diff --git a/processed/maniptrans/inspire/eval_comparison.json b/processed/maniptrans/inspire/eval_comparison.json
new file mode 100644
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diff --git a/processed/maniptrans/inspire/eval_multiseed.json b/processed/maniptrans/inspire/eval_multiseed.json
new file mode 100644
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\ No newline at end of file
diff --git a/processed/maniptrans/inspire/left/0b3a0@6/0/metrics_isaac.json b/processed/maniptrans/inspire/left/0b3a0@6/0/metrics_isaac.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9e15e9d4135df67f6487dc165a616a80eaf4425
--- /dev/null
+++ b/processed/maniptrans/inspire/left/0b3a0@6/0/metrics_isaac.json
@@ -0,0 +1,15 @@
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+}
\ No newline at end of file
diff --git a/processed/maniptrans/inspire/left/0b3a0@6/0/rollout_isaac.mp4 b/processed/maniptrans/inspire/left/0b3a0@6/0/rollout_isaac.mp4
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diff --git a/raw/maniptrans/rl_runs/baseline_0f900@0_inspire_lh/config.yaml b/raw/maniptrans/rl_runs/baseline_0f900@0_inspire_lh/config.yaml
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+task:
+ name: ${concat:ResDexHand,${..side}}
+ physics_engine: ${..physics_engine}
+ seed: ${..seed}
+ env:
+ numEnvs: ${resolve_default:8192,${...num_envs}}
+ dexhand: ${...dexhand}
+ episodeLength: 1200
+ training: ${if:${...test},False,True}
+ usePIDControl: ${...usePIDControl}
+ rolloutStateInit: ${resolve_default:False,${...rolloutStateInit}}
+ randomStateInit: ${resolve_default:True,${...randomStateInit}}
+ dataIndices: ${resolve_default:[],${...dataIndices}}
+ obsFutureLength: 1
+ rolloutLen: ${resolve_default:None,${...rolloutLen}}
+ rolloutBegin: ${resolve_default:None,${...rolloutBegin}}
+ clipObservations: 5.0
+ clipActions: 1.0
+ furniture: just_one_leg
+ frankaDofNoise: 0.25
+ targetLiftHeight: 0.05
+ distanceReward: 0.1
+ liftReward: 1.0
+ successReward: 1.0
+ aggregateMode: 3
+ tightenMethod: exp_decay
+ tightenFactor: 0.7
+ tightenSteps: 3200
+ actionScale: 1.0
+ useQuatRot: false
+ propDumpInfo:
+ q_rh: ${ndof:${....dexhand}}
+ q_lh: ${ndof:${....dexhand}}
+ dq_rh: ${ndof:${....dexhand}}
+ dq_lh: ${ndof:${....dexhand}}
+ state_rh: 13
+ state_lh: 13
+ state_manip_obj_rh: 13
+ state_manip_obj_lh: 13
+ joint_state_rh: ${eval:'${nbody:${....dexhand}}*13'}
+ joint_state_lh: ${eval:'${nbody:${....dexhand}}*13'}
+ tip_force_rh: 15
+ tip_force_lh: 15
+ reward: 1
+ actionsMovingAverage: ${...actionsMovingAverage}
+ translationScale: 1.0
+ orientationScale: 0.1
+ bimanual_mode: ${...bimanual_mode}
+ propObsDim: ${is_both_hands:${eval:'13+${ndof:${...dexhand}}*3'},${...side}}
+ obsKeys:
+ - q
+ - cos_q
+ - sin_q
+ - base_state
+ privilegedObsDim: ${is_both_hands:${eval:'${ndof:${...dexhand}}+13+5*4+3+1'},${...side}}
+ privilegedObsKeys:
+ - dq
+ - manip_obj_pos
+ - manip_obj_quat
+ - manip_obj_vel
+ - manip_obj_ang_vel
+ - tip_force
+ - manip_obj_com
+ - manip_obj_weight
+ enableCameraSensors: false
+ sim:
+ dt: 0.0166667
+ substeps: 2
+ up_axis: z
+ use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
+ gravity:
+ - 0.0
+ - 0.0
+ - -9.81
+ physx:
+ num_threads: ${....num_threads}
+ solver_type: ${....solver_type}
+ use_gpu: ${contains:"cuda",${....sim_device}}
+ num_position_iterations: 8
+ num_velocity_iterations: 1
+ contact_offset: 0.005
+ rest_offset: 0.0
+ bounce_threshold_velocity: 0.2
+ max_depenetration_velocity: 1000.0
+ default_buffer_size_multiplier: 5.0
+ max_gpu_contact_pairs: 4194304
+ num_subscenes: ${....num_subscenes}
+ contact_collection: 1
+ task:
+ randomize: ${if:${...test},False,True}
+ randomization_params:
+ frequency: 32
+ sim_params:
+ gravity:
+ operation: scaling
+ schedule: linear_decay
+ schedule_steps: 1920
+ external_sample:
+ type: const_scale
+ init_value: 0
+ actor_params:
+ manip_obj:
+ color: true
+ rigid_shape_properties:
+ friction:
+ num_buckets: 250
+ operation: scaling
+ schedule: linear_decay
+ schedule_steps: 1920
+ external_sample:
+ type: const_scale
+ init_value: 3
+ upper_bound: 6.0
+ lower_bound: 1.0
+ manip_obj_rh:
+ color: true
+ rigid_shape_properties:
+ friction:
+ num_buckets: 250
+ operation: scaling
+ schedule: linear_decay
+ schedule_steps: 1920
+ external_sample:
+ type: const_scale
+ init_value: 3
+ upper_bound: 6.0
+ lower_bound: 1.0
+ manip_obj_lh:
+ color: true
+ rigid_shape_properties:
+ friction:
+ num_buckets: 250
+ operation: scaling
+ schedule: linear_decay
+ schedule_steps: 1920
+ external_sample:
+ type: const_scale
+ init_value: 3
+ upper_bound: 6.0
+ lower_bound: 1.0
+rl_train:
+ params:
+ seed: ${...seed}
+ algo:
+ name: ppo
+ model:
+ name: ${res_side:${....side},my_continuous_a2c_logstd}
+ base_model_obs_shape:
+ privileged: ${...base_privileged_dim}
+ proprioception: ${...base_proprioception_dim}
+ target: ${...base_target_dim}
+ rh_base_model_checkpoint: ${..rh_base_model_checkpoint}
+ lh_base_model_checkpoint: ${..lh_base_model_checkpoint}
+ network:
+ name: ${res_side:${....side},dict_obs_actor_critic}
+ separate: false
+ space:
+ continuous:
+ mu_activation: None
+ sigma_activation: None
+ mu_init:
+ name: glorot_normal_initializer
+ gain: 0.01
+ sigma_init:
+ name: const_initializer
+ val: -1
+ fixed_sigma: true
+ dict_feature_encoder:
+ _target_: lib.nn.features.SimpleFeatureFusion
+ extractors:
+ privileged:
+ _target_: lib.nn.features.Identity
+ input_dim: ${is_united_model:${.......bimanual_mode},${.......side},${eval:'${.....base_privileged_dim}+13+5*4+3+1'}}
+ proprioception:
+ _target_: lib.nn.features.Identity
+ input_dim: ${is_united_model:${.......bimanual_mode},${.......side},${.....base_proprioception_dim}}
+ target:
+ _target_: lib.nn.features.Identity
+ input_dim: ${is_united_model:${.......bimanual_mode},${.......side},${eval:'${.....base_target_dim}+3+3+3+4+4+3+3+${nbody:${.....dexhand}}+5+128'}}
+ hidden_depth: 3
+ hidden_dim: 512
+ output_dim: 256
+ activation: swish
+ add_input_activation: false
+ add_output_activation: false
+ mlp:
+ units:
+ - 256
+ - 512
+ - 128
+ - 64
+ activation: elu
+ d2rl: false
+ initializer:
+ name: default
+ regularizer:
+ name: None
+ base_model:
+ name: dict_obs_actor_critic
+ rh_checkpoint: ${...rh_base_model_checkpoint}
+ lh_checkpoint: ${...lh_base_model_checkpoint}
+ separate: false
+ action_size: ${eval:'6+${ndof:${...dexhand}}'}
+ space:
+ continuous:
+ mu_activation: None
+ sigma_activation: None
+ mu_init:
+ name: default
+ sigma_init:
+ name: const_initializer
+ val: 0
+ fixed_sigma: true
+ dict_feature_encoder:
+ _target_: lib.nn.features.SimpleFeatureFusion
+ extractors:
+ privileged:
+ _target_: lib.nn.features.Identity
+ input_dim: ${......base_privileged_dim}
+ proprioception:
+ _target_: lib.nn.features.Identity
+ input_dim: ${......base_proprioception_dim}
+ target:
+ _target_: lib.nn.features.Identity
+ input_dim: ${......base_target_dim}
+ hidden_depth: 3
+ hidden_dim: 512
+ output_dim: 256
+ activation: swish
+ add_input_activation: false
+ add_output_activation: false
+ mlp:
+ units:
+ - 256
+ - 512
+ - 128
+ - 64
+ activation: elu
+ d2rl: false
+ initializer:
+ name: default
+ regularizer:
+ name: None
+ load_checkpoint: ${if:${...checkpoint},True,False}
+ load_path: ${...checkpoint}
+ rh_base_model_checkpoint: ${...rh_base_model_checkpoint}
+ lh_base_model_checkpoint: ${...lh_base_model_checkpoint}
+ dexhand: ${...dexhand}
+ base_privileged_dim: ${ndof:${dexhand}}
+ base_proprioception_dim: ${eval:'13+${ndof:${...dexhand}}*3'}
+ base_target_dim: ${eval:'3+3+3+4+4+3+3+(${nbody:${...dexhand}}-1)*3*3'}
+ config:
+ name: ${resolve_default:ResDexHand,${....experiment}}
+ full_experiment_name: baseline_0f900@0_inspire_lh__02-14-20-02-07
+ env_name: rlgpu
+ multi_gpu: ${....multi_gpu}
+ ppo: true
+ mixed_precision: false
+ normalize_input: true
+ normalize_input_excluded_keys: []
+ normalize_value: true
+ use_pid_control: ${....usePIDControl}
+ value_bootstrap: true
+ num_actors: ${....task.env.numEnvs}
+ reward_shaper:
+ scale_value: 1.0
+ normalize_advantage: true
+ gamma: 0.99
+ tau: 0.95
+ learning_rate: ${resolve_default:5e-4,${....learning_rate}}
+ lr_schedule: warmup
+ warmup_steps: 10
+ schedule_type: standard
+ kl_threshold: 0.008
+ score_to_win: 10000
+ max_epochs: ${resolve_default:10000,${....max_iterations}}
+ early_stop_epochs: ${resolve_default:500,${....early_stop_epochs}}
+ save_best_after: 2
+ save_frequency: 100
+ print_stats: true
+ grad_norm: 1.0
+ entropy_coef: 0.0
+ truncate_grads: true
+ e_clip: 0.2
+ horizon_length: 32
+ minibatch_size: 1024
+ mini_epochs: 5
+ critic_coef: 4
+ clip_value: true
+ seq_len: 4
+ bounds_loss_coef: 0.0001
+ use_soft_clamp: true
+ mix_ratio: 0.5
+task_name: ${task.name}
+experiment: baseline
+side: LH
+bimanual_mode: united
+dexhand: inspire
+rh_base_model_checkpoint: assets/imitator_rh_inspire.pth
+lh_base_model_checkpoint: assets/imitator_lh_inspire.pth
+num_envs: 4096
+rolloutStateInit: false
+randomStateInit: true
+rolloutLen: null
+rolloutBegin: null
+learning_rate: 0.0002
+actionsMovingAverage: 0.4
+usePIDControl: false
+dataIndices:
+- 0f900@0
+seed: 42
+torch_deterministic: false
+max_iterations: 100
+early_stop_epochs: 9999999999999
+physics_engine: physx
+pipeline: gpu
+sim_device: cuda:0
+rl_device: cuda:0
+graphics_device_id: 0
+num_threads: 4
+solver_type: 1
+num_subscenes: 4
+test: false
+save_rollouts: false
+save_successful_rollouts_only: true
+num_rollouts_to_save: 20000
+num_rollouts_to_run: 9999999999999
+min_episode_length: 20
+checkpoint: ''
+from_ckpt_epoch: false
+sigma: ''
+multi_gpu: false
+wandb_activate: false
+wandb_group: ''
+wandb_name: ${rl_train.params.config.name}
+wandb_entity: null
+wandb_project: null
+wandb_tags: []
+wandb_logcode_dir: ''
+capture_video: false
+n_parallel_recorders: 8
+n_successful_videos_to_record: 50
+display: false
+headless: true
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