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pusht数据集配置，优化后测试结果

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qihuanye
2026-04-10 03:40:20 +00:00
parent 8ba5bc8b0b
commit 46cb2177bc
2 changed files with 441 additions and 1 deletions
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config/eval/pusht.yaml
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@@ -19,6 +19,7 @@ dataset:
seed: 42
policy: random # ckpt name or random
inference_precision: fp16
plan_config:
horizon: 5
@@ -45,4 +46,4 @@ eval:
value: goal_state
output:
filename: pusht_results.txt
filename: pusht_results.txt

439
pusht_results.txt Normal file
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@@ -0,0 +1,439 @@
==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
_target_: stable_worldmodel.solver.CEMSolver
model: ???
batch_size: 8
num_samples: 300
var_scale: 1.0
n_steps: 30
topk: 30
device: cuda
seed: ${seed}
world:
env_name: swm/PushT-v1
num_envs: ${eval.num_eval}
max_episode_steps: ???
history_size: 1
frame_skip: 1
dataset:
stats: ${eval.dataset_name}
keys_to_cache:
- action
- proprio
- state
seed: 42
policy: pusht/lewm
plan_config:
horizon: 5
receding_horizon: 5
action_block: 5
eval:
num_eval: 50
goal_offset_steps: 25
eval_budget: 50
img_size: 224
dataset_name: pusht_expert_train
callables:
- method: _set_state
args:
state:
value: state
- method: _set_goal_state
args:
goal_state:
value: goal_state
output:
filename: pusht_results.txt
==== RESULTS ====
metrics: {'success_rate': 92.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
True, True, True, True, True, True, True, True, False,
True, False, True, True, True, False, True, True, True,
True, True, True, True, True, True, True, True, True,
True, True, True, True, True, True, True, True, True,
True, True, True, True, True]), 'seeds': None}
evaluation_time: 68.59998798370361 seconds
inference_precision: fp32
inference_compile_target: predictor
inference_compile_mode: reduce-overhead
==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
_target_: stable_worldmodel.solver.CEMSolver
model: ???
batch_size: 8
num_samples: 300
var_scale: 1.0
n_steps: 30
topk: 30
device: cuda
seed: ${seed}
world:
env_name: swm/PushT-v1
num_envs: ${eval.num_eval}
max_episode_steps: ???
history_size: 1
frame_skip: 1
dataset:
stats: ${eval.dataset_name}
keys_to_cache:
- action
- proprio
- state
seed: 42
policy: pusht/lewm
plan_config:
horizon: 5
receding_horizon: 5
action_block: 5
eval:
num_eval: 50
goal_offset_steps: 25
eval_budget: 50
img_size: 224
dataset_name: pusht_expert_train
callables:
- method: _set_state
args:
state:
value: state
- method: _set_goal_state
args:
goal_state:
value: goal_state
output:
filename: pusht_results.txt
==== RESULTS ====
metrics: {'success_rate': 92.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
True, True, True, True, True, True, True, True, False,
True, False, True, True, True, False, True, True, True,
True, True, True, True, True, True, True, True, True,
True, True, True, True, True, True, True, True, True,
True, True, True, True, True]), 'seeds': None}
evaluation_time: 45.66186594963074 seconds
inference_precision: fp32
inference_compile_target: predictor
inference_compile_mode: reduce-overhead
==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
_target_: stable_worldmodel.solver.CEMSolver
model: ???
batch_size: 8
num_samples: 300
var_scale: 1.0
n_steps: 30
topk: 30
device: cuda
seed: ${seed}
world:
env_name: swm/PushT-v1
num_envs: ${eval.num_eval}
max_episode_steps: ???
history_size: 1
frame_skip: 1
dataset:
stats: ${eval.dataset_name}
keys_to_cache:
- action
- proprio
- state
seed: 42
policy: pusht/lewm
plan_config:
horizon: 5
receding_horizon: 5
action_block: 5
eval:
num_eval: 50
goal_offset_steps: 25
eval_budget: 50
img_size: 224
dataset_name: pusht_expert_train
callables:
- method: _set_state
args:
state:
value: state
- method: _set_goal_state
args:
goal_state:
value: goal_state
output:
filename: pusht_results.txt
multi_gpu:
enabled: true
devices:
- 0
- 1
==== RESULTS ====
metrics: {'success_rate': 92.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
True, True, True, True, True, True, True, False, True,
True, False, True, True, True, True, True, True, True,
True, True, True, True, True, True, True, True, True,
True, True, True, True, True, True, False, True, True,
True, True, True, True, True]), 'seeds': None}
evaluation_time: 69.21508717536926 seconds
inference_precision: fp32
inference_compile_target: predictor
inference_compile_mode: reduce-overhead
==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
_target_: stable_worldmodel.solver.CEMSolver
model: ???
batch_size: 8
num_samples: 300
var_scale: 1.0
n_steps: 30
topk: 30
device: cuda
seed: ${seed}
world:
env_name: swm/PushT-v1
num_envs: ${eval.num_eval}
max_episode_steps: ???
history_size: 1
frame_skip: 1
dataset:
stats: ${eval.dataset_name}
keys_to_cache:
- action
- proprio
- state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
horizon: 5
receding_horizon: 5
action_block: 5
eval:
num_eval: 50
goal_offset_steps: 25
eval_budget: 50
img_size: 224
dataset_name: pusht_expert_train
callables:
- method: _set_state
args:
state:
value: state
- method: _set_goal_state
args:
goal_state:
value: goal_state
output:
filename: pusht_results.txt
multi_gpu:
enabled: true
devices:
- 0
- 1
==== RESULTS ====
metrics: {'success_rate': 94.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
True, True, True, True, True, True, True, True, True,
True, False, True, True, True, True, True, True, True,
True, True, True, True, True, True, True, True, True,
True, True, True, True, True, True, False, True, True,
True, True, True, True, True]), 'seeds': None}
evaluation_time: 37.82094120979309 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead
==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
_target_: stable_worldmodel.solver.CEMSolver
model: ???
batch_size: 8
num_samples: 300
var_scale: 1.0
n_steps: 30
topk: 30
device: cuda
seed: ${seed}
world:
env_name: swm/PushT-v1
num_envs: ${eval.num_eval}
max_episode_steps: ???
history_size: 1
frame_skip: 1
dataset:
stats: ${eval.dataset_name}
keys_to_cache:
- action
- proprio
- state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
horizon: 5
receding_horizon: 5
action_block: 5
eval:
num_eval: 50
goal_offset_steps: 25
eval_budget: 50
img_size: 224
dataset_name: pusht_expert_train
callables:
- method: _set_state
args:
state:
value: state
- method: _set_goal_state
args:
goal_state:
value: goal_state
output:
filename: pusht_results.txt
multi_gpu:
enabled: true
devices:
- 0
- 1
==== RESULTS ====
metrics: {'success_rate': 94.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
True, True, True, True, True, True, True, True, True,
True, False, True, True, True, True, True, True, True,
True, True, True, True, True, True, True, True, True,
True, True, True, True, True, True, False, True, True,
True, True, True, True, True]), 'seeds': None}
evaluation_time: 37.55708169937134 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead
==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
_target_: stable_worldmodel.solver.CEMSolver
model: ???
batch_size: 8
num_samples: 300
var_scale: 1.0
n_steps: 30
topk: 30
device: cuda
seed: ${seed}
world:
env_name: swm/PushT-v1
num_envs: ${eval.num_eval}
max_episode_steps: ???
history_size: 1
frame_skip: 1
dataset:
stats: ${eval.dataset_name}
keys_to_cache:
- action
- proprio
- state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
horizon: 5
receding_horizon: 5
action_block: 5
eval:
num_eval: 50
goal_offset_steps: 25
eval_budget: 50
img_size: 224
dataset_name: pusht_expert_train
callables:
- method: _set_state
args:
state:
value: state
- method: _set_goal_state
args:
goal_state:
value: goal_state
output:
filename: pusht_results.txt
==== RESULTS ====
metrics: {'success_rate': 94.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
True, True, True, True, True, True, True, True, True,
True, False, True, True, True, True, True, True, True,
True, True, True, True, True, True, True, True, True,
True, True, True, True, True, True, False, True, True,
True, True, True, True, True]), 'seeds': None}
evaluation_time: 29.592512607574463 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead
==== CONFIG ====
cache_dir: /mnt/ASC1637/stablewm
solver:
_target_: stable_worldmodel.solver.CEMSolver
model: ???
batch_size: 8
num_samples: 300
var_scale: 1.0
n_steps: 30
topk: 30
device: cuda
seed: ${seed}
world:
env_name: swm/PushT-v1
num_envs: ${eval.num_eval}
max_episode_steps: ???
history_size: 1
frame_skip: 1
dataset:
stats: ${eval.dataset_name}
keys_to_cache:
- action
- proprio
- state
seed: 42
policy: pusht/lewm
inference_precision: fp16
plan_config:
horizon: 5
receding_horizon: 5
action_block: 5
eval:
num_eval: 50
goal_offset_steps: 25
eval_budget: 50
img_size: 224
dataset_name: pusht_expert_train
callables:
- method: _set_state
args:
state:
value: state
- method: _set_goal_state
args:
goal_state:
value: goal_state
output:
filename: pusht_results.txt
==== RESULTS ====
metrics: {'success_rate': 94.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
True, True, True, True, True, True, True, True, True,
True, False, True, True, True, True, True, True, True,
True, True, True, True, True, True, True, True, True,
True, True, True, True, True, True, False, True, True,
True, True, True, True, True]), 'seeds': None}
evaluation_time: 29.783243894577026 seconds
inference_precision: fp16
inference_compile_target: predictor
inference_compile_mode: reduce-overhead