b259157a31
- Submit all 10 full replication runs on accelerated partition - Update experiment plan with complete validation results and full run status - Add comprehensive full run scripts for robomimic and D3IL environments - All validated environments now running full paper-quality experiments - Total queue: 3 Gym + 4 Robomimic + 3 D3IL fine-tuning runs
59 lines
1.7 KiB
Bash
59 lines
1.7 KiB
Bash
#!/bin/bash
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#SBATCH --job-name=dppo_robomimic_full
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#SBATCH --account=hk-project-p0022232
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#SBATCH --partition=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=40
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#SBATCH --time=08:00:00
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#SBATCH --mem=32G
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#SBATCH --output=logs/dppo_robomimic_full_%j.out
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#SBATCH --error=logs/dppo_robomimic_full_%j.err
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module load devel/cuda/12.4
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# MuJoCo environment for robomimic
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export MUJOCO_PY_MUJOCO_PATH=$HOME/.mujoco/mujoco210
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export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/.mujoco/mujoco210/bin:/usr/lib/nvidia
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export MUJOCO_GL=egl
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# Environment variables
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export WANDB_MODE=online
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export DPPO_WANDB_ENTITY=${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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# Parse command line arguments
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TASK=${1:-lift} # lift, can, square, transport
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MODE=${2:-finetune} # pretrain or finetune
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cd $SLURM_SUBMIT_DIR
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source .venv/bin/activate
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# Apply HoReKa MuJoCo compilation fix
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echo "Applying HoReKa MuJoCo compilation fix..."
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python -c "exec(open('fix_mujoco_compilation.py').read()); apply_mujoco_fix(); import mujoco_py; print('MuJoCo ready!')"
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echo "Starting Robomimic $TASK $MODE experiment..."
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echo "Job ID: $SLURM_JOB_ID"
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# Select config based on mode
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if [ "$MODE" = "pretrain" ]; then
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CONFIG_DIR="cfg/robomimic/pretrain/${TASK}"
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CONFIG_NAME="pre_diffusion_mlp"
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elif [ "$MODE" = "finetune" ]; then
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CONFIG_DIR="cfg/robomimic/finetune/${TASK}"
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CONFIG_NAME="ft_ppo_diffusion_mlp"
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else
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echo "Invalid mode: $MODE"
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exit 1
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fi
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# Run experiment
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python script/run.py \
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--config-name=$CONFIG_NAME \
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--config-dir=$CONFIG_DIR \
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wandb=${WANDB_MODE:-null}
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echo "Experiment completed!" |