diff --git a/.gitignore b/.gitignore index 004cd9f7d..bb299b37e 100644 --- a/.gitignore +++ b/.gitignore @@ -121,3 +121,7 @@ venv.bak/ # private macros macros_private.py + +# exp files +robomimic/exps*/ +!robomimic/exps/templates/ \ No newline at end of file diff --git a/datasets/square/ph/low_dim_v15.hdf5 b/datasets/square/ph/low_dim_v15.hdf5 new file mode 100644 index 000000000..118ca2cce Binary files /dev/null and b/datasets/square/ph/low_dim_v15.hdf5 differ diff --git a/docs/tutorials/hyperparam_scan.md b/docs/tutorials/hyperparam_scan.md index 23cd9137c..1094e30b0 100644 --- a/docs/tutorials/hyperparam_scan.md +++ b/docs/tutorials/hyperparam_scan.md @@ -41,7 +41,7 @@ $ cat /tmp/gen_configs/base.json "save": { "enabled": true, "every_n_seconds": null, - "every_n_epochs": 50, + "every_n_epochs": 200, "epochs": [], "on_best_validation": false, "on_best_rollout_return": false, @@ -53,7 +53,7 @@ $ cat /tmp/gen_configs/base.json "enabled": true, "n": 50, "horizon": 400, - "rate": 50, + "rate": 200, "warmstart": 0, "terminate_on_success": true } diff --git a/docs/tutorials/viewing_results.md b/docs/tutorials/viewing_results.md index 64acd9ff8..041327928 100644 --- a/docs/tutorials/viewing_results.md +++ b/docs/tutorials/viewing_results.md @@ -28,7 +28,7 @@ Configured under `experiment.save`: # controlling frequency of checkpoints "every_n_seconds": null, - "every_n_epochs": 50, + "every_n_epochs": 200, "epochs": [], # saving the best checkpoints @@ -46,7 +46,7 @@ Configured under `experiment.rollout`: "enabled": true, # enable evaluation rollouts "n": 50, # number of rollouts per evaluation "horizon": 400, # number of timesteps per rollout - "rate": 50, # frequency of evaluation (in epochs) + "rate": 200, # frequency of evaluation (in epochs) "terminate_on_success": true # terminating rollouts upon task success } ``` diff --git a/examples/notebooks/datasets.ipynb b/examples/notebooks/datasets.ipynb index 32893b7ae..a72223884 100644 --- a/examples/notebooks/datasets.ipynb +++ b/examples/notebooks/datasets.ipynb @@ -366,7 +366,7 @@ ], "metadata": { "kernelspec": { - "display_name": "Python 3 (ipykernel)", + "display_name": "Python 3", "language": "python", "name": "python3" }, @@ -380,7 +380,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.9.12" + "version": "3.13.2" } }, "nbformat": 4, diff --git a/examples/train_bc_rnn.py b/examples/train_bc_rnn.py index b3ec7c510..aebc8e5f5 100644 --- a/examples/train_bc_rnn.py +++ b/examples/train_bc_rnn.py @@ -39,7 +39,7 @@ def robosuite_hyperparameters(config): ## save config - if and when to save checkpoints ## config.experiment.save.enabled = True # whether model saving should be enabled or disabled config.experiment.save.every_n_seconds = None # save model every n seconds (set to None to disable) - config.experiment.save.every_n_epochs = 50 # save model every n epochs (set to None to disable) + config.experiment.save.every_n_epochs = 200 # save model every n epochs (set to None to disable) config.experiment.save.epochs = [] # save model on these specific epochs config.experiment.save.on_best_validation = False # save models that achieve best validation score config.experiment.save.on_best_rollout_return = False # save models that achieve best rollout return @@ -63,7 +63,7 @@ def robosuite_hyperparameters(config): config.experiment.rollout.enabled = True # enable evaluation rollouts config.experiment.rollout.n = 50 # number of rollouts per evaluation config.experiment.rollout.horizon = 400 # set horizon based on length of demonstrations (can be obtained with scripts/get_dataset_info.py) - config.experiment.rollout.rate = 50 # do rollouts every @rate epochs + config.experiment.rollout.rate = 200 # do rollouts every @rate epochs config.experiment.rollout.warmstart = 0 # number of epochs to wait before starting rollouts config.experiment.rollout.terminate_on_success = True # end rollout early after task success diff --git a/robomimic/config/base_config.py b/robomimic/config/base_config.py index 0d71bbfae..c0e324a05 100644 --- a/robomimic/config/base_config.py +++ b/robomimic/config/base_config.py @@ -91,7 +91,7 @@ def experiment_config(self): ## save config - if and when to save model checkpoints ## self.experiment.save.enabled = True # whether model saving should be enabled or disabled self.experiment.save.every_n_seconds = None # save model every n seconds (set to None to disable) - self.experiment.save.every_n_epochs = 50 # save model every n epochs (set to None to disable) + self.experiment.save.every_n_epochs = 200 # save model every n epochs (set to None to disable) self.experiment.save.epochs = [] # save model on these specific epochs self.experiment.save.on_best_validation = False # save models that achieve best validation score self.experiment.save.on_best_rollout_return = False # save models that achieve best rollout return @@ -117,7 +117,7 @@ def experiment_config(self): self.experiment.rollout.enabled = True # enable evaluation rollouts self.experiment.rollout.n = 50 # number of rollouts per evaluation self.experiment.rollout.horizon = 400 # maximum number of env steps per rollout - self.experiment.rollout.rate = 50 # do rollouts every @rate epochs + self.experiment.rollout.rate = 200 # do rollouts every @rate epochs self.experiment.rollout.warmstart = 0 # number of epochs to wait before starting rollouts self.experiment.rollout.terminate_on_success = True # end rollout early after task success diff --git a/robomimic/config/default_templates/bc_transformer.json b/robomimic/config/default_templates/bc_transformer.json index ed59f175b..5342f8865 100644 --- a/robomimic/config/default_templates/bc_transformer.json +++ b/robomimic/config/default_templates/bc_transformer.json @@ -12,7 +12,7 @@ "save": { "enabled": true, "every_n_seconds": null, - "every_n_epochs": 50, + "every_n_epochs": 200, "epochs": [], "on_best_validation": false, "on_best_rollout_return": false, @@ -30,7 +30,7 @@ "enabled": true, "n": 50, "horizon": 400, - "rate": 50, + "rate": 200, "warmstart": 0, "terminate_on_success": true } diff --git a/robomimic/scripts/generate_paper_configs.py b/robomimic/scripts/generate_paper_configs.py index 52ed7d5b1..82e77d680 100644 --- a/robomimic/scripts/generate_paper_configs.py +++ b/robomimic/scripts/generate_paper_configs.py @@ -37,7 +37,7 @@ def modify_config_for_default_low_dim_exp(config): with config.experiment.values_unlocked(): # save model during every evaluation (every 50 epochs) config.experiment.save.enabled = True - config.experiment.save.every_n_epochs = 50 + config.experiment.save.every_n_epochs = 200 # every epoch is 100 gradient steps, and validation epoch is 10 gradient steps config.experiment.epoch_every_n_steps = 100 @@ -48,7 +48,7 @@ def modify_config_for_default_low_dim_exp(config): config.experiment.rollout.enabled = True config.experiment.rollout.n = 50 config.experiment.rollout.horizon = 400 - config.experiment.rollout.rate = 50 + config.experiment.rollout.rate = 200 config.experiment.rollout.warmstart = 0 config.experiment.rollout.terminate_on_success = True