61 lines
2.8 KiB
Python
61 lines
2.8 KiB
Python
MODEL_SIZE = { # parameters (M)
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1: {'enc_dim': 256,
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'mlp_dim': 384,
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'latent_dim': 128,
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'num_enc_layers': 2,
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'num_q': 2},
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5: {'enc_dim': 256,
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'mlp_dim': 512,
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'latent_dim': 512,
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'num_enc_layers': 2},
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19: {'enc_dim': 1024,
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'mlp_dim': 1024,
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'latent_dim': 768,
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'num_enc_layers': 3},
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48: {'enc_dim': 1792,
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'mlp_dim': 1792,
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'latent_dim': 768,
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'num_enc_layers': 4},
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317: {'enc_dim': 4096,
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'mlp_dim': 4096,
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'latent_dim': 1376,
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'num_enc_layers': 5,
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'num_q': 8},
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}
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TASK_SET = {
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'mt30': [
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# 19 original dmcontrol tasks
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'walker-stand', 'walker-walk', 'walker-run', 'cheetah-run', 'reacher-easy',
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'reacher-hard', 'acrobot-swingup', 'pendulum-swingup', 'cartpole-balance', 'cartpole-balance-sparse',
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'cartpole-swingup', 'cartpole-swingup-sparse', 'cup-catch', 'finger-spin', 'finger-turn-easy',
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'finger-turn-hard', 'fish-swim', 'hopper-stand', 'hopper-hop',
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# 11 custom dmcontrol tasks
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'walker-walk-backwards', 'walker-run-backwards', 'cheetah-run-backwards', 'cheetah-run-front', 'cheetah-run-back',
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'cheetah-jump', 'hopper-hop-backwards', 'reacher-three-easy', 'reacher-three-hard', 'cup-spin',
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'pendulum-spin',
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],
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'mt80': [
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# 19 original dmcontrol tasks
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'walker-stand', 'walker-walk', 'walker-run', 'cheetah-run', 'reacher-easy',
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'reacher-hard', 'acrobot-swingup', 'pendulum-swingup', 'cartpole-balance', 'cartpole-balance-sparse',
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'cartpole-swingup', 'cartpole-swingup-sparse', 'cup-catch', 'finger-spin', 'finger-turn-easy',
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'finger-turn-hard', 'fish-swim', 'hopper-stand', 'hopper-hop',
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# 11 custom dmcontrol tasks
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'walker-walk-backwards', 'walker-run-backwards', 'cheetah-run-backwards', 'cheetah-run-front', 'cheetah-run-back',
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'cheetah-jump', 'hopper-hop-backwards', 'reacher-three-easy', 'reacher-three-hard', 'cup-spin',
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'pendulum-spin',
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# meta-world mt50
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'mw-assembly', 'mw-basketball', 'mw-button-press-topdown', 'mw-button-press-topdown-wall', 'mw-button-press',
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'mw-button-press-wall', 'mw-coffee-button', 'mw-coffee-pull', 'mw-coffee-push', 'mw-dial-turn',
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'mw-disassemble', 'mw-door-open', 'mw-door-close', 'mw-drawer-close', 'mw-drawer-open',
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'mw-faucet-open', 'mw-faucet-close', 'mw-hammer', 'mw-handle-press-side', 'mw-handle-press',
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'mw-handle-pull-side', 'mw-handle-pull', 'mw-lever-pull', 'mw-peg-insert-side', 'mw-peg-unplug-side',
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'mw-pick-out-of-hole', 'mw-pick-place', 'mw-pick-place-wall', 'mw-plate-slide', 'mw-plate-slide-side',
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'mw-plate-slide-back', 'mw-plate-slide-back-side', 'mw-push-back', 'mw-push', 'mw-push-wall',
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'mw-reach', 'mw-reach-wall', 'mw-shelf-place', 'mw-soccer', 'mw-stick-push',
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'mw-stick-pull', 'mw-sweep-into', 'mw-sweep', 'mw-window-open', 'mw-window-close',
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'mw-bin-picking', 'mw-box-close', 'mw-door-lock', 'mw-door-unlock', 'mw-hand-insert',
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],
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}
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