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common.data_modules.ogbench_sequence.OGBenchSASSequence + env_name: ${env_name} + dataset_dir: null + batch_size: 256 + num_workers: 4 + pin_memory: true + seed: ${seed} +trainer: + max_epochs: 250 + accelerator: gpu + devices: + - 0 + strategy: auto + precision: 32 +early_stopping: + patience: 100 + min_delta: 0.0 + monitor: val/loss + mode: min +logger: + _target_: pytorch_lightning.loggers.wandb.WandbLogger + name: ${experiment_name}/seed_${seed} + project: fusion-ifactor-ogbench + log_model: false + offline: false +model: + _target_: dynamics.models.ifactor.IFactor + sa_dim: 256 + sac_dim: 256 + action_encode_dim: 64 + mi_steps: 3 + grad_clip_norm: 100.0 + obs_weight: 10 + kl_weight: 1 + mi_weight: 1 + rnn_type: gru + rnn_num_layers: 1 + learning_rate: 0.0003 + weight_decay: 0.001 + state_encoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + state_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + action_encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 64 + hidden_activation: relu + sa_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 256 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + sac_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 256 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + mine_cfg: + _target_: common.models.MINE diff --git a/ogbench/antmaze-medium-navigate-v0/0/.hydra/hydra.yaml b/ogbench/antmaze-medium-navigate-v0/0/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d537adcac07390bf45c52650e55e8bdeaa3c22b --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/0/.hydra/hydra.yaml @@ -0,0 +1,155 @@ +hydra: + run: + dir: ${save_path}/${seed} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + 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"5": 1 + "6": + - 1 + "7": [] + python_version: 3.10.20 + t: + "1": + - 1 + - 9 + - 11 + - 49 + - 50 + - 83 + - 103 + "2": + - 1 + - 9 + - 11 + - 49 + - 50 + - 83 + - 103 + "3": + - 1 + - 7 + - 13 + - 66 + "4": 3.10.20 + "5": 0.26.1 + "6": 4.46.0 + "12": 0.26.1 + "13": linux-x86_64 +data_module: + value: + _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence + batch_size: 256 + dataset_dir: null + env_name: antmaze-medium-navigate-v0 + num_workers: 4 + pin_memory: true + seed: 0 +model: + value: + _target_: dynamics.models.ifactor.IFactor + action_encode_dim: 64 + action_encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 64 + grad_clip_norm: 100 + kl_weight: 1 + learning_rate: 0.0003 + mi_steps: 3 + mi_weight: 1 + mine_cfg: + _target_: common.models.MINE + obs_weight: 10 + rnn_num_layers: 1 + rnn_type: gru + sa_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sa_dim: 256 + sac_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sac_dim: 256 + state_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + state_encoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + weight_decay: 0.001 +trainer: + value: + accelerator: gpu + devices: + - 0 + max_epochs: 250 + precision: 32 + strategy: auto diff --git a/ogbench/antmaze-medium-navigate-v0/0/wandb/run-20260430_224740-c5i9vca4/files/output.log b/ogbench/antmaze-medium-navigate-v0/0/wandb/run-20260430_224740-c5i9vca4/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..aa570266b3495ad3324e37886c9cd3e24f650536 --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/0/wandb/run-20260430_224740-c5i9vca4/files/output.log @@ -0,0 +1,31 @@ +wandb: logging graph, to disable use `wandb.watch(log_graph=False)` +GPU available: True (cuda), used: True +TPU available: False, using: 0 TPU cores +HPU available: False, using: 0 HPUs +You are using a CUDA device ('NVIDIA RTX A6000') that has Tensor Cores. To properly utilize them, you should set `torch.set_float32_matmul_precision('medium' | 'high')` which will trade-off precision for performance. For more details, read https://pytorch.org/docs/stable/generated/torch.set_float32_matmul_precision.html#torch.set_float32_matmul_precision +LOCAL_RANK: 0 - CUDA_VISIBLE_DEVICES: [0] + + | Name | Type | Params | Mode +------------------------------------------------------- +0 | normalizer | Normalizer | 0 | train +1 | action_encoder | MLP | 4.7 K | train +2 | state_encoder | PNN | 804 K | train +3 | state_decoder | PNN | 555 K | train +4 | sa_memory_unit | GRU | 443 K | train +5 | sac_memory_unit | GRU | 394 K | train +6 | sa_decoder | PNN | 263 K | train +7 | sac_decoder | PNN | 263 K | train +8 | mine_sa | MINE | 123 K | train +9 | mine_sac | MINE | 123 K | train +------------------------------------------------------- +3.0 M Trainable params +0 Non-trainable params +3.0 M Total params +11.907 Total estimated model params size (MB) +48 Modules in train mode +0 Modules in eval mode +SLURM auto-requeueing enabled. Setting signal handlers. +Epoch 249: 100%|██████████| 3/3 [00:02<00:00, 1.03it/s, v_num=vca4, train/loss=-16.6, val/loss=-16.1] +/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/lib/python3.10/site-packages/pytorch_lightning/loops/fit_loop.py:298: The number of training batches (3) is smaller than the logging interval Trainer(log_every_n_steps=50). Set a lower value for log_every_n_steps if you want to see logs for the training epoch. + +`Trainer.fit` stopped: `max_epochs=250` reached. diff --git a/ogbench/antmaze-medium-navigate-v0/0/wandb/run-20260430_224740-c5i9vca4/files/requirements.txt b/ogbench/antmaze-medium-navigate-v0/0/wandb/run-20260430_224740-c5i9vca4/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3a9f426228c6eebe03b4388b53930f29e941caa --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/0/wandb/run-20260430_224740-c5i9vca4/files/requirements.txt @@ -0,0 +1,124 @@ +nvidia-curand-cu12==10.3.2.106 +sympy==1.14.0 +kiwisolver==1.5.0 +h5py==3.16.0 +GitPython==3.1.49 +grpcio==1.80.0 +numpy==2.2.6 +mpmath==1.3.0 +contourpy==1.3.2 +Jinja2==3.1.6 +torchmetrics==1.9.0 +nvidia-cudnn-cu12==9.1.0.70 +tensorboard==2.18.0 +nvidia-cusparse-cu12==12.1.0.106 +click==8.3.3 +glfw==2.10.0 +fsspec==2026.4.0 +gitdb==4.0.12 +nvidia-nvjitlink-cu12==12.9.86 +sentry-sdk==2.58.0 +wrapt==2.1.2 +triton==3.0.0 +MarkupSafe==3.0.3 +platformdirs==4.9.6 +pydantic==2.13.3 +hf-xet==1.4.3 +nvidia-cublas-cu12==12.1.3.1 +tqdm==4.67.3 +requests==2.33.1 +omegaconf==2.3.0 +pytorch-lightning==2.4.0 +setuptools==79.0.1 +propcache==0.4.1 +lightning-utilities==0.15.3 +cycler==0.12.1 +nvidia-cusolver-cu12==11.4.5.107 +labmaze==1.0.6 +importlib_metadata==9.0.0 +hydra-core==1.3.2 +dm_control==1.0.40 +Markdown==3.10.2 +PyYAML==6.0.3 +nvidia-cuda-nvrtc-cu12==12.1.105 +fonttools==4.62.1 +lxml==6.1.0 +Werkzeug==3.1.8 +async-timeout==5.0.1 +mujoco==3.8.0 +tokenizers==0.20.3 +wandb==0.26.1 +dm-env==1.6 +python-dateutil==2.9.0.post0 +attrs==26.1.0 +huggingface_hub==0.36.2 +h11==0.16.0 +safetensors==0.7.0 +absl-py==2.4.0 +nvidia-nccl-cu12==2.20.5 +yarl==1.23.0 +networkx==3.4.2 +torch==2.4.0 +cloudpickle==3.1.2 +typing_extensions==4.15.0 +certifi==2026.4.22 +typing-inspection==0.4.2 +idna==3.13 +pyparsing==3.3.2 +nvidia-cuda-cupti-cu12==12.1.105 +frozenlist==1.8.0 +ogbench==1.2.1 +ImageIO==2.37.3 +regex==2026.4.4 +anyio==4.13.0 +transformers==4.46.0 +httpx==0.28.1 +etils==1.13.0 +tensorboard-data-server==0.7.2 +nvidia-nvtx-cu12==12.1.105 +importlib_resources==7.1.0 +zipp==3.23.1 +filelock==3.29.0 +diffusers==0.37.1 +PyOpenGL==3.1.10 +matplotlib==3.10.9 +pip==23.0.1 +multidict==6.7.1 +aiohappyeyeballs==2.6.1 +packaging==26.2 +pillow==12.2.0 +exceptiongroup==1.3.1 +nvidia-cuda-runtime-cu12==12.1.105 +six==1.17.0 +scipy==1.15.3 +sentencepiece==0.2.0 +smmap==5.0.3 +gymnasium==1.3.0 +pydantic_core==2.46.3 +charset-normalizer==3.4.7 +annotated-types==0.7.0 +antlr4-python3-runtime==4.9.3 +dm-tree==0.1.10 +nvidia-cufft-cu12==11.0.2.54 +Farama-Notifications==0.0.6 +aiosignal==1.4.0 +aiohttp==3.13.5 +urllib3==2.6.3 +httpcore==1.0.9 +protobuf==7.34.1 +tomli==2.0.1 +platformdirs==4.2.2 +typeguard==4.3.0 +packaging==24.2 +typing_extensions==4.12.2 +wheel==0.45.1 +jaraco.functools==4.0.1 +jaraco.text==3.12.1 +zipp==3.19.2 +inflect==7.3.1 +backports.tarfile==1.2.0 +jaraco.collections==5.1.0 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"https://github.com/namratadeka/fusion-hub.git", + "commit": "f948f6da808c693a73595147daef5a9606ab86c3" + }, + "email": "zw2700@nyu.edu", + "root": ".", + "host": "gpu29", + "executable": "/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/bin/python3", + "cpu_count": 64, + "cpu_count_logical": 128, + "gpu": "NVIDIA RTX A6000", + "gpu_count": 1, + "disk": { + "/": { + "total": "476251684864", + "used": "359465701376" + } + }, + "memory": { + "total": "540830482432" + }, + "gpu_nvidia": [ + { + "name": "NVIDIA RTX A6000", + "memoryTotal": "51527024640", + "cudaCores": 10752, + "architecture": "Ampere", + "uuid": "GPU-46dd171e-d929-b183-49bf-e90444272732" + } + ], + "cudaVersion": "13.0", + "slurm": { + "cluster_name": "auton", + "conf": "/etc/slurm/slurm.conf", + "cpus_on_node": "4", + "cpus_per_task": "4", + "gpus_on_node": "1", + "gtids": "0", + "job_account": "users", + "job_cpus_per_node": "4", + "job_end_time": "1777776433", + "job_gid": "1449", + "job_gpus": "1", + "job_id": 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dynamics/ifactor/ogbench/${env_name} +save_path: models_out/${experiment_name} +cuda_device: 0 +seed: 1 +debug: false +type: dynamics +env_name: antmaze-medium-navigate-v0 +data_module: + _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence + env_name: ${env_name} + dataset_dir: null + batch_size: 256 + num_workers: 4 + pin_memory: true + seed: ${seed} +trainer: + max_epochs: 250 + accelerator: gpu + devices: + - 0 + strategy: auto + precision: 32 +early_stopping: + patience: 100 + min_delta: 0.0 + monitor: val/loss + mode: min +logger: + _target_: pytorch_lightning.loggers.wandb.WandbLogger + name: ${experiment_name}/seed_${seed} + project: fusion-ifactor-ogbench + log_model: false + offline: false +model: + _target_: dynamics.models.ifactor.IFactor + sa_dim: 256 + sac_dim: 256 + action_encode_dim: 64 + mi_steps: 3 + grad_clip_norm: 100.0 + obs_weight: 10 + kl_weight: 1 + mi_weight: 1 + rnn_type: gru + rnn_num_layers: 1 + learning_rate: 0.0003 + weight_decay: 0.001 + state_encoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + state_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + action_encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 64 + hidden_activation: relu + sa_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 256 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + sac_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 256 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + mine_cfg: + _target_: common.models.MINE diff --git a/ogbench/antmaze-medium-navigate-v0/1/.hydra/hydra.yaml b/ogbench/antmaze-medium-navigate-v0/1/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c18fce6a1af598e96b74284ea02d6c890cf35049 --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/1/.hydra/hydra.yaml @@ -0,0 +1,156 @@ +hydra: + run: + dir: ${save_path}/${seed} + 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: + - env_name=antmaze-medium-navigate-v0 + - seed=1 + job: + name: train_pl + chdir: null + override_dirname: env_name=antmaze-medium-navigate-v0,seed=1 + id: ??? + num: ??? + config_name: dynamics_ifactor_ogbench + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.1' + cwd: /zfsauton2/home/frankwu2/namrata/fusion-hub + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /zfsauton2/home/frankwu2/namrata/fusion-hub/cfgs/pl_cfgs/dynamics + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /zfsauton2/home/frankwu2/namrata/fusion-hub/models_out/dynamics/ifactor/ogbench/antmaze-medium-navigate-v0/1 + 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/ogbench/antmaze-medium-navigate-v0/1/.hydra/overrides.yaml b/ogbench/antmaze-medium-navigate-v0/1/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2e246279ae2d292479df1f225b0a0950e7598c91 --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/1/.hydra/overrides.yaml @@ -0,0 +1,2 @@ +- env_name=antmaze-medium-navigate-v0 +- seed=1 diff --git a/ogbench/antmaze-medium-navigate-v0/1/fusion-ifactor-ogbench/h56gngd7/checkpoints/epoch=244-step=2940.ckpt b/ogbench/antmaze-medium-navigate-v0/1/fusion-ifactor-ogbench/h56gngd7/checkpoints/epoch=244-step=2940.ckpt new file mode 100644 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[wandb_run.py:_config_callback():1415] config_cb None None {'data_module': {'_target_': 'common.data_modules.ogbench_sequence.OGBenchSASSequence', 'env_name': 'antmaze-medium-navigate-v0', 'dataset_dir': None, 'batch_size': 256, 'num_workers': 4, 'pin_memory': True, 'seed': 1}, 'model': {'_target_': 'dynamics.models.ifactor.IFactor', 'sa_dim': 256, 'sac_dim': 256, 'action_encode_dim': 64, 'mi_steps': 3, 'grad_clip_norm': 100.0, 'obs_weight': 10, 'kl_weight': 1, 'mi_weight': 1, 'rnn_type': 'gru', 'rnn_num_layers': 1, 'learning_rate': 0.0003, 'weight_decay': 0.001, 'state_encoder_cfg': {'_target_': 'common.models.PNN', 'encoder_output_dim': 512, 'logvar_lower_bound': -10, 'logvar_upper_bound': 0.5, 'encoder_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [512], 'hidden_activation': 'relu'}, 'mean_net_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [], 'hidden_activation': 'relu'}, 'logvar_net_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [], 'hidden_activation': 'relu'}}, 'state_decoder_cfg': {'_target_': 'common.models.PNN', 'encoder_output_dim': 512, 'logvar_lower_bound': -10, 'logvar_upper_bound': 0.5, 'encoder_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [512], 'hidden_activation': 'relu'}, 'mean_net_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [], 'hidden_activation': 'relu'}, 'logvar_net_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [], 'hidden_activation': 'relu'}}, 'action_encoder_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [64], 'hidden_activation': 'relu'}, 'sa_decoder_cfg': {'_target_': 'common.models.PNN', 'encoder_output_dim': 256, 'logvar_lower_bound': -10, 'logvar_upper_bound': 0.5, 'encoder_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [256], 'hidden_activation': 'relu'}, 'mean_net_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [], 'hidden_activation': 'relu'}, 'logvar_net_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [], 'hidden_activation': 'relu'}}, 'sac_decoder_cfg': {'_target_': 'common.models.PNN', 'encoder_output_dim': 256, 'logvar_lower_bound': -10, 'logvar_upper_bound': 0.5, 'encoder_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [256], 'hidden_activation': 'relu'}, 'mean_net_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [], 'hidden_activation': 'relu'}, 'logvar_net_cfg': {'_target_': 'common.models.MLP', 'hidden_sizes': [], 'hidden_activation': 'relu'}}, 'mine_cfg': {'_target_': 'common.models.MINE'}}, 'trainer': {'max_epochs': 250, 'accelerator': 'gpu', 'devices': [0], 'strategy': 'auto', 'precision': 32}} +2026-05-01 06:26:08,330 INFO MainThread:33855 [wandb_watch.py:_watch():69] Watching +2026-05-01 06:41:47,769 INFO wandb-AsyncioManager-main:33855 [service_client.py:_forward_responses():134] Reached EOF. +2026-05-01 06:41:47,769 INFO wandb-AsyncioManager-main:33855 [mailbox.py:close():155] Closing mailbox, abandoning 1 handles. diff --git a/ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/config.yaml b/ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..01860f8488b1c09be349304242f4f60da4bc5e64 --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/config.yaml @@ -0,0 +1,233 @@ +_wandb: + value: + cli_version: 0.26.1 + e: + dg2q5cjwdlbqlsxeue6xwf0dw95hny5s: + args: + - --config-path + - cfgs/pl_cfgs/dynamics + - --config-name + - dynamics_ifactor_ogbench + - env_name=antmaze-medium-navigate-v0 + - seed=1 + codePath: train_pl.py + cpu_count: 64 + cpu_count_logical: 128 + cudaVersion: "13.0" + disk: + /: + total: "1916531638272" + used: "251784904704" + email: zw2700@nyu.edu + executable: /zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/bin/python3 + git: + commit: f948f6da808c693a73595147daef5a9606ab86c3 + remote: https://github.com/namratadeka/fusion-hub.git + gpu: NVIDIA RTX A6000 + gpu_count: 1 + gpu_nvidia: + - architecture: Ampere + cudaCores: 10752 + memoryTotal: "51527024640" + name: NVIDIA RTX A6000 + uuid: GPU-bd7a1805-2f70-5fcb-72a2-b4eec07dc21b + host: gpu24 + memory: + total: "540834430976" + os: Linux-6.4.0-150600.23.87-default-x86_64-with-glibc2.38 + program: /zfsauton2/home/frankwu2/namrata/fusion-hub/train_pl.py + python: CPython 3.10.20 + root: . + slurm: + cluster_name: auton + conf: /etc/slurm/slurm.conf + cpus_on_node: "4" + cpus_per_task: "4" + export_env: ALL,SEED=1 + get_user_env: "1" + gpus_on_node: "1" + gtids: "0" + job_account: users + job_cpus_per_node: "4" + job_end_time: "1777803954" + job_gid: "1449" + job_gpus: "7" + job_id: "8302" + job_name: ogbench_pl + job_nodelist: gpu24 + job_num_nodes: "1" + job_partition: general + job_qos: qos_general + job_start_time: "1777631154" + job_uid: "1449" + job_user: frankwu2 + jobid: "8302" + localid: "0" + mem_per_node: "32768" + nnodes: "1" + nodeid: "0" + nodelist: gpu24 + nprocs: "1" + ntasks: "1" + oom_kill_step: "0" + prio_process: "0" + procid: "0" + submit_dir: /zfsauton2/home/frankwu2/namrata/fusion-hub + submit_host: rhea.int.autonlab.org + task_pid: "33851" + tasks_per_node: "1" + topology_addr: gpu24 + topology_addr_pattern: node + tres_per_task: cpu=4 + startedAt: "2026-05-01T10:26:06.859706Z" + writerId: dg2q5cjwdlbqlsxeue6xwf0dw95hny5s + m: + - "1": trainer/global_step + "6": + - 3 + "7": [] + - "2": '*' + "5": 1 + "6": + - 1 + "7": [] + python_version: 3.10.20 + t: + "1": + - 1 + - 9 + - 11 + - 49 + - 50 + - 83 + - 103 + "2": + - 1 + - 9 + - 11 + - 49 + - 50 + - 83 + - 103 + "3": + - 1 + - 7 + - 13 + - 41 + - 66 + "4": 3.10.20 + "5": 0.26.1 + "6": 4.46.0 + "12": 0.26.1 + "13": linux-x86_64 +data_module: + value: + _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence + batch_size: 256 + dataset_dir: null + env_name: antmaze-medium-navigate-v0 + num_workers: 4 + pin_memory: true + seed: 1 +model: + value: + _target_: dynamics.models.ifactor.IFactor + action_encode_dim: 64 + action_encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 64 + grad_clip_norm: 100 + kl_weight: 1 + learning_rate: 0.0003 + mi_steps: 3 + mi_weight: 1 + mine_cfg: + _target_: common.models.MINE + obs_weight: 10 + rnn_num_layers: 1 + rnn_type: gru + sa_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sa_dim: 256 + sac_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sac_dim: 256 + state_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + state_encoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + weight_decay: 0.001 +trainer: + value: + accelerator: gpu + devices: + - 0 + max_epochs: 250 + precision: 32 + strategy: auto diff --git a/ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/output.log b/ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..426602f3f64791b26f5e636dc8b85c63fcb535ef --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/output.log @@ -0,0 +1,31 @@ +wandb: logging graph, to disable use `wandb.watch(log_graph=False)` +GPU available: True (cuda), used: True +TPU available: False, using: 0 TPU cores +HPU available: False, using: 0 HPUs +You are using a CUDA device ('NVIDIA RTX A6000') that has Tensor Cores. To properly utilize them, you should set `torch.set_float32_matmul_precision('medium' | 'high')` which will trade-off precision for performance. For more details, read https://pytorch.org/docs/stable/generated/torch.set_float32_matmul_precision.html#torch.set_float32_matmul_precision +LOCAL_RANK: 0 - CUDA_VISIBLE_DEVICES: [0] + + | Name | Type | Params | Mode +------------------------------------------------------- +0 | normalizer | Normalizer | 0 | train +1 | action_encoder | MLP | 4.7 K | train +2 | state_encoder | PNN | 804 K | train +3 | state_decoder | PNN | 555 K | train +4 | sa_memory_unit | GRU | 443 K | train +5 | sac_memory_unit | GRU | 394 K | train +6 | sa_decoder | PNN | 263 K | train +7 | sac_decoder | PNN | 263 K | train +8 | mine_sa | MINE | 123 K | train +9 | mine_sac | MINE | 123 K | train +------------------------------------------------------- +3.0 M Trainable params +0 Non-trainable params +3.0 M Total params +11.907 Total estimated model params size (MB) +48 Modules in train mode +0 Modules in eval mode +SLURM auto-requeueing enabled. Setting signal handlers. +Epoch 249: 100%|██████████| 3/3 [00:03<00:00, 0.89it/s, v_num=ngd7, train/loss=-17.5, val/loss=-15.7] +/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/lib/python3.10/site-packages/pytorch_lightning/loops/fit_loop.py:298: The number of training batches (3) is smaller than the logging interval Trainer(log_every_n_steps=50). Set a lower value for log_every_n_steps if you want to see logs for the training epoch. + +`Trainer.fit` stopped: `max_epochs=250` reached. diff --git a/ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/requirements.txt b/ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3a9f426228c6eebe03b4388b53930f29e941caa --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/1/wandb/run-20260501_062606-h56gngd7/files/requirements.txt @@ -0,0 +1,124 @@ +nvidia-curand-cu12==10.3.2.106 +sympy==1.14.0 +kiwisolver==1.5.0 +h5py==3.16.0 +GitPython==3.1.49 +grpcio==1.80.0 +numpy==2.2.6 +mpmath==1.3.0 +contourpy==1.3.2 +Jinja2==3.1.6 +torchmetrics==1.9.0 +nvidia-cudnn-cu12==9.1.0.70 +tensorboard==2.18.0 +nvidia-cusparse-cu12==12.1.0.106 +click==8.3.3 +glfw==2.10.0 +fsspec==2026.4.0 +gitdb==4.0.12 +nvidia-nvjitlink-cu12==12.9.86 +sentry-sdk==2.58.0 +wrapt==2.1.2 +triton==3.0.0 +MarkupSafe==3.0.3 +platformdirs==4.9.6 +pydantic==2.13.3 +hf-xet==1.4.3 +nvidia-cublas-cu12==12.1.3.1 +tqdm==4.67.3 +requests==2.33.1 +omegaconf==2.3.0 +pytorch-lightning==2.4.0 +setuptools==79.0.1 +propcache==0.4.1 +lightning-utilities==0.15.3 +cycler==0.12.1 +nvidia-cusolver-cu12==11.4.5.107 +labmaze==1.0.6 +importlib_metadata==9.0.0 +hydra-core==1.3.2 +dm_control==1.0.40 +Markdown==3.10.2 +PyYAML==6.0.3 +nvidia-cuda-nvrtc-cu12==12.1.105 +fonttools==4.62.1 +lxml==6.1.0 +Werkzeug==3.1.8 +async-timeout==5.0.1 +mujoco==3.8.0 +tokenizers==0.20.3 +wandb==0.26.1 +dm-env==1.6 +python-dateutil==2.9.0.post0 +attrs==26.1.0 +huggingface_hub==0.36.2 +h11==0.16.0 +safetensors==0.7.0 +absl-py==2.4.0 +nvidia-nccl-cu12==2.20.5 +yarl==1.23.0 +networkx==3.4.2 +torch==2.4.0 +cloudpickle==3.1.2 +typing_extensions==4.15.0 +certifi==2026.4.22 +typing-inspection==0.4.2 +idna==3.13 +pyparsing==3.3.2 +nvidia-cuda-cupti-cu12==12.1.105 +frozenlist==1.8.0 +ogbench==1.2.1 +ImageIO==2.37.3 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1 + - 7 + - 13 + - 41 + - 66 + "4": 3.10.20 + "5": 0.26.1 + "6": 4.46.0 + "12": 0.26.1 + "13": linux-x86_64 +data_module: + value: + _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence + batch_size: 256 + dataset_dir: null + env_name: antmaze-medium-navigate-v0 + num_workers: 4 + pin_memory: true + seed: 2 +model: + value: + _target_: dynamics.models.ifactor.IFactor + action_encode_dim: 64 + action_encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 64 + grad_clip_norm: 100 + kl_weight: 1 + learning_rate: 0.0003 + mi_steps: 3 + mi_weight: 1 + mine_cfg: + _target_: common.models.MINE + obs_weight: 10 + rnn_num_layers: 1 + rnn_type: gru + sa_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sa_dim: 256 + sac_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sac_dim: 256 + state_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + state_encoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + weight_decay: 0.001 +trainer: + value: + accelerator: gpu + devices: + - 0 + max_epochs: 250 + precision: 32 + strategy: auto diff --git a/ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/output.log b/ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..384c00a0f073aa83151942154a435d8e5e5c0a7e --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/output.log @@ -0,0 +1,31 @@ +wandb: logging graph, to disable use `wandb.watch(log_graph=False)` +GPU available: True (cuda), used: True +TPU available: False, using: 0 TPU cores +HPU available: False, using: 0 HPUs +You are using a CUDA device ('NVIDIA RTX A6000') that has Tensor Cores. To properly utilize them, you should set `torch.set_float32_matmul_precision('medium' | 'high')` which will trade-off precision for performance. For more details, read https://pytorch.org/docs/stable/generated/torch.set_float32_matmul_precision.html#torch.set_float32_matmul_precision +LOCAL_RANK: 0 - CUDA_VISIBLE_DEVICES: [0] + + | Name | Type | Params | Mode +------------------------------------------------------- +0 | normalizer | Normalizer | 0 | train +1 | action_encoder | MLP | 4.7 K | train +2 | state_encoder | PNN | 804 K | train +3 | state_decoder | PNN | 555 K | train +4 | sa_memory_unit | GRU | 443 K | train +5 | sac_memory_unit | GRU | 394 K | train +6 | sa_decoder | PNN | 263 K | train +7 | sac_decoder | PNN | 263 K | train +8 | mine_sa | MINE | 123 K | train +9 | mine_sac | MINE | 123 K | train +------------------------------------------------------- +3.0 M Trainable params +0 Non-trainable params +3.0 M Total params +11.907 Total estimated model params size (MB) +48 Modules in train mode +0 Modules in eval mode +SLURM auto-requeueing enabled. Setting signal handlers. +Epoch 249: 100%|██████████| 3/3 [00:04<00:00, 0.71it/s, v_num=lwto, train/loss=-17.3, val/loss=-16.8] +/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/lib/python3.10/site-packages/pytorch_lightning/loops/fit_loop.py:298: The number of training batches (3) is smaller than the logging interval Trainer(log_every_n_steps=50). Set a lower value for log_every_n_steps if you want to see logs for the training epoch. + +`Trainer.fit` stopped: `max_epochs=250` reached. diff --git a/ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/requirements.txt b/ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3a9f426228c6eebe03b4388b53930f29e941caa --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/requirements.txt @@ -0,0 +1,124 @@ +nvidia-curand-cu12==10.3.2.106 +sympy==1.14.0 +kiwisolver==1.5.0 +h5py==3.16.0 +GitPython==3.1.49 +grpcio==1.80.0 +numpy==2.2.6 +mpmath==1.3.0 +contourpy==1.3.2 +Jinja2==3.1.6 +torchmetrics==1.9.0 +nvidia-cudnn-cu12==9.1.0.70 +tensorboard==2.18.0 +nvidia-cusparse-cu12==12.1.0.106 +click==8.3.3 +glfw==2.10.0 +fsspec==2026.4.0 +gitdb==4.0.12 +nvidia-nvjitlink-cu12==12.9.86 +sentry-sdk==2.58.0 +wrapt==2.1.2 +triton==3.0.0 +MarkupSafe==3.0.3 +platformdirs==4.9.6 +pydantic==2.13.3 +hf-xet==1.4.3 +nvidia-cublas-cu12==12.1.3.1 +tqdm==4.67.3 +requests==2.33.1 +omegaconf==2.3.0 +pytorch-lightning==2.4.0 +setuptools==79.0.1 +propcache==0.4.1 +lightning-utilities==0.15.3 +cycler==0.12.1 +nvidia-cusolver-cu12==11.4.5.107 +labmaze==1.0.6 +importlib_metadata==9.0.0 +hydra-core==1.3.2 +dm_control==1.0.40 +Markdown==3.10.2 +PyYAML==6.0.3 +nvidia-cuda-nvrtc-cu12==12.1.105 +fonttools==4.62.1 +lxml==6.1.0 +Werkzeug==3.1.8 +async-timeout==5.0.1 +mujoco==3.8.0 +tokenizers==0.20.3 +wandb==0.26.1 +dm-env==1.6 +python-dateutil==2.9.0.post0 +attrs==26.1.0 +huggingface_hub==0.36.2 +h11==0.16.0 +safetensors==0.7.0 +absl-py==2.4.0 +nvidia-nccl-cu12==2.20.5 +yarl==1.23.0 +networkx==3.4.2 +torch==2.4.0 +cloudpickle==3.1.2 +typing_extensions==4.15.0 +certifi==2026.4.22 +typing-inspection==0.4.2 +idna==3.13 +pyparsing==3.3.2 +nvidia-cuda-cupti-cu12==12.1.105 +frozenlist==1.8.0 +ogbench==1.2.1 +ImageIO==2.37.3 +regex==2026.4.4 +anyio==4.13.0 +transformers==4.46.0 +httpx==0.28.1 +etils==1.13.0 +tensorboard-data-server==0.7.2 +nvidia-nvtx-cu12==12.1.105 +importlib_resources==7.1.0 +zipp==3.23.1 +filelock==3.29.0 +diffusers==0.37.1 +PyOpenGL==3.1.10 +matplotlib==3.10.9 +pip==23.0.1 +multidict==6.7.1 +aiohappyeyeballs==2.6.1 +packaging==26.2 +pillow==12.2.0 +exceptiongroup==1.3.1 +nvidia-cuda-runtime-cu12==12.1.105 +six==1.17.0 +scipy==1.15.3 +sentencepiece==0.2.0 +smmap==5.0.3 +gymnasium==1.3.0 +pydantic_core==2.46.3 +charset-normalizer==3.4.7 +annotated-types==0.7.0 +antlr4-python3-runtime==4.9.3 +dm-tree==0.1.10 +nvidia-cufft-cu12==11.0.2.54 +Farama-Notifications==0.0.6 +aiosignal==1.4.0 +aiohttp==3.13.5 +urllib3==2.6.3 +httpcore==1.0.9 +protobuf==7.34.1 +tomli==2.0.1 +platformdirs==4.2.2 +typeguard==4.3.0 +packaging==24.2 +typing_extensions==4.12.2 +wheel==0.45.1 +jaraco.functools==4.0.1 +jaraco.text==3.12.1 +zipp==3.19.2 +inflect==7.3.1 +backports.tarfile==1.2.0 +jaraco.collections==5.1.0 +jaraco.context==5.3.0 +more-itertools==10.3.0 +autocommand==2.2.2 +importlib_metadata==8.0.0 diff --git a/ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/wandb-metadata.json b/ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..223ea525297ea2c77c7c5af4dec1e80bdabde886 --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/2/wandb/run-20260501_062606-fom1lwto/files/wandb-metadata.json @@ -0,0 +1,89 @@ +{ + "os": "Linux-6.4.0-150600.23.87-default-x86_64-with-glibc2.38", + "python": "CPython 3.10.20", + "startedAt": "2026-05-01T10:26:06.847899Z", + "args": [ + "--config-path", + "cfgs/pl_cfgs/dynamics", + "--config-name", + "dynamics_ifactor_ogbench", + "env_name=antmaze-medium-navigate-v0", + "seed=2" + ], + "program": "/zfsauton2/home/frankwu2/namrata/fusion-hub/train_pl.py", + "codePath": "train_pl.py", + "git": { + "remote": "https://github.com/namratadeka/fusion-hub.git", + "commit": "f948f6da808c693a73595147daef5a9606ab86c3" + }, + "email": "zw2700@nyu.edu", + "root": ".", + "host": "gpu24", + "executable": "/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/bin/python3", + "cpu_count": 64, + "cpu_count_logical": 128, + "gpu": "NVIDIA RTX A6000", + "gpu_count": 1, + "disk": { + "/": { + "total": "1916531638272", + "used": "251784904704" + } + }, + "memory": { + "total": "540834430976" + }, + "gpu_nvidia": [ + { + "name": "NVIDIA RTX A6000", + "memoryTotal": "51527024640", + "cudaCores": 10752, + "architecture": "Ampere", + "uuid": "GPU-47917739-afae-4519-36c4-34ce7bf5aabe" + } + ], + "cudaVersion": "13.0", + "slurm": { + "cluster_name": "auton", + "conf": "/etc/slurm/slurm.conf", + "cpus_on_node": "4", + "cpus_per_task": "4", + "export_env": "ALL,SEED=2", + "get_user_env": "1", + "gpus_on_node": "1", + "gtids": "0", + "job_account": "users", + "job_cpus_per_node": "4", + "job_end_time": "1777803954", + 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models_out/${experiment_name} +cuda_device: 0 +seed: 3 +debug: false +type: dynamics +env_name: antmaze-medium-navigate-v0 +data_module: + _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence + env_name: ${env_name} + dataset_dir: null + batch_size: 256 + num_workers: 4 + pin_memory: true + seed: ${seed} +trainer: + max_epochs: 250 + accelerator: gpu + devices: + - 0 + strategy: auto + precision: 32 +early_stopping: + patience: 100 + min_delta: 0.0 + monitor: val/loss + mode: min +logger: + _target_: pytorch_lightning.loggers.wandb.WandbLogger + name: ${experiment_name}/seed_${seed} + project: fusion-ifactor-ogbench + log_model: false + offline: false +model: + _target_: dynamics.models.ifactor.IFactor + sa_dim: 256 + sac_dim: 256 + action_encode_dim: 64 + mi_steps: 3 + grad_clip_norm: 100.0 + obs_weight: 10 + kl_weight: 1 + mi_weight: 1 + rnn_type: gru + rnn_num_layers: 1 + learning_rate: 0.0003 + weight_decay: 0.001 + state_encoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + state_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + action_encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 64 + hidden_activation: relu + sa_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 256 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + sac_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 256 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + mine_cfg: + _target_: common.models.MINE diff --git a/ogbench/antmaze-medium-navigate-v0/3/.hydra/hydra.yaml b/ogbench/antmaze-medium-navigate-v0/3/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..41a6cddd0fa70644f5a670a0fe340e2206274fe7 --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/3/.hydra/hydra.yaml @@ -0,0 +1,156 @@ +hydra: + run: + dir: ${save_path}/${seed} + 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 == + + 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train_pl.py + cpu_count: 64 + cpu_count_logical: 128 + cudaVersion: "13.0" + disk: + /: + total: "476251684864" + used: "91427479552" + email: zw2700@nyu.edu + executable: /zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/bin/python3 + git: + commit: f948f6da808c693a73595147daef5a9606ab86c3 + remote: https://github.com/namratadeka/fusion-hub.git + gpu: NVIDIA RTX A6000 + gpu_count: 1 + gpu_nvidia: + - architecture: Ampere + cudaCores: 10752 + memoryTotal: "51527024640" + name: NVIDIA RTX A6000 + uuid: GPU-64444b52-3375-b1d3-c865-df5135146f5a + host: gpu30 + memory: + total: "507007569920" + os: Linux-6.4.0-150600.23.92-default-x86_64-with-glibc2.38 + program: /zfsauton2/home/frankwu2/namrata/fusion-hub/train_pl.py + python: CPython 3.10.20 + root: . + slurm: + cluster_name: auton + conf: /etc/slurm/slurm.conf + cpus_on_node: "4" + cpus_per_task: "4" + export_env: ALL,SEED=3 + get_user_env: "1" + gpus_on_node: "1" + gtids: "0" + job_account: users + job_cpus_per_node: "4" + job_end_time: "1777803954" + job_gid: "1449" + job_gpus: "4" + job_id: "8304" + job_name: ogbench_pl + job_nodelist: gpu30 + job_num_nodes: "1" + job_partition: general + job_qos: qos_general + job_start_time: "1777631154" + job_uid: "1449" + job_user: frankwu2 + jobid: "8304" + localid: "0" + mem_per_node: "32768" + nnodes: "1" + nodeid: "0" + nodelist: gpu30 + nprocs: "1" + ntasks: "1" + oom_kill_step: "0" + prio_process: "0" + procid: "0" + submit_dir: /zfsauton2/home/frankwu2/namrata/fusion-hub + submit_host: rhea.int.autonlab.org + task_pid: "34783" + tasks_per_node: "1" + topology_addr: gpu30 + topology_addr_pattern: node + tres_per_task: cpu=4 + startedAt: "2026-05-01T10:26:08.986376Z" + writerId: 015p1fxhsqyn81xjbgniykcf9b977bzp + m: + - "1": trainer/global_step + "6": + - 3 + "7": [] + - "2": '*' + "5": 1 + "6": + - 1 + "7": [] + python_version: 3.10.20 + t: + "1": + - 1 + - 9 + - 11 + - 49 + - 50 + - 83 + - 103 + "2": + - 1 + - 9 + - 11 + - 49 + - 50 + - 83 + - 103 + "3": + - 1 + - 7 + - 13 + - 41 + - 66 + "4": 3.10.20 + "5": 0.26.1 + "6": 4.46.0 + "12": 0.26.1 + "13": linux-x86_64 +data_module: + value: + _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence + batch_size: 256 + dataset_dir: null + env_name: antmaze-medium-navigate-v0 + num_workers: 4 + pin_memory: true + seed: 3 +model: + value: + _target_: dynamics.models.ifactor.IFactor + action_encode_dim: 64 + action_encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 64 + grad_clip_norm: 100 + kl_weight: 1 + learning_rate: 0.0003 + mi_steps: 3 + mi_weight: 1 + mine_cfg: + _target_: common.models.MINE + obs_weight: 10 + rnn_num_layers: 1 + rnn_type: gru + sa_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sa_dim: 256 + sac_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sac_dim: 256 + state_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + state_encoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + weight_decay: 0.001 +trainer: + value: + accelerator: gpu + devices: + - 0 + max_epochs: 250 + precision: 32 + strategy: auto diff --git a/ogbench/antmaze-medium-navigate-v0/3/wandb/run-20260501_062608-qrbwxdux/files/output.log b/ogbench/antmaze-medium-navigate-v0/3/wandb/run-20260501_062608-qrbwxdux/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..5a2a8ee048455eea0dc6872b603c6fca2ff99df1 --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/3/wandb/run-20260501_062608-qrbwxdux/files/output.log @@ -0,0 +1,31 @@ +wandb: logging graph, to disable use `wandb.watch(log_graph=False)` +GPU available: True (cuda), used: True +TPU available: False, using: 0 TPU cores +HPU available: False, using: 0 HPUs +You are using a CUDA device ('NVIDIA RTX A6000') that has Tensor Cores. To properly utilize them, you should set `torch.set_float32_matmul_precision('medium' | 'high')` which will trade-off precision for performance. For more details, read https://pytorch.org/docs/stable/generated/torch.set_float32_matmul_precision.html#torch.set_float32_matmul_precision +LOCAL_RANK: 0 - CUDA_VISIBLE_DEVICES: [0] + + | Name | Type | Params | Mode +------------------------------------------------------- +0 | normalizer | Normalizer | 0 | train +1 | action_encoder | MLP | 4.7 K | train +2 | state_encoder | PNN | 804 K | train +3 | state_decoder | PNN | 555 K | train +4 | sa_memory_unit | GRU | 443 K | train +5 | sac_memory_unit | GRU | 394 K | train +6 | sa_decoder | PNN | 263 K | train +7 | sac_decoder | PNN | 263 K | train +8 | mine_sa | MINE | 123 K | train +9 | mine_sac | MINE | 123 K | train +------------------------------------------------------- +3.0 M Trainable params +0 Non-trainable params +3.0 M Total params +11.907 Total estimated model params size (MB) +48 Modules in train mode +0 Modules in eval mode +SLURM auto-requeueing enabled. Setting signal handlers. +Epoch 249: 100%|██████████| 3/3 [00:03<00:00, 1.00it/s, v_num=xdux, train/loss=-16.9, val/loss=-15.5] +/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/lib/python3.10/site-packages/pytorch_lightning/loops/fit_loop.py:298: The number of training batches (3) is smaller than the logging interval Trainer(log_every_n_steps=50). Set a lower value for log_every_n_steps if you want to see logs for the training epoch. + +`Trainer.fit` stopped: `max_epochs=250` reached. diff --git a/ogbench/antmaze-medium-navigate-v0/3/wandb/run-20260501_062608-qrbwxdux/files/requirements.txt b/ogbench/antmaze-medium-navigate-v0/3/wandb/run-20260501_062608-qrbwxdux/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3a9f426228c6eebe03b4388b53930f29e941caa --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/3/wandb/run-20260501_062608-qrbwxdux/files/requirements.txt @@ -0,0 +1,124 @@ +nvidia-curand-cu12==10.3.2.106 +sympy==1.14.0 +kiwisolver==1.5.0 +h5py==3.16.0 +GitPython==3.1.49 +grpcio==1.80.0 +numpy==2.2.6 +mpmath==1.3.0 +contourpy==1.3.2 +Jinja2==3.1.6 +torchmetrics==1.9.0 +nvidia-cudnn-cu12==9.1.0.70 +tensorboard==2.18.0 +nvidia-cusparse-cu12==12.1.0.106 +click==8.3.3 +glfw==2.10.0 +fsspec==2026.4.0 +gitdb==4.0.12 +nvidia-nvjitlink-cu12==12.9.86 +sentry-sdk==2.58.0 +wrapt==2.1.2 +triton==3.0.0 +MarkupSafe==3.0.3 +platformdirs==4.9.6 +pydantic==2.13.3 +hf-xet==1.4.3 +nvidia-cublas-cu12==12.1.3.1 +tqdm==4.67.3 +requests==2.33.1 +omegaconf==2.3.0 +pytorch-lightning==2.4.0 +setuptools==79.0.1 +propcache==0.4.1 +lightning-utilities==0.15.3 +cycler==0.12.1 +nvidia-cusolver-cu12==11.4.5.107 +labmaze==1.0.6 +importlib_metadata==9.0.0 +hydra-core==1.3.2 +dm_control==1.0.40 +Markdown==3.10.2 +PyYAML==6.0.3 +nvidia-cuda-nvrtc-cu12==12.1.105 +fonttools==4.62.1 +lxml==6.1.0 +Werkzeug==3.1.8 +async-timeout==5.0.1 +mujoco==3.8.0 +tokenizers==0.20.3 +wandb==0.26.1 +dm-env==1.6 +python-dateutil==2.9.0.post0 +attrs==26.1.0 +huggingface_hub==0.36.2 +h11==0.16.0 +safetensors==0.7.0 +absl-py==2.4.0 +nvidia-nccl-cu12==2.20.5 +yarl==1.23.0 +networkx==3.4.2 +torch==2.4.0 +cloudpickle==3.1.2 +typing_extensions==4.15.0 +certifi==2026.4.22 +typing-inspection==0.4.2 +idna==3.13 +pyparsing==3.3.2 +nvidia-cuda-cupti-cu12==12.1.105 +frozenlist==1.8.0 +ogbench==1.2.1 +ImageIO==2.37.3 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batch_size: 256 + num_workers: 4 + pin_memory: true + seed: ${seed} +trainer: + max_epochs: 250 + accelerator: gpu + devices: + - 0 + strategy: auto + precision: 32 +early_stopping: + patience: 100 + min_delta: 0.0 + monitor: val/loss + mode: min +logger: + _target_: pytorch_lightning.loggers.wandb.WandbLogger + name: ${experiment_name}/seed_${seed} + project: fusion-ifactor-ogbench + log_model: false + offline: false +model: + _target_: dynamics.models.ifactor.IFactor + sa_dim: 256 + sac_dim: 256 + action_encode_dim: 64 + mi_steps: 3 + grad_clip_norm: 100.0 + obs_weight: 10 + kl_weight: 1 + mi_weight: 1 + rnn_type: gru + rnn_num_layers: 1 + learning_rate: 0.0003 + weight_decay: 0.001 + state_encoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + state_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + action_encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 64 + hidden_activation: relu + sa_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 256 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + 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GPU-a4b7f905-eb96-3305-d6a9-b629c58b6618 + host: gpu30 + memory: + total: "507007569920" + os: Linux-6.4.0-150600.23.92-default-x86_64-with-glibc2.38 + program: /zfsauton2/home/frankwu2/namrata/fusion-hub/train_pl.py + python: CPython 3.10.20 + root: . + slurm: + cluster_name: auton + conf: /etc/slurm/slurm.conf + cpus_on_node: "4" + cpus_per_task: "4" + export_env: ALL,SEED=4 + get_user_env: "1" + gpus_on_node: "1" + gtids: "0" + job_account: users + job_cpus_per_node: "4" + job_end_time: "1777803955" + job_gid: "1449" + job_gpus: "5" + job_id: "8305" + job_name: ogbench_pl + job_nodelist: gpu30 + job_num_nodes: "1" + job_partition: general + job_qos: qos_general + job_start_time: "1777631155" + job_uid: "1449" + job_user: frankwu2 + jobid: "8305" + localid: "0" + mem_per_node: "32768" + nnodes: "1" + nodeid: "0" + nodelist: gpu30 + nprocs: "1" + ntasks: "1" + oom_kill_step: "0" + prio_process: "0" + procid: "0" + submit_dir: /zfsauton2/home/frankwu2/namrata/fusion-hub + submit_host: rhea.int.autonlab.org + task_pid: "34784" + tasks_per_node: "1" + topology_addr: gpu30 + topology_addr_pattern: node + tres_per_task: cpu=4 + startedAt: "2026-05-01T10:26:09.010501Z" + writerId: aiaa83s2h7rua8o527va8b6lkynnuemd + m: + - "1": trainer/global_step + "6": + - 3 + "7": [] + - "2": '*' + "5": 1 + "6": + - 1 + "7": [] + python_version: 3.10.20 + t: + "1": + - 1 + - 9 + - 11 + - 49 + - 50 + - 83 + - 103 + "2": + - 1 + - 9 + - 11 + - 49 + - 50 + - 83 + - 103 + "3": + - 1 + - 7 + - 13 + - 66 + "4": 3.10.20 + "5": 0.26.1 + "6": 4.46.0 + "12": 0.26.1 + "13": linux-x86_64 +data_module: + value: + _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence + batch_size: 256 + dataset_dir: null + env_name: antmaze-medium-navigate-v0 + num_workers: 4 + pin_memory: true + seed: 4 +model: + value: + _target_: dynamics.models.ifactor.IFactor + action_encode_dim: 64 + action_encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 64 + grad_clip_norm: 100 + kl_weight: 1 + learning_rate: 0.0003 + mi_steps: 3 + mi_weight: 1 + mine_cfg: + _target_: common.models.MINE + obs_weight: 10 + rnn_num_layers: 1 + rnn_type: gru + sa_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sa_dim: 256 + sac_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sac_dim: 256 + state_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + state_encoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + weight_decay: 0.001 +trainer: + value: + accelerator: gpu + devices: + - 0 + max_epochs: 250 + precision: 32 + strategy: auto diff --git a/ogbench/antmaze-medium-navigate-v0/4/wandb/run-20260501_062609-eg9ri7dh/files/output.log b/ogbench/antmaze-medium-navigate-v0/4/wandb/run-20260501_062609-eg9ri7dh/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..93c42f233d869d4bce6d5b402520ac7cdf848b7f --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/4/wandb/run-20260501_062609-eg9ri7dh/files/output.log @@ -0,0 +1,31 @@ +wandb: logging graph, to disable use `wandb.watch(log_graph=False)` +GPU available: True (cuda), used: True +TPU available: False, using: 0 TPU cores +HPU available: False, using: 0 HPUs +You are using a CUDA device ('NVIDIA RTX A6000') that has Tensor Cores. To properly utilize them, you should set `torch.set_float32_matmul_precision('medium' | 'high')` which will trade-off precision for performance. For more details, read https://pytorch.org/docs/stable/generated/torch.set_float32_matmul_precision.html#torch.set_float32_matmul_precision +LOCAL_RANK: 0 - CUDA_VISIBLE_DEVICES: [0] + + | Name | Type | Params | Mode +------------------------------------------------------- +0 | normalizer | Normalizer | 0 | train +1 | action_encoder | MLP | 4.7 K | train +2 | state_encoder | PNN | 804 K | train +3 | state_decoder | PNN | 555 K | train +4 | sa_memory_unit | GRU | 443 K | train +5 | sac_memory_unit | GRU | 394 K | train +6 | sa_decoder | PNN | 263 K | train +7 | sac_decoder | PNN | 263 K | train +8 | mine_sa | MINE | 123 K | train +9 | mine_sac | MINE | 123 K | train +------------------------------------------------------- +3.0 M Trainable params +0 Non-trainable params +3.0 M Total params +11.907 Total estimated model params size (MB) +48 Modules in train mode +0 Modules in eval mode +SLURM auto-requeueing enabled. Setting signal handlers. +Epoch 249: 100%|██████████| 3/3 [00:02<00:00, 1.05it/s, v_num=i7dh, train/loss=-18.0, val/loss=-16.2] +/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/lib/python3.10/site-packages/pytorch_lightning/loops/fit_loop.py:298: The number of training batches (3) is smaller than the logging interval Trainer(log_every_n_steps=50). Set a lower value for log_every_n_steps if you want to see logs for the training epoch. + +`Trainer.fit` stopped: `max_epochs=250` reached. diff --git a/ogbench/antmaze-medium-navigate-v0/4/wandb/run-20260501_062609-eg9ri7dh/files/requirements.txt b/ogbench/antmaze-medium-navigate-v0/4/wandb/run-20260501_062609-eg9ri7dh/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3a9f426228c6eebe03b4388b53930f29e941caa --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/4/wandb/run-20260501_062609-eg9ri7dh/files/requirements.txt @@ -0,0 +1,124 @@ +nvidia-curand-cu12==10.3.2.106 +sympy==1.14.0 +kiwisolver==1.5.0 +h5py==3.16.0 +GitPython==3.1.49 +grpcio==1.80.0 +numpy==2.2.6 +mpmath==1.3.0 +contourpy==1.3.2 +Jinja2==3.1.6 +torchmetrics==1.9.0 +nvidia-cudnn-cu12==9.1.0.70 +tensorboard==2.18.0 +nvidia-cusparse-cu12==12.1.0.106 +click==8.3.3 +glfw==2.10.0 +fsspec==2026.4.0 +gitdb==4.0.12 +nvidia-nvjitlink-cu12==12.9.86 +sentry-sdk==2.58.0 +wrapt==2.1.2 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+regex==2026.4.4 +anyio==4.13.0 +transformers==4.46.0 +httpx==0.28.1 +etils==1.13.0 +tensorboard-data-server==0.7.2 +nvidia-nvtx-cu12==12.1.105 +importlib_resources==7.1.0 +zipp==3.23.1 +filelock==3.29.0 +diffusers==0.37.1 +PyOpenGL==3.1.10 +matplotlib==3.10.9 +pip==23.0.1 +multidict==6.7.1 +aiohappyeyeballs==2.6.1 +packaging==26.2 +pillow==12.2.0 +exceptiongroup==1.3.1 +nvidia-cuda-runtime-cu12==12.1.105 +six==1.17.0 +scipy==1.15.3 +sentencepiece==0.2.0 +smmap==5.0.3 +gymnasium==1.3.0 +pydantic_core==2.46.3 +charset-normalizer==3.4.7 +annotated-types==0.7.0 +antlr4-python3-runtime==4.9.3 +dm-tree==0.1.10 +nvidia-cufft-cu12==11.0.2.54 +Farama-Notifications==0.0.6 +aiosignal==1.4.0 +aiohttp==3.13.5 +urllib3==2.6.3 +httpcore==1.0.9 +protobuf==7.34.1 +tomli==2.0.1 +platformdirs==4.2.2 +typeguard==4.3.0 +packaging==24.2 +typing_extensions==4.12.2 +wheel==0.45.1 +jaraco.functools==4.0.1 +jaraco.text==3.12.1 +zipp==3.19.2 +inflect==7.3.1 +backports.tarfile==1.2.0 +jaraco.collections==5.1.0 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"https://github.com/namratadeka/fusion-hub.git", + "commit": "f948f6da808c693a73595147daef5a9606ab86c3" + }, + "email": "zw2700@nyu.edu", + "root": ".", + "host": "gpu30", + "executable": "/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/bin/python3", + "cpu_count": 64, + "cpu_count_logical": 128, + "gpu": "NVIDIA RTX A6000", + "gpu_count": 1, + "disk": { + "/": { + "total": "476251684864", + "used": "91427479552" + } + }, + "memory": { + "total": "507007569920" + }, + "gpu_nvidia": [ + { + "name": "NVIDIA RTX A6000", + "memoryTotal": "51527024640", + "cudaCores": 10752, + "architecture": "Ampere", + "uuid": "GPU-a4b7f905-eb96-3305-d6a9-b629c58b6618" + } + ], + "cudaVersion": "13.0", + "slurm": { + "cluster_name": "auton", + "conf": "/etc/slurm/slurm.conf", + "cpus_on_node": "4", + "cpus_per_task": "4", + "export_env": "ALL,SEED=4", + "get_user_env": "1", + "gpus_on_node": "1", + "gtids": "0", + "job_account": "users", + "job_cpus_per_node": "4", + "job_end_time": "1777803955", + 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index 0000000000000000000000000000000000000000..facfaa08553eefafeabceca985f4c935a2739053 --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/5/.hydra/config.yaml @@ -0,0 +1,126 @@ +experiment_name: dynamics/ifactor/ogbench/${env_name} +save_path: models_out/${experiment_name} +cuda_device: 0 +seed: 5 +debug: false +type: dynamics +env_name: antmaze-medium-navigate-v0 +data_module: + _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence + env_name: ${env_name} + dataset_dir: null + batch_size: 256 + num_workers: 4 + pin_memory: true + seed: ${seed} +trainer: + max_epochs: 250 + accelerator: gpu + devices: + - 0 + strategy: auto + precision: 32 +early_stopping: + patience: 100 + min_delta: 0.0 + monitor: val/loss + mode: min +logger: + _target_: pytorch_lightning.loggers.wandb.WandbLogger + name: ${experiment_name}/seed_${seed} + project: fusion-ifactor-ogbench + log_model: false + offline: false +model: + _target_: dynamics.models.ifactor.IFactor + sa_dim: 256 + sac_dim: 256 + action_encode_dim: 64 + mi_steps: 3 + grad_clip_norm: 100.0 + obs_weight: 10 + kl_weight: 1 + mi_weight: 1 + rnn_type: gru + rnn_num_layers: 1 + learning_rate: 0.0003 + weight_decay: 0.001 + state_encoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + state_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + action_encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 64 + hidden_activation: relu + sa_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 256 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + sac_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 256 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + mine_cfg: + _target_: common.models.MINE diff --git 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+ + == 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: + - env_name=antmaze-medium-navigate-v0 + - seed=5 + job: + name: train_pl + chdir: null + override_dirname: env_name=antmaze-medium-navigate-v0,seed=5 + id: ??? + num: ??? + config_name: dynamics_ifactor_ogbench + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.1' + cwd: /zfsauton2/home/frankwu2/namrata/fusion-hub + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /zfsauton2/home/frankwu2/namrata/fusion-hub/cfgs/pl_cfgs/dynamics + schema: file + provider: main + - path: '' + 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1 + - 7 + - 13 + - 41 + - 66 + "4": 3.10.20 + "5": 0.26.1 + "6": 4.46.0 + "12": 0.26.1 + "13": linux-x86_64 +data_module: + value: + _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence + batch_size: 256 + dataset_dir: null + env_name: antmaze-medium-navigate-v0 + num_workers: 4 + pin_memory: true + seed: 5 +model: + value: + _target_: dynamics.models.ifactor.IFactor + action_encode_dim: 64 + action_encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 64 + grad_clip_norm: 100 + kl_weight: 1 + learning_rate: 0.0003 + mi_steps: 3 + mi_weight: 1 + mine_cfg: + _target_: common.models.MINE + obs_weight: 10 + rnn_num_layers: 1 + rnn_type: gru + sa_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sa_dim: 256 + sac_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sac_dim: 256 + state_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + state_encoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + weight_decay: 0.001 +trainer: + value: + accelerator: gpu + devices: + - 0 + max_epochs: 250 + precision: 32 + strategy: auto diff --git a/ogbench/antmaze-medium-navigate-v0/5/wandb/run-20260501_062608-r4jllvnc/files/output.log b/ogbench/antmaze-medium-navigate-v0/5/wandb/run-20260501_062608-r4jllvnc/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..08d530c2b5609123a4f231714e5b6050a9cf55d2 --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/5/wandb/run-20260501_062608-r4jllvnc/files/output.log @@ -0,0 +1,31 @@ +wandb: logging graph, to disable use `wandb.watch(log_graph=False)` +GPU available: True (cuda), used: True +TPU available: False, using: 0 TPU cores +HPU available: False, using: 0 HPUs +You are using a CUDA device ('NVIDIA RTX A6000') that has Tensor Cores. To properly utilize them, you should set `torch.set_float32_matmul_precision('medium' | 'high')` which will trade-off precision for performance. For more details, read https://pytorch.org/docs/stable/generated/torch.set_float32_matmul_precision.html#torch.set_float32_matmul_precision +LOCAL_RANK: 0 - CUDA_VISIBLE_DEVICES: [0] + + | Name | Type | Params | Mode +------------------------------------------------------- +0 | normalizer | Normalizer | 0 | train +1 | action_encoder | MLP | 4.7 K | train +2 | state_encoder | PNN | 804 K | train +3 | state_decoder | PNN | 555 K | train +4 | sa_memory_unit | GRU | 443 K | train +5 | sac_memory_unit | GRU | 394 K | train +6 | sa_decoder | PNN | 263 K | train +7 | sac_decoder | PNN | 263 K | train +8 | mine_sa | MINE | 123 K | train +9 | mine_sac | MINE | 123 K | train +------------------------------------------------------- +3.0 M Trainable params +0 Non-trainable params +3.0 M Total params +11.907 Total estimated model params size (MB) +48 Modules in train mode +0 Modules in eval mode +SLURM auto-requeueing enabled. Setting signal handlers. +Epoch 249: 100%|██████████| 3/3 [00:02<00:00, 1.07it/s, v_num=lvnc, train/loss=-16.7, val/loss=-14.4] +/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/lib/python3.10/site-packages/pytorch_lightning/loops/fit_loop.py:298: The number of training batches (3) is smaller than the logging interval Trainer(log_every_n_steps=50). Set a lower value for log_every_n_steps if you want to see logs for the training epoch. + +`Trainer.fit` stopped: `max_epochs=250` reached. diff --git a/ogbench/antmaze-medium-navigate-v0/5/wandb/run-20260501_062608-r4jllvnc/files/requirements.txt b/ogbench/antmaze-medium-navigate-v0/5/wandb/run-20260501_062608-r4jllvnc/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3a9f426228c6eebe03b4388b53930f29e941caa --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/5/wandb/run-20260501_062608-r4jllvnc/files/requirements.txt @@ -0,0 +1,124 @@ +nvidia-curand-cu12==10.3.2.106 +sympy==1.14.0 +kiwisolver==1.5.0 +h5py==3.16.0 +GitPython==3.1.49 +grpcio==1.80.0 +numpy==2.2.6 +mpmath==1.3.0 +contourpy==1.3.2 +Jinja2==3.1.6 +torchmetrics==1.9.0 +nvidia-cudnn-cu12==9.1.0.70 +tensorboard==2.18.0 +nvidia-cusparse-cu12==12.1.0.106 +click==8.3.3 +glfw==2.10.0 +fsspec==2026.4.0 +gitdb==4.0.12 +nvidia-nvjitlink-cu12==12.9.86 +sentry-sdk==2.58.0 +wrapt==2.1.2 +triton==3.0.0 +MarkupSafe==3.0.3 +platformdirs==4.9.6 +pydantic==2.13.3 +hf-xet==1.4.3 +nvidia-cublas-cu12==12.1.3.1 +tqdm==4.67.3 +requests==2.33.1 +omegaconf==2.3.0 +pytorch-lightning==2.4.0 +setuptools==79.0.1 +propcache==0.4.1 +lightning-utilities==0.15.3 +cycler==0.12.1 +nvidia-cusolver-cu12==11.4.5.107 +labmaze==1.0.6 +importlib_metadata==9.0.0 +hydra-core==1.3.2 +dm_control==1.0.40 +Markdown==3.10.2 +PyYAML==6.0.3 +nvidia-cuda-nvrtc-cu12==12.1.105 +fonttools==4.62.1 +lxml==6.1.0 +Werkzeug==3.1.8 +async-timeout==5.0.1 +mujoco==3.8.0 +tokenizers==0.20.3 +wandb==0.26.1 +dm-env==1.6 +python-dateutil==2.9.0.post0 +attrs==26.1.0 +huggingface_hub==0.36.2 +h11==0.16.0 +safetensors==0.7.0 +absl-py==2.4.0 +nvidia-nccl-cu12==2.20.5 +yarl==1.23.0 +networkx==3.4.2 +torch==2.4.0 +cloudpickle==3.1.2 +typing_extensions==4.15.0 +certifi==2026.4.22 +typing-inspection==0.4.2 +idna==3.13 +pyparsing==3.3.2 +nvidia-cuda-cupti-cu12==12.1.105 +frozenlist==1.8.0 +ogbench==1.2.1 +ImageIO==2.37.3 +regex==2026.4.4 +anyio==4.13.0 +transformers==4.46.0 +httpx==0.28.1 +etils==1.13.0 +tensorboard-data-server==0.7.2 +nvidia-nvtx-cu12==12.1.105 +importlib_resources==7.1.0 +zipp==3.23.1 +filelock==3.29.0 +diffusers==0.37.1 +PyOpenGL==3.1.10 +matplotlib==3.10.9 +pip==23.0.1 +multidict==6.7.1 +aiohappyeyeballs==2.6.1 +packaging==26.2 +pillow==12.2.0 +exceptiongroup==1.3.1 +nvidia-cuda-runtime-cu12==12.1.105 +six==1.17.0 +scipy==1.15.3 +sentencepiece==0.2.0 +smmap==5.0.3 +gymnasium==1.3.0 +pydantic_core==2.46.3 +charset-normalizer==3.4.7 +annotated-types==0.7.0 +antlr4-python3-runtime==4.9.3 +dm-tree==0.1.10 +nvidia-cufft-cu12==11.0.2.54 +Farama-Notifications==0.0.6 +aiosignal==1.4.0 +aiohttp==3.13.5 +urllib3==2.6.3 +httpcore==1.0.9 +protobuf==7.34.1 +tomli==2.0.1 +platformdirs==4.2.2 +typeguard==4.3.0 +packaging==24.2 +typing_extensions==4.12.2 +wheel==0.45.1 +jaraco.functools==4.0.1 +jaraco.text==3.12.1 +zipp==3.19.2 +inflect==7.3.1 +backports.tarfile==1.2.0 +jaraco.collections==5.1.0 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"https://github.com/namratadeka/fusion-hub.git", + "commit": "f948f6da808c693a73595147daef5a9606ab86c3" + }, + "email": "zw2700@nyu.edu", + "root": ".", + "host": "gpu30", + "executable": "/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/bin/python3", + "cpu_count": 64, + "cpu_count_logical": 128, + "gpu": "NVIDIA RTX A6000", + "gpu_count": 1, + "disk": { + "/": { + "total": "476251684864", + "used": "91427479552" + } + }, + "memory": { + "total": "507007569920" + }, + "gpu_nvidia": [ + { + "name": "NVIDIA RTX A6000", + "memoryTotal": "51527024640", + "cudaCores": 10752, + "architecture": "Ampere", + "uuid": "GPU-9636ab1f-b714-8ee2-982a-0a8908502fd1" + } + ], + "cudaVersion": "13.0", + "slurm": { + "cluster_name": "auton", + "conf": "/etc/slurm/slurm.conf", + "cpus_on_node": "4", + "cpus_per_task": "4", + "export_env": "ALL,SEED=5", + "get_user_env": "1", + "gpus_on_node": "1", + "gtids": "0", + "job_account": "users", + "job_cpus_per_node": "4", + "job_end_time": "1777803955", + 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fusion-ifactor-ogbench + log_model: false + offline: false +model: + _target_: dynamics.models.ifactor.IFactor + sa_dim: 256 + sac_dim: 256 + action_encode_dim: 64 + mi_steps: 3 + grad_clip_norm: 100.0 + obs_weight: 10 + kl_weight: 1 + mi_weight: 1 + rnn_type: gru + rnn_num_layers: 1 + learning_rate: 0.0003 + weight_decay: 0.001 + state_encoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + state_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: 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b/ogbench/antmaze-medium-navigate-v0/6/wandb/run-20260501_062608-dmm6ni59/files/config.yaml @@ -0,0 +1,233 @@ +_wandb: + value: + cli_version: 0.26.1 + e: + fk7fmqq9yhkpxmkqollke25nr00tycxh: + args: + - --config-path + - cfgs/pl_cfgs/dynamics + - --config-name + - dynamics_ifactor_ogbench + - env_name=antmaze-medium-navigate-v0 + - seed=6 + codePath: train_pl.py + cpu_count: 64 + cpu_count_logical: 128 + cudaVersion: "13.0" + disk: + /: + total: "476251684864" + used: "91427479552" + email: zw2700@nyu.edu + executable: /zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/bin/python3 + git: + commit: f948f6da808c693a73595147daef5a9606ab86c3 + remote: https://github.com/namratadeka/fusion-hub.git + gpu: NVIDIA RTX A6000 + gpu_count: 1 + gpu_nvidia: + - architecture: Ampere + cudaCores: 10752 + memoryTotal: "51527024640" + name: NVIDIA RTX A6000 + uuid: GPU-846af4c2-183b-ba07-8eaa-d3e44595c570 + host: gpu30 + memory: + total: "507007569920" + os: Linux-6.4.0-150600.23.92-default-x86_64-with-glibc2.38 + program: /zfsauton2/home/frankwu2/namrata/fusion-hub/train_pl.py + python: CPython 3.10.20 + root: . + slurm: + cluster_name: auton + conf: /etc/slurm/slurm.conf + cpus_on_node: "4" + cpus_per_task: "4" + export_env: ALL,SEED=6 + get_user_env: "1" + gpus_on_node: "1" + gtids: "0" + job_account: users + job_cpus_per_node: "4" + job_end_time: "1777803955" + job_gid: "1449" + job_gpus: "7" + job_id: "8307" + job_name: ogbench_pl + job_nodelist: gpu30 + job_num_nodes: "1" + job_partition: general + job_qos: qos_general + job_start_time: "1777631155" + job_uid: "1449" + job_user: frankwu2 + jobid: "8307" + localid: "0" + mem_per_node: "32768" + nnodes: "1" + nodeid: "0" + nodelist: gpu30 + nprocs: "1" + ntasks: "1" + oom_kill_step: "0" + prio_process: "0" + procid: "0" + submit_dir: /zfsauton2/home/frankwu2/namrata/fusion-hub + submit_host: rhea.int.autonlab.org + task_pid: "34785" + tasks_per_node: "1" + topology_addr: gpu30 + topology_addr_pattern: node + tres_per_task: cpu=4 + startedAt: "2026-05-01T10:26:08.985566Z" + writerId: fk7fmqq9yhkpxmkqollke25nr00tycxh + m: + - "1": trainer/global_step + "6": + - 3 + "7": [] + - "2": '*' + "5": 1 + "6": + - 1 + "7": [] + python_version: 3.10.20 + t: + "1": + - 1 + - 9 + - 11 + - 49 + - 50 + - 83 + - 103 + "2": + - 1 + - 9 + - 11 + - 49 + - 50 + - 83 + - 103 + "3": + - 1 + - 7 + - 13 + - 41 + - 66 + "4": 3.10.20 + "5": 0.26.1 + "6": 4.46.0 + "12": 0.26.1 + "13": linux-x86_64 +data_module: + value: + _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence + batch_size: 256 + dataset_dir: null + env_name: antmaze-medium-navigate-v0 + num_workers: 4 + pin_memory: true + seed: 6 +model: + value: + _target_: dynamics.models.ifactor.IFactor + action_encode_dim: 64 + action_encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 64 + grad_clip_norm: 100 + kl_weight: 1 + learning_rate: 0.0003 + mi_steps: 3 + mi_weight: 1 + mine_cfg: + _target_: common.models.MINE + obs_weight: 10 + rnn_num_layers: 1 + rnn_type: gru + sa_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sa_dim: 256 + sac_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sac_dim: 256 + state_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + state_encoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + weight_decay: 0.001 +trainer: + value: + accelerator: gpu + devices: + - 0 + max_epochs: 250 + precision: 32 + strategy: auto diff --git a/ogbench/antmaze-medium-navigate-v0/6/wandb/run-20260501_062608-dmm6ni59/files/output.log b/ogbench/antmaze-medium-navigate-v0/6/wandb/run-20260501_062608-dmm6ni59/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..e71abe8111dd16b907ea491e13ab28a3b59d4a2e --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/6/wandb/run-20260501_062608-dmm6ni59/files/output.log @@ -0,0 +1,31 @@ +wandb: logging graph, to disable use `wandb.watch(log_graph=False)` +GPU available: True (cuda), used: True +TPU available: False, using: 0 TPU cores +HPU available: False, using: 0 HPUs +You are using a CUDA device ('NVIDIA RTX A6000') that has Tensor Cores. To properly utilize them, you should set `torch.set_float32_matmul_precision('medium' | 'high')` which will trade-off precision for performance. For more details, read https://pytorch.org/docs/stable/generated/torch.set_float32_matmul_precision.html#torch.set_float32_matmul_precision +LOCAL_RANK: 0 - CUDA_VISIBLE_DEVICES: [0] + + | Name | Type | Params | Mode +------------------------------------------------------- +0 | normalizer | Normalizer | 0 | train +1 | action_encoder | MLP | 4.7 K | train +2 | state_encoder | PNN | 804 K | train +3 | state_decoder | PNN | 555 K | train +4 | sa_memory_unit | GRU | 443 K | train +5 | sac_memory_unit | GRU | 394 K | train +6 | sa_decoder | PNN | 263 K | train +7 | sac_decoder | PNN | 263 K | train +8 | mine_sa | MINE | 123 K | train +9 | mine_sac | MINE | 123 K | train +------------------------------------------------------- +3.0 M Trainable params +0 Non-trainable params +3.0 M Total params +11.907 Total estimated model params size (MB) +48 Modules in train mode +0 Modules in eval mode +SLURM auto-requeueing enabled. Setting signal handlers. +Epoch 249: 100%|██████████| 3/3 [00:02<00:00, 1.06it/s, v_num=ni59, train/loss=-16.3, val/loss=-15.6] +/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/lib/python3.10/site-packages/pytorch_lightning/loops/fit_loop.py:298: The number of training batches (3) is smaller than the logging interval Trainer(log_every_n_steps=50). Set a lower value for log_every_n_steps if you want to see logs for the training epoch. + +`Trainer.fit` stopped: `max_epochs=250` reached. diff --git a/ogbench/antmaze-medium-navigate-v0/6/wandb/run-20260501_062608-dmm6ni59/files/requirements.txt b/ogbench/antmaze-medium-navigate-v0/6/wandb/run-20260501_062608-dmm6ni59/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3a9f426228c6eebe03b4388b53930f29e941caa --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/6/wandb/run-20260501_062608-dmm6ni59/files/requirements.txt @@ -0,0 +1,124 @@ +nvidia-curand-cu12==10.3.2.106 +sympy==1.14.0 +kiwisolver==1.5.0 +h5py==3.16.0 +GitPython==3.1.49 +grpcio==1.80.0 +numpy==2.2.6 +mpmath==1.3.0 +contourpy==1.3.2 +Jinja2==3.1.6 +torchmetrics==1.9.0 +nvidia-cudnn-cu12==9.1.0.70 +tensorboard==2.18.0 +nvidia-cusparse-cu12==12.1.0.106 +click==8.3.3 +glfw==2.10.0 +fsspec==2026.4.0 +gitdb==4.0.12 +nvidia-nvjitlink-cu12==12.9.86 +sentry-sdk==2.58.0 +wrapt==2.1.2 +triton==3.0.0 +MarkupSafe==3.0.3 +platformdirs==4.9.6 +pydantic==2.13.3 +hf-xet==1.4.3 +nvidia-cublas-cu12==12.1.3.1 +tqdm==4.67.3 +requests==2.33.1 +omegaconf==2.3.0 +pytorch-lightning==2.4.0 +setuptools==79.0.1 +propcache==0.4.1 +lightning-utilities==0.15.3 +cycler==0.12.1 +nvidia-cusolver-cu12==11.4.5.107 +labmaze==1.0.6 +importlib_metadata==9.0.0 +hydra-core==1.3.2 +dm_control==1.0.40 +Markdown==3.10.2 +PyYAML==6.0.3 +nvidia-cuda-nvrtc-cu12==12.1.105 +fonttools==4.62.1 +lxml==6.1.0 +Werkzeug==3.1.8 +async-timeout==5.0.1 +mujoco==3.8.0 +tokenizers==0.20.3 +wandb==0.26.1 +dm-env==1.6 +python-dateutil==2.9.0.post0 +attrs==26.1.0 +huggingface_hub==0.36.2 +h11==0.16.0 +safetensors==0.7.0 +absl-py==2.4.0 +nvidia-nccl-cu12==2.20.5 +yarl==1.23.0 +networkx==3.4.2 +torch==2.4.0 +cloudpickle==3.1.2 +typing_extensions==4.15.0 +certifi==2026.4.22 +typing-inspection==0.4.2 +idna==3.13 +pyparsing==3.3.2 +nvidia-cuda-cupti-cu12==12.1.105 +frozenlist==1.8.0 +ogbench==1.2.1 +ImageIO==2.37.3 +regex==2026.4.4 +anyio==4.13.0 +transformers==4.46.0 +httpx==0.28.1 +etils==1.13.0 +tensorboard-data-server==0.7.2 +nvidia-nvtx-cu12==12.1.105 +importlib_resources==7.1.0 +zipp==3.23.1 +filelock==3.29.0 +diffusers==0.37.1 +PyOpenGL==3.1.10 +matplotlib==3.10.9 +pip==23.0.1 +multidict==6.7.1 +aiohappyeyeballs==2.6.1 +packaging==26.2 +pillow==12.2.0 +exceptiongroup==1.3.1 +nvidia-cuda-runtime-cu12==12.1.105 +six==1.17.0 +scipy==1.15.3 +sentencepiece==0.2.0 +smmap==5.0.3 +gymnasium==1.3.0 +pydantic_core==2.46.3 +charset-normalizer==3.4.7 +annotated-types==0.7.0 +antlr4-python3-runtime==4.9.3 +dm-tree==0.1.10 +nvidia-cufft-cu12==11.0.2.54 +Farama-Notifications==0.0.6 +aiosignal==1.4.0 +aiohttp==3.13.5 +urllib3==2.6.3 +httpcore==1.0.9 +protobuf==7.34.1 +tomli==2.0.1 +platformdirs==4.2.2 +typeguard==4.3.0 +packaging==24.2 +typing_extensions==4.12.2 +wheel==0.45.1 +jaraco.functools==4.0.1 +jaraco.text==3.12.1 +zipp==3.19.2 +inflect==7.3.1 +backports.tarfile==1.2.0 +jaraco.collections==5.1.0 +jaraco.context==5.3.0 +more-itertools==10.3.0 +autocommand==2.2.2 +importlib_metadata==8.0.0 diff --git a/ogbench/antmaze-medium-navigate-v0/6/wandb/run-20260501_062608-dmm6ni59/files/wandb-metadata.json b/ogbench/antmaze-medium-navigate-v0/6/wandb/run-20260501_062608-dmm6ni59/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b1191413166e05b6b5f519236b22f20d2bdd2af4 --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/6/wandb/run-20260501_062608-dmm6ni59/files/wandb-metadata.json @@ -0,0 +1,89 @@ +{ + "os": "Linux-6.4.0-150600.23.92-default-x86_64-with-glibc2.38", + "python": "CPython 3.10.20", + "startedAt": "2026-05-01T10:26:08.985566Z", + "args": [ + "--config-path", + "cfgs/pl_cfgs/dynamics", + "--config-name", + "dynamics_ifactor_ogbench", + "env_name=antmaze-medium-navigate-v0", + "seed=6" + ], + "program": "/zfsauton2/home/frankwu2/namrata/fusion-hub/train_pl.py", + "codePath": "train_pl.py", + "git": { + "remote": "https://github.com/namratadeka/fusion-hub.git", + "commit": "f948f6da808c693a73595147daef5a9606ab86c3" + }, + "email": "zw2700@nyu.edu", + "root": ".", + "host": "gpu30", + "executable": "/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/bin/python3", + "cpu_count": 64, + "cpu_count_logical": 128, + "gpu": "NVIDIA RTX A6000", + "gpu_count": 1, + "disk": { + "/": { + "total": "476251684864", + "used": "91427479552" + } + }, + "memory": { + "total": "507007569920" + }, + "gpu_nvidia": [ + { + "name": "NVIDIA RTX A6000", + "memoryTotal": "51527024640", + "cudaCores": 10752, + "architecture": "Ampere", + "uuid": "GPU-846af4c2-183b-ba07-8eaa-d3e44595c570" + } + ], + "cudaVersion": "13.0", + "slurm": { + "cluster_name": "auton", + "conf": "/etc/slurm/slurm.conf", + "cpus_on_node": "4", + "cpus_per_task": "4", + "export_env": "ALL,SEED=6", + "get_user_env": "1", + "gpus_on_node": "1", + "gtids": "0", + "job_account": "users", + "job_cpus_per_node": "4", + "job_end_time": "1777803955", + 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fusion-ifactor-ogbench + log_model: false + offline: false +model: + _target_: dynamics.models.ifactor.IFactor + sa_dim: 256 + sac_dim: 256 + action_encode_dim: 64 + mi_steps: 3 + grad_clip_norm: 100.0 + obs_weight: 10 + kl_weight: 1 + mi_weight: 1 + rnn_type: gru + rnn_num_layers: 1 + learning_rate: 0.0003 + weight_decay: 0.001 + state_encoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + state_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 512 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + action_encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 64 + hidden_activation: relu + sa_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 256 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + sac_decoder_cfg: + _target_: common.models.PNN + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_upper_bound: 0.5 + encoder_cfg: + _target_: common.models.MLP + hidden_sizes: + - 256 + hidden_activation: relu + mean_net_cfg: + _target_: common.models.MLP + hidden_sizes: [] + hidden_activation: relu + logvar_net_cfg: + 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rhea.int.autonlab.org + task_pid: "71701" + tasks_per_node: "1" + topology_addr: gpu31 + topology_addr_pattern: node + tres_per_task: cpu=4 + startedAt: "2026-05-01T10:26:07.347072Z" + writerId: 3ggv1ivrlwlgo2oug4g5jrjr4psnk3d5 + m: + - "1": trainer/global_step + "6": + - 3 + "7": [] + - "2": '*' + "5": 1 + "6": + - 1 + "7": [] + python_version: 3.10.20 + t: + "1": + - 1 + - 9 + - 11 + - 49 + - 50 + - 83 + - 103 + "2": + - 1 + - 9 + - 11 + - 49 + - 50 + - 83 + - 103 + "3": + - 1 + - 7 + - 13 + - 66 + "4": 3.10.20 + "5": 0.26.1 + "6": 4.46.0 + "12": 0.26.1 + "13": linux-x86_64 +data_module: + value: + _target_: common.data_modules.ogbench_sequence.OGBenchSASSequence + batch_size: 256 + dataset_dir: null + env_name: antmaze-medium-navigate-v0 + num_workers: 4 + pin_memory: true + seed: 7 +model: + value: + _target_: dynamics.models.ifactor.IFactor + action_encode_dim: 64 + action_encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 64 + grad_clip_norm: 100 + kl_weight: 1 + learning_rate: 0.0003 + mi_steps: 3 + mi_weight: 1 + mine_cfg: + _target_: common.models.MINE + obs_weight: 10 + rnn_num_layers: 1 + rnn_type: gru + sa_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sa_dim: 256 + sac_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 256 + encoder_output_dim: 256 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + sac_dim: 256 + state_decoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + state_encoder_cfg: + _target_: common.models.PNN + encoder_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: + - 512 + encoder_output_dim: 512 + logvar_lower_bound: -10 + logvar_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + logvar_upper_bound: 0.5 + mean_net_cfg: + _target_: common.models.MLP + hidden_activation: relu + hidden_sizes: [] + weight_decay: 0.001 +trainer: + value: + accelerator: gpu + devices: + - 0 + max_epochs: 250 + precision: 32 + strategy: auto diff --git a/ogbench/antmaze-medium-navigate-v0/7/wandb/run-20260501_062607-5j3zn1li/files/output.log b/ogbench/antmaze-medium-navigate-v0/7/wandb/run-20260501_062607-5j3zn1li/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..2536cbb7f0f0455a0b6f12360722d65d9ad0dafe --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/7/wandb/run-20260501_062607-5j3zn1li/files/output.log @@ -0,0 +1,31 @@ +wandb: logging graph, to disable use `wandb.watch(log_graph=False)` +GPU available: True (cuda), used: True +TPU available: False, using: 0 TPU cores +HPU available: False, using: 0 HPUs +You are using a CUDA device ('NVIDIA RTX A6000') that has Tensor Cores. To properly utilize them, you should set `torch.set_float32_matmul_precision('medium' | 'high')` which will trade-off precision for performance. For more details, read https://pytorch.org/docs/stable/generated/torch.set_float32_matmul_precision.html#torch.set_float32_matmul_precision +LOCAL_RANK: 0 - CUDA_VISIBLE_DEVICES: [0] + + | Name | Type | Params | Mode +------------------------------------------------------- +0 | normalizer | Normalizer | 0 | train +1 | action_encoder | MLP | 4.7 K | train +2 | state_encoder | PNN | 804 K | train +3 | state_decoder | PNN | 555 K | train +4 | sa_memory_unit | GRU | 443 K | train +5 | sac_memory_unit | GRU | 394 K | train +6 | sa_decoder | PNN | 263 K | train +7 | sac_decoder | PNN | 263 K | train +8 | mine_sa | MINE | 123 K | train +9 | mine_sac | MINE | 123 K | train +------------------------------------------------------- +3.0 M Trainable params +0 Non-trainable params +3.0 M Total params +11.907 Total estimated model params size (MB) +48 Modules in train mode +0 Modules in eval mode +SLURM auto-requeueing enabled. Setting signal handlers. +Epoch 249: 100%|██████████| 3/3 [00:02<00:00, 1.01it/s, v_num=n1li, train/loss=-15.7, val/loss=-14.5] +/zfsauton2/home/frankwu2/namrata/fusion-hub/.venv/lib/python3.10/site-packages/pytorch_lightning/loops/fit_loop.py:298: The number of training batches (3) is smaller than the logging interval Trainer(log_every_n_steps=50). Set a lower value for log_every_n_steps if you want to see logs for the training epoch. + +`Trainer.fit` stopped: `max_epochs=250` reached. diff --git a/ogbench/antmaze-medium-navigate-v0/7/wandb/run-20260501_062607-5j3zn1li/files/requirements.txt b/ogbench/antmaze-medium-navigate-v0/7/wandb/run-20260501_062607-5j3zn1li/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3a9f426228c6eebe03b4388b53930f29e941caa --- /dev/null +++ b/ogbench/antmaze-medium-navigate-v0/7/wandb/run-20260501_062607-5j3zn1li/files/requirements.txt @@ -0,0 +1,124 @@ +nvidia-curand-cu12==10.3.2.106 +sympy==1.14.0 +kiwisolver==1.5.0 +h5py==3.16.0 +GitPython==3.1.49 +grpcio==1.80.0 +numpy==2.2.6 +mpmath==1.3.0 +contourpy==1.3.2 +Jinja2==3.1.6 +torchmetrics==1.9.0 +nvidia-cudnn-cu12==9.1.0.70 +tensorboard==2.18.0 +nvidia-cusparse-cu12==12.1.0.106 +click==8.3.3 +glfw==2.10.0 +fsspec==2026.4.0 +gitdb==4.0.12 +nvidia-nvjitlink-cu12==12.9.86 +sentry-sdk==2.58.0 +wrapt==2.1.2 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+regex==2026.4.4 +anyio==4.13.0 +transformers==4.46.0 +httpx==0.28.1 +etils==1.13.0 +tensorboard-data-server==0.7.2 +nvidia-nvtx-cu12==12.1.105 +importlib_resources==7.1.0 +zipp==3.23.1 +filelock==3.29.0 +diffusers==0.37.1 +PyOpenGL==3.1.10 +matplotlib==3.10.9 +pip==23.0.1 +multidict==6.7.1 +aiohappyeyeballs==2.6.1 +packaging==26.2 +pillow==12.2.0 +exceptiongroup==1.3.1 +nvidia-cuda-runtime-cu12==12.1.105 +six==1.17.0 +scipy==1.15.3 +sentencepiece==0.2.0 +smmap==5.0.3 +gymnasium==1.3.0 +pydantic_core==2.46.3 +charset-normalizer==3.4.7 +annotated-types==0.7.0 +antlr4-python3-runtime==4.9.3 +dm-tree==0.1.10 +nvidia-cufft-cu12==11.0.2.54 +Farama-Notifications==0.0.6 +aiosignal==1.4.0 +aiohttp==3.13.5 +urllib3==2.6.3 +httpcore==1.0.9 +protobuf==7.34.1 +tomli==2.0.1 +platformdirs==4.2.2 +typeguard==4.3.0 +packaging==24.2 +typing_extensions==4.12.2 +wheel==0.45.1 +jaraco.functools==4.0.1 +jaraco.text==3.12.1 +zipp==3.19.2 +inflect==7.3.1 +backports.tarfile==1.2.0 +jaraco.collections==5.1.0 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