From 47b5e4cf52ed6ce486e6baf2cd2f74a59dc549a4 Mon Sep 17 00:00:00 2001 From: Yarden As Date: Sun, 18 Jan 2026 09:04:46 +0100 Subject: [PATCH 01/11] Try action scsale --- ss2r/configs/experiment/g1_online_transfer.yaml | 6 ------ ss2r/configs/experiment/g1_sim_to_sim.yaml | 6 ++---- 2 files changed, 2 insertions(+), 10 deletions(-) diff --git a/ss2r/configs/experiment/g1_online_transfer.yaml b/ss2r/configs/experiment/g1_online_transfer.yaml index a9fd3fc4c..ce52ce12b 100644 --- a/ss2r/configs/experiment/g1_online_transfer.yaml +++ b/ss2r/configs/experiment/g1_online_transfer.yaml @@ -14,11 +14,5 @@ training: wandb_id: bmzztihk -environment: - train_params: - floor_friction: [0.35, 0.35] - eval_params: - floor_friction: [0.35, 0.35] - agent: reset_on_eval: false \ No newline at end of file diff --git a/ss2r/configs/experiment/g1_sim_to_sim.yaml b/ss2r/configs/experiment/g1_sim_to_sim.yaml index 86f1aefeb..6f299dc9f 100644 --- a/ss2r/configs/experiment/g1_sim_to_sim.yaml +++ b/ss2r/configs/experiment/g1_sim_to_sim.yaml @@ -10,7 +10,5 @@ training: safe: false environment: - train_params: - floor_friction: [0.7, 0.7] - eval_params: - floor_friction: [0.35, 0.35] \ No newline at end of file + task_params: + action_scale: 0.3 \ No newline at end of file From c07581be3fde47a02cc4f684455aef4b6323f957 Mon Sep 17 00:00:00 2001 From: Yarden As Date: Sun, 18 Jan 2026 09:05:58 +0100 Subject: [PATCH 02/11] Hevier --- ss2r/configs/experiment/g1_online_transfer.yaml | 4 ++++ ss2r/configs/experiment/g1_sim_to_sim.yaml | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/ss2r/configs/experiment/g1_online_transfer.yaml b/ss2r/configs/experiment/g1_online_transfer.yaml index ce52ce12b..c70c4d97b 100644 --- a/ss2r/configs/experiment/g1_online_transfer.yaml +++ b/ss2r/configs/experiment/g1_online_transfer.yaml @@ -14,5 +14,9 @@ training: wandb_id: bmzztihk +environment: + task_params: + action_scale: 0.3 + agent: reset_on_eval: false \ No newline at end of file diff --git a/ss2r/configs/experiment/g1_sim_to_sim.yaml b/ss2r/configs/experiment/g1_sim_to_sim.yaml index 6f299dc9f..0920fcfcc 100644 --- a/ss2r/configs/experiment/g1_sim_to_sim.yaml +++ b/ss2r/configs/experiment/g1_sim_to_sim.yaml @@ -11,4 +11,4 @@ training: environment: task_params: - action_scale: 0.3 \ No newline at end of file + action_scale: 0.5 \ No newline at end of file From d8f9cbd9f0e77088d9d6e2e12dd4ae669986d12b Mon Sep 17 00:00:00 2001 From: Yarden As Date: Sun, 18 Jan 2026 09:27:06 +0100 Subject: [PATCH 03/11] Make it a bit easier --- ss2r/configs/experiment/g1_online_transfer.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ss2r/configs/experiment/g1_online_transfer.yaml b/ss2r/configs/experiment/g1_online_transfer.yaml index c70c4d97b..b69604b71 100644 --- a/ss2r/configs/experiment/g1_online_transfer.yaml +++ b/ss2r/configs/experiment/g1_online_transfer.yaml @@ -16,7 +16,7 @@ training: environment: task_params: - action_scale: 0.3 + action_scale: 0.4 agent: reset_on_eval: false \ No newline at end of file From 1c8aac4ccdf40be626ad80d7e737fa34887dc1d3 Mon Sep 17 00:00:00 2001 From: Yarden As Date: Sun, 18 Jan 2026 09:44:07 +0100 Subject: [PATCH 04/11] Change policy --- ss2r/configs/experiment/g1_online_transfer.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ss2r/configs/experiment/g1_online_transfer.yaml b/ss2r/configs/experiment/g1_online_transfer.yaml index b69604b71..09df14673 100644 --- a/ss2r/configs/experiment/g1_online_transfer.yaml +++ b/ss2r/configs/experiment/g1_online_transfer.yaml @@ -11,7 +11,7 @@ training: render: false num_evals: 25 num_timesteps: 25000 - wandb_id: bmzztihk + wandb_id: ne1qq0zy environment: From 23b9a7f4b35b2472a33dc148912b3cefc790c356 Mon Sep 17 00:00:00 2001 From: Yarden As Date: Sun, 18 Jan 2026 10:06:49 +0100 Subject: [PATCH 05/11] Friction --- ss2r/configs/experiment/g1_sim_to_sim.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ss2r/configs/experiment/g1_sim_to_sim.yaml b/ss2r/configs/experiment/g1_sim_to_sim.yaml index 0920fcfcc..96006f436 100644 --- a/ss2r/configs/experiment/g1_sim_to_sim.yaml +++ b/ss2r/configs/experiment/g1_sim_to_sim.yaml @@ -11,4 +11,6 @@ training: environment: task_params: - action_scale: 0.5 \ No newline at end of file + action_scale: 0.5 + train_params: + floor_friction: [0.7, 0.7] \ No newline at end of file From d54f15880b3a6df69c94986870d6fec571d43627 Mon Sep 17 00:00:00 2001 From: Yarden As Date: Sun, 18 Jan 2026 10:29:23 +0100 Subject: [PATCH 06/11] Larger replay --- ss2r/configs/experiment/g1_online_transfer.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ss2r/configs/experiment/g1_online_transfer.yaml b/ss2r/configs/experiment/g1_online_transfer.yaml index 09df14673..9b746f8c0 100644 --- a/ss2r/configs/experiment/g1_online_transfer.yaml +++ b/ss2r/configs/experiment/g1_online_transfer.yaml @@ -19,4 +19,5 @@ environment: action_scale: 0.4 agent: - reset_on_eval: false \ No newline at end of file + reset_on_eval: false + max_replay_size: 1048576 \ No newline at end of file From 9930ad5728e1780e773174ea45030c43f179b3d6 Mon Sep 17 00:00:00 2001 From: Yarden As Date: Sun, 18 Jan 2026 10:43:37 +0100 Subject: [PATCH 07/11] No DR --- ss2r/configs/experiment/g1_online_transfer.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ss2r/configs/experiment/g1_online_transfer.yaml b/ss2r/configs/experiment/g1_online_transfer.yaml index 9b746f8c0..78a30cf13 100644 --- a/ss2r/configs/experiment/g1_online_transfer.yaml +++ b/ss2r/configs/experiment/g1_online_transfer.yaml @@ -5,8 +5,8 @@ defaults: - _self_ training: - train_domain_randomization: true - eval_domain_randomization: true + train_domain_randomization: false + eval_domain_randomization: false num_eval_envs: 128 render: false num_evals: 25 From 8ddb53c5a609d261783bd1fa0eb123855451b8f7 Mon Sep 17 00:00:00 2001 From: Yarden As Date: Sun, 18 Jan 2026 10:44:45 +0100 Subject: [PATCH 08/11] Longer training --- ss2r/configs/experiment/g1_online_transfer.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ss2r/configs/experiment/g1_online_transfer.yaml b/ss2r/configs/experiment/g1_online_transfer.yaml index 78a30cf13..3efac8291 100644 --- a/ss2r/configs/experiment/g1_online_transfer.yaml +++ b/ss2r/configs/experiment/g1_online_transfer.yaml @@ -10,7 +10,7 @@ training: num_eval_envs: 128 render: false num_evals: 25 - num_timesteps: 25000 + num_timesteps: 400000 wandb_id: ne1qq0zy From 31b80c1d6916fedb49e3d3b533bdd016ef239b07 Mon Sep 17 00:00:00 2001 From: Yarden As Date: Sun, 18 Jan 2026 11:02:58 +0100 Subject: [PATCH 09/11] Less steps --- ss2r/configs/experiment/g1_online_transfer.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ss2r/configs/experiment/g1_online_transfer.yaml b/ss2r/configs/experiment/g1_online_transfer.yaml index 3efac8291..b411e19bb 100644 --- a/ss2r/configs/experiment/g1_online_transfer.yaml +++ b/ss2r/configs/experiment/g1_online_transfer.yaml @@ -10,7 +10,7 @@ training: num_eval_envs: 128 render: false num_evals: 25 - num_timesteps: 400000 + num_timesteps: 50000 wandb_id: ne1qq0zy From b2676ee69dabe36e00a20d926e6c944ee4d14bbc Mon Sep 17 00:00:00 2001 From: Yarden As Date: Sun, 18 Jan 2026 11:18:40 +0100 Subject: [PATCH 10/11] Longer --- ss2r/configs/experiment/g1_online_transfer.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ss2r/configs/experiment/g1_online_transfer.yaml b/ss2r/configs/experiment/g1_online_transfer.yaml index b411e19bb..3afc5d154 100644 --- a/ss2r/configs/experiment/g1_online_transfer.yaml +++ b/ss2r/configs/experiment/g1_online_transfer.yaml @@ -10,7 +10,7 @@ training: num_eval_envs: 128 render: false num_evals: 25 - num_timesteps: 50000 + num_timesteps: 100000 wandb_id: ne1qq0zy From aad169df092ca46becd5ca8cc6c0be2c8274fa0b Mon Sep 17 00:00:00 2001 From: Yarden As Date: Sun, 18 Jan 2026 11:25:13 +0100 Subject: [PATCH 11/11] Even longer --- ss2r/configs/experiment/g1_online_transfer.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ss2r/configs/experiment/g1_online_transfer.yaml b/ss2r/configs/experiment/g1_online_transfer.yaml index 3afc5d154..d3c2a5853 100644 --- a/ss2r/configs/experiment/g1_online_transfer.yaml +++ b/ss2r/configs/experiment/g1_online_transfer.yaml @@ -10,7 +10,7 @@ training: num_eval_envs: 128 render: false num_evals: 25 - num_timesteps: 100000 + num_timesteps: 150000 wandb_id: ne1qq0zy