2791 lines
67 KiB
Plaintext
2791 lines
67 KiB
Plaintext
|
|
==== 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
|