2404a34c36
- Add robomimic square test (continuing pre-training validation) - Create MuJoCo environment fix scripts for debugging compilation - Update experiment plan with latest test results - Robomimic can pre-training validated successfully
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2.0 KiB
DPPO Experiment Plan
What's Done ✅
Installation & Setup:
- ✅ 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
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)
- ✅ 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
What Needs to Be Done 📋
Phase 1: Complete Installation Validation
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
Fine-tuning Tests (after MuJoCo validation):
- Gym: hopper, walker2d, halfcheetah
- Robomimic: lift, can, square, transport
- D3IL: avoid_m1, avoid_m2, avoid_m3
Phase 2: Paper Results Generation
Goal: Run full experiments to replicate paper results
Gym Tasks (Core Paper Results):
- hopper-medium-v2 → hopper-v2: Pre-train (200 epochs) + Fine-tune
- walker2d-medium-v2 → walker2d-v2: Pre-train (200 epochs) + Fine-tune
- halfcheetah-medium-v2 → halfcheetah-v2: Pre-train (200 epochs) + Fine-tune
Extended Results:
- All Robomimic tasks: full pre-train + fine-tune
- All D3IL tasks: full pre-train + fine-tune
Current Status
Blockers: None - all technical issues resolved Waiting on: Cluster resources to run validation jobs Next Step: Complete Phase 1 validation, then move to Phase 2 production runs
Success Criteria
- All environments work in dev tests (Phase 1)
- All paper results replicated and in WandB (Phase 2)
- Complete documentation for future users