| #!/usr/bin/env bash |
| set -uo pipefail |
| ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu |
| RUN=$ROOT/1027_run |
| TASKS=$ROOT/1027_sim_tasks |
| V5CODE=$TASKS/share_v5_sim2real_20260929/code |
| CONDA=$ROOT/miniconda3 |
| SPY=$CONDA/envs/simfoundry/bin/python |
| UPY=$CONDA/envs/ur5dp/bin/python |
| HOME_FAKE=$RUN/home_fake |
| NAME=package_d5_v1 |
| PKG=$TASKS/package_d5 |
|
|
| mkdir -p $HOME_FAKE/ur5_sim2real_v5 $RUN/logs $V5CODE/sim_data $V5CODE/train_runs |
| ln -sfn $CONDA $HOME_FAKE/miniconda3 |
| ln -sfn $TASKS/share_v5_sim2real_20260929 $HOME_FAKE/ur5_sim2real_v5/share_v5_sim2real_20260929 |
| ln -sfn $PKG $HOME_FAKE/ur5_sim2real_v5/bread_lean 2>/dev/null || true |
| export HOME=$HOME_FAKE |
|
|
| log() { echo "== $(date '+%F %T') $*"; } |
| source $CONDA/etc/profile.d/conda.sh |
| export TORCHINDUCTOR_COMPILE_THREADS=1 OMNIGIBSON_HEADLESS=1 OMNI_KIT_ACCEPT_EULA=YES PYTHONUNBUFFERED=1 |
| export OMNIGIBSON_RENDER_VIEWER_CAMERA=0 TORCH_COMPILE_DISABLE=1 TORCHDYNAMO_DISABLE=1 |
|
|
| OG_DATA=$RUN/og_data/package_d5 |
| if [ ! -d $OG_DATA ]; then |
| bash $PKG/setup_og_data.sh "$ROOT/SimFoundry/deps/BEHAVIOR-1K/datasets" "$OG_DATA" |
| fi |
| DS_FSW=/lustre/fsw/portfolios/nvr/users/jtremblay/yu/SimFoundry/deps/BEHAVIOR-1K/datasets |
| for x in behavior-1k-assets omnigibson-robot-assets omnigibson.key; do |
| rm -f $OG_DATA/$x && ln -sfn $DS_FSW/$x $OG_DATA/$x |
| done |
| for c in $DS_FSW/real2sim-assets/objects/*; do |
| nm=$(basename $c); tgt=$OG_DATA/real2sim-assets/objects/$nm |
| [ -L "$tgt" ] && rm -f "$tgt" && ln -sfn "$c" "$tgt" || true |
| done |
| export STEP40_OG_DATA=$OG_DATA OMNIGIBSON_DATA_PATH=$OG_DATA |
| export UR5_IMPORT=$V5CODE/ur5_import OBJECT_ASSETS=$PKG/object_assets |
| export STEP40_DATA=$PKG/data OMNIGIBSON_APPDATA_PATH=$PKG/og_appdata |
|
|
| |
| DATA_A=$RUN/data/${NAME}_a |
| DATA_B=$RUN/data/${NAME}_b |
| mkdir -p $DATA_A $DATA_B |
|
|
| log "Collecting package_d5: 2x parallel (GPU0 seeds 1-150, GPU2 seeds 151-300)" |
|
|
| CUDA_VISIBLE_DEVICES=0 OMNIGIBSON_GPU_ID=0 \ |
| $SPY -u $PKG/scripts/t40_collect.py \ |
| --out $DATA_A --seeds 1-150 --max-kept 30 \ |
| --expert-cfg $PKG/cfg/expert_lean.json --dart --start-offset --resume \ |
| 2>&1 | tee $RUN/logs/${NAME}_a.log & |
| PID_A=$! |
|
|
| sleep 60 |
|
|
| CUDA_VISIBLE_DEVICES=2 OMNIGIBSON_GPU_ID=2 \ |
| $SPY -u $PKG/scripts/t40_collect.py \ |
| --out $DATA_B --seeds 151-300 --max-kept 30 \ |
| --expert-cfg $PKG/cfg/expert_lean.json --dart --start-offset --resume \ |
| 2>&1 | tee $RUN/logs/${NAME}_b.log & |
| PID_B=$! |
|
|
| wait $PID_A; log "Proc A done (exit $?)" |
| wait $PID_B; log "Proc B done (exit $?)" |
|
|
| |
| DATA_DIR=$RUN/data/$NAME |
| python3 $RUN/merge_shards.py $DATA_A $DATA_B $DATA_DIR 50 |
|
|
| kept=$($UPY -c "import json; d=json.load(open('$DATA_DIR/collect_meta.json')); print(d['n_kept'])" 2>/dev/null || echo 0) |
| log "Kept total: $kept" |
| if [ "$kept" -lt 30 ]; then log "ERROR: only $kept demos"; exit 1; fi |
|
|
| ln -sfn $DATA_DIR $V5CODE/sim_data/$NAME |
| log "Packing zarr" |
| cd $V5CODE && $UPY ur5_import/scripts/pack_zarr.py --dir sim_data/$NAME 2>&1 | tee -a $RUN/logs/${NAME}_train.log |
| log "Pack exit $?" |
|
|
| log "Training DP ($kept demos)" |
| cd $V5CODE/ur5_lab_code && export PYTHONPATH=src:. |
| $UPY train.py --config-name=train_baseline_diffusion_unet task=sim_baseline \ |
| task_name=$NAME dataset_path=$V5CODE/sim_data/$NAME n_demo=$kept \ |
| training.device=cuda:0 training.seed=0 training.num_epochs=130 \ |
| training.checkpoint_every=129 checkpoint.topk.k=0 \ |
| dataloader.batch_size=256 dataloader.num_workers=16 logging.mode=offline \ |
| "policy._target_=algorithms.policy.diffusion_unet_baseline_aug_policy.DiffusionUnetBaselineAugPolicy" \ |
| +policy.cam1_dropout=0.1 +policy.cam1_aug_p=0.5 +policy.cam1_erase_p=0.3 +policy.cam0_aug_p=0.3 \ |
| "hydra.run.dir=$V5CODE/train_runs/${NAME}_aug_s0" \ |
| 2>&1 | tee $RUN/logs/${NAME}_train.log |
| rc=$?; log "Train exit $rc" |
| [ $rc -eq 0 ] && touch $RUN/data/TRAIN_DONE_${NAME} || { log "TRAIN FAILED"; exit 1; } |
| log "DONE: $V5CODE/train_runs/${NAME}_aug_s0/checkpoints/" |
|
|
