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
59 lines
2.0 KiB
Markdown
59 lines
2.0 KiB
Markdown
# DPPO Experiment Plan
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## What's Done ✅
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**Installation & Setup:**
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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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**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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- ✅ 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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## What Needs to Be Done 📋
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### Phase 1: Complete Installation Validation
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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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**Fine-tuning Tests (after MuJoCo validation):**
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- Gym: hopper, walker2d, halfcheetah
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- Robomimic: lift, can, square, transport
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- D3IL: avoid_m1, avoid_m2, avoid_m3
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### Phase 2: Paper Results Generation
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**Goal:** Run full experiments to replicate paper results
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**Gym Tasks (Core Paper Results):**
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- hopper-medium-v2 → hopper-v2: Pre-train (200 epochs) + Fine-tune
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- walker2d-medium-v2 → walker2d-v2: Pre-train (200 epochs) + Fine-tune
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- halfcheetah-medium-v2 → halfcheetah-v2: Pre-train (200 epochs) + Fine-tune
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**Extended Results:**
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- All Robomimic tasks: full pre-train + fine-tune
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- All D3IL tasks: full pre-train + fine-tune
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## Current Status
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**Blockers:** None - all technical issues resolved
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**Waiting on:** Cluster resources to run validation jobs
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**Next Step:** Complete Phase 1 validation, then move to Phase 2 production runs
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## Success Criteria
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- [ ] All environments work in dev tests (Phase 1)
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- [ ] All paper results replicated and in WandB (Phase 2)
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- [ ] Complete documentation for future users |