d739fa5e5e
- 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
2.6 KiB
2.6 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
- ✅ HoReKa Intel compiler fix for mujoco-py integrated into install script
- ✅ Cython version pinned to 0.29.37 for mujoco-py compatibility
Validated Pre-training:
- ✅ Gym: hopper, walker2d, halfcheetah (all working with data download & WandB logging)
- ✅ 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)
- ✅ D3IL: avoid_m1 (working)
What We're Doing Right Now 🔄
Current Jobs:
- 🔄 Job 3445594: Running updated installer with integrated MuJoCo fix
- 🔄 Job 3445604: Testing robomimic square (new job)
- 🔄 Job 3445606: Testing robomimic transport
Latest Success:
- ✅ Job 3445550: Robomimic square pre-training SUCCESS with WandB logging!
Progress on MuJoCo Fix:
- ✅ Identified root cause: Intel compiler flags incompatible with GCC for mujoco-py
- ✅ Developed sysconfig patch to override Intel flags
- ✅ Integrated fix into install script and README
- 🔄 Waiting for installer completion to test fix validation
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: transport (in progress)
- D3IL: avoid_m2, avoid_m3 (waiting for full installer)
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