision: 32-true
eval_overrides:
ngpu: 1
nodes: 1
fabric:
loggers: null
headless: false
num_envs: 1
agent:
config:
expert_model_path: null
vae:
noise_type: zeros
motion_manager:
motion_sampling:
init_start_prob: 1.0
reset_track:
steps_min: 1000000
steps_max: 1000001
env:
config:
max_episode_length: 10000
enable_height_termination: false
mimic_early_termination: null
agent:
_target_: protomotions.agents.masked_mimic.agent.MaskedMimic
_recursive_: false
config:
model:
_target_: protomotions.agents.masked_mimic.model.VaeDeterministicOutputModel
_recursive_: false
config:
vae_latent_dim: ${agent.config.vae.latent_dim}
vae_noise_type: ${agent.config.vae.noise_type}
trunk:
_target_: protomotions.agents.common.mlp.MultiHeadedMLP
_recursive_: false
num_out: ${robot.number_of_actions}
config:
input_models:
self_obs:
_target_: protomotions.agents.common.common.Flatten
_recursive_: false
num_in: ${env.config.humanoid_obs.obs_size}
num_out: ${.num_in}
config:
obs_key: self_obs
normalize_obs: true
norm_clamp_value: 5
vae_latent:
_target_: protomotions.agents.common.common.Flatten
_recursive_: false
num_in: ${agent.config.vae.latent_dim}
num_out: ${.num_in}
config:
obs_key: vae_latent
normalize_obs: false
norm_clamp_value: null
terrain: ${agent.config.modules.mlp_terrain}
trunk:
_target_: protomotions.agents.common.mlp.MLP
_recursive_: false
num_out: ${robot.number_of_actions}
config:
layers:
- units: 1024
activation: relu
use_layer_norm: false
- units: 1024
activation: relu
use_layer_norm: false
- units: 512
activation: relu
use_layer_norm: false
optimizer:
_target_: torch.optim.Adam
lr: 2.0e-05
encoder:
_target_: protomotions.agents.masked_mimic.model.VaeModule
_recursive_: false
config:
trunk:
_target_: protomotions.agents.common.mlp.MultiHeadedMLP
_recursive_: false
num_out: 512
config:
input_models:
self_obs:
_target_: protomotions.agents.common.common.Flatten
_recursive_: false
num_in: ${env.config.humanoid_obs.obs_size}
num_out: ${.num_in}
config:
obs_key: self_obs
normalize_obs: true
norm_clamp_value: 5
mimic_target_poses:
_target_: protomotions.agents.common.common.Flatten
_recursive_: false
num_in: ${eval:${env.config.mimic_target_pose.num_future_steps}*${env.config.mimic_target_pose.num_obs_per_target_pose}}
num_out: ${.num_in}
config:
normalize_obs: true
norm_clamp_value: 5
obs_key: mimic_target_poses
masked_mimic_target_bodies_masks:
_target_: protomotions.agents.common.common.Flatten
config:
normalize_obs: false
obs_clamp_value: null
obs_key: masked_mimic_target_bodies_masks
num_in: ${eval:${eval:${len:${robot.trackable_bodies_subset}}+1}*2*${env.config.masked_mimic.masked_mimic_target_pose.num_future_steps}}
num_out: ${.num_in}
trunk:
_target_: protomotions.agents.common.mlp.MLP
_recursive_: false
num_out: 512
config:
layers:
- units: 1024
activation: relu
use_layer_norm: false
- units: 1024
activation: relu
use_layer_norm: false
- units: 1024
activation: relu
use_layer_norm: false
- units: 1024
activation: relu
use_layer_norm: false
- units: 1024
activation: relu
use_layer_norm: false
mu_head: ${agent.config.modules.mlp_vae_output_head}
logvar_head: ${agent.config.modules.mlp_vae_output_head}
prior:
_target_: protomotions.agents.masked_mimic.model.VaeModule
_recursive_: false
config:
trunk:
_target_: protomotions.agents.common.transformer.Transformer
_recursive_: false
num_out: ${robot.number_of_actions}
config:
transformer_token_size: ${.latent_dim}
latent_dim: ${agent.config.modules.transformer_latent_dim}
ff_size: 1024
num_layers: 4
num_heads: 4
dropout: 0
activation: relu
use_layer_norm: false
input_models:
obs_mlp:
_target_: protomotions.agents.common.mlp.MLP_WithNorm
_recursive_: false
num_in: ${env.config.humanoid_obs.obs_size}
num_out: ${...transformer_token_size}
config:
mask_key: null
obs_key: self_obs
normalize_obs: true
norm_clamp_value: 5
layers:
- units: ${agent.config.modules.transformer_encoder_widths}
activation: relu
use_layer_norm: false
- units: ${agent.config.modules.transformer_encoder_widths}
activation: relu
use_layer_norm: false
masked_mimic_target_poses: ${agent.config.modules.masked_mimic_target_pose_model}
historical_pose_obs: ${agent.config.modules.historical_pose_obs_model}
motion_text_embeddings: ${agent.config.modules.motion_text_embeddings_for_transformer_model}
mu_head: ${agent.config.modules.transformer_vae_output_head}
logvar_head: ${agent.config.modules.transformer_vae_output_head}
gamma: 0.99
tau: 0.95
e_clip: 0.2
normalize_values: false
normalize_advantage: false
gradient_clip_val: 50.0
clip_critic_loss: true
eval_metric_keys:
- cartesian_err
- gt_err
- dv_rew
- kb_rew
- lr_rew
- rv_rew
- rav_rew
- gr_err
- gr_err_degrees
- masked_gt_err
- masked_gr_err
- masked_gr_err_degrees
eval_length: null
eval_num_episodes: 1
training_early_termination:
early_terminate_cart_err: null
early_terminate_success_rate: null
num_steps: 32
fail_on_bad_grads: false
check_grad_mag: true
batch_size: 8192
task_reward_w: 1.0
num_mini_epochs: 6
max_eval_steps: null
eval_metrics_every: 200
num_games: null
manual_save_every: 10
max_epochs: ${eval:${training_max_steps}//${ngpu}//${num_envs}//${.num_steps}}
expert_model_path: null
vae:
noise_type: normal
latent_dim: 64
kld_schedule:
init_kld_coeff: 0.0001
end_kld_coeff: 0.01
start_epoch: 3000
end_epoch: 6000
extra_inputs:
mimic_target_poses: true
masked_mimic_target_poses: true
masked_mimic_target_bodies_masks: true
masked_mimic_target_poses_masks: true
motion_text_embeddings: true
motion_text_embeddings_mask: true
historical_pose_obs: true
terrain: true
modules:
mlp_vae_output_head:
_target_: protomotions.agents.common.mlp.MLP
_recursive_: false
num_in: 512
num_out: ${agent.config.vae.latent_dim}
config:
layers:
- units: 256
activation: relu
use_layer_norm: false
- units: 128
activation: relu
use_layer_norm: false
transformer_latent_dim: 512
transformer_encoder_widths: 256
transformer_vae_output_head:
_target_: protomotions.agents.common.mlp.MLP
_recursive_: false
num_in: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size}
num_out: ${agent.config.vae.latent_dim}
config:
layers:
- units: 256
activation: relu
use_layer_norm: false
- units: 128
activation: relu
use_layer_norm: false
masked_mimic_target_pose_model:
_target_: protomotions.agents.common.mlp.MLP_WithNorm
_recursive_: false
num_in: ${env.config.masked_mimic.masked_mimic_target_pose.num_obs_per_sparse_target_pose}
num_out: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size}
config:
obs_key: masked_mimic_target_poses
mask_key: masked_mimic_target_poses_masks
normalize_obs: true
norm_clamp_value: 5
operations:
- type: reshape
new_shape:
- -1
- ${env.config.masked_mimic.masked_mimic_target_pose.num_obs_per_sparse_target_pose}
- type: encode
- type: reshape
new_shape:
- batch_size
- ${eval:${env.config.masked_mimic.masked_mimic_target_pose.num_future_steps}+1}
- ${agent.config.model.config.prior.config.trunk.config.transformer_token_size}
layers:
- units: ${agent.config.modules.transformer_encoder_widths}
activation: relu
use_layer_norm: false
- units: ${agent.config.modules.transformer_encoder_widths}
activation: relu
use_layer_norm: false
historical_pose_obs_model:
_target_: protomotions.agents.common.mlp.MLP_WithNorm
_recursive_: false
num_in: ${eval:${env.config.humanoid_obs.obs_size}+1}
num_out: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size}
config:
obs_key: historical_pose_obs
mask_key: null
normalize_obs: true
norm_clamp_value: 5
operations:
- type: reshape
new_shape:
- -1
- ${eval:${env.config.humanoid_obs.obs_size}+1}
- type: encode
- type: reshape
new_shape:
- batch_size
- ${env.config.masked_mimic.historical_obs.num_historical_conditioned_steps}
- ${agent.config.model.config.prior.config.trunk.config.transformer_token_size}
layers:
- units: ${agent.config.modules.transformer_encoder_widths}
activation: relu
use_layer_norm: false
- units: ${agent.config.modules.transformer_encoder_widths}
activation: relu
use_layer_norm: false
motion_text_embeddings_for_transformer_model:
_target_: protomotions.agents.common.mlp.MLP_WithNorm
_recursive_: false
num_in: ${env.config.masked_mimic.motion_text_embeddings.embedding_dim}
num_out: ${agent.config.model.config.prior.config.trunk.config.transformer_token_size}
config:
obs_key: motion_text_embeddings
mask_key: motion_text_embeddings_mask
normalize_obs: true
norm_clamp_value: 5
operations:
- type: encode
- type: reshape
new_shape:
- batch_size
- 1
- ${agent.config.modules.motion_text_embeddings_for_transformer_model.num_out}
layers:
- units: ${agent.config.modules.transformer_encoder_widths}
activation: relu
use_layer_norm: false
- units: ${agent.config.modules.transformer_encoder_widths}
activation: relu
use_layer_norm: false
mlp_terrain:
_target_: protomotions.agents.common.common.Flatten
num_in: ${terrain.config.terrain_obs_num_samples}
num_out: ${.num_in}
config:
obs_key: terrain
normalize_obs: true
norm_clamp_value: 5
env:
_target_: protomotions.envs.mimic.env.Mimic
_recursive_: false
config:
experiment_name: ${experiment_name}
num_envs: ${num_envs}
headless: ${headless}
simulator: ${simulator}
max_episode_length: 1000
robot: ${robot}
humanoid_obs:
use_max_coords_obs: true
obs_size: ${robot.self_obs_size}
local_root_obs: true
root_height_obs: true
num_historical_steps: 120
termination_height: 0.15
head_termination_height: 0.3
enable_height_termination: false
motion_lib: ${motion_lib}
motion_manager: ${motion_manager}
hybrid_init_prob: 0.0
state_init: Data
ref_respawn_offset: ${ref_respawn_offset}
terrain: ${terrain}
sync_motion: ${sync_motion}
scenes: null
mimic_residual_control: false
mimic_early_termination:
- mimic_early_termination_key: max_joint_err
mimic_early_termination_thresh: 0.5
mimic_early_termination_thresh_on_flat: 0.25
less_than: false
mimic_reward_config:
positive_constant: 0
relative_kb_pos: false
add_rr_to_lr: true
rt_ignore_height: true
mean_before_exp: true
component_weights:
gr_rew_w: 0.3
lr_rew_w: 0
gt_rew_w: 0.5
rt_rew_w: 0
rv_rew_w: 0
rav_rew_w: 0
gv_rew_w: 0.1
gav_rew_w: 0.1
kb_rew_w: 0
dv_rew_w: 0.0
rh_rew_w: 0.2
pow_rew_w: 1.0e-05
component_coefficients:
gt_rew_c: -100
rt_rew_c: -120
rv_rew_c: -1
rav_rew_c: -0.3
gv_rew_c: -0.5
gav_rew_c: -0.1
kb_rew_c: -10
gr_rew_c: -10
lr_rew_c: -2
dv_rew_c: -0.005
rh_rew_c: -100
kbf_rew_c: -0.01
mimic_phase_obs:
enabled: false
mimic_target_pose:
enabled: true
type: max-coords-future-rel
with_time: true
with_contacts: false
num_future_steps: 15
num_obs_per_target_pose: ${.base_num_obs_per_target_pose}
base_num_obs_per_target_pose: ${eval:${.num_obs_per_joint}*${robot.num_bodies}+1*${.with_time}}
num_obs_per_joint: 18
masked_mimic:
enabled: true
masked_mimic_masking:
joint_masking:
masked_mimic_time_gap_probability: 0.1
time_gap_mask_min_steps: 1
time_gap_mask_max_steps: ${eval:${env.config.mimic_target_pose.num_future_steps}+1}
with_conditioning_time_gap_mask_max_steps: ${eval:${.time_gap_mask_max_steps}*4}
with_conditioning_max_gap_probability: 0.2
masked_mimic_repeat_mask_probability: 0.98
masked_mimic_fixed_conditioning: null
force_max_conditioned_bodies_prob: 0.1
force_small_num_conditioned_bodies_prob: 0.1
target_pose_visible_prob: 0.2
motion_text_embeddings_visible_prob: 0.5
masked_mimic_target_pose:
num_obs_per_sparse_target_pose: ${eval:${.num_obs_per_target_pose}*${eval:${len:${robot.trackable_bodies_subset}}+1}//${robot.num_bodies}+${eval:${len:${robot.trackable_bodies_subset}}+1}*2+2}
num_future_steps: 10
num_obs_per_joint: 24
num_obs_per_target_pose: ${eval:${.num_obs_per_joint}*${robot.num_bodies}}
motion_text_embeddings:
embedding_dim: 512
historical_obs:
num_historical_conditioned_steps: 15
robot:
dof_obs_size: 138
number_of_actions: 69
self_obs_size: ${.self_obs_max_coords_size}
self_obs_max_coords_size: 358
num_bodies: ${len:${.body_names}}
contact_bodies: ${.body_names}
body_names:
- Pelvis
- L_Hip
- L_Knee
- L_Ankle
- L_Toe
- R_Hip
- R_Knee
- R_Ankle
- R_Toe
- Torso
- Spine
- Chest
- Neck
- Head
- L_Thorax
- L_Shoulder
- L_Elbow
- L_Wrist
- L_Hand
- R_Thorax
- R_Shoulder
- R_Elbow
- R_Wrist
- R_Hand
dof_names:
- L_Hip_x
- L_Hip_y
- L_Hip_z
- L_Knee_x
- L_Knee_y
- L_Knee_z
- L_Ankle_x
- L_Ankle_y
- L_Ankle_z
- L_Toe_x
- L_Toe_y
- L_Toe_z
- R_Hip_x
- R_Hip_y
- R_Hip_z
- R_Knee_x
- R_Knee_y
- R_Knee_z
- R_Ankle_x
- R_Ankle_y
- R_Ankle_z
- R_Toe_x
- R_Toe_y
- R_Toe_z
- Torso_x
- Torso_y
- Torso_z
- Spine_x
- Spine_y
- Spine_z
- Chest_x
- Chest_y
- Chest_z
- Neck_x
- Neck_y
- Neck_z
- Head_x
- Head_y
- Head_z
- L_Thorax_x
- L_Thorax_y
- L_Thorax_z
- L_Shoulder_x
- L_Shoulder_y
- L_Shoulder_z
- L_Elbow_x
- L_Elbow_y
- L_Elbow_z
- L_Wrist_x
- L_Wrist_y
- L_Wrist_z
- L_Hand_x
- L_Hand_y
- L_Hand_z
- R_Thorax_x
- R_Thorax_y
- R_Thorax_z
- R_Shoulder_x
- R_Shoulder_y
- R_Shoulder_z
- R_Elbow_x
- R_Elbow_y
- R_Elbow_z
- R_Wrist_x
- R_Wrist_y
- R_Wrist_z
- R_Hand_x
- R_Hand_y
- R_Hand_z
trackable_bodies_subset:
- Pelvis
- L_Ankle
- R_Ankle
- L_Hand
- R_Hand
- Head
dof_body_ids:
- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10
- 11
- 12
- 13
- 14
- 15
- 16
- 17
- 18
- 19
- 20
- 21
- 22
- 23
dof_effort_limits: null
dof_vel_limits: null
dof_armatures: null
dof_joint_frictions: null
key_bodies:
- R_Ankle
- L_Ankle
- L_Hand
- R_Hand
non_termination_contact_bodies:
- R_Ankle
- L_Ankle
- R_Toe
- L_Toe
left_foot_name: L_Ankle
right_foot_name: R_Ankle
head_body_name: Head
init_state: null
contact_pairs_multiplier: 16
num_key_bodies: ${len:${robot.key_bodies}}
mimic_small_marker_bodies: null
control:
control_type: built_in_pd
use_biased_controller: false
map_actions_to_pd_range: true
stiffness: null
damping: null
action_scale: 1.0
clamp_actions: 1.0
asset:
collapse_fixed_joints: null
replace_cylinder_with_capsule: null
flip_visual_attachments: null
armature: null
thickness: null
max_angular_velocity: null
max_linear_velocity: null
density: null
angular_damping: null
linear_damping: null
disable_gravity: null
fix_base_link: null
default_dof_drive_mode: 1
robot_type: smpl_humanoid
asset_root: protomotions/data/assets
self_collisions: true
filter_ints:
- 0
- 0
- 7
- 16
- 12
- 0
- 56
- 2
- 33
- 128
- 0
- 192
- 0
- 64
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
asset_file_name: mjcf/smpl_humanoid.xml
usd_asset_file_name: usd/smpl_humanoid.usda
sim:
isaacgym:
fps: 60
decimation: 2
substeps: 2
isaaclab:
fps: 120
decimation: 4
genesis:
fps: 60
decimation: 2
substeps: 2
simulator:
_target_: protomotions.simulator.isaaclab.simulator.IsaacLabSimulator
_config_target_: protomotions.simulator.isaaclab.config.IsaacLabSimulatorConfig
_recursive_: false
config:
w_last: false
headless: ${headless}
robot: ${robot}
num_envs: ${num_envs}
plane:
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
sim:
fps: ${robot.sim.isaaclab.fps}
decimation: ${robot.sim.isaaclab.decimation}
physx:
num_threads: 4
solver_type: 1
num_position_iterations: 4
num_velocity_iterations: 0
contact_offset: 0.02
rest_offset: 0.0
bounce_threshold_velocity: 0.2
max_depenetration_velocity: 10.0
default_buffer_size_multiplier: 10.0
gpu_found_lost_pairs_capacity: ${eval:2**21}
gpu_max_rigid_contact_count: ${eval:2**23}
gpu_found_lost_aggregate_pairs_capacity: ${eval:2**25}
camera: null
record_viewer: false
viewer_record_dir: output/recordings/viewer
experiment_name: ${experiment_name}
motion_lib:
_target_: protomotions.utils.motion_lib.MotionLib
motion_file: ${motion_file}
ref_height_adjust: 0.0
fix_motion_heights: true
motion_file: ???
terrain:
_target_: protomotions.envs.base_env.env_utils.terrains.terrain.Terrain
config:
terrain_composition: curriculum
map_length: 20.0
map_width: 20.0
border_size: 40.0
num_levels: 7
num_terrains: 7
terrain_proportions:
- 0.2
- 0.1
- 0.1
- 0.1
- 0.05
- 0.0
- 0.0
- 0.45
slope_threshold: 0.9
num_samples_per_axis: 16
sample_width: 1
terrain_obs_num_samples: ${eval:${.num_samples_per_axis}**2}
horizontal_scale: 0.1
vertical_scale: 0.005
spacing_between_scenes: 10
minimal_humanoid_spacing: 0
terrain_path: null
load_terrain: false
save_terrain: false
seed: 0
training_max_steps: 100000000000
codebase_version: 1.0
headless: true
sync_motion: false
checkpoint: null
experiment_name: maskedmimic
base_dir: results
save_dir: ${base_dir}/${experiment_name}
num_envs: 2048
motion_manager:
fixed_motion_per_env: false
fixed_motion_id: null
motion_index_offset: null
motion_sampling:
init_start_prob: 0.2
reset_track:
steps_min: 10
steps_max: 600
grace_period: 5
ref_respawn_offset: 0.05
wandb:
wandb_project: physical_animation
wandb_tags: null
wandb_group: null
wandb_id: null
wandb_entity: null
wandb_resume: allow
|