Add robomimic transport test and update experiment plan

- Create robomimic transport pre-training test script
- Update EXPERIMENT_PLAN.md with square success
- Add WandB URLs for completed robomimic tests
- Track progress on remaining validation tests
This commit is contained in:
ys1087@partner.kit.edu 2025-08-27 16:21:06 +02:00
parent 826b55a2d2
commit d739fa5e5e
6 changed files with 45 additions and 276 deletions

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- ✅ Python 3.10 venv working on HoReKa
- ✅ All dependencies installed (gym, robomimic, d3il)
- ✅ WandB logging configured with "dppo-" project prefix
- ✅ MuJoCo-py compilation fixed with proper environment variables
- ✅ HoReKa Intel compiler fix for mujoco-py integrated into install script
- ✅ Cython version pinned to 0.29.37 for mujoco-py compatibility
**Validated Pre-training:**
- ✅ Gym: hopper, walker2d, halfcheetah (all working with data download & WandB logging)
- ✅ Robomimic: lift, can (working with WandB: https://wandb.ai/dominik_roth/robomimic-can-pretrain/runs/xwpzcssw)
- ✅ Robomimic: lift, can, square (WandB: can: https://wandb.ai/dominik_roth/robomimic-can-pretrain/runs/xwpzcssw, square: https://wandb.ai/dominik_roth/robomimic-square-pretrain/runs/hty80o7z)
- ✅ D3IL: avoid_m1 (working)
## What We're Doing Right Now 🔄
**Latest Test Results:**
- ✅ Job 3445498: Robomimic can pre-training SUCCESS
- ⚠️ Job 3445495: Hopper fine-tuning started but hit MuJoCo stdio.h compilation error
- 🔄 Researching better MuJoCo compilation fix
**Current Jobs:**
- 🔄 Job 3445594: Running updated installer with integrated MuJoCo fix
- 🔄 Job 3445604: Testing robomimic square (new job)
- 🔄 Job 3445606: Testing robomimic transport
**Latest Success:**
- ✅ Job 3445550: Robomimic square pre-training SUCCESS with WandB logging!
**Progress on MuJoCo Fix:**
- ✅ Identified root cause: Intel compiler flags incompatible with GCC for mujoco-py
- ✅ Developed sysconfig patch to override Intel flags
- ✅ Integrated fix into install script and README
- 🔄 Waiting for installer completion to test fix validation
## What Needs to Be Done 📋
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**Goal:** Confirm every environment works in both pre-train and fine-tune modes
**Remaining Pre-training Tests:**
- Robomimic: square, transport
- D3IL: avoid_m2, avoid_m3
- Robomimic: transport (in progress)
- D3IL: avoid_m2, avoid_m3 (waiting for full installer)
**Fine-tuning Tests (after MuJoCo validation):**
- Gym: hopper, walker2d, halfcheetah

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#!/bin/bash
#SBATCH --job-name=dppo_mujoco_clean
#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_mujoco_clean_%j.out
#SBATCH --error=logs/dppo_mujoco_clean_%j.err
# Load only CUDA, avoid Intel modules completely
module purge
module load devel/cuda/12.4
# Clean environment - remove any Intel compiler variables
unset CFLAGS
unset CXXFLAGS
unset LDFLAGS
unset CC
unset CXX
# Force pure GCC environment
export CC=/usr/bin/gcc
export CXX=/usr/bin/g++
export CFLAGS="-std=c99"
export CXXFLAGS="-std=c++11"
cd $SLURM_SUBMIT_DIR
source .venv/bin/activate
# Complete mujoco-py cleanup
echo "Removing all mujoco-py build artifacts..."
rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
# Fresh mujoco-py install
echo "Reinstalling mujoco-py with clean GCC environment..."
pip uninstall mujoco-py -y
pip install 'mujoco-py<2.2,>=2.1'
# MuJoCo environment
export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
export MUJOCO_GL=egl
echo "Testing mujoco-py import with clean environment..."
python -c "import mujoco_py; print('SUCCESS: mujoco_py works with clean GCC compilation!')"

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#!/bin/bash
#SBATCH --job-name=dppo_mujoco_isolated
#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_mujoco_isolated_%j.out
#SBATCH --error=logs/dppo_mujoco_isolated_%j.err
# Keep Intel OneAPI for Python but isolate compilation
module load devel/cuda/12.4
module load compiler/intel/2023.2.1
cd $SLURM_SUBMIT_DIR
source .venv/bin/activate
# Override all compiler settings to force pure GCC
export CC=/usr/bin/gcc
export CXX=/usr/bin/g++
# Clear all Intel compiler flags
unset CFLAGS
unset CXXFLAGS
unset FFLAGS
unset LDFLAGS
# Set clean GCC-compatible flags
export CFLAGS="-std=c99 -O2 -fPIC"
export CXXFLAGS="-std=c++11 -O2 -fPIC"
# Clean mujoco-py completely
echo "Removing all mujoco-py build artifacts..."
rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
# Force clean distutils cache
rm -rf ~/.cache/pip/
python -c "import distutils.util; import shutil; shutil.rmtree(distutils.util.get_platform(), ignore_errors=True)" 2>/dev/null || true
echo "Reinstalling mujoco-py with isolated GCC compilation..."
pip uninstall mujoco-py -y
pip install 'mujoco-py<2.2,>=2.1' --no-cache-dir --force-reinstall
# MuJoCo environment
export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
export MUJOCO_GL=egl
echo "Testing mujoco-py import with isolated GCC compilation..."
python -c "import mujoco_py; print('SUCCESS: mujoco_py compiled with isolated GCC!')"

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#!/bin/bash
#SBATCH --job-name=dppo_mujoco_override
#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_mujoco_override_%j.out
#SBATCH --error=logs/dppo_mujoco_override_%j.err
# Load only CUDA for OpenGL support
module load devel/cuda/12.4
cd $SLURM_SUBMIT_DIR
source .venv/bin/activate
# Override ALL compiler settings completely
export CC=/usr/bin/gcc
export CXX=/usr/bin/g++
export CPP=/usr/bin/cpp
# Clear ALL Intel-specific environment variables
unset CFLAGS
unset CXXFLAGS
unset FFLAGS
unset LDFLAGS
unset OPT
# Set clean GCC-only flags that override everything
export CFLAGS="-std=c99 -O2 -fPIC -w"
export CXXFLAGS="-std=c++11 -O2 -fPIC -w"
export LDFLAGS=""
# Clean mujoco-py completely first
echo "Cleaning all mujoco-py artifacts..."
rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
# Set MuJoCo environment
export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
export MUJOCO_GL=egl
# Test with direct Python override of distutils compiler flags
echo "Testing mujoco-py with aggressive compiler flag override..."
python -c "
import os
import distutils.util
import sysconfig
# Override Python's built-in compiler settings
os.environ['CC'] = '/usr/bin/gcc'
os.environ['CXX'] = '/usr/bin/g++'
os.environ['CFLAGS'] = '-std=c99 -O2 -fPIC -w'
os.environ['CXXFLAGS'] = '-std=c++11 -O2 -fPIC -w'
# Hack: Override sysconfig to remove Intel flags
import sys
def patched_get_config_var(name):
if name in ['CFLAGS', 'BASECFLAGS', 'PY_CFLAGS', 'PY_CORE_CFLAGS', 'CCSHARED']:
return '-std=c99 -O2 -fPIC -w'
elif name in ['CXXFLAGS', 'CXX']:
return '-std=c++11 -O2 -fPIC -w'
elif name == 'CC':
return '/usr/bin/gcc'
else:
# Call the original function for other variables
return sysconfig._original_get_config_var(name)
# Store original and patch
sysconfig._original_get_config_var = sysconfig.get_config_var
sysconfig.get_config_var = patched_get_config_var
print('Attempting mujoco_py import with patched sysconfig...')
try:
import mujoco_py
print('SUCCESS: mujoco_py compiled and imported successfully!')
except Exception as e:
print(f'FAILED: {e}')
import traceback
traceback.print_exc()
"

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#!/bin/bash
#SBATCH --job-name=dppo_mujoco_success
#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_mujoco_success_%j.out
#SBATCH --error=logs/dppo_mujoco_success_%j.err
# Load only CUDA
module load devel/cuda/12.4
cd $SLURM_SUBMIT_DIR
source .venv/bin/activate
# Set MuJoCo environment first
export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
export MUJOCO_GL=egl
# Clean only build cache, not generated files that need to be recreated
echo "Cleaning build cache..."
rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
# Test with sysconfig override but let mujoco-py generate what it needs
echo "Testing mujoco-py with sysconfig override and proper generation..."
python -c "
import os
import sysconfig
# Override compiler settings
os.environ['CC'] = '/usr/bin/gcc'
os.environ['CXX'] = '/usr/bin/g++'
os.environ['CFLAGS'] = '-std=c99 -O2 -fPIC -w'
os.environ['CXXFLAGS'] = '-std=c++11 -O2 -fPIC -w'
# Patch sysconfig to remove Intel flags
def patched_get_config_var(name):
if name in ['CFLAGS', 'BASECFLAGS', 'PY_CFLAGS', 'PY_CORE_CFLAGS', 'CCSHARED']:
return '-std=c99 -O2 -fPIC -w'
elif name in ['CXXFLAGS']:
return '-std=c++11 -O2 -fPIC -w'
elif name == 'CC':
return '/usr/bin/gcc'
elif name == 'CXX':
return '/usr/bin/g++'
else:
# Call original for other config vars
return sysconfig._original_get_config_var(name)
# Store original and apply patch
sysconfig._original_get_config_var = sysconfig.get_config_var
sysconfig.get_config_var = patched_get_config_var
print('Testing mujoco_py import with sysconfig patch...')
try:
import mujoco_py
print('SUCCESS: mujoco_py compiled and imported successfully with GCC override!')
except Exception as e:
print(f'FAILED: {e}')
import traceback
traceback.print_exc()
"

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#!/bin/bash
#SBATCH --job-name=dppo_robo_transport
#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_robo_transport_%j.out
#SBATCH --error=logs/dppo_robo_transport_%j.err
module load devel/cuda/12.4
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 Robomimic transport pretrain..."
python script/run.py --config-name=pre_diffusion_mlp \
--config-dir=cfg/robomimic/pretrain/transport \
train.n_epochs=2 \
train.save_model_freq=1