src/experiments/log/sloth/train/hydra.yaml

model:
  material:
    requires_grad: true
    output_scale: 1.0
    input_scale: 2.0
    radius: 0.2
    absolute_y: false
    pe_num_func_res: 0
  friction:
    value: 0.0
    requires_grad: false
  ckpt: null
  clip_bound: 1.5
  eef_t:
  - 0.0
  - 0.0
  - 0.01
  gripper_radius: 0.04
render:
  width: 512
  height: 512
  skip_frame: 1
  bound: 1.5
  fps: 5
  radius_scale: 500
  center:
  - 0.5
  - 0.3
  - 0.5
  distance: 1.4
  azimuth: -125
  elevation: 30
  reflectance:
  - 0.92941176
  - 0.32941176
  - 0.23137255
sim:
  num_steps_train: 5
  num_steps: 1000
  interval: 1
  num_grids:
  - 50
  - 50
  - 50
  - 0.02
  dt: 0.1
  bound: 3
  eps: 1.0e-07
  skip_frame: 1
  num_grippers: 1
  preprocess_scale: 1.0
  preprocess_with_table: true
  n_particles: 1000
  gripper_forcing: true
  gripper_points: false
  n_history: 2
  uniform: false
train:
  name: sloth/train
  dataset_name: sloth/dataset
  source_dataset_name: data/sloth_merged/sub_episodes_v
  num_iterations: 100000
  resume_iteration: 0
  batch_size: 32
  num_workers: 8
  material_lr: 0.0001
  material_wd: 0.0
  material_grad_max_norm: 0.1
  training_start_episode: 0
  training_end_episode: 113
  eval_start_episode: 113
  eval_end_episode: 133
  iteration_log_interval: 10
  iteration_save_interval: 1000
  iteration_eval_interval: 10000
  loss_factor: 1.0
  loss_factor_v: 0.0
  loss_factor_x: 100.0
  friction_lr: 0.1
  friction_wd: 0.0
  friction_grad_max_norm: 0.1
  dataset_load_skip_frame: 3
  dataset_skip_frame: 1
  downsample: false
  use_pv: false
  use_gs: false
  dataset_non_overwrite: true
seed: 0
cpu: 0
num_cpus: 128
gpus:
- 0
overwrite: false
resume: true
debug: false