Some more fixes

StanfordVL · Nov 22, 2023 · afb29ac · afb29ac
1 parent d0a17d6
commit afb29ac
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/rl/service/omni_grpc_learner.py b/rl/service/omni_grpc_learner.py
@@ -121,7 +121,7 @@ def main():
 
     else:
         config = {
-            "policy_type": "MultiInputPolicy",
+            "policy_type": "MlpPolicy",
             "n_steps": 20 * 10,
             "batch_size": 8,
             "total_timesteps": 10000000,
@@ -146,7 +146,7 @@ def main():
             env,
             verbose=1,
             tensorboard_log=tensorboard_log_dir,
-            policy_kwargs=policy_kwargs,
+            # policy_kwargs=policy_kwargs,
             n_steps=config["n_steps"],
             batch_size=config["batch_size"],
             device='cuda',
@@ -156,8 +156,9 @@ def main():
         wandb_callback = WandbCallback(
             model_save_path=tensorboard_log_dir,
             verbose=2,
-        ),
-        callback = CallbackList([wandb_callback, eval_callback])
+        )
+        callback = CallbackList([wandb_callback, eval_callback, checkpoint_callback])
+        print(callback.callbacks)
 
         log.debug(model.policy)
         log.info(f"model: {model}")

diff --git a/rl/service/omni_grpc_worker.py b/rl/service/omni_grpc_worker.py
@@ -21,8 +21,8 @@ async def main():
         "robots": [
             {
                 "type": "Fetch",
-                "obs_modalities": ["rgb", "depth_linear", "seg_instance", "seg_semantic", "proprio"],
-                "proprio_obs": ["robot_pos", "robot_2d_ori", "joint_qpos", "joint_qvel", "eef_0_pos", "eef_0_quat", "grasp_0"],
+                "obs_modalities": ["rgb", "proprio"],
+                "proprio_obs": ["joint_qpos", "joint_qvel", "eef_0_pos", "eef_0_quat", "grasp_0"],
                 "scale": 1.0,
                 "self_collisions": True,
                 "action_normalize": False,
@@ -33,7 +33,7 @@ async def main():
                 "default_trunk_offset": 0.365,
                 "sensor_config": {
                     "VisionSensor": {
-                        "modalities": ["rgb", "depth_linear", "seg_instance", "seg_semantic"],
+                        "modalities": ["rgb"],
                         "sensor_kwargs": {
                             "image_width": 224,
                             "image_height": 224
@@ -55,10 +55,9 @@ async def main():
                     },
                     "gripper_0": {
                         "name": "MultiFingerGripperController",
-                        "motor_type": "position",
+                        "motor_type": "ternary",
                         "command_input_limits": [-1, 1],
                         "command_output_limits": None,
-                        "use_delta_commands": True
                     },
                     "camera": {
                         "name": "JointController",