更改求解器 step=150时 成功率更高 step=125时 速度更快 成功率持平
This commit is contained in:
qihuanye
@@ -1228,3 +1228,265 @@ evaluation_time: 16.38284730911255 seconds
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inference_precision: fp16
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inference_compile_target: predictor
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inference_compile_mode: reduce-overhead
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==== CONFIG ====
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cache_dir: null
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solver:
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_target_: stable_worldmodel.solver.CEMSolver
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model: ???
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batch_size: 8
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num_samples: 64
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var_scale: 1.0
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n_steps: 10
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topk: 8
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device: cuda
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seed: ${seed}
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world:
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env_name: swm/PushT-v1
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num_envs: ${eval.num_eval}
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max_episode_steps: ???
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history_size: 1
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frame_skip: 1
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dataset:
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stats: ${eval.dataset_name}
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keys_to_cache:
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- action
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- proprio
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- state
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seed: 42
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policy: pusht/lewm
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inference_precision: fp16
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plan_config:
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horizon: 5
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receding_horizon: 5
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action_block: 5
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eval:
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num_eval: 50
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goal_offset_steps: 25
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eval_budget: 50
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img_size: 224
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save_video: false
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dataset_name: pusht_expert_train
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callables:
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- method: _set_state
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args:
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state:
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value: state
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- method: _set_goal_state
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args:
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goal_state:
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value: goal_state
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output:
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filename: pusht_results.txt
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==== RESULTS ====
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metrics: {'success_rate': 90.0, 'episode_successes': array([ True, True, True, True, True, True, True, True, True,
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True, True, True, True, True, False, False, True, True,
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True, True, True, True, True, True, True, True, True,
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True, True, True, True, True, True, True, True, False,
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True, True, True, True, True, True, False, True, True,
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True, True, True, False, True]), 'seeds': None}
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evaluation_time: 16.081845998764038 seconds
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inference_precision: fp16
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inference_compile_target: predictor
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inference_compile_mode: reduce-overhead
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==== CONFIG ====
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cache_dir: null
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solver:
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_target_: stable_worldmodel.solver.GradientSolver
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model: ???
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n_steps: 10
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batch_size: 8
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num_samples: 1
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action_noise: 0
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device: cuda
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seed: ${seed}
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optimizer_cls:
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_target_: hydra.utils.get_class
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path: torch.optim.AdamW
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optimizer_kwargs:
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lr: 0.05
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world:
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env_name: swm/PushT-v1
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num_envs: ${eval.num_eval}
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max_episode_steps: ???
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history_size: 1
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frame_skip: 1
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dataset:
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stats: ${eval.dataset_name}
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keys_to_cache:
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- action
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- proprio
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- state
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seed: 42
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policy: pusht/lewm
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inference_precision: fp16
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plan_config:
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horizon: 5
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receding_horizon: 5
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action_block: 5
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eval:
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num_eval: 50
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goal_offset_steps: 25
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eval_budget: 50
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img_size: 224
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save_video: false
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dataset_name: pusht_expert_train
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callables:
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- method: _set_state
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args:
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state:
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value: state
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- method: _set_goal_state
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args:
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goal_state:
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value: goal_state
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output:
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filename: pusht_results.txt
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==== RESULTS ====
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metrics: {'success_rate': 46.0, 'episode_successes': array([False, False, True, False, True, True, True, False, False,
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True, False, False, True, False, False, False, False, False,
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True, True, False, True, False, True, True, False, True,
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False, True, True, True, False, False, True, False, False,
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True, True, True, False, False, False, False, True, True,
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True, True, False, False, False]), 'seeds': None}
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evaluation_time: 63.84614443778992 seconds
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inference_precision: fp16
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inference_compile_target: predictor
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inference_compile_mode: reduce-overhead
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==== CONFIG ====
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cache_dir: null
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solver:
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_target_: stable_worldmodel.solver.GradientSolver
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model: ???
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n_steps: 125
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batch_size: 50
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num_samples: 1
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action_noise: 0
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device: cuda
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seed: ${seed}
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optimizer_cls:
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_target_: hydra.utils.get_class
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path: torch.optim.AdamW
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optimizer_kwargs:
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lr: 0.05
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world:
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env_name: swm/PushT-v1
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num_envs: ${eval.num_eval}
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max_episode_steps: ???
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history_size: 1
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frame_skip: 1
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dataset:
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stats: ${eval.dataset_name}
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keys_to_cache:
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- action
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- proprio
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- state
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seed: 42
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policy: pusht/lewm
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inference_precision: fp16
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plan_config:
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horizon: 5
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receding_horizon: 5
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action_block: 5
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eval:
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num_eval: 50
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goal_offset_steps: 25
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eval_budget: 50
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img_size: 224
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save_video: false
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dataset_name: pusht_expert_train
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callables:
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- method: _set_state
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args:
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state:
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value: state
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- method: _set_goal_state
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args:
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goal_state:
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value: goal_state
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output:
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filename: pusht_results.txt
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profile:
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enabled: false
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==== RESULTS ====
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metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, True, True, True, True, True, True,
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True, False, True, True, True, True, True, False, True,
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True, True, True, True, True, True, True, True, True,
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True, True, True, True, True, True, True, True, True,
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True, True, True, False, True, True, False, True, True,
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True, True, True, True, True]), 'seeds': None}
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evaluation_time: 15.638921022415161 seconds
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inference_precision: fp16
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inference_compile_target: predictor
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inference_compile_mode: reduce-overhead
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==== CONFIG ====
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cache_dir: null
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solver:
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_target_: stable_worldmodel.solver.GradientSolver
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model: ???
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n_steps: 125
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batch_size: 50
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num_samples: 1
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action_noise: 0
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device: cuda
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seed: ${seed}
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optimizer_cls:
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_target_: hydra.utils.get_class
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path: torch.optim.AdamW
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optimizer_kwargs:
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lr: 0.05
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world:
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env_name: swm/PushT-v1
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num_envs: ${eval.num_eval}
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max_episode_steps: ???
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history_size: 1
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frame_skip: 1
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dataset:
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stats: ${eval.dataset_name}
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keys_to_cache:
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- action
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- proprio
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- state
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seed: 42
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policy: pusht/lewm
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inference_precision: fp16
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plan_config:
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horizon: 5
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receding_horizon: 5
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action_block: 5
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eval:
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num_eval: 50
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goal_offset_steps: 25
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eval_budget: 50
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img_size: 224
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save_video: false
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dataset_name: pusht_expert_train
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callables:
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- method: _set_state
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args:
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state:
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value: state
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- method: _set_goal_state
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args:
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goal_state:
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value: goal_state
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output:
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filename: pusht_results.txt
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==== RESULTS ====
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metrics: {'success_rate': 90.0, 'episode_successes': array([ True, False, True, True, True, True, True, True, True,
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True, False, True, True, True, True, True, False, True,
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True, True, True, True, True, True, True, True, True,
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True, True, True, True, True, True, True, True, True,
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True, True, True, False, True, True, False, True, True,
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True, True, True, True, True]), 'seeds': None}
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evaluation_time: 16.060093879699707 seconds
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inference_precision: fp16
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inference_compile_target: predictor
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inference_compile_mode: reduce-overhead
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