Grasping model for table clearing depth input

SAC_1m_table_clearing/SAC_10m_table.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dea64249ea4816a88eac6f6c738550dc79aefa3fb07cb999ef2a67e07f0ac5e
+size 8051409

SAC_1m_table_clearing/best_model/best_model.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f50ee824ce420c3c48df193ee8bc5a9de127feaadc2655281c4c017b754ace4e
+size 8051409

SAC_1m_table_clearing/best_model/config.yaml

@@ -0,0 +1,65 @@
+BDQ:
+  batch_size: 64
+  buffer_size: 1000000
+  epsilon_greedy: true
+  exploration_final_eps: 0.1
+  exploration_fraction: 0.3
+  layers:
+  - [64, 64]
+  - [32]
+  - [32]
+  learning_rate: 0.0001
+  learning_starts: 1000
+  num_actions_pad: 33
+  prioritized_replay: false
+  save_dir: BDQ1mSimplified
+  target_network_update_freq: 1000
+  tensorboard_logs: null
+  total_timesteps: 4000000
+DDPG: {save_dir: DDPG, tensorboard_logs: DDPG, total_timesteps: 2000000}
+DQN: {batch_size: 32, learning_rate: 0.001, prioritized_replay: true, save_dir: DQN4mFull,
+  tensorboard_logs: null, total_timesteps: 4000000}
+PPO: {learning_rate: 0.001, n_steps: 2000, save_dir: ppo_5m, tensorboard_logs: tensorboard_logs/ppo_5m,
+  total_timesteps: 1000000}
+SAC:
+  batch_size: 64
+  buffer_size: 1000000
+  layers: [64, 64]
+  max_iters: 400
+  save_dir: SAC_10m_table
+  step_size: 0.0003
+  tensorboard_logs: null
+  total_timesteps: 10000000
+TRPO: {batch_size: 64, max_iters: 400, save_dir: trpo_1m, step_size: 0.001, tensorboard_logs: tensorboard_logs/trpo_1m,
+  total_timesteps: 5000000}
+algorithm: sac
+curriculum:
+  extent: [0.01, 0.1]
+  init_lambda: 0.0
+  lift_dist: [0.015, 0.1]
+  max_objects: [1, 5]
+  min_objects: [1, 1]
+  n_steps: 8
+  robot_height: [0.15, 0.25]
+  success_threshold: 0.7
+  window_size: 1000
+depth_observation: true
+discount_factor: 0.99
+full_observation: false
+normalize: true
+reward: {custom: true, delta_z_scale: 1000.0, grasp_reward: 100.0, shaped: true, terminal_reward: 10000.0,
+  time_penalty: 200.0, table_clearing: True}
+robot: {discrete: false, max_force: 100, max_translation: 0.05, max_yaw_rotation: 0.20,
+  model_path: models/gripper/wsg50_one_motor_gripper_new.sdf, num_actions_pad: 2,
+  step_size: 0.01, yaw_step: 0.1}
+scene: {data_set: random_urdfs, scene_type: OnTable}
+sensor:
+  camera_info: config/camera_info.yaml
+  encoder_dir: encoder_files/new_gripper_encoder
+  randomize: {focal_length: 4, optical_center: 2, rotation: 0.0349, translation: 0.002}
+  transform: config/camera_transform.yaml
+  visualize: false
+simplified: false
+simulation: {real_time: false, visualize: false}
+skip_empty_initial_state: true
+time_horizon: 200

SAC_1m_table_clearing/best_model/logs/evaluations.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b929cacf83bdc30ff352918ee9b6956e2611ddf2d536b4abeea376ce7f8f669d
+size 26370

SAC_1m_table_clearing/best_model/vecnormalize.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb993568ad3fe89117e99cb52cd4bf904ac1c97f57c94cc13271a6937012d5b7
+size 252579

SAC_1m_table_clearing/config.yaml

@@ -0,0 +1,65 @@
+BDQ:
+  batch_size: 64
+  buffer_size: 1000000
+  epsilon_greedy: true
+  exploration_final_eps: 0.1
+  exploration_fraction: 0.3
+  layers:
+  - [64, 64]
+  - [32]
+  - [32]
+  learning_rate: 0.0001
+  learning_starts: 1000
+  num_actions_pad: 33
+  prioritized_replay: false
+  save_dir: BDQ1mSimplified
+  target_network_update_freq: 1000
+  tensorboard_logs: null
+  total_timesteps: 4000000
+DDPG: {save_dir: DDPG, tensorboard_logs: DDPG, total_timesteps: 2000000}
+DQN: {batch_size: 32, learning_rate: 0.001, prioritized_replay: true, save_dir: DQN4mFull,
+  tensorboard_logs: null, total_timesteps: 4000000}
+PPO: {learning_rate: 0.001, n_steps: 2000, save_dir: ppo_5m, tensorboard_logs: tensorboard_logs/ppo_5m,
+  total_timesteps: 1000000}
+SAC:
+  batch_size: 64
+  buffer_size: 1000000
+  layers: [64, 64]
+  max_iters: 400
+  save_dir: SAC_10m_table
+  step_size: 0.0003
+  tensorboard_logs: null
+  total_timesteps: 10000000
+TRPO: {batch_size: 64, max_iters: 400, save_dir: trpo_1m, step_size: 0.001, tensorboard_logs: tensorboard_logs/trpo_1m,
+  total_timesteps: 5000000}
+algorithm: sac
+curriculum:
+  extent: [0.01, 0.1]
+  init_lambda: 0.0
+  lift_dist: [0.015, 0.1]
+  max_objects: [1, 5]
+  min_objects: [1, 1]
+  n_steps: 8
+  robot_height: [0.15, 0.25]
+  success_threshold: 0.7
+  window_size: 1000
+depth_observation: true
+discount_factor: 0.99
+full_observation: false
+normalize: true
+reward: {custom: true, delta_z_scale: 1000.0, grasp_reward: 100.0, shaped: true, terminal_reward: 10000.0,
+  time_penalty: 200.0}
+robot: {discrete: false, max_force: 100, max_translation: 0.03, max_yaw_rotation: 0.15,
+  model_path: models/gripper/wsg50_one_motor_gripper_new.sdf, num_actions_pad: 2,
+  step_size: 0.01, yaw_step: 0.1}
+scene: {data_set: random_urdfs, scene_type: OnTable}
+sensor:
+  camera_info: config/camera_info.yaml
+  encoder_dir: encoder_files/new_gripper_encoder
+  randomize: {focal_length: 4, optical_center: 2, rotation: 0.0349, translation: 0.002}
+  transform: config/camera_transform.yaml
+  visualize: false
+simplified: false
+simulation: {real_time: false, visualize: false}
+skip_empty_initial_state: true
+time_horizon: 200

SAC_1m_table_clearing/vecnormalize.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a33d56ecf250e61c8eef396a5e9813d14c721ce6221f278eaba05af768e4e3c
+size 252579