merge main into branch + fix termination in td-targets

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

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
     ####################