diff --git a/.gitattributes b/.gitattributes index 1e7b19d5b11f985a0560f1d7b4b9c4c0dcae8056..0d0b84e4ae4b22e8986cb92a7f9286c96a96a25f 100644 --- a/.gitattributes +++ b/.gitattributes @@ -59,3 +59,14 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text dog-trot/30/6o_dog-trot_s30/wandb/offline-run-20250712_123246-ejm5iszb/run-ejm5iszb.wandb filter=lfs diff=lfs merge=lfs -text dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250711_103423-ggft6zvx/run-ggft6zvx.wandb filter=lfs diff=lfs merge=lfs -text +dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250712_123246-om54obxk/run-om54obxk.wandb filter=lfs diff=lfs merge=lfs -text +dog-trot/42/6o_dog-trot_s42/wandb/offline-run-20250712_123246-tnyfie5t/logs/debug-internal.log filter=lfs diff=lfs merge=lfs -text +dog-trot/42/6o_dog-trot_s42/wandb/offline-run-20250712_123246-tnyfie5t/run-tnyfie5t.wandb filter=lfs diff=lfs merge=lfs -text +dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250711_103424-j2yk73bv/run-j2yk73bv.wandb filter=lfs diff=lfs merge=lfs -text +dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/run-wkwl8r47.wandb filter=lfs diff=lfs merge=lfs -text +dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250711_103419-aapdhvtc/run-aapdhvtc.wandb filter=lfs diff=lfs merge=lfs -text +dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250712_123246-ux3mbuuu/run-ux3mbuuu.wandb filter=lfs diff=lfs merge=lfs -text +dog-trot/30/4o_dog-trot_s30/wandb/offline-run-20250711_103424-kx3g3tss/run-kx3g3tss.wandb filter=lfs diff=lfs merge=lfs -text +dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/logs/debug-internal.log filter=lfs diff=lfs merge=lfs -text +dog-trot/30/6o_dog-trot_s30/wandb/offline-run-20250712_123246-ejm5iszb/logs/debug-internal.log filter=lfs diff=lfs merge=lfs -text +dog-trot/42/4o_dog-trot_s42/wandb/debug-internal.log filter=lfs diff=lfs merge=lfs -text diff --git a/dog-stand/2/4o_dog-stand_s2/wandb/debug.log b/dog-stand/2/4o_dog-stand_s2/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..f85fe1424a5b4884a739337404554c6f699e81ff --- /dev/null +++ b/dog-stand/2/4o_dog-stand_s2/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,485 INFO MainThread:77324 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,486 INFO MainThread:77324 [wandb_setup.py:_flush():76] Configure stats pid to 77324 +2025-07-12 12:32:46,486 INFO MainThread:77324 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,488 INFO MainThread:77324 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/logs/debug.log +2025-07-12 12:32:46,488 INFO MainThread:77324 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/logs/debug-internal.log +2025-07-12 12:32:46,488 INFO MainThread:77324 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,489 INFO MainThread:77324 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-stand_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,489 INFO MainThread:77324 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,489 INFO MainThread:77324 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,499 INFO MainThread:77324 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,501 INFO MainThread:77324 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,515 INFO MainThread:77324 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:46,631 INFO MainThread:77324 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:46,639 INFO MainThread:77324 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,286 INFO MainThread:77324 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,287 INFO MainThread:77324 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,287 INFO MainThread:77324 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,287 INFO MainThread:77324 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,291 INFO MainThread:77324 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/files/conda-environment.yaml b/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/files/wandb-metadata.json b/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..01cf6d015dcd25b713c47af502cd467c18c380a7 --- /dev/null +++ b/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:24.117046", + "startedAt": "2025-07-11T02:34:23.813938", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=true", + "n_experts=4", + "seed=2", + "exp_name=4o_dog-stand_s2" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3358.28688392857, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3079.582, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3048.916, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3053.521, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3064.661, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3068.781, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3064.11, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3061.768, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3068.053, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3070.094, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3072.289, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3065.877, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3051.423, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3064.576, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3069.599, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3063.486, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3062.869, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3063.919, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3063.089, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3056.952, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3054.739, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3063.689, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3063.169, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3060.403, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3057.97, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3063.659, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3055.749, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3063.391, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3069.454, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3079.579, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3082.18, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3082.055, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3080.72, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3084.29, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3045.845, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3081.29, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3085.865, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3068.877, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.995, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.005, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712226867675781 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/logs/debug.log b/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..8a943d8c9d8c9caecf5762ada8a0ee53a5d0cc62 --- /dev/null +++ b/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:23,836 INFO MainThread:4158553 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:23,837 INFO MainThread:4158553 [wandb_setup.py:_flush():76] Configure stats pid to 4158553 +2025-07-11 10:34:23,838 INFO MainThread:4158553 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:23,838 INFO MainThread:4158553 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:23,838 INFO MainThread:4158553 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:23,838 INFO MainThread:4158553 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:23,839 INFO MainThread:4158553 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:23,839 INFO MainThread:4158553 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/logs/debug.log +2025-07-11 10:34:23,839 INFO MainThread:4158553 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250711_103423-ws9khurw/logs/debug-internal.log +2025-07-11 10:34:23,840 INFO MainThread:4158553 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:23,840 INFO MainThread:4158553 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-stand_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:23,840 INFO MainThread:4158553 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:23,841 INFO MainThread:4158553 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:23,849 INFO MainThread:4158553 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:23,851 INFO MainThread:4158553 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:23,865 INFO MainThread:4158553 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:23,984 INFO MainThread:4158553 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:23,992 INFO MainThread:4158553 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:29,654 INFO MainThread:4158553 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:29,655 INFO MainThread:4158553 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:29,655 INFO MainThread:4158553 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:29,656 INFO MainThread:4158553 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:29,659 INFO MainThread:4158553 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/files/conda-environment.yaml b/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/files/wandb-metadata.json b/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c3e1c7298578cdd206fa96d165d6248fae92515d --- /dev/null +++ b/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:46.766169", + "startedAt": "2025-07-12T04:32:46.467498", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=true", + "n_experts=4", + "seed=2", + "exp_name=4o_dog-stand_s2" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3266.4130982142856, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2960.201, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2956.682, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.198, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2955.217, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2926.885, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2959.736, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2955.301, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.571, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.494, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2956.017, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.522, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2939.781, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.542, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.408, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2957.513, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2971.483, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.995, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.995, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2956.331, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2956.764, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.65, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2951.834, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.597, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2952.272, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2959.368, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2955.104, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2956.616, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2944.341, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.061, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2953.905, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2957.871, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2936.722, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2937.569, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2946.076, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2949.202, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2953.02, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2936.569, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2938.011, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2930.123, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2937.305, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2937.702, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.780132293701172 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/logs/debug.log b/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..f85fe1424a5b4884a739337404554c6f699e81ff --- /dev/null +++ b/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,485 INFO MainThread:77324 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,486 INFO MainThread:77324 [wandb_setup.py:_flush():76] Configure stats pid to 77324 +2025-07-12 12:32:46,486 INFO MainThread:77324 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,487 INFO MainThread:77324 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,488 INFO MainThread:77324 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/logs/debug.log +2025-07-12 12:32:46,488 INFO MainThread:77324 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2/wandb/offline-run-20250712_123246-k7y7xuqn/logs/debug-internal.log +2025-07-12 12:32:46,488 INFO MainThread:77324 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,489 INFO MainThread:77324 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-stand_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/4o_dog-stand_s2'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,489 INFO MainThread:77324 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,489 INFO MainThread:77324 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,499 INFO MainThread:77324 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,501 INFO MainThread:77324 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,515 INFO MainThread:77324 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:46,631 INFO MainThread:77324 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:46,639 INFO MainThread:77324 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,286 INFO MainThread:77324 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,287 INFO MainThread:77324 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,287 INFO MainThread:77324 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,287 INFO MainThread:77324 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,291 INFO MainThread:77324 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/files/conda-environment.yaml b/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/files/wandb-metadata.json b/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..8424aed75a4248bb0c698cb8bfe127964aad4700 --- /dev/null +++ b/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/files/wandb-metadata.json @@ -0,0 +1,641 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:24.059020", + "startedAt": "2025-07-11T02:34:23.773463", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=false", + "seed=2", + "exp_name=tdmpc2_dog-stand_s2" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3392.2091517857148, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3240.837, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3217.171, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3215.54, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3163.569, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3160.32, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3217.787, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3218.333, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3224.404, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3208.58, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3211.534, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3216.772, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3220.386, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3149.866, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3149.506, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3221.186, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3211.563, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3066.749, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3218.53, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3228.27, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3229.014, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3218.112, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3224.442, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3036.782, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3192.183, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3210.866, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3219.719, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3039.162, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3212.435, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3215.732, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3160.731, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3220.846, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3216.289, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3223.352, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.996, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712249755859375 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/logs/debug.log b/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..4db6c80a613d8a251b980661bc5291475dfd2c1f --- /dev/null +++ b/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:23,794 INFO MainThread:4158532 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:23,795 INFO MainThread:4158532 [wandb_setup.py:_flush():76] Configure stats pid to 4158532 +2025-07-11 10:34:23,795 INFO MainThread:4158532 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:23,795 INFO MainThread:4158532 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:23,795 INFO MainThread:4158532 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:23,796 INFO MainThread:4158532 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:23,796 INFO MainThread:4158532 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:23,796 INFO MainThread:4158532 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/logs/debug.log +2025-07-11 10:34:23,797 INFO MainThread:4158532 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250711_103423-veesyfod/logs/debug-internal.log +2025-07-11 10:34:23,797 INFO MainThread:4158532 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:23,797 INFO MainThread:4158532 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_dog-stand_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/tdmpc2_dog-stand_s2'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:23,797 INFO MainThread:4158532 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:23,798 INFO MainThread:4158532 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:23,806 INFO MainThread:4158532 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:23,808 INFO MainThread:4158532 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:23,823 INFO MainThread:4158532 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:23,934 INFO MainThread:4158532 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:23,943 INFO MainThread:4158532 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:30,137 INFO MainThread:4158532 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:30,137 INFO MainThread:4158532 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:30,137 INFO MainThread:4158532 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:30,138 INFO MainThread:4158532 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:30,140 INFO MainThread:4158532 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/files/conda-environment.yaml b/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/files/wandb-metadata.json b/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..908d45bd4e0c816867016305b9775def5a78f751 --- /dev/null +++ b/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/files/wandb-metadata.json @@ -0,0 +1,641 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:47.192005", + "startedAt": "2025-07-12T04:32:46.852841", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=false", + "seed=2", + "exp_name=tdmpc2_dog-stand_s2" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3293.8654732142854, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 2950.765, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2949.064, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2946.508, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2950.762, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2952.226, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2952.732, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.298, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2951.02, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2949.752, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2943.841, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.525, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2953.235, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2946.563, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2950.921, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2944.613, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2945.599, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2950.868, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2948.431, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2943.493, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2948.369, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2952.871, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2947.528, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2950.81, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2949.15, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2951.021, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2956.62, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2953.024, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2948.281, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2951.853, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2953.138, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2951.283, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2944.653, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2945.758, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2950.037, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2955.561, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2942.263, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2938.843, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2942.449, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2947.681, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2950.553, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.78009033203125 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/logs/debug.log b/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..61509a7452963eeb11e8ef910816fb6dcf2d77b0 --- /dev/null +++ b/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,881 INFO MainThread:77303 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,881 INFO MainThread:77303 [wandb_setup.py:_flush():76] Configure stats pid to 77303 +2025-07-12 12:32:46,881 INFO MainThread:77303 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,882 INFO MainThread:77303 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,882 INFO MainThread:77303 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,882 INFO MainThread:77303 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,882 INFO MainThread:77303 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,883 INFO MainThread:77303 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/logs/debug.log +2025-07-12 12:32:46,883 INFO MainThread:77303 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/tdmpc2_dog-stand_s2/wandb/offline-run-20250712_123246-g58c1act/logs/debug-internal.log +2025-07-12 12:32:46,883 INFO MainThread:77303 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,884 INFO MainThread:77303 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_dog-stand_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/2/tdmpc2_dog-stand_s2'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,884 INFO MainThread:77303 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,884 INFO MainThread:77303 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,900 INFO MainThread:77303 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,902 INFO MainThread:77303 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,923 INFO MainThread:77303 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:47,037 INFO MainThread:77303 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:47,045 INFO MainThread:77303 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:53,009 INFO MainThread:77303 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:53,009 INFO MainThread:77303 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:53,010 INFO MainThread:77303 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:53,010 INFO MainThread:77303 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:53,012 INFO MainThread:77303 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/30/4o_dog-stand_s30/eval.csv b/dog-stand/30/4o_dog-stand_s30/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..380a574e054c422b52ed1044d7748ca4e3ba711c --- /dev/null +++ b/dog-stand/30/4o_dog-stand_s30/eval.csv @@ -0,0 +1,10 @@ +step,episode_reward +0.0,24.86074447631836 +50000.0,118.45845031738281 +100000.0,331.2712097167969 +150000.0,437.373291015625 +200000.0,493.4638671875 +250000.0,493.66998291015625 +300000.0,480.8089904785156 +350000.0,522.219970703125 +400000.0,509.881591796875 diff --git a/dog-stand/30/4o_dog-stand_s30/wandb/debug.log b/dog-stand/30/4o_dog-stand_s30/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..6f1b4fbf5ebaebb8b485d541c3bc8ddff96e2322 --- /dev/null +++ b/dog-stand/30/4o_dog-stand_s30/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,579 INFO MainThread:77325 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,580 INFO MainThread:77325 [wandb_setup.py:_flush():76] Configure stats pid to 77325 +2025-07-12 12:32:46,580 INFO MainThread:77325 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,580 INFO MainThread:77325 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,581 INFO MainThread:77325 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,581 INFO MainThread:77325 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,581 INFO MainThread:77325 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,582 INFO MainThread:77325 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/logs/debug.log +2025-07-12 12:32:46,582 INFO MainThread:77325 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/logs/debug-internal.log +2025-07-12 12:32:46,583 INFO MainThread:77325 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,583 INFO MainThread:77325 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-stand_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/4o_dog-stand_s30'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,583 INFO MainThread:77325 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,584 INFO MainThread:77325 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,592 INFO MainThread:77325 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,595 INFO MainThread:77325 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,610 INFO MainThread:77325 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:46,729 INFO MainThread:77325 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:46,740 INFO MainThread:77325 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,569 INFO MainThread:77325 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,570 INFO MainThread:77325 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,570 INFO MainThread:77325 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,570 INFO MainThread:77325 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,573 INFO MainThread:77325 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/files/conda-environment.yaml b/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/files/wandb-metadata.json b/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c62cf41f5f2bd1c9e8d576ae117aec0953525839 --- /dev/null +++ b/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:24.838359", + "startedAt": "2025-07-11T02:34:24.214207", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=true", + "n_experts=4", + "seed=30", + "exp_name=4o_dog-stand_s30" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3360.7073482142855, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3109.301, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.219, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.113, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3120.22, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3091.69, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3099.994, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3091.237, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.051, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3089.338, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3050.762, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.93, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3091.181, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3093.154, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.05, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.34, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.996, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.998, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.996, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.783, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3091.084, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.274, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.434, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.221, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3091.924, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.132, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3090.241, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3102.431, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3053.995, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3091.834, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.225, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3091.938, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3049.614, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.217, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3032.673, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3092.225, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3110.579, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3091.765, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3091.525, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.006, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712200164794922 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/logs/debug.log b/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..98166032607ff0d2861414772d866105985547ae --- /dev/null +++ b/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:24,233 INFO MainThread:4158554 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:24,234 INFO MainThread:4158554 [wandb_setup.py:_flush():76] Configure stats pid to 4158554 +2025-07-11 10:34:24,234 INFO MainThread:4158554 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:24,234 INFO MainThread:4158554 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:24,234 INFO MainThread:4158554 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:24,235 INFO MainThread:4158554 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:24,235 INFO MainThread:4158554 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:24,235 INFO MainThread:4158554 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/logs/debug.log +2025-07-11 10:34:24,236 INFO MainThread:4158554 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250711_103424-refvh9p8/logs/debug-internal.log +2025-07-11 10:34:24,236 INFO MainThread:4158554 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:24,236 INFO MainThread:4158554 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-stand_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/4o_dog-stand_s30'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:24,236 INFO MainThread:4158554 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:24,237 INFO MainThread:4158554 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:24,244 INFO MainThread:4158554 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:24,246 INFO MainThread:4158554 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:24,259 INFO MainThread:4158554 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:24,368 INFO MainThread:4158554 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:24,375 INFO MainThread:4158554 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:30,186 INFO MainThread:4158554 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:30,187 INFO MainThread:4158554 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:30,187 INFO MainThread:4158554 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:30,187 INFO MainThread:4158554 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:30,191 INFO MainThread:4158554 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/files/conda-environment.yaml b/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/files/wandb-metadata.json b/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..4d03eed279b9ec3c8f5079d164e7dc950e23bcec --- /dev/null +++ b/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:46.923418", + "startedAt": "2025-07-12T04:32:46.561568", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=true", + "n_experts=4", + "seed=30", + "exp_name=4o_dog-stand_s30" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3375.5421428571426, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3308.518, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3051.582, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3232.386, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3207.766, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3290.699, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3248.783, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3207.952, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3208.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3299.365, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3282.66, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.006, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3208.706, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3218.675, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3208.438, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3182.831, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3190.846, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3213.506, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.992, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.780128479003906 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/logs/debug.log b/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..6f1b4fbf5ebaebb8b485d541c3bc8ddff96e2322 --- /dev/null +++ b/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,579 INFO MainThread:77325 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,580 INFO MainThread:77325 [wandb_setup.py:_flush():76] Configure stats pid to 77325 +2025-07-12 12:32:46,580 INFO MainThread:77325 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,580 INFO MainThread:77325 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,581 INFO MainThread:77325 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,581 INFO MainThread:77325 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,581 INFO MainThread:77325 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,582 INFO MainThread:77325 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/logs/debug.log +2025-07-12 12:32:46,582 INFO MainThread:77325 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/4o_dog-stand_s30/wandb/offline-run-20250712_123246-ddcklaa0/logs/debug-internal.log +2025-07-12 12:32:46,583 INFO MainThread:77325 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,583 INFO MainThread:77325 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-stand_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/4o_dog-stand_s30'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,583 INFO MainThread:77325 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,584 INFO MainThread:77325 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,592 INFO MainThread:77325 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,595 INFO MainThread:77325 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,610 INFO MainThread:77325 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:46,729 INFO MainThread:77325 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:46,740 INFO MainThread:77325 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,569 INFO MainThread:77325 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,570 INFO MainThread:77325 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,570 INFO MainThread:77325 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,570 INFO MainThread:77325 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,573 INFO MainThread:77325 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/30/6o_dog-stand_s30/eval.csv b/dog-stand/30/6o_dog-stand_s30/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..5408bd2d8d3289ab452311bbd5fe3f6432c16729 --- /dev/null +++ b/dog-stand/30/6o_dog-stand_s30/eval.csv @@ -0,0 +1,7 @@ +step,episode_reward +0.0,22.44185447692871 +50000.0,103.03255462646484 +100000.0,210.7368927001953 +150000.0,423.92706298828125 +200000.0,507.6158752441406 +250000.0,470.7247619628906 diff --git a/dog-stand/30/6o_dog-stand_s30/wandb/debug.log b/dog-stand/30/6o_dog-stand_s30/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..a9036d20159a4348428ce63ee4f1543d1d5c19b6 --- /dev/null +++ b/dog-stand/30/6o_dog-stand_s30/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,882 INFO MainThread:77346 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,882 INFO MainThread:77346 [wandb_setup.py:_flush():76] Configure stats pid to 77346 +2025-07-12 12:32:46,883 INFO MainThread:77346 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,883 INFO MainThread:77346 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,883 INFO MainThread:77346 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,884 INFO MainThread:77346 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,884 INFO MainThread:77346 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,884 INFO MainThread:77346 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/logs/debug.log +2025-07-12 12:32:46,885 INFO MainThread:77346 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/logs/debug-internal.log +2025-07-12 12:32:46,885 INFO MainThread:77346 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,885 INFO MainThread:77346 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '6o_dog-stand_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 6, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/6o_dog-stand_s30'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,886 INFO MainThread:77346 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,886 INFO MainThread:77346 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,901 INFO MainThread:77346 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,904 INFO MainThread:77346 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,922 INFO MainThread:77346 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:47,033 INFO MainThread:77346 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:47,042 INFO MainThread:77346 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,929 INFO MainThread:77346 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,930 INFO MainThread:77346 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,930 INFO MainThread:77346 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,930 INFO MainThread:77346 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,933 INFO MainThread:77346 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/files/conda-environment.yaml b/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/files/wandb-metadata.json b/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..dff33ed03c52d46b36edfec90ca8c16e7e89fd1b --- /dev/null +++ b/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:24.560334", + "startedAt": "2025-07-11T02:34:24.084340", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=true", + "n_experts=6", + "seed=30", + "exp_name=6o_dog-stand_s30" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3292.094107142857, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3037.523, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3080.747, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3059.926, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3037.619, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3055.984, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3027.498, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3029.305, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3049.73, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3048.625, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3054.671, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3080.457, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3059.209, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3061.825, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3029.346, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3055.395, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3060.654, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3058.886, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3054.187, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.995, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3081.632, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3010.334, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3010.303, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3056.777, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3010.412, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3019.01, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3019.577, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3022.177, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3041.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3020.361, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3020.82, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3021.589, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3065.018, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3053.116, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3077.124, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3039.643, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3071.973, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3041.749, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3046.643, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3024.295, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.004, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.004, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712200164794922 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/logs/debug.log b/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..61161f74b39bb5d5e157eedd9f30021a7ae1588c --- /dev/null +++ b/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:24,103 INFO MainThread:4158575 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:24,104 INFO MainThread:4158575 [wandb_setup.py:_flush():76] Configure stats pid to 4158575 +2025-07-11 10:34:24,105 INFO MainThread:4158575 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:24,105 INFO MainThread:4158575 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:24,105 INFO MainThread:4158575 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:24,105 INFO MainThread:4158575 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:24,106 INFO MainThread:4158575 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:24,106 INFO MainThread:4158575 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/logs/debug.log +2025-07-11 10:34:24,106 INFO MainThread:4158575 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250711_103424-uh5k5usr/logs/debug-internal.log +2025-07-11 10:34:24,107 INFO MainThread:4158575 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:24,107 INFO MainThread:4158575 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '6o_dog-stand_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 6, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/6o_dog-stand_s30'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:24,107 INFO MainThread:4158575 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:24,108 INFO MainThread:4158575 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:24,116 INFO MainThread:4158575 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:24,118 INFO MainThread:4158575 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:24,130 INFO MainThread:4158575 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:24,244 INFO MainThread:4158575 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:24,253 INFO MainThread:4158575 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:29,811 INFO MainThread:4158575 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:29,812 INFO MainThread:4158575 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:29,812 INFO MainThread:4158575 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:29,812 INFO MainThread:4158575 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:29,815 INFO MainThread:4158575 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/files/conda-environment.yaml b/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/files/wandb-metadata.json b/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..dc534d1403dc9d877638b217ea548707af4f86e3 --- /dev/null +++ b/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:47.188173", + "startedAt": "2025-07-12T04:32:46.862045", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=true", + "n_experts=6", + "seed=30", + "exp_name=6o_dog-stand_s30" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3282.602982142857, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 2960.522, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2952.48, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2968.543, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2962.762, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2964.553, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2960.459, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2957.364, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2958.292, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2957.061, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2960.392, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2967.565, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2953.314, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2995.333, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2957.677, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2960.043, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.51, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2960.45, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2957.264, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2956.437, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2955.528, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2946.34, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2958.73, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2959.62, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2947.566, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2977.755, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2961.591, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2947.1, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2945.095, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2944.323, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2941.108, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2968.706, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2945.148, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2957.684, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2948.305, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2950.334, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2948.805, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2949.737, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2946.725, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2947.856, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2956.195, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2963.417, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2944.303, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2951.238, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.996, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.78009033203125 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/logs/debug.log b/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..a9036d20159a4348428ce63ee4f1543d1d5c19b6 --- /dev/null +++ b/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,882 INFO MainThread:77346 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,882 INFO MainThread:77346 [wandb_setup.py:_flush():76] Configure stats pid to 77346 +2025-07-12 12:32:46,883 INFO MainThread:77346 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,883 INFO MainThread:77346 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,883 INFO MainThread:77346 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,884 INFO MainThread:77346 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,884 INFO MainThread:77346 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,884 INFO MainThread:77346 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/logs/debug.log +2025-07-12 12:32:46,885 INFO MainThread:77346 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/6o_dog-stand_s30/wandb/offline-run-20250712_123246-i9aju481/logs/debug-internal.log +2025-07-12 12:32:46,885 INFO MainThread:77346 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,885 INFO MainThread:77346 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '6o_dog-stand_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 6, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/6o_dog-stand_s30'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,886 INFO MainThread:77346 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,886 INFO MainThread:77346 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,901 INFO MainThread:77346 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,904 INFO MainThread:77346 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,922 INFO MainThread:77346 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:47,033 INFO MainThread:77346 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:47,042 INFO MainThread:77346 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,929 INFO MainThread:77346 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,930 INFO MainThread:77346 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,930 INFO MainThread:77346 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,930 INFO MainThread:77346 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,933 INFO MainThread:77346 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/30/tdmpc2_dog-stand_s30/eval.csv b/dog-stand/30/tdmpc2_dog-stand_s30/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..2effa13b0c9b7b836be798ba68d12d59e79b2120 --- /dev/null +++ b/dog-stand/30/tdmpc2_dog-stand_s30/eval.csv @@ -0,0 +1,27 @@ +step,episode_reward +0.0,22.80478858947754 +50000.0,252.6010284423828 +100000.0,439.3641662597656 +150000.0,490.93536376953125 +200000.0,493.15802001953125 +250000.0,542.6420288085938 +300000.0,529.6075439453125 +350000.0,494.194580078125 +400000.0,499.43011474609375 +450000.0,470.987548828125 +500000.0,482.8233947753906 +550000.0,503.41607666015625 +600000.0,507.4353942871094 +650000.0,538.393310546875 +700000.0,530.9341430664062 +750000.0,519.8278198242188 +800000.0,526.0655517578125 +850000.0,533.0654296875 +900000.0,530.5145874023438 +950000.0,506.76385498046875 +1000000.0,532.2379760742188 +1050000.0,542.1012573242188 +1100000.0,553.6212158203125 +1150000.0,674.41455078125 +1200000.0,733.5390014648438 +1250000.0,515.2742919921875 diff --git a/dog-stand/30/tdmpc2_dog-stand_s30/wandb/debug.log b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..c69ebc4f3cc921029e0633371b70f5ae027e6159 --- /dev/null +++ b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:47,137 INFO MainThread:77304 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:47,138 INFO MainThread:77304 [wandb_setup.py:_flush():76] Configure stats pid to 77304 +2025-07-12 12:32:47,138 INFO MainThread:77304 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:47,138 INFO MainThread:77304 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:47,138 INFO MainThread:77304 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:47,139 INFO MainThread:77304 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:47,139 INFO MainThread:77304 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:47,139 INFO MainThread:77304 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/logs/debug.log +2025-07-12 12:32:47,140 INFO MainThread:77304 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/logs/debug-internal.log +2025-07-12 12:32:47,140 INFO MainThread:77304 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:47,141 INFO MainThread:77304 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_dog-stand_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/tdmpc2_dog-stand_s30'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:47,141 INFO MainThread:77304 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:47,141 INFO MainThread:77304 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:47,151 INFO MainThread:77304 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:47,153 INFO MainThread:77304 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:47,168 INFO MainThread:77304 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:47,496 INFO MainThread:77304 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:47,505 INFO MainThread:77304 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:53,004 INFO MainThread:77304 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:53,005 INFO MainThread:77304 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:53,005 INFO MainThread:77304 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:53,005 INFO MainThread:77304 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:53,008 INFO MainThread:77304 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/files/conda-environment.yaml b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/files/wandb-metadata.json b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e7241549c608f0a3a228cfc611f1a21c326eb2be --- /dev/null +++ b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/files/wandb-metadata.json @@ -0,0 +1,641 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:24.420454", + "startedAt": "2025-07-11T02:34:24.019798", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=false", + "seed=30", + "exp_name=tdmpc2_dog-stand_s30" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3359.6592589285715, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3081.235, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.535, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.254, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.354, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.472, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3085.535, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3086.84, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3089.297, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.301, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3056.266, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.898, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3082.698, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.589, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3065.627, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.226, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.14, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3057.647, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.816, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.477, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.822, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3045.803, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.867, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.908, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3086.083, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3064.926, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3096.814, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.02, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3068.874, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3089.33, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3094.832, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3065.695, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.155, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3090.374, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3083.966, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.276, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.286, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.996, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712203979492188 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/logs/debug.log b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..2e79a27ccb440268fa9d695a6a292155f0aeb4ad --- /dev/null +++ b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:24,038 INFO MainThread:4158533 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:24,039 INFO MainThread:4158533 [wandb_setup.py:_flush():76] Configure stats pid to 4158533 +2025-07-11 10:34:24,039 INFO MainThread:4158533 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:24,040 INFO MainThread:4158533 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:24,040 INFO MainThread:4158533 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:24,040 INFO MainThread:4158533 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:24,040 INFO MainThread:4158533 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:24,041 INFO MainThread:4158533 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/logs/debug.log +2025-07-11 10:34:24,041 INFO MainThread:4158533 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250711_103424-od3sahm6/logs/debug-internal.log +2025-07-11 10:34:24,041 INFO MainThread:4158533 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:24,042 INFO MainThread:4158533 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_dog-stand_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/tdmpc2_dog-stand_s30'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:24,042 INFO MainThread:4158533 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:24,042 INFO MainThread:4158533 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:24,049 INFO MainThread:4158533 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:24,050 INFO MainThread:4158533 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:24,061 INFO MainThread:4158533 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:24,162 INFO MainThread:4158533 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:24,171 INFO MainThread:4158533 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:30,123 INFO MainThread:4158533 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:30,123 INFO MainThread:4158533 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:30,124 INFO MainThread:4158533 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:30,124 INFO MainThread:4158533 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:30,126 INFO MainThread:4158533 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/files/conda-environment.yaml b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/files/wandb-metadata.json b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..46b6c46c42935b5cc82825e68097c97d98f2d2cb --- /dev/null +++ b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/files/wandb-metadata.json @@ -0,0 +1,641 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:47.699899", + "startedAt": "2025-07-12T04:32:46.904900", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=false", + "seed=30", + "exp_name=tdmpc2_dog-stand_s30" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3411.7624821428567, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3140.079, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3137.166, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3143.725, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3133.622, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3137.645, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3139.457, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3140.176, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.253, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3144.159, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3142.338, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.355, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3140.93, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.465, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3132.243, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3139.535, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3139.488, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3145.373, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3136.388, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3144.043, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3139.657, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3139.554, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3134.058, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3137.804, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3136.816, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3138.982, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3138.416, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3124.288, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.325, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3132.718, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3138.108, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3143.774, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3143.152, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3125.401, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3139.221, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3138.134, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3138.036, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3138.717, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3137.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3155.289, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3144.172, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3157.123, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3149.295, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.78009033203125 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/logs/debug.log b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..c69ebc4f3cc921029e0633371b70f5ae027e6159 --- /dev/null +++ b/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:47,137 INFO MainThread:77304 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:47,138 INFO MainThread:77304 [wandb_setup.py:_flush():76] Configure stats pid to 77304 +2025-07-12 12:32:47,138 INFO MainThread:77304 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:47,138 INFO MainThread:77304 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:47,138 INFO MainThread:77304 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:47,139 INFO MainThread:77304 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:47,139 INFO MainThread:77304 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:47,139 INFO MainThread:77304 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/logs/debug.log +2025-07-12 12:32:47,140 INFO MainThread:77304 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/tdmpc2_dog-stand_s30/wandb/offline-run-20250712_123246-5dytlkf8/logs/debug-internal.log +2025-07-12 12:32:47,140 INFO MainThread:77304 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:47,141 INFO MainThread:77304 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_dog-stand_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/30/tdmpc2_dog-stand_s30'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:47,141 INFO MainThread:77304 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:47,141 INFO MainThread:77304 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:47,151 INFO MainThread:77304 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:47,153 INFO MainThread:77304 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:47,168 INFO MainThread:77304 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:47,496 INFO MainThread:77304 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:47,505 INFO MainThread:77304 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:53,004 INFO MainThread:77304 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:53,005 INFO MainThread:77304 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:53,005 INFO MainThread:77304 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:53,005 INFO MainThread:77304 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:53,008 INFO MainThread:77304 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/42/4o_dog-stand_s42/eval.csv b/dog-stand/42/4o_dog-stand_s42/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..e6a1d2e2827ae2498fff0406bf532ba6977c7796 --- /dev/null +++ b/dog-stand/42/4o_dog-stand_s42/eval.csv @@ -0,0 +1,10 @@ +step,episode_reward +0.0,18.370304107666016 +50000.0,111.76200103759766 +100000.0,336.71502685546875 +150000.0,480.837890625 +200000.0,470.8543395996094 +250000.0,507.901123046875 +300000.0,500.6904296875 +350000.0,503.1366271972656 +400000.0,502.1346130371094 diff --git a/dog-stand/42/4o_dog-stand_s42/wandb/debug.log b/dog-stand/42/4o_dog-stand_s42/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..e981bf713d82e78e029635df3dc356d8c79e2bf4 --- /dev/null +++ b/dog-stand/42/4o_dog-stand_s42/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:41,858 INFO MainThread:77326 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:41,859 INFO MainThread:77326 [wandb_setup.py:_flush():76] Configure stats pid to 77326 +2025-07-12 12:32:41,859 INFO MainThread:77326 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:41,860 INFO MainThread:77326 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:41,860 INFO MainThread:77326 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:41,860 INFO MainThread:77326 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:41,861 INFO MainThread:77326 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:41,861 INFO MainThread:77326 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/logs/debug.log +2025-07-12 12:32:41,861 INFO MainThread:77326 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/logs/debug-internal.log +2025-07-12 12:32:41,861 INFO MainThread:77326 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:41,862 INFO MainThread:77326 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-stand_s42', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/4o_dog-stand_s42'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:41,862 INFO MainThread:77326 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:41,862 INFO MainThread:77326 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:41,870 INFO MainThread:77326 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:41,872 INFO MainThread:77326 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:41,884 INFO MainThread:77326 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:41,999 INFO MainThread:77326 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:42,006 INFO MainThread:77326 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:47,775 INFO MainThread:77326 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:47,775 INFO MainThread:77326 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:47,776 INFO MainThread:77326 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:47,776 INFO MainThread:77326 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:47,781 INFO MainThread:77326 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/files/conda-environment.yaml b/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/files/wandb-metadata.json b/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ac109e696f1ae9ea263354ecfa45e792dc607a53 --- /dev/null +++ b/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:24.452428", + "startedAt": "2025-07-11T02:34:23.997889", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=true", + "n_experts=4", + "seed=42", + "exp_name=4o_dog-stand_s42" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3356.3944553571423, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3081.235, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.254, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3056.597, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.354, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.472, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3048.586, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3085.535, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3086.84, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3069.451, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.301, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3085.04, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3082.698, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.589, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3086.579, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3006.893, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.226, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.14, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.816, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3037.148, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3036.61, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3036.153, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3085.689, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3036.331, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3037.651, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3050.466, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.639, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3069.086, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3043.217, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3037.131, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3068.874, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3035.064, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3094.832, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3065.695, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3036.91, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3035.489, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3080.098, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3041.971, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3083.966, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3037.234, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.996, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712203979492188 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/logs/debug.log b/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..8ea489cc9cfde9314c178b2f5630c9771a046788 --- /dev/null +++ b/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:24,018 INFO MainThread:4158555 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:24,018 INFO MainThread:4158555 [wandb_setup.py:_flush():76] Configure stats pid to 4158555 +2025-07-11 10:34:24,019 INFO MainThread:4158555 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:24,019 INFO MainThread:4158555 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:24,019 INFO MainThread:4158555 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:24,020 INFO MainThread:4158555 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:24,020 INFO MainThread:4158555 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:24,020 INFO MainThread:4158555 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/logs/debug.log +2025-07-11 10:34:24,021 INFO MainThread:4158555 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250711_103423-klcyrw9o/logs/debug-internal.log +2025-07-11 10:34:24,021 INFO MainThread:4158555 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:24,021 INFO MainThread:4158555 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-stand_s42', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/4o_dog-stand_s42'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:24,022 INFO MainThread:4158555 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:24,022 INFO MainThread:4158555 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:24,036 INFO MainThread:4158555 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:24,037 INFO MainThread:4158555 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:24,053 INFO MainThread:4158555 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:24,160 INFO MainThread:4158555 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:24,169 INFO MainThread:4158555 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:30,168 INFO MainThread:4158555 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:30,169 INFO MainThread:4158555 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:30,169 INFO MainThread:4158555 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:30,169 INFO MainThread:4158555 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:30,172 INFO MainThread:4158555 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/files/conda-environment.yaml b/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/files/wandb-metadata.json b/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c183a73260ee5ad8d67fa7ddf36f95c79f9aab30 --- /dev/null +++ b/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:43.306891", + "startedAt": "2025-07-12T04:32:41.839666", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=true", + "n_experts=4", + "seed=42", + "exp_name=4o_dog-stand_s42" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3441.6536607142853, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3200.469, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3243.593, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.481, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.494, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.504, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.514, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.523, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.534, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.545, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.554, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.566, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.575, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.587, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.599, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.606, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.616, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.629, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.638, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3300.522, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3202.225, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.651, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.658, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.669, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.681, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.693, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.704, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.784, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3302.319, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3242.109, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.1, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.801, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3203.422, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.823, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.834, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.842, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.864, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3268.354, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3321.32, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3330.597, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.872, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.881, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.894, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.903, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.915, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.926, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.935, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.944, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.959, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.967, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.974, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3200.987, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.78009033203125 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/logs/debug.log b/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..e981bf713d82e78e029635df3dc356d8c79e2bf4 --- /dev/null +++ b/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:41,858 INFO MainThread:77326 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:41,859 INFO MainThread:77326 [wandb_setup.py:_flush():76] Configure stats pid to 77326 +2025-07-12 12:32:41,859 INFO MainThread:77326 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:41,860 INFO MainThread:77326 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:41,860 INFO MainThread:77326 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:41,860 INFO MainThread:77326 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:41,861 INFO MainThread:77326 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:41,861 INFO MainThread:77326 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/logs/debug.log +2025-07-12 12:32:41,861 INFO MainThread:77326 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/4o_dog-stand_s42/wandb/offline-run-20250712_123241-hrha2cji/logs/debug-internal.log +2025-07-12 12:32:41,861 INFO MainThread:77326 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:41,862 INFO MainThread:77326 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_dog-stand_s42', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/4o_dog-stand_s42'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:41,862 INFO MainThread:77326 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:41,862 INFO MainThread:77326 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:41,870 INFO MainThread:77326 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:41,872 INFO MainThread:77326 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:41,884 INFO MainThread:77326 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:41,999 INFO MainThread:77326 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:42,006 INFO MainThread:77326 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:47,775 INFO MainThread:77326 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:47,775 INFO MainThread:77326 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:47,776 INFO MainThread:77326 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:47,776 INFO MainThread:77326 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:47,781 INFO MainThread:77326 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/42/6o_dog-stand_s42/eval.csv b/dog-stand/42/6o_dog-stand_s42/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..7f0c5ec3d6f4850c74c27f10c2d9ee58cea41bdb --- /dev/null +++ b/dog-stand/42/6o_dog-stand_s42/eval.csv @@ -0,0 +1,6 @@ +step,episode_reward +0.0,25.95924949645996 +50000.0,72.94207763671875 +100000.0,202.41867065429688 +150000.0,413.92236328125 +200000.0,439.1988830566406 diff --git a/dog-stand/42/6o_dog-stand_s42/wandb/debug.log b/dog-stand/42/6o_dog-stand_s42/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..37c4d054b9fefefd3cc0eb5d7c2d10f2eb456c95 --- /dev/null +++ b/dog-stand/42/6o_dog-stand_s42/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,593 INFO MainThread:77347 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,594 INFO MainThread:77347 [wandb_setup.py:_flush():76] Configure stats pid to 77347 +2025-07-12 12:32:46,594 INFO MainThread:77347 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,594 INFO MainThread:77347 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,595 INFO MainThread:77347 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,595 INFO MainThread:77347 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,595 INFO MainThread:77347 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,596 INFO MainThread:77347 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/logs/debug.log +2025-07-12 12:32:46,596 INFO MainThread:77347 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/logs/debug-internal.log +2025-07-12 12:32:46,596 INFO MainThread:77347 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,597 INFO MainThread:77347 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '6o_dog-stand_s42', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 6, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/6o_dog-stand_s42'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,597 INFO MainThread:77347 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,598 INFO MainThread:77347 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,607 INFO MainThread:77347 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,609 INFO MainThread:77347 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,629 INFO MainThread:77347 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:46,749 INFO MainThread:77347 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:46,758 INFO MainThread:77347 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,591 INFO MainThread:77347 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,592 INFO MainThread:77347 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,592 INFO MainThread:77347 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,593 INFO MainThread:77347 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,596 INFO MainThread:77347 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/files/conda-environment.yaml b/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/files/wandb-metadata.json b/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a26fc6c35a5558d5ec7f89f81e07f0560ae028c9 --- /dev/null +++ b/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:24.586400", + "startedAt": "2025-07-11T02:34:24.094777", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=true", + "n_experts=6", + "seed=42", + "exp_name=6o_dog-stand_s42" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3302.095830357143, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3141.262, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3080.747, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3136.523, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3055.125, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3152.366, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3146.808, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3148.912, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3154.07, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3153.929, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3152.274, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3143.395, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3146.309, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3138.611, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3131.943, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.386, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3110.298, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3151.554, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3152.236, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3147.634, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3054.187, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.996, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.996, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3105.661, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3107.23, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3085.374, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3107.599, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3151.258, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3086.882, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3107.926, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3112.303, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3105.443, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.05, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3109.755, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3109.808, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3130.591, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3115.19, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3153.453, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.471, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3140.883, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.478, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3115.499, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712200164794922 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/logs/debug.log b/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..3f505d17e0eda65784594247a502269d566b661e --- /dev/null +++ b/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:24,114 INFO MainThread:4158576 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:24,115 INFO MainThread:4158576 [wandb_setup.py:_flush():76] Configure stats pid to 4158576 +2025-07-11 10:34:24,115 INFO MainThread:4158576 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:24,115 INFO MainThread:4158576 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:24,116 INFO MainThread:4158576 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:24,116 INFO MainThread:4158576 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:24,116 INFO MainThread:4158576 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:24,116 INFO MainThread:4158576 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/logs/debug.log +2025-07-11 10:34:24,117 INFO MainThread:4158576 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250711_103424-mp4y6du6/logs/debug-internal.log +2025-07-11 10:34:24,117 INFO MainThread:4158576 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:24,117 INFO MainThread:4158576 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '6o_dog-stand_s42', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 6, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/6o_dog-stand_s42'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:24,118 INFO MainThread:4158576 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:24,118 INFO MainThread:4158576 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:24,126 INFO MainThread:4158576 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:24,129 INFO MainThread:4158576 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:24,143 INFO MainThread:4158576 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:24,258 INFO MainThread:4158576 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:24,267 INFO MainThread:4158576 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:30,133 INFO MainThread:4158576 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:30,134 INFO MainThread:4158576 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:30,134 INFO MainThread:4158576 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:30,134 INFO MainThread:4158576 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:30,137 INFO MainThread:4158576 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/files/conda-environment.yaml b/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/files/wandb-metadata.json b/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7fad3d0b03a082872434d9601cea9cfe8f25510e --- /dev/null +++ b/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:46.931800", + "startedAt": "2025-07-12T04:32:46.574402", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=true", + "n_experts=6", + "seed=42", + "exp_name=6o_dog-stand_s42" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3458.713375, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3331.098, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3279.257, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3315.277, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3302.111, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.995, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3311.635, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.996, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3352.562, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3282.649, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3310.38, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.01, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.983, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3355.134, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3379.512, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3379.793, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3305.428, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3289.029, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.983, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.780120849609375 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/logs/debug.log b/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..37c4d054b9fefefd3cc0eb5d7c2d10f2eb456c95 --- /dev/null +++ b/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,593 INFO MainThread:77347 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,594 INFO MainThread:77347 [wandb_setup.py:_flush():76] Configure stats pid to 77347 +2025-07-12 12:32:46,594 INFO MainThread:77347 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,594 INFO MainThread:77347 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,595 INFO MainThread:77347 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,595 INFO MainThread:77347 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,595 INFO MainThread:77347 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,596 INFO MainThread:77347 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/logs/debug.log +2025-07-12 12:32:46,596 INFO MainThread:77347 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/6o_dog-stand_s42/wandb/offline-run-20250712_123246-tzt2varc/logs/debug-internal.log +2025-07-12 12:32:46,596 INFO MainThread:77347 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,597 INFO MainThread:77347 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '6o_dog-stand_s42', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 6, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/6o_dog-stand_s42'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,597 INFO MainThread:77347 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,598 INFO MainThread:77347 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,607 INFO MainThread:77347 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,609 INFO MainThread:77347 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,629 INFO MainThread:77347 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:46,749 INFO MainThread:77347 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:46,758 INFO MainThread:77347 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,591 INFO MainThread:77347 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,592 INFO MainThread:77347 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,592 INFO MainThread:77347 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,593 INFO MainThread:77347 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,596 INFO MainThread:77347 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/42/tdmpc2_dog-stand_s42/eval.csv b/dog-stand/42/tdmpc2_dog-stand_s42/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..3ea07eb1cb0b87e924b4f15e31bc0c37296c9bc9 --- /dev/null +++ b/dog-stand/42/tdmpc2_dog-stand_s42/eval.csv @@ -0,0 +1,27 @@ +step,episode_reward +0.0,21.527854919433594 +50000.0,266.4457092285156 +100000.0,427.90936279296875 +150000.0,473.36346435546875 +200000.0,466.20721435546875 +250000.0,460.29339599609375 +300000.0,476.43304443359375 +350000.0,500.00146484375 +400000.0,465.45806884765625 +450000.0,474.6605529785156 +500000.0,488.07330322265625 +550000.0,474.070556640625 +600000.0,459.4236755371094 +650000.0,475.31170654296875 +700000.0,481.64813232421875 +750000.0,494.88134765625 +800000.0,483.4298400878906 +850000.0,475.25067138671875 +900000.0,481.1893005371094 +950000.0,485.10150146484375 +1000000.0,477.9344787597656 +1050000.0,520.2564697265625 +1100000.0,531.4495239257812 +1150000.0,813.3457641601562 +1200000.0,625.3351440429688 +1250000.0,865.1886596679688 diff --git a/dog-stand/42/tdmpc2_dog-stand_s42/wandb/debug.log b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..eaf07ef7dd9251dfd86d8253a2f293711972bff5 --- /dev/null +++ b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,591 INFO MainThread:77305 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,592 INFO MainThread:77305 [wandb_setup.py:_flush():76] Configure stats pid to 77305 +2025-07-12 12:32:46,592 INFO MainThread:77305 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,592 INFO MainThread:77305 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,592 INFO MainThread:77305 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,593 INFO MainThread:77305 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,593 INFO MainThread:77305 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,593 INFO MainThread:77305 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/logs/debug.log +2025-07-12 12:32:46,594 INFO MainThread:77305 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/logs/debug-internal.log +2025-07-12 12:32:46,594 INFO MainThread:77305 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,594 INFO MainThread:77305 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_dog-stand_s42', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/tdmpc2_dog-stand_s42'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,595 INFO MainThread:77305 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,595 INFO MainThread:77305 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,604 INFO MainThread:77305 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,606 INFO MainThread:77305 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,622 INFO MainThread:77305 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:46,738 INFO MainThread:77305 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:46,746 INFO MainThread:77305 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,736 INFO MainThread:77305 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,736 INFO MainThread:77305 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,737 INFO MainThread:77305 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,737 INFO MainThread:77305 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,740 INFO MainThread:77305 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250711_103421-vb2nt6sv/files/conda-environment.yaml b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250711_103421-vb2nt6sv/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250711_103421-vb2nt6sv/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250711_103421-vb2nt6sv/files/wandb-metadata.json b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250711_103421-vb2nt6sv/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b1aed8a6a83831e9511599387bdbbdce3f32b13c --- /dev/null +++ b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250711_103421-vb2nt6sv/files/wandb-metadata.json @@ -0,0 +1,641 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:21.709000", + "startedAt": "2025-07-11T02:34:21.445250", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=false", + "seed=42", + "exp_name=tdmpc2_dog-stand_s42" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3369.9227857142855, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3144.409, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3142.631, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3142.804, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3142.604, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3142.419, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3142.257, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3142.2, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3256.373, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3142.04, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.57, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3142.628, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.742, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3140.68, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.565, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.511, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3264.413, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3139.551, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.166, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3139.2, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.51, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3140.857, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3140.798, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.009, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3144.753, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3256.688, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3137.813, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3137.616, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3138.489, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3137.414, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3137.272, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3135.158, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3137.062, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3137.004, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3136.868, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3136.808, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3136.657, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3136.599, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3136.452, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3243.703, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3135.986, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3136.077, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3135.211, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3135.864, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3186.553, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3141.891, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3137.426, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712203979492188 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250711_103421-vb2nt6sv/logs/debug.log b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250711_103421-vb2nt6sv/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..8af3501ccc5549f16807547cd37be22533578b56 --- /dev/null +++ b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250711_103421-vb2nt6sv/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:21,467 INFO MainThread:4158534 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:21,468 INFO MainThread:4158534 [wandb_setup.py:_flush():76] Configure stats pid to 4158534 +2025-07-11 10:34:21,468 INFO MainThread:4158534 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:21,468 INFO MainThread:4158534 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:21,469 INFO MainThread:4158534 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:21,469 INFO MainThread:4158534 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:21,469 INFO MainThread:4158534 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:21,470 INFO MainThread:4158534 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250711_103421-vb2nt6sv/logs/debug.log +2025-07-11 10:34:21,470 INFO MainThread:4158534 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250711_103421-vb2nt6sv/logs/debug-internal.log +2025-07-11 10:34:21,470 INFO MainThread:4158534 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:21,471 INFO MainThread:4158534 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_dog-stand_s42', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/tdmpc2_dog-stand_s42'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:21,471 INFO MainThread:4158534 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:21,471 INFO MainThread:4158534 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:21,480 INFO MainThread:4158534 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:21,482 INFO MainThread:4158534 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:21,498 INFO MainThread:4158534 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:21,590 INFO MainThread:4158534 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:21,597 INFO MainThread:4158534 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:26,337 INFO MainThread:4158534 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:26,338 INFO MainThread:4158534 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:26,338 INFO MainThread:4158534 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:26,339 INFO MainThread:4158534 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:26,343 INFO MainThread:4158534 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/files/conda-environment.yaml b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/files/wandb-metadata.json b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e9565c3e12ae374a4266e83b3c5624c77ae68883 --- /dev/null +++ b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/files/wandb-metadata.json @@ -0,0 +1,641 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:46.923033", + "startedAt": "2025-07-12T04:32:46.573052", + "docker": null, + "cuda": null, + "args": [ + "task=dog-stand", + "use_moe=false", + "seed=42", + "exp_name=tdmpc2_dog-stand_s42" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3388.3355892857144, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3051.582, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3207.541, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3207.592, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3296.392, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3207.766, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3207.821, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3248.783, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3236.61, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3203.89, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3207.952, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3208.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3216.296, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3332.817, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.996, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3262.574, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3208.706, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3220.724, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3218.675, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3045.851, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3329.526, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3043.957, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3182.249, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3182.831, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3183.191, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3310.107, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3212.198, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3313.277, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3039.094, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3190.846, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3195.905, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3213.506, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.993, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.780128479003906 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/logs/debug.log b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..eaf07ef7dd9251dfd86d8253a2f293711972bff5 --- /dev/null +++ b/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,591 INFO MainThread:77305 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,592 INFO MainThread:77305 [wandb_setup.py:_flush():76] Configure stats pid to 77305 +2025-07-12 12:32:46,592 INFO MainThread:77305 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,592 INFO MainThread:77305 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,592 INFO MainThread:77305 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,593 INFO MainThread:77305 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,593 INFO MainThread:77305 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,593 INFO MainThread:77305 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/logs/debug.log +2025-07-12 12:32:46,594 INFO MainThread:77305 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/tdmpc2_dog-stand_s42/wandb/offline-run-20250712_123246-qoy0zc2f/logs/debug-internal.log +2025-07-12 12:32:46,594 INFO MainThread:77305 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,594 INFO MainThread:77305 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'dog-stand', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_dog-stand_s42', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/dog-stand/42/tdmpc2_dog-stand_s42'), 'task_title': 'Dog Stand', 'multitask': False, 'tasks': ['dog-stand'], 'obs_shape': {'state': [223]}, 'action_dim': 38, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,595 INFO MainThread:77305 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,595 INFO MainThread:77305 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,604 INFO MainThread:77305 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,606 INFO MainThread:77305 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,622 INFO MainThread:77305 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:46,738 INFO MainThread:77305 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:46,746 INFO MainThread:77305 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,736 INFO MainThread:77305 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,736 INFO MainThread:77305 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,737 INFO MainThread:77305 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,737 INFO MainThread:77305 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,740 INFO MainThread:77305 [wandb_init.py:init():847] run started, returning control to user process diff --git a/dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250711_103424-j2yk73bv/run-j2yk73bv.wandb b/dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250711_103424-j2yk73bv/run-j2yk73bv.wandb new file mode 100644 index 0000000000000000000000000000000000000000..68836607aa51d2443396e90b896c5915fa69b3cf --- /dev/null +++ b/dog-trot/2/4o_dog-trot_s2/wandb/offline-run-20250711_103424-j2yk73bv/run-j2yk73bv.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a20466d165cb41fa24765172c9740fec2adc1637833110393d01dce2e608328 +size 14975806 diff --git a/dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250712_123246-ux3mbuuu/run-ux3mbuuu.wandb b/dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250712_123246-ux3mbuuu/run-ux3mbuuu.wandb new file mode 100644 index 0000000000000000000000000000000000000000..b507eed26fb51a9646208710e6eb7cddd9373aa0 --- /dev/null +++ b/dog-trot/2/6o_dog-trot_s2/wandb/offline-run-20250712_123246-ux3mbuuu/run-ux3mbuuu.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4f20c72ada8e9fc5bbff0ab73b5e77f36fc6ac91a6dd3009a76beec3396c4d7 +size 7831573 diff --git a/dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/logs/debug-internal.log b/dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/logs/debug-internal.log new file mode 100644 index 0000000000000000000000000000000000000000..70e5273e5880d7140c92a0dcbcd7ee6917e961c7 --- /dev/null +++ b/dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/logs/debug-internal.log @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50d4d6d93d719ad93bb3a7579a4a2048a1cccd58d2e205602d8df81278998416 +size 21275926 diff --git a/dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/run-wkwl8r47.wandb b/dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/run-wkwl8r47.wandb new file mode 100644 index 0000000000000000000000000000000000000000..6c9a6276ccab5c2e17b602ad4038d93800993c96 --- /dev/null +++ b/dog-trot/2/tdmpc2_dog-trot_s2/wandb/offline-run-20250711_103424-wkwl8r47/run-wkwl8r47.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:108ece78441f6e4cede8421c31aacf8f1987319e4903cee293c16896a2dff68b +size 15796647 diff --git a/dog-trot/30/4o_dog-trot_s30/wandb/offline-run-20250711_103424-kx3g3tss/run-kx3g3tss.wandb b/dog-trot/30/4o_dog-trot_s30/wandb/offline-run-20250711_103424-kx3g3tss/run-kx3g3tss.wandb new file mode 100644 index 0000000000000000000000000000000000000000..fa41443323e7ab05f8e54c1fbecdb63a032ee09e --- /dev/null +++ b/dog-trot/30/4o_dog-trot_s30/wandb/offline-run-20250711_103424-kx3g3tss/run-kx3g3tss.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d62cb0426891b8663b0f5cd119e178dc6adbef5cb15a3e3b20b1f500031fa51 +size 14976289 diff --git a/dog-trot/30/6o_dog-trot_s30/wandb/offline-run-20250712_123246-ejm5iszb/logs/debug-internal.log b/dog-trot/30/6o_dog-trot_s30/wandb/offline-run-20250712_123246-ejm5iszb/logs/debug-internal.log new file mode 100644 index 0000000000000000000000000000000000000000..8d00c9302b1ac07679ab9d9246f29fdecb6dbc54 --- /dev/null +++ b/dog-trot/30/6o_dog-trot_s30/wandb/offline-run-20250712_123246-ejm5iszb/logs/debug-internal.log @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a460f3ba5ae4af4c9d88b9e1219dc5762bea8d0f4e5f5e2ad1b3da39a023046 +size 11265989 diff --git a/dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250711_103419-aapdhvtc/run-aapdhvtc.wandb b/dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250711_103419-aapdhvtc/run-aapdhvtc.wandb new file mode 100644 index 0000000000000000000000000000000000000000..610b51390a8d13512949080109ef061dbecb38be --- /dev/null +++ b/dog-trot/30/tdmpc2_dog-trot_s30/wandb/offline-run-20250711_103419-aapdhvtc/run-aapdhvtc.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37f8ff4cc7779b76b23c2e997ffc9746b7a4e291ffeb484521236f8c08768dd1 +size 15796177 diff --git a/dog-trot/42/4o_dog-trot_s42/wandb/debug-internal.log b/dog-trot/42/4o_dog-trot_s42/wandb/debug-internal.log new file mode 100644 index 0000000000000000000000000000000000000000..4d51bfd346ba190fbfc7a7631f110871bbee3b8f --- /dev/null +++ b/dog-trot/42/4o_dog-trot_s42/wandb/debug-internal.log @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6f23bc2586f8bbb587e8cba04a8cac1d370c74a5b121f62777dd8c8d33e8221 +size 17881866 diff --git a/dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250712_123246-om54obxk/run-om54obxk.wandb b/dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250712_123246-om54obxk/run-om54obxk.wandb new file mode 100644 index 0000000000000000000000000000000000000000..209dc788e6b9b456dd3ff74696df338c4211e812 --- /dev/null +++ b/dog-trot/42/4o_dog-trot_s42/wandb/offline-run-20250712_123246-om54obxk/run-om54obxk.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e17a1745fea445535a422ece87cbead3fa7b827f54cd8f5620c7ac3f509747e8 +size 13731233 diff --git a/dog-trot/42/6o_dog-trot_s42/wandb/offline-run-20250712_123246-tnyfie5t/logs/debug-internal.log b/dog-trot/42/6o_dog-trot_s42/wandb/offline-run-20250712_123246-tnyfie5t/logs/debug-internal.log new file mode 100644 index 0000000000000000000000000000000000000000..e9b401bbc27b8f2d194bdc16e6ef742f882f6e6f --- /dev/null +++ b/dog-trot/42/6o_dog-trot_s42/wandb/offline-run-20250712_123246-tnyfie5t/logs/debug-internal.log @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c491685a1559906ef5fd190c5c767ca038b488181005b5a1014e9b8cc59e7821 +size 12179656 diff --git a/dog-trot/42/6o_dog-trot_s42/wandb/offline-run-20250712_123246-tnyfie5t/run-tnyfie5t.wandb b/dog-trot/42/6o_dog-trot_s42/wandb/offline-run-20250712_123246-tnyfie5t/run-tnyfie5t.wandb new file mode 100644 index 0000000000000000000000000000000000000000..8d7e758c35d7cacbaa351aa93ab587361a237d54 --- /dev/null +++ b/dog-trot/42/6o_dog-trot_s42/wandb/offline-run-20250712_123246-tnyfie5t/run-tnyfie5t.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fc81ebc6fa6008e750617ddbd12c4471a4b0a8eab9c6595cf8b3306a3618829 +size 9178225 diff --git a/humanoid-walk/2/4o_humanoid-walk_s2/eval.csv b/humanoid-walk/2/4o_humanoid-walk_s2/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..37cb207f93833f57ef757401cb827731ce77c6aa --- /dev/null +++ b/humanoid-walk/2/4o_humanoid-walk_s2/eval.csv @@ -0,0 +1,10 @@ +step,episode_reward +0.0,1.1001083850860596 +50000.0,1.495914101600647 +100000.0,1.736823320388794 +150000.0,1.4564348459243774 +200000.0,1.5470300912857056 +250000.0,2.213669776916504 +300000.0,1.418336272239685 +350000.0,2.339733362197876 +400000.0,2.5176525115966797 diff --git a/humanoid-walk/2/4o_humanoid-walk_s2/wandb/debug.log b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..1787c42ffd56b80c46d71745478ed5e3cbfe58b4 --- /dev/null +++ b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,356 INFO MainThread:77339 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,357 INFO MainThread:77339 [wandb_setup.py:_flush():76] Configure stats pid to 77339 +2025-07-12 12:32:46,357 INFO MainThread:77339 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,357 INFO MainThread:77339 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,358 INFO MainThread:77339 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,358 INFO MainThread:77339 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,358 INFO MainThread:77339 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,359 INFO MainThread:77339 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/logs/debug.log +2025-07-12 12:32:46,359 INFO MainThread:77339 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/logs/debug-internal.log +2025-07-12 12:32:46,359 INFO MainThread:77339 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,360 INFO MainThread:77339 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_humanoid-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/4o_humanoid-walk_s2'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,360 INFO MainThread:77339 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,360 INFO MainThread:77339 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,369 INFO MainThread:77339 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,371 INFO MainThread:77339 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,388 INFO MainThread:77339 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:46,503 INFO MainThread:77339 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:46,513 INFO MainThread:77339 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,521 INFO MainThread:77339 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,522 INFO MainThread:77339 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,522 INFO MainThread:77339 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,522 INFO MainThread:77339 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,526 INFO MainThread:77339 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250711_103423-vrwng6fk/files/conda-environment.yaml b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250711_103423-vrwng6fk/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250711_103423-vrwng6fk/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250711_103423-vrwng6fk/files/wandb-metadata.json b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250711_103423-vrwng6fk/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ff14e37f1b350234b4d458370ebc901fc46f252d --- /dev/null +++ b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250711_103423-vrwng6fk/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:23.545309", + "startedAt": "2025-07-11T02:34:23.251215", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=true", + "n_experts=4", + "seed=2", + "exp_name=4o_humanoid-walk_s2" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3278.2669017857143, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3038.331, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3013.086, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2995.786, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3009.823, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.93, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2991.679, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3007.464, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3007.57, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2990.374, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3032.286, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3008.324, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3000.169, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3008.705, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2998.449, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3005.264, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3006.144, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3008.288, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3006.059, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3033.994, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3006.031, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3000.48, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3003.494, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3010.919, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3023.853, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3028.491, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3016.276, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3023.607, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3026.829, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3022.14, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3022.329, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3027.113, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3014.71, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3020.444, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3026.773, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3026.448, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2975.497, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.064, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3017.149, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3020.345, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3025.525, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3020.24, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3031.687, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3029.682, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3024.818, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2983.03, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3024.739, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3027.547, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.71221923828125 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250711_103423-vrwng6fk/logs/debug.log b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250711_103423-vrwng6fk/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..683a6a1269556278bace06d73e0428f0fd845b13 --- /dev/null +++ b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250711_103423-vrwng6fk/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:23,272 INFO MainThread:4158568 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:23,273 INFO MainThread:4158568 [wandb_setup.py:_flush():76] Configure stats pid to 4158568 +2025-07-11 10:34:23,274 INFO MainThread:4158568 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:23,274 INFO MainThread:4158568 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:23,274 INFO MainThread:4158568 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:23,275 INFO MainThread:4158568 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:23,275 INFO MainThread:4158568 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:23,275 INFO MainThread:4158568 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250711_103423-vrwng6fk/logs/debug.log +2025-07-11 10:34:23,276 INFO MainThread:4158568 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250711_103423-vrwng6fk/logs/debug-internal.log +2025-07-11 10:34:23,276 INFO MainThread:4158568 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:23,276 INFO MainThread:4158568 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_humanoid-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/4o_humanoid-walk_s2'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:23,277 INFO MainThread:4158568 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:23,277 INFO MainThread:4158568 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:23,287 INFO MainThread:4158568 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:23,290 INFO MainThread:4158568 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:23,310 INFO MainThread:4158568 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:23,421 INFO MainThread:4158568 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:23,431 INFO MainThread:4158568 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:28,753 INFO MainThread:4158568 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:28,754 INFO MainThread:4158568 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:28,754 INFO MainThread:4158568 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:28,755 INFO MainThread:4158568 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:28,758 INFO MainThread:4158568 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/files/conda-environment.yaml b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/files/wandb-metadata.json b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2019e7153c1640bb21d00147435eb870f58a2967 --- /dev/null +++ b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:46.638345", + "startedAt": "2025-07-12T04:32:46.338215", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=true", + "n_experts=4", + "seed=2", + "exp_name=4o_humanoid-walk_s2" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3301.6921517857145, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3025.909, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3000.581, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2994.849, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3008.356, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.847, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.821, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3003.039, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.687, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3032.863, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3028.242, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3011.931, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3003.12, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3025.693, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2995.149, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2991.696, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2998.684, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3006.641, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.826, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2981.747, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3028.25, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.258, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.825, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3000.957, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3003.993, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.85, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.001, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3000.062, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.85, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3018.138, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2996.66, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3043.93, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2996.493, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3004.454, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.819, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.823, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3004.402, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3008.554, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2978.596, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3000.297, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3001.183, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3009.362, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3047.368, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3011.417, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2999.971, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3003.112, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2993.239, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2997.969, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.005, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.780094146728516 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/logs/debug.log b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..1787c42ffd56b80c46d71745478ed5e3cbfe58b4 --- /dev/null +++ b/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,356 INFO MainThread:77339 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,357 INFO MainThread:77339 [wandb_setup.py:_flush():76] Configure stats pid to 77339 +2025-07-12 12:32:46,357 INFO MainThread:77339 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,357 INFO MainThread:77339 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,358 INFO MainThread:77339 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,358 INFO MainThread:77339 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,358 INFO MainThread:77339 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,359 INFO MainThread:77339 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/logs/debug.log +2025-07-12 12:32:46,359 INFO MainThread:77339 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/4o_humanoid-walk_s2/wandb/offline-run-20250712_123246-q4idc6pa/logs/debug-internal.log +2025-07-12 12:32:46,359 INFO MainThread:77339 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,360 INFO MainThread:77339 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_humanoid-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/4o_humanoid-walk_s2'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,360 INFO MainThread:77339 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,360 INFO MainThread:77339 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,369 INFO MainThread:77339 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,371 INFO MainThread:77339 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,388 INFO MainThread:77339 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:46,503 INFO MainThread:77339 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:46,513 INFO MainThread:77339 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,521 INFO MainThread:77339 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,522 INFO MainThread:77339 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,522 INFO MainThread:77339 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,522 INFO MainThread:77339 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,526 INFO MainThread:77339 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/2/6o_humanoid-walk_s2/eval.csv b/humanoid-walk/2/6o_humanoid-walk_s2/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..fdf3b1778ed1c757cf91dc4df8eb53d76b548c9b --- /dev/null +++ b/humanoid-walk/2/6o_humanoid-walk_s2/eval.csv @@ -0,0 +1,7 @@ +step,episode_reward +0.0,1.209658145904541 +50000.0,1.5606460571289062 +100000.0,1.5358775854110718 +150000.0,1.318622350692749 +200000.0,1.3913156986236572 +250000.0,2.2305872440338135 diff --git a/humanoid-walk/2/6o_humanoid-walk_s2/wandb/debug.log b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..0f593426ae8d15cda62a7bc5cbc570691d0728e9 --- /dev/null +++ b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:45,462 INFO MainThread:77360 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:45,462 INFO MainThread:77360 [wandb_setup.py:_flush():76] Configure stats pid to 77360 +2025-07-12 12:32:45,463 INFO MainThread:77360 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:45,463 INFO MainThread:77360 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:45,463 INFO MainThread:77360 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:45,464 INFO MainThread:77360 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:45,464 INFO MainThread:77360 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:45,465 INFO MainThread:77360 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/logs/debug.log +2025-07-12 12:32:45,465 INFO MainThread:77360 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/logs/debug-internal.log +2025-07-12 12:32:45,465 INFO MainThread:77360 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:45,466 INFO MainThread:77360 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '6o_humanoid-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 6, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/6o_humanoid-walk_s2'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:45,466 INFO MainThread:77360 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:45,466 INFO MainThread:77360 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:45,477 INFO MainThread:77360 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:45,479 INFO MainThread:77360 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:45,495 INFO MainThread:77360 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:45,585 INFO MainThread:77360 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:45,592 INFO MainThread:77360 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:51,331 INFO MainThread:77360 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:51,332 INFO MainThread:77360 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:51,332 INFO MainThread:77360 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:51,333 INFO MainThread:77360 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:51,337 INFO MainThread:77360 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250711_103422-fbktgrp2/files/conda-environment.yaml b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250711_103422-fbktgrp2/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250711_103422-fbktgrp2/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250711_103422-fbktgrp2/files/wandb-metadata.json b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250711_103422-fbktgrp2/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3c2cf701c2e9cda5cbb8b0512770e069b4b95457 --- /dev/null +++ b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250711_103422-fbktgrp2/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:22.981143", + "startedAt": "2025-07-11T02:34:22.704100", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=true", + "n_experts=6", + "seed=2", + "exp_name=6o_humanoid-walk_s2" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3307.440821428572, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3003.42, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2977.1, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2999.614, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2991.733, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3004.071, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2979.123, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2997.539, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2997.261, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2990.926, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.439, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2998.77, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3005.444, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2999.68, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3003.655, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2977.753, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3001.06, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2981.168, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2998.659, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3033.101, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2999.767, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2999.783, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2998.338, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2997.974, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2999.821, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.996, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2984.786, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2978.007, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2983.414, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2984.093, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2987.599, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2983.864, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2975.341, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3001.791, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2981.134, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2999.935, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2987.009, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2982.212, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3001.356, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2991.765, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2984.828, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2979.888, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2991.208, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2988.779, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2986.818, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.94, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2985.703, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.928, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2982.008, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3008.719, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2986.581, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712200164794922 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250711_103422-fbktgrp2/logs/debug.log b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250711_103422-fbktgrp2/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..fa20ee3f787b8da3f39faca863092707ba467a60 --- /dev/null +++ b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250711_103422-fbktgrp2/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:22,725 INFO MainThread:4158589 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:22,726 INFO MainThread:4158589 [wandb_setup.py:_flush():76] Configure stats pid to 4158589 +2025-07-11 10:34:22,726 INFO MainThread:4158589 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:22,726 INFO MainThread:4158589 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:22,727 INFO MainThread:4158589 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:22,727 INFO MainThread:4158589 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:22,727 INFO MainThread:4158589 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:22,727 INFO MainThread:4158589 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250711_103422-fbktgrp2/logs/debug.log +2025-07-11 10:34:22,728 INFO MainThread:4158589 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250711_103422-fbktgrp2/logs/debug-internal.log +2025-07-11 10:34:22,728 INFO MainThread:4158589 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:22,728 INFO MainThread:4158589 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '6o_humanoid-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 6, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/6o_humanoid-walk_s2'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:22,729 INFO MainThread:4158589 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:22,729 INFO MainThread:4158589 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:22,738 INFO MainThread:4158589 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:22,740 INFO MainThread:4158589 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:22,754 INFO MainThread:4158589 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:22,862 INFO MainThread:4158589 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:22,868 INFO MainThread:4158589 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:28,099 INFO MainThread:4158589 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:28,099 INFO MainThread:4158589 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:28,100 INFO MainThread:4158589 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:28,100 INFO MainThread:4158589 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:28,105 INFO MainThread:4158589 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/files/conda-environment.yaml b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/files/wandb-metadata.json b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a478ea8aedd7098c8e6dd2174ee07b3279b1ddc6 --- /dev/null +++ b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:45.705128", + "startedAt": "2025-07-12T04:32:45.439285", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=true", + "n_experts=6", + "seed=2", + "exp_name=6o_humanoid-walk_s2" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3226.836026785714, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 2915.111, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2907.792, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2908.009, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2908.068, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2907.955, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2908.265, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2908.485, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2917.722, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2909.402, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2910.279, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2911.235, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2909.93, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2909.687, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2909.432, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2909.962, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2910.87, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2910.477, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2909.426, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2922.613, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2906.658, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2915.777, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2915.909, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2916.232, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2920.381, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2916.629, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2919.722, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2915.715, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2915.939, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2915.236, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2918.604, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2914.83, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2915.013, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2919.23, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2919.542, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2922.696, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.992, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.78009033203125 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/logs/debug.log b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..0f593426ae8d15cda62a7bc5cbc570691d0728e9 --- /dev/null +++ b/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:45,462 INFO MainThread:77360 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:45,462 INFO MainThread:77360 [wandb_setup.py:_flush():76] Configure stats pid to 77360 +2025-07-12 12:32:45,463 INFO MainThread:77360 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:45,463 INFO MainThread:77360 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:45,463 INFO MainThread:77360 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:45,464 INFO MainThread:77360 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:45,464 INFO MainThread:77360 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:45,465 INFO MainThread:77360 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/logs/debug.log +2025-07-12 12:32:45,465 INFO MainThread:77360 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/6o_humanoid-walk_s2/wandb/offline-run-20250712_123245-qqz9vuqp/logs/debug-internal.log +2025-07-12 12:32:45,465 INFO MainThread:77360 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:45,466 INFO MainThread:77360 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '6o_humanoid-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 6, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/6o_humanoid-walk_s2'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:45,466 INFO MainThread:77360 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:45,466 INFO MainThread:77360 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:45,477 INFO MainThread:77360 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:45,479 INFO MainThread:77360 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:45,495 INFO MainThread:77360 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:45,585 INFO MainThread:77360 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:45,592 INFO MainThread:77360 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:51,331 INFO MainThread:77360 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:51,332 INFO MainThread:77360 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:51,332 INFO MainThread:77360 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:51,333 INFO MainThread:77360 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:51,337 INFO MainThread:77360 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/2/tdmpc2_humanoid-walk_s2/eval.csv b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..83ffcae3208528d6f98036b409d3e1f5ac37906e --- /dev/null +++ b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/eval.csv @@ -0,0 +1,28 @@ +step,episode_reward +0.0,1.0575147867202759 +50000.0,1.5655698776245117 +100000.0,1.6059900522232056 +150000.0,1.6167018413543701 +200000.0,2.074815273284912 +250000.0,3.447169542312622 +300000.0,1.7359552383422852 +350000.0,2.356299877166748 +400000.0,2.3729140758514404 +450000.0,2.5589966773986816 +500000.0,2.373375415802002 +550000.0,3.960660219192505 +600000.0,4.530873775482178 +650000.0,3.276212692260742 +700000.0,2.620936632156372 +750000.0,2.3240623474121094 +800000.0,4.062708377838135 +850000.0,4.4285173416137695 +900000.0,1.9388023614883423 +950000.0,2.6074588298797607 +1000000.0,1.8019390106201172 +1050000.0,2.87339186668396 +1100000.0,3.9587669372558594 +1150000.0,2.3866052627563477 +1200000.0,4.189642906188965 +1250000.0,2.4053890705108643 +1300000.0,4.464618682861328 diff --git a/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/debug.log b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..82ef7ab698def23c41a1d99fd2ba9440d75abc43 --- /dev/null +++ b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:45,545 INFO MainThread:77318 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:45,546 INFO MainThread:77318 [wandb_setup.py:_flush():76] Configure stats pid to 77318 +2025-07-12 12:32:45,546 INFO MainThread:77318 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:45,546 INFO MainThread:77318 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:45,547 INFO MainThread:77318 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:45,547 INFO MainThread:77318 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:45,548 INFO MainThread:77318 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:45,548 INFO MainThread:77318 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/logs/debug.log +2025-07-12 12:32:45,548 INFO MainThread:77318 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/logs/debug-internal.log +2025-07-12 12:32:45,549 INFO MainThread:77318 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:45,549 INFO MainThread:77318 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_humanoid-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/tdmpc2_humanoid-walk_s2'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:45,550 INFO MainThread:77318 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:45,550 INFO MainThread:77318 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:45,559 INFO MainThread:77318 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:45,562 INFO MainThread:77318 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:45,577 INFO MainThread:77318 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:45,695 INFO MainThread:77318 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:45,704 INFO MainThread:77318 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:51,291 INFO MainThread:77318 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:51,291 INFO MainThread:77318 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:51,292 INFO MainThread:77318 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:51,292 INFO MainThread:77318 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:51,297 INFO MainThread:77318 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250711_103422-mjs9i41a/files/conda-environment.yaml b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250711_103422-mjs9i41a/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250711_103422-mjs9i41a/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250711_103422-mjs9i41a/files/wandb-metadata.json b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250711_103422-mjs9i41a/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a9a25c5a608622f92d7b914f47c3597c7941d5ba --- /dev/null +++ b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250711_103422-mjs9i41a/files/wandb-metadata.json @@ -0,0 +1,641 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:22.661276", + "startedAt": "2025-07-11T02:34:22.327533", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=false", + "seed=2", + "exp_name=tdmpc2_humanoid-walk_s2" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3424.122616071428, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3250.744, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3261.564, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3252.723, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3246.122, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3262.089, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3262.202, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3273.283, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3239.587, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3262.562, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3263.498, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3258.248, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3246.086, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3259.212, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3254.049, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3269.61, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3265.632, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3249.389, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3266.036, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3267.813, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3245.124, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3273.339, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3266.58, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3261.182, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3269.366, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3255.194, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3256.862, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3266.799, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3252.638, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712203979492188 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250711_103422-mjs9i41a/logs/debug.log b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250711_103422-mjs9i41a/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..e8ef3c6d0bbdd27808af25e2ed5bb7f838348ddd --- /dev/null +++ b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250711_103422-mjs9i41a/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:22,349 INFO MainThread:4158547 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:22,350 INFO MainThread:4158547 [wandb_setup.py:_flush():76] Configure stats pid to 4158547 +2025-07-11 10:34:22,350 INFO MainThread:4158547 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:22,350 INFO MainThread:4158547 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:22,351 INFO MainThread:4158547 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:22,351 INFO MainThread:4158547 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:22,351 INFO MainThread:4158547 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:22,352 INFO MainThread:4158547 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250711_103422-mjs9i41a/logs/debug.log +2025-07-11 10:34:22,352 INFO MainThread:4158547 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250711_103422-mjs9i41a/logs/debug-internal.log +2025-07-11 10:34:22,352 INFO MainThread:4158547 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:22,353 INFO MainThread:4158547 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_humanoid-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/tdmpc2_humanoid-walk_s2'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:22,353 INFO MainThread:4158547 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:22,353 INFO MainThread:4158547 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:22,360 INFO MainThread:4158547 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:22,362 INFO MainThread:4158547 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:22,373 INFO MainThread:4158547 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:22,520 INFO MainThread:4158547 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:22,531 INFO MainThread:4158547 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:27,813 INFO MainThread:4158547 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:27,814 INFO MainThread:4158547 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:27,814 INFO MainThread:4158547 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:27,815 INFO MainThread:4158547 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:27,821 INFO MainThread:4158547 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/files/conda-environment.yaml b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/files/wandb-metadata.json b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3a1b2f3f8c33fc854818af9e639982663b1d01d6 --- /dev/null +++ b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/files/wandb-metadata.json @@ -0,0 +1,641 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:45.842170", + "startedAt": "2025-07-12T04:32:45.526832", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=false", + "seed=2", + "exp_name=tdmpc2_humanoid-walk_s2" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3248.2155267857133, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 2908.091, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2902.536, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2906.37, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2904.798, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2902.798, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2902.607, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2903.707, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2903.688, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2909.502, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2901.518, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2903.844, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2905.116, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2902.801, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2898.008, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2905.382, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2905.22, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2902.877, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2904.066, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2902.351, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2908.363, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2903.514, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2907.879, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2893.524, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.991, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2898.383, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2905.515, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2908.898, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2897.92, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2899.55, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2904.125, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2908.463, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2903.439, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2893.583, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2899.969, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2902.677, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2906.858, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2907.988, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2906.588, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2907.693, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2902.169, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2902.452, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2904.978, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2903.425, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2906.587, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2904.209, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2898.317, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2905.846, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2904.129, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2903.983, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2903.575, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2905.427, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2905.004, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.78009033203125 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/logs/debug.log b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..82ef7ab698def23c41a1d99fd2ba9440d75abc43 --- /dev/null +++ b/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:45,545 INFO MainThread:77318 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:45,546 INFO MainThread:77318 [wandb_setup.py:_flush():76] Configure stats pid to 77318 +2025-07-12 12:32:45,546 INFO MainThread:77318 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:45,546 INFO MainThread:77318 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:45,547 INFO MainThread:77318 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:45,547 INFO MainThread:77318 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:45,548 INFO MainThread:77318 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:45,548 INFO MainThread:77318 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/logs/debug.log +2025-07-12 12:32:45,548 INFO MainThread:77318 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/tdmpc2_humanoid-walk_s2/wandb/offline-run-20250712_123245-cjqafd4i/logs/debug-internal.log +2025-07-12 12:32:45,549 INFO MainThread:77318 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:45,549 INFO MainThread:77318 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_humanoid-walk_s2', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 2, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/2/tdmpc2_humanoid-walk_s2'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:45,550 INFO MainThread:77318 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:45,550 INFO MainThread:77318 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:45,559 INFO MainThread:77318 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:45,562 INFO MainThread:77318 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:45,577 INFO MainThread:77318 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:45,695 INFO MainThread:77318 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:45,704 INFO MainThread:77318 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:51,291 INFO MainThread:77318 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:51,291 INFO MainThread:77318 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:51,292 INFO MainThread:77318 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:51,292 INFO MainThread:77318 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:51,297 INFO MainThread:77318 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/30/4o_humanoid-walk_s30/eval.csv b/humanoid-walk/30/4o_humanoid-walk_s30/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..a7892010cf2f4ebe25a05764fd1be9c1f7edd372 --- /dev/null +++ b/humanoid-walk/30/4o_humanoid-walk_s30/eval.csv @@ -0,0 +1,10 @@ +step,episode_reward +0.0,1.2890547513961792 +50000.0,1.4819048643112183 +100000.0,0.956523597240448 +150000.0,1.3080790042877197 +200000.0,1.552156925201416 +250000.0,2.0075185298919678 +300000.0,1.757814645767212 +350000.0,2.583132266998291 +400000.0,1.7686485052108765 diff --git a/humanoid-walk/30/4o_humanoid-walk_s30/wandb/debug.log b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..db5640d7e7b2b4ba04ce1ff4ec3a75c1f65b496d --- /dev/null +++ b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,531 INFO MainThread:77340 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,532 INFO MainThread:77340 [wandb_setup.py:_flush():76] Configure stats pid to 77340 +2025-07-12 12:32:46,532 INFO MainThread:77340 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,532 INFO MainThread:77340 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,532 INFO MainThread:77340 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,533 INFO MainThread:77340 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,533 INFO MainThread:77340 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,533 INFO MainThread:77340 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/logs/debug.log +2025-07-12 12:32:46,534 INFO MainThread:77340 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/logs/debug-internal.log +2025-07-12 12:32:46,534 INFO MainThread:77340 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,534 INFO MainThread:77340 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_humanoid-walk_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/4o_humanoid-walk_s30'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,535 INFO MainThread:77340 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,535 INFO MainThread:77340 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,543 INFO MainThread:77340 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,545 INFO MainThread:77340 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,561 INFO MainThread:77340 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:46,675 INFO MainThread:77340 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:46,686 INFO MainThread:77340 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,529 INFO MainThread:77340 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,529 INFO MainThread:77340 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,530 INFO MainThread:77340 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,530 INFO MainThread:77340 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,533 INFO MainThread:77340 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250711_103420-pku2n4tn/files/conda-environment.yaml b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250711_103420-pku2n4tn/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250711_103420-pku2n4tn/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250711_103420-pku2n4tn/files/wandb-metadata.json b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250711_103420-pku2n4tn/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..fce77b67ad1ecc4a20cdfb6ad6065c216663f5ea --- /dev/null +++ b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250711_103420-pku2n4tn/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:20.941643", + "startedAt": "2025-07-11T02:34:20.010811", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=true", + "n_experts=4", + "seed=30", + "exp_name=4o_humanoid-walk_s30" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3366.6613482142857, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3191.185, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3211.838, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3213.081, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3176.567, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3211.986, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3223.537, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3223.641, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3194.148, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3204.347, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3224.065, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3217.125, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3177.869, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3186.41, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3210.818, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3191.72, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3225.866, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3226.798, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3226.632, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3226.926, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3227.345, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3233.005, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3217.176, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3187.758, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3239.394, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3231.425, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3217.916, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3229.549, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3234.087, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3220.811, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3187.454, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3198.061, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3244.834, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3240.435, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3235.616, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3235.845, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3236.271, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3165.349, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3236.526, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3207.016, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3176.372, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3237.051, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3188.986, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3233.327, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3232.893, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3191.638, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712200164794922 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250711_103420-pku2n4tn/logs/debug.log b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250711_103420-pku2n4tn/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..1ceeb2eb522c78221bdb428ab93e054859ed1723 --- /dev/null +++ b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250711_103420-pku2n4tn/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:20,029 INFO MainThread:4158569 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:20,030 INFO MainThread:4158569 [wandb_setup.py:_flush():76] Configure stats pid to 4158569 +2025-07-11 10:34:20,030 INFO MainThread:4158569 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:20,030 INFO MainThread:4158569 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:20,031 INFO MainThread:4158569 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:20,031 INFO MainThread:4158569 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:20,031 INFO MainThread:4158569 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:20,032 INFO MainThread:4158569 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250711_103420-pku2n4tn/logs/debug.log +2025-07-11 10:34:20,032 INFO MainThread:4158569 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250711_103420-pku2n4tn/logs/debug-internal.log +2025-07-11 10:34:20,032 INFO MainThread:4158569 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:20,033 INFO MainThread:4158569 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_humanoid-walk_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/4o_humanoid-walk_s30'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:20,033 INFO MainThread:4158569 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:20,034 INFO MainThread:4158569 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:20,042 INFO MainThread:4158569 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:20,044 INFO MainThread:4158569 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:20,056 INFO MainThread:4158569 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:20,184 INFO MainThread:4158569 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:20,194 INFO MainThread:4158569 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:25,526 INFO MainThread:4158569 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:25,527 INFO MainThread:4158569 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:25,527 INFO MainThread:4158569 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:25,528 INFO MainThread:4158569 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:25,532 INFO MainThread:4158569 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/files/conda-environment.yaml b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/files/wandb-metadata.json b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a15ac30f100f584084cc4c61b9471dee8d34e339 --- /dev/null +++ b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:46.843080", + "startedAt": "2025-07-12T04:32:46.512136", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=true", + "n_experts=4", + "seed=30", + "exp_name=4o_humanoid-walk_s30" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3347.242133928571, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3039.407, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3037.996, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3034.302, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3044.514, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3040.524, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3019.345, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3028.339, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3039.844, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3041.255, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3039.744, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3065.559, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3034.936, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3033.903, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3033.672, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3035.203, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3033.252, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3037.159, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3036.593, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3042.303, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3046.812, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3011.024, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3007.813, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3002.66, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3040.414, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3014.886, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3025.006, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3000.1, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3009.892, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3007.589, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3009.396, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2973.066, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3101.005, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3006.604, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3008.564, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3009.182, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2983.075, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3009.104, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3009.75, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3010.429, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3009.074, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.007, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.780128479003906 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/logs/debug.log b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..db5640d7e7b2b4ba04ce1ff4ec3a75c1f65b496d --- /dev/null +++ b/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:46,531 INFO MainThread:77340 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:46,532 INFO MainThread:77340 [wandb_setup.py:_flush():76] Configure stats pid to 77340 +2025-07-12 12:32:46,532 INFO MainThread:77340 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:46,532 INFO MainThread:77340 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:46,532 INFO MainThread:77340 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:46,533 INFO MainThread:77340 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:46,533 INFO MainThread:77340 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:46,533 INFO MainThread:77340 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/logs/debug.log +2025-07-12 12:32:46,534 INFO MainThread:77340 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/4o_humanoid-walk_s30/wandb/offline-run-20250712_123246-0xivf1uj/logs/debug-internal.log +2025-07-12 12:32:46,534 INFO MainThread:77340 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:46,534 INFO MainThread:77340 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_humanoid-walk_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/4o_humanoid-walk_s30'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:46,535 INFO MainThread:77340 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:46,535 INFO MainThread:77340 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:46,543 INFO MainThread:77340 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:46,545 INFO MainThread:77340 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:46,561 INFO MainThread:77340 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:46,675 INFO MainThread:77340 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:46,686 INFO MainThread:77340 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:52,529 INFO MainThread:77340 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:52,529 INFO MainThread:77340 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:52,530 INFO MainThread:77340 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:52,530 INFO MainThread:77340 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:52,533 INFO MainThread:77340 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/30/6o_humanoid-walk_s30/eval.csv b/humanoid-walk/30/6o_humanoid-walk_s30/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..41daf65bbbf3dcdbf5247637c04a99f4bc01472b --- /dev/null +++ b/humanoid-walk/30/6o_humanoid-walk_s30/eval.csv @@ -0,0 +1,7 @@ +step,episode_reward +0.0,1.2480497360229492 +50000.0,1.2043553590774536 +100000.0,0.7375649213790894 +150000.0,1.2526872158050537 +200000.0,1.2263433933258057 +250000.0,1.6742671728134155 diff --git a/humanoid-walk/30/6o_humanoid-walk_s30/wandb/debug.log b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..f81870a6aa2b5cb1c9df641fc80e624ce32153dd --- /dev/null +++ b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:44,258 INFO MainThread:77361 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:44,258 INFO MainThread:77361 [wandb_setup.py:_flush():76] Configure stats pid to 77361 +2025-07-12 12:32:44,259 INFO MainThread:77361 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:44,259 INFO MainThread:77361 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:44,259 INFO MainThread:77361 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:44,260 INFO MainThread:77361 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:44,260 INFO MainThread:77361 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:44,261 INFO MainThread:77361 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/logs/debug.log +2025-07-12 12:32:44,261 INFO MainThread:77361 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/logs/debug-internal.log +2025-07-12 12:32:44,261 INFO MainThread:77361 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:44,262 INFO MainThread:77361 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '6o_humanoid-walk_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 6, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/6o_humanoid-walk_s30'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:44,262 INFO MainThread:77361 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:44,262 INFO MainThread:77361 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:44,272 INFO MainThread:77361 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:44,274 INFO MainThread:77361 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:44,292 INFO MainThread:77361 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:44,424 INFO MainThread:77361 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:44,433 INFO MainThread:77361 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:49,608 INFO MainThread:77361 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:49,608 INFO MainThread:77361 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:49,609 INFO MainThread:77361 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:49,609 INFO MainThread:77361 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:49,614 INFO MainThread:77361 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250711_103413-43jk495b/files/conda-environment.yaml b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250711_103413-43jk495b/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250711_103413-43jk495b/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250711_103413-43jk495b/files/wandb-metadata.json b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250711_103413-43jk495b/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3163197438a5f06fe774b6a56f1dcc00834df2ea --- /dev/null +++ b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250711_103413-43jk495b/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:15.016399", + "startedAt": "2025-07-11T02:34:13.272570", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=true", + "n_experts=6", + "seed=30", + "exp_name=6o_humanoid-walk_s30" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3453.188294642856, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.994, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3054.11, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3077.81, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3076.272, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.968, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3063.386, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.002, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.006, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.994, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712200164794922 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250711_103413-43jk495b/logs/debug.log b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250711_103413-43jk495b/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..a62be0cbda858f3a37fbda916d9454d4aff5593b --- /dev/null +++ b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250711_103413-43jk495b/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:13,292 INFO MainThread:4158590 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:13,293 INFO MainThread:4158590 [wandb_setup.py:_flush():76] Configure stats pid to 4158590 +2025-07-11 10:34:13,293 INFO MainThread:4158590 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:13,294 INFO MainThread:4158590 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:13,294 INFO MainThread:4158590 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:13,294 INFO MainThread:4158590 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:13,294 INFO MainThread:4158590 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:13,295 INFO MainThread:4158590 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250711_103413-43jk495b/logs/debug.log +2025-07-11 10:34:13,295 INFO MainThread:4158590 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250711_103413-43jk495b/logs/debug-internal.log +2025-07-11 10:34:13,295 INFO MainThread:4158590 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:13,295 INFO MainThread:4158590 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '6o_humanoid-walk_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 6, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/6o_humanoid-walk_s30'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:13,296 INFO MainThread:4158590 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:13,296 INFO MainThread:4158590 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:13,304 INFO MainThread:4158590 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:13,306 INFO MainThread:4158590 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:13,315 INFO MainThread:4158590 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:13,432 INFO MainThread:4158590 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:13,437 INFO MainThread:4158590 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:19,231 INFO MainThread:4158590 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:19,232 INFO MainThread:4158590 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:19,232 INFO MainThread:4158590 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:19,233 INFO MainThread:4158590 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:19,236 INFO MainThread:4158590 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/files/conda-environment.yaml b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/files/wandb-metadata.json b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a710aa4d7537f00a1f9c82d728cb824f449ec827 --- /dev/null +++ b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:44.547978", + "startedAt": "2025-07-12T04:32:44.240182", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=true", + "n_experts=6", + "seed=30", + "exp_name=6o_humanoid-walk_s30" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3302.8466160714283, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3034.033, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3033.757, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3054.279, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3035.179, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3033.506, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.605, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.006, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3028.666, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.596, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3032.747, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3033.109, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3039.544, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3044.752, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3031.796, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3032.897, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3041.102, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3029.379, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3031.062, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3032.595, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3034.277, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3033.524, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3034.279, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.994, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3028.605, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.749, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.758, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.723, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3041.708, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.632, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.081, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.52, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3051.381, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.37, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.275, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3052.963, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3030.188, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3034.217, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3028.682, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3028.382, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3035.644, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3028.756, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3029.865, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.78009033203125 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/logs/debug.log b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..f81870a6aa2b5cb1c9df641fc80e624ce32153dd --- /dev/null +++ b/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:44,258 INFO MainThread:77361 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:44,258 INFO MainThread:77361 [wandb_setup.py:_flush():76] Configure stats pid to 77361 +2025-07-12 12:32:44,259 INFO MainThread:77361 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:44,259 INFO MainThread:77361 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:44,259 INFO MainThread:77361 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:44,260 INFO MainThread:77361 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:44,260 INFO MainThread:77361 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:44,261 INFO MainThread:77361 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/logs/debug.log +2025-07-12 12:32:44,261 INFO MainThread:77361 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/6o_humanoid-walk_s30/wandb/offline-run-20250712_123244-6tsahqnc/logs/debug-internal.log +2025-07-12 12:32:44,261 INFO MainThread:77361 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:44,262 INFO MainThread:77361 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '6o_humanoid-walk_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 6, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/6o_humanoid-walk_s30'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:44,262 INFO MainThread:77361 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:44,262 INFO MainThread:77361 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:44,272 INFO MainThread:77361 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:44,274 INFO MainThread:77361 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:44,292 INFO MainThread:77361 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:44,424 INFO MainThread:77361 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:44,433 INFO MainThread:77361 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:49,608 INFO MainThread:77361 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:49,608 INFO MainThread:77361 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:49,609 INFO MainThread:77361 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:49,609 INFO MainThread:77361 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:49,614 INFO MainThread:77361 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/30/tdmpc2_humanoid-walk_s30/eval.csv b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..124fc1a07f4eb68b957f187867188418bd1a8812 --- /dev/null +++ b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/eval.csv @@ -0,0 +1,28 @@ +step,episode_reward +0.0,1.4932159185409546 +50000.0,1.7331326007843018 +100000.0,1.0719239711761475 +150000.0,1.445556402206421 +200000.0,1.5600559711456299 +250000.0,2.114952564239502 +300000.0,2.1012916564941406 +350000.0,2.9128992557525635 +400000.0,2.144716262817383 +450000.0,2.3055579662323 +500000.0,2.0395655632019043 +550000.0,2.2706212997436523 +600000.0,2.594409942626953 +650000.0,2.198967456817627 +700000.0,2.655754327774048 +750000.0,2.6322131156921387 +800000.0,2.0058043003082275 +850000.0,2.311014175415039 +900000.0,2.6550095081329346 +950000.0,2.156867265701294 +1000000.0,3.3498966693878174 +1050000.0,2.1827328205108643 +1100000.0,2.6954691410064697 +1150000.0,3.472252607345581 +1200000.0,2.657400369644165 +1250000.0,2.9405672550201416 +1300000.0,3.2909858226776123 diff --git a/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/debug.log b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..e28bbcd32b5ec46363d08b53a79128ffc2cf5836 --- /dev/null +++ b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:43,047 INFO MainThread:77319 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:43,048 INFO MainThread:77319 [wandb_setup.py:_flush():76] Configure stats pid to 77319 +2025-07-12 12:32:43,048 INFO MainThread:77319 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:43,048 INFO MainThread:77319 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:43,048 INFO MainThread:77319 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:43,049 INFO MainThread:77319 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:43,049 INFO MainThread:77319 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:43,049 INFO MainThread:77319 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/logs/debug.log +2025-07-12 12:32:43,050 INFO MainThread:77319 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/logs/debug-internal.log +2025-07-12 12:32:43,050 INFO MainThread:77319 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:43,050 INFO MainThread:77319 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_humanoid-walk_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/tdmpc2_humanoid-walk_s30'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:43,050 INFO MainThread:77319 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:43,051 INFO MainThread:77319 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:43,059 INFO MainThread:77319 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:43,061 INFO MainThread:77319 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:43,075 INFO MainThread:77319 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:43,203 INFO MainThread:77319 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:43,212 INFO MainThread:77319 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:48,493 INFO MainThread:77319 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:48,494 INFO MainThread:77319 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:48,494 INFO MainThread:77319 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:48,494 INFO MainThread:77319 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:48,498 INFO MainThread:77319 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250711_103423-656t8k9y/files/conda-environment.yaml b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250711_103423-656t8k9y/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250711_103423-656t8k9y/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250711_103423-656t8k9y/files/wandb-metadata.json b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250711_103423-656t8k9y/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..93503b33e49333f527d4dd14a2258e3db23d77cf --- /dev/null +++ b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250711_103423-656t8k9y/files/wandb-metadata.json @@ -0,0 +1,641 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:23.921230", + "startedAt": "2025-07-11T02:34:23.608329", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=false", + "seed=30", + "exp_name=tdmpc2_humanoid-walk_s30" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3264.160071428571, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 2980.423, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2979.358, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2975.632, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2976.943, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2977.2, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2980.397, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2979.85, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2978.675, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2979.871, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2978.756, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2979.721, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2974.672, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2977.871, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2977.283, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2981.103, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2983.341, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2981.981, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2981.848, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2983.439, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.997, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.988, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2979.794, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2979.52, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2973.602, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2985.901, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2978.371, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2979.858, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2980.065, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2985.278, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2990.619, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2984.822, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2978.525, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2980.074, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2986.143, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2985.944, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2981.268, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2969.38, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2980.26, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2988.164, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2978.688, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2982.191, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2978.568, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2983.756, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712211608886719 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250711_103423-656t8k9y/logs/debug.log b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250711_103423-656t8k9y/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..4bf0add297a0f5a477895e2c543258780397194e --- /dev/null +++ b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250711_103423-656t8k9y/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-11 10:34:23,628 INFO MainThread:4158548 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-11 10:34:23,629 INFO MainThread:4158548 [wandb_setup.py:_flush():76] Configure stats pid to 4158548 +2025-07-11 10:34:23,629 INFO MainThread:4158548 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-11 10:34:23,630 INFO MainThread:4158548 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-11/10-34-07/wandb/settings +2025-07-11 10:34:23,630 INFO MainThread:4158548 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-11 10:34:23,630 INFO MainThread:4158548 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-11 10:34:23,631 INFO MainThread:4158548 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-11 10:34:23,631 INFO MainThread:4158548 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250711_103423-656t8k9y/logs/debug.log +2025-07-11 10:34:23,632 INFO MainThread:4158548 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250711_103423-656t8k9y/logs/debug-internal.log +2025-07-11 10:34:23,632 INFO MainThread:4158548 [wandb_init.py:init():569] calling init triggers +2025-07-11 10:34:23,632 INFO MainThread:4158548 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_humanoid-walk_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/tdmpc2_humanoid-walk_s30'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-11 10:34:23,633 INFO MainThread:4158548 [wandb_init.py:init():619] starting backend +2025-07-11 10:34:23,633 INFO MainThread:4158548 [wandb_init.py:init():623] setting up manager +2025-07-11 10:34:23,642 INFO MainThread:4158548 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-11 10:34:23,644 INFO MainThread:4158548 [wandb_init.py:init():631] backend started and connected +2025-07-11 10:34:23,659 INFO MainThread:4158548 [wandb_init.py:init():720] updated telemetry +2025-07-11 10:34:23,771 INFO MainThread:4158548 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-11 10:34:23,781 INFO MainThread:4158548 [wandb_init.py:init():804] starting run threads in backend +2025-07-11 10:34:29,165 INFO MainThread:4158548 [wandb_run.py:_console_start():2380] atexit reg +2025-07-11 10:34:29,165 INFO MainThread:4158548 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-11 10:34:29,165 INFO MainThread:4158548 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-11 10:34:29,166 INFO MainThread:4158548 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-11 10:34:29,170 INFO MainThread:4158548 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/files/conda-environment.yaml b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/files/conda-environment.yaml new file mode 100644 index 0000000000000000000000000000000000000000..695c0c986d659781f01622e0d4c911aeecee78f5 --- /dev/null +++ b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/files/conda-environment.yaml @@ -0,0 +1,190 @@ +name: moore +channels: + - conda-forge + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/pytorch/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/ + - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/ + - defaults +dependencies: + - _libgcc_mutex=0.1=conda_forge + - _openmp_mutex=4.5=2_gnu + - bzip2=1.0.8=h4bc722e_7 + - ca-certificates=2025.6.15=hbd8a1cb_0 + - cloudpickle=3.1.1=pyhd8ed1ab_0 + - gettext=0.24.1=h5888daf_0 + - gettext-tools=0.24.1=h5888daf_0 + - glew=2.2.0=hcfb9eae_1 + - glib=2.78.4=hf2295e7_4 + - glib-tools=2.78.4=hde27a5a_4 + - gym=0.21.0=py39hef51801_2 + - ld_impl_linux-64=2.43=h1423503_5 + - libasprintf=0.24.1=h8e693c7_0 + - libasprintf-devel=0.24.1=h8e693c7_0 + - libblas=3.9.0=31_h59b9bed_openblas + - libcblas=3.9.0=31_he106b2a_openblas + - libegl=1.7.0=ha4b6fd6_2 + - libexpat=2.7.0=h5888daf_0 + - libffi=3.4.6=h2dba641_1 + - libgcc=15.1.0=h767d61c_2 + - libgcc-ng=15.1.0=h69a702a_2 + - libgettextpo=0.24.1=h5888daf_0 + - libgettextpo-devel=0.24.1=h5888daf_0 + - libgfortran=15.1.0=h69a702a_2 + - libgfortran5=15.1.0=hcea5267_2 + - libgl=1.7.0=ha4b6fd6_2 + - libglib=2.78.4=hf2295e7_4 + - libglu=9.0.3=h5888daf_1 + - libglvnd=1.7.0=ha4b6fd6_2 + - libglx=1.7.0=ha4b6fd6_2 + - libgomp=15.1.0=h767d61c_2 + - libiconv=1.18=h4ce23a2_1 + - liblapack=3.9.0=31_h7ac8fdf_openblas + - liblzma=5.8.1=hb9d3cd8_2 + - libnsl=2.0.1=hd590300_0 + - libopenblas=0.3.29=pthreads_h94d23a6_0 + - libopengl=1.7.0=ha4b6fd6_2 + - libsqlite=3.50.1=hee588c1_0 + - libstdcxx=15.1.0=h8f9b012_2 + - libstdcxx-ng=15.1.0=h4852527_2 + - libuuid=2.38.1=h0b41bf4_0 + - libxcb=1.17.0=h8a09558_0 + - libxcrypt=4.4.36=hd590300_1 + - libzlib=1.3.1=hb9d3cd8_2 + - ncurses=6.5=h2d0b736_3 + - openssl=3.5.0=h7b32b05_1 + - pcre2=10.43=hcad00b1_0 + - pip=24.0=pyhd8ed1ab_0 + - pthread-stubs=0.4=hb9d3cd8_1002 + - python=3.9.23=hc30ae73_0_cpython + - python_abi=3.9=7_cp39 + - readline=8.2=h8c095d6_2 + - setuptools=80.9.0=pyhff2d567_0 + - tk=8.6.13=noxft_hd72426e_102 + - wheel=0.45.1=pyhd8ed1ab_1 + - xorg-libx11=1.8.12=h4f16b4b_0 + - xorg-libxau=1.0.12=hb9d3cd8_0 + - xorg-libxdmcp=1.1.5=hb9d3cd8_0 + - pip: + - absl-py==2.3.0 + - aiohappyeyeballs==2.6.1 + - aiohttp==3.12.13 + - aiosignal==1.3.2 + - antlr4-python3-runtime==4.9.3 + - async-timeout==5.0.1 + - attrs==25.3.0 + - certifi==2025.6.15 + - charset-normalizer==3.4.2 + - click==8.1.8 + - contextlib2==21.6.0 + - contourpy==1.3.0 + - cycler==0.12.1 + - decorator==4.4.2 + - dm-control==1.0.16 + - dm-env==1.6 + - dm-tree==0.1.8 + - docker-pycreds==0.4.0 + - etils==1.5.2 + - farama-notifications==0.0.4 + - ffmpeg==1.4 + - filelock==3.18.0 + - fonttools==4.58.4 + - frozenlist==1.7.0 + - fsspec==2025.5.1 + - gitdb==4.0.12 + - gitpython==3.1.44 + - glfw==2.7.0 + - grpcio==1.73.0 + - gymnasium==1.1.1 + - h5py==3.11.0 + - hf-xet==1.1.4 + - huggingface-hub==0.33.0 + - hydra-core==1.3.2 + - hydra-submitit-launcher==1.2.0 + - idna==3.10 + - imageio==2.34.1 + - imageio-ffmpeg==0.4.9 + - importlib-metadata==8.7.0 + - importlib-resources==6.5.2 + - inquirerpy==0.3.4 + - jinja2==3.1.6 + - kiwisolver==1.4.7 + - kornia==0.7.2 + - kornia-rs==0.1.9 + - labmaze==1.0.6 + - lightning-utilities==0.14.3 + - lxml==5.4.0 + - markdown==3.8 + - markupsafe==3.0.2 + - matplotlib==3.9.4 + - ml-collections==0.1.1 + - mocapact==0.1 + - moviepy==1.0.3 + - mpmath==1.3.0 + - mujoco==3.1.2 + - multidict==6.4.4 + - networkx==3.2.1 + - numpy==1.24.4 + - nvidia-cublas-cu12==12.6.4.1 + - nvidia-cuda-cupti-cu12==12.6.80 + - nvidia-cuda-nvrtc-cu12==12.6.77 + - nvidia-cuda-runtime-cu12==12.6.77 + - nvidia-cudnn-cu12==9.5.1.17 + - nvidia-cufft-cu12==11.3.0.4 + - nvidia-cufile-cu12==1.11.1.6 + - nvidia-curand-cu12==10.3.7.77 + - nvidia-cusolver-cu12==11.7.1.2 + - nvidia-cusparse-cu12==12.5.4.2 + - nvidia-cusparselt-cu12==0.6.3 + - nvidia-nccl-cu12==2.26.2 + - nvidia-nvjitlink-cu12==12.6.85 + - nvidia-nvtx-cu12==12.6.77 + - omegaconf==2.3.0 + - orjson==3.10.18 + - packaging==25.0 + - pandas==2.0.3 + - pfzy==0.3.4 + - pillow==11.2.1 + - platformdirs==4.3.8 + - proglog==0.1.12 + - prompt-toolkit==3.0.51 + - propcache==0.3.2 + - protobuf==3.20.1 + - psutil==7.0.0 + - pydeprecate==0.3.2 + - pyopengl==3.1.9 + - pyparsing==3.2.3 + - python-dateutil==2.9.0.post0 + - pytorch-lightning==1.6.5.post0 + - pytz==2025.2 + - pyyaml==6.0.2 + - requests==2.32.4 + - scipy==1.13.1 + - sentry-sdk==2.30.0 + - setproctitle==1.3.6 + - shimmy==2.0.0 + - six==1.17.0 + - smmap==5.0.2 + - stable-baselines3==2.6.0 + - submitit==1.5.1 + - sympy==1.14.0 + - tensorboard==2.19.0 + - tensorboard-data-server==0.7.2 + - tensordict==0.8.3 + - termcolor==2.4.0 + - torch==2.7.1 + - torchaudio==2.7.1+cu118 + - torchmetrics==1.7.3 + - torchrl==0.8.1 + - torchvision==0.22.1+cu118 + - tqdm==4.66.4 + - triton==3.3.1 + - typing-extensions==4.14.0 + - tzdata==2025.2 + - urllib3==2.4.0 + - wandb==0.17.4 + - wcwidth==0.2.13 + - werkzeug==3.1.3 + - yarl==1.20.1 + - zipp==3.23.0 +prefix: /ceph/home/songchun01/miniconda3/envs/moore diff --git a/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/files/wandb-metadata.json b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5c0a03cc3750ef60e6046d96521547c7400894d5 --- /dev/null +++ b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/files/wandb-metadata.json @@ -0,0 +1,641 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-12T04:32:43.535612", + "startedAt": "2025-07-12T04:32:43.028083", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=false", + "seed=30", + "exp_name=tdmpc2_humanoid-walk_s30" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3373.939830357144, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 3086.005, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3094.108, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3090.682, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3063.695, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3086.05, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3078.62, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3080.703, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3072.548, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3085.242, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3081.695, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3063.974, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3086.117, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3086.114, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3060.1, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3086.117, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3061.031, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3132.403, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3076.233, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3082.665, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.001, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.006, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3082.279, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.602, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.652, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3082.355, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3086.211, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3084.727, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3088.942, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3074.195, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3085.647, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3090.363, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3090.833, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3085.308, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3074.736, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3084.953, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3084.744, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3064.48, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3075.73, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3085.122, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3087.145, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3090.183, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3399.998, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.78009033203125 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/logs/debug.log b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..e28bbcd32b5ec46363d08b53a79128ffc2cf5836 --- /dev/null +++ b/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/logs/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:43,047 INFO MainThread:77319 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:43,048 INFO MainThread:77319 [wandb_setup.py:_flush():76] Configure stats pid to 77319 +2025-07-12 12:32:43,048 INFO MainThread:77319 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:43,048 INFO MainThread:77319 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:43,048 INFO MainThread:77319 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:43,049 INFO MainThread:77319 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:43,049 INFO MainThread:77319 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:43,049 INFO MainThread:77319 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/logs/debug.log +2025-07-12 12:32:43,050 INFO MainThread:77319 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/tdmpc2_humanoid-walk_s30/wandb/offline-run-20250712_123243-nuncgxd6/logs/debug-internal.log +2025-07-12 12:32:43,050 INFO MainThread:77319 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:43,050 INFO MainThread:77319 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': 'tdmpc2_humanoid-walk_s30', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': False, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 30, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/30/tdmpc2_humanoid-walk_s30'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:43,050 INFO MainThread:77319 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:43,051 INFO MainThread:77319 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:43,059 INFO MainThread:77319 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:43,061 INFO MainThread:77319 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:43,075 INFO MainThread:77319 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:43,203 INFO MainThread:77319 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:43,212 INFO MainThread:77319 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:48,493 INFO MainThread:77319 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:48,494 INFO MainThread:77319 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:48,494 INFO MainThread:77319 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:48,494 INFO MainThread:77319 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:48,498 INFO MainThread:77319 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/42/4o_humanoid-walk_s42/eval.csv b/humanoid-walk/42/4o_humanoid-walk_s42/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..f0d424d525eaafe93836632f3628bde1863b94f2 --- /dev/null +++ b/humanoid-walk/42/4o_humanoid-walk_s42/eval.csv @@ -0,0 +1,10 @@ +step,episode_reward +0.0,0.7990096807479858 +50000.0,1.1162405014038086 +100000.0,1.397644281387329 +150000.0,0.9693971872329712 +200000.0,1.800586462020874 +250000.0,2.0207791328430176 +300000.0,2.5020413398742676 +350000.0,1.8007161617279053 +400000.0,1.9246734380722046 diff --git a/humanoid-walk/42/4o_humanoid-walk_s42/wandb/debug.log b/humanoid-walk/42/4o_humanoid-walk_s42/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..06a6eddde4a12af1941f6a0557fe1f5ae844f250 --- /dev/null +++ b/humanoid-walk/42/4o_humanoid-walk_s42/wandb/debug.log @@ -0,0 +1,24 @@ +2025-07-12 12:32:40,698 INFO MainThread:77341 [wandb_setup.py:_flush():76] Current SDK version is 0.17.4 +2025-07-12 12:32:40,699 INFO MainThread:77341 [wandb_setup.py:_flush():76] Configure stats pid to 77341 +2025-07-12 12:32:40,699 INFO MainThread:77341 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/.config/wandb/settings +2025-07-12 12:32:40,699 INFO MainThread:77341 [wandb_setup.py:_flush():76] Loading settings from /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/outputs/2025-07-12/12-32-30/wandb/settings +2025-07-12 12:32:40,700 INFO MainThread:77341 [wandb_setup.py:_flush():76] Loading settings from environment variables: {'mode': 'offline', 'silent': 'false'} +2025-07-12 12:32:40,700 INFO MainThread:77341 [wandb_setup.py:_flush():76] Applying setup settings: {'_disable_service': False} +2025-07-12 12:32:40,700 INFO MainThread:77341 [wandb_setup.py:_flush():76] Inferring run settings from compute environment: {'program_relpath': 'tdmpc2/train.py', 'program_abspath': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py', 'program': '/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py'} +2025-07-12 12:32:40,701 INFO MainThread:77341 [wandb_init.py:_log_setup():529] Logging user logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/42/4o_humanoid-walk_s42/wandb/offline-run-20250712_123240-4ezhtjz2/logs/debug.log +2025-07-12 12:32:40,701 INFO MainThread:77341 [wandb_init.py:_log_setup():530] Logging internal logs to /ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/42/4o_humanoid-walk_s42/wandb/offline-run-20250712_123240-4ezhtjz2/logs/debug-internal.log +2025-07-12 12:32:40,701 INFO MainThread:77341 [wandb_init.py:init():569] calling init triggers +2025-07-12 12:32:40,702 INFO MainThread:77341 [wandb_init.py:init():576] wandb.init called with sweep_config: {} +config: {'task': 'humanoid-walk', 'obs': 'state', 'episodic': False, 'checkpoint': '???', 'eval_episodes': 10, 'eval_freq': 50000, 'trainer': 'online', 'steps': 4000000, 'batch_size': 256, 'reward_coef': 0.1, 'value_coef': 0.1, 'termination_coef': 1, 'consistency_coef': 20, 'rho': 0.5, 'lr': 0.0003, 'enc_lr_scale': 0.3, 'grad_clip_norm': 20, 'tau': 0.01, 'discount_denom': 5, 'discount_min': 0.95, 'discount_max': 0.995, 'buffer_size': 1000000, 'exp_name': '4o_humanoid-walk_s42', 'data_dir': '/media/levi/Singe4linux/Moore-TDMPC/TDMPC2/data/mt30', 'manager': {'goal_interval': 10, 'hidden_dim': 512, 'ent_coef': 0.01, 'lr': 0.0003, 'gamma': 0.99, 'lam': 0.95, 'tau': 0.005, 'intrinsic_coef': 0.1}, 'goal_vae': {'n_latents': 8, 'n_classes': 8, 'tau_start': 1.0, 'tau_end': 0.1, 'anneal_steps': 100000, 'beta': 1.0, 'lr': 0.0003}, 'mpc': True, 'iterations': 8, 'num_samples': 512, 'num_elites': 64, 'num_pi_trajs': 24, 'horizon': 3, 'min_std': 0.05, 'max_std': 2, 'temperature': 0.5, 'log_std_min': -10, 'log_std_max': 2, 'entropy_coef': 0.0001, 'num_bins': 101, 'vmin': -10, 'vmax': 10, 'use_moe': True, 'n_experts': 4, 'use_orthogonal': True, 'moe_tau_init': 1.8, 'moe_tau_min': 0.5, 'moe_tau_max': 2.0, 'moe_beta': 0.02, 'moe_lb_alpha': 0.03, 'moe_freeze_frac': 0.05, 'model_size': '???', 'num_enc_layers': 2, 'enc_dim': 256, 'num_channels': 32, 'mlp_dim': 512, 'latent_dim': 512, 'task_dim': 0, 'num_q': 5, 'dropout': 0.01, 'simnorm_dim': 8, 'wandb_project': 'mani_skill', 'wandb_entity': 'OA-MBRL', 'wandb_silent': False, 'disable_wandb': False, 'save_csv': True, 'visualize_experts': True, 'viz_interval': 10000, 'compile': False, 'save_video': False, 'save_agent': True, 'seed': 42, 'work_dir': PosixPath('/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/logs/humanoid-walk/42/4o_humanoid-walk_s42'), 'task_title': 'Humanoid Walk', 'multitask': False, 'tasks': ['humanoid-walk'], 'obs_shape': {'state': [67]}, 'action_dim': 21, 'episode_length': 500, 'obs_shapes': '???', 'action_dims': '???', 'episode_lengths': '???', 'seed_steps': 2500, 'bin_size': 0.2} +2025-07-12 12:32:40,702 INFO MainThread:77341 [wandb_init.py:init():619] starting backend +2025-07-12 12:32:40,702 INFO MainThread:77341 [wandb_init.py:init():623] setting up manager +2025-07-12 12:32:40,712 INFO MainThread:77341 [backend.py:_multiprocessing_setup():105] multiprocessing start_methods=fork,spawn,forkserver, using: spawn +2025-07-12 12:32:40,715 INFO MainThread:77341 [wandb_init.py:init():631] backend started and connected +2025-07-12 12:32:40,727 INFO MainThread:77341 [wandb_init.py:init():720] updated telemetry +2025-07-12 12:32:40,847 INFO MainThread:77341 [wandb_init.py:init():753] communicating run to backend with 90.0 second timeout +2025-07-12 12:32:40,856 INFO MainThread:77341 [wandb_init.py:init():804] starting run threads in backend +2025-07-12 12:32:47,075 INFO MainThread:77341 [wandb_run.py:_console_start():2380] atexit reg +2025-07-12 12:32:47,075 INFO MainThread:77341 [wandb_run.py:_redirect():2235] redirect: wrap_raw +2025-07-12 12:32:47,076 INFO MainThread:77341 [wandb_run.py:_redirect():2300] Wrapping output streams. +2025-07-12 12:32:47,076 INFO MainThread:77341 [wandb_run.py:_redirect():2325] Redirects installed. +2025-07-12 12:32:47,079 INFO MainThread:77341 [wandb_init.py:init():847] run started, returning control to user process diff --git a/humanoid-walk/42/4o_humanoid-walk_s42/wandb/offline-run-20250711_103423-zp8agv49/files/wandb-metadata.json b/humanoid-walk/42/4o_humanoid-walk_s42/wandb/offline-run-20250711_103423-zp8agv49/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..061902b8cdd93b60fd74a397a500e1582d7be849 --- /dev/null +++ b/humanoid-walk/42/4o_humanoid-walk_s42/wandb/offline-run-20250711_103423-zp8agv49/files/wandb-metadata.json @@ -0,0 +1,642 @@ +{ + "os": "Linux-4.18.0-372.9.1.el8.x86_64-x86_64-with-glibc2.28", + "python": "3.9.23", + "heartbeatAt": "2025-07-11T02:34:23.850385", + "startedAt": "2025-07-11T02:34:23.557050", + "docker": null, + "cuda": null, + "args": [ + "task=humanoid-walk", + "use_moe=true", + "n_experts=4", + "seed=42", + "exp_name=4o_humanoid-walk_s42" + ], + "state": "running", + "program": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2/tdmpc2/train.py", + "codePathLocal": null, + "codePath": "tdmpc2/train.py", + "git": { + "remote": "https://github.com/SC-Levi/boya_tdmpc2.git", + "commit": "467cca1d32da4cca3dd506435c2f5ceadfc564e0" + }, + "email": "sc_levi@163.com", + "root": "/ceph/home/songchun01/xiaoyuan/boya_tdmpc2", + "host": "node007", + "username": "songchun01", + "executable": "/ceph/home/songchun01/miniconda3/envs/moore/bin/python", + "cpu_count": 56, + "cpu_count_logical": 112, + "cpu_freq": { + "current": 3307.2060000000006, + "min": 800.0, + "max": 3500.0 + }, + "cpu_freq_per_core": [ + { + "current": 2953.55, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2955.556, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2955.116, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2956.603, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2989.054, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2964.827, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2957.363, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2966.827, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2955.245, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2954.23, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2958.29, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2972.212, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2963.807, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2952.012, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2960.654, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2958.703, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2971.605, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2958.663, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2961.284, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2958.022, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2973.692, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2955.248, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.003, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3400.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2955.784, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2958.583, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2967.901, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2958.369, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2959.822, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2960.379, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2947.688, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2950.025, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2956.695, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2962.332, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2972.203, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2959.596, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2951.505, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2971.252, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2959.89, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2977.547, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2960.904, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2963.998, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2946.752, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2963.689, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2958.658, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 2961.866, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + }, + { + "current": 3500.0, + "min": 800.0, + "max": 3500.0 + } + ], + "disk": { + "/": { + "total": 100.0, + "used": 15.712207794189453 + } + }, + "gpu": "NVIDIA GeForce RTX 3090", + "gpu_count": 8, + "gpu_devices": [ + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + }, + { + "name": "NVIDIA GeForce RTX 3090", + "memory_total": 25769803776 + } + ], + "memory": { + "total": 377.28556060791016 + } +} diff --git a/humanoid-walk/42/6o_humanoid-walk_s42/eval.csv b/humanoid-walk/42/6o_humanoid-walk_s42/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..1001278c4b220163e3dfcf0a654f170a54b41006 --- /dev/null +++ b/humanoid-walk/42/6o_humanoid-walk_s42/eval.csv @@ -0,0 +1,6 @@ +step,episode_reward +0.0,0.9657846689224243 +50000.0,1.0637425184249878 +100000.0,1.5132603645324707 +150000.0,1.2225744724273682 +200000.0,1.7859232425689697 diff --git a/humanoid-walk/42/tdmpc2_humanoid-walk_s42/eval.csv b/humanoid-walk/42/tdmpc2_humanoid-walk_s42/eval.csv new file mode 100644 index 0000000000000000000000000000000000000000..1a0ab08e573994112b7d64383f905d7c7a7686ed --- /dev/null +++ b/humanoid-walk/42/tdmpc2_humanoid-walk_s42/eval.csv @@ -0,0 +1,27 @@ +step,episode_reward +0.0,0.8478426933288574 +50000.0,1.1799147129058838 +100000.0,1.488938331604004 +150000.0,1.50412917137146 +200000.0,2.365596055984497 +250000.0,7.275668144226074 +300000.0,46.05113983154297 +350000.0,100.97367095947266 +400000.0,132.95355224609375 +450000.0,191.9296875 +500000.0,229.3896484375 +550000.0,326.5589904785156 +600000.0,391.1448974609375 +650000.0,430.9747619628906 +700000.0,442.16253662109375 +750000.0,517.6412353515625 +800000.0,506.9576110839844 +850000.0,528.8384399414062 +900000.0,576.5017700195312 +950000.0,550.52880859375 +1000000.0,613.7737426757812 +1050000.0,608.5997924804688 +1100000.0,628.6959838867188 +1150000.0,648.8656616210938 +1200000.0,661.2129516601562 +1250000.0,645.3452758789062