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146 lines
7.6 KiB
YAML
146 lines
7.6 KiB
YAML
dataset:
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data_path: '$ALFWORLD_DATA/json_2.1.1/train'
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eval_id_data_path: '$ALFWORLD_DATA/json_2.1.1/valid_seen' # null/None to disable
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eval_ood_data_path: '$ALFWORLD_DATA/json_2.1.1/valid_unseen' # null/None to disable
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num_train_games: -1 # max training games (<=0 indicates full dataset)
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num_eval_games: -1 # max evaluation games (<=0 indicates full dataset)
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logic:
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domain: '$ALFWORLD_DATA/logic/alfred.pddl' # PDDL domain file that defines the world dynamics
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grammar: '$ALFWORLD_DATA/logic/alfred.twl2' # Grammar file that defines the text feedbacks
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env:
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type: 'AlfredTWEnv' # 'AlfredTWEnv' or 'AlfredThorEnv' or 'AlfredHybrid'
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regen_game_files: False # check if game is solvable by expert and save to game.tw-pddl file
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domain_randomization: False # shuffle Textworld print order and object id nums
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task_types: [1, 2, 3, 4, 5, 6] # task-type ids: 1 - Pick & Place, 2 - Examine in Light, 3 - Clean & Place, 4 - Heat & Place, 5 - Cool & Place, 6 - Pick Two & Place
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expert_timeout_steps: 150 # max steps before timeout for expert to solve the task
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expert_type: "handcoded" # 'handcoded' or 'downward'. Note: the downward planner is very slow for real-time use
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goal_desc_human_anns_prob: 0.0 # prob of using human-annotated goal language instead of templated goals (1.0 indicates all human annotations from ALFRED)
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hybrid:
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start_eps: 100000 # starting episode of hybrid training, tw-only training upto this point
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thor_prob: 0.5 # prob of AlfredThorEnv during hybrid training
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eval_mode: "tw" # 'tw' or 'thor' - env used for evaluation during hybrid training
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thor:
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screen_width: 300 # width of THOR window
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screen_height: 300 # height of THOR window
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smooth_nav: False # smooth rotations, looks, and translations during navigation (very slow)
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save_frames_to_disk: False # save frame PNGs to disk (useful for making videos)
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save_frames_path: './videos/' # path to save frame PNGs
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controller:
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type: 'oracle' # 'oracle' or 'oracle_astar' or 'mrcnn' or 'mrcnn_astar' (aka BUTLER)
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debug: False
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load_receps: True # load receptacle locations from precomputed dict (if available)
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mask_rcnn:
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pretrained_model_path: '$ALFWORLD_DATA/detectors/mrcnn.pth'
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general:
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random_seed: 42
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use_cuda: True # disable this when running on machine without cuda
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visdom: False # plot training/eval curves, run with visdom server
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task: 'alfred'
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training_method: 'dagger' # 'dqn' or 'dagger'
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save_path: './training/' # path to save pytorch models
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observation_pool_capacity: 3 # k-size queue, 0 indicates no observation
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hide_init_receptacles: False # remove initial observation containing navigable receptacles
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training:
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batch_size: 10
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max_episode: 50000
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smoothing_eps: 0.1
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optimizer:
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learning_rate: 0.001
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clip_grad_norm: 5
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evaluate:
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run_eval: True
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batch_size: 10
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env:
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type: "AlfredTWEnv"
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checkpoint:
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report_frequency: 1000 # report every N episode
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experiment_tag: 'test' # name of experiment
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load_pretrained: False # during test, enable this so that the agent load your pretrained model
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load_from_tag: 'not loading anything' # name of pre-trained model to load in save_path
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model:
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encoder_layers: 1
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decoder_layers: 1
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encoder_conv_num: 5
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block_hidden_dim: 64
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n_heads: 1
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dropout: 0.1
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block_dropout: 0.1
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recurrent: True
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rl:
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action_space: "admissible" # 'admissible' (candidates from text engine) or 'generation' (seq2seq-style generation) or 'beam_search_choice' or 'exhaustive' (not working)
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max_target_length: 20 # max token length for seq2seq generation
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beam_width: 10 # 1 means greedy
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generate_top_k: 3
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training:
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max_nb_steps_per_episode: 50 # terminate after this many steps
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learn_start_from_this_episode: 0 # delay updates until this epsiode
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target_net_update_frequency: 500 # sync target net with online net per this many epochs
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replay:
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accumulate_reward_from_final: True
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count_reward_lambda: 0.0 # 0 to disable
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novel_object_reward_lambda: 0.0 # 0 to disable
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discount_gamma_game_reward: 0.9
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discount_gamma_count_reward: 0.5
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discount_gamma_novel_object_reward: 0.5
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replay_memory_capacity: 500000 # adjust this depending on your RAM size
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replay_memory_priority_fraction: 0.5
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update_per_k_game_steps: 5
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replay_batch_size: 64
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multi_step: 3
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replay_sample_history_length: 4
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replay_sample_update_from: 2
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epsilon_greedy:
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noisy_net: False # if this is true, then epsilon greedy is disabled
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epsilon_anneal_episodes: 1000 # -1 if not annealing
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epsilon_anneal_from: 0.3
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epsilon_anneal_to: 0.1
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dagger:
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action_space: "generation" # 'admissible' (candidates from text engine) or 'generation' (seq2seq-style generation) or 'exhaustive' (not working)
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max_target_length: 20 # max token length for seq2seq generation
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beam_width: 10 # 1 means greedy
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generate_top_k: 5
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unstick_by_beam_search: False # use beam-search for failed actions, set True during evaluation
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training:
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max_nb_steps_per_episode: 50 # terminate after this many steps
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fraction_assist:
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fraction_assist_anneal_episodes: 50000
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fraction_assist_anneal_from: 1.0
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fraction_assist_anneal_to: 0.01
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fraction_random:
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fraction_random_anneal_episodes: 0
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fraction_random_anneal_from: 0.0
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fraction_random_anneal_to: 0.0
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replay:
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replay_memory_capacity: 500000
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update_per_k_game_steps: 5
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replay_batch_size: 64
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replay_sample_history_length: 4
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replay_sample_update_from: 2
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vision_dagger:
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model_type: "resnet" # 'resnet' (whole image features) or 'maskrcnn_whole' (whole image MaskRCNN feats) or 'maskrcnn' (top k MaskRCNN detection feats) or 'no_vision' (zero vision input)
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resnet_fc_dim: 64
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maskrcnn_top_k_boxes: 10 # top k box features
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use_exploration_frame_feats: False # append feats from initial exploration (memory intensive!)
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sequence_aggregation_method: "average" # 'sum' or 'average' or 'rnn'
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