diff --git a/config/eval/solver/cem.yaml b/config/eval/solver/cem.yaml index 854c754..7830f78 100644 --- a/config/eval/solver/cem.yaml +++ b/config/eval/solver/cem.yaml @@ -1,9 +1,10 @@ _target_: stable_worldmodel.solver.CEMSolver model: ??? batch_size: 8 -num_samples: 300 +# Original defaults: num_samples=300, n_steps=30, topk=30, batch_size=8. +num_samples: 64 var_scale: 1.0 -n_steps: 30 -topk: 30 +n_steps: 10 +topk: 8 device: "cuda" seed: ${seed} diff --git a/pusht_results.txt b/pusht_results.txt index 01183bd..93375e4 100644 --- a/pusht_results.txt +++ b/pusht_results.txt @@ -499,3 +499,732 @@ evaluation_time: 34.548478841781616 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 + save_video: false + 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: 60.4364275932312 seconds +inference_precision: fp16 +inference_compile_target: predictor +inference_compile_mode: reduce-overhead + +==== CONFIG ==== +cache_dir: null +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 + save_video: false + 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: 53.217538356781006 seconds +inference_precision: fp16 +inference_compile_target: predictor +inference_compile_mode: reduce-overhead + +==== CONFIG ==== +cache_dir: null +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 + save_video: false + 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, 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: 35.28816795349121 seconds +inference_precision: fp16 +inference_compile_target: predictor +inference_compile_mode: reduce-overhead + +==== CONFIG ==== +cache_dir: null +solver: + _target_: stable_worldmodel.solver.CEMSolver + model: ??? + batch_size: 8 + num_samples: 128 + var_scale: 1.0 + n_steps: 15 + topk: 16 + 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: 5 + goal_offset_steps: 25 + eval_budget: 50 + img_size: 224 + save_video: false + 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': 80.0, 'episode_successes': array([ True, False, True, True, True]), 'seeds': None} +evaluation_time: 14.388008117675781 seconds +inference_precision: fp16 +inference_compile_target: predictor +inference_compile_mode: reduce-overhead + +==== CONFIG ==== +cache_dir: null +solver: + _target_: stable_worldmodel.solver.CEMSolver + model: ??? + batch_size: 8 + num_samples: 128 + var_scale: 1.0 + n_steps: 15 + topk: 16 + 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: 5 + goal_offset_steps: 25 + eval_budget: 50 + img_size: 224 + save_video: false + 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': 80.0, 'episode_successes': array([ True, False, True, True, True]), 'seeds': None} +evaluation_time: 5.2156901359558105 seconds +inference_precision: fp16 +inference_compile_target: predictor +inference_compile_mode: reduce-overhead + +==== CONFIG ==== +cache_dir: null +solver: + _target_: stable_worldmodel.solver.CEMSolver + model: ??? + batch_size: 8 + num_samples: 128 + var_scale: 1.0 + n_steps: 15 + topk: 16 + 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: 5 + goal_offset_steps: 25 + eval_budget: 50 + img_size: 224 + save_video: false + 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': 80.0, 'episode_successes': array([ True, False, True, True, True]), 'seeds': None} +evaluation_time: 5.612526178359985 seconds +inference_precision: fp16 +inference_compile_target: predictor +inference_compile_mode: reduce-overhead + +==== CONFIG ==== +cache_dir: null +solver: + _target_: stable_worldmodel.solver.CEMSolver + model: ??? + batch_size: 8 + num_samples: 160 + var_scale: 1.0 + n_steps: 18 + topk: 20 + 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 + save_video: false + 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': 88.0, 'episode_successes': array([ True, True, True, True, True, True, True, True, True, + True, True, True, True, True, False, False, True, False, + True, False, False, 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, True, True, True, True]), 'seeds': None} +evaluation_time: 37.33809852600098 seconds +inference_precision: fp16 +inference_compile_target: predictor +inference_compile_mode: reduce-overhead + +==== CONFIG ==== +cache_dir: null +solver: + _target_: stable_worldmodel.solver.CEMSolver + model: ??? + batch_size: 8 + num_samples: 128 + var_scale: 1.0 + n_steps: 20 + topk: 16 + 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 + save_video: false + 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': 90.0, 'episode_successes': array([ True, 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, True, True, False, True, True, False, True, True, + True, True, False, False, True]), 'seeds': None} +evaluation_time: 37.4112982749939 seconds +inference_precision: fp16 +inference_compile_target: predictor +inference_compile_mode: reduce-overhead + +==== CONFIG ==== +cache_dir: null +solver: + _target_: stable_worldmodel.solver.CEMSolver + model: ??? + batch_size: 16 + num_samples: 96 + var_scale: 1.0 + n_steps: 12 + topk: 12 + 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 + save_video: false + 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': 90.0, 'episode_successes': array([ True, False, True, True, True, True, True, True, True, + True, True, True, True, True, False, False, 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, True, True, + True, True, True, False, True]), 'seeds': None} +evaluation_time: 33.814064264297485 seconds +inference_precision: fp16 +inference_compile_target: predictor +inference_compile_mode: reduce-overhead + +==== CONFIG ==== +cache_dir: null +solver: + _target_: stable_worldmodel.solver.CEMSolver + model: ??? + batch_size: 8 + num_samples: 64 + var_scale: 1.0 + n_steps: 10 + topk: 8 + 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 + save_video: false + 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': 90.0, 'episode_successes': array([ True, True, True, True, True, True, True, True, True, + True, True, True, True, True, False, False, 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, False, True, True, + True, True, True, False, True]), 'seeds': None} +evaluation_time: 31.93920063972473 seconds +inference_precision: fp16 +inference_compile_target: predictor +inference_compile_mode: reduce-overhead + +==== CONFIG ==== +cache_dir: null +solver: + _target_: stable_worldmodel.solver.CEMSolver + model: ??? + batch_size: 8 + num_samples: 48 + var_scale: 1.0 + n_steps: 8 + topk: 6 + 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 + save_video: false + 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': 80.0, 'episode_successes': array([ True, True, False, True, True, True, True, True, True, + True, True, True, True, True, True, False, False, True, + True, True, False, True, False, True, True, True, True, + True, True, True, True, True, True, True, True, False, + True, True, True, False, True, False, False, True, True, + True, True, True, False, True]), 'seeds': None} +evaluation_time: 31.703332662582397 seconds +inference_precision: fp16 +inference_compile_target: predictor +inference_compile_mode: reduce-overhead + +==== CONFIG ==== +cache_dir: null +solver: + _target_: stable_worldmodel.solver.CEMSolver + model: ??? + batch_size: 8 + num_samples: 64 + var_scale: 1.0 + n_steps: 10 + topk: 8 + 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 + save_video: false + 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': 90.0, 'episode_successes': array([ True, True, True, True, True, True, True, True, True, + True, True, True, True, True, False, False, 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, False, True, True, + True, True, True, False, True]), 'seeds': None} +evaluation_time: 16.38284730911255 seconds +inference_precision: fp16 +inference_compile_target: predictor +inference_compile_mode: reduce-overhead diff --git a/tworoom_results.txt b/tworoom_results.txt deleted file mode 100644 index b7efbd5..0000000 --- a/tworoom_results.txt +++ /dev/null @@ -1,3369 +0,0 @@ - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 133.1857841014862 seconds -inference_precision: fp32 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 131.6325900554657 seconds -inference_precision: fp32 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 119.98270344734192 seconds -inference_precision: fp32 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 121.47896695137024 seconds -inference_precision: fp32 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: bf16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 84.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, False, - True, True, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 97.36299586296082 seconds -inference_precision: bf16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 94.01083040237427 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 89.50024104118347 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 86.20240807533264 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt -profile: - enabled: true - export_tensorboard: false - export_chrome_trace: false - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 518.512722492218 seconds -inference_precision: fp16 -profile_dir: /mnt/ASC1637/lewm_baseline/le-wm/torch_profile -profile_summary: /mnt/ASC1637/lewm_baseline/le-wm/torch_profile/key_averages.txt - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 86.0, 'episode_successes': array([ True, False, True, False, 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, False, - True, True, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 89.49835586547852 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 86.0, 'episode_successes': array([ True, False, True, False, 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, False, - True, True, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 105.07861399650574 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 152.31250739097595 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 122.81560277938843 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 101.30036067962646 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 122.01387643814087 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 86.0, 'episode_successes': array([ True, False, True, False, 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, False, - True, True, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 110.37948775291443 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 94.35640263557434 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 98.5384590625763 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 93.3659656047821 seconds -inference_precision: fp16 - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, 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, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 67.28308987617493 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, 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, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 46.01574730873108 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, 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, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 44.974061727523804 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, 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, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 102.31317353248596 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, 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, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 45.355348110198975 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt -profile: - enabled: true - export_tensorboard: false - export_chrome_trace: false - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, 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, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 110.91939687728882 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead -profile_dir: /mnt/ASC1637/lewm_baseline/le-wm/torch_profile -profile_summary: /mnt/ASC1637/lewm_baseline/le-wm/torch_profile/key_averages.txt - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 54.21496343612671 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, 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]), 'seeds': None} -evaluation_time: 43.69562244415283 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 42.99847435951233 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 43.14276576042175 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 43.71034002304077 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 47.23623466491699 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 57.10417580604553 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 51.94328594207764 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 46.037922620773315 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 40.61683630943298 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 41.09517192840576 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 41.62089252471924 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 49.26965045928955 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 1 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 40.442394495010376 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: ${eval.num_eval} - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, 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, False, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False]), 'seeds': None} -evaluation_time: 103.50640678405762 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: ${eval.num_eval} - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, 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, False, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, False]), 'seeds': None} -evaluation_time: 101.80308318138123 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -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/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, 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, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 60.68150067329407 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -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/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, 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, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 31.417109727859497 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 16 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, False, True, True, True, - True, True, True, True, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 59.96041440963745 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 16 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, True, True, False, True, True, True, - True, True, True, True, True, True, True, True, True, - True, True, True, True, False, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 30.851833820343018 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 12 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 68.07364082336426 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -solver: - _target_: stable_worldmodel.solver.CEMSolver - model: ??? - batch_size: 12 - num_samples: 300 - var_scale: 1.0 - n_steps: 30 - topk: 30 - device: cuda - seed: ${seed} -world: - env_name: swm/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: 100 - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, False, 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, False, True, True, True, True, - True, True, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 90.14458179473877 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -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/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: ??? - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt -multi_gpu: - enabled: true - devices: - - 0 - - 1 - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 71.5921995639801 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -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/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: ??? - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt -multi_gpu: - enabled: true - devices: - - 0 - - 1 - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 38.652626514434814 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -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/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: ??? - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt -multi_gpu: - enabled: true - devices: - - 0 - - 1 - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 38.510936975479126 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -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/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: ??? - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt -multi_gpu: - enabled: true - devices: - - 0 - - 1 - - 2 - - 3 - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, 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, False, True, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 80.60203051567078 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -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/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: ??? - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, 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, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 31.07235813140869 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -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/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: ??? - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, 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, False, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 30.950740575790405 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -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/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: ??? - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt -multi_gpu: - enabled: true - devices: - - 0 - - 1 - - 2 - -==== RESULTS ==== -metrics: {'success_rate': 92.0, 'episode_successes': array([ True, False, 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, True, False, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 191.0513756275177 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -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/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: ??? - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt -multi_gpu: - enabled: true - devices: - - 0 - - 1 - - 2 - -==== RESULTS ==== -metrics: {'success_rate': 92.0, 'episode_successes': array([ True, False, 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, True, False, True, True, True, True, - True, True, True, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 133.4684717655182 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead - -==== CONFIG ==== -cache_dir: null -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/TwoRoom-v1 - num_envs: ${eval.num_eval} - max_episode_steps: ??? - history_size: 1 - frame_skip: 1 -seed: 42 -policy: two-room/tworoom/lejepa -inference_precision: fp16 -dataset: - stats: ${eval.dataset_name} - keys_to_cache: - - action - - proprio -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: tworoom - callables: - - method: _set_state - args: - state: - value: proprio - - method: _set_goal_state - args: - goal_state: - value: goal_proprio -output: - filename: tworoom_results.txt -multi_gpu: - enabled: true - devices: - - 0 - - 1 - -==== RESULTS ==== -metrics: {'success_rate': 88.0, 'episode_successes': array([ True, False, True, False, True, True, True, True, False, - True, True, True, 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, False, True, True, True, True, True, - True, True, True, True, True]), 'seeds': None} -evaluation_time: 38.12551426887512 seconds -inference_precision: fp16 -inference_compile_target: predictor -inference_compile_mode: reduce-overhead