多机

config/eval/cube.yaml

@@ -61,5 +61,17 @@ eval:
         target_quat:
           value: goal_privileged_block_0_quat
 
+multi_node:
+  enabled: false
+  backend: gloo
+  rank_env: RANK
+  world_size_env: WORLD_SIZE
+  local_rank_env: LOCAL_RANK
+
+preload_wait:
+  enabled: false
+  file: /tmp/lewm_preload_start
+  poll_interval: 1.0
+
 output:
   filename: ogb_cube_results.txt

config/eval/pusht.yaml

@@ -48,6 +48,18 @@ eval:
       args:
         goal_state:
           value: goal_state
+
+multi_node:
+  enabled: false
+  backend: gloo
+  rank_env: RANK
+  world_size_env: WORLD_SIZE
+  local_rank_env: LOCAL_RANK
+
+preload_wait:
+  enabled: false
+  file: /tmp/lewm_preload_start
+  poll_interval: 1.0
           
 output:
   filename: pusht_results.txt

config/eval/reacher.yaml

@@ -50,5 +50,17 @@ eval:
         target_qpos:
           value: goal_qpos
 
+multi_node:
+  enabled: false
+  backend: gloo
+  rank_env: RANK
+  world_size_env: WORLD_SIZE
+  local_rank_env: LOCAL_RANK
+
+preload_wait:
+  enabled: false
+  file: /tmp/lewm_preload_start
+  poll_interval: 1.0
+
 output:
   filename: dmc_results.txt

config/eval/solver/cem.yaml

@@ -1,6 +1,6 @@
 _target_: stable_worldmodel.solver.CEMSolver
 model: ???
-batch_size: 8
+batch_size: 16
 # Original defaults: num_samples=300, n_steps=30, topk=30, batch_size=8.
 num_samples: 64
 var_scale: 1.0

config/eval/tworoom.yaml

@@ -48,5 +48,17 @@ eval:
         goal_state:
           value: goal_proprio
 
+multi_node:
+  enabled: false
+  backend: gloo
+  rank_env: RANK
+  world_size_env: WORLD_SIZE
+  local_rank_env: LOCAL_RANK
+
+preload_wait:
+  enabled: false
+  file: /tmp/lewm_preload_start
+  poll_interval: 1.0
+
 output:
   filename: tworoom_results.txt