| #!/usr/bin/env bash |
| |
| |
| set -uo pipefail |
| ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu |
| RUN=$ROOT/1028_run; TASKS=$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=$RUN/home_fake |
| YDIR=$TASKS/yu_parts_tasks |
|
|
| TASK=${TASK:-battery} |
| NAME=${TASK}_v1 |
| log() { echo "== $(date '+%F %T') [$TASK] $*"; } |
|
|
| 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 $YDIR $HOME_FAKE/ur5_sim2real_v5/yu_parts_tasks |
| export HOME=$HOME_FAKE |
| 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 |
| export OMNIGIBSON_DATA_PATH=/lustre/fsw/portfolios/nvr/users/jtremblay/yu/SimFoundry/deps/BEHAVIOR-1K/datasets |
| DS_FSW=/lustre/fsw/portfolios/nvr/users/jtremblay/yu/SimFoundry/deps/BEHAVIOR-1K/datasets |
| mkdir -p $DS_FSW/yu-assets/objects |
| for c in $TASKS/yu_parts_tasks/object_assets/objects/*; do |
| nm=$(basename $c); [ ! -e "$DS_FSW/yu-assets/objects/$nm" ] && ln -sfn "$c" "$DS_FSW/yu-assets/objects/$nm" || true |
| done |
|
|
| |
| |
| DATA_DIR=$YDIR/data/$TASK/$NAME |
| DATA_A=${DATA_DIR}_1028a; DATA_B=${DATA_DIR}_1028b |
| DATA_C=${DATA_DIR}_1028c; DATA_D=${DATA_DIR}_1028d |
| mkdir -p $DATA_A $DATA_B $DATA_C $DATA_D |
|
|
| log "Collecting $TASK: 4x parallel (physical GPU 0/1/2/3), 15 demos each -> 50 total" |
|
|
| OMNIGIBSON_GPU_ID=0 \ |
| $SPY -u $YDIR/scripts/yp_collect.py \ |
| --task $TASK --out $DATA_A --seeds 200-299 --max-kept 15 --dart --start-offset \ |
| 2>&1 | tee $RUN/logs/${NAME}_1028a.log & |
| PID_A=$! |
| sleep 60 |
|
|
| OMNIGIBSON_GPU_ID=1 \ |
| $SPY -u $YDIR/scripts/yp_collect.py \ |
| --task $TASK --out $DATA_B --seeds 300-399 --max-kept 15 --dart --start-offset \ |
| 2>&1 | tee $RUN/logs/${NAME}_1028b.log & |
| PID_B=$! |
| sleep 60 |
|
|
| OMNIGIBSON_GPU_ID=2 \ |
| $SPY -u $YDIR/scripts/yp_collect.py \ |
| --task $TASK --out $DATA_C --seeds 400-499 --max-kept 15 --dart --start-offset \ |
| 2>&1 | tee $RUN/logs/${NAME}_1028c.log & |
| PID_C=$! |
| sleep 60 |
|
|
| OMNIGIBSON_GPU_ID=3 \ |
| $SPY -u $YDIR/scripts/yp_collect.py \ |
| --task $TASK --out $DATA_D --seeds 500-599 --max-kept 20 --dart --start-offset \ |
| 2>&1 | tee $RUN/logs/${NAME}_1028d.log & |
| PID_D=$! |
|
|
| wait $PID_A; log "GPU0 done" |
| wait $PID_B; log "GPU1 done" |
| wait $PID_C; log "GPU2 done" |
| wait $PID_D; log "GPU3 done" |
|
|
| FINAL=$RUN/data/${NAME}_1028 |
| python3 $RUN/merge_shards.py $DATA_A $DATA_B $DATA_C $DATA_D $FINAL 50 |
| kept=$($UPY -c "import json; d=json.load(open('$FINAL/collect_meta.json')); print(d['n_kept'])" 2>/dev/null || echo 0) |
| log "Kept: $kept" |
| [ "$kept" -lt 40 ] && { log "ERROR: only $kept demos"; exit 1; } |
|
|
| ln -sfn $FINAL $V5CODE/sim_data/${NAME}_1028 |
| log "Packing zarr" |
| cd $V5CODE && $UPY ur5_import/scripts/pack_zarr.py --dir sim_data/${NAME}_1028 2>&1 | tee $RUN/logs/${NAME}_1028_train.log |
|
|
| log "Training DP ($kept demos) with AMP + batch_size=256 + num_workers=16" |
| cd $V5CODE/ur5_lab_code && export PYTHONPATH=src:. |
| $UPY train.py --config-name=train_baseline_diffusion_unet task=sim_baseline \ |
| task_name=${NAME}_1028 dataset_path=$FINAL n_demo=$kept \ |
| training.device=cuda:0 training.seed=0 training.num_epochs=130 training.checkpoint_every=129 \ |
| checkpoint.topk.k=0 training.resume=True checkpoint.save_last_ckpt=True \ |
| +training.use_amp=True \ |
| 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}_1028_aug_s0" \ |
| 2>&1 | tee -a $RUN/logs/${NAME}_1028_train.log |
| rc=$?; log "Train exit $rc" |
| [ $rc -eq 0 ] || { log "TRAIN FAILED"; exit 1; } |
| log "DONE: $V5CODE/train_runs/${NAME}_1028_aug_s0/checkpoints/" |
|
|
