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training/marl/Airfoil3D-hard-v0/PPO/0/eval_sequence_2000.csv

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training/marl/Airfoil3D-hard-v0/PPO/4/training_log.csv

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training/marl/Airfoil3D-medium-v0/PPO/1/training_log.csv

@@ -54,3 +54,14 @@ step,training/mean_reward,training/mean_global_reward,training/mean_drag,trainin
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training/marl/Airfoil3D-medium-v0/SAC/0/training_log.csv

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training/marl/Airfoil3D-medium-v0/SAC/2/eval_sequence_14000.csv

@@ -0,0 +1,201 @@
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training/marl/Airfoil3D-medium-v0/SAC/4/training_log.csv

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training/sarl/Airfoil2D-medium-v0/TD-MPC/0/training_log.csv

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training/sarl/Airfoil2D-medium-v0/TD-MPC/3/training_log.csv

@@ -48,3 +48,22 @@ train/episode,train/step,train/env_step,train/total_time,train/episode_reward,tr
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training/sarl/Airfoil2D-medium-v0/TD-MPC/4/training_log.csv

@@ -30,3 +30,33 @@ train/episode,train/step,train/env_step,train/total_time,train/episode_reward,tr
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training/sarl/Airfoil3D-hard-v0/PPO/1/config.yaml

@@ -0,0 +1,51 @@
+env_id: Airfoil3D-hard-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 1
+rl_mode: sarl
+total_timesteps: 20000
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: PPO
+  obj:
+    _target_: stable_baselines3.ppo.ppo.PPO
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    n_steps: 2048
+    batch_size: 64
+    n_epochs: 10
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_range: 0.2
+    clip_range_vf: null
+    normalize_advantage: true
+    ent_coef: 0.01
+    vf_coef: 0.5
+    max_grad_norm: 0.5
+    use_sde: false
+    sde_sample_freq: -1
+    rollout_buffer_class: null
+    rollout_buffer_kwargs: null
+    target_kl: null
+    stats_window_size: 100
+    tensorboard_log: null
+    verbose: 0
+    seed: ${seed}
+    device: ${rl_device}
+    _init_setup_model: true
+cluster: {}

training/sarl/Airfoil3D-hard-v0/PPO/1/multirun.yaml

@@ -0,0 +1,215 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+    subdir: ''
+  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: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=Airfoil3D-hard-v0
+    - algorithm=sb3_ppo
+    - rl_mode=sarl
+    - total_timesteps=20000
+    - seed=1
+  job:
+    name: train_sb3
+    chdir: true
+    override_dirname: algorithm=sb3_ppo,env_id=Airfoil3D-hard-v0,rl_mode=sarl,seed=1,total_timesteps=20000
+    id: ???
+    num: ???
+    config_name: train_sb3
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      algorithm: sb3_ppo
+      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
+env_id: Airfoil3D-hard-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 1
+rl_mode: sarl
+total_timesteps: 20000
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: PPO
+  obj:
+    _target_: stable_baselines3.ppo.ppo.PPO
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    n_steps: 2048
+    batch_size: 64
+    n_epochs: 10
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_range: 0.2
+    clip_range_vf: null
+    normalize_advantage: true
+    ent_coef: 0.01
+    vf_coef: 0.5
+    max_grad_norm: 0.5
+    use_sde: false
+    sde_sample_freq: -1
+    rollout_buffer_class: null
+    rollout_buffer_kwargs: null
+    target_kl: null
+    stats_window_size: 100
+    tensorboard_log: null
+    verbose: 0
+    seed: ${seed}
+    device: ${rl_device}
+    _init_setup_model: true
+cluster: {}

training/sarl/Airfoil3D-hard-v0/PPO/1/overrides.yaml

@@ -0,0 +1,5 @@
+- env_id=Airfoil3D-hard-v0
+- algorithm=sb3_ppo
+- rl_mode=sarl
+- total_timesteps=20000
+- seed=1

training/sarl/Airfoil3D-medium-v0/PPO/0/eval_sequence_18001.csv

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training/sarl/Airfoil3D-medium-v0/SAC/2/training_log.csv

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training/sarl/Airfoil3D-medium-v0/SAC/3/training_log.csv

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training/sarl/Airfoil3D-medium-v0/SAC/4/eval_sequence_14000.csv

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training/sarl/Airfoil3D-medium-v0/SAC/4/training_log.csv

@@ -65,3 +65,25 @@ step,training/mean_reward,training/mean_drag,training/mean_lift,evaluation/mean_
 11800,1.642165184020996,6088526.043292628,53080300.981594466,,,
 12000,1.5266926288604736,0.27980681233108046,1.4249325820803642,,,
 12000,,,,0.2815991181880236,1.2810044640302658,0.9619507944583893
+12200,1.5580319166183472,0.28482121661305426,1.4518112221360207,,,
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training/sarl/CylinderJet3D-hard-v0/SAC/3/config.yaml

@@ -3,7 +3,7 @@ env_kwargs: {}
 eval_env_kwargs: {}
 seed: 3
 rl_mode: sarl
-total_timesteps: 50000
+total_timesteps: 50000.0
 n_eval_steps: 10
 eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
 n_eval_episodes: 1
@@ -51,3 +51,10 @@ algorithm:
     device: cuda
     _init_setup_model: true
 cluster: {}
+test_env_id: ${env_id}
+test_env_kwargs: ${env_kwargs}
+test_rl_mode: ${rl_mode}
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true

training/sarl/CylinderJet3D-hard-v0/SAC/3/hydra.yaml

@@ -115,15 +115,14 @@ hydra:
     - env_id=CylinderJet3D-hard-v0
     - algorithm=sb3_sac
     - rl_mode=sarl
-    - total_timesteps=50000
     - seed=3
   job:
-    name: train_sb3
+    name: test_sb3
     chdir: true
-    override_dirname: algorithm=sb3_sac,env_id=CylinderJet3D-hard-v0,rl_mode=sarl,seed=3,total_timesteps=50000
+    override_dirname: algorithm=sb3_sac,env_id=CylinderJet3D-hard-v0,rl_mode=sarl,seed=3
     id: '0'
     num: 0
-    config_name: train_sb3
+    config_name: test_sb3
     env_set: {}
     env_copy: []
     config:

training/sarl/CylinderJet3D-hard-v0/SAC/3/multirun.yaml

@@ -115,15 +115,14 @@ hydra:
     - env_id=CylinderJet3D-hard-v0
     - algorithm=sb3_sac
     - rl_mode=sarl
-    - total_timesteps=50000
     - seed=3
   job:
-    name: train_sb3
+    name: test_sb3
     chdir: true
-    override_dirname: algorithm=sb3_sac,env_id=CylinderJet3D-hard-v0,rl_mode=sarl,seed=3,total_timesteps=50000
+    override_dirname: algorithm=sb3_sac,env_id=CylinderJet3D-hard-v0,rl_mode=sarl,seed=3
     id: ???
     num: ???
-    config_name: train_sb3
+    config_name: test_sb3
     env_set: {}
     env_copy: []
     config:
@@ -167,7 +166,7 @@ env_kwargs: {}
 eval_env_kwargs: {}
 seed: 3
 rl_mode: sarl
-total_timesteps: 50000
+total_timesteps: 50000.0
 n_eval_steps: 10
 eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
 n_eval_episodes: 1
@@ -215,3 +214,10 @@ algorithm:
     device: cuda
     _init_setup_model: true
 cluster: {}
+test_env_id: ${env_id}
+test_env_kwargs: ${env_kwargs}
+test_rl_mode: ${rl_mode}
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true

training/sarl/CylinderJet3D-hard-v0/SAC/3/overrides.yaml

@@ -1,5 +1,4 @@
 - env_id=CylinderJet3D-hard-v0
 - algorithm=sb3_sac
 - rl_mode=sarl
-- total_timesteps=50000
 - seed=3

training/sarl/CylinderJet3D-hard-v0/SAC/4/config.yaml

@@ -3,7 +3,7 @@ env_kwargs: {}
 eval_env_kwargs: {}
 seed: 4
 rl_mode: sarl
-total_timesteps: 50000
+total_timesteps: 50000.0
 n_eval_steps: 10
 eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
 n_eval_episodes: 1
@@ -51,3 +51,10 @@ algorithm:
     device: cuda
     _init_setup_model: true
 cluster: {}
+test_env_id: ${env_id}
+test_env_kwargs: ${env_kwargs}
+test_rl_mode: ${rl_mode}
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true

training/sarl/CylinderJet3D-hard-v0/SAC/4/hydra.yaml

@@ -115,15 +115,14 @@ hydra:
     - env_id=CylinderJet3D-hard-v0
     - algorithm=sb3_sac
     - rl_mode=sarl
-    - total_timesteps=50000
     - seed=4
   job:
-    name: train_sb3
+    name: test_sb3
     chdir: true
-    override_dirname: algorithm=sb3_sac,env_id=CylinderJet3D-hard-v0,rl_mode=sarl,seed=4,total_timesteps=50000
+    override_dirname: algorithm=sb3_sac,env_id=CylinderJet3D-hard-v0,rl_mode=sarl,seed=4
     id: '0'
     num: 0
-    config_name: train_sb3
+    config_name: test_sb3
     env_set: {}
     env_copy: []
     config:

training/sarl/CylinderJet3D-hard-v0/SAC/4/multirun.yaml

@@ -115,15 +115,14 @@ hydra:
     - env_id=CylinderJet3D-hard-v0
     - algorithm=sb3_sac
     - rl_mode=sarl
-    - total_timesteps=50000
     - seed=4
   job:
-    name: train_sb3
+    name: test_sb3
     chdir: true
-    override_dirname: algorithm=sb3_sac,env_id=CylinderJet3D-hard-v0,rl_mode=sarl,seed=4,total_timesteps=50000
+    override_dirname: algorithm=sb3_sac,env_id=CylinderJet3D-hard-v0,rl_mode=sarl,seed=4
     id: ???
     num: ???
-    config_name: train_sb3
+    config_name: test_sb3
     env_set: {}
     env_copy: []
     config:
@@ -167,7 +166,7 @@ env_kwargs: {}
 eval_env_kwargs: {}
 seed: 4
 rl_mode: sarl
-total_timesteps: 50000
+total_timesteps: 50000.0
 n_eval_steps: 10
 eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
 n_eval_episodes: 1
@@ -215,3 +214,10 @@ algorithm:
     device: cuda
     _init_setup_model: true
 cluster: {}
+test_env_id: ${env_id}
+test_env_kwargs: ${env_kwargs}
+test_rl_mode: ${rl_mode}
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true

training/sarl/CylinderJet3D-hard-v0/SAC/4/overrides.yaml

@@ -1,5 +1,4 @@
 - env_id=CylinderJet3D-hard-v0
 - algorithm=sb3_sac
 - rl_mode=sarl
-- total_timesteps=50000
 - seed=4