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PARTNER_POP_SIZE: 5 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 38410 + NUM_ENVS_SP: 32 + NUM_ENVS_XP: 32 + XP_LOSS_WEIGHTS: 10 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + TOTAL_TIMESTEPS: 60000000.0 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + NUM_CHECKPOINTS: 5 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false +logger: + load_dir: brdiv + project: open-ended-aht + entity: aht-project + mode: online + verbose: true + log_train_out: true +local_logger: + save_figures: false + save_train_out: true diff --git a/lbf/brdiv/2025-04-16/11-32-07/.hydra/hydra.yaml b/lbf/brdiv/2025-04-16/11-32-07/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e1f58cd26a3da02488afefac14b3d320384178c4 --- /dev/null +++ b/lbf/brdiv/2025-04-16/11-32-07/.hydra/hydra.yaml @@ -0,0 +1,155 @@ +hydra: + run: + dir: eval_teammates/${ENV_NAME}/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + sweep: + dir: results_sweep/${ENV_NAME}/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: [] + job: + name: run + chdir: true + override_dirname: '' + id: ??? + num: ??? + config_name: brdiv + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/continual-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/continual-aht/eval_teammates/lbf/brdiv/2025-04-16/11-32-07 + choices: + hydra: hydra_simple + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/lbf/brdiv/2025-04-16/11-32-07/.hydra/overrides.yaml b/lbf/brdiv/2025-04-16/11-32-07/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe51488c7066f6687ef680d6bfaa4f7768ef205c --- /dev/null +++ b/lbf/brdiv/2025-04-16/11-32-07/.hydra/overrides.yaml @@ -0,0 +1 @@ +[] diff --git a/lbf/brdiv/2025-04-16/11-32-07/run.log b/lbf/brdiv/2025-04-16/11-32-07/run.log new file mode 100644 index 0000000000000000000000000000000000000000..bb5425fc80305552a8ef8083bf339ec39ec4fe2f --- /dev/null +++ b/lbf/brdiv/2025-04-16/11-32-07/run.log @@ -0,0 +1,2 @@ +[2025-04-16 11:32:09,994][BRDiv][INFO] - Starting BRDiv training... +[2025-04-16 11:43:11,845][BRDiv][INFO] - BRDiv training complete in 661.8501605987549 seconds diff --git a/lbf/brdiv/2025-04-16/11-32-07/saved_train_run/_CHECKPOINT_METADATA b/lbf/brdiv/2025-04-16/11-32-07/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 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0000000000000000000000000000000000000000..b24975141f0b74c538c7d0ead41206aa313433b7 --- /dev/null +++ b/lbf/brdiv/2025-04-23/13-48-47/.hydra/config.yaml @@ -0,0 +1,193 @@ +task: + ENV_NAME: lbf + ROLLOUT_LENGTH: 128 + ENV_KWARGS: {} + TASK_NAME: lbf +algorithm: + ALG: brdiv + TOTAL_TIMESTEPS: 60000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 3 + NUM_ENVS_SP: 32 + NUM_ENVS_XP: 32 + XP_LOSS_WEIGHTS: 10 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 20374 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 1000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.0001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: true + ippo_mlp_s2c1: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 1 + test_mode: true + brdiv-conf: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + overcooked-v1/cramped_room: + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + brdiv-br: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_br + POP_SIZE: 4 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/counter_circuit: + ippo_mlp: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: true +run_heldout_eval: true +name: ${TASK_NAME}/${algorithm.ALG} +logger: + project: open-ended-aht + entity: aht-project + mode: online + verbose: true + log_train_out: true + log_eval_out: true +local_logger: + save_figures: false + save_train_out: true + save_eval_out: true diff --git a/lbf/brdiv/2025-04-23/13-48-47/.hydra/hydra.yaml b/lbf/brdiv/2025-04-23/13-48-47/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0f169e6765b126bcd285814ff660c20327f89012 --- /dev/null +++ b/lbf/brdiv/2025-04-23/13-48-47/.hydra/hydra.yaml @@ -0,0 +1,159 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=lbf + job: + name: run + chdir: true + override_dirname: task=lbf + id: ??? + num: ??? + config_name: base_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/continual-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/continual-aht/results/lbf/brdiv/2025-04-23/13-48-47 + choices: + hydra: hydra_simple + task: lbf + algorithm@ego_train_algorithm: ego_ppo/lbf + algorithm: brdiv/lbf + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/lbf/brdiv/2025-04-23/13-48-47/.hydra/overrides.yaml b/lbf/brdiv/2025-04-23/13-48-47/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8103ccd6903f0f4fac9d034da9e52666e51a620 --- /dev/null +++ b/lbf/brdiv/2025-04-23/13-48-47/.hydra/overrides.yaml @@ -0,0 +1 @@ +- task=lbf diff --git a/lbf/brdiv/2025-04-23/13-48-47/ego_train_run/_CHECKPOINT_METADATA b/lbf/brdiv/2025-04-23/13-48-47/ego_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..ec0e2a023f88dfcb62ec9418c4fe50b71d285f56 --- /dev/null +++ b/lbf/brdiv/2025-04-23/13-48-47/ego_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1745435115103187946, "commit_timestamp_nsecs": 1745435115310387042, "custom": {}} \ No newline at end of file diff --git a/lbf/brdiv/2025-04-23/13-48-47/ego_train_run/_METADATA b/lbf/brdiv/2025-04-23/13-48-47/ego_train_run/_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..f6881d260e1e4ee7010f78d0b38fb70803d1f3d9 --- /dev/null +++ b/lbf/brdiv/2025-04-23/13-48-47/ego_train_run/_METADATA @@ -0,0 +1 @@ +{"tree_metadata": {"('checkpoints', 'params', 'action_body_0', 'bias')": {"key_metadata": [{"key": "checkpoints", "key_type": 2}, {"key": "params", "key_type": 2}, {"key": "action_body_0", "key_type": 2}, {"key": "bias", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false}}, "('checkpoints', 'params', 'action_body_0', 'kernel')": {"key_metadata": [{"key": "checkpoints", "key_type": 2}, {"key": "params", "key_type": 2}, {"key": "action_body_0", "key_type": 2}, {"key": "kernel", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": false}}, 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a/lbf/brdiv/2025-04-23/13-48-47/run.log b/lbf/brdiv/2025-04-23/13-48-47/run.log new file mode 100644 index 0000000000000000000000000000000000000000..a4c1f9eac536c3a80adfb8afad9a06d7c0f86c6a --- /dev/null +++ b/lbf/brdiv/2025-04-23/13-48-47/run.log @@ -0,0 +1,10 @@ +[2025-04-23 13:48:49,440][BRDiv][INFO] - Starting BRDiv training... +[2025-04-23 14:02:02,257][BRDiv][INFO] - BRDiv training complete in 792.8163623809814 seconds +[2025-04-23 14:02:24,483][train_ego][INFO] - Starting ego agent training... +[2025-04-23 14:05:13,500][train_ego][INFO] - Ego agent training completed in 169.02 seconds +[2025-04-23 14:05:15,603][evaluation.agent_loader_from_config][WARNING] - Error interpreting agent_config['idx_list'] as OmegaConf object: Input cfg is not an OmegaConf config object (list). Treating as list. +[2025-04-23 14:05:16,195][evaluation.agent_loader_from_config][INFO] - Loaded ippo_mlp checkpoint where leaf 0 has shape (3, 64). Selecting indices [0] for evaluation. +[2025-04-23 14:05:17,166][evaluation.agent_loader_from_config][WARNING] - Error interpreting agent_config['idx_list'] as OmegaConf object: Input cfg is not an OmegaConf config object (list). Treating as list. +[2025-04-23 14:05:17,600][evaluation.agent_loader_from_config][INFO] - Loaded ippo_mlp_s2c1 checkpoint where leaf 0 has shape (3, 5, 64). Selecting indices [[2, 1]] for evaluation. +[2025-04-23 14:05:18,051][evaluation.agent_loader_from_config][WARNING] - Error interpreting agent_config['idx_list'] as OmegaConf object: Input cfg is not an OmegaConf config object (list). Treating as list. +[2025-04-23 14:05:18,723][evaluation.agent_loader_from_config][INFO] - Loaded brdiv-conf checkpoint where leaf 0 has shape (5, 64). 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UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 5 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: true +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/lbf/brdiv/2026-03-01_22-51-07/.hydra/hydra.yaml b/lbf/brdiv/2026-03-01_22-51-07/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..73fe4e7acecdd8e0455dc6f8f868a45cd58acc2d --- /dev/null +++ b/lbf/brdiv/2026-03-01_22-51-07/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=brdiv/lbf + - task=lbf + - label=val_teammates + - algorithm.NUM_SEEDS=5 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=5,algorithm.TRAIN_SEED=39852,algorithm=brdiv/lbf,label=val_teammates,logger.mode=online,task=lbf,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/lbf/brdiv/val_teammates/2026-03-01_22-51-07 + choices: + hydra: hydra_simple + algorithm: brdiv/lbf + task: lbf + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/lbf/brdiv/2026-03-01_22-51-07/.hydra/overrides.yaml b/lbf/brdiv/2026-03-01_22-51-07/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a6edbc7b3d6383eadef850197ab431c91ec7d9b3 --- /dev/null +++ b/lbf/brdiv/2026-03-01_22-51-07/.hydra/overrides.yaml @@ -0,0 +1,7 @@ +- algorithm=brdiv/lbf +- task=lbf +- label=val_teammates +- algorithm.NUM_SEEDS=5 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- logger.mode=online diff --git a/lbf/brdiv/2026-03-01_22-51-07/run.log b/lbf/brdiv/2026-03-01_22-51-07/run.log new file mode 100644 index 0000000000000000000000000000000000000000..9d9cfe130c84a2fae8da03edee7a313458a3fac3 --- /dev/null +++ b/lbf/brdiv/2026-03-01_22-51-07/run.log @@ -0,0 +1,2 @@ +[2026-03-01 22:51:09,626][teammate_generation.BRDiv][INFO] - Starting BRDiv training... +[2026-03-01 22:57:49,381][teammate_generation.BRDiv][INFO] - BRDiv training complete in 399.75519275665283 seconds diff --git a/lbf/brdiv/2026-03-01_22-51-07/saved_train_run/_CHECKPOINT_METADATA b/lbf/brdiv/2026-03-01_22-51-07/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..6533acfb9f8e506ae500b272e82260397dcbb56b --- /dev/null +++ b/lbf/brdiv/2026-03-01_22-51-07/saved_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1772427473205533477, "commit_timestamp_nsecs": 1772427474745697196, "custom": {}} \ No newline at end of file diff --git a/lbf/brdiv/2026-03-01_22-51-07/saved_train_run/_METADATA 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b/lbf/comedi/2026-03-02_00-58-19/.hydra/config.yaml @@ -0,0 +1,659 @@ +task: + ENV_NAME: lbf + ROLLOUT_LENGTH: 128 + ENV_KWARGS: {} + TASK_NAME: lbf +algorithm: + ALG: comedi + TOTAL_TIMESTEPS_PER_ITERATION: 6000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 10 + NUM_ENVS: 48 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 8 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.001 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ACTOR_TYPE: actor_with_conditional_critic + NUM_ARGMAX_ROLLOUT_EPS: 20 + COMEDI_ALPHA: 0.2 + COMEDI_BETA: 0.4 + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 30000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 5.0e-05 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.1 + ENT_COEF: 0.0001 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 5 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: true +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/lbf/comedi/2026-03-02_00-58-19/.hydra/hydra.yaml b/lbf/comedi/2026-03-02_00-58-19/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..80d8276f18572b8c0dfdb7720496db6ccdd3b7f6 --- /dev/null +++ b/lbf/comedi/2026-03-02_00-58-19/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=comedi/lbf + - task=lbf + - label=val_teammates + - algorithm.NUM_SEEDS=5 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=5,algorithm.TRAIN_SEED=39852,algorithm=comedi/lbf,label=val_teammates,logger.mode=online,task=lbf,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/lbf/comedi/val_teammates/2026-03-02_00-58-19 + choices: + hydra: hydra_simple + algorithm: comedi/lbf + task: lbf + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/lbf/comedi/2026-03-02_00-58-19/.hydra/overrides.yaml b/lbf/comedi/2026-03-02_00-58-19/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8da93ef22e50077da650b337db81254a80d1818d --- /dev/null +++ b/lbf/comedi/2026-03-02_00-58-19/.hydra/overrides.yaml @@ -0,0 +1,7 @@ +- algorithm=comedi/lbf +- task=lbf +- label=val_teammates +- algorithm.NUM_SEEDS=5 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- logger.mode=online diff --git a/lbf/comedi/2026-03-02_00-58-19/run.log b/lbf/comedi/2026-03-02_00-58-19/run.log new file mode 100644 index 0000000000000000000000000000000000000000..b336fc352fe7d4dea6543318432878d6fca2d664 --- /dev/null +++ b/lbf/comedi/2026-03-02_00-58-19/run.log @@ -0,0 +1,2 @@ +[2026-03-02 00:58:22,025][teammate_generation.CoMeDi][INFO] - Starting CoMeDi training... +[2026-03-02 01:49:45,915][teammate_generation.CoMeDi][INFO] - CoMeDi training 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https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: 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ANNEAL_LR: true + SEED: 39852 + LR: 0.0001 + NUM_ENVS: 8 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + CLIP_EPS: 0.03 + ENT_COEF: 0.01 + NUM_SEEDS: 5 + TRAIN_SEED: 20374 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/lbf/ippo/2026-03-01_22-16-22/.hydra/hydra.yaml b/lbf/ippo/2026-03-01_22-16-22/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a6a2f8d18c32b5641e9001056c29babd23443834 --- /dev/null +++ b/lbf/ippo/2026-03-01_22-16-22/.hydra/hydra.yaml @@ -0,0 +1,163 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=ippo/lbf + - task=lbf + - label=val_teammates + - algorithm.NUM_SEEDS=5 + - algorithm.SEED=39852 + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=5,algorithm.SEED=39852,algorithm=ippo/lbf,label=val_teammates,logger.mode=online,task=lbf + id: ??? + num: ??? + config_name: base_config_marl + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/marl/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/lbf/ippo/val_teammates/2026-03-01_22-16-22 + choices: + hydra: hydra_simple + algorithm: ippo/lbf + task: lbf + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/lbf/ippo/2026-03-01_22-16-22/.hydra/overrides.yaml b/lbf/ippo/2026-03-01_22-16-22/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc4e0d08d577875f3a0b51f350f4a750cb7b6ca6 --- /dev/null +++ b/lbf/ippo/2026-03-01_22-16-22/.hydra/overrides.yaml @@ -0,0 +1,6 @@ +- algorithm=ippo/lbf +- task=lbf +- label=val_teammates +- algorithm.NUM_SEEDS=5 +- algorithm.SEED=39852 +- logger.mode=online diff --git a/lbf/ippo/2026-03-01_22-16-22/run.log b/lbf/ippo/2026-03-01_22-16-22/run.log new file mode 100644 index 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UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + CLIP_EPS: 0.03 + ENT_COEF: 0.01 + NUM_SEEDS: 3 + TRAIN_SEED: 20374 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +label: default_label +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: offline + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/lbf/ippo/ippo-lbf-12/.hydra/hydra.yaml b/lbf/ippo/ippo-lbf-12/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..201db8e4aaa4fb8780a546a81ad0e54548749063 --- /dev/null +++ b/lbf/ippo/ippo-lbf-12/.hydra/hydra.yaml @@ -0,0 +1,161 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=lbf + - +task.ENV_KWARGS.grid_size=12 + - +task.ENV_KWARGS.num_food=6 + - algorithm=ippo/lbf + job: + name: run + chdir: true + override_dirname: +task.ENV_KWARGS.grid_size=12,+task.ENV_KWARGS.num_food=6,algorithm=ippo/lbf,task=lbf + id: ??? + num: ??? + config_name: base_config_marl + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/jyliu/Documents/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/jyliu/Documents/jax-aht/marl/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/jyliu/Documents/jax-aht/results/lbf/ippo/default_label/2026-03-09_14-59-16 + choices: + hydra: hydra_simple + algorithm: ippo/lbf + task: lbf + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/lbf/ippo/ippo-lbf-12/.hydra/overrides.yaml b/lbf/ippo/ippo-lbf-12/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4117339f77bd9b4d41cf39a5d14f0a947250af95 --- /dev/null +++ b/lbf/ippo/ippo-lbf-12/.hydra/overrides.yaml @@ -0,0 +1,4 @@ +- task=lbf +- +task.ENV_KWARGS.grid_size=12 +- +task.ENV_KWARGS.num_food=6 +- algorithm=ippo/lbf diff --git a/lbf/ippo/ippo-lbf-12/run.log b/lbf/ippo/ippo-lbf-12/run.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/lbf/ippo/ippo-lbf-12/saved_train_run/_CHECKPOINT_METADATA b/lbf/ippo/ippo-lbf-12/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 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different_levels: true + TASK_NAME: lbf +algorithm: + ALG: ippo + TOTAL_TIMESTEPS: 5000000.0 + ACTOR_TYPE: mlp + NUM_CHECKPOINTS: 5 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + SEED: 12345 + LR: 0.0001 + NUM_ENVS: 16 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + CLIP_EPS: 0.03 + ENT_COEF: 0.01 + NUM_SEEDS: 3 + TRAIN_SEED: 20374 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +label: default_label +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: offline + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/lbf/ippo/ippo-lbf-7-levels/.hydra/hydra.yaml b/lbf/ippo/ippo-lbf-7-levels/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ad85e1429d22ed06685a3a70c194f0d393ee937 --- /dev/null +++ b/lbf/ippo/ippo-lbf-7-levels/.hydra/hydra.yaml @@ -0,0 +1,162 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=lbf + - +task.ENV_KWARGS.grid_size=7 + - +task.ENV_KWARGS.num_food=3 + - +task.ENV_KWARGS.different_levels=True + - algorithm=ippo/lbf + job: + name: run + chdir: true + override_dirname: +task.ENV_KWARGS.different_levels=True,+task.ENV_KWARGS.grid_size=7,+task.ENV_KWARGS.num_food=3,algorithm=ippo/lbf,task=lbf + id: ??? + num: ??? + config_name: base_config_marl + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/jyliu/Documents/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/jyliu/Documents/jax-aht/marl/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/jyliu/Documents/jax-aht/results/lbf/ippo/default_label/2026-03-09_22-23-21 + choices: + hydra: hydra_simple + algorithm: ippo/lbf + task: lbf + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/lbf/ippo/ippo-lbf-7-levels/.hydra/overrides.yaml b/lbf/ippo/ippo-lbf-7-levels/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..287bd8e8e1be548e7c39494687436aeb91c552a3 --- /dev/null +++ b/lbf/ippo/ippo-lbf-7-levels/.hydra/overrides.yaml @@ -0,0 +1,5 @@ +- task=lbf +- +task.ENV_KWARGS.grid_size=7 +- +task.ENV_KWARGS.num_food=3 +- +task.ENV_KWARGS.different_levels=True +- 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+ NUM_ENVS: 64 + TOLERANCE_FACTOR: 0.1 + LAGRANGE_LR: 0.01 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + S5_D_MODEL: 16 + S5_SSM_SIZE: 16 + S5_ACTOR_CRITIC_HIDDEN_DIM: 64 + FC_N_LAYERS: 2 + TOTAL_TIMESTEPS: 30000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.0001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 5 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: false +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/lbf/lbrdiv/2026-03-02_13-01-20/.hydra/hydra.yaml b/lbf/lbrdiv/2026-03-02_13-01-20/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f734042d68b8e281a148ac7fb27c152ff1b4291f --- /dev/null +++ b/lbf/lbrdiv/2026-03-02_13-01-20/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=lbrdiv/lbf + - task=lbf + - label=val_teammates + - algorithm.NUM_SEEDS=5 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - run_heldout_eval=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=5,algorithm.TRAIN_SEED=39852,algorithm=lbrdiv/lbf,label=val_teammates,logger.mode=online,run_heldout_eval=false,task=lbf,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/lbf/lbrdiv/val_teammates/2026-03-02_13-01-20 + choices: + hydra: hydra_simple + algorithm: lbrdiv/lbf + task: lbf + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/lbf/lbrdiv/2026-03-02_13-01-20/.hydra/overrides.yaml b/lbf/lbrdiv/2026-03-02_13-01-20/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d105c77537c85a0b9c555a33cea29ae79b6e325d --- /dev/null +++ b/lbf/lbrdiv/2026-03-02_13-01-20/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- algorithm=lbrdiv/lbf +- task=lbf +- label=val_teammates +- algorithm.NUM_SEEDS=5 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- run_heldout_eval=false +- logger.mode=online diff --git a/lbf/lbrdiv/2026-03-02_13-01-20/run.log b/lbf/lbrdiv/2026-03-02_13-01-20/run.log new file mode 100644 index 0000000000000000000000000000000000000000..4756f3d6abeab31c26828a5428e09134d14bb95b --- /dev/null +++ b/lbf/lbrdiv/2026-03-02_13-01-20/run.log @@ -0,0 +1,2 @@ +[2026-03-02 13:01:22,624][teammate_generation.LBRDiv][INFO] - Starting LBRDiv training... +[2026-03-02 13:15:48,757][teammate_generation.LBRDiv][INFO] - LBRDiv training complete in 866.1325430870056 seconds diff --git a/lbf/lbrdiv/2026-03-02_13-01-20/saved_train_run/_CHECKPOINT_METADATA b/lbf/lbrdiv/2026-03-02_13-01-20/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..5deaee9591dc603247d01807d5c564e7524d032b 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/dev/null +++ b/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/.hydra/config.yaml @@ -0,0 +1,206 @@ +task: + ENV_NAME: overcooked-v1 + ROLLOUT_LENGTH: 400 + ENV_KWARGS: + layout: asymm_advantages + random_obj_state: true + TASK_NAME: overcooked-v1/asymm_advantages + EVAL_AGENT_TEST_MODE: true +algorithm: + ALG: brdiv + TOTAL_TIMESTEPS: 100000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 4 + NUM_ENVS_SP: 32 + NUM_ENVS_XP: 32 + XP_LOSS_WEIGHTS: 10 + LR: 0.0001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.3 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 20374 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 1000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.0001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + EVAL_AGENT_TEST_MODE: ${task.EVAL_AGENT_TEST_MODE} +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: true + ippo_mlp_s2c1: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 1 + test_mode: true + brdiv-conf: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + random_agent: + actor_type: random_agent + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/counter_circuit: + ippo_mlp: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: true +run_heldout_eval: true +name: ${TASK_NAME}/${algorithm.ALG} +logger: + project: open-ended-aht + entity: aht-project + mode: online + verbose: true + log_train_out: true + log_eval_out: true +local_logger: + save_figures: false + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/.hydra/hydra.yaml b/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d0a28f8d5d5b7370559f14ddeadb7cbc46f134b1 --- /dev/null +++ b/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/.hydra/hydra.yaml @@ -0,0 +1,159 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=overcooked/asymm_advantages + job: + name: run + chdir: true + override_dirname: task=overcooked/asymm_advantages + id: ??? + num: ??? + config_name: base_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/continual-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + 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0000000000000000000000000000000000000000..9b9b21ad9a3ff4738f75a97c9b557164f76c9551 --- /dev/null +++ b/overcooked-v1/asymm_advantages/comedi/2026-03-03_17-06-25/.hydra/config.yaml @@ -0,0 +1,662 @@ +task: + ENV_NAME: overcooked-v1 + ROLLOUT_LENGTH: 400 + ENV_KWARGS: + layout: asymm_advantages + random_obj_state: true + TASK_NAME: overcooked-v1/asymm_advantages +algorithm: + ALG: comedi + TOTAL_TIMESTEPS_PER_ITERATION: 12000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 10 + NUM_ENVS: 48 + LR: 0.0001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 8 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.3 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ACTOR_TYPE: actor_with_conditional_critic + NUM_ARGMAX_ROLLOUT_EPS: 20 + COMEDI_ALPHA: 1.0 + COMEDI_BETA: 0.5 + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 30000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 5.0e-05 + UPDATE_EPOCHS: 10 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.1 + ENT_COEF: 0.001 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + TOTAL_TIMESTEPS: 6000000.0 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 3 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: false +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/asymm_advantages/comedi/2026-03-03_17-06-25/.hydra/hydra.yaml b/overcooked-v1/asymm_advantages/comedi/2026-03-03_17-06-25/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dd88e5f3694ad6cc2296d339a6c4efb5e082c588 --- /dev/null +++ b/overcooked-v1/asymm_advantages/comedi/2026-03-03_17-06-25/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=comedi/overcooked-v1/asymm_advantages + - task=overcooked-v1/asymm_advantages + - label=val_teammates + - algorithm.NUM_SEEDS=3 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - run_heldout_eval=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=3,algorithm.TRAIN_SEED=39852,algorithm=comedi/overcooked-v1/asymm_advantages,label=val_teammates,logger.mode=online,run_heldout_eval=false,task=overcooked-v1/asymm_advantages,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/asymm_advantages/comedi/val_teammates/2026-03-03_17-06-25 + choices: + hydra: hydra_simple + algorithm: comedi/overcooked-v1/asymm_advantages + task: overcooked-v1/asymm_advantages + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/asymm_advantages/comedi/2026-03-03_17-06-25/.hydra/overrides.yaml b/overcooked-v1/asymm_advantages/comedi/2026-03-03_17-06-25/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..36875273306ee63f277aee4c8bab99323711297d --- /dev/null +++ b/overcooked-v1/asymm_advantages/comedi/2026-03-03_17-06-25/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- algorithm=comedi/overcooked-v1/asymm_advantages +- task=overcooked-v1/asymm_advantages +- label=val_teammates +- algorithm.NUM_SEEDS=3 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- run_heldout_eval=false +- logger.mode=online diff --git a/overcooked-v1/asymm_advantages/comedi/2026-03-03_17-06-25/run.log b/overcooked-v1/asymm_advantages/comedi/2026-03-03_17-06-25/run.log new file mode 100644 index 0000000000000000000000000000000000000000..82b838177c77f8177a07170374c748f4a6b15d60 --- /dev/null +++ b/overcooked-v1/asymm_advantages/comedi/2026-03-03_17-06-25/run.log @@ -0,0 +1,2 @@ +[2026-03-03 17:06:27,364][teammate_generation.CoMeDi][INFO] - Starting CoMeDi training... +[2026-03-03 19:57:07,646][teammate_generation.CoMeDi][INFO] - CoMeDi training complete in 10240.282312631607 seconds diff --git a/overcooked-v1/asymm_advantages/comedi/2026-03-03_17-06-25/saved_train_run/_CHECKPOINT_METADATA b/overcooked-v1/asymm_advantages/comedi/2026-03-03_17-06-25/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 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anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: [] + job: + name: ippo + chdir: true + override_dirname: '' + id: ??? + num: ??? + config_name: ippo_asymm_advantages + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/continual-aht/ppo/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/continual-aht/eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56 + choices: + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/.hydra/overrides.yaml b/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe51488c7066f6687ef680d6bfaa4f7768ef205c --- /dev/null +++ b/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/.hydra/overrides.yaml @@ -0,0 +1 @@ +[] diff --git a/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/description.txt b/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/description.txt new file mode 100644 index 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asymm_advantages + random_obj_state: true + TASK_NAME: overcooked-v1/asymm_advantages +algorithm: + ALG: lbrdiv + TOTAL_TIMESTEPS: 45000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 3 + NUM_ENVS: 64 + TOLERANCE_FACTOR: 10.0 + LAGRANGE_LR: 0.01 + LR: 0.0001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.3 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + S5_D_MODEL: 16 + S5_SSM_SIZE: 16 + S5_ACTOR_CRITIC_HIDDEN_DIM: 64 + FC_N_LAYERS: 2 + TOTAL_TIMESTEPS: 30000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.0001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 3 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: false +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/asymm_advantages/lbrdiv/2026-03-03_17-02-53/.hydra/hydra.yaml b/overcooked-v1/asymm_advantages/lbrdiv/2026-03-03_17-02-53/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..67081a808c8fbd3cec89f29ebec0ec0e830e19dd --- /dev/null +++ b/overcooked-v1/asymm_advantages/lbrdiv/2026-03-03_17-02-53/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=lbrdiv/overcooked-v1/asymm_advantages + - task=overcooked-v1/asymm_advantages + - label=val_teammates + - algorithm.NUM_SEEDS=3 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - run_heldout_eval=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=3,algorithm.TRAIN_SEED=39852,algorithm=lbrdiv/overcooked-v1/asymm_advantages,label=val_teammates,logger.mode=online,run_heldout_eval=false,task=overcooked-v1/asymm_advantages,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/asymm_advantages/lbrdiv/val_teammates/2026-03-03_17-02-53 + choices: + hydra: hydra_simple + algorithm: lbrdiv/overcooked-v1/asymm_advantages + task: overcooked-v1/asymm_advantages + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/asymm_advantages/lbrdiv/2026-03-03_17-02-53/.hydra/overrides.yaml b/overcooked-v1/asymm_advantages/lbrdiv/2026-03-03_17-02-53/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f071bbbfca190208d88e0803dea482372a53daa5 --- /dev/null +++ b/overcooked-v1/asymm_advantages/lbrdiv/2026-03-03_17-02-53/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- algorithm=lbrdiv/overcooked-v1/asymm_advantages +- task=overcooked-v1/asymm_advantages +- label=val_teammates +- algorithm.NUM_SEEDS=3 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- run_heldout_eval=false +- logger.mode=online diff --git a/overcooked-v1/asymm_advantages/lbrdiv/2026-03-03_17-02-53/run.log b/overcooked-v1/asymm_advantages/lbrdiv/2026-03-03_17-02-53/run.log new file mode 100644 index 0000000000000000000000000000000000000000..88ffed74b74217c01a3b508868f2b5ab6c03c1e8 --- /dev/null +++ b/overcooked-v1/asymm_advantages/lbrdiv/2026-03-03_17-02-53/run.log @@ -0,0 +1,2 @@ +[2026-03-03 17:02:54,875][teammate_generation.LBRDiv][INFO] - Starting LBRDiv training... +[2026-03-03 17:48:48,243][teammate_generation.LBRDiv][INFO] - LBRDiv training complete in 2753.3676750659943 seconds diff --git a/overcooked-v1/asymm_advantages/lbrdiv/2026-03-03_17-02-53/saved_train_run/_CHECKPOINT_METADATA b/overcooked-v1/asymm_advantages/lbrdiv/2026-03-03_17-02-53/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..676eace59425ca44788b08dd6b87a982ae2c773c --- /dev/null +++ b/overcooked-v1/asymm_advantages/lbrdiv/2026-03-03_17-02-53/saved_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": 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0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.1 + ENT_COEF: 0.05 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 20374 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 3000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: true + ippo_mlp_s2c1: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 1 + test_mode: true + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/counter_circuit: + ippo_mlp: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: true +run_heldout_eval: true +name: ${TASK_NAME}/${algorithm.ALG} +logger: + project: open-ended-aht + entity: aht-project + mode: online + verbose: true + log_train_out: true + log_eval_out: true +local_logger: + save_figures: false + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/.hydra/hydra.yaml b/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f2daa17ae542a63e60833abbbec12ec1582e5e13 --- /dev/null +++ b/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/.hydra/hydra.yaml @@ -0,0 +1,159 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=overcooked/coord_ring + job: + name: run + chdir: true + override_dirname: task=overcooked/coord_ring + id: ??? + num: ??? + config_name: base_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/continual-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/continual-aht/results/overcooked-v1/coord_ring/brdiv/2025-04-23/14-17-36 + choices: + hydra: hydra_simple + task: overcooked/coord_ring + algorithm@ego_train_algorithm: ego_ppo/overcooked/coord_ring + algorithm: brdiv/overcooked/coord_ring + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/.hydra/overrides.yaml b/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86f168c9481c012d97e7e79aa05be4838b98a3b0 --- /dev/null +++ b/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/.hydra/overrides.yaml @@ -0,0 +1 @@ +- task=overcooked/coord_ring diff --git 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Treating as list. +[2025-04-23 14:38:45,981][evaluation.agent_loader_from_config][INFO] - Loaded ippo_mlp checkpoint where leaf 0 has shape (3, 64). 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ROLLOUT_LENGTH: 400 + ENV_KWARGS: + layout: coord_ring + random_obj_state: true + do_reward_shaping: true + reward_shaping_params: + PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/coord_ring +algorithm: + ALG: brdiv + TOTAL_TIMESTEPS: 250000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 3 + NUM_ENVS_SP: 32 + NUM_ENVS_XP: 32 + XP_LOSS_WEIGHTS: 10 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.1 + ENT_COEF: 0.05 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 20374 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 3000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: true + ippo_mlp_s2c1: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 1 + test_mode: true + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/counter_circuit: + ippo_mlp: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: true +run_heldout_eval: true +name: ${TASK_NAME}/${algorithm.ALG} +logger: + project: open-ended-aht + entity: aht-project + mode: online + verbose: true + log_train_out: true + log_eval_out: true +local_logger: + save_figures: false + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/.hydra/hydra.yaml b/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..815bace563e8b25f325c5cedfb7d8f9039868934 --- /dev/null +++ b/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/.hydra/hydra.yaml @@ -0,0 +1,159 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=overcooked/coord_ring + job: + name: run + chdir: true + override_dirname: task=overcooked/coord_ring + id: ??? + num: ??? + config_name: base_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/continual-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/continual-aht/results/overcooked-v1/coord_ring/brdiv/2025-04-23/15-00-27 + choices: + hydra: hydra_simple + task: overcooked/coord_ring + algorithm@ego_train_algorithm: ego_ppo/overcooked/coord_ring + algorithm: brdiv/overcooked/coord_ring + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/.hydra/overrides.yaml b/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86f168c9481c012d97e7e79aa05be4838b98a3b0 --- /dev/null +++ b/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/.hydra/overrides.yaml @@ -0,0 +1 @@ +- task=overcooked/coord_ring diff --git a/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/ego_train_run/_CHECKPOINT_METADATA b/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/ego_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..34690d58d074c3116778e9350e31dd555e9addfc --- /dev/null +++ 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ROLLOUT_LENGTH: 400 + ENV_KWARGS: + layout: coord_ring + random_obj_state: true + do_reward_shaping: true + reward_shaping_params: + PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/coord_ring +algorithm: + ALG: brdiv + TOTAL_TIMESTEPS: 90000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 3 + NUM_ENVS: 128 + XP_LOSS_WEIGHTS: 0.007 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.1 + ENT_COEF: 0.05 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + S5_D_MODEL: 16 + S5_SSM_SIZE: 16 + S5_ACTOR_CRITIC_HIDDEN_DIM: 64 + FC_N_LAYERS: 2 + TOTAL_TIMESTEPS: 60000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 5 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: true +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/.hydra/hydra.yaml b/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a4e48819b84614025662d9f67e974b0a10246e99 --- /dev/null +++ b/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=brdiv/overcooked-v1/coord_ring + - task=overcooked-v1/coord_ring + - label=val_teammates + - algorithm.NUM_SEEDS=5 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=5,algorithm.TRAIN_SEED=39852,algorithm=brdiv/overcooked-v1/coord_ring,label=val_teammates,logger.mode=online,task=overcooked-v1/coord_ring,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/coord_ring/brdiv/val_teammates/2026-03-01_22-30-59 + choices: + hydra: hydra_simple + algorithm: brdiv/overcooked-v1/coord_ring + task: overcooked-v1/coord_ring + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/.hydra/overrides.yaml b/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d371427f28d877d86ac712bf502e14e84be842ce --- /dev/null +++ b/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/.hydra/overrides.yaml @@ -0,0 +1,7 @@ +- algorithm=brdiv/overcooked-v1/coord_ring +- task=overcooked-v1/coord_ring +- label=val_teammates +- algorithm.NUM_SEEDS=5 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- logger.mode=online diff --git a/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/run.log b/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/run.log new file mode 100644 index 0000000000000000000000000000000000000000..8be252b84c7f988c8522d11922ec77612c07e895 --- /dev/null +++ b/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/run.log @@ -0,0 +1,2 @@ +[2026-03-01 22:31:01,733][teammate_generation.BRDiv][INFO] - Starting BRDiv training... +[2026-03-01 22:50:41,756][teammate_generation.BRDiv][INFO] - BRDiv training complete in 1180.0230557918549 seconds diff --git a/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/saved_train_run/_CHECKPOINT_METADATA b/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..f3a59717e4cbda493a1e48ac4616b06a2b29d73c --- /dev/null +++ b/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/saved_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1772427043798007409, "commit_timestamp_nsecs": 1772427046982502730, "custom": {}} \ No newline at end of file diff --git a/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/saved_train_run/_METADATA b/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/saved_train_run/_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..5c9508e2e4e26ad22d097b0ac229dc4b73ca9786 --- /dev/null +++ b/overcooked-v1/coord_ring/brdiv/2026-03-01_22-30-59/saved_train_run/_METADATA @@ -0,0 +1 @@ +{"tree_metadata": {"('all_pair_returns', 'base_return')": {"key_metadata": [{"key": "all_pair_returns", "key_type": 2}, {"key": "base_return", "key_type": 2}], "value_metadata": {"value_type": "jax.Array", "skip_deserialize": 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ROLLOUT_LENGTH: 400 + ENV_KWARGS: + layout: coord_ring + random_obj_state: true + do_reward_shaping: true + reward_shaping_params: + PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/coord_ring +algorithm: + ALG: comedi + TOTAL_TIMESTEPS_PER_ITERATION: 12000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 10 + NUM_ENVS: 48 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 8 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.1 + ENT_COEF: 0.05 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ACTOR_TYPE: actor_with_conditional_critic + NUM_ARGMAX_ROLLOUT_EPS: 20 + COMEDI_ALPHA: 1.0 + COMEDI_BETA: 0.5 + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 60000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 3.0e-05 + UPDATE_EPOCHS: 10 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.1 + ENT_COEF: 0.001 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + TOTAL_TIMESTEPS: 10000000.0 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 5 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: true +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/.hydra/hydra.yaml b/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f4e52f20d93ae93bdc0d88e6e4b47c5797cf768e --- /dev/null +++ b/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/.hydra/hydra.yaml @@ -0,0 +1,164 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=comedi/overcooked-v1/coord_ring + - task=overcooked-v1/coord_ring + - label=val_teammates + - algorithm.NUM_SEEDS=5 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=5,algorithm.TRAIN_SEED=39852,algorithm=comedi/overcooked-v1/coord_ring,label=val_teammates,logger.mode=online,task=overcooked-v1/coord_ring,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/coord_ring/comedi/val_teammates/2026-03-01_22-32-32 + choices: + hydra: hydra_simple + algorithm: comedi/overcooked-v1/coord_ring + task: overcooked-v1/coord_ring + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/.hydra/overrides.yaml b/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c75629db9bb2f2747ae30166f8f84cc7db664886 --- /dev/null +++ b/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/.hydra/overrides.yaml @@ -0,0 +1,7 @@ +- algorithm=comedi/overcooked-v1/coord_ring +- task=overcooked-v1/coord_ring +- label=val_teammates +- algorithm.NUM_SEEDS=5 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- logger.mode=online diff --git a/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/run.log b/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/run.log new file mode 100644 index 0000000000000000000000000000000000000000..00bc646e8aea2c96fe6c5c57553de7d55b642eb4 --- /dev/null +++ b/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/run.log @@ -0,0 +1,2 @@ +[2026-03-01 22:32:34,300][teammate_generation.CoMeDi][INFO] - Starting CoMeDi training... +[2026-03-02 00:57:28,022][teammate_generation.CoMeDi][INFO] - CoMeDi training complete in 8693.721673488617 seconds diff --git a/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/saved_train_run/_CHECKPOINT_METADATA b/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..d603d77667d8271f402eb65c8b91c53306739b3b --- /dev/null +++ b/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/saved_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1772434653965037610, "commit_timestamp_nsecs": 1772434673002359581, "custom": {}} \ No newline at end of file diff --git a/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/saved_train_run/_METADATA b/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/saved_train_run/_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..8f7b8d3122ae2bba3ff19b710cc2b8a305984833 --- /dev/null +++ b/overcooked-v1/coord_ring/comedi/2026-03-01_22-32-32/saved_train_run/_METADATA @@ -0,0 +1 @@ +{"tree_metadata": {"('checkpoints_conf', 'params', 'Dense_0', 'bias')": {"key_metadata": [{"key": "checkpoints_conf", "key_type": 2}, {"key": "params", "key_type": 2}, {"key": "Dense_0", "key_type": 2}, {"key": "bias", 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+ PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 +TOTAL_TIMESTEPS: 10000000.0 +SEED: 12345 +LR: 0.001 +NUM_ENVS: 8 +UPDATE_EPOCHS: 15 +NUM_MINIBATCHES: 16 +NUM_CHECKPOINTS: 5 +NUM_SEEDS: 3 +GAMMA: 0.99 +GAE_LAMBDA: 0.95 +CLIP_EPS: 0.1 +ENT_COEF: 0.05 +VF_COEF: 1.0 +MAX_GRAD_NORM: 1.0 +ANNEAL_LR: true +logger: + project: open-ended-aht + entity: aht-project + mode: online + verbose: false + log_train_out: true +local_logger: + save_figures: true + save_train_out: true diff --git a/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/.hydra/hydra.yaml b/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..68060f3b09ec8439074790a1765e930f646b6286 --- /dev/null +++ b/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/.hydra/hydra.yaml @@ -0,0 +1,154 @@ +hydra: + run: + dir: eval_teammates/${ENV_NAME}/${ENV_KWARGS.layout}/${hydra.job.name}/${now:%Y-%m-%d_%H-%M-%S} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: [] + job: + name: ippo + chdir: true + override_dirname: '' + id: ??? + num: ??? + config_name: ippo_coord_ring + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/continual-aht/ppo/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/continual-aht/eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26 + choices: + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic 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b/overcooked-v1/coord_ring/ippo/2026-03-02_10-14-58/.hydra/config.yaml @@ -0,0 +1,57 @@ +task: + ENV_NAME: overcooked-v1 + ROLLOUT_LENGTH: 400 + ENV_KWARGS: + layout: coord_ring + random_obj_state: true + do_reward_shaping: true + reward_shaping_params: + PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/coord_ring +algorithm: + ALG: ippo + TOTAL_TIMESTEPS: 3000000.0 + ACTOR_TYPE: mlp + NUM_CHECKPOINTS: 5 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + LR: 0.001 + NUM_ENVS: 8 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + CLIP_EPS: 0.1 + ENT_COEF: 0.05 + NUM_SEEDS: 5 + TRAIN_SEED: 39852 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/coord_ring/ippo/2026-03-02_10-14-58/.hydra/hydra.yaml b/overcooked-v1/coord_ring/ippo/2026-03-02_10-14-58/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c56e3a4bd8a4541148b0992a9478ee1e6fbcef47 --- /dev/null +++ b/overcooked-v1/coord_ring/ippo/2026-03-02_10-14-58/.hydra/hydra.yaml @@ -0,0 +1,163 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=ippo/overcooked-v1/coord_ring + - task=overcooked-v1/coord_ring + - label=val_teammates + - algorithm.NUM_SEEDS=5 + - algorithm.TRAIN_SEED=39852 + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=5,algorithm.TRAIN_SEED=39852,algorithm=ippo/overcooked-v1/coord_ring,label=val_teammates,logger.mode=online,task=overcooked-v1/coord_ring + id: ??? + num: ??? + config_name: base_config_marl + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/marl/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/coord_ring/ippo/val_teammates/2026-03-02_10-14-58 + choices: + hydra: hydra_simple + algorithm: ippo/overcooked-v1/coord_ring + task: overcooked-v1/coord_ring + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/coord_ring/ippo/2026-03-02_10-14-58/.hydra/overrides.yaml b/overcooked-v1/coord_ring/ippo/2026-03-02_10-14-58/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c63395eb1465329296f696c0a0045e0a2fc95b0b --- /dev/null +++ b/overcooked-v1/coord_ring/ippo/2026-03-02_10-14-58/.hydra/overrides.yaml @@ -0,0 +1,6 @@ +- algorithm=ippo/overcooked-v1/coord_ring +- task=overcooked-v1/coord_ring +- label=val_teammates +- algorithm.NUM_SEEDS=5 +- algorithm.TRAIN_SEED=39852 +- logger.mode=online diff --git a/overcooked-v1/coord_ring/ippo/2026-03-02_10-14-58/run.log b/overcooked-v1/coord_ring/ippo/2026-03-02_10-14-58/run.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 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+ TOTAL_TIMESTEPS: 90000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 3 + NUM_ENVS: 128 + TOLERANCE_FACTOR: 10.0 + LAGRANGE_LR: 0.01 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.1 + ENT_COEF: 0.05 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + S5_D_MODEL: 16 + S5_SSM_SIZE: 16 + S5_ACTOR_CRITIC_HIDDEN_DIM: 64 + FC_N_LAYERS: 2 + TOTAL_TIMESTEPS: 60000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 5 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: false +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/coord_ring/lbrdiv/2026-03-02_14-56-18/.hydra/hydra.yaml b/overcooked-v1/coord_ring/lbrdiv/2026-03-02_14-56-18/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e28719f56cae9c1b279f1aac30ebf6183cb628b4 --- /dev/null +++ b/overcooked-v1/coord_ring/lbrdiv/2026-03-02_14-56-18/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=lbrdiv/overcooked-v1/coord_ring + - task=overcooked-v1/coord_ring + - label=val_teammates + - algorithm.NUM_SEEDS=5 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - run_heldout_eval=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=5,algorithm.TRAIN_SEED=39852,algorithm=lbrdiv/overcooked-v1/coord_ring,label=val_teammates,logger.mode=online,run_heldout_eval=false,task=overcooked-v1/coord_ring,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/coord_ring/lbrdiv/val_teammates/2026-03-02_14-56-18 + choices: + hydra: hydra_simple + algorithm: lbrdiv/overcooked-v1/coord_ring + task: overcooked-v1/coord_ring + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/coord_ring/lbrdiv/2026-03-02_14-56-18/.hydra/overrides.yaml b/overcooked-v1/coord_ring/lbrdiv/2026-03-02_14-56-18/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..441f2ba764c25eef5f807c28259332044c450e1b --- /dev/null +++ b/overcooked-v1/coord_ring/lbrdiv/2026-03-02_14-56-18/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- algorithm=lbrdiv/overcooked-v1/coord_ring +- task=overcooked-v1/coord_ring +- label=val_teammates +- algorithm.NUM_SEEDS=5 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- run_heldout_eval=false +- logger.mode=online diff --git a/overcooked-v1/coord_ring/lbrdiv/2026-03-02_14-56-18/run.log b/overcooked-v1/coord_ring/lbrdiv/2026-03-02_14-56-18/run.log new file mode 100644 index 0000000000000000000000000000000000000000..8f66f589fe482362c29d97f41d2dfe59469aebe1 --- /dev/null +++ b/overcooked-v1/coord_ring/lbrdiv/2026-03-02_14-56-18/run.log @@ -0,0 +1,2 @@ +[2026-03-02 14:56:20,439][teammate_generation.LBRDiv][INFO] - Starting LBRDiv training... +[2026-03-02 16:23:49,491][teammate_generation.LBRDiv][INFO] - LBRDiv training complete in 5249.052154779434 seconds diff --git a/overcooked-v1/coord_ring/lbrdiv/2026-03-02_14-56-18/saved_train_run/_CHECKPOINT_METADATA b/overcooked-v1/coord_ring/lbrdiv/2026-03-02_14-56-18/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..7c2e41e42ce0f22d0bb222b7409db3fb9cff1451 --- /dev/null +++ b/overcooked-v1/coord_ring/lbrdiv/2026-03-02_14-56-18/saved_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 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a/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/.hydra/config.yaml b/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..70a18a7b7198e99d6c09f01191a930c4e6f72759 --- /dev/null +++ b/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/.hydra/config.yaml @@ -0,0 +1,670 @@ +task: + ENV_NAME: overcooked-v1 + ROLLOUT_LENGTH: 400 + ENV_KWARGS: + layout: counter_circuit + random_obj_state: true + do_reward_shaping: true + reward_shaping_params: + PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/counter_circuit +algorithm: + ALG: comedi + TOTAL_TIMESTEPS_PER_ITERATION: 12000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 10 + NUM_ENVS: 48 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 8 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.01 + ENT_COEF: 0.05 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ACTOR_TYPE: actor_with_conditional_critic + NUM_ARGMAX_ROLLOUT_EPS: 20 + COMEDI_ALPHA: 1.0 + COMEDI_BETA: 0.5 + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 60000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 5.0e-05 + UPDATE_EPOCHS: 10 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.1 + ENT_COEF: 0.001 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + TOTAL_TIMESTEPS: 10000000.0 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 3 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: false +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/.hydra/hydra.yaml b/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..afaae160ff5c939a891b648250fcac1c853f9aa6 --- /dev/null +++ b/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=comedi/overcooked-v1/counter_circuit + - task=overcooked-v1/counter_circuit + - label=val_teammates + - algorithm.NUM_SEEDS=3 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - run_heldout_eval=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=3,algorithm.TRAIN_SEED=39852,algorithm=comedi/overcooked-v1/counter_circuit,label=val_teammates,logger.mode=online,run_heldout_eval=false,task=overcooked-v1/counter_circuit,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/counter_circuit/comedi/val_teammates/2026-03-03_19-57-43 + choices: + hydra: hydra_simple + algorithm: comedi/overcooked-v1/counter_circuit + task: overcooked-v1/counter_circuit + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/.hydra/overrides.yaml b/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9651e070a58732f8c5df321ebc66e599d2099cc4 --- /dev/null +++ b/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- algorithm=comedi/overcooked-v1/counter_circuit +- task=overcooked-v1/counter_circuit +- label=val_teammates +- algorithm.NUM_SEEDS=3 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- run_heldout_eval=false +- logger.mode=online diff --git a/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/run.log b/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/run.log new file mode 100644 index 0000000000000000000000000000000000000000..af0bd0818c879fad2ae5fee1b54137079028e7b6 --- /dev/null +++ b/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/run.log @@ -0,0 +1,2 @@ +[2026-03-03 19:57:45,195][teammate_generation.CoMeDi][INFO] - Starting CoMeDi training... +[2026-03-03 22:27:32,996][teammate_generation.CoMeDi][INFO] - CoMeDi training complete in 8987.800957202911 seconds diff --git a/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/saved_train_run/_CHECKPOINT_METADATA b/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..06e3844e78b42793392aac6063625345aeae0308 --- /dev/null +++ b/overcooked-v1/counter_circuit/comedi/2026-03-03_19-57-43/saved_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1772598459451900220, "commit_timestamp_nsecs": 1772598464053645716, "custom": {}} \ No newline at end of file diff --git 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'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: [] + job: + name: ippo + chdir: true + override_dirname: '' + id: ??? + num: ??? + config_name: ippo_counter_circuit + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: 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'${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + 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schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23 + choices: + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/.hydra/overrides.yaml b/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe51488c7066f6687ef680d6bfaa4f7768ef205c --- /dev/null +++ b/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/.hydra/overrides.yaml @@ -0,0 +1 @@ +[] diff --git a/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/description.txt 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a/overcooked-v1/counter_circuit/lbrdiv/2026-03-03_17-49-14/.hydra/config.yaml b/overcooked-v1/counter_circuit/lbrdiv/2026-03-03_17-49-14/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a52b836cacae6037401f9f90cf0d9b049738e8b5 --- /dev/null +++ b/overcooked-v1/counter_circuit/lbrdiv/2026-03-03_17-49-14/.hydra/config.yaml @@ -0,0 +1,671 @@ +task: + ENV_NAME: overcooked-v1 + ROLLOUT_LENGTH: 400 + ENV_KWARGS: + layout: counter_circuit + random_obj_state: true + do_reward_shaping: true + reward_shaping_params: + PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/counter_circuit +algorithm: + ALG: lbrdiv + TOTAL_TIMESTEPS: 90000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 3 + NUM_ENVS: 128 + TOLERANCE_FACTOR: 10.0 + LAGRANGE_LR: 0.01 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 8 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.01 + ENT_COEF: 0.05 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + S5_D_MODEL: 16 + S5_SSM_SIZE: 16 + S5_ACTOR_CRITIC_HIDDEN_DIM: 64 + FC_N_LAYERS: 2 + TOTAL_TIMESTEPS: 60000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 3 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: false +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/counter_circuit/lbrdiv/2026-03-03_17-49-14/.hydra/hydra.yaml b/overcooked-v1/counter_circuit/lbrdiv/2026-03-03_17-49-14/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..adc48d96d5d22f8b7c7de7b7b395037dd8bfd6d8 --- /dev/null +++ b/overcooked-v1/counter_circuit/lbrdiv/2026-03-03_17-49-14/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=lbrdiv/overcooked-v1/counter_circuit + - task=overcooked-v1/counter_circuit + - label=val_teammates + - algorithm.NUM_SEEDS=3 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - run_heldout_eval=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=3,algorithm.TRAIN_SEED=39852,algorithm=lbrdiv/overcooked-v1/counter_circuit,label=val_teammates,logger.mode=online,run_heldout_eval=false,task=overcooked-v1/counter_circuit,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/counter_circuit/lbrdiv/val_teammates/2026-03-03_17-49-14 + choices: + hydra: hydra_simple + algorithm: lbrdiv/overcooked-v1/counter_circuit + task: overcooked-v1/counter_circuit + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/counter_circuit/lbrdiv/2026-03-03_17-49-14/.hydra/overrides.yaml b/overcooked-v1/counter_circuit/lbrdiv/2026-03-03_17-49-14/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..778fc7789d708fa67f0bae9db0b1a53620a2e04a --- /dev/null +++ b/overcooked-v1/counter_circuit/lbrdiv/2026-03-03_17-49-14/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- algorithm=lbrdiv/overcooked-v1/counter_circuit +- task=overcooked-v1/counter_circuit +- label=val_teammates +- algorithm.NUM_SEEDS=3 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- run_heldout_eval=false +- logger.mode=online diff --git a/overcooked-v1/counter_circuit/lbrdiv/2026-03-03_17-49-14/run.log b/overcooked-v1/counter_circuit/lbrdiv/2026-03-03_17-49-14/run.log new file mode 100644 index 0000000000000000000000000000000000000000..cff69a20d4f3b43eb0d79e73d05a7832e1babf33 --- /dev/null +++ b/overcooked-v1/counter_circuit/lbrdiv/2026-03-03_17-49-14/run.log @@ -0,0 +1,2 @@ +[2026-03-03 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+++ b/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/.hydra/config.yaml @@ -0,0 +1,206 @@ +task: + ENV_NAME: overcooked-v1 + ROLLOUT_LENGTH: 400 + ENV_KWARGS: + layout: cramped_room + random_obj_state: true + do_reward_shaping: true + reward_shaping_params: + PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/cramped_room + EVAL_AGENT_TEST_MODE: true +algorithm: + ALG: brdiv + TOTAL_TIMESTEPS: 100000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 4 + NUM_ENVS_SP: 32 + NUM_ENVS_XP: 32 + XP_LOSS_WEIGHTS: 10 + LR: 0.0001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 20374 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 2000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.0001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + EVAL_AGENT_TEST_MODE: ${task.EVAL_AGENT_TEST_MODE} +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + ippo_mlp_s2c1: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 1 + brdiv-conf: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + random_agent: + actor_type: random_agent + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/counter_circuit: + ippo_mlp: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: true +run_heldout_eval: true +name: ${TASK_NAME}/${algorithm.ALG} +logger: + project: open-ended-aht + entity: aht-project + mode: online + verbose: true + log_train_out: true + log_eval_out: true +local_logger: + save_figures: false + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/.hydra/hydra.yaml b/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..097ee19ccfa6359468ff391989ef720ba14aafa5 --- /dev/null +++ b/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/.hydra/hydra.yaml @@ -0,0 +1,158 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: [] + job: + name: run + chdir: true + override_dirname: '' + id: ??? + num: ??? + config_name: base_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/continual-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/continual-aht/results/overcooked-v1/cramped_room/brdiv/2025-04-23/12-55-47 + choices: + hydra: hydra_simple + task: overcooked/cramped_room + algorithm@ego_train_algorithm: ego_ppo/overcooked/cramped_room + algorithm: brdiv/overcooked/cramped_room + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/.hydra/overrides.yaml b/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe51488c7066f6687ef680d6bfaa4f7768ef205c --- /dev/null +++ b/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/.hydra/overrides.yaml @@ -0,0 +1 @@ +[] diff --git a/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/ego_train_run/_CHECKPOINT_METADATA b/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/ego_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..6b2dfb5062655fa370460444184f7ebb3afd1762 --- /dev/null +++ b/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/ego_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1745432470671903426, "commit_timestamp_nsecs": 1745432470929064199, "custom": {}} \ No newline at end of file diff --git a/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/ego_train_run/_METADATA b/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/ego_train_run/_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..ab9424ab49f343c120df17482aadae01491e879a --- /dev/null +++ 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Treating as list. +[2025-04-23 13:21:11,964][evaluation.agent_loader_from_config][INFO] - Loaded ippo_mlp checkpoint where leaf 0 has shape (3, 64). 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COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/cramped_room +algorithm: + ALG: comedi + TOTAL_TIMESTEPS_PER_ITERATION: 12000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 10 + NUM_ENVS: 48 + LR: 0.0001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 8 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ACTOR_TYPE: actor_with_conditional_critic + NUM_ARGMAX_ROLLOUT_EPS: 20 + COMEDI_ALPHA: 1.0 + COMEDI_BETA: 0.5 + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 30000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 5.0e-05 + UPDATE_EPOCHS: 10 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.1 + ENT_COEF: 0.001 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + TOTAL_TIMESTEPS: 6000000.0 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 3 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: false +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/cramped_room/comedi/2026-03-03_22-28-24/.hydra/hydra.yaml b/overcooked-v1/cramped_room/comedi/2026-03-03_22-28-24/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..df65590e119c47e585e7f6d2ba3b7fa43fb110ec --- /dev/null +++ b/overcooked-v1/cramped_room/comedi/2026-03-03_22-28-24/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=comedi/overcooked-v1/cramped_room + - task=overcooked-v1/cramped_room + - label=val_teammates + - algorithm.NUM_SEEDS=3 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - run_heldout_eval=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=3,algorithm.TRAIN_SEED=39852,algorithm=comedi/overcooked-v1/cramped_room,label=val_teammates,logger.mode=online,run_heldout_eval=false,task=overcooked-v1/cramped_room,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/cramped_room/comedi/val_teammates/2026-03-03_22-28-24 + choices: + hydra: hydra_simple + algorithm: comedi/overcooked-v1/cramped_room + task: overcooked-v1/cramped_room + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/cramped_room/comedi/2026-03-03_22-28-24/.hydra/overrides.yaml b/overcooked-v1/cramped_room/comedi/2026-03-03_22-28-24/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..58483126bcd826e5500839ec9e1387a62afe1b7d --- /dev/null +++ b/overcooked-v1/cramped_room/comedi/2026-03-03_22-28-24/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- algorithm=comedi/overcooked-v1/cramped_room +- task=overcooked-v1/cramped_room +- label=val_teammates +- algorithm.NUM_SEEDS=3 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- run_heldout_eval=false +- logger.mode=online diff --git a/overcooked-v1/cramped_room/comedi/2026-03-03_22-28-24/run.log b/overcooked-v1/cramped_room/comedi/2026-03-03_22-28-24/run.log new file mode 100644 index 0000000000000000000000000000000000000000..b7c6600ec949605088bb12b7969448d28032bcbd --- /dev/null +++ b/overcooked-v1/cramped_room/comedi/2026-03-03_22-28-24/run.log @@ -0,0 +1,2 @@ +[2026-03-03 22:28:25,969][teammate_generation.CoMeDi][INFO] - Starting CoMeDi training... +[2026-03-04 00:27:47,638][teammate_generation.CoMeDi][INFO] - CoMeDi training complete in 7161.668655633926 seconds diff --git a/overcooked-v1/cramped_room/comedi/2026-03-03_22-28-24/saved_train_run/_CHECKPOINT_METADATA b/overcooked-v1/cramped_room/comedi/2026-03-03_22-28-24/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..1cd696749a6a98966dd1e144af8037ea3312f54e --- /dev/null +++ b/overcooked-v1/cramped_room/comedi/2026-03-03_22-28-24/saved_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 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header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: [] + job: + name: ippo + chdir: true + override_dirname: '' + id: ??? + num: ??? + config_name: ippo_cramped_room + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: 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PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/cramped_room +algorithm: + ALG: lbrdiv + TOTAL_TIMESTEPS: 45000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 3 + NUM_ENVS: 64 + TOLERANCE_FACTOR: 10.0 + LAGRANGE_LR: 0.01 + LR: 0.0001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + S5_D_MODEL: 16 + S5_SSM_SIZE: 16 + S5_ACTOR_CRITIC_HIDDEN_DIM: 64 + FC_N_LAYERS: 2 + TOTAL_TIMESTEPS: 30000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.0001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 3 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: false +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/cramped_room/lbrdiv/2026-03-03_19-04-46/.hydra/hydra.yaml b/overcooked-v1/cramped_room/lbrdiv/2026-03-03_19-04-46/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..035346dffc4d46383246eb5a1002b42a71ce4715 --- /dev/null +++ b/overcooked-v1/cramped_room/lbrdiv/2026-03-03_19-04-46/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=lbrdiv/overcooked-v1/cramped_room + - task=overcooked-v1/cramped_room + - label=val_teammates + - algorithm.NUM_SEEDS=3 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - run_heldout_eval=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=3,algorithm.TRAIN_SEED=39852,algorithm=lbrdiv/overcooked-v1/cramped_room,label=val_teammates,logger.mode=online,run_heldout_eval=false,task=overcooked-v1/cramped_room,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/cramped_room/lbrdiv/val_teammates/2026-03-03_19-04-46 + choices: + hydra: hydra_simple + algorithm: lbrdiv/overcooked-v1/cramped_room + task: overcooked-v1/cramped_room + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/cramped_room/lbrdiv/2026-03-03_19-04-46/.hydra/overrides.yaml b/overcooked-v1/cramped_room/lbrdiv/2026-03-03_19-04-46/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..557ecd5bd35f0af37ee7386193ad0b6dbebadf6a --- /dev/null +++ b/overcooked-v1/cramped_room/lbrdiv/2026-03-03_19-04-46/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- algorithm=lbrdiv/overcooked-v1/cramped_room +- task=overcooked-v1/cramped_room +- label=val_teammates +- algorithm.NUM_SEEDS=3 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- run_heldout_eval=false +- logger.mode=online diff --git a/overcooked-v1/cramped_room/lbrdiv/2026-03-03_19-04-46/run.log 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+ do_reward_shaping: true + reward_shaping_params: + PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/forced_coord +algorithm: + ALG: brdiv + TOTAL_TIMESTEPS: 100000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 4 + NUM_ENVS_SP: 32 + NUM_ENVS_XP: 32 + XP_LOSS_WEIGHTS: 10 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.1 + ENT_COEF: 0.05 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 20374 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 1000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: true + ippo_mlp_s2c1: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 1 + test_mode: true + brdiv-conf: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/counter_circuit: + ippo_mlp: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: true +run_heldout_eval: true +name: ${TASK_NAME}/${algorithm.ALG} +logger: + project: open-ended-aht + entity: aht-project + mode: online + verbose: true + log_train_out: true + log_eval_out: true +local_logger: + save_figures: false + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/forced_coord/brdiv/2025-04-23_14-07-41/.hydra/hydra.yaml b/overcooked-v1/forced_coord/brdiv/2025-04-23_14-07-41/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8e110b23b7ea56c2c645c95d5ea376740220d99 --- /dev/null +++ b/overcooked-v1/forced_coord/brdiv/2025-04-23_14-07-41/.hydra/hydra.yaml @@ -0,0 +1,159 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=overcooked/forced_coord + job: + name: run + chdir: true + override_dirname: task=overcooked/forced_coord + id: ??? + num: ??? + config_name: base_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/continual-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/continual-aht/results/overcooked-v1/forced_coord/brdiv/2025-04-23/14-07-41 + choices: + hydra: hydra_simple + task: overcooked/forced_coord + algorithm@ego_train_algorithm: ego_ppo/overcooked/forced_coord + algorithm: brdiv/overcooked/forced_coord + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/forced_coord/brdiv/2025-04-23_14-07-41/.hydra/overrides.yaml b/overcooked-v1/forced_coord/brdiv/2025-04-23_14-07-41/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f850af1fe4dd1bfa9c992ad3a51da2ba834eb93a --- /dev/null +++ b/overcooked-v1/forced_coord/brdiv/2025-04-23_14-07-41/.hydra/overrides.yaml @@ -0,0 +1 @@ +- task=overcooked/forced_coord diff --git a/overcooked-v1/forced_coord/brdiv/2025-04-23_14-07-41/ego_train_run/_CHECKPOINT_METADATA b/overcooked-v1/forced_coord/brdiv/2025-04-23_14-07-41/ego_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..985915d0ab0d84120d4de48985ab559dddd1d027 --- /dev/null +++ b/overcooked-v1/forced_coord/brdiv/2025-04-23_14-07-41/ego_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 1745436964012679898, "commit_timestamp_nsecs": 1745436966620129730, "custom": 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Treating as list. +[2025-04-23 14:36:08,638][evaluation.agent_loader_from_config][INFO] - Loaded ippo_mlp checkpoint where leaf 0 has shape (3, 64). 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overcooked-v1 + ROLLOUT_LENGTH: 400 + ENV_KWARGS: + layout: forced_coord + random_obj_state: true + do_reward_shaping: true + reward_shaping_params: + PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/forced_coord +algorithm: + ALG: brdiv + TOTAL_TIMESTEPS: 100000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 3 + NUM_ENVS_SP: 32 + NUM_ENVS_XP: 32 + XP_LOSS_WEIGHTS: 0.01 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 20374 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 1000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: true + ippo_mlp_s2c1: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 1 + test_mode: true + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025-04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_14-07-41/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + - 3 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: true +run_heldout_eval: true +name: ${TASK_NAME}/${algorithm.ALG} +logger: + project: open-ended-aht + entity: aht-project + mode: online + verbose: true + log_train_out: true + log_eval_out: true +local_logger: + save_figures: false + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/.hydra/hydra.yaml b/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0fa53f96f79331dbfe438cd54c9e38a9348ad97a --- /dev/null +++ b/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/.hydra/hydra.yaml @@ -0,0 +1,159 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=overcooked/forced_coord + job: + name: run + chdir: true + override_dirname: task=overcooked/forced_coord + id: ??? + num: ??? + config_name: base_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/continual-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/continual-aht/results/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30 + choices: + hydra: hydra_simple + task: overcooked/forced_coord + algorithm@ego_train_algorithm: ego_ppo/overcooked/forced_coord + algorithm: brdiv/overcooked/forced_coord + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/.hydra/overrides.yaml b/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f850af1fe4dd1bfa9c992ad3a51da2ba834eb93a --- /dev/null +++ b/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/.hydra/overrides.yaml @@ -0,0 +1 @@ +- task=overcooked/forced_coord diff --git a/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/ego_train_run/_CHECKPOINT_METADATA b/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/ego_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..1588de0e8ad4b8bc0acf40ea3b832ce859f3e2d2 --- /dev/null +++ b/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/ego_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": 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training completed in 184.91 seconds +[2025-04-23 20:01:29,802][evaluation.agent_loader_from_config][WARNING] - Error interpreting agent_config['idx_list'] as OmegaConf object: Input cfg is not an OmegaConf config object (list). Treating as list. +[2025-04-23 20:01:30,493][evaluation.agent_loader_from_config][INFO] - Loaded ippo_mlp checkpoint where leaf 0 has shape (3, 64). Selecting indices [0, 1, 2] for evaluation. +[2025-04-23 20:01:32,201][evaluation.agent_loader_from_config][WARNING] - Error interpreting agent_config['idx_list'] as OmegaConf object: Input cfg is not an OmegaConf config object (list). Treating as list. +[2025-04-23 20:01:32,897][evaluation.agent_loader_from_config][INFO] - Loaded brdiv-conf1 checkpoint where leaf 0 has shape (4, 64). 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overcooked-v1 + ROLLOUT_LENGTH: 400 + ENV_KWARGS: + layout: forced_coord + random_obj_state: true + do_reward_shaping: true + reward_shaping_params: + PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/forced_coord +algorithm: + ALG: brdiv + TOTAL_TIMESTEPS: 100000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 3 + NUM_ENVS_SP: 32 + NUM_ENVS_XP: 32 + XP_LOSS_WEIGHTS: 0.01 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 112358 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 10000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: true + ippo_mlp_s2c1: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 1 + test_mode: true + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025-04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_14-07-41/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + - 3 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: true +run_heldout_eval: true +name: ${TASK_NAME}/${algorithm.ALG} +logger: + project: open-ended-aht + entity: aht-project + mode: online + verbose: true + log_train_out: true + log_eval_out: true +local_logger: + save_figures: false + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/.hydra/hydra.yaml b/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f4db233ef94220408442c1e447566ee897ff8111 --- /dev/null +++ b/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/.hydra/hydra.yaml @@ -0,0 +1,159 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=overcooked/forced_coord + job: + name: run + chdir: true + override_dirname: task=overcooked/forced_coord + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/continual-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/continual-aht/results/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28 + choices: + hydra: hydra_simple + task: overcooked/forced_coord + algorithm@ego_train_algorithm: ego_ppo/overcooked/forced_coord + algorithm: brdiv/overcooked/forced_coord + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/.hydra/overrides.yaml b/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f850af1fe4dd1bfa9c992ad3a51da2ba834eb93a --- /dev/null +++ b/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/.hydra/overrides.yaml @@ -0,0 +1 @@ +- task=overcooked/forced_coord diff --git a/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/ego_train_run/_CHECKPOINT_METADATA b/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/ego_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..031b7c70e5468444afaa48ae5db81db557f581b1 --- /dev/null +++ b/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/ego_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": 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Treating as list. +[2025-04-23 20:54:52,140][evaluation.agent_loader_from_config][INFO] - Loaded ippo_mlp checkpoint where leaf 0 has shape (3, 64). Selecting indices [0, 1, 2] for evaluation. +[2025-04-23 20:54:54,370][evaluation.agent_loader_from_config][WARNING] - Error interpreting agent_config['idx_list'] as OmegaConf object: Input cfg is not an OmegaConf config object (list). Treating as list. +[2025-04-23 20:54:55,072][evaluation.agent_loader_from_config][INFO] - Loaded brdiv-conf1 checkpoint where leaf 0 has shape (4, 64). 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overcooked-v1 + ROLLOUT_LENGTH: 400 + ENV_KWARGS: + layout: forced_coord + random_obj_state: true + do_reward_shaping: true + reward_shaping_params: + PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/forced_coord +algorithm: + ALG: brdiv + TOTAL_TIMESTEPS: 100000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 3 + NUM_ENVS_SP: 32 + NUM_ENVS_XP: 32 + XP_LOSS_WEIGHTS: 0.01 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 1285842 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 10000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 1.0 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: true + ippo_mlp_s2c1: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 1 + test_mode: true + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025-04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: true +run_heldout_eval: true +name: ${TASK_NAME}/${algorithm.ALG} +logger: + project: open-ended-aht + entity: aht-project + mode: online + verbose: true + log_train_out: true + log_eval_out: true +local_logger: + save_figures: false + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/.hydra/hydra.yaml b/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d77cf7a324fb14e2f86ffe6bad9bbb40dc1bffaa --- /dev/null +++ b/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/.hydra/hydra.yaml @@ -0,0 +1,159 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - task=overcooked/forced_coord + job: + name: run + chdir: true + override_dirname: task=overcooked/forced_coord + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/continual-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/continual-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/continual-aht/results/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05 + choices: + hydra: hydra_simple + task: overcooked/forced_coord + algorithm@ego_train_algorithm: ego_ppo/overcooked/forced_coord + algorithm: brdiv/overcooked/forced_coord + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/.hydra/overrides.yaml b/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f850af1fe4dd1bfa9c992ad3a51da2ba834eb93a --- /dev/null +++ b/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/.hydra/overrides.yaml @@ -0,0 +1 @@ +- task=overcooked/forced_coord diff --git a/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/ego_train_run/_CHECKPOINT_METADATA b/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/ego_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..719991092cccb7550969294e907bf4cb8947ca90 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training completed in 847.05 seconds +[2025-04-23 21:35:43,605][evaluation.agent_loader_from_config][WARNING] - Error interpreting agent_config['idx_list'] as OmegaConf object: Input cfg is not an OmegaConf config object (list). Treating as list. +[2025-04-23 21:35:44,259][evaluation.agent_loader_from_config][INFO] - Loaded ippo_mlp checkpoint where leaf 0 has shape (3, 64). Selecting indices [0, 1, 2] for evaluation. +[2025-04-23 21:35:46,514][evaluation.agent_loader_from_config][WARNING] - Error interpreting agent_config['idx_list'] as OmegaConf object: Input cfg is not an OmegaConf config object (list). Treating as list. +[2025-04-23 21:35:47,212][evaluation.agent_loader_from_config][INFO] - Loaded brdiv-conf1 checkpoint where leaf 0 has shape (3, 64). Selecting indices [0, 2] for evaluation. +[2025-04-23 21:35:49,329][evaluation.agent_loader_from_config][WARNING] - Error interpreting agent_config['idx_list'] as OmegaConf object: Input cfg is not an OmegaConf config object (list). Treating as list. +[2025-04-23 21:35:50,016][evaluation.agent_loader_from_config][INFO] - Loaded brdiv-conf2 checkpoint where leaf 0 has shape (3, 64). 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layout: forced_coord + random_obj_state: true + do_reward_shaping: true + reward_shaping_params: + PLACEMENT_IN_POT_REW: 0.5 + PLATE_PICKUP_REWARD: 0.1 + SOUP_PICKUP_REWARD: 1.0 + ONION_PICKUP_REWARD: 0.1 + COUNTER_PICKUP_REWARD: 0 + COUNTER_DROP_REWARD: 0 + TASK_NAME: overcooked-v1/forced_coord +algorithm: + ALG: comedi + TOTAL_TIMESTEPS_PER_ITERATION: 12000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 10 + NUM_ENVS: 48 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 8 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ACTOR_TYPE: actor_with_conditional_critic + NUM_ARGMAX_ROLLOUT_EPS: 20 + COMEDI_ALPHA: 1.0 + COMEDI_BETA: 0.5 + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + TOTAL_TIMESTEPS: 60000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 1.0e-05 + UPDATE_EPOCHS: 5 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.1 + ENT_COEF: 0.0001 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + TOTAL_TIMESTEPS: 10000000.0 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 3 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: false +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/forced_coord/comedi/2026-03-04_00-28-31/.hydra/hydra.yaml b/overcooked-v1/forced_coord/comedi/2026-03-04_00-28-31/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..710a8714f180bf38a6aecad54801f414c16f1bab --- /dev/null +++ b/overcooked-v1/forced_coord/comedi/2026-03-04_00-28-31/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=comedi/overcooked-v1/forced_coord + - task=overcooked-v1/forced_coord + - label=val_teammates + - algorithm.NUM_SEEDS=3 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - run_heldout_eval=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=3,algorithm.TRAIN_SEED=39852,algorithm=comedi/overcooked-v1/forced_coord,label=val_teammates,logger.mode=online,run_heldout_eval=false,task=overcooked-v1/forced_coord,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/forced_coord/comedi/val_teammates/2026-03-04_00-28-31 + choices: + hydra: hydra_simple + algorithm: comedi/overcooked-v1/forced_coord + task: overcooked-v1/forced_coord + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/forced_coord/comedi/2026-03-04_00-28-31/.hydra/overrides.yaml b/overcooked-v1/forced_coord/comedi/2026-03-04_00-28-31/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..16d35e25110a122ba7036060cc883001930a5b17 --- /dev/null +++ b/overcooked-v1/forced_coord/comedi/2026-03-04_00-28-31/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- algorithm=comedi/overcooked-v1/forced_coord +- task=overcooked-v1/forced_coord +- label=val_teammates +- algorithm.NUM_SEEDS=3 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- run_heldout_eval=false +- logger.mode=online diff --git a/overcooked-v1/forced_coord/comedi/2026-03-04_00-28-31/run.log b/overcooked-v1/forced_coord/comedi/2026-03-04_00-28-31/run.log new file mode 100644 index 0000000000000000000000000000000000000000..f7127cfd01af459de4ecfd8c624cfd77db2b1242 --- /dev/null +++ b/overcooked-v1/forced_coord/comedi/2026-03-04_00-28-31/run.log @@ -0,0 +1,2 @@ +[2026-03-04 00:28:33,627][teammate_generation.CoMeDi][INFO] - Starting CoMeDi training... +[2026-03-04 03:00:39,638][teammate_generation.CoMeDi][INFO] - CoMeDi training complete in 9126.010414123535 seconds diff --git a/overcooked-v1/forced_coord/comedi/2026-03-04_00-28-31/saved_train_run/_CHECKPOINT_METADATA b/overcooked-v1/forced_coord/comedi/2026-03-04_00-28-31/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 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(${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: 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lbrdiv + TOTAL_TIMESTEPS: 90000000.0 + NUM_CHECKPOINTS: 5 + PARTNER_POP_SIZE: 3 + NUM_ENVS: 128 + TOLERANCE_FACTOR: 5.0 + LAGRANGE_LR: 0.01 + LR: 0.0005 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 16 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: false + ego_train_algorithm: + EGO_ACTOR_TYPE: s5 + S5_D_MODEL: 16 + S5_SSM_SIZE: 16 + S5_ACTOR_CRITIC_HIDDEN_DIM: 64 + FC_N_LAYERS: 2 + TOTAL_TIMESTEPS: 60000000.0 + NUM_CHECKPOINTS: 5 + NUM_ENVS: 8 + LR: 0.001 + UPDATE_EPOCHS: 15 + NUM_MINIBATCHES: 4 + GAMMA: 0.99 + GAE_LAMBDA: 0.95 + CLIP_EPS: 0.05 + ENT_COEF: 0.01 + VF_COEF: 0.5 + MAX_GRAD_NORM: 1.0 + ANNEAL_LR: true + NUM_EGO_TRAIN_SEEDS: 1 + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 204829 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 20 + TRAIN_SEED: 39852 + NUM_SEEDS: 3 + ENV_NAME: ${ENV_NAME} + ENV_KWARGS: ${ENV_KWARGS} + ROLLOUT_LENGTH: ${ROLLOUT_LENGTH} +global_heldout_settings: + EVAL_SEED: 34957 + MAX_EPISODE_STEPS: ${task.ROLLOUT_LENGTH} + NUM_EVAL_EPISODES: 64 + AGGREGATE_STAT: mean + NORMALIZE_RETURNS: true +heldout_set: + lbf: + ippo_mlp: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 100.0 + returned_episode_returns: + - - 0.0 + - 0.5 + ippo_mlp_s2c0: + path: eval_teammates/lbf/ippo/2025-04-21_23-41-17/saved_train_run + actor_type: mlp + idx_list: + - - 2 + - 0 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 69.27 + returned_episode_returns: + - - 0.0 + - 0.35 + brdiv-conf1: + path: eval_teammates/lbf/brdiv/2025-04-16/11-32-07/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 5 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 61.98 + - - 0.0 + - 83.33 + - - 0.0 + - 78.65 + returned_episode_returns: + - - 0.0 + - 0.31 + - - 0.0 + - 0.42 + - - 0.0 + - 0.39 + brdiv-conf2: + path: eval_teammates/lbf/brdiv/2025-04-23/13-48-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + test_mode: false + performance_bounds: + percent_eaten: + - - 0.0 + - 90.62 + - - 0.0 + - 52.08 + returned_episode_returns: + - - 0.0 + - 0.45 + - - 0.0 + - 0.26 + seq_agent_lexi: + actor_type: seq_agent + ordering_strategy: lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rlexi: + actor_type: seq_agent + ordering_strategy: reverse_lexicographic + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_col: + actor_type: seq_agent + ordering_strategy: column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_rcol: + actor_type: seq_agent + ordering_strategy: reverse_column_major + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_nearest: + actor_type: seq_agent + ordering_strategy: nearest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + seq_agent_farthest: + actor_type: seq_agent + ordering_strategy: farthest_agent + performance_bounds: + percent_eaten: + - 0.0 + - 100.0 + returned_episode_returns: + - 0.0 + - 0.5 + overcooked-v1/cramped_room: + ippo_mlp: + path: eval_teammates/overcooked-v1/cramped_room/ippo/2025-04-21_22-53-04/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.25 + - - 0.0 + - 180.94 + - - 0.0 + - 211.88 + returned_episode_returns: + - - 0.0 + - 209.55 + - - 0.0 + - 193.39 + - - 0.0 + - 226.68 + brdiv-conf: + path: eval_teammates/overcooked-v1/cramped_room/brdiv/2025-04-23-12-55-47/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 204.06 + - - 0.0 + - 240.94 + returned_episode_returns: + - - 0.0 + - 217.77 + - - 0.0 + - 257.61 + independent_agent_0.4: + actor_type: independent_agent + p_onion_on_counter: 0.4 + p_plate_on_counter: 0.4 + performance_bounds: + base_return: + - 0.0 + - 158.75 + returned_episode_returns: + - 0.0 + - 169.27 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 132.5 + returned_episode_returns: + - 0.0 + - 133.64 + onion_agent_0.1: + actor_type: onion_agent + p_onion_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 83.13 + returned_episode_returns: + - 0.0 + - 89.34 + plate_agent_0.1: + actor_type: plate_agent + p_plate_on_counter: 0.1 + performance_bounds: + base_return: + - 0.0 + - 137.5 + returned_episode_returns: + - 0.0 + - 146.45 + overcooked-v1/asymm_advantages: + ippo_mlp: + path: eval_teammates/overcooked-v1/asymm_advantages/ippo/2025-04-21_22-53-56/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + returned_episode_returns: + - - 0.0 + - 91.56 + - - 0.0 + - 117.5 + - - 0.0 + - 153.44 + brdiv-conf: + path: eval_teammates/overcooked-v1/asymm_advantages/brdiv/2025-04-23/13-16-34/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 4 + performance_bounds: + base_return: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + returned_episode_returns: + - - 0.0 + - 157.81 + - - 0.0 + - 148.44 + - - 0.0 + - 160.0 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 257.5 + returned_episode_returns: + - 0.0 + - 257.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 199.69 + returned_episode_returns: + - 0.0 + - 199.69 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 191.25 + returned_episode_returns: + - 0.0 + - 191.25 + overcooked-v1/counter_circuit: + ippo_mlp_cc: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-21_22-55-42/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 196.88 + - - 0.0 + - 198.12 + - - 0.0 + - 189.06 + returned_episode_returns: + - - 0.0 + - 209.12 + - - 0.0 + - 210.51 + - - 0.0 + - 207.01 + ippo_mlp_pass: + path: eval_teammates/overcooked-v1/counter_circuit/ippo/2025-04-23_15-28-23/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 59.38 + - - 0.0 + - 46.25 + - - 0.0 + - 142.5 + returned_episode_returns: + - - 0.0 + - 62.86 + - - 0.0 + - 47.63 + - - 0.0 + - 150.6 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 65.0 + returned_episode_returns: + - 0.0 + - 65.5 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 62.5 + returned_episode_returns: + - 0.0 + - 65.93 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 56.25 + returned_episode_returns: + - 0.0 + - 58.79 + onion_agent_0.9: + actor_type: onion_agent + p_onion_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 46.25 + returned_episode_returns: + - 0.0 + - 48.62 + plate_agent_0.9: + actor_type: plate_agent + p_plate_on_counter: 0.9 + performance_bounds: + base_return: + - 0.0 + - 55.31 + returned_episode_returns: + - 0.0 + - 57.91 + overcooked-v1/coord_ring: + ippo_mlp: + path: eval_teammates/overcooked-v1/coord_ring/ippo/2025-04-21_22-58-26/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 1 + - 2 + - 3 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 218.44 + - - 0.0 + - 246.56 + - - 0.0 + - 246.56 + returned_episode_returns: + - - 0.0 + - 232.62 + - - 0.0 + - 262.83 + - - 0.0 + - 262.83 + brdiv-conf1: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_15-00-27/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 161.25 + - - 0.0 + - 183.44 + returned_episode_returns: + - - 0.0 + - 171.35 + - - 0.0 + - 194.6 + brdiv-conf2: + path: eval_teammates/overcooked-v1/coord_ring/brdiv/2025_04-23_14-17-36/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 142.81 + returned_episode_returns: + - - 0.0 + - 150.98 + independent_agent_0: + actor_type: independent_agent + p_onion_on_counter: 0.0 + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 136.25 + returned_episode_returns: + - 0.0 + - 137.08 + onion_agent_0: + actor_type: onion_agent + p_onion_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 38.13 + returned_episode_returns: + - 0.0 + - 40.25 + plate_agent_0: + actor_type: plate_agent + p_plate_on_counter: 0.0 + performance_bounds: + base_return: + - 0.0 + - 67.5 + returned_episode_returns: + - 0.0 + - 70.33 + overcooked-v1/forced_coord: + ippo_mlp: + path: eval_teammates/overcooked-v1/forced_coord/ippo/2025-04-21_23-00-17/saved_train_run + actor_type: mlp + ckpt_key: final_params + idx_list: + - 0 + - 1 + - 2 + test_mode: true + performance_bounds: + base_return: + - - 0.0 + - 220.0 + - - 0.0 + - 214.38 + - - 0.0 + - 225.62 + returned_episode_returns: + - - 0.0 + - 233.83 + - - 0.0 + - 227.73 + - - 0.0 + - 239.82 + brdiv-conf1: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_19-44-30/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 131.56 + - - 0.0 + - 184.69 + returned_episode_returns: + - - 0.0 + - 139.33 + - - 0.0 + - 195.88 + brdiv-conf2: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_20-25-28/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 1 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 143.75 + returned_episode_returns: + - - 0.0 + - 152.5 + brdiv-conf3: + path: eval_teammates/overcooked-v1/forced_coord/brdiv/2025-04-23_21-06-05/saved_train_run + actor_type: actor_with_conditional_critic + idx_list: + - 0 + - 2 + ckpt_key: final_params_conf + POP_SIZE: 3 + performance_bounds: + base_return: + - - 0.0 + - 69.06 + - - 0.0 + - 174.69 + returned_episode_returns: + - - 0.0 + - 72.45 + - - 0.0 + - 185.49 + independent_agent_0.6: + actor_type: independent_agent + p_onion_on_counter: 0.6 + p_plate_on_counter: 0.6 + performance_bounds: + base_return: + - 0.0 + - 61.88 + returned_episode_returns: + - 0.0 + - 65.22 +ENV_NAME: ${task.ENV_NAME} +ENV_KWARGS: ${task.ENV_KWARGS} +ROLLOUT_LENGTH: ${task.ROLLOUT_LENGTH} +TASK_NAME: ${task.TASK_NAME} +train_ego: false +run_heldout_eval: false +label: val_teammates +name: ${TASK_NAME}/${algorithm.ALG}/${label} +logger: + project: aht-benchmark + entity: aht-project + tags: + - ${algorithm.ALG} + - ${TASK_NAME} + - seed=${algorithm.TRAIN_SEED} + - ${label} + mode: online + verbose: false + log_train_out: true + log_eval_out: true +local_logger: + save_train_out: true + save_eval_out: true diff --git a/overcooked-v1/forced_coord/lbrdiv/2026-03-03_19-30-49/.hydra/hydra.yaml b/overcooked-v1/forced_coord/lbrdiv/2026-03-03_19-30-49/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4b1839364b7cf3b12acadc486437c05f08da85a6 --- /dev/null +++ b/overcooked-v1/forced_coord/lbrdiv/2026-03-03_19-30-49/.hydra/hydra.yaml @@ -0,0 +1,165 @@ +hydra: + run: + dir: results/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + sweep: + dir: results_sweep/${name}/${now:%Y-%m-%d}_${now:%H-%M-%S} + subdir: ${run.seed} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: + - algorithm=lbrdiv/overcooked-v1/forced_coord + - task=overcooked-v1/forced_coord + - label=val_teammates + - algorithm.NUM_SEEDS=3 + - algorithm.TRAIN_SEED=39852 + - train_ego=false + - run_heldout_eval=false + - logger.mode=online + job: + name: run + chdir: true + override_dirname: algorithm.NUM_SEEDS=3,algorithm.TRAIN_SEED=39852,algorithm=lbrdiv/overcooked-v1/forced_coord,label=val_teammates,logger.mode=online,run_heldout_eval=false,task=overcooked-v1/forced_coord,train_ego=false + id: ??? + num: ??? + config_name: base_config_teammate + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /scratch/cluster/clw4542/explore_marl/jax-aht + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /scratch/cluster/clw4542/explore_marl/jax-aht/teammate_generation/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /scratch/cluster/clw4542/explore_marl/jax-aht/results/overcooked-v1/forced_coord/lbrdiv/val_teammates/2026-03-03_19-30-49 + choices: + hydra: hydra_simple + algorithm: lbrdiv/overcooked-v1/forced_coord + task: overcooked-v1/forced_coord + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/overcooked-v1/forced_coord/lbrdiv/2026-03-03_19-30-49/.hydra/overrides.yaml b/overcooked-v1/forced_coord/lbrdiv/2026-03-03_19-30-49/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e16c9e022f9380ded6ffd8e3f42419bf36cece72 --- /dev/null +++ b/overcooked-v1/forced_coord/lbrdiv/2026-03-03_19-30-49/.hydra/overrides.yaml @@ -0,0 +1,8 @@ +- algorithm=lbrdiv/overcooked-v1/forced_coord +- task=overcooked-v1/forced_coord +- label=val_teammates +- algorithm.NUM_SEEDS=3 +- algorithm.TRAIN_SEED=39852 +- train_ego=false +- run_heldout_eval=false +- logger.mode=online diff --git a/overcooked-v1/forced_coord/lbrdiv/2026-03-03_19-30-49/run.log b/overcooked-v1/forced_coord/lbrdiv/2026-03-03_19-30-49/run.log new file mode 100644 index 0000000000000000000000000000000000000000..d52e06a91658a6b35ac565e69f4835a8cc848201 --- /dev/null +++ b/overcooked-v1/forced_coord/lbrdiv/2026-03-03_19-30-49/run.log @@ -0,0 +1,2 @@ +[2026-03-03 19:30:50,630][teammate_generation.LBRDiv][INFO] - Starting LBRDiv training... +[2026-03-03 20:25:28,536][teammate_generation.LBRDiv][INFO] - LBRDiv training complete in 3277.9060769081116 seconds diff --git a/overcooked-v1/forced_coord/lbrdiv/2026-03-03_19-30-49/saved_train_run/_CHECKPOINT_METADATA b/overcooked-v1/forced_coord/lbrdiv/2026-03-03_19-30-49/saved_train_run/_CHECKPOINT_METADATA new file mode 100644 index 0000000000000000000000000000000000000000..5f3eef416b94631c90b6d2b1ab4874f22d91b907 --- /dev/null +++ b/overcooked-v1/forced_coord/lbrdiv/2026-03-03_19-30-49/saved_train_run/_CHECKPOINT_METADATA @@ -0,0 +1 @@ +{"item_handlers": "orbax.checkpoint._src.handlers.pytree_checkpoint_handler.PyTreeCheckpointHandler", "metrics": {}, "performance_metrics": {}, "init_timestamp_nsecs": 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