Add HoReKa cluster setup and SLURM scripts

- Add installation script for HoReKa with Python 3.10 venv
- Add SLURM job submission scripts for dev and production runs
- Add convenient submit_job.sh wrapper for easy job submission
- Update .gitignore to allow shell scripts (removed *.sh exclusion)
- Configure git remotes: upstream (original) and origin (fork)

.gitignore

@@ -10,7 +10,6 @@ checkpoints/
 out/
 err/
 *.pkl
-*.sh
 
 # Byte-compiled / optimized / DLL files
 __pycache__/

install_dppo.sh

@@ -0,0 +1,43 @@
+#!/bin/bash
+#SBATCH --job-name=dppo_install
+#SBATCH --account=hk-project-p0022232
+#SBATCH --partition=dev_accelerated
+#SBATCH --gres=gpu:1
+#SBATCH --nodes=1
+#SBATCH --ntasks-per-node=1
+#SBATCH --cpus-per-task=4
+#SBATCH --time=00:30:00
+#SBATCH --mem=16G
+#SBATCH --output=logs/dppo_install_%j.out
+#SBATCH --error=logs/dppo_install_%j.err
+
+# Load CUDA module (required for PyTorch)
+module load devel/cuda/12.4
+
+# Print job info
+echo "Starting DPPO installation..."
+echo "Job ID: $SLURM_JOB_ID"
+echo "Node: $SLURM_NODELIST"
+echo "GPU: $CUDA_VISIBLE_DEVICES"
+
+# Navigate to dppo directory (uses current directory)
+cd $SLURM_SUBMIT_DIR
+
+# Create and activate virtual environment with Python 3.10
+python3.10 -m venv .venv
+source .venv/bin/activate
+
+# Upgrade pip
+pip install --upgrade pip
+
+# Install base package
+pip install -e .
+
+# Install gym dependencies (optional - comment out if not needed)
+pip install -e .[gym]
+
+echo "Installation completed!"
+echo "Python version: $(python --version)"
+echo "Pip version: $(pip --version)"
+echo "Installed packages:"
+pip list

slurm/run_dppo_dev.sh

@@ -0,0 +1,52 @@
+#!/bin/bash
+#SBATCH --job-name=dppo_dev_test
+#SBATCH --account=hk-project-p0022232
+#SBATCH --partition=dev_accelerated
+#SBATCH --gres=gpu:1
+#SBATCH --nodes=1
+#SBATCH --ntasks-per-node=1
+#SBATCH --cpus-per-task=8
+#SBATCH --time=00:30:00
+#SBATCH --mem=24G
+#SBATCH --output=logs/dppo_dev_%j.out
+#SBATCH --error=logs/dppo_dev_%j.err
+
+# Load required modules
+module load devel/cuda/12.4
+
+# Set environment variables
+export WANDB_MODE=online
+export WANDB_PROJECT=dppo_dev_test
+# export WANDB_API_KEY=<your_api_key>  # TODO: Set your API key
+# export WANDB_ENTITY=<your_entity>    # TODO: Set your entity (username or team)
+
+# Default paths (can be overridden by environment)
+export DPPO_DATA_DIR=${DPPO_DATA_DIR:-$SLURM_SUBMIT_DIR/data}
+export DPPO_LOG_DIR=${DPPO_LOG_DIR:-$SLURM_SUBMIT_DIR/log}
+
+# Change to project directory
+cd $SLURM_SUBMIT_DIR
+
+# Activate virtual environment
+source .venv/bin/activate
+
+# Run quick test with Gym Hopper (faster than other environments)
+echo "Starting DPPO dev test..."
+echo "Job ID: $SLURM_JOB_ID"
+echo "Node: $SLURM_NODELIST"
+echo "GPU: $CUDA_VISIBLE_DEVICES"
+echo ""
+echo "Python version: $(python --version)"
+echo "PyTorch version: $(python -c 'import torch; print(torch.__version__)')"
+echo "CUDA available: $(python -c 'import torch; print(torch.cuda.is_available())')"
+echo ""
+
+# Run a quick pre-training test with reduced steps
+python script/run.py --config-name=pre_diffusion_mlp \
+    --config-dir=cfg/gym/pretrain/hopper-medium-v2 \
+    train.n_iters=10 \
+    train.log_interval=5 \
+    train.checkpoint_interval=10 \
+    wandb=${WANDB_MODE:-null}
+
+echo "Dev test completed!"

slurm/run_dppo_gym.sh

@@ -0,0 +1,64 @@
+#!/bin/bash
+#SBATCH --job-name=dppo_gym
+#SBATCH --account=hk-project-p0022232
+#SBATCH --partition=accelerated
+#SBATCH --gres=gpu:1
+#SBATCH --nodes=1
+#SBATCH --ntasks-per-node=1
+#SBATCH --cpus-per-task=40
+#SBATCH --time=08:00:00
+#SBATCH --mem=32G
+#SBATCH --output=logs/dppo_gym_%j.out
+#SBATCH --error=logs/dppo_gym_%j.err
+
+# Load required modules
+module load devel/cuda/12.4
+
+# Set environment variables
+export WANDB_MODE=online
+export WANDB_PROJECT=dppo_gym
+# export WANDB_API_KEY=<your_api_key>  # TODO: Set your API key
+# export WANDB_ENTITY=<your_entity>    # TODO: Set your entity (username or team)
+
+# Default paths (can be overridden by environment)
+export DPPO_DATA_DIR=${DPPO_DATA_DIR:-$SLURM_SUBMIT_DIR/data}
+export DPPO_LOG_DIR=${DPPO_LOG_DIR:-$SLURM_SUBMIT_DIR/log}
+
+# Parse command line arguments
+TASK=${1:-hopper}  # hopper, walker2d, halfcheetah
+MODE=${2:-pretrain}  # pretrain or finetune
+CONFIG_TYPE=${3:-pre_diffusion_mlp}  # pre_diffusion_mlp or ft_ppo_diffusion_mlp
+
+# Change to project directory
+cd $SLURM_SUBMIT_DIR
+
+# Activate virtual environment
+source .venv/bin/activate
+
+echo "Starting DPPO Gym experiment..."
+echo "Job ID: $SLURM_JOB_ID"
+echo "Node: $SLURM_NODELIST"
+echo "GPU: $CUDA_VISIBLE_DEVICES"
+echo "Task: $TASK"
+echo "Mode: $MODE"
+echo ""
+
+# Select appropriate config based on mode
+if [ "$MODE" = "pretrain" ]; then
+    CONFIG_DIR="cfg/gym/pretrain/${TASK}-medium-v2"
+    CONFIG_NAME="pre_diffusion_mlp"
+elif [ "$MODE" = "finetune" ]; then
+    CONFIG_DIR="cfg/gym/finetune/${TASK}-v2"
+    CONFIG_NAME="ft_ppo_diffusion_mlp"
+else
+    echo "Invalid mode: $MODE. Use 'pretrain' or 'finetune'"
+    exit 1
+fi
+
+# Run experiment
+python script/run.py \
+    --config-name=$CONFIG_NAME \
+    --config-dir=$CONFIG_DIR \
+    wandb=${WANDB_MODE:-null}
+
+echo "Experiment completed!"

submit_job.sh

@@ -0,0 +1,46 @@
+#!/bin/bash
+
+# Submit DPPO jobs to SLURM
+# Usage: ./submit_job.sh [mode] [task] [experiment_type]
+
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+cd "$SCRIPT_DIR"
+
+# Default values
+MODE=${1:-dev}  # dev, gym, robomimic, d3il, furniture
+TASK=${2:-hopper}  # Task specific to each mode
+EXPERIMENT_TYPE=${3:-pretrain}  # pretrain or finetune
+
+echo "Submitting DPPO job..."
+echo "Mode: $MODE"
+echo "Task: $TASK"
+echo "Experiment type: $EXPERIMENT_TYPE"
+
+case $MODE in
+    dev)
+        echo "Submitting development test job..."
+        sbatch slurm/run_dppo_dev.sh
+        ;;
+    gym)
+        echo "Submitting Gym job..."
+        sbatch slurm/run_dppo_gym.sh "$TASK" "$EXPERIMENT_TYPE"
+        ;;
+    *)
+        echo "Unknown mode: $MODE"
+        echo "Supported modes: dev, gym"
+        echo ""
+        echo "Usage examples:"
+        echo "  ./submit_job.sh dev                    # Run quick dev test"
+        echo "  ./submit_job.sh gym hopper pretrain    # Pre-train on Gym Hopper"
+        echo "  ./submit_job.sh gym walker2d finetune  # Fine-tune on Gym Walker2D"
+        exit 1
+        ;;
+esac
+
+echo ""
+echo "Job submitted! Check status with:"
+echo "  squeue -u $USER"
+echo ""
+echo "Check logs in: logs/ directory"