merge main into branch + fix termination in td-targets

2025-04-08 12:40:10 -07:00
parent 3789fcd5b8 0a914570dc
commit add30b5a74
458 changed files with 35996 additions and 624 deletions
--- a/README.md
+++ b/README.md
@@ -12,6 +12,13 @@ Official implementation of

 ----

+**Announcement: training just got ~4.5x faster!**
+
+Expect **~4.5x** faster wall-time (depending on hardware and task) with the most recent release (Nov 10, 2024). A majority of the speedups in this branch are enabled with the additional flag `compile=true`. To run the code with `compile=true`, **you will need to install recent `nightly` versions of PyTorch, TensorDict, and TorchRL**. See `docker/environment.yaml` for a tested configuration. Thank you to [Vincent Moens](https://github.com/vmoens) who has been a key contributor to our torch.compile compatibility!
+
+----
+
+
 ## Overview

 TD-MPC**2** is a scalable, robust model-based reinforcement learning algorithm. It compares favorably to existing model-free and model-based methods across **104** continuous control tasks spanning multiple domains, with a *single* set of hyperparameters (*right*). We further demonstrate the scalability of TD-MPC**2** by training a single 317M parameter agent to perform **80** tasks across multiple domains, embodiments, and action spaces (*left*). 
--- a/datasets/download_mt30.sh
+++ b/datasets/download_mt30.sh
@@ -0,0 +1 @@
+for i in {0..3}; do wget https://huggingface.co/datasets/nicklashansen/tdmpc2/resolve/main/mt30/chunk_${i}.pt?download=true && mv chunk_${i}.pt'?download=true' chunk_${i}.pt; done
--- a/datasets/download_mt80.sh
+++ b/datasets/download_mt80.sh
@@ -0,0 +1 @@
+for i in {0..19}; do wget https://huggingface.co/datasets/nicklashansen/tdmpc2/resolve/main/mt80/chunk_${i}.pt?download=true && mv chunk_${i}.pt'?download=true' chunk_${i}.pt; done
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -16,31 +16,21 @@
 ##########################################

 # base image
-FROM nvidia/cudagl:11.3.1-devel-ubuntu20.04
+FROM pytorch/pytorch:2.5.1-cuda12.4-cudnn9-runtime
 ENV DEBIAN_FRONTEND=noninteractive

 # packages
 RUN apt-get -y update && \
-    apt-get install -y --no-install-recommends build-essential git nano rsync vim tree curl \
-    wget unzip htop tmux xvfb patchelf ca-certificates bash-completion libjpeg-dev libpng-dev \
-    ffmpeg cmake swig libssl-dev libcurl4-openssl-dev libopenmpi-dev python3-dev zlib1g-dev \
-    qtbase5-dev qtdeclarative5-dev libglib2.0-0 libglu1-mesa-dev libgl1-mesa-dev libvulkan1 \
-    libgl1-mesa-glx libosmesa6 libosmesa6-dev libglew-dev mesa-utils && \
+    apt-get install -y --no-install-recommends build-essential git nano rsync vim tree curl wget \
+    swig ffmpeg unzip htop tmux xvfb ca-certificates bash-completion libjpeg-dev libpng-dev \
+    libssl-dev libcurl4-openssl-dev libopenmpi-dev zlib1g-dev qtbase5-dev qtdeclarative5-dev \
+    libglib2.0-0 libglu1-mesa-dev libgl1-mesa-dev libvulkan1 libgl1-mesa-glx libosmesa6 \
+    libosmesa6-dev libglew-dev mesa-utils && \
    apt-get clean && \
    apt-get autoremove -y && \
    rm -rf /var/lib/apt/lists/* && \
    mkdir /root/.ssh

-# miniconda
-RUN wget --quiet https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda.sh && \
-    /bin/bash ~/miniconda.sh -b -p /opt/conda && \
-    rm ~/miniconda.sh && \
-    . /opt/conda/etc/profile.d/conda.sh && \
-    conda init && \
-    conda clean -ya
-ENV PATH /opt/conda/bin:$PATH
-SHELL ["/bin/bash", "-c"]
-
 # conda environment
 COPY nvidia_icd.json /usr/share/vulkan/icd.d/nvidia_icd.json
 COPY environment.yaml /root
@@ -48,7 +38,10 @@ RUN conda update conda && \
    conda env update -n base -f /root/environment.yaml && \
    rm /root/environment.yaml && \
    conda clean -ya && \
-    pip cache purge
+    pip cache purge && \
+    conda init
+SHELL ["/bin/bash", "-c"]
+RUN echo "cd /root" >> /root/.bashrc

 # mujoco 2.1.0
 ENV MUJOCO_GL egl
--- a/docker/environment.yaml
+++ b/docker/environment.yaml
@@ -1,55 +1,47 @@
-name: tdmpc2
+name: episodic
 channels:
  - pytorch-nightly
  - nvidia
  - conda-forge
  - defaults
 dependencies:
-  - cudatoolkit=11.7
-  - glew=2.1.0
-  - glib=2.68.4
-  - pip=21.0
-  - python=3.9.0
-  - pytorch>=2.2.2
-  - torchvision>=0.16.2
+  - glew=2.2.0
+  - glib=2.78.4
+  - pip=24.0
+  - python=3.9
+  - pytorch=2.6.0.dev20241112
+  - pytorch-cuda=12.4
+  - torchvision=0.15.2
  - pip:
-    - absl-py==2.0.0
-    - "cython<3"
-    - dm-control==1.0.8
+    - dm-control==1.0.16
+    - glfw==2.7.0
+    - gymnasium==0.29.1
    - ffmpeg==1.4
-    - glfw==2.6.4
+    - imageio==2.34.1
+    - imageio-ffmpeg==0.4.9
+    - h5py==3.11.0
    - hydra-core==1.3.2
    - hydra-submitit-launcher==1.2.0
-    - imageio==2.33.1
-    - imageio-ffmpeg==0.4.9
-    - kornia==0.7.1
-    - moviepy==1.0.3
-    - mujoco==2.3.1
-    - mujoco-py==2.1.2.14
-    - numpy==1.23.5
-    - omegaconf==2.3.0
-    - open3d==0.18.0
-    - opencv-contrib-python==4.9.0.80
-    - opencv-python==4.9.0.80
-    - pandas==2.1.4
-    - sapien==2.2.1
    - submitit==1.5.1
-    - setuptools==65.5.0
-    - patchelf==0.17.2.1
-    - protobuf==4.25.2
-    - pillow==10.2.0
-    - pyquaternion==0.9.9
-    - tensordict-nightly==2024.3.26
+    - omegaconf==2.3.0
+    - moviepy==1.0.3
+    - mujoco==3.1.2
+    - numpy==1.24.4
+    - tensordict-nightly==2025.1.1
+    - torchrl-nightly==2025.1.1
+    - kornia==0.7.2
    - termcolor==2.4.0
-    - torchrl-nightly==2024.3.26
-    - transforms3d==0.4.1
-    - trimesh==4.0.9
-    - tqdm==4.66.1
-    - wandb==0.16.2
-    - wheel==0.38.0
+    - tqdm==4.66.4
+    - pandas==2.0.3
+    - wandb==0.17.4
    ####################
    # Gym:
-    # (unmaintained but required for maniskill2/meta-world/myosuite)
+    # (unmaintained but required for maniskill2/meta-world)
+    # - "cython<3"
+    # - wheel==0.38.0
+    # - setuptools==65.5.0
+    # - mujoco==2.3.1
+    # - mujoco-py==2.1.2.14
    # - gym==0.21.0
    ####################
    # ManiSkill2:
@@ -61,6 +53,5 @@ dependencies:
    # - git+https://github.com/Farama-Foundation/Metaworld.git@04be337a12305e393c0caf0cbf5ec7755c7c8feb
    ####################
    # MyoSuite:
-    # (requires gym==0.13 which conflicts with meta-world / mani-skill2)
    # - myosuite
    ####################
--- a/results/dreamerv3/acrobot-swingup.csv
+++ b/results/dreamerv3/acrobot-swingup.csv
@@ -0,0 +1,120 @@
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--- a/results/dreamerv3/cartpole-balance-sparse.csv
+++ b/results/dreamerv3/cartpole-balance-sparse.csv
@@ -0,0 +1,119 @@
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--- a/results/dreamerv3/cartpole-balance.csv
+++ b/results/dreamerv3/cartpole-balance.csv
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--- a/results/dreamerv3/cartpole-swingup-sparse.csv
+++ b/results/dreamerv3/cartpole-swingup-sparse.csv
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--- a/results/dreamerv3/cartpole-swingup.csv
+++ b/results/dreamerv3/cartpole-swingup.csv
@@ -0,0 +1,113 @@
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--- a/results/dreamerv3/cheetah-jump.csv
+++ b/results/dreamerv3/cheetah-jump.csv
@@ -0,0 +1,114 @@
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--- a/results/dreamerv3/cheetah-run-back.csv
+++ b/results/dreamerv3/cheetah-run-back.csv
@@ -0,0 +1,116 @@
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--- a/results/dreamerv3/cheetah-run-backwards.csv
+++ b/results/dreamerv3/cheetah-run-backwards.csv
@@ -0,0 +1,114 @@
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--- a/results/dreamerv3/cheetah-run-front.csv
+++ b/results/dreamerv3/cheetah-run-front.csv
@@ -0,0 +1,115 @@
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--- a/results/dreamerv3/cheetah-run.csv
+++ b/results/dreamerv3/cheetah-run.csv
@@ -0,0 +1,116 @@
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--- a/results/dreamerv3/cup-catch.csv
+++ b/results/dreamerv3/cup-catch.csv
@@ -0,0 +1,117 @@
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--- a/results/dreamerv3/cup-spin.csv
+++ b/results/dreamerv3/cup-spin.csv
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--- a/results/dreamerv3/dog-run.csv
+++ b/results/dreamerv3/dog-run.csv
@@ -0,0 +1,155 @@
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--- a/results/dreamerv3/dog-stand.csv
+++ b/results/dreamerv3/dog-stand.csv
@@ -0,0 +1,161 @@
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--- a/results/dreamerv3/dog-trot.csv
+++ b/results/dreamerv3/dog-trot.csv
@@ -0,0 +1,167 @@
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--- a/results/dreamerv3/dog-walk.csv
+++ b/results/dreamerv3/dog-walk.csv
@@ -0,0 +1,148 @@
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--- a/results/dreamerv3/finger-spin.csv
+++ b/results/dreamerv3/finger-spin.csv
@@ -0,0 +1,119 @@
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--- a/results/dreamerv3/finger-turn-easy.csv
+++ b/results/dreamerv3/finger-turn-easy.csv
@@ -0,0 +1,116 @@
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--- a/results/dreamerv3/finger-turn-hard.csv
+++ b/results/dreamerv3/finger-turn-hard.csv
@@ -0,0 +1,118 @@
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--- a/results/dreamerv3/fish-swim.csv
+++ b/results/dreamerv3/fish-swim.csv
@@ -0,0 +1,117 @@
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--- a/results/dreamerv3/hopper-hop-backwards.csv
+++ b/results/dreamerv3/hopper-hop-backwards.csv
@@ -0,0 +1,114 @@
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--- a/results/dreamerv3/humanoid-run.csv
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--- a/results/dreamerv3/humanoid-stand.csv
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--- a/results/dreamerv3/humanoid-walk.csv
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--- a/results/dreamerv3/lift-cube.csv
+++ b/results/dreamerv3/lift-cube.csv
@@ -0,0 +1,114 @@
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--- a/results/dreamerv3/mw-assembly.csv
+++ b/results/dreamerv3/mw-assembly.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-basketball.csv
+++ b/results/dreamerv3/mw-basketball.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-bin-picking.csv
+++ b/results/dreamerv3/mw-bin-picking.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-box-close.csv
+++ b/results/dreamerv3/mw-box-close.csv
@@ -0,0 +1,63 @@
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--- a/results/dreamerv3/mw-button-press-topdown-wall.csv
+++ b/results/dreamerv3/mw-button-press-topdown-wall.csv
@@ -0,0 +1,63 @@
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--- a/results/dreamerv3/mw-button-press-topdown.csv
+++ b/results/dreamerv3/mw-button-press-topdown.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-button-press-wall.csv
+++ b/results/dreamerv3/mw-button-press-wall.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-button-press.csv
+++ b/results/dreamerv3/mw-button-press.csv
@@ -0,0 +1,63 @@
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--- a/results/dreamerv3/mw-coffee-button.csv
+++ b/results/dreamerv3/mw-coffee-button.csv
@@ -0,0 +1,61 @@
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--- a/results/dreamerv3/mw-coffee-pull.csv
+++ b/results/dreamerv3/mw-coffee-pull.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-coffee-push.csv
+++ b/results/dreamerv3/mw-coffee-push.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-dial-turn.csv
+++ b/results/dreamerv3/mw-dial-turn.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-disassemble.csv
+++ b/results/dreamerv3/mw-disassemble.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-door-close.csv
+++ b/results/dreamerv3/mw-door-close.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-door-lock.csv
+++ b/results/dreamerv3/mw-door-lock.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-door-open.csv
+++ b/results/dreamerv3/mw-door-open.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-door-unlock.csv
+++ b/results/dreamerv3/mw-door-unlock.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-drawer-close.csv
+++ b/results/dreamerv3/mw-drawer-close.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-drawer-open.csv
+++ b/results/dreamerv3/mw-drawer-open.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-faucet-close.csv
+++ b/results/dreamerv3/mw-faucet-close.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-faucet-open.csv
+++ b/results/dreamerv3/mw-faucet-open.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-hammer.csv
+++ b/results/dreamerv3/mw-hammer.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-hand-insert.csv
+++ b/results/dreamerv3/mw-hand-insert.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-handle-press-side.csv
+++ b/results/dreamerv3/mw-handle-press-side.csv
@@ -0,0 +1,62 @@
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--- a/results/dreamerv3/mw-handle-press.csv
+++ b/results/dreamerv3/mw-handle-press.csv
@@ -0,0 +1,62 @@
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--- a/results/dreamerv3/mw-handle-pull-side.csv
+++ b/results/dreamerv3/mw-handle-pull-side.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-handle-pull.csv
+++ b/results/dreamerv3/mw-handle-pull.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-lever-pull.csv
+++ b/results/dreamerv3/mw-lever-pull.csv
@@ -0,0 +1,63 @@
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--- a/results/dreamerv3/mw-peg-insert-side.csv
+++ b/results/dreamerv3/mw-peg-insert-side.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-peg-unplug-side.csv
+++ b/results/dreamerv3/mw-peg-unplug-side.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-pick-out-of-hole.csv
+++ b/results/dreamerv3/mw-pick-out-of-hole.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-pick-place-wall.csv
+++ b/results/dreamerv3/mw-pick-place-wall.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-pick-place.csv
+++ b/results/dreamerv3/mw-pick-place.csv
@@ -0,0 +1,63 @@
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--- a/results/dreamerv3/mw-plate-slide-back-side.csv
+++ b/results/dreamerv3/mw-plate-slide-back-side.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-plate-slide-back.csv
+++ b/results/dreamerv3/mw-plate-slide-back.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-plate-slide-side.csv
+++ b/results/dreamerv3/mw-plate-slide-side.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-plate-slide.csv
+++ b/results/dreamerv3/mw-plate-slide.csv
@@ -0,0 +1,63 @@
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--- a/results/dreamerv3/mw-push-back.csv
+++ b/results/dreamerv3/mw-push-back.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-push-wall.csv
+++ b/results/dreamerv3/mw-push-wall.csv
@@ -0,0 +1,63 @@
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--- a/results/dreamerv3/mw-push.csv
+++ b/results/dreamerv3/mw-push.csv
@@ -0,0 +1,63 @@
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--- a/results/dreamerv3/mw-reach-wall.csv
+++ b/results/dreamerv3/mw-reach-wall.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-reach.csv
+++ b/results/dreamerv3/mw-reach.csv
@@ -0,0 +1,47 @@
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--- a/results/dreamerv3/mw-shelf-place.csv
+++ b/results/dreamerv3/mw-shelf-place.csv
@@ -0,0 +1,47 @@
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--- a/results/dreamerv3/mw-soccer.csv
+++ b/results/dreamerv3/mw-soccer.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-stick-pull.csv
+++ b/results/dreamerv3/mw-stick-pull.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-stick-push.csv
+++ b/results/dreamerv3/mw-stick-push.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-sweep-into.csv
+++ b/results/dreamerv3/mw-sweep-into.csv
@@ -0,0 +1,63 @@
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--- a/results/dreamerv3/mw-sweep.csv
+++ b/results/dreamerv3/mw-sweep.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-window-close.csv
+++ b/results/dreamerv3/mw-window-close.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/mw-window-open.csv
+++ b/results/dreamerv3/mw-window-open.csv
@@ -0,0 +1,64 @@
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--- a/results/dreamerv3/myo-hand-key-turn-hard.csv
+++ b/results/dreamerv3/myo-hand-key-turn-hard.csv
@@ -0,0 +1,121 @@
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--- a/results/dreamerv3/myo-hand-key-turn.csv
+++ b/results/dreamerv3/myo-hand-key-turn.csv
@@ -0,0 +1,118 @@
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--- a/results/dreamerv3/myo-hand-obj-hold-hard.csv
+++ b/results/dreamerv3/myo-hand-obj-hold-hard.csv
@@ -0,0 +1,116 @@
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--- a/results/dreamerv3/myo-hand-pen-twirl.csv
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--- a/results/dreamerv3/myo-hand-pose-hard.csv
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--- a/results/dreamerv3/myo-hand-pose.csv
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--- a/results/dreamerv3/myo-hand-reach-hard.csv
+++ b/results/dreamerv3/myo-hand-reach-hard.csv
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--- a/results/dreamerv3/myo-hand-reach.csv
+++ b/results/dreamerv3/myo-hand-reach.csv
@@ -0,0 +1,119 @@
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--- a/results/dreamerv3/pendulum-spin.csv
+++ b/results/dreamerv3/pendulum-spin.csv
@@ -0,0 +1,116 @@
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--- a/results/dreamerv3/pendulum-swingup.csv
+++ b/results/dreamerv3/pendulum-swingup.csv
@@ -0,0 +1,113 @@
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--- a/results/dreamerv3/pick-cube.csv
+++ b/results/dreamerv3/pick-cube.csv
@@ -0,0 +1,115 @@
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--- a/results/dreamerv3/pick-ycb.csv
+++ b/results/dreamerv3/pick-ycb.csv
@@ -0,0 +1,145 @@
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--- a/results/dreamerv3/quadruped-run.csv
+++ b/results/dreamerv3/quadruped-run.csv
@@ -0,0 +1,116 @@
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--- a/results/dreamerv3/quadruped-walk.csv
+++ b/results/dreamerv3/quadruped-walk.csv
@@ -0,0 +1,117 @@
+step,reward,seed
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--- a/results/dreamerv3/reacher-easy.csv
+++ b/results/dreamerv3/reacher-easy.csv
@@ -0,0 +1,113 @@
+step,reward,seed
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--- a/results/dreamerv3/reacher-hard.csv
+++ b/results/dreamerv3/reacher-hard.csv
@@ -0,0 +1,118 @@
+step,reward,seed
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--- a/Show More
+++ b/Show More
				`@@ -0,0 +1 @@`
				`for i in {0..3}; do wget https://huggingface.co/datasets/nicklashansen/tdmpc2/resolve/main/mt30/chunk_${i}.pt?download=true && mv chunk_${i}.pt'?download=true' chunk_${i}.pt; done`
				`@@ -0,0 +1 @@`
				`for i in {0..19}; do wget https://huggingface.co/datasets/nicklashansen/tdmpc2/resolve/main/mt80/chunk_${i}.pt?download=true && mv chunk_${i}.pt'?download=true' chunk_${i}.pt; done`