1625 lines
38 KiB
Plaintext
1625 lines
38 KiB
Plaintext
|
|
==== CONFIG ====
|
|
cache_dir: /mnt/ASC1637/stablewm
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|
solver:
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_target_: stable_worldmodel.solver.CEMSolver
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model: ???
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batch_size: 8
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num_samples: 300
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var_scale: 1.0
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n_steps: 30
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topk: 30
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device: cuda
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seed: ${seed}
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world:
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env_name: swm/PushT-v1
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num_envs: ${eval.num_eval}
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max_episode_steps: ???
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history_size: 1
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frame_skip: 1
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dataset:
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stats: ${eval.dataset_name}
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keys_to_cache:
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- action
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|
- proprio
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|
- state
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seed: 42
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policy: pusht/lewm
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plan_config:
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horizon: 5
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receding_horizon: 5
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|
action_block: 5
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eval:
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num_eval: 50
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goal_offset_steps: 25
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eval_budget: 50
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img_size: 224
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dataset_name: pusht_expert_train
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callables:
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- method: _set_state
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args:
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state:
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value: state
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- method: _set_goal_state
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args:
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goal_state:
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value: goal_state
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output:
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filename: pusht_results.txt
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==== RESULTS ====
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metrics: {'success_rate': 92.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
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True, True, True, True, True, True, True, True, False,
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|
True, False, True, True, True, False, True, True, True,
|
|
True, True, True, True, True, True, True, True, True,
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|
True, True, True, True, True, True, True, True, True,
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True, True, True, True, True]), 'seeds': None}
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evaluation_time: 68.59998798370361 seconds
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inference_precision: fp32
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inference_compile_target: predictor
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inference_compile_mode: reduce-overhead
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|
|
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==== CONFIG ====
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cache_dir: /mnt/ASC1637/stablewm
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|
solver:
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|
_target_: stable_worldmodel.solver.CEMSolver
|
|
model: ???
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|
batch_size: 8
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num_samples: 300
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var_scale: 1.0
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n_steps: 30
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topk: 30
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device: cuda
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seed: ${seed}
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world:
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env_name: swm/PushT-v1
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num_envs: ${eval.num_eval}
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max_episode_steps: ???
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history_size: 1
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frame_skip: 1
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dataset:
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stats: ${eval.dataset_name}
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keys_to_cache:
|
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- action
|
|
- proprio
|
|
- state
|
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seed: 42
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policy: pusht/lewm
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plan_config:
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horizon: 5
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receding_horizon: 5
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|
action_block: 5
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eval:
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num_eval: 50
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goal_offset_steps: 25
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eval_budget: 50
|
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img_size: 224
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dataset_name: pusht_expert_train
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callables:
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- method: _set_state
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args:
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state:
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value: state
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- method: _set_goal_state
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args:
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goal_state:
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value: goal_state
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output:
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filename: pusht_results.txt
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==== RESULTS ====
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metrics: {'success_rate': 92.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
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True, True, True, True, True, True, True, True, False,
|
|
True, False, True, True, True, False, True, True, True,
|
|
True, True, True, True, True, True, True, True, True,
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True, True, True, True, True, True, True, True, True,
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True, True, True, True, True]), 'seeds': None}
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evaluation_time: 45.66186594963074 seconds
|
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inference_precision: fp32
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inference_compile_target: predictor
|
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inference_compile_mode: reduce-overhead
|
|
|
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==== CONFIG ====
|
|
cache_dir: /mnt/ASC1637/stablewm
|
|
solver:
|
|
_target_: stable_worldmodel.solver.CEMSolver
|
|
model: ???
|
|
batch_size: 8
|
|
num_samples: 300
|
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var_scale: 1.0
|
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n_steps: 30
|
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topk: 30
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device: cuda
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seed: ${seed}
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world:
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env_name: swm/PushT-v1
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num_envs: ${eval.num_eval}
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max_episode_steps: ???
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history_size: 1
|
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frame_skip: 1
|
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dataset:
|
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stats: ${eval.dataset_name}
|
|
keys_to_cache:
|
|
- action
|
|
- proprio
|
|
- state
|
|
seed: 42
|
|
policy: pusht/lewm
|
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plan_config:
|
|
horizon: 5
|
|
receding_horizon: 5
|
|
action_block: 5
|
|
eval:
|
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num_eval: 50
|
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goal_offset_steps: 25
|
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eval_budget: 50
|
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img_size: 224
|
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dataset_name: pusht_expert_train
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callables:
|
|
- method: _set_state
|
|
args:
|
|
state:
|
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value: state
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- method: _set_goal_state
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args:
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goal_state:
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value: goal_state
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output:
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filename: pusht_results.txt
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multi_gpu:
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enabled: true
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devices:
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- 0
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- 1
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|
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==== RESULTS ====
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metrics: {'success_rate': 92.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
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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,
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True, True, True, True, True, True, False, True, True,
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True, True, True, True, True]), 'seeds': None}
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evaluation_time: 69.21508717536926 seconds
|
|
inference_precision: fp32
|
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inference_compile_target: predictor
|
|
inference_compile_mode: reduce-overhead
|
|
|
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==== CONFIG ====
|
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cache_dir: /mnt/ASC1637/stablewm
|
|
solver:
|
|
_target_: stable_worldmodel.solver.CEMSolver
|
|
model: ???
|
|
batch_size: 8
|
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num_samples: 300
|
|
var_scale: 1.0
|
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n_steps: 30
|
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topk: 30
|
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device: cuda
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seed: ${seed}
|
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world:
|
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env_name: swm/PushT-v1
|
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num_envs: ${eval.num_eval}
|
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max_episode_steps: ???
|
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history_size: 1
|
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frame_skip: 1
|
|
dataset:
|
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stats: ${eval.dataset_name}
|
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keys_to_cache:
|
|
- action
|
|
- proprio
|
|
- state
|
|
seed: 42
|
|
policy: pusht/lewm
|
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inference_precision: fp16
|
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plan_config:
|
|
horizon: 5
|
|
receding_horizon: 5
|
|
action_block: 5
|
|
eval:
|
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num_eval: 50
|
|
goal_offset_steps: 25
|
|
eval_budget: 50
|
|
img_size: 224
|
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dataset_name: pusht_expert_train
|
|
callables:
|
|
- method: _set_state
|
|
args:
|
|
state:
|
|
value: state
|
|
- method: _set_goal_state
|
|
args:
|
|
goal_state:
|
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value: goal_state
|
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output:
|
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filename: pusht_results.txt
|
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multi_gpu:
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enabled: true
|
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devices:
|
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- 0
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- 1
|
|
|
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==== RESULTS ====
|
|
metrics: {'success_rate': 94.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
|
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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}
|
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evaluation_time: 37.82094120979309 seconds
|
|
inference_precision: fp16
|
|
inference_compile_target: predictor
|
|
inference_compile_mode: reduce-overhead
|
|
|
|
==== CONFIG ====
|
|
cache_dir: /mnt/ASC1637/stablewm
|
|
solver:
|
|
_target_: stable_worldmodel.solver.CEMSolver
|
|
model: ???
|
|
batch_size: 8
|
|
num_samples: 300
|
|
var_scale: 1.0
|
|
n_steps: 30
|
|
topk: 30
|
|
device: cuda
|
|
seed: ${seed}
|
|
world:
|
|
env_name: swm/PushT-v1
|
|
num_envs: ${eval.num_eval}
|
|
max_episode_steps: ???
|
|
history_size: 1
|
|
frame_skip: 1
|
|
dataset:
|
|
stats: ${eval.dataset_name}
|
|
keys_to_cache:
|
|
- action
|
|
- proprio
|
|
- state
|
|
seed: 42
|
|
policy: pusht/lewm
|
|
inference_precision: fp16
|
|
plan_config:
|
|
horizon: 5
|
|
receding_horizon: 5
|
|
action_block: 5
|
|
eval:
|
|
num_eval: 50
|
|
goal_offset_steps: 25
|
|
eval_budget: 50
|
|
img_size: 224
|
|
dataset_name: pusht_expert_train
|
|
callables:
|
|
- method: _set_state
|
|
args:
|
|
state:
|
|
value: state
|
|
- method: _set_goal_state
|
|
args:
|
|
goal_state:
|
|
value: goal_state
|
|
output:
|
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filename: pusht_results.txt
|
|
multi_gpu:
|
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enabled: true
|
|
devices:
|
|
- 0
|
|
- 1
|
|
|
|
==== RESULTS ====
|
|
metrics: {'success_rate': 94.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
|
|
True, True, True, True, True, True, True, True, True,
|
|
True, False, True, True, True, True, True, True, True,
|
|
True, True, True, True, True, True, True, True, True,
|
|
True, True, True, True, True, True, False, True, True,
|
|
True, True, True, True, True]), 'seeds': None}
|
|
evaluation_time: 37.55708169937134 seconds
|
|
inference_precision: fp16
|
|
inference_compile_target: predictor
|
|
inference_compile_mode: reduce-overhead
|
|
|
|
==== CONFIG ====
|
|
cache_dir: /mnt/ASC1637/stablewm
|
|
solver:
|
|
_target_: stable_worldmodel.solver.CEMSolver
|
|
model: ???
|
|
batch_size: 8
|
|
num_samples: 300
|
|
var_scale: 1.0
|
|
n_steps: 30
|
|
topk: 30
|
|
device: cuda
|
|
seed: ${seed}
|
|
world:
|
|
env_name: swm/PushT-v1
|
|
num_envs: ${eval.num_eval}
|
|
max_episode_steps: ???
|
|
history_size: 1
|
|
frame_skip: 1
|
|
dataset:
|
|
stats: ${eval.dataset_name}
|
|
keys_to_cache:
|
|
- action
|
|
- proprio
|
|
- state
|
|
seed: 42
|
|
policy: pusht/lewm
|
|
inference_precision: fp16
|
|
plan_config:
|
|
horizon: 5
|
|
receding_horizon: 5
|
|
action_block: 5
|
|
eval:
|
|
num_eval: 50
|
|
goal_offset_steps: 25
|
|
eval_budget: 50
|
|
img_size: 224
|
|
dataset_name: pusht_expert_train
|
|
callables:
|
|
- method: _set_state
|
|
args:
|
|
state:
|
|
value: state
|
|
- method: _set_goal_state
|
|
args:
|
|
goal_state:
|
|
value: goal_state
|
|
output:
|
|
filename: pusht_results.txt
|
|
|
|
==== RESULTS ====
|
|
metrics: {'success_rate': 94.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
|
|
True, True, True, True, True, True, True, True, True,
|
|
True, False, True, True, True, True, True, True, True,
|
|
True, True, True, True, True, True, True, True, True,
|
|
True, True, True, True, True, True, False, True, True,
|
|
True, True, True, True, True]), 'seeds': None}
|
|
evaluation_time: 29.592512607574463 seconds
|
|
inference_precision: fp16
|
|
inference_compile_target: predictor
|
|
inference_compile_mode: reduce-overhead
|
|
|
|
==== CONFIG ====
|
|
cache_dir: /mnt/ASC1637/stablewm
|
|
solver:
|
|
_target_: stable_worldmodel.solver.CEMSolver
|
|
model: ???
|
|
batch_size: 8
|
|
num_samples: 300
|
|
var_scale: 1.0
|
|
n_steps: 30
|
|
topk: 30
|
|
device: cuda
|
|
seed: ${seed}
|
|
world:
|
|
env_name: swm/PushT-v1
|
|
num_envs: ${eval.num_eval}
|
|
max_episode_steps: ???
|
|
history_size: 1
|
|
frame_skip: 1
|
|
dataset:
|
|
stats: ${eval.dataset_name}
|
|
keys_to_cache:
|
|
- action
|
|
- proprio
|
|
- state
|
|
seed: 42
|
|
policy: pusht/lewm
|
|
inference_precision: fp16
|
|
plan_config:
|
|
horizon: 5
|
|
receding_horizon: 5
|
|
action_block: 5
|
|
eval:
|
|
num_eval: 50
|
|
goal_offset_steps: 25
|
|
eval_budget: 50
|
|
img_size: 224
|
|
dataset_name: pusht_expert_train
|
|
callables:
|
|
- method: _set_state
|
|
args:
|
|
state:
|
|
value: state
|
|
- method: _set_goal_state
|
|
args:
|
|
goal_state:
|
|
value: goal_state
|
|
output:
|
|
filename: pusht_results.txt
|
|
|
|
==== RESULTS ====
|
|
metrics: {'success_rate': 94.0, 'episode_successes': array([ True, True, True, True, True, False, True, True, True,
|
|
True, True, True, True, True, True, True, True, True,
|
|
True, False, True, True, True, True, True, True, True,
|
|
True, True, True, True, True, True, True, True, True,
|
|
True, True, True, True, True, True, False, True, True,
|
|
True, True, True, True, True]), 'seeds': None}
|
|
evaluation_time: 29.783243894577026 seconds
|
|
inference_precision: fp16
|
|
inference_compile_target: predictor
|
|
inference_compile_mode: reduce-overhead
|
|
|
|
==== 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
|
|
|
|
==== 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
|
|
|
|
==== 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: 16.081845998764038 seconds
|
|
inference_precision: fp16
|
|
inference_compile_target: predictor
|
|
inference_compile_mode: reduce-overhead
|
|
|
|
==== CONFIG ====
|
|
cache_dir: null
|
|
solver:
|
|
_target_: stable_worldmodel.solver.GradientSolver
|
|
model: ???
|
|
n_steps: 10
|
|
batch_size: 8
|
|
num_samples: 1
|
|
action_noise: 0
|
|
device: cuda
|
|
seed: ${seed}
|
|
optimizer_cls:
|
|
_target_: hydra.utils.get_class
|
|
path: torch.optim.AdamW
|
|
optimizer_kwargs:
|
|
lr: 0.05
|
|
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': 46.0, 'episode_successes': array([False, False, True, False, True, True, True, False, False,
|
|
True, False, False, True, False, False, False, False, False,
|
|
True, True, False, True, False, True, True, False, True,
|
|
False, True, True, True, False, False, True, False, False,
|
|
True, True, True, False, False, False, False, True, True,
|
|
True, True, False, False, False]), 'seeds': None}
|
|
evaluation_time: 63.84614443778992 seconds
|
|
inference_precision: fp16
|
|
inference_compile_target: predictor
|
|
inference_compile_mode: reduce-overhead
|
|
|
|
==== CONFIG ====
|
|
cache_dir: null
|
|
solver:
|
|
_target_: stable_worldmodel.solver.GradientSolver
|
|
model: ???
|
|
n_steps: 125
|
|
batch_size: 50
|
|
num_samples: 1
|
|
action_noise: 0
|
|
device: cuda
|
|
seed: ${seed}
|
|
optimizer_cls:
|
|
_target_: hydra.utils.get_class
|
|
path: torch.optim.AdamW
|
|
optimizer_kwargs:
|
|
lr: 0.05
|
|
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
|
|
profile:
|
|
enabled: false
|
|
|
|
==== RESULTS ====
|
|
metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, True, True, True, 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, True, True, True,
|
|
True, True, True, False, True, True, False, True, True,
|
|
True, True, True, True, True]), 'seeds': None}
|
|
evaluation_time: 15.638921022415161 seconds
|
|
inference_precision: fp16
|
|
inference_compile_target: predictor
|
|
inference_compile_mode: reduce-overhead
|
|
|
|
==== CONFIG ====
|
|
cache_dir: null
|
|
solver:
|
|
_target_: stable_worldmodel.solver.GradientSolver
|
|
model: ???
|
|
n_steps: 125
|
|
batch_size: 50
|
|
num_samples: 1
|
|
action_noise: 0
|
|
device: cuda
|
|
seed: ${seed}
|
|
optimizer_cls:
|
|
_target_: hydra.utils.get_class
|
|
path: torch.optim.AdamW
|
|
optimizer_kwargs:
|
|
lr: 0.05
|
|
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, False, 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, False, True, True,
|
|
True, True, True, True, True]), 'seeds': None}
|
|
evaluation_time: 16.060093879699707 seconds
|
|
inference_precision: fp16
|
|
inference_compile_target: predictor
|
|
inference_compile_mode: reduce-overhead
|
|
|
|
==== CONFIG ====
|
|
cache_dir: null
|
|
solver:
|
|
_target_: stable_worldmodel.solver.GradientSolver
|
|
model: ???
|
|
n_steps: 125
|
|
batch_size: 50
|
|
num_samples: 1
|
|
action_noise: 0
|
|
device: cuda
|
|
seed: ${seed}
|
|
optimizer_cls:
|
|
_target_: hydra.utils.get_class
|
|
path: torch.optim.AdamW
|
|
optimizer_kwargs:
|
|
lr: 0.05
|
|
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, False, 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, False, True, True,
|
|
True, True, True, True, True]), 'seeds': None}
|
|
evaluation_time: 16.087822437286377 seconds
|
|
inference_precision: fp16
|
|
inference_compile_target: predictor
|
|
inference_compile_mode: reduce-overhead
|
|
|
|
==== CONFIG ====
|
|
cache_dir: null
|
|
solver:
|
|
_target_: stable_worldmodel.solver.GradientSolver
|
|
model: ???
|
|
n_steps: 90
|
|
batch_size: 100
|
|
num_samples: 1
|
|
action_noise: 0
|
|
device: cuda
|
|
seed: ${seed}
|
|
optimizer_cls:
|
|
_target_: hydra.utils.get_class
|
|
path: torch.optim.AdamW
|
|
optimizer_kwargs:
|
|
lr: 0.075
|
|
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, False, True, True, True, True, 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, True, True, True,
|
|
True, True, True, True, True, True, False, True, True,
|
|
True, True, True, True, True]), 'seeds': None}
|
|
evaluation_time: 15.248084306716919 seconds
|
|
inference_precision: fp16
|
|
inference_compile_target: predictor
|
|
inference_compile_mode: reduce-overhead
|