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:
parent
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commit
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@ -6,19 +6,29 @@
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- ✅ Python 3.10 venv working on HoReKa
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- ✅ All dependencies installed (gym, robomimic, d3il)
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- ✅ WandB logging configured with "dppo-" project prefix
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- ✅ MuJoCo-py compilation fixed with proper environment variables
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- ✅ HoReKa Intel compiler fix for mujoco-py integrated into install script
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- ✅ Cython version pinned to 0.29.37 for mujoco-py compatibility
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**Validated Pre-training:**
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- ✅ Gym: hopper, walker2d, halfcheetah (all working with data download & WandB logging)
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- ✅ Robomimic: lift, can (working with WandB: https://wandb.ai/dominik_roth/robomimic-can-pretrain/runs/xwpzcssw)
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- ✅ 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)
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- ✅ D3IL: avoid_m1 (working)
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## What We're Doing Right Now 🔄
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**Latest Test Results:**
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- ✅ Job 3445498: Robomimic can pre-training SUCCESS
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- ⚠️ Job 3445495: Hopper fine-tuning started but hit MuJoCo stdio.h compilation error
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- 🔄 Researching better MuJoCo compilation fix
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**Current Jobs:**
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- 🔄 Job 3445594: Running updated installer with integrated MuJoCo fix
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- 🔄 Job 3445604: Testing robomimic square (new job)
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- 🔄 Job 3445606: Testing robomimic transport
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**Latest Success:**
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- ✅ Job 3445550: Robomimic square pre-training SUCCESS with WandB logging!
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**Progress on MuJoCo Fix:**
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- ✅ Identified root cause: Intel compiler flags incompatible with GCC for mujoco-py
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- ✅ Developed sysconfig patch to override Intel flags
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- ✅ Integrated fix into install script and README
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- 🔄 Waiting for installer completion to test fix validation
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## What Needs to Be Done 📋
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@ -26,8 +36,8 @@
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**Goal:** Confirm every environment works in both pre-train and fine-tune modes
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**Remaining Pre-training Tests:**
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- Robomimic: square, transport
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- D3IL: avoid_m2, avoid_m3
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- Robomimic: transport (in progress)
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- D3IL: avoid_m2, avoid_m3 (waiting for full installer)
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**Fine-tuning Tests (after MuJoCo validation):**
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- Gym: hopper, walker2d, halfcheetah
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@ -1,53 +0,0 @@
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#!/bin/bash
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#SBATCH --job-name=dppo_mujoco_clean
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#SBATCH --account=hk-project-p0022232
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#SBATCH --partition=dev_accelerated
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#SBATCH --gres=gpu:1
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#SBATCH --nodes=1
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#SBATCH --ntasks-per-node=1
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#SBATCH --cpus-per-task=8
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#SBATCH --time=00:30:00
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#SBATCH --mem=24G
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#SBATCH --output=logs/dppo_mujoco_clean_%j.out
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#SBATCH --error=logs/dppo_mujoco_clean_%j.err
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# Load only CUDA, avoid Intel modules completely
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module purge
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module load devel/cuda/12.4
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# Clean environment - remove any Intel compiler variables
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unset CFLAGS
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unset CXXFLAGS
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unset LDFLAGS
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unset CC
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unset CXX
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# Force pure GCC environment
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export CC=/usr/bin/gcc
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export CXX=/usr/bin/g++
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export CFLAGS="-std=c99"
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export CXXFLAGS="-std=c++11"
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cd $SLURM_SUBMIT_DIR
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source .venv/bin/activate
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# Complete mujoco-py cleanup
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echo "Removing all mujoco-py build artifacts..."
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rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
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rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
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rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
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find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
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find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
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# Fresh mujoco-py install
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echo "Reinstalling mujoco-py with clean GCC environment..."
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pip uninstall mujoco-py -y
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pip install 'mujoco-py<2.2,>=2.1'
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# MuJoCo environment
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export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
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export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
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export MUJOCO_GL=egl
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echo "Testing mujoco-py import with clean environment..."
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python -c "import mujoco_py; print('SUCCESS: mujoco_py works with clean GCC compilation!')"
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@ -1,57 +0,0 @@
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#!/bin/bash
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#SBATCH --job-name=dppo_mujoco_isolated
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#SBATCH --account=hk-project-p0022232
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#SBATCH --partition=dev_accelerated
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#SBATCH --gres=gpu:1
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#SBATCH --nodes=1
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#SBATCH --ntasks-per-node=1
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#SBATCH --cpus-per-task=8
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#SBATCH --time=00:30:00
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#SBATCH --mem=24G
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#SBATCH --output=logs/dppo_mujoco_isolated_%j.out
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#SBATCH --error=logs/dppo_mujoco_isolated_%j.err
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# Keep Intel OneAPI for Python but isolate compilation
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module load devel/cuda/12.4
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module load compiler/intel/2023.2.1
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cd $SLURM_SUBMIT_DIR
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source .venv/bin/activate
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# Override all compiler settings to force pure GCC
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export CC=/usr/bin/gcc
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export CXX=/usr/bin/g++
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# Clear all Intel compiler flags
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unset CFLAGS
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unset CXXFLAGS
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unset FFLAGS
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unset LDFLAGS
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# Set clean GCC-compatible flags
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export CFLAGS="-std=c99 -O2 -fPIC"
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export CXXFLAGS="-std=c++11 -O2 -fPIC"
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# Clean mujoco-py completely
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echo "Removing all mujoco-py build artifacts..."
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rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
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rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
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rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
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find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
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find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
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# Force clean distutils cache
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rm -rf ~/.cache/pip/
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python -c "import distutils.util; import shutil; shutil.rmtree(distutils.util.get_platform(), ignore_errors=True)" 2>/dev/null || true
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echo "Reinstalling mujoco-py with isolated GCC compilation..."
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pip uninstall mujoco-py -y
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pip install 'mujoco-py<2.2,>=2.1' --no-cache-dir --force-reinstall
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# MuJoCo environment
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export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
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export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
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export MUJOCO_GL=egl
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echo "Testing mujoco-py import with isolated GCC compilation..."
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python -c "import mujoco_py; print('SUCCESS: mujoco_py compiled with isolated GCC!')"
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@ -1,88 +0,0 @@
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#!/bin/bash
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#SBATCH --job-name=dppo_mujoco_override
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#SBATCH --account=hk-project-p0022232
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#SBATCH --partition=dev_accelerated
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#SBATCH --gres=gpu:1
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#SBATCH --nodes=1
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#SBATCH --ntasks-per-node=1
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#SBATCH --cpus-per-task=8
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#SBATCH --time=00:30:00
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#SBATCH --mem=24G
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#SBATCH --output=logs/dppo_mujoco_override_%j.out
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#SBATCH --error=logs/dppo_mujoco_override_%j.err
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# Load only CUDA for OpenGL support
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module load devel/cuda/12.4
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cd $SLURM_SUBMIT_DIR
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source .venv/bin/activate
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# Override ALL compiler settings completely
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export CC=/usr/bin/gcc
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export CXX=/usr/bin/g++
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export CPP=/usr/bin/cpp
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# Clear ALL Intel-specific environment variables
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unset CFLAGS
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unset CXXFLAGS
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unset FFLAGS
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unset LDFLAGS
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unset OPT
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# Set clean GCC-only flags that override everything
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export CFLAGS="-std=c99 -O2 -fPIC -w"
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export CXXFLAGS="-std=c++11 -O2 -fPIC -w"
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export LDFLAGS=""
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# Clean mujoco-py completely first
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echo "Cleaning all mujoco-py artifacts..."
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rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
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rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
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rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
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find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
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find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
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# Set MuJoCo environment
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export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
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export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
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export MUJOCO_GL=egl
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# Test with direct Python override of distutils compiler flags
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echo "Testing mujoco-py with aggressive compiler flag override..."
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python -c "
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import os
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import distutils.util
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import sysconfig
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# Override Python's built-in compiler settings
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os.environ['CC'] = '/usr/bin/gcc'
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os.environ['CXX'] = '/usr/bin/g++'
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os.environ['CFLAGS'] = '-std=c99 -O2 -fPIC -w'
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os.environ['CXXFLAGS'] = '-std=c++11 -O2 -fPIC -w'
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# Hack: Override sysconfig to remove Intel flags
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import sys
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def patched_get_config_var(name):
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if name in ['CFLAGS', 'BASECFLAGS', 'PY_CFLAGS', 'PY_CORE_CFLAGS', 'CCSHARED']:
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return '-std=c99 -O2 -fPIC -w'
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elif name in ['CXXFLAGS', 'CXX']:
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return '-std=c++11 -O2 -fPIC -w'
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elif name == 'CC':
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return '/usr/bin/gcc'
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else:
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# Call the original function for other variables
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return sysconfig._original_get_config_var(name)
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# Store original and patch
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sysconfig._original_get_config_var = sysconfig.get_config_var
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sysconfig.get_config_var = patched_get_config_var
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print('Attempting mujoco_py import with patched sysconfig...')
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try:
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import mujoco_py
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print('SUCCESS: mujoco_py compiled and imported successfully!')
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except Exception as e:
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print(f'FAILED: {e}')
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import traceback
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traceback.print_exc()
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"
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#!/bin/bash
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#SBATCH --job-name=dppo_mujoco_success
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#SBATCH --account=hk-project-p0022232
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#SBATCH --partition=dev_accelerated
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#SBATCH --gres=gpu:1
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#SBATCH --nodes=1
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#SBATCH --ntasks-per-node=1
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#SBATCH --cpus-per-task=8
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#SBATCH --time=00:30:00
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#SBATCH --mem=24G
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#SBATCH --output=logs/dppo_mujoco_success_%j.out
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#SBATCH --error=logs/dppo_mujoco_success_%j.err
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# Load only CUDA
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module load devel/cuda/12.4
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cd $SLURM_SUBMIT_DIR
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source .venv/bin/activate
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# Set MuJoCo environment first
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export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
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export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
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export MUJOCO_GL=egl
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# Clean only build cache, not generated files that need to be recreated
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echo "Cleaning build cache..."
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rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
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rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
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find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
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find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
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# Test with sysconfig override but let mujoco-py generate what it needs
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echo "Testing mujoco-py with sysconfig override and proper generation..."
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python -c "
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import os
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import sysconfig
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# Override compiler settings
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os.environ['CC'] = '/usr/bin/gcc'
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os.environ['CXX'] = '/usr/bin/g++'
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os.environ['CFLAGS'] = '-std=c99 -O2 -fPIC -w'
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os.environ['CXXFLAGS'] = '-std=c++11 -O2 -fPIC -w'
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# Patch sysconfig to remove Intel flags
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def patched_get_config_var(name):
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if name in ['CFLAGS', 'BASECFLAGS', 'PY_CFLAGS', 'PY_CORE_CFLAGS', 'CCSHARED']:
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return '-std=c99 -O2 -fPIC -w'
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elif name in ['CXXFLAGS']:
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return '-std=c++11 -O2 -fPIC -w'
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elif name == 'CC':
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return '/usr/bin/gcc'
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elif name == 'CXX':
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return '/usr/bin/g++'
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else:
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# Call original for other config vars
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return sysconfig._original_get_config_var(name)
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# Store original and apply patch
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sysconfig._original_get_config_var = sysconfig.get_config_var
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sysconfig.get_config_var = patched_get_config_var
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print('Testing mujoco_py import with sysconfig patch...')
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try:
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import mujoco_py
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print('SUCCESS: mujoco_py compiled and imported successfully with GCC override!')
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except Exception as e:
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print(f'FAILED: {e}')
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import traceback
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traceback.print_exc()
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"
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27
slurm/dev_tests/test_robomimic_transport.sh
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27
slurm/dev_tests/test_robomimic_transport.sh
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#!/bin/bash
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#SBATCH --job-name=dppo_robo_transport
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#SBATCH --account=hk-project-p0022232
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#SBATCH --partition=dev_accelerated
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#SBATCH --gres=gpu:1
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#SBATCH --nodes=1
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#SBATCH --ntasks-per-node=1
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#SBATCH --cpus-per-task=8
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#SBATCH --time=00:30:00
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#SBATCH --mem=24G
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#SBATCH --output=logs/dppo_robo_transport_%j.out
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#SBATCH --error=logs/dppo_robo_transport_%j.err
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module load devel/cuda/12.4
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export WANDB_MODE=online
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export DPPO_WANDB_ENTITY=${DPPO_WANDB_ENTITY:-"dominik_roth"}
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export DPPO_DATA_DIR=${DPPO_DATA_DIR:-$SLURM_SUBMIT_DIR/data}
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export DPPO_LOG_DIR=${DPPO_LOG_DIR:-$SLURM_SUBMIT_DIR/log}
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cd $SLURM_SUBMIT_DIR
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source .venv/bin/activate
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echo "Testing Robomimic transport pretrain..."
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python script/run.py --config-name=pre_diffusion_mlp \
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--config-dir=cfg/robomimic/pretrain/transport \
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train.n_epochs=2 \
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train.save_model_freq=1
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Block a user