From cb9846484f4a38cf141423c3411cfd110d55618c Mon Sep 17 00:00:00 2001 From: "ys1087@partner.kit.edu" Date: Wed, 27 Aug 2025 22:14:10 +0200 Subject: [PATCH] Update experiment plan with validation results and WandB URLs - Complete validation status table with results for all environments - Add WandB tracking URLs for completed fine-tuning runs - Document technical fixes and current job queue status - Add test scripts for remaining D3IL avoid_m3 and robomimic transport validation --- EXPERIMENT_PLAN.md | 84 ++++++------------- .../dev_tests/test_d3il_avoid_m3_finetune.sh | 29 +++++++ .../test_robomimic_transport_finetune.sh | 38 +++++++++ 3 files changed, 93 insertions(+), 58 deletions(-) create mode 100644 slurm/dev_tests/test_d3il_avoid_m3_finetune.sh create mode 100644 slurm/dev_tests/test_robomimic_transport_finetune.sh diff --git a/EXPERIMENT_PLAN.md b/EXPERIMENT_PLAN.md index 8746377..b6ae984 100644 --- a/EXPERIMENT_PLAN.md +++ b/EXPERIMENT_PLAN.md @@ -1,62 +1,30 @@ -# DPPO Experiment Plan +# DPPO Validation Status -## Phase 1: Environment Validation ✅ NEARLY COMPLETE! +## Environment Testing Progress -### ✅ FULLY VALIDATED ENVIRONMENTS +| Environment | Pre-train | Fine-tune | Result | WandB URL | +|-------------|-----------|-----------|--------|-----------| +| **Gym (MuJoCo)** | +| hopper-medium-v2 | Complete | Complete | 1415.85 | [Run](https://wandb.ai/dominik_roth/dppo-gym-hopper-medium-v2-finetune/runs/hpvpzp50) | +| walker2d-medium-v2 | Complete | Complete | 2977.97 | [Run](https://wandb.ai/dominik_roth/dppo-gym-walker2d-medium-v2-finetune/runs/70b8ioli) | +| halfcheetah-medium-v2 | Complete | Complete | 4058.34 | [Run](https://wandb.ai/dominik_roth/dppo-gym-halfcheetah-medium-v2-finetune/runs/ya612mef) | +| **Robomimic** | +| lift | Complete | Complete | 69% success | [Run](https://wandb.ai/dominik_roth/robomimic-lift-finetune/runs/aih90dlk) | +| can | Complete | Complete | 85.89% success | [Run](https://wandb.ai/dominik_roth/robomimic-can-finetune/runs/f9nl5u17) | +| square | Complete | Running (job 3446120) | Pending | - | +| transport | Complete | Running (job 3446147) | Pending | - | +| **D3IL** | +| avoid_m1 | Complete | Complete | 87.7 reward | [Run](https://wandb.ai/dominik_roth/d3il-avoiding-m5-m1-finetune/runs/ugkrcngm) | +| avoid_m2 | Complete | Complete | 82.46 reward | [Run](https://wandb.ai/dominik_roth/d3il-avoiding-m5-m2-finetune/runs/farekalr) | +| avoid_m3 | Ready | Queued (job 3446146) | Pending | - | -**🔥 Gym (MuJoCo) - ALL WORKING:** -- **Hopper**: Pre-train ✅ | Fine-tune ✅ (reward 1415.85) -- **Walker2d**: Pre-train ✅ | Fine-tune ✅ (reward 2977.97) -- **Halfcheetah**: Pre-train ✅ | Fine-tune ✅ (reward 4058.34) +## Technical Issues Resolved +- MuJoCo compilation with Intel compiler (GCC wrapper solution) +- SLURM job scheduling and resource allocation +- WandB logging configuration +- Configuration parameter corrections for D3IL -**🔥 Robomimic - VALIDATED:** -- **Pre-training**: All 4 environments ✅ (lift, can, square, transport) -- **Fine-tuning**: Lift working excellently (69% success rate) - -**🔥 D3IL - EXCELLENT:** -- **Installation**: Complete ✅ (d3il_sim, gym_avoiding) -- **Fine-tuning**: avoid_m1 OUTSTANDING (reward 85.04+, still improving) -- **Pre-training**: avoid_m1 job queued - -### 🛠️ CRITICAL FIXES IMPLEMENTED -- ✅ **MuJoCo Intel compiler issue SOLVED** - The major technical blocker -- ✅ **GCC wrapper filtering Intel flags** - Works perfectly -- ✅ **WandB logging active** - All results tracked with "dppo-" prefix -- ✅ **SLURM automation** - Complete testing pipeline -- ✅ **Configuration fixes** - All environment types working - -## Phase 2: Complete Paper Replication - -### Remaining Validation Tasks -- **Robomimic fine-tuning**: can, square, transport (after lift completes) -- **D3IL environments**: avoid_m2, avoid_m3 (after m1 validation complete) - -### Full Paper Results (Schedule after validation complete) -**Gym Tasks (Core Results):** -- hopper-medium-v2: Full pre-train (200 epochs) + fine-tune -- walker2d-medium-v2: Full pre-train (200 epochs) + fine-tune -- halfcheetah-medium-v2: Full pre-train (200 epochs) + fine-tune - -**Extended Results:** -- All Robomimic tasks: Full pre-train + fine-tune runs -- All D3IL tasks: Full pre-train + fine-tune runs - -## Success Metrics - -**WandB Projects Active:** -- dppo-gym-*-finetune: Gym fine-tuning results -- robomimic-*-finetune: Robomimic fine-tuning results -- dppo-d3il-*-finetune: D3IL fine-tuning results - -**Performance Benchmarks:** -- Gym rewards: 1415-4058 range validated -- Robomimic success rate: 69%+ validated -- D3IL rewards: 85+ validated - -## Current Status: 🚀 PRODUCTION READY - -**Blockers:** NONE - All critical issues resolved! -**Status:** DPPO fully operational on HoReKa -**Achievement:** Major technical breakthrough - MuJoCo compilation solved! - -Ready for full-scale paper replication experiments. \ No newline at end of file +## Next Steps +1. Complete remaining validation runs +2. Begin full paper replication experiments +3. Generate performance comparison tables \ No newline at end of file diff --git a/slurm/dev_tests/test_d3il_avoid_m3_finetune.sh b/slurm/dev_tests/test_d3il_avoid_m3_finetune.sh new file mode 100644 index 0000000..5d31377 --- /dev/null +++ b/slurm/dev_tests/test_d3il_avoid_m3_finetune.sh @@ -0,0 +1,29 @@ +#!/bin/bash +#SBATCH --job-name=dppo_d3il_avoid_m3_ft +#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=16G +#SBATCH --output=logs/dppo_d3il_avoid_m3_ft_%j.out +#SBATCH --error=logs/dppo_d3il_avoid_m3_ft_%j.err + +module load devel/cuda/12.4 + +# Environment variables +export WANDB_MODE=online +export DPPO_WANDB_ENTITY=${DPPO_WANDB_ENTITY:-"dominik_roth"} +export DPPO_DATA_DIR=${DPPO_DATA_DIR:-$SLURM_SUBMIT_DIR/data} +export DPPO_LOG_DIR=${DPPO_LOG_DIR:-$SLURM_SUBMIT_DIR/log} + +cd $SLURM_SUBMIT_DIR +source .venv/bin/activate + +echo "Testing D3IL avoid_m3 fine-tuning..." +python script/run.py --config-name=ft_ppo_diffusion_mlp \ + --config-dir=cfg/d3il/finetune/avoid_m3 \ + train.n_train_itr=50 \ + train.save_model_freq=25 \ No newline at end of file diff --git a/slurm/dev_tests/test_robomimic_transport_finetune.sh b/slurm/dev_tests/test_robomimic_transport_finetune.sh new file mode 100644 index 0000000..9793e32 --- /dev/null +++ b/slurm/dev_tests/test_robomimic_transport_finetune.sh @@ -0,0 +1,38 @@ +#!/bin/bash +#SBATCH --job-name=dppo_transport_ft +#SBATCH --account=hk-project-p0022232 +#SBATCH --partition=dev_accelerated +#SBATCH --gres=gpu:1 +#SBATCH --nodes=1 +#SBATCH --ntasks-per-node=1 +#SBATCH --cpus-per-task=8 +#SBATCH --time=00:30:00 +#SBATCH --mem=24G +#SBATCH --output=logs/dppo_transport_ft_%j.out +#SBATCH --error=logs/dppo_transport_ft_%j.err + +module load devel/cuda/12.4 + +# MuJoCo environment for fine-tuning +export MUJOCO_PY_MUJOCO_PATH=$HOME/.mujoco/mujoco210 +export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/.mujoco/mujoco210/bin:/usr/lib/nvidia +export MUJOCO_GL=egl + +# Environment variables +export WANDB_MODE=online +export DPPO_WANDB_ENTITY=${DPPO_WANDB_ENTITY:-"dominik_roth"} +export DPPO_DATA_DIR=${DPPO_DATA_DIR:-$SLURM_SUBMIT_DIR/data} +export DPPO_LOG_DIR=${DPPO_LOG_DIR:-$SLURM_SUBMIT_DIR/log} + +cd $SLURM_SUBMIT_DIR +source .venv/bin/activate + +# Apply HoReKa MuJoCo compilation fix +echo "Applying HoReKa MuJoCo compilation fix..." +python -c "exec(open('fix_mujoco_compilation.py').read()); apply_mujoco_fix(); import mujoco_py; print('MuJoCo ready!')" + +echo "Testing robomimic transport fine-tuning..." +python script/run.py --config-name=ft_ppo_diffusion_mlp \ + --config-dir=cfg/robomimic/finetune/transport \ + train.n_train_itr=50 \ + train.save_model_freq=25 \ No newline at end of file