调整配置 启动视频写入开关

config/eval/cube.yaml

@@ -36,6 +36,7 @@ eval:
   goal_offset_steps: 25
   eval_budget: 50
   img_size: 224
+  save_video: false
   dataset_name: ogbench/cube_single_expert
   callables:
     # -- set state
@@ -58,4 +59,3 @@ eval:
 
 output:
   filename: ogb_cube_results.txt
-

config/eval/pusht.yaml

@@ -32,6 +32,7 @@ eval:
   goal_offset_steps: 25
   eval_budget: 50
   img_size: 224
+  save_video: false
   dataset_name: pusht_expert_train
   callables:
     # -- set state

config/eval/reacher.yaml

@@ -30,6 +30,7 @@ eval:
   goal_offset_steps: 25
   eval_budget: 50
   img_size: 224
+  save_video: false
   dataset_name: dmc/reacher_random
   callables:
     # -- set state
@@ -47,4 +48,3 @@ eval:
 
 output:
   filename: dmc_results.txt
-

config/eval/tworoom.yaml

@@ -31,6 +31,7 @@ eval:
   goal_offset_steps: 25
   eval_budget: 50
   img_size: 224
+  save_video: false
   dataset_name: tworoom
   callables:
     # -- set state

eval.py

@@ -370,7 +370,7 @@ def run_eval_subset(
                         callables=OmegaConf.to_container(
                             local_cfg.eval.get("callables"), resolve=True
                         ),
-                        save_video=False,
+                        save_video=bool(local_cfg.eval.get("save_video", False)),
                         video_path=output_dir,
                     )
     if str(device).startswith("cuda") and torch.cuda.is_available():

pusht_results.txt

@@ -437,3 +437,65 @@ evaluation_time: 29.783243894577026 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: true
+  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: 34.548478841781616 seconds
+inference_precision: fp16
+inference_compile_target: predictor
+inference_compile_mode: reduce-overhead