diff --git a/mbpo_half_cheetah_v4/diff/.hydra/config.yaml b/mbpo_half_cheetah_v4/diff/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..948146d100fe32cd615b0c1f7567ce8aaad1e070 --- /dev/null +++ b/mbpo_half_cheetah_v4/diff/.hydra/config.yaml @@ -0,0 +1,93 @@ +seed: 0 +device: cuda:0 +log_frequency_agent: 1000 +save_video: false +debug_mode: false +experiment: default +root_dir: ./exp +algorithm: + name: mbpo + normalize: true + normalize_double_precision: true + target_is_delta: true + learned_rewards: true + freq_train_model: ${overrides.freq_train_model} + real_data_ratio: 0.0 + sac_samples_action: true + initial_exploration_steps: 5000 + random_initial_explore: false + num_eval_episodes: 1 + agent: + _target_: mbrl.third_party.pytorch_sac_pranz24.sac.SAC + num_inputs: ??? + action_space: + _target_: gym.env.Box + low: ??? + high: ??? + shape: ??? + args: + gamma: ${overrides.sac_gamma} + tau: ${overrides.sac_tau} + alpha: ${overrides.sac_alpha} + policy: ${overrides.sac_policy} + target_update_interval: ${overrides.sac_target_update_interval} + automatic_entropy_tuning: ${overrides.sac_automatic_entropy_tuning} + target_entropy: ${overrides.sac_target_entropy} + hidden_size: ${overrides.sac_hidden_size} + device: ${device} + lr: ${overrides.sac_lr} +dynamics_model: + _target_: mbrl.models.GaussianMLP + device: ${device} + num_layers: 4 + in_size: ??? + out_size: ??? + ensemble_size: 7 + hid_size: 200 + deterministic: false + propagation_method: random_model + learn_logvar_bounds: false + activation_fn_cfg: + _target_: torch.nn.SiLU +overrides: + env: gym___HalfCheetah-v4 + term_fn: no_termination + num_steps: 400000 + epoch_length: 1000 + num_elites: 5 + patience: 5 + model_lr: 0.001 + model_wd: 1.0e-05 + model_batch_size: 256 + validation_ratio: 0.2 + freq_train_model: 250 + effective_model_rollouts_per_step: 400 + rollout_schedule: + - 20 + - 150 + - 1 + - 1 + num_sac_updates_per_step: 10 + sac_updates_every_steps: 1 + num_epochs_to_retain_sac_buffer: 1 + sac_gamma: 0.99 + sac_tau: 0.005 + sac_alpha: 0.2 + sac_policy: Gaussian + sac_target_update_interval: 1 + sac_automatic_entropy_tuning: true + sac_target_entropy: -1 + sac_hidden_size: 512 + sac_lr: 0.0003 + sac_batch_size: 256 +action_optimizer: + _target_: mbrl.planning.CEMOptimizer + num_iterations: ${overrides.cem_num_iters} + elite_ratio: ${overrides.cem_elite_ratio} + population_size: ${overrides.cem_population_size} + alpha: ${overrides.cem_alpha} + lower_bound: ??? + upper_bound: ??? + return_mean_elites: true + device: ${device} + clipped_normal: ${overrides.cem_clipped_normal} diff --git a/mbpo_half_cheetah_v4/diff/.hydra/hydra.yaml b/mbpo_half_cheetah_v4/diff/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..10ace9a3223d91842dee746305e26332612f04c4 --- /dev/null +++ b/mbpo_half_cheetah_v4/diff/.hydra/hydra.yaml @@ -0,0 +1,127 @@ +hydra: + run: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + sweep: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + subdir: ${hydra.job.num} + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + hydra_help: ??? + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + output_subdir: .hydra + overrides: + hydra: [] + task: + - algorithm=mbpo + - overrides=mbpo_halfcheetah + job: + name: main + override_dirname: algorithm=mbpo,overrides=mbpo_halfcheetah + id: ??? + num: ??? + config_name: main + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.0.3 + cwd: /home/raghava/projects/mbrl-lib + verbose: false diff --git a/mbpo_half_cheetah_v4/diff/.hydra/overrides.yaml b/mbpo_half_cheetah_v4/diff/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d1fcde18f2ac5f8e93f7a8b43acc3f6cb52871b7 --- /dev/null +++ b/mbpo_half_cheetah_v4/diff/.hydra/overrides.yaml @@ -0,0 +1,2 @@ +- algorithm=mbpo +- overrides=mbpo_halfcheetah diff --git a/mbpo_half_cheetah_v4/diff/env_stats.pickle b/mbpo_half_cheetah_v4/diff/env_stats.pickle new file mode 100644 index 0000000000000000000000000000000000000000..f63536ff916b52e27fc07c4aa7340ed405d8760b --- /dev/null +++ b/mbpo_half_cheetah_v4/diff/env_stats.pickle @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:393096d51d9d81c76f75f7ecaa8d8c980cec2ad587386fb9a9f6fb6444cb5d7a +size 566 diff --git a/mbpo_half_cheetah_v4/diff/eval.csv b/mbpo_half_cheetah_v4/diff/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/mbpo_half_cheetah_v4/diff/main.log b/mbpo_half_cheetah_v4/diff/main.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/mbpo_half_cheetah_v4/diff/model.pth b/mbpo_half_cheetah_v4/diff/model.pth new file mode 100644 index 0000000000000000000000000000000000000000..db8b8c6cf844f8f578a74dbe0009d9511cc06433 --- /dev/null +++ b/mbpo_half_cheetah_v4/diff/model.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52caaf4f3d050bab035f7be401b379f0dbd4251788656d2aab98c8431954b93d +size 3718181 diff --git a/mbpo_half_cheetah_v4/diff/model_train.csv b/mbpo_half_cheetah_v4/diff/model_train.csv new file mode 100644 index 0000000000000000000000000000000000000000..f8935e5b3665b44699822ceac1281e5aa4ac492f --- /dev/null +++ b/mbpo_half_cheetah_v4/diff/model_train.csv @@ -0,0 +1,19433 @@ +epoch,iteration,model_best_val_score,model_loss,model_val_score,step,train_dataset_size,val_dataset_size +0.0,0.0,36.68134689331055,368.47272805606616,36.68134689331055,1,4200.0,1050.0 +1.0,0.0,36.68134689331055,171.7119535558364,36.570167541503906,2,4200.0,1050.0 +2.0,0.0,34.80638885498047,155.52958140653723,34.80638885498047,3,4200.0,1050.0 +3.0,0.0,32.5711784362793,146.6067980598001,32.5711784362793,4,4200.0,1050.0 +4.0,0.0,30.343965530395508,136.97700410730698,30.343965530395508,5,4200.0,1050.0 +5.0,0.0,27.838048934936523,125.9080186731675,27.838048934936523,6,4200.0,1050.0 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normalize_double_precision: true + target_is_delta: true + learned_rewards: true + freq_train_model: ${overrides.freq_train_model} + real_data_ratio: 0.0 + sac_samples_action: true + initial_exploration_steps: 5000 + random_initial_explore: false + num_eval_episodes: 1 + agent: + _target_: mbrl.third_party.pytorch_sac_pranz24.sac.SAC + num_inputs: ??? + action_space: + _target_: gym.env.Box + low: ??? + high: ??? + shape: ??? + args: + gamma: ${overrides.sac_gamma} + tau: ${overrides.sac_tau} + alpha: ${overrides.sac_alpha} + policy: ${overrides.sac_policy} + target_update_interval: ${overrides.sac_target_update_interval} + automatic_entropy_tuning: ${overrides.sac_automatic_entropy_tuning} + target_entropy: ${overrides.sac_target_entropy} + hidden_size: ${overrides.sac_hidden_size} + device: ${device} + lr: ${overrides.sac_lr} +dynamics_model: + _target_: mbrl.models.GaussianMLP + device: ${device} + num_layers: 4 + in_size: ??? + out_size: ??? + ensemble_size: 7 + hid_size: 200 + deterministic: false + propagation_method: random_model + learn_logvar_bounds: false + activation_fn_cfg: + _target_: torch.nn.SiLU +overrides: + env: gym___HalfCheetah-v2 + term_fn: no_termination + num_steps: 400000 + epoch_length: 1000 + num_elites: 5 + patience: 5 + model_lr: 0.001 + model_wd: 1.0e-05 + model_batch_size: 256 + validation_ratio: 0.2 + freq_train_model: 250 + effective_model_rollouts_per_step: 400 + rollout_schedule: + - 20 + - 150 + - 1 + - 1 + num_sac_updates_per_step: 10 + sac_updates_every_steps: 1 + num_epochs_to_retain_sac_buffer: 1 + sac_gamma: 0.99 + sac_tau: 0.005 + sac_alpha: 0.2 + sac_policy: Gaussian + sac_target_update_interval: 1 + sac_automatic_entropy_tuning: true + sac_target_entropy: -1 + sac_hidden_size: 512 + sac_lr: 0.0003 + sac_batch_size: 256 +action_optimizer: + _target_: mbrl.planning.CEMOptimizer + num_iterations: ${overrides.cem_num_iters} + elite_ratio: ${overrides.cem_elite_ratio} + population_size: ${overrides.cem_population_size} + alpha: ${overrides.cem_alpha} + lower_bound: ??? + upper_bound: ??? + return_mean_elites: true + device: ${device} + clipped_normal: ${overrides.cem_clipped_normal} diff --git a/mbpo_half_cheetah_v4/main/.hydra/hydra.yaml b/mbpo_half_cheetah_v4/main/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5aecdfff42cd367febf5c7fddcc25c61eeb1d21d --- /dev/null +++ b/mbpo_half_cheetah_v4/main/.hydra/hydra.yaml @@ -0,0 +1,128 @@ +hydra: + run: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + sweep: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + subdir: ${hydra.job.num} + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + hydra_help: ??? + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + output_subdir: .hydra + overrides: + hydra: [] + task: + - algorithm=mbpo + - overrides=mbpo_halfcheetah + - device=cuda:0 + job: + name: main + override_dirname: algorithm=mbpo,device=cuda:0,overrides=mbpo_halfcheetah + id: ??? + num: ??? + config_name: main + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.0.3 + cwd: /home/raghava/projects/mbrl-lib/exp + verbose: false diff --git a/mbpo_half_cheetah_v4/main/.hydra/overrides.yaml b/mbpo_half_cheetah_v4/main/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..17bf7942cf22aa094ccf2231f8846295a10b2079 --- /dev/null +++ b/mbpo_half_cheetah_v4/main/.hydra/overrides.yaml @@ -0,0 +1,3 @@ +- algorithm=mbpo +- overrides=mbpo_halfcheetah +- device=cuda:0 diff --git a/mbpo_half_cheetah_v4/main/env_stats.pickle b/mbpo_half_cheetah_v4/main/env_stats.pickle new file mode 100644 index 0000000000000000000000000000000000000000..686ce70059a29e61a8537a5c0010901a0a26451b --- /dev/null +++ b/mbpo_half_cheetah_v4/main/env_stats.pickle @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5139c3fc0135ce131d07dbb9797e1fe455da616e2a1db860260660bfa10372a5 +size 566 diff --git a/mbpo_half_cheetah_v4/main/eval.csv b/mbpo_half_cheetah_v4/main/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/mbpo_half_cheetah_v4/main/main.log b/mbpo_half_cheetah_v4/main/main.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/mbpo_half_cheetah_v4/main/model.pth b/mbpo_half_cheetah_v4/main/model.pth new file mode 100644 index 0000000000000000000000000000000000000000..7c14aec0e912f36291c86cc88e88ed174d2c8536 --- /dev/null +++ b/mbpo_half_cheetah_v4/main/model.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de90df3c9aecb27e8048a228e7f0f46e225d6c81ce5f8cc5e426e083ef2d03c7 +size 3718181 diff --git a/mbpo_half_cheetah_v4/main/model_train.csv b/mbpo_half_cheetah_v4/main/model_train.csv new file mode 100644 index 0000000000000000000000000000000000000000..0ecb3c2630d3709230132e8042df9c14ab061182 --- /dev/null +++ b/mbpo_half_cheetah_v4/main/model_train.csv @@ -0,0 +1,11355 @@ +epoch,iteration,model_best_val_score,model_loss,model_val_score,step,train_dataset_size,val_dataset_size 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b/mbpo_inv_pendulum_v4/diff/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..af79feb2b0e0b581db2b7dbae485ac25ef0e229c --- /dev/null +++ b/mbpo_inv_pendulum_v4/diff/.hydra/config.yaml @@ -0,0 +1,93 @@ +seed: 0 +device: cuda:0 +log_frequency_agent: 1000 +save_video: false +debug_mode: false +experiment: default +root_dir: ./exp +algorithm: + name: mbpo + normalize: true + normalize_double_precision: true + target_is_delta: true + learned_rewards: true + freq_train_model: ${overrides.freq_train_model} + real_data_ratio: 0.0 + sac_samples_action: true + initial_exploration_steps: 5000 + random_initial_explore: false + num_eval_episodes: 1 + agent: + _target_: mbrl.third_party.pytorch_sac_pranz24.sac.SAC + num_inputs: ??? + action_space: + _target_: gym.env.Box + low: ??? + high: ??? + shape: ??? + args: + gamma: ${overrides.sac_gamma} + tau: ${overrides.sac_tau} + alpha: ${overrides.sac_alpha} + policy: ${overrides.sac_policy} + target_update_interval: ${overrides.sac_target_update_interval} + automatic_entropy_tuning: ${overrides.sac_automatic_entropy_tuning} + target_entropy: ${overrides.sac_target_entropy} + hidden_size: ${overrides.sac_hidden_size} + device: ${device} + lr: ${overrides.sac_lr} +dynamics_model: + _target_: mbrl.models.GaussianMLP + device: ${device} + num_layers: 4 + in_size: ??? + out_size: ??? + ensemble_size: 7 + hid_size: 200 + deterministic: false + propagation_method: random_model + learn_logvar_bounds: false + activation_fn_cfg: + _target_: torch.nn.SiLU +overrides: + env: gym___InvertedPendulum-v4 + term_fn: inverted_pendulum + num_steps: 20000 + epoch_length: 250 + num_elites: 5 + patience: 5 + model_lr: 0.001 + model_wd: 1.0e-05 + model_batch_size: 256 + validation_ratio: 0.2 + freq_train_model: 250 + effective_model_rollouts_per_step: 400 + rollout_schedule: + - 1 + - 15 + - 1 + - 1 + num_sac_updates_per_step: 10 + sac_updates_every_steps: 1 + num_epochs_to_retain_sac_buffer: 1 + sac_gamma: 0.99 + sac_tau: 0.005 + sac_alpha: 0.2 + sac_policy: Gaussian + sac_target_update_interval: 1 + sac_automatic_entropy_tuning: true + sac_hidden_size: 256 + sac_lr: 0.0003 + sac_batch_size: 256 + sac_target_entropy: -1 +action_optimizer: + _target_: mbrl.planning.CEMOptimizer + num_iterations: ${overrides.cem_num_iters} + elite_ratio: ${overrides.cem_elite_ratio} + population_size: ${overrides.cem_population_size} + alpha: ${overrides.cem_alpha} + lower_bound: ??? + upper_bound: ??? + return_mean_elites: true + device: ${device} + clipped_normal: ${overrides.cem_clipped_normal} diff --git a/mbpo_inv_pendulum_v4/diff/.hydra/hydra.yaml b/mbpo_inv_pendulum_v4/diff/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c76a6186ed62397113413a920c5ff423f8f1e8bd --- /dev/null +++ b/mbpo_inv_pendulum_v4/diff/.hydra/hydra.yaml @@ -0,0 +1,127 @@ +hydra: + run: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + sweep: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + subdir: ${hydra.job.num} + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + hydra_help: ??? + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + output_subdir: .hydra + overrides: + hydra: [] + task: + - algorithm=mbpo + - overrides=mbpo_inv_pendulum + job: + name: main + override_dirname: algorithm=mbpo,overrides=mbpo_inv_pendulum + id: ??? + num: ??? + config_name: main + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.0.3 + cwd: /home/raghava/projects/mbrl-lib + verbose: false diff --git a/mbpo_inv_pendulum_v4/diff/.hydra/overrides.yaml b/mbpo_inv_pendulum_v4/diff/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..76c1dcef4211b6838d2512b13ff7c6f13c9f7360 --- /dev/null +++ b/mbpo_inv_pendulum_v4/diff/.hydra/overrides.yaml @@ -0,0 +1,2 @@ +- algorithm=mbpo +- overrides=mbpo_inv_pendulum diff --git a/mbpo_inv_pendulum_v4/diff/env_stats.pickle b/mbpo_inv_pendulum_v4/diff/env_stats.pickle new file mode 100644 index 0000000000000000000000000000000000000000..ee09637243af35038e42c4c24ee8f77202572298 --- /dev/null +++ b/mbpo_inv_pendulum_v4/diff/env_stats.pickle @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5e7846a1da9cbaff6eac7cec7587a3ca3ab97080e986dbe2e8c4c1bc1f789a3 +size 278 diff --git a/mbpo_inv_pendulum_v4/diff/eval.csv b/mbpo_inv_pendulum_v4/diff/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/mbpo_inv_pendulum_v4/diff/main.log b/mbpo_inv_pendulum_v4/diff/main.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/mbpo_inv_pendulum_v4/diff/model.pth b/mbpo_inv_pendulum_v4/diff/model.pth new file mode 100644 index 0000000000000000000000000000000000000000..09570177a4af312af423abef132a417189a20d6a --- /dev/null +++ b/mbpo_inv_pendulum_v4/diff/model.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e2eb49d13624a0e6301a99e4846fe84f7375c8dfe61c90dce02a3a5a3aa0360 +size 3470949 diff --git a/mbpo_inv_pendulum_v4/diff/model_train.csv b/mbpo_inv_pendulum_v4/diff/model_train.csv new file mode 100644 index 0000000000000000000000000000000000000000..0865e2c6481ad54c356ede07a8919e369c8631f9 --- /dev/null +++ b/mbpo_inv_pendulum_v4/diff/model_train.csv @@ -0,0 +1,1825 @@ +epoch,iteration,model_best_val_score,model_loss,model_val_score,step,train_dataset_size,val_dataset_size +0.0,0.0,0.1419953554868698,2.0625848244218266,0.1419953554868698,1,4200.0,1050.0 +1.0,0.0,0.07352107018232346,-3.943974452860215,0.07352107018232346,2,4200.0,1050.0 +2.0,0.0,0.01560145989060402,-13.754414923050824,0.01560145989060402,3,4200.0,1050.0 +3.0,0.0,0.0033425833098590374,-25.742255491368912,0.0033425833098590374,4,4200.0,1050.0 +4.0,0.0,0.0014394900063052773,-33.22427682315602,0.0014394900063052773,5,4200.0,1050.0 +5.0,0.0,0.0008663108455948532,-38.7323527616613,0.000884557026438415,6,4200.0,1050.0 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+-1.161974544286728,-86.76565823364258,-1.0,0.4599228806514293,0.058990542739629746,0.9992697890996933,86.19860540437698,195000 +-1.1238311616182328,-87.45591569519043,-1.0,0.33833809685520827,0.06543059648200869,0.9998308535218239,6.16370524841547,196000 +-1.0021767801642418,-87.39279821014404,-1.0,0.005787738013081253,0.07035529282689094,0.9998381351232528,5.184702994942665,197000 diff --git a/mbpo_inv_pendulum_v4/main/.hydra/config.yaml b/mbpo_inv_pendulum_v4/main/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..06a920b6b6e689e6bfe768fe0c2d05b56dbf325d --- /dev/null +++ b/mbpo_inv_pendulum_v4/main/.hydra/config.yaml @@ -0,0 +1,93 @@ +seed: 0 +device: cuda:0 +log_frequency_agent: 1000 +save_video: false +debug_mode: false +experiment: default +root_dir: ./exp +algorithm: + name: mbpo + normalize: true + normalize_double_precision: true + target_is_delta: true + learned_rewards: true + freq_train_model: ${overrides.freq_train_model} + real_data_ratio: 0.0 + sac_samples_action: true + initial_exploration_steps: 5000 + random_initial_explore: false + num_eval_episodes: 1 + agent: + _target_: mbrl.third_party.pytorch_sac_pranz24.sac.SAC + num_inputs: ??? + action_space: + _target_: gym.env.Box + low: ??? + high: ??? + shape: ??? + args: + gamma: ${overrides.sac_gamma} + tau: ${overrides.sac_tau} + alpha: ${overrides.sac_alpha} + policy: ${overrides.sac_policy} + target_update_interval: ${overrides.sac_target_update_interval} + automatic_entropy_tuning: ${overrides.sac_automatic_entropy_tuning} + target_entropy: ${overrides.sac_target_entropy} + hidden_size: ${overrides.sac_hidden_size} + device: ${device} + lr: ${overrides.sac_lr} +dynamics_model: + _target_: mbrl.models.GaussianMLP + device: ${device} + num_layers: 4 + in_size: ??? + out_size: ??? + ensemble_size: 7 + hid_size: 200 + deterministic: false + propagation_method: random_model + learn_logvar_bounds: false + activation_fn_cfg: + _target_: torch.nn.SiLU +overrides: + env: gym___InvertedPendulum-v2 + term_fn: inverted_pendulum + num_steps: 20000 + epoch_length: 250 + num_elites: 5 + patience: 5 + model_lr: 0.001 + model_wd: 1.0e-05 + model_batch_size: 256 + validation_ratio: 0.2 + freq_train_model: 250 + effective_model_rollouts_per_step: 400 + rollout_schedule: + - 1 + - 15 + - 1 + - 1 + num_sac_updates_per_step: 10 + sac_updates_every_steps: 1 + num_epochs_to_retain_sac_buffer: 1 + sac_gamma: 0.99 + sac_tau: 0.005 + sac_alpha: 0.2 + sac_policy: Gaussian + sac_target_update_interval: 1 + sac_automatic_entropy_tuning: true + sac_hidden_size: 256 + sac_lr: 0.0003 + sac_batch_size: 256 + sac_target_entropy: -1 +action_optimizer: + _target_: mbrl.planning.CEMOptimizer + num_iterations: ${overrides.cem_num_iters} + elite_ratio: ${overrides.cem_elite_ratio} + population_size: ${overrides.cem_population_size} + alpha: ${overrides.cem_alpha} + lower_bound: ??? + upper_bound: ??? + return_mean_elites: true + device: ${device} + clipped_normal: ${overrides.cem_clipped_normal} diff --git a/mbpo_inv_pendulum_v4/main/.hydra/hydra.yaml b/mbpo_inv_pendulum_v4/main/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a28643d9ed3bd19d365d1e328fbd42c1f7c833e0 --- /dev/null +++ b/mbpo_inv_pendulum_v4/main/.hydra/hydra.yaml @@ -0,0 +1,128 @@ +hydra: + run: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + sweep: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + subdir: ${hydra.job.num} + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + hydra_help: ??? + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + output_subdir: .hydra + overrides: + hydra: [] + task: + - algorithm=mbpo + - overrides=mbpo_inv_pendulum + - device=cuda:0 + job: + name: main + override_dirname: algorithm=mbpo,device=cuda:0,overrides=mbpo_inv_pendulum + id: ??? + num: ??? + config_name: main + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.0.3 + cwd: /home/raghava/projects/mbrl-lib/exp + verbose: false diff --git a/mbpo_inv_pendulum_v4/main/.hydra/overrides.yaml b/mbpo_inv_pendulum_v4/main/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc3d79ab8a2471ca992b594b3be2a65aa536662a --- /dev/null +++ b/mbpo_inv_pendulum_v4/main/.hydra/overrides.yaml @@ -0,0 +1,3 @@ +- algorithm=mbpo +- overrides=mbpo_inv_pendulum +- device=cuda:0 diff --git a/mbpo_inv_pendulum_v4/main/env_stats.pickle b/mbpo_inv_pendulum_v4/main/env_stats.pickle new file mode 100644 index 0000000000000000000000000000000000000000..94016baea2714351f0810e7286f077b72c62ac64 --- /dev/null +++ b/mbpo_inv_pendulum_v4/main/env_stats.pickle @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bf513b97ba1ebdfe092ff0ba789730d47f6fadb4b92711070e658f9fc912cde +size 278 diff --git a/mbpo_inv_pendulum_v4/main/eval.csv b/mbpo_inv_pendulum_v4/main/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/mbpo_inv_pendulum_v4/main/main.log b/mbpo_inv_pendulum_v4/main/main.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/mbpo_inv_pendulum_v4/main/model.pth b/mbpo_inv_pendulum_v4/main/model.pth new file mode 100644 index 0000000000000000000000000000000000000000..a8471a7db0876445028cda7779646a13a1f3d204 --- /dev/null +++ b/mbpo_inv_pendulum_v4/main/model.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14274d884ccae1d37d83223c14cc8c9bc7a488093d99791899f26e3ecf9a4d85 +size 3470949 diff --git a/mbpo_inv_pendulum_v4/main/model_train.csv b/mbpo_inv_pendulum_v4/main/model_train.csv new file mode 100644 index 0000000000000000000000000000000000000000..b167c5e120d43be9617a40445aacb5d00a4e91d1 --- /dev/null +++ b/mbpo_inv_pendulum_v4/main/model_train.csv @@ -0,0 +1,1901 @@ +epoch,iteration,model_best_val_score,model_loss,model_val_score,step,train_dataset_size,val_dataset_size +0.0,0.0,0.1520591378211975,2.9580386736813713,0.1520591378211975,1,4200.0,1050.0 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b/pets_pusher/diff/.hydra/config.yaml @@ -0,0 +1,68 @@ +seed: 0 +device: cuda:0 +log_frequency_agent: 1000 +save_video: false +debug_mode: false +experiment: default +root_dir: ./exp +algorithm: + name: pets + agent: + _target_: mbrl.planning.TrajectoryOptimizerAgent + action_lb: ??? + action_ub: ??? + planning_horizon: ${overrides.planning_horizon} + optimizer_cfg: ${action_optimizer} + replan_freq: 1 + verbose: ${debug_mode} + normalize: true + normalize_double_precision: true + target_is_delta: true + initial_exploration_steps: ${overrides.trial_length} + freq_train_model: ${overrides.freq_train_model} + learned_rewards: ${overrides.learned_rewards} + num_particles: 20 +dynamics_model: + _target_: mbrl.models.GaussianMLP + device: ${device} + num_layers: 4 + in_size: ??? + out_size: ??? + ensemble_size: 7 + hid_size: 200 + deterministic: false + propagation_method: random_model + learn_logvar_bounds: false + activation_fn_cfg: + _target_: torch.nn.SiLU +overrides: + env: pets_pusher + term_fn: no_termination + learned_rewards: true + trial_length: 150 + num_steps: 15000 + num_elites: 5 + model_lr: 1.0e-05 + model_wd: 0.0005 + model_batch_size: 32 + validation_ratio: 0 + freq_train_model: 150 + patience: 25 + num_epochs_train_model: 25 + planning_horizon: 25 + cem_num_iters: 5 + cem_elite_ratio: 0.1 + cem_population_size: 350 + cem_alpha: 0.1 + cem_clipped_normal: false +action_optimizer: + _target_: mbrl.planning.CEMOptimizer + num_iterations: ${overrides.cem_num_iters} + elite_ratio: ${overrides.cem_elite_ratio} + population_size: ${overrides.cem_population_size} + alpha: ${overrides.cem_alpha} + lower_bound: ??? + upper_bound: ??? + return_mean_elites: true + device: ${device} + clipped_normal: ${overrides.cem_clipped_normal} diff --git a/pets_pusher/diff/.hydra/hydra.yaml b/pets_pusher/diff/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..495a93504ebd281877bc2d03b15a8d88b0824ef2 --- /dev/null +++ b/pets_pusher/diff/.hydra/hydra.yaml @@ -0,0 +1,128 @@ +hydra: + run: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + sweep: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + subdir: ${hydra.job.num} + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + hydra_help: ??? + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + output_subdir: .hydra + overrides: + hydra: [] + task: + - algorithm=pets + - overrides=pets_pusher + - device=cuda:0 + job: + name: main + override_dirname: algorithm=pets,device=cuda:0,overrides=pets_pusher + id: ??? + num: ??? + config_name: main + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.0.3 + cwd: /home/raghava/projects/mbrl-lib/exp + verbose: false diff --git a/pets_pusher/diff/.hydra/overrides.yaml b/pets_pusher/diff/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..319ced9ced96a616f117762c1b11467d31ff79b0 --- /dev/null +++ b/pets_pusher/diff/.hydra/overrides.yaml @@ -0,0 +1,3 @@ +- algorithm=pets +- overrides=pets_pusher +- device=cuda:0 diff --git a/pets_pusher/diff/env_stats.pickle b/pets_pusher/diff/env_stats.pickle new file mode 100644 index 0000000000000000000000000000000000000000..20036474f8d7e59564c6792b1616c8bba02e8555 --- /dev/null +++ b/pets_pusher/diff/env_stats.pickle @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aff6cb48c9916130b8c5d5fce8c25f443d070780abc03223c2b69ab257fa0825 +size 630 diff --git a/pets_pusher/diff/main.log b/pets_pusher/diff/main.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/pets_pusher/diff/model.pth b/pets_pusher/diff/model.pth new file mode 100644 index 0000000000000000000000000000000000000000..256c75582c957362a66d678de428b24043edc97b --- /dev/null +++ b/pets_pusher/diff/model.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df10744d5150d205e36f3860859f6cb41a6895a4a3f9652bfb97b5bc42ad207c +size 3774373 diff --git a/pets_pusher/diff/model_train.csv b/pets_pusher/diff/model_train.csv new file mode 100644 index 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+7.0,79.0,0.009972605854272842,-57.54800374348958,0.009958552196621895,1983,12000.0,0.0 +8.0,79.0,0.009972605854272842,-57.56262561035156,0.00995491910725832,1984,12000.0,0.0 +9.0,79.0,0.009972605854272842,-57.57243843587239,0.009956751950085163,1985,12000.0,0.0 +10.0,79.0,0.009972605854272842,-57.573887654622396,0.009955644607543945,1986,12000.0,0.0 +11.0,79.0,0.009972605854272842,-57.58206231689453,0.009957454167306423,1987,12000.0,0.0 +12.0,79.0,0.009972605854272842,-57.587192626953126,0.009956677444279194,1988,12000.0,0.0 +13.0,79.0,0.009972605854272842,-57.595702962239585,0.009953533299267292,1989,12000.0,0.0 +14.0,79.0,0.009972605854272842,-57.60728403727214,0.009957149624824524,1990,12000.0,0.0 +15.0,79.0,0.009972605854272842,-57.611017557779945,0.009952671825885773,1991,12000.0,0.0 +16.0,79.0,0.009972605854272842,-57.615401611328124,0.009951498359441757,1992,12000.0,0.0 +17.0,79.0,0.009972605854272842,-57.6236411336263,0.009950640611350536,1993,12000.0,0.0 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+4.0,80.0,0.009843282401561737,-57.553321677760074,0.00982673279941082,2005,12150.0,0.0 +5.0,80.0,0.009843282401561737,-57.56322708129883,0.009825113229453564,2006,12150.0,0.0 +6.0,80.0,0.009843282401561737,-57.57486584312037,0.009824508801102638,2007,12150.0,0.0 +7.0,80.0,0.009843282401561737,-57.580522436844674,0.009824689477682114,2008,12150.0,0.0 +8.0,80.0,0.009843282401561737,-57.59673492030093,0.00982545968145132,2009,12150.0,0.0 +9.0,80.0,0.009843282401561737,-57.600978630467466,0.009821436367928982,2010,12150.0,0.0 +10.0,80.0,0.009843282401561737,-57.61639623140034,0.00982521753758192,2011,12150.0,0.0 +11.0,80.0,0.009843282401561737,-57.61677205939042,0.009824128821492195,2012,12150.0,0.0 +12.0,80.0,0.009843282401561737,-57.6284795058401,0.00982347596436739,2013,12150.0,0.0 +13.0,80.0,0.009843282401561737,-57.63488940188759,0.009821515530347824,2014,12150.0,0.0 +14.0,80.0,0.009843282401561737,-57.63588586104544,0.00982227548956871,2015,12150.0,0.0 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0000000000000000000000000000000000000000..bb398288c69507bbfd1df5c967873d8fe2da8eab --- /dev/null +++ b/pets_pusher/main/.hydra/config.yaml @@ -0,0 +1,68 @@ +seed: 0 +device: cuda:1 +log_frequency_agent: 1000 +save_video: false +debug_mode: false +experiment: default +root_dir: ./exp +algorithm: + name: pets + agent: + _target_: mbrl.planning.TrajectoryOptimizerAgent + action_lb: ??? + action_ub: ??? + planning_horizon: ${overrides.planning_horizon} + optimizer_cfg: ${action_optimizer} + replan_freq: 1 + verbose: ${debug_mode} + normalize: true + normalize_double_precision: true + target_is_delta: true + initial_exploration_steps: ${overrides.trial_length} + freq_train_model: ${overrides.freq_train_model} + learned_rewards: ${overrides.learned_rewards} + num_particles: 20 +dynamics_model: + _target_: mbrl.models.GaussianMLP + device: ${device} + num_layers: 4 + in_size: ??? + out_size: ??? + ensemble_size: 7 + hid_size: 200 + deterministic: false + propagation_method: random_model + learn_logvar_bounds: false + activation_fn_cfg: + _target_: torch.nn.SiLU +overrides: + env: pets_pusher + term_fn: no_termination + learned_rewards: true + trial_length: 150 + num_steps: 15000 + num_elites: 5 + model_lr: 1.0e-05 + model_wd: 0.0005 + model_batch_size: 32 + validation_ratio: 0 + freq_train_model: 150 + patience: 25 + num_epochs_train_model: 25 + planning_horizon: 25 + cem_num_iters: 5 + cem_elite_ratio: 0.1 + cem_population_size: 350 + cem_alpha: 0.1 + cem_clipped_normal: false +action_optimizer: + _target_: mbrl.planning.CEMOptimizer + num_iterations: ${overrides.cem_num_iters} + elite_ratio: ${overrides.cem_elite_ratio} + population_size: ${overrides.cem_population_size} + alpha: ${overrides.cem_alpha} + lower_bound: ??? + upper_bound: ??? + return_mean_elites: true + device: ${device} + clipped_normal: ${overrides.cem_clipped_normal} diff --git a/pets_pusher/main/.hydra/hydra.yaml b/pets_pusher/main/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e322f56dcb278f390ebe64af4666baf39784522b --- /dev/null +++ b/pets_pusher/main/.hydra/hydra.yaml @@ -0,0 +1,127 @@ +hydra: + run: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + sweep: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + subdir: ${hydra.job.num} + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + hydra_help: ??? + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + output_subdir: .hydra + overrides: + hydra: [] + task: + - algorithm=pets + - overrides=pets_pusher + job: + name: main + override_dirname: algorithm=pets,overrides=pets_pusher + id: ??? + num: ??? + config_name: main + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.0.3 + cwd: /home/raghava/projects/mbrl-lib + verbose: false diff --git a/pets_pusher/main/.hydra/overrides.yaml b/pets_pusher/main/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ed0051a427380c72f83f2afb2573bef405eab35 --- /dev/null +++ b/pets_pusher/main/.hydra/overrides.yaml @@ -0,0 +1,2 @@ +- algorithm=pets +- overrides=pets_pusher diff --git a/pets_pusher/main/env_stats.pickle b/pets_pusher/main/env_stats.pickle new file mode 100644 index 0000000000000000000000000000000000000000..80d377534e69e58590cff8fd6bf37dbf4519fdd9 --- /dev/null +++ b/pets_pusher/main/env_stats.pickle @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:612e17ce16f62069233037c24f20748f2f2cdda0ee3fdc293ccc971a8f654abe +size 630 diff --git a/pets_pusher/main/main.log b/pets_pusher/main/main.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/pets_pusher/main/model.pth b/pets_pusher/main/model.pth new file mode 100644 index 0000000000000000000000000000000000000000..66b32b31e9fedf95047c7960958435f6b6157483 --- /dev/null +++ b/pets_pusher/main/model.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:460c96f75d54e1bac47b1add7f121c2a07b5fb50e63c87cf7c9730ff829ca767 +size 3774373 diff --git a/pets_pusher/main/model_train.csv b/pets_pusher/main/model_train.csv new file mode 100644 index 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+4.0,79.0,0.02111871726810932,-53.295160746256514,0.021077241748571396,1980,12000.0,0.0 +5.0,79.0,0.02111871726810932,-53.30528017171224,0.02107522264122963,1981,12000.0,0.0 +6.0,79.0,0.02111871726810932,-53.31507350667318,0.02107400819659233,1982,12000.0,0.0 +7.0,79.0,0.02111871726810932,-53.322444091796875,0.021076926961541176,1983,12000.0,0.0 +8.0,79.0,0.02111871726810932,-53.33639768473307,0.021069684997200966,1984,12000.0,0.0 +9.0,79.0,0.02111871726810932,-53.34379001871745,0.02106482908129692,1985,12000.0,0.0 +10.0,79.0,0.02111871726810932,-53.352881388346354,0.021069752052426338,1986,12000.0,0.0 +11.0,79.0,0.02111871726810932,-53.36052673339844,0.021064529195427895,1987,12000.0,0.0 +12.0,79.0,0.02111871726810932,-53.36387878417969,0.02106587402522564,1988,12000.0,0.0 +13.0,79.0,0.02111871726810932,-53.376163981119795,0.02106045000255108,1989,12000.0,0.0 +14.0,79.0,0.02111871726810932,-53.37923787434896,0.021055782213807106,1990,12000.0,0.0 +15.0,79.0,0.02111871726810932,-53.38959765625,0.02106080763041973,1991,12000.0,0.0 +16.0,79.0,0.02111871726810932,-53.39881842041016,0.02105102315545082,1992,12000.0,0.0 +17.0,79.0,0.02111871726810932,-53.406265116373696,0.021051425486803055,1993,12000.0,0.0 +18.0,79.0,0.02111871726810932,-53.41139103190104,0.02105303853750229,1994,12000.0,0.0 +19.0,79.0,0.02111871726810932,-53.415835896809895,0.021044369786977768,1995,12000.0,0.0 +20.0,79.0,0.02111871726810932,-53.425098409016925,0.021034900099039078,1996,12000.0,0.0 +21.0,79.0,0.02111871726810932,-53.430932291666664,0.021043406799435616,1997,12000.0,0.0 +22.0,79.0,0.02111871726810932,-53.43603635660807,0.021047431975603104,1998,12000.0,0.0 +23.0,79.0,0.02111871726810932,-53.44250380452474,0.02103930339217186,1999,12000.0,0.0 +24.0,79.0,0.02111871726810932,-53.453170166015624,0.021037673577666283,2000,12000.0,0.0 +0.0,80.0,0.02080763876438141,-53.24691896940532,0.020774025470018387,2001,12150.0,0.0 +1.0,80.0,0.02080763876438141,-53.28121757507324,0.020772069692611694,2002,12150.0,0.0 +2.0,80.0,0.02080763876438141,-53.2975523898476,0.02076886035501957,2003,12150.0,0.0 +3.0,80.0,0.02080763876438141,-53.31382034703305,0.020772717893123627,2004,12150.0,0.0 +4.0,80.0,0.02080763876438141,-53.325151202553194,0.020764058455824852,2005,12150.0,0.0 +5.0,80.0,0.02080763876438141,-53.33585247240568,0.020762154832482338,2006,12150.0,0.0 +6.0,80.0,0.02080763876438141,-53.34507412157561,0.02076437883079052,2007,12150.0,0.0 +7.0,80.0,0.02080763876438141,-53.353033648039165,0.020755495876073837,2008,12150.0,0.0 +8.0,80.0,0.02080763876438141,-53.361512354800574,0.020753711462020874,2009,12150.0,0.0 +9.0,80.0,0.02080763876438141,-53.36928526225843,0.020753616467118263,2010,12150.0,0.0 +10.0,80.0,0.02080763876438141,-53.37845810338071,0.02075163833796978,2011,12150.0,0.0 +11.0,80.0,0.02080763876438141,-53.38904955010665,0.020751681178808212,2012,12150.0,0.0 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+14250.0,-114.88868470918158,95 +14400.0,-104.88492684521566,96 +14550.0,-104.1544077635717,97 +14700.0,-103.32194021254783,98 +14850.0,-99.387878676667,99 +15000.0,-108.60775975367049,100 diff --git a/pets_reacher/diff/.hydra/config.yaml b/pets_reacher/diff/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..11aac9ac7ea385df521ea5d34641a819a574efb0 --- /dev/null +++ b/pets_reacher/diff/.hydra/config.yaml @@ -0,0 +1,69 @@ +seed: 0 +device: cuda:0 +log_frequency_agent: 1000 +save_video: false +debug_mode: false +experiment: default +root_dir: ./exp +algorithm: + name: pets + agent: + _target_: mbrl.planning.TrajectoryOptimizerAgent + action_lb: ??? + action_ub: ??? + planning_horizon: ${overrides.planning_horizon} + optimizer_cfg: ${action_optimizer} + replan_freq: 1 + verbose: ${debug_mode} + normalize: true + normalize_double_precision: true + target_is_delta: true + initial_exploration_steps: ${overrides.trial_length} + freq_train_model: ${overrides.freq_train_model} + learned_rewards: ${overrides.learned_rewards} + num_particles: 20 +dynamics_model: + _target_: mbrl.models.GaussianMLP + device: ${device} + num_layers: 4 + in_size: ??? + out_size: ??? + ensemble_size: 7 + hid_size: 200 + deterministic: false + propagation_method: random_model + learn_logvar_bounds: false + activation_fn_cfg: + _target_: torch.nn.SiLU +overrides: + env: pets_reacher + learned_rewards: true + num_steps: 15000 + trial_length: 1000 + num_elites: 5 + model_lr: 0.0004 + model_wd: 0.00017 + model_batch_size: 32 + validation_ratio: 0.05 + no_delta_list: + - 0 + freq_train_model: 250 + patience: 25 + num_epochs_train_model: 25 + planning_horizon: 15 + cem_num_iters: 5 + cem_elite_ratio: 0.1 + cem_population_size: 350 + cem_alpha: 0.1 + cem_clipped_normal: false +action_optimizer: + _target_: mbrl.planning.CEMOptimizer + num_iterations: ${overrides.cem_num_iters} + elite_ratio: ${overrides.cem_elite_ratio} + population_size: ${overrides.cem_population_size} + alpha: ${overrides.cem_alpha} + lower_bound: ??? + upper_bound: ??? + return_mean_elites: true + device: ${device} + clipped_normal: ${overrides.cem_clipped_normal} diff --git a/pets_reacher/diff/.hydra/hydra.yaml b/pets_reacher/diff/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4b787e034788e1429d14a5d712f37d8e73a927d9 --- /dev/null +++ b/pets_reacher/diff/.hydra/hydra.yaml @@ -0,0 +1,127 @@ +hydra: + run: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + sweep: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + subdir: ${hydra.job.num} + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + hydra_help: ??? + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + output_subdir: .hydra + overrides: + hydra: [] + task: + - algorithm=pets + - overrides=pets_reacher + job: + name: main + override_dirname: algorithm=pets,overrides=pets_reacher + id: ??? + num: ??? + config_name: main + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.0.3 + cwd: /home/raghava/projects/mbrl-lib + verbose: false diff --git a/pets_reacher/diff/.hydra/overrides.yaml b/pets_reacher/diff/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ede354d3816d51717e05bfe5cbad2be6abadbabf --- /dev/null +++ b/pets_reacher/diff/.hydra/overrides.yaml @@ -0,0 +1,2 @@ +- algorithm=pets +- overrides=pets_reacher diff --git a/pets_reacher/diff/env_stats.pickle b/pets_reacher/diff/env_stats.pickle new file mode 100644 index 0000000000000000000000000000000000000000..ec5184b3f7d6ba812a705610a225fbbd5e33fa39 --- /dev/null +++ b/pets_reacher/diff/env_stats.pickle @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d6355c69855b0877e04e2f41488d14d08554dbb7fc3fbeac3b17d14eb8db389 +size 614 diff --git a/pets_reacher/diff/main.log b/pets_reacher/diff/main.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/pets_reacher/diff/model.pth b/pets_reacher/diff/model.pth new file mode 100644 index 0000000000000000000000000000000000000000..82bd63b3c2cc1ac33104658f52ac49bc9ea57d2b --- /dev/null +++ b/pets_reacher/diff/model.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fd0243f30753344ef3343ea3fbc583288f282c053fb30da7d6a82dfd942f4d8 +size 3757477 diff --git a/pets_reacher/diff/model_train.csv b/pets_reacher/diff/model_train.csv new file mode 100644 index 0000000000000000000000000000000000000000..ac337fe92cb7fdb57b14d96efcda8ac935b7a74b --- /dev/null +++ b/pets_reacher/diff/model_train.csv @@ -0,0 +1,1501 @@ +epoch,iteration,model_best_val_score,model_loss,model_val_score,step,train_dataset_size,val_dataset_size +0.0,0.0,0.07035110145807266,-0.19750922520955402,0.07035110145807266,1,950.0,50.0 +1.0,0.0,0.07035110145807266,-4.483642983436584,0.08844216167926788,2,950.0,50.0 +2.0,0.0,0.06487834453582764,-21.10428721110026,0.06487834453582764,3,950.0,50.0 +3.0,0.0,0.06314902007579803,-27.78207524617513,0.0632585659623146,4,950.0,50.0 +4.0,0.0,0.06284423917531967,-30.860134188334147,0.06390529125928879,5,950.0,50.0 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0000000000000000000000000000000000000000..72b66940f9e70a25914584467329439fcd067b1a --- /dev/null +++ b/pets_reacher/diff/results.csv @@ -0,0 +1,16 @@ +env_step,episode_reward,step +1000.0,-225.65779314830192,1 +2000.0,-65.71134993850737,2 +3000.0,-41.108054659299256,3 +4000.0,-40.52245734210465,4 +5000.0,-84.95124858941983,5 +6000.0,-153.0178005312033,6 +7000.0,-41.1103979971679,7 +8000.0,-40.91011476904204,8 +9000.0,-75.36942845308116,9 +10000.0,-83.824481430753,10 +11000.0,-128.77248356820655,11 +12000.0,-29.04632690877764,12 +13000.0,-85.34865250158455,13 +14000.0,-659.2772780052933,14 +15000.0,-65.61216305984382,15 diff --git a/pets_reacher/main/.hydra/config.yaml b/pets_reacher/main/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..11aac9ac7ea385df521ea5d34641a819a574efb0 --- /dev/null +++ b/pets_reacher/main/.hydra/config.yaml @@ -0,0 +1,69 @@ +seed: 0 +device: cuda:0 +log_frequency_agent: 1000 +save_video: false +debug_mode: false +experiment: default +root_dir: ./exp +algorithm: + name: pets + agent: + _target_: mbrl.planning.TrajectoryOptimizerAgent + action_lb: ??? + action_ub: ??? + planning_horizon: ${overrides.planning_horizon} + optimizer_cfg: ${action_optimizer} + replan_freq: 1 + verbose: ${debug_mode} + normalize: true + normalize_double_precision: true + target_is_delta: true + initial_exploration_steps: ${overrides.trial_length} + freq_train_model: ${overrides.freq_train_model} + learned_rewards: ${overrides.learned_rewards} + num_particles: 20 +dynamics_model: + _target_: mbrl.models.GaussianMLP + device: ${device} + num_layers: 4 + in_size: ??? + out_size: ??? + ensemble_size: 7 + hid_size: 200 + deterministic: false + propagation_method: random_model + learn_logvar_bounds: false + activation_fn_cfg: + _target_: torch.nn.SiLU +overrides: + env: pets_reacher + learned_rewards: true + num_steps: 15000 + trial_length: 1000 + num_elites: 5 + model_lr: 0.0004 + model_wd: 0.00017 + model_batch_size: 32 + validation_ratio: 0.05 + no_delta_list: + - 0 + freq_train_model: 250 + patience: 25 + num_epochs_train_model: 25 + planning_horizon: 15 + cem_num_iters: 5 + cem_elite_ratio: 0.1 + cem_population_size: 350 + cem_alpha: 0.1 + cem_clipped_normal: false +action_optimizer: + _target_: mbrl.planning.CEMOptimizer + num_iterations: ${overrides.cem_num_iters} + elite_ratio: ${overrides.cem_elite_ratio} + population_size: ${overrides.cem_population_size} + alpha: ${overrides.cem_alpha} + lower_bound: ??? + upper_bound: ??? + return_mean_elites: true + device: ${device} + clipped_normal: ${overrides.cem_clipped_normal} diff --git a/pets_reacher/main/.hydra/hydra.yaml b/pets_reacher/main/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cedd78b973f9a6b265695a0387f04961b3a1f50f --- /dev/null +++ b/pets_reacher/main/.hydra/hydra.yaml @@ -0,0 +1,128 @@ +hydra: + run: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + sweep: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + subdir: ${hydra.job.num} + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + hydra_help: ??? + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + output_subdir: .hydra + overrides: + hydra: [] + task: + - algorithm=pets + - overrides=pets_reacher + - device=cuda:0 + job: + name: main + override_dirname: algorithm=pets,device=cuda:0,overrides=pets_reacher + id: ??? + num: ??? + config_name: main + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.0.3 + cwd: /home/raghava/projects/mbrl-lib/exp + verbose: false diff --git a/pets_reacher/main/.hydra/overrides.yaml b/pets_reacher/main/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b9e2d84082ad73cd1d62daab4ce8c037ae564a1c --- /dev/null +++ b/pets_reacher/main/.hydra/overrides.yaml @@ -0,0 +1,3 @@ +- algorithm=pets +- overrides=pets_reacher +- device=cuda:0 diff --git a/pets_reacher/main/env_stats.pickle b/pets_reacher/main/env_stats.pickle new file mode 100644 index 0000000000000000000000000000000000000000..fea3f78a10c8f1617a733973f37c2d448ffc8e05 --- /dev/null +++ b/pets_reacher/main/env_stats.pickle @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c99597b8c4b60703d44cd945dd9e38689711723a098c3586a150431570392bd7 +size 582 diff --git a/pets_reacher/main/main.log b/pets_reacher/main/main.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/pets_reacher/main/model.pth b/pets_reacher/main/model.pth new file mode 100644 index 0000000000000000000000000000000000000000..f2877d752339128744618c99edd9277183d7bb96 --- /dev/null +++ b/pets_reacher/main/model.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5315f53071425dd4be0eea3150eb162371b3a19ecf08914ff5c6c7ffcc9bd06a +size 3723749 diff --git a/pets_reacher/main/model_train.csv b/pets_reacher/main/model_train.csv new file mode 100644 index 0000000000000000000000000000000000000000..f6b30185e9f14c4407d9c04aec2e4d30c99fcf6c --- /dev/null +++ b/pets_reacher/main/model_train.csv @@ -0,0 +1,1501 @@ 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sha256:c07b6c0c40d45ef54d96ac485afc9b8702293ca9648425972012da274d338e8f +size 5056504 diff --git a/pets_reacher/main/results.csv b/pets_reacher/main/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..54388be094efdb348264145d145c0d5eb111e339 --- /dev/null +++ b/pets_reacher/main/results.csv @@ -0,0 +1,16 @@ +env_step,episode_reward,step +1000.0,-6447.703641388589,1 +2000.0,-1546.0490530582404,2 +3000.0,-613.7760212403797,3 +4000.0,-359.3886256892742,4 +5000.0,-437.78642354190947,5 +6000.0,-508.4341719828963,6 +7000.0,-277.5807843487354,7 +8000.0,-170.33659821174527,8 +9000.0,-215.0214466344887,9 +10000.0,-197.28116137967692,10 +11000.0,-290.820258234376,11 +12000.0,-222.9083737716295,12 +13000.0,-283.11742706340385,13 +14000.0,-313.91207658301556,14 +15000.0,-220.7750174091841,15 diff --git a/planet_cartpole_swingup/diff/.hydra/config.yaml b/planet_cartpole_swingup/diff/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..16b63988a83dbdd77709dca81dd1b3ade1e8f2b6 --- /dev/null +++ b/planet_cartpole_swingup/diff/.hydra/config.yaml @@ -0,0 +1,114 @@ +seed: 0 +device: cuda:1 +log_frequency_agent: 1000 +save_video: false +debug_mode: false +experiment: default +root_dir: ./exp +algorithm: + name: planet + agent: + _target_: mbrl.planning.TrajectoryOptimizerAgent + action_lb: ??? + action_ub: ??? + planning_horizon: ${overrides.planning_horizon} + optimizer_cfg: ${action_optimizer} + replan_freq: 1 + keep_last_solution: false + verbose: ${debug_mode} + num_initial_trajectories: 5 + action_noise_std: 0.3 + test_frequency: 25 + num_episodes: 1000 + dataset_size: 1000000 +dynamics_model: + _target_: mbrl.models.PlaNetModel + obs_shape: + - 3 + - 64 + - 64 + obs_encoding_size: 1024 + encoder_config: + - - 3 + - 32 + - 4 + - 2 + - - 32 + - 64 + - 4 + - 2 + - - 64 + - 128 + - 4 + - 2 + - - 128 + - 256 + - 4 + - 2 + decoder_config: + - - 1024 + - 1 + - 1 + - - - 1024 + - 128 + - 5 + - 2 + - - 128 + - 64 + - 5 + - 2 + - - 64 + - 32 + - 6 + - 2 + - - 32 + - 3 + - 6 + - 2 + action_size: ??? + hidden_size_fcs: 200 + belief_size: 200 + latent_state_size: 30 + device: ${device} + min_std: 0.1 + free_nats: 3.0 + kl_scale: 1.0 + grad_clip_norm: 1000.0 +overrides: + env: dmcontrol_cartpole_swingup + env_cfg: + _target_: mbrl.third_party.dmc2gym.make + domain_name: cartpole + task_name: swingup + seed: ${seed} + visualize_reward: false + from_pixels: true + height: 64 + width: 64 + frame_skip: 8 + bit_depth: 5 + term_fn: no_termination + trial_length: 125 + action_noise_std: 0.3 + num_grad_updates: 100 + sequence_length: 50 + batch_size: 50 + free_nats: 3 + kl_scale: 1.0 + planning_horizon: 12 + cem_num_iters: 10 + cem_elite_ratio: 0.1 + cem_population_size: 1000 + cem_alpha: 0.0 + cem_clipped_normal: true +action_optimizer: + _target_: mbrl.planning.CEMOptimizer + num_iterations: ${overrides.cem_num_iters} + elite_ratio: ${overrides.cem_elite_ratio} + population_size: ${overrides.cem_population_size} + alpha: ${overrides.cem_alpha} + lower_bound: ??? + upper_bound: ??? + return_mean_elites: true + device: ${device} + clipped_normal: ${overrides.cem_clipped_normal} diff --git a/planet_cartpole_swingup/diff/.hydra/hydra.yaml b/planet_cartpole_swingup/diff/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..449ec13bfa79d7786c294bd302268e097ca1a325 --- /dev/null +++ b/planet_cartpole_swingup/diff/.hydra/hydra.yaml @@ -0,0 +1,128 @@ +hydra: + run: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + sweep: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + subdir: ${hydra.job.num} + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + hydra_help: ??? + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + output_subdir: .hydra + overrides: + hydra: [] + task: + - algorithm=planet + - dynamics_model=planet + - overrides=planet_cartpole_swingup + job: + name: main + override_dirname: algorithm=planet,dynamics_model=planet,overrides=planet_cartpole_swingup + id: ??? + num: ??? + config_name: main + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.0.3 + cwd: /home/raghava/projects/mbrl-lib + verbose: false diff --git a/planet_cartpole_swingup/diff/.hydra/overrides.yaml b/planet_cartpole_swingup/diff/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6263814a8f511bb8f3a75409d0676d43c49af6ee --- /dev/null +++ b/planet_cartpole_swingup/diff/.hydra/overrides.yaml @@ -0,0 +1,3 @@ +- algorithm=planet +- dynamics_model=planet +- overrides=planet_cartpole_swingup diff --git a/planet_cartpole_swingup/diff/main.log b/planet_cartpole_swingup/diff/main.log new file mode 100644 index 0000000000000000000000000000000000000000..c02e889bf3e3e104017b51a92b83ba59224368bd --- /dev/null +++ b/planet_cartpole_swingup/diff/main.log @@ -0,0 +1,3 @@ +[2023-02-17 22:37:21,610][absl][INFO] - MUJOCO_GL is not set, so an OpenGL backend will be chosen automatically. +[2023-02-17 22:37:29,622][absl][INFO] - Successfully imported OpenGL backend: glfw +[2023-02-17 22:37:29,636][absl][INFO] - MuJoCo library version is: 2.3.2 diff --git a/planet_cartpole_swingup/diff/metrics.csv b/planet_cartpole_swingup/diff/metrics.csv new file mode 100644 index 0000000000000000000000000000000000000000..9b5a3169aa96b4a366a4d520f45188d8e0e6bb24 --- /dev/null +++ b/planet_cartpole_swingup/diff/metrics.csv @@ -0,0 +1,1001 @@ +gradient_norm,kl_loss,observations_loss,reward_loss,step +701.8391552218236,3.2072129321098326,102.04321773529053,2.15026154756546,1 +214.9817639365839,3.000108547210693,24.567337417602538,1.890259209871292,2 +58.87732935760112,3.0165699434280397,20.316485538482667,1.5219323545694352,3 +142.12113388615194,3.1390168261528015,16.046824636459352,0.5581355160474777,4 +167.37345543225763,3.2145603847503663,12.606800718307495,0.3834245181083679,5 +142.3857743739453,3.183290951251984,11.662551221847535,0.29096085980534553,6 +131.99488791311626,3.1705254125595093,11.396228971481323,0.213483774214983,7 +125.08075534702279,3.1787182760238646,11.24004909515381,0.14202242970466614,8 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+log_frequency_agent: 1000 +save_video: false +debug_mode: false +experiment: default +root_dir: ./exp +algorithm: + name: planet + agent: + _target_: mbrl.planning.TrajectoryOptimizerAgent + action_lb: ??? + action_ub: ??? + planning_horizon: ${overrides.planning_horizon} + optimizer_cfg: ${action_optimizer} + replan_freq: 1 + keep_last_solution: false + verbose: ${debug_mode} + num_initial_trajectories: 5 + action_noise_std: 0.3 + test_frequency: 25 + num_episodes: 1000 + dataset_size: 1000000 +dynamics_model: + _target_: mbrl.models.PlaNetModel + obs_shape: + - 3 + - 64 + - 64 + obs_encoding_size: 1024 + encoder_config: + - - 3 + - 32 + - 4 + - 2 + - - 32 + - 64 + - 4 + - 2 + - - 64 + - 128 + - 4 + - 2 + - - 128 + - 256 + - 4 + - 2 + decoder_config: + - - 1024 + - 1 + - 1 + - - - 1024 + - 128 + - 5 + - 2 + - - 128 + - 64 + - 5 + - 2 + - - 64 + - 32 + - 6 + - 2 + - - 32 + - 3 + - 6 + - 2 + action_size: ??? + hidden_size_fcs: 200 + belief_size: 200 + latent_state_size: 30 + device: ${device} + min_std: 0.1 + free_nats: 3.0 + kl_scale: 1.0 + grad_clip_norm: 1000.0 +overrides: + env: dmcontrol_cartpole_swingup + env_cfg: + _target_: mbrl.third_party.dmc2gym.wrappers.DMCWrapper + domain_name: cartpole + task_name: swingup + task_kwargs: + random: ${seed} + visualize_reward: false + from_pixels: true + height: 64 + width: 64 + frame_skip: 8 + bit_depth: 5 + term_fn: no_termination + trial_length: 125 + action_noise_std: 0.3 + num_grad_updates: 100 + sequence_length: 50 + batch_size: 50 + free_nats: 3 + kl_scale: 1.0 + planning_horizon: 12 + cem_num_iters: 10 + cem_elite_ratio: 0.1 + cem_population_size: 1000 + cem_alpha: 0.0 + cem_clipped_normal: true +action_optimizer: + _target_: mbrl.planning.CEMOptimizer + num_iterations: ${overrides.cem_num_iters} + elite_ratio: ${overrides.cem_elite_ratio} + population_size: ${overrides.cem_population_size} + alpha: ${overrides.cem_alpha} + lower_bound: ??? + upper_bound: ??? + return_mean_elites: true + device: ${device} + clipped_normal: ${overrides.cem_clipped_normal} diff --git a/planet_cartpole_swingup/main/.hydra/hydra.yaml b/planet_cartpole_swingup/main/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..449ec13bfa79d7786c294bd302268e097ca1a325 --- /dev/null +++ b/planet_cartpole_swingup/main/.hydra/hydra.yaml @@ -0,0 +1,128 @@ +hydra: + run: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + sweep: + dir: ${root_dir}/${algorithm.name}/${experiment}/${overrides.env}/${now:%Y.%m.%d}/${now:%H%M%S} + subdir: ${hydra.job.num} + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + hydra_help: ??? + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + output_subdir: .hydra + overrides: + hydra: [] + task: + - algorithm=planet + - dynamics_model=planet + - overrides=planet_cartpole_swingup + job: + name: main + override_dirname: algorithm=planet,dynamics_model=planet,overrides=planet_cartpole_swingup + id: ??? + num: ??? + config_name: main + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.0.3 + cwd: /home/raghava/projects/mbrl-lib + verbose: false diff --git a/planet_cartpole_swingup/main/.hydra/overrides.yaml b/planet_cartpole_swingup/main/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6263814a8f511bb8f3a75409d0676d43c49af6ee --- /dev/null +++ b/planet_cartpole_swingup/main/.hydra/overrides.yaml @@ -0,0 +1,3 @@ +- algorithm=planet +- dynamics_model=planet +- overrides=planet_cartpole_swingup diff --git a/planet_cartpole_swingup/main/main.log b/planet_cartpole_swingup/main/main.log new file mode 100644 index 0000000000000000000000000000000000000000..b0d269df43dd18153f7afdef371966cc5a964e5b --- /dev/null +++ b/planet_cartpole_swingup/main/main.log @@ -0,0 +1,3 @@ +[2023-02-27 13:29:53,387][absl][INFO] - MUJOCO_GL is not set, so an OpenGL backend will be chosen automatically. +[2023-02-27 13:30:00,786][absl][INFO] - Successfully imported OpenGL backend: glfw +[2023-02-27 13:30:00,801][absl][INFO] - MuJoCo library version is: 2.3.2 diff --git a/planet_cartpole_swingup/main/metrics.csv b/planet_cartpole_swingup/main/metrics.csv new file mode 100644 index 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