File size: 1,882 Bytes
20c251e | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 | #!/bin/bash
#SBATCH --job-name=dovla_ms_multi
#SBATCH --account=def-yalda_gpu
#SBATCH --nodes=1
#SBATCH --ntasks=1
#SBATCH --cpus-per-task=8
#SBATCH --gres=gpu:nvidia_h100_80gb_hbm3_1g.10gb:1
#SBATCH --mem=32G
#SBATCH --time=00:20:00
#SBATCH --array=0-4%2
#SBATCH --output=outputs/hpc/logs/%x_%A_%a.out
#SBATCH --error=outputs/hpc/logs/%x_%A_%a.err
set -euo pipefail
PROJECT_DIR="${PROJECT_DIR:-$SLURM_SUBMIT_DIR}"
SCRATCH_ROOT="/scratch/$USER/dovla"
DEMO_ROOT="$SCRATCH_ROOT/maniskill_multitask_demos"
MULTITASK_OUT_ROOT="${MULTITASK_OUT_ROOT:-$SCRATCH_ROOT/experiments/maniskill_multitask_pilot}"
case "${SLURM_ARRAY_TASK_ID:-0}" in
0)
ENV_ID="PushCube-v1"
CONTROL_MODE="pd_ee_delta_pose"
DEMO="$DEMO_ROOT/PushCube-v1/rl/trajectory.none.pd_ee_delta_pose.physx_cuda.h5"
;;
1)
ENV_ID="PullCube-v1"
CONTROL_MODE="pd_ee_delta_pose"
DEMO="$DEMO_ROOT/PullCube-v1/rl/trajectory.none.pd_ee_delta_pose.physx_cuda.h5"
;;
2)
ENV_ID="StackCube-v1"
CONTROL_MODE="pd_ee_delta_pose"
DEMO="$DEMO_ROOT/StackCube-v1/rl/trajectory.none.pd_ee_delta_pose.physx_cuda.h5"
;;
3)
ENV_ID="LiftPegUpright-v1"
CONTROL_MODE="pd_ee_delta_pose"
DEMO="$DEMO_ROOT/LiftPegUpright-v1/rl/trajectory.none.pd_ee_delta_pose.physx_cuda.h5"
;;
4)
ENV_ID="PegInsertionSide-v1"
CONTROL_MODE="pd_joint_pos"
DEMO="$DEMO_ROOT/PegInsertionSide-v1/motionplanning/trajectory.h5"
;;
*)
echo "unsupported array index" >&2
exit 2
;;
esac
export PROJECT_DIR DEMO ENV_ID CONTROL_MODE
export NUM_GROUPS="${NUM_GROUPS:-16}"
export K="${K:-8}"
export HORIZON="${HORIZON:-4}"
export STATE_BATCH_SIZE="${STATE_BATCH_SIZE:-8}"
export OBS_MODE=state
export SHARD_SIZE="${SHARD_SIZE:-256}"
export STATE_STORAGE=archive
export OUT_DIR="$MULTITASK_OUT_ROOT/$ENV_ID"
exec bash "$PROJECT_DIR/scripts/slurm/maniskill_lattice_full.sbatch"
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