diff --git a/lr/config/agent/lr.yaml b/lr/config/agent/lr.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8222ad6f290b72dd28eac473cbf3230c3398c5f8 --- /dev/null +++ b/lr/config/agent/lr.yaml @@ -0,0 +1,59 @@ +_target_: agent.AgentConfig + +denoiser: + _target_: models.diffusion.DenoiserConfig + sigma_data: 0.5 + sigma_offset_noise: 0.1 + noise_previous_obs: true + upsampling_factor: null + inner_model: + _target_: models.diffusion.InnerModelConfig + img_channels: 3 + num_steps_conditioning: 4 + cond_channels: 2048 + depths: + - 2 + - 2 + - 2 + - 2 + channels: + - 128 + - 256 + - 512 + - 1024 + attn_depths: + - 0 + - 0 + - 1 + - 1 + +upsampler: + _target_: models.diffusion.DenoiserConfig + sigma_data: 0.5 + sigma_offset_noise: 0.1 + noise_previous_obs: false + upsampling_factor: 5 + inner_model: + _target_: models.diffusion.InnerModelConfig + img_channels: 3 + num_steps_conditioning: 1 + cond_channels: 2048 + depths: + - 2 + - 2 + - 2 + - 2 + channels: + - 64 + - 64 + - 128 + - 256 + attn_depths: + - 0 + - 0 + - 0 + - 1 + +rew_end_model: null + +actor_critic: null diff --git a/lr/config/env/lr.yaml b/lr/config/env/lr.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a16879aa9ec43f2d853c11e47b2b1835b94b887f --- /dev/null +++ b/lr/config/env/lr.yaml @@ -0,0 +1,7 @@ +train: + id: lr + size: [320, 240] +num_actions: 22 +path_data_low_res: C:\Users\ifrat\Documents\AI-SM64\MarioKart\colab-diamond-csgo\processed\low_res +path_data_full_res: C:\Users\ifrat\Documents\AI-SM64\MarioKart\colab-diamond-csgo\processed\full_res +keymap: mk64 diff --git a/lr/config/trainer.yaml b/lr/config/trainer.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9ed5ec5556b56d1d9066a31a5ccffe8913d5871e --- /dev/null +++ b/lr/config/trainer.yaml @@ -0,0 +1,105 @@ +defaults: + - _self_ + - env: lr + - agent: lr + - world_model_env: default + +hydra: + job: + chdir: True + +wandb: + mode: disabled + project: null + entity: null + name: null + group: null + tags: null + notes: null + +initialization: + path_to_ckpt: null + load_denoiser: True + load_rew_end_model: True + load_actor_critic: True + +common: + devices: all # int, list of int, cpu, or all + seed: null + resume: False # do not modify, set by scripts/resume.sh only. + +checkpointing: + save_agent_every: 5 + num_to_keep: 11 # number of checkpoints to keep, use null to disable + +collection: + train: + num_envs: 1 + epsilon: 0.01 + num_steps_total: 100000 + first_epoch: + min: 5000 + max: 10000 # null: no maximum + threshold_rew: 10 + steps_per_epoch: 100 + test: + num_envs: 1 + num_episodes: 4 + epsilon: 0.0 + num_final_episodes: 100 + +static_dataset: + path: ${env.path_data_low_res} + ignore_sample_weights: True + +training: + should: True + num_final_epochs: 1500 + cache_in_ram: False + num_workers_data_loaders: 4 + model_free: False # if True, turn off world_model training and RL in imagination + compile_wm: False + +evaluation: + should: True + every: 20 + +denoiser: + training: + num_autoregressive_steps: 4 + start_after_epochs: 0 + steps_first_epoch: 100 + steps_per_epoch: 100 + sample_weights: null + batch_size: 14 + grad_acc_steps: 1 + lr_warmup_steps: 100 + max_grad_norm: 10.0 + + optimizer: + lr: 1e-4 + weight_decay: 1e-2 + eps: 1e-8 + + sigma_distribution: # log normal distribution for sigma during training + _target_: models.diffusion.SigmaDistributionConfig + loc: -1.2 + scale: 1.2 + sigma_min: 2e-3 + sigma_max: 20 + +upsampler: + training: + num_autoregressive_steps: 1 + start_after_epochs: 0 + steps_first_epoch: 400 + steps_per_epoch: 400 + sample_weights: null + batch_size: 14 + grad_acc_steps: 1 + lr_warmup_steps: 100 + max_grad_norm: 10.0 + + optimizer: ${denoiser.optimizer} + sigma_distribution: ${denoiser.sigma_distribution} + diff --git a/lr/config/world_model_env/default.yaml b/lr/config/world_model_env/default.yaml new file mode 100644 index 0000000000000000000000000000000000000000..050a71c0bf6a002a05bff93aa0b9c4529b5da972 --- /dev/null +++ b/lr/config/world_model_env/default.yaml @@ -0,0 +1,27 @@ +_target_: envs.WorldModelEnvConfig +horizon: 1000 +num_batches_to_preload: 256 +diffusion_sampler_next_obs: + _target_: models.diffusion.DiffusionSamplerConfig + num_steps_denoising: 3 + sigma_min: 2e-3 + sigma_max: 5.0 + rho: 7 + order: 1 # 1: Euler, 2: Heun + s_churn: 0.0 # Amount of stochasticity + s_tmin: 0.0 + s_tmax: ${eval:'float("inf")'} + s_noise: 1.0 + s_cond: 0.005 +diffusion_sampler_upsampling: + _target_: models.diffusion.DiffusionSamplerConfig + num_steps_denoising: 10 + sigma_min: 1 + sigma_max: 5.0 + rho: 7 + order: 1 # 1: Euler, 2: Heun + s_churn: 10.0 # Amount of stochasticity + s_tmin: 1 + s_tmax: 5 + s_noise: 0.9 + s_cond: 0 diff --git a/lr/config/world_model_env/fast.yaml b/lr/config/world_model_env/fast.yaml new file mode 100644 index 0000000000000000000000000000000000000000..08eadc86c1cbe70f1ab822844f1194c9319d8120 --- /dev/null +++ b/lr/config/world_model_env/fast.yaml @@ -0,0 +1,27 @@ +_target_: envs.WorldModelEnvConfig +horizon: 1000 +num_batches_to_preload: 256 +diffusion_sampler_next_obs: + _target_: models.diffusion.DiffusionSamplerConfig + num_steps_denoising: 1 + sigma_min: 2e-3 + sigma_max: 5.0 + rho: 7 + order: 1 # 1: Euler, 2: Heun + s_churn: 0.0 # Amount of stochasticity + s_tmin: 0.0 + s_tmax: ${eval:'float("inf")'} + s_noise: 1.0 + s_cond: 0.005 +diffusion_sampler_upsampling: + _target_: models.diffusion.DiffusionSamplerConfig + num_steps_denoising: 1 + sigma_min: 1 + sigma_max: 5.0 + rho: 7 + order: 2 # 1: Euler, 2: Heun + s_churn: 10.0 # Amount of stochasticity + s_tmin: 1 + s_tmax: 5 + s_noise: 0.9 + s_cond: 0 \ No newline at end of file diff --git a/lr/model/lr.pt b/lr/model/lr.pt new file mode 100644 index 0000000000000000000000000000000000000000..9e590c9b3221e607dfceeca61fee674f430a17c6 --- 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