curl

2026-09-09 11:20:39 +08:00 · 2020-02-08 16:36:30 -08:00
commit fe75a963ea
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+
+# curl cheetah, crop 76 > 64, grayscale + random crop, deep stack
+# batch size = 256 instead of 128. maybe 256 makes 64x64 work. And, try using 512 with 64x64.
+# then try adam LR (smaller) - 3e-4... You can try 2e-4 and 5e-4. 
+# try using the stochastic policy for eval. (you can do later.. for now the important thing is to run ablations.)
+# try bigger frame stack, maybe 8.
+#     parser.add_argument('--critic_tau', default=0.01, type=float) # try 0.05 or 0.1
+# run 1: batch 256, first try with 84 
+# run 2: batch 512, first try with 84, then try 64, then try their encoder
+# run 3: batch 256, first try with 84 
+# run 4: batch 512, first try with 84, then try 64, then try their encoder
+# run 5: 2e-4 lr for all
+# run 6: 5e-4 for all
+# run 7: critic higher tau, 0.05
+
+# try stochastic critic eval
+CUDA_VISIBLE_DEVICES=1 python train_cpc.py \
+    --domain_name cheetah \
+    --task_name run --dmc2gym \
+    --encoder_type pixel \
+    --decoder_type identity \
+    --action_repeat 4 --batch_size 256 \
+    --save_tb --work_dir ./tmp/icml/feb2cheetah/curl_cheetah_b256_84 \
+    --agent sac_cpc --frame_stack 3 --pre_transform_image_size 100 --image_size 84 \
+    --seed 23 --critic_lr 1e-3 --actor_lr 1e-3 --eval_freq 10000 --batch_size 128 --num_train_steps 3000000 &
+
+CUDA_VISIBLE_DEVICES=2 python train_cpc.py \
+    --domain_name cheetah \
+    --task_name run --dmc2gym \
+    --encoder_type pixel \
+    --decoder_type identity \
+    --action_repeat 4 \
+    --save_tb --work_dir ./tmp/icml/feb2cheetah/curl_cheetah_b512_84 \
+    --agent sac_cpc --frame_stack 3 --pre_transform_image_size 100 --image_size 84 \
+    --seed 23 --critic_lr 1e-3 --actor_lr 1e-3 --eval_freq 20000 --batch_size 512 --num_train_steps 3000000 & 
+
+CUDA_VISIBLE_DEVICES=3 python train.py \
+    --domain_name cheetah \
+    --task_name run --dmc2gym \
+    --encoder_type pixel \
+    --decoder_type identity \
+    --action_repeat 4 --batch_size 256 \
+    --save_tb --work_dir ./tmp/icml/feb2cheetah/rad_cheetah_b256_84 \
+    --agent sac_ae --frame_stack 3 --pre_transform_image_size 100 --image_size 84 \
+    --seed 23 --critic_lr 1e-3 --actor_lr 1e-3 --eval_freq 20000 --batch_size 128 --num_train_steps 3000000 & 
+
+CUDA_VISIBLE_DEVICES=4 python train.py \
+    --domain_name cheetah \
+    --task_name run --dmc2gym \
+    --encoder_type pixel \
+    --decoder_type identity \
+    --action_repeat 4 \
+    --save_tb --work_dir ./tmp/icml/feb2cheetah/rad_cheetah_b512_84 \
+    --agent sac_ae --frame_stack 3 --pre_transform_image_size 100 --image_size 84 \
+    --seed 23 --critic_lr 1e-3 --actor_lr 1e-3 --eval_freq 20000 --batch_size 512 --num_train_steps 3000000 & 
+
+CUDA_VISIBLE_DEVICES=7 python train_cpc.py \
+    --domain_name cheetah \
+    --task_name run --dmc2gym \
+    --encoder_type pixel \
+    --decoder_type identity \
+    --action_repeat 4 \
+    --save_tb --work_dir ./tmp/icml/feb2cheetah/curl_cheetah_b256_84_lr3e4 \
+    --agent sac_cpc --frame_stack 3 --pre_transform_image_size 100 --image_size 84 \
+    --seed 23 --encoder_lr 3e-4 --critic_lr 3e-4 --actor_lr 3e-4 \
+    --eval_freq 20000 --batch_size 256 --num_train_steps 3000000 
@@ -0,0 +1,65 @@
+#!/bin/bash
+# 256 
+# 2e4 lr 2x
+# 5e4 lr 2x
+# 1e3 lr 2x
+
+CUDA_VISIBLE_DEVICES=1 python train_cpc.py \
+    --domain_name cheetah \
+    --task_name run --dmc2gym \
+    --encoder_type pixel \
+    --decoder_type identity \
+    --action_repeat 4 --batch_size 256 \
+    --save_tb --work_dir ./tmp/icml/feb3cheetah/curl_cheetah_b256_84_lr2e4_a \
+    --agent sac_cpc --frame_stack 3 --pre_transform_image_size 100 --image_size 84 \
+    --seed 23 --encoder_lr 2e-4 --critic_lr 2e-4 --actor_lr 2e-4 --eval_freq 20000 --batch_size 128 --num_train_steps 3000000 &
+
+CUDA_VISIBLE_DEVICES=2 python train_cpc.py \
+    --domain_name cheetah \
+    --task_name run --dmc2gym \
+    --encoder_type pixel \
+    --decoder_type identity \
+    --action_repeat 4 --batch_size 256 \
+    --save_tb --work_dir ./tmp/icml/feb3cheetah/curl_cheetah_b256_84_lr2e4_b \
+    --agent sac_cpc --frame_stack 3 --pre_transform_image_size 100 --image_size 84 \
+    --seed -1 --encoder_lr 2e-4 --critic_lr 2e-4 --actor_lr 2e-4 --eval_freq 20000 --batch_size 128 --num_train_steps 3000000 &
+
+CUDA_VISIBLE_DEVICES=3 python train_cpc.py \
+    --domain_name cheetah \
+    --task_name run --dmc2gym \
+    --encoder_type pixel \
+    --decoder_type identity \
+    --action_repeat 4 --batch_size 256 \
+    --save_tb --work_dir ./tmp/icml/feb3cheetah/curl_cheetah_b256_84_lr5e4_a \
+    --agent sac_cpc --frame_stack 3 --pre_transform_image_size 100 --image_size 84 \
+    --seed 23 --encoder_lr 5e-4 --critic_lr 5e-4 --actor_lr 5e-4 --eval_freq 20000 --batch_size 128 --num_train_steps 3000000 &
+
+CUDA_VISIBLE_DEVICES=4 python train_cpc.py \
+    --domain_name cheetah \
+    --task_name run --dmc2gym \
+    --encoder_type pixel \
+    --decoder_type identity \
+    --action_repeat 4 --batch_size 256 \
+    --save_tb --work_dir ./tmp/icml/feb3cheetah/curl_cheetah_b256_84_lr5e4_b \
+    --agent sac_cpc --frame_stack 3 --pre_transform_image_size 100 --image_size 84 \
+    --seed -1 --encoder_lr 5e-4 --critic_lr 5e-4 --actor_lr 5e-4 --eval_freq 20000 --batch_size 128 --num_train_steps 3000000 &
+
+CUDA_VISIBLE_DEVICES=5 python train_cpc.py \
+    --domain_name cheetah \
+    --task_name run --dmc2gym \
+    --encoder_type pixel \
+    --decoder_type identity \
+    --action_repeat 4 --batch_size 256 \
+    --save_tb --work_dir ./tmp/icml/feb3cheetah/curl_cheetah_b256_84_lr1e3_a \
+    --agent sac_cpc --frame_stack 3 --pre_transform_image_size 100 --image_size 84 \
+    --seed 23 --encoder_lr 1e-3 --critic_lr 1e-3 --actor_lr 1e-3 --eval_freq 20000 --batch_size 128 --num_train_steps 3000000 &
+
+CUDA_VISIBLE_DEVICES=6 python train_cpc.py \
+    --domain_name cheetah \
+    --task_name run --dmc2gym \
+    --encoder_type pixel \
+    --decoder_type identity \
+    --action_repeat 4 --batch_size 256 \
+    --save_tb --work_dir ./tmp/icml/feb3cheetah/curl_cheetah_b256_84_lr1e3_b \
+    --agent sac_cpc --frame_stack 3 --pre_transform_image_size 100 --image_size 84 \
+    --seed -1 --encoder_lr 1e-3 --critic_lr 1e-3 --actor_lr 1e-3 --eval_freq 20000 --batch_size 128 --num_train_steps 3000000