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diff --git a/data/envs/metaworld/generate_dataset.py b/data/envs/metaworld/generate_dataset.py
index dc51b4f..ed99a4a 100644
--- a/data/envs/metaworld/generate_dataset.py
+++ b/data/envs/metaworld/generate_dataset.py
@@ -4,7 +4,9 @@ from typing import Dict, Optional
import gym
import metaworld
import numpy as np
+import pandas as pd
import torch
+from datasets import Dataset
from huggingface_hub import HfApi, repocard, upload_folder
from sample_factory.algo.learning.learner import Learner
from sample_factory.algo.sampling.batched_sampling import preprocess_actions
@@ -12,11 +14,7 @@ from sample_factory.algo.utils.action_distributions import argmax_actions
from sample_factory.algo.utils.env_info import extract_env_info
from sample_factory.algo.utils.make_env import make_env_func_batched
from sample_factory.algo.utils.rl_utils import make_dones, prepare_and_normalize_obs
-from sample_factory.cfg.arguments import (
- load_from_checkpoint,
- parse_full_cfg,
- parse_sf_args,
-)
+from sample_factory.cfg.arguments import load_from_checkpoint, parse_full_cfg, parse_sf_args
from sample_factory.envs.env_utils import register_env
from sample_factory.model.actor_critic import create_actor_critic
from sample_factory.model.model_utils import get_rnn_size
@@ -165,10 +163,8 @@ def create_dataset(cfg: Config):
# Create dataset
dataset_size = 100_000
dataset = {
- "observations": np.zeros(
- (dataset_size, *env.observation_space["obs"].shape), dtype=env.observation_space["obs"].dtype
- ),
- "actions": np.zeros((dataset_size, *env.action_space.shape), env.action_space.dtype),
+ "observations": np.zeros((dataset_size, *env.observation_space["obs"].shape), dtype=np.float32),
+ "actions": np.zeros((dataset_size, *env.action_space.shape), np.float32),
"dones": np.zeros((dataset_size,), bool),
"rewards": np.zeros((dataset_size,), np.float32),
}
@@ -206,6 +202,13 @@ def create_dataset(cfg: Config):
env.close()
+ # Convert dict of numpy array to pandas dataframe
+# dataset = Dataset.from_dict(dataset)
+# dataset.create_config_id
+ # Set the card of the dataset
+# dataset.card = f""""""
+# dataset.push_to_hub("qgallouedec/prj_gia_dataset_metaworld_assembly_v2_1111_demo")
+
# Save dataset
repo_path = f"{cfg.train_dir}/datasets/{cfg.experiment}"
os.makedirs(repo_path, exist_ok=True)
diff --git a/data/envs/metaworld/generate_dataset_all.sh b/data/envs/metaworld/generate_dataset_all.sh
index 802bf5c..d66ae59 100755
--- a/data/envs/metaworld/generate_dataset_all.sh
+++ b/data/envs/metaworld/generate_dataset_all.sh
@@ -1,58 +1,13 @@
#!/bin/bash
ENVS=(
- assembly
- basketball
- bin-picking
- box-close
- button-press-topdown
- button-press-topdown-wall
- button-press
- button-press-wall
- coffee-button
- coffee-pull
- coffee-push
- dial-turn
- disassemble
- door-close
- door-lock
- door-open
- door-unlock
- drawer-close
- drawer-open
- faucet-close
- faucet-open
- hammer
- hand-insert
- handle-press-side
- handle-press
- handle-pull-side
- handle-pull
- lever-pull
- peg-insert-side
- peg-unplug-side
- pick-out-of-hole
- pick-place
- pick-place-wall
- plate-slide-back-side
- plate-slide-back
- plate-slide-side
- plate-slide
- push-back
- push
push-wall
reach
reach-wall
shelf-place
soccer
- stick-pull
- stick-push
- sweep-into
- sweep
- window-close
- window-open
)
for ENV in "${ENVS[@]}"; do
- python generate_dataset.py --env $ENV-v2 --experiment $ENV-v2 --train_dir=./train_dir
+ python generate_dataset.py --env $ENV-v2 --experiment $ENV-v2 --train_dir=./train_dir
done
diff --git a/data/envs/metaworld/push_all.sh b/data/envs/metaworld/push_all.sh
index 9d71467..d78c671 100755
--- a/data/envs/metaworld/push_all.sh
+++ b/data/envs/metaworld/push_all.sh
@@ -1,56 +1,56 @@
#!/bin/bash
ENVS=(
- assembly
- basketball
- bin-picking
- box-close
- button-press-topdown
- button-press-topdown-wall
- button-press
- button-press-wall
- coffee-button
- coffee-pull
- coffee-push
- dial-turn
- disassemble
- door-close
- door-lock
- door-open
- door-unlock
- drawer-close
- drawer-open
- faucet-close
- faucet-open
- hammer
- hand-insert
- handle-press-side
- handle-press
- handle-pull-side
- handle-pull
- lever-pull
- peg-insert-side
- peg-unplug-side
- pick-out-of-hole
- pick-place
- pick-place-wall
- plate-slide-back-side
- plate-slide-back
- plate-slide-side
- plate-slide
- push-back
- push
- push-wall
- reach
- reach-wall
+# assembly
+# basketball
+# bin-picking
+# box-close
+# button-press-topdown
+# button-press-topdown-wall
+# button-press
+# button-press-wall
+# coffee-button
+# coffee-pull
+# coffee-push
+# dial-turn
+# disassemble
+# door-close
+# door-lock
+# door-open
+# door-unlock
+# drawer-close
+# drawer-open
+# faucet-close
+# faucet-open
+# hammer
+# hand-insert
+# handle-press-side
+# handle-press
+# handle-pull-side
+# handle-pull
+# lever-pull
+# peg-insert-side
+# peg-unplug-side
+# pick-out-of-hole
+# pick-place
+# pick-place-wall
+# plate-slide-back-side
+# plate-slide-back
+# plate-slide-side
+# plate-slide
+# push-back
+# push
+# push-wall
+# reach
+# reach-wall
shelf-place
soccer
- stick-pull
- stick-push
- sweep-into
- sweep
- window-close
- window-open
+# stick-pull
+# stick-push
+# sweep-into
+# sweep
+# window-close
+# window-open
)
for ENV in "${ENVS[@]}"; do
diff --git a/data/envs/metaworld/train_all.sh b/data/envs/metaworld/train_all.sh
index dbf328a..1237f2c 100755
--- a/data/envs/metaworld/train_all.sh
+++ b/data/envs/metaworld/train_all.sh
@@ -1,48 +1,48 @@
#!/bin/bash
ENVS=(
- assembly
- basketball
- bin-picking
- box-close
- button-press-topdown
- button-press-topdown-wall
- button-press
- button-press-wall
- coffee-button
- coffee-pull
- coffee-push
- dial-turn
- disassemble
- door-close
- door-lock
- door-open
- door-unlock
- drawer-close
- drawer-open
- faucet-close
- faucet-open
- hammer
- hand-insert
- handle-press-side
- handle-press
- handle-pull-side
- handle-pull
- lever-pull
- peg-insert-side
- peg-unplug-side
- pick-out-of-hole
- pick-place
- pick-place-wall
- plate-slide-back-side
- plate-slide-back
- plate-slide-side
- plate-slide
- push-back
- push
- push-wall
- reach
- reach-wall
+# assembly
+# basketball
+# bin-picking
+# box-close
+# button-press-topdown
+# button-press-topdown-wall
+# button-press
+# button-press-wall
+# coffee-button
+# coffee-pull
+# coffee-push
+# dial-turn
+# disassemble
+# door-close
+# door-lock
+# door-open
+# door-unlock
+# drawer-close
+# drawer-open
+# faucet-close
+# faucet-open
+# hammer
+# hand-insert
+# handle-press-side
+# handle-press
+# handle-pull-side
+# handle-pull
+# lever-pull
+# peg-insert-side
+# peg-unplug-side
+# pick-out-of-hole
+# pick-place
+# pick-place-wall
+# plate-slide-back-side
+# plate-slide-back
+# plate-slide-side
+# plate-slide
+# push-back
+# push
+# push-wall
+# reach
+# reach-wall
shelf-place
soccer
stick-pull
@@ -55,4 +55,5 @@ ENVS=(
for ENV in "${ENVS[@]}"; do
python train.py --env $ENV-v2 --experiment $ENV-v2 --with_wandb True --wandb_user qgallouedec --wandb_project sample_facotry_metaworld
+ python enjoy.py --algo=APPO --env $ENV-v2 --experiment $ENV-v2 --train_dir=./train_dir --max_num_episodes=10 --push_to_hub --hf_repository=qgallouedec/sample-factory-$ENV-v2 --save_video --no_render --enjoy_script=enjoy --train_script=train --load_checkpoint_kind best
done
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