dppo/slurm/dev_tests/test_robomimic_can_finetune.sh
ys1087@partner.kit.edu bda37869e1 Add remaining validation test scripts and D3IL installer
- Additional robomimic fine-tuning tests: can, square
- D3IL avoid_m2 and avoid_m3 validation scripts
- D3IL installation script for SLURM
- Add d3il_repo/ to gitignore
- Comprehensive test coverage for all environment types
2025-08-27 21:06:44 +02:00

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#!/bin/bash
#SBATCH --job-name=dppo_can_ft
#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_can_ft_%j.out
#SBATCH --error=logs/dppo_can_ft_%j.err
module load devel/cuda/12.4
# MuJoCo environment for fine-tuning
export MUJOCO_PY_MUJOCO_PATH=$HOME/.mujoco/mujoco210
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/.mujoco/mujoco210/bin:/usr/lib/nvidia
export MUJOCO_GL=egl
# Environment variables
export WANDB_MODE=online
export DPPO_WANDB_ENTITY=${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
# Apply HoReKa MuJoCo compilation fix
echo "Applying HoReKa MuJoCo compilation fix..."
python -c "exec(open('fix_mujoco_compilation.py').read()); apply_mujoco_fix(); import mujoco_py; print('MuJoCo ready!')"
echo "Testing robomimic can fine-tuning..."
python script/run.py --config-name=ft_ppo_diffusion_mlp \
--config-dir=cfg/robomimic/finetune/can \
train.n_train_itr=50 \
train.save_model_freq=25