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.summary/0/events.out.tfevents.1689668898.qgallouedec-MS-7C84

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ab3e2606c5596edd60eeff747d413f18bc2e204600be0ab03bcbc4088885b7
+size 1721261

README.md

@@ -15,7 +15,7 @@ model-index:
       type: peg-insert-side-v2
     metrics:
     - type: mean_reward
-      value: 629.67 +/- 36.17
+      value: 308.94 +/- 175.97
       name: mean_reward
       verified: false
 ---

checkpoint_p0/best_000020128_10305536_reward_380.859.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f89037b6dc159da0ecbd28afe5180484dbfb721e429e70b92ad21683daac02
+size 98239

checkpoint_p0/checkpoint_000058304_29851648.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3826299d6896f3ce26ffd747dab9b5cf1606fd94acb3f87bf41284484c0cab85
+size 98567

checkpoint_p0/checkpoint_000058608_30007296.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba0db7bfa3a5e2707771d34c65d1600277b030a2cffa14559da51a61d4843dd
+size 98567

config.json

@@ -65,7 +65,7 @@
   "summaries_use_frameskip": true,
   "heartbeat_interval": 20,
   "heartbeat_reporting_interval": 180,
-  "train_for_env_steps": 10000000,
+  "train_for_env_steps": 30000000,
   "train_for_seconds": 10000000000,
   "save_every_sec": 15,
   "keep_checkpoints": 2,
@@ -128,7 +128,7 @@
     "wandb_user": "qgallouedec",
     "wandb_project": "sample_facotry_metaworld"
   },
-  "git_hash": "66db1b7a27030aa65fcfa2d6e3503089a7cff207",
+  "git_hash": "952d4a00946fa97ee3267d32a2160be9933e887a",
   "git_repo_name": "https://github.com/huggingface/gia",
-  "wandb_unique_id": "peg-insert-side-v2_20230708_211703_755132"
+  "wandb_unique_id": "peg-insert-side-v2_20230718_102816_306101"
 }

git.diff

@@ -1,3 +1,142 @@
+diff --git a/data/envs/metaworld/generate_dataset_all.sh b/data/envs/metaworld/generate_dataset_all.sh
+index acfe879..fc2b602 100755
+--- a/data/envs/metaworld/generate_dataset_all.sh
++++ b/data/envs/metaworld/generate_dataset_all.sh
+@@ -1,59 +1,15 @@
+ #!/bin/bash
+ 
+ ENVS=(
+-    assembly
+-    basketball
+     bin-picking
+-    box-close
+-    button-press-topdown
+-    button-press-topdown-wall
+-    button-press
+-    button-press-wall
+-    coffee-button
+-    coffee-pull
+-    coffee-push
+-    dial-turn
+-    disassemble
+-    door-close
+-    door-lock
+-    door-open
+-    door-unlock
+-    drawer-close
+-    drawer-open
+-    faucet-close
+-    faucet-open
+     hammer
+-    hand-insert
+-    handle-press-side
+-    handle-press
+-    handle-pull-side
+-    handle-pull
+-    lever-pull
+-    peg-insert-side
+-    peg-unplug-side
+     pick-out-of-hole
+     pick-place
+-    pick-place-wall
+-    plate-slide-back-side
+-    plate-slide-back
+-    plate-slide-side
+-    plate-slide
+-    push-back
+-    push
+-    push-wall
+-    reach
+-    reach-wall
+     shelf-place
+     soccer
+-    stick-pull
+-    stick-push
+-    sweep-into
+-    sweep
+-    window-close
+-    window-open
+ )
+ 
+ for ENV in "${ENVS[@]}"; do
+-    python -m sample_factory.huggingface.load_from_hub -r qgallouedec/$ENV-v2
++    # python -m sample_factory.huggingface.load_from_hub -r qgallouedec/$ENV-v2
+     python generate_dataset.py --env $ENV-v2 --experiment $ENV-v2 --train_dir=./train_dir
+ done
+diff --git a/data/envs/metaworld/train.py b/data/envs/metaworld/train.py
+index 095414e..0ea5bde 100644
+--- a/data/envs/metaworld/train.py
++++ b/data/envs/metaworld/train.py
+@@ -25,7 +25,7 @@ def override_defaults(parser: argparse.ArgumentParser) -> argparse.ArgumentParse
+         num_workers=8,
+         num_envs_per_worker=8,
+         worker_num_splits=2,
+-        train_for_env_steps=10_000_000,
++        train_for_env_steps=30_000_000,
+         encoder_mlp_layers=[64, 64],
+         env_frameskip=1,
+         nonlinearity="tanh",
+diff --git a/data/envs/metaworld/train_all.sh b/data/envs/metaworld/train_all.sh
+index dbf328a..67ab9a0 100755
+--- a/data/envs/metaworld/train_all.sh
++++ b/data/envs/metaworld/train_all.sh
+@@ -1,56 +1,8 @@
+ #!/bin/bash
+ 
+ ENVS=(
+-    assembly
+-    basketball
+-    bin-picking
+-    box-close
+-    button-press-topdown
+-    button-press-topdown-wall
+-    button-press
+-    button-press-wall
+-    coffee-button
+-    coffee-pull
+-    coffee-push
+-    dial-turn
+     disassemble
+-    door-close
+-    door-lock
+-    door-open
+-    door-unlock
+-    drawer-close
+-    drawer-open
+-    faucet-close
+-    faucet-open
+-    hammer
+-    hand-insert
+-    handle-press-side
+-    handle-press
+-    handle-pull-side
+-    handle-pull
+-    lever-pull
+     peg-insert-side
+-    peg-unplug-side
+-    pick-out-of-hole
+-    pick-place
+-    pick-place-wall
+-    plate-slide-back-side
+-    plate-slide-back
+-    plate-slide-side
+-    plate-slide
+-    push-back
+-    push
+-    push-wall
+-    reach
+-    reach-wall
+-    shelf-place
+-    soccer
+-    stick-pull
+-    stick-push
+-    sweep-into
+-    sweep
+-    window-close
+-    window-open
+ )
+ 
+ for ENV in "${ENVS[@]}"; do
 diff --git a/gia/eval/callback.py b/gia/eval/callback.py
 index 5c3a080..4b6198f 100644
 --- a/gia/eval/callback.py
@@ -14,70 +153,176 @@ index 5c3a080..4b6198f 100644
  from gia.config import Arguments
  from gia.eval.utils import is_slurm_available
  
-diff --git a/gia/eval/evaluator.py b/gia/eval/evaluator.py
-index 91b645c..3e2cae7 100644
---- a/gia/eval/evaluator.py
-+++ b/gia/eval/evaluator.py
-@@ -1,3 +1,5 @@
-+from typing import Optional
+diff --git a/gia/eval/rl/envs/core.py b/gia/eval/rl/envs/core.py
+index 22c5b49..7464ff5 100644
+--- a/gia/eval/rl/envs/core.py
++++ b/gia/eval/rl/envs/core.py
+@@ -1,6 +1,8 @@
++from typing import Dict
 +
- import torch
+ import gymnasium as gym
+ import numpy as np
+-from gymnasium import Env, ObservationWrapper, spaces
++from gymnasium import Env, ObservationWrapper, RewardWrapper, spaces
+ from sample_factory.envs.env_wrappers import (
+     ClipRewardEnv,
+     EpisodicLifeEnv,
+@@ -12,63 +14,63 @@ from sample_factory.envs.env_wrappers import (
  
- from gia.config.arguments import Arguments
-@@ -5,11 +7,12 @@ from gia.model import GiaModel
  
+ TASK_TO_ENV_MAPPING = {
+-    "atari-alien": "Alien-v4",
+-    "atari-amidar": "Amidar-v4",
+-    "atari-assault": "Assault-v4",
+-    "atari-asterix": "Asterix-v4",
+-    "atari-asteroids": "Asteroids-v4",
+-    "atari-atlantis": "Atlantis-v4",
+-    "atari-bankheist": "BankHeist-v4",
+-    "atari-battlezone": "BattleZone-v4",
+-    "atari-beamrider": "BeamRider-v4",
+-    "atari-berzerk": "Berzerk-v4",
+-    "atari-bowling": "Bowling-v4",
+-    "atari-boxing": "Boxing-v4",
+-    "atari-breakout": "Breakout-v4",
+-    "atari-centipede": "Centipede-v4",
+-    "atari-choppercommand": "ChopperCommand-v4",
+-    "atari-crazyclimber": "CrazyClimber-v4",
+-    "atari-defender": "Defender-v4",
+-    "atari-demonattack": "DemonAttack-v4",
+-    "atari-doubledunk": "DoubleDunk-v4",
+-    "atari-enduro": "Enduro-v4",
+-    "atari-fishingderby": "FishingDerby-v4",
+-    "atari-freeway": "Freeway-v4",
+-    "atari-frostbite": "Frostbite-v4",
+-    "atari-gopher": "Gopher-v4",
+-    "atari-gravitar": "Gravitar-v4",
+-    "atari-hero": "Hero-v4",
+-    "atari-icehockey": "IceHockey-v4",
+-    "atari-jamesbond": "Jamesbond-v4",
+-    "atari-kangaroo": "Kangaroo-v4",
+-    "atari-krull": "Krull-v4",
+-    "atari-kungfumaster": "KungFuMaster-v4",
+-    "atari-montezumarevenge": "MontezumaRevenge-v4",
+-    "atari-mspacman": "MsPacman-v4",
+-    "atari-namethisgame": "NameThisGame-v4",
+-    "atari-phoenix": "Phoenix-v4",
+-    "atari-pitfall": "Pitfall-v4",
+-    "atari-pong": "Pong-v4",
+-    "atari-privateeye": "PrivateEye-v4",
+-    "atari-qbert": "Qbert-v4",
+-    "atari-riverraid": "Riverraid-v4",
+-    "atari-roadrunner": "RoadRunner-v4",
+-    "atari-robotank": "Robotank-v4",
+-    "atari-seaquest": "Seaquest-v4",
+-    "atari-skiing": "Skiing-v4",
+-    "atari-solaris": "Solaris-v4",
+-    "atari-spaceinvaders": "SpaceInvaders-v4",
+-    "atari-stargunner": "StarGunner-v4",
++    "atari-alien": "ALE/Alien-v5",
++    "atari-amidar": "ALE/Amidar-v5",
++    "atari-assault": "ALE/Assault-v5",
++    "atari-asterix": "ALE/Asterix-v5",
++    "atari-asteroids": "ALE/Asteroids-v5",
++    "atari-atlantis": "ALE/Atlantis-v5",
++    "atari-bankheist": "ALE/BankHeist-v5",
++    "atari-battlezone": "ALE/BattleZone-v5",
++    "atari-beamrider": "ALE/BeamRider-v5",
++    "atari-berzerk": "ALE/Berzerk-v5",
++    "atari-bowling": "ALE/Bowling-v5",
++    "atari-boxing": "ALE/Boxing-v5",
++    "atari-breakout": "ALE/Breakout-v5",
++    "atari-centipede": "ALE/Centipede-v5",
++    "atari-choppercommand": "ALE/ChopperCommand-v5",
++    "atari-crazyclimber": "ALE/CrazyClimber-v5",
++    "atari-defender": "ALE/Defender-v5",
++    "atari-demonattack": "ALE/DemonAttack-v5",
++    "atari-doubledunk": "ALE/DoubleDunk-v5",
++    "atari-enduro": "ALE/Enduro-v5",
++    "atari-fishingderby": "ALE/FishingDerby-v5",
++    "atari-freeway": "ALE/Freeway-v5",
++    "atari-frostbite": "ALE/Frostbite-v5",
++    "atari-gopher": "ALE/Gopher-v5",
++    "atari-gravitar": "ALE/Gravitar-v5",
++    "atari-hero": "ALE/Hero-v5",
++    "atari-icehockey": "ALE/IceHockey-v5",
++    "atari-jamesbond": "ALE/Jamesbond-v5",
++    "atari-kangaroo": "ALE/Kangaroo-v5",
++    "atari-krull": "ALE/Krull-v5",
++    "atari-kungfumaster": "ALE/KungFuMaster-v5",
++    "atari-montezumarevenge": "ALE/MontezumaRevenge-v5",
++    "atari-mspacman": "ALE/MsPacman-v5",
++    "atari-namethisgame": "ALE/NameThisGame-v5",
++    "atari-phoenix": "ALE/Phoenix-v5",
++    "atari-pitfall": "ALE/Pitfall-v5",
++    "atari-pong": "ALE/Pong-v5",
++    "atari-privateeye": "ALE/PrivateEye-v5",
++    "atari-qbert": "ALE/Qbert-v5",
++    "atari-riverraid": "ALE/Riverraid-v5",
++    "atari-roadrunner": "ALE/RoadRunner-v5",
++    "atari-robotank": "ALE/Robotank-v5",
++    "atari-seaquest": "ALE/Seaquest-v5",
++    "atari-skiing": "ALE/Skiing-v5",
++    "atari-solaris": "ALE/Solaris-v5",
++    "atari-spaceinvaders": "ALE/SpaceInvaders-v5",
++    "atari-stargunner": "ALE/StarGunner-v5",
+     "atari-surround": "ALE/Surround-v5",
+-    "atari-tennis": "Tennis-v4",
+-    "atari-timepilot": "TimePilot-v4",
+-    "atari-tutankham": "Tutankham-v4",
+-    "atari-upndown": "UpNDown-v4",
+-    "atari-venture": "Venture-v4",
+-    "atari-videopinball": "VideoPinball-v4",
+-    "atari-wizardofwor": "WizardOfWor-v4",
+-    "atari-yarsrevenge": "YarsRevenge-v4",
+-    "atari-zaxxon": "Zaxxon-v4",
++    "atari-tennis": "ALE/Tennis-v5",
++    "atari-timepilot": "ALE/TimePilot-v5",
++    "atari-tutankham": "ALE/Tutankham-v5",
++    "atari-upndown": "ALE/UpNDown-v5",
++    "atari-venture": "ALE/Venture-v5",
++    "atari-videopinball": "ALE/VideoPinball-v5",
++    "atari-wizardofwor": "ALE/WizardOfWor-v5",
++    "atari-yarsrevenge": "ALE/YarsRevenge-v5",
++    "atari-zaxxon": "ALE/Zaxxon-v5",
+     "babyai-action-obj-door": "BabyAI-ActionObjDoor-v0",
+     "babyai-blocked-unlock-pickup": "BabyAI-BlockedUnlockPickup-v0",
+     "babyai-boss-level-no-unlock": "BabyAI-BossLevelNoUnlock-v0",
+@@ -217,7 +219,7 @@ class BabyAIDictObservationWrapper(ObservationWrapper):
+     """
+     Wrapper for BabyAI environments.
  
- class Evaluator:
--    def __init__(self, args: Arguments, task: str) -> None:
-+    def __init__(self, args: Arguments, task: str, mean_random: Optional[float] = None) -> None:
-         self.args = args
-         self.task = task
-+        self.mean_random = mean_random
+-    Flatten the image and direction observations and concatenate them.
++    Flatten the pseudo-image and concatenante it to the direction observation.
+     """
  
--    @torch.no_grad()
-+    @torch.inference_mode()
-     def evaluate(self, model: GiaModel) -> float:
-         return self._evaluate(model)
+     def __init__(self, env: Env) -> None:
+@@ -231,7 +233,7 @@ class BabyAIDictObservationWrapper(ObservationWrapper):
+             }
+         )
  
-diff --git a/gia/eval/rl/envs/core.py b/gia/eval/rl/envs/core.py
-index ec5e5b2..eeaf7cb 100644
---- a/gia/eval/rl/envs/core.py
-+++ b/gia/eval/rl/envs/core.py
-@@ -177,7 +177,6 @@ def make(task_name: str, num_envs: int = 1):
- 
-     elif task_name.startswith("metaworld"):
-         import gymnasium as gym
--        import metaworld
- 
-         env_id = TASK_TO_ENV_MAPPING[task_name]
-         env = gym.vector.SyncVectorEnv([lambda: gym.make(env_id)] * num_envs)
-diff --git a/gia/eval/rl/gia_agent.py b/gia/eval/rl/gia_agent.py
-index f0d0b9b..39dc0d2 100644
---- a/gia/eval/rl/gia_agent.py
-+++ b/gia/eval/rl/gia_agent.py
-@@ -54,7 +54,7 @@ class GiaAgent:
-         self.action_space = action_space
-         self.deterministic = deterministic
-         self.device = next(model.parameters()).device
--        self._max_length = self.model.config.max_position_embeddings - 10
-+        self._max_length = self.model.config.max_position_embeddings - 100  # TODO: fix this
- 
-         if isinstance(observation_space, spaces.Box):
-             self._observation_key = "continuous_observations"
-@@ -75,6 +75,11 @@ class GiaAgent:
-     ) -> Tuple[Tuple[Tensor, Tensor], ...]:
-         return tuple((k[:, :, -self._max_length :], v[:, :, -self._max_length :]) for (k, v) in past_key_values)
- 
-+    def set_model(self, model: GiaModel) -> None:
-+        self.model = model
-+        self.device = next(model.parameters()).device
-+        self._max_length = self.model.config.max_position_embeddings
+-    def observation(self, observation):
++    def observation(self, observation: Dict[str, np.ndarray]):
+         discrete_observations = np.append(observation["direction"], observation["image"].flatten())
+         return {
+             "text_observations": observation["mission"],
+@@ -239,9 +241,15 @@ class BabyAIDictObservationWrapper(ObservationWrapper):
+         }
+ 
+ 
++class FloatRewardWrapper(RewardWrapper):
++    def reward(self, reward):
++        return float(reward)
 +
-     def reset(self, num_envs: int = 1) -> None:
-         if self.prompter is not None:
-             prompts = self.prompter.generate_prompts(num_envs)
++
+ def make_babyai(task_name: str):
+     env = gym.make(TASK_TO_ENV_MAPPING[task_name])
+     env = BabyAIDictObservationWrapper(env)
++    env = FloatRewardWrapper(env)
+     return env
+ 
+ 
 diff --git a/gia/eval/rl/gym_evaluator.py b/gia/eval/rl/gym_evaluator.py
-index f8531ee..754c05d 100644
+index f8531ee..44f5f91 100644
 --- a/gia/eval/rl/gym_evaluator.py
 +++ b/gia/eval/rl/gym_evaluator.py
 @@ -1,7 +1,7 @@
@@ -85,37 +330,38 @@ index f8531ee..754c05d 100644
  from gym.vector.vector_env import VectorEnv
  
 -from gia.eval.mappings import TASK_TO_ENV_MAPPING
-+# from gia.eval.rl.envs.mappings import TASK_TO_ENV_MAPPING
++# from gia.eval.mappings import TASK_TO_ENV_MAPPING
  from gia.eval.rl.rl_evaluator import RLEvaluator
  
  
-diff --git a/gia/eval/rl/rl_evaluator.py b/gia/eval/rl/rl_evaluator.py
-index c5cc423..91189f3 100644
---- a/gia/eval/rl/rl_evaluator.py
-+++ b/gia/eval/rl/rl_evaluator.py
-@@ -8,6 +8,10 @@ from gia.eval.rl.gia_agent import GiaAgent
+diff --git a/tests/eval/rl/envs/test_core.py b/tests/eval/rl/envs/test_core.py
+index e048772..d572a9d 100644
+--- a/tests/eval/rl/envs/test_core.py
++++ b/tests/eval/rl/envs/test_core.py
+@@ -5,16 +5,19 @@ from gia.eval.rl import make
+ from gia.eval.rl.envs.core import get_task_names
  
  
- class RLEvaluator(Evaluator):
-+    def __init__(self, args, task):
-+        super().__init__(args, task)
-+        self.agent = GiaAgent()
++OBS_KEYS = {"discrete_observations", "continuous_observations", "image_observations", "text_observations"}
++
 +
-     def _build_env(self) -> VectorEnv:  # TODO: maybe just a gym.Env ?
-         raise NotImplementedError
- 
-diff --git a/gia/eval/rl/scores_dict.json b/gia/eval/rl/scores_dict.json
-index 1b8ebee..ff7d030 100644
---- a/gia/eval/rl/scores_dict.json
-+++ b/gia/eval/rl/scores_dict.json
-@@ -929,8 +929,8 @@
-     },
-     "metaworld-assembly": {
-         "expert": {
--            "mean": 311.29314618777823,
--            "std": 75.04282151450695
-+            "mean": 3523.81468486244,
-+            "std": 63.22745220327798
-         },
-         "random": {
-             "mean": 220.65601680730813,
+ @pytest.mark.parametrize("task_name", get_task_names())
+ def test_make(task_name: str):
+-    num_envs = 2
+-    env = make(task_name, num_envs=num_envs)
++    env = make(task_name)
+     observation, info = env.reset()
+     for _ in range(10):
+-        action_space = env.single_action_space if hasattr(env, "single_action_space") else env.action_space
+-        action = np.array([action_space.sample() for _ in range(num_envs)])
++        action = np.array(env.action_space.sample())
+         observation, reward, terminated, truncated, info = env.step(action)
+-        assert reward.shape == (num_envs,)
+-        assert terminated.shape == (num_envs,)
+-        assert truncated.shape == (num_envs,)
++        assert isinstance(info, dict)
++        assert set(observation.keys()).issubset(OBS_KEYS)
++        assert isinstance(reward, float)
++        assert isinstance(terminated, bool)
++        assert isinstance(truncated, bool)
+         assert isinstance(info, dict)