From e6f2b2b9d49dcfcfcb34bc343e6bc5eeef69acf6 Mon Sep 17 00:00:00 2001 From: qihuanye Date: Thu, 9 Apr 2026 13:17:39 +0000 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E9=AB=98batch=5Fsize?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- config/eval/solver/cem.yaml | 2 +- tworoom_results.txt | 660 ++++++++++++++++++++++++++++++++++++ 2 files changed, 661 insertions(+), 1 deletion(-) diff --git a/config/eval/solver/cem.yaml b/config/eval/solver/cem.yaml index 8d24fda..854c754 100644 --- a/config/eval/solver/cem.yaml +++ b/config/eval/solver/cem.yaml @@ -1,6 +1,6 @@ _target_: stable_worldmodel.solver.CEMSolver model: ??? -batch_size: 1 +batch_size: 8 num_samples: 300 var_scale: 1.0 n_steps: 30 diff --git a/tworoom_results.txt b/tworoom_results.txt index 19c40eb..bfaea00 100644 --- a/tworoom_results.txt +++ b/tworoom_results.txt @@ -2128,3 +2128,663 @@ 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