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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 | #!/bin/bash
#SBATCH --job-name=dovla_large_train
#SBATCH --nodes=1
#SBATCH --ntasks=1
#SBATCH --cpus-per-task=8
#SBATCH --gres=gpu:1
#SBATCH --mem=64000M
#SBATCH --time=72:00:00
#SBATCH --output=logs/phase_a2_large_train_%j.out
#SBATCH --error=logs/phase_a2_large_train_%j.err
#SBATCH --array=0-2
set -euo pipefail
# Phase A2: Train large capacity model on 10K dataset
# Target: 40%+ policy success (vs current 29.67%)
PROJECT_DIR="${PROJECT_DIR:-$PWD}"
cd "$PROJECT_DIR"
source .venv/bin/activate
DATASET="/scratch/$USER/dovla/experiments/maniskill_presuccess_six_task_collection"
OUT_DIR="/scratch/$USER/dovla/experiments/phase_a2_large_model"
SEED=$SLURM_ARRAY_TASK_ID
mkdir -p "$OUT_DIR/seed_$SEED" logs
echo "=== Phase A2: Training Large Capacity Model ==="
echo "Seed: $SEED"
echo "Hidden dim: 512 (vs current 256)"
echo "Dataset: 10K groups"
echo "Target: 40%+ policy success"
echo ""
python scripts/train_dovla.py \
--dataset "$DATASET" \
--out "$OUT_DIR/seed_$SEED" \
--objective lattice_field \
--hidden-dim 512 \
--action-horizon 4 \
--epochs 100 \
--batch-groups 16 \
--records-per-group 8 \
--lr 0.0003 \
--weight-decay 0.01 \
--device auto \
--seed $SEED \
--observation-mode state \
--loss-weight bc=1.0 \
--loss-weight field_effect=1.0 \
--loss-weight field_potential=1.0 \
--loss-weight field_preference=0.5 \
--loss-weight field_anchor=0.1
echo ""
echo "✅ Phase A2 complete: Large model trained (seed $SEED)"
echo ""
echo "Next: Run phase_a3_eval_large_model.sbatch"
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