From d42969c76388bc487f0f89c845673e07b71f7d75 Mon Sep 17 00:00:00 2001 From: amandlek Date: Tue, 20 Jul 2021 13:43:58 -0700 Subject: [PATCH 01/78] Initial commit --- LICENSE | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/LICENSE b/LICENSE index 934eaa87..79287db8 100644 --- a/LICENSE +++ b/LICENSE @@ -1,6 +1,6 @@ MIT License -Copyright (c) 2021 Stanford Vision and Learning Lab +Copyright (c) 2021 RoboTurk Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal From 83ace336efd6c32cf55c25debf3c408ac2a69e41 Mon Sep 17 00:00:00 2001 From: amandlek Date: Tue, 20 Jul 2021 13:44:31 -0700 Subject: [PATCH 02/78] Update LICENSE --- LICENSE | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/LICENSE b/LICENSE index 79287db8..934eaa87 100644 --- a/LICENSE +++ b/LICENSE @@ -1,6 +1,6 @@ MIT License -Copyright (c) 2021 RoboTurk +Copyright (c) 2021 Stanford Vision and Learning Lab Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal From 4d326ffc7a06ae931458237ef7f31d3cbfb51033 Mon Sep 17 00:00:00 2001 From: amandlek Date: Tue, 20 Jul 2021 13:55:36 -0700 Subject: [PATCH 03/78] initial commit for full repository --- .gitignore | 3 - docs/introduction/demos.md | 87 + docs/modules/datasets.md | 10 + robomimic/scripts/get_dataset_stats.py | 129 + robomimic/scripts/internal/__init__.py | 0 robomimic/scripts/internal/d4rl.sh | 2696 +++++++++++++ .../scripts/internal/dataset_creation.sh | 340 ++ robomimic/scripts/internal/dataset_links.sh | 79 + .../scripts/internal/extract_d4rl_results.py | 81 + .../internal/give_slack_notification.py | 71 + .../scripts/internal/hyperparam_helper_old.py | 3360 +++++++++++++++++ .../make_observation_videos_real_robot.py | 218 ++ .../scripts/internal/merge_filter_keys.py | 71 + robomimic/scripts/internal/merge_hdf5.py | 207 + robomimic/scripts/internal/print_hdf5_attr.py | 55 + .../scripts/internal/remove_filter_keys.py | 44 + .../scripts/internal/remove_hdf5_attr.py | 34 + .../scripts/internal/rename_filter_keys.py | 67 + .../scripts/internal/reorganize_scripts.py | 38 + .../scripts/internal/replace_env_meta.py | 33 + .../scripts/internal/teleop_to_env_meta.py | 128 + .../internal/truncate_dataset_for_real.py | 79 + robomimic/utils/macros.py | 15 + tests/assets/test.hdf5 | Bin 0 -> 45939724 bytes 24 files changed, 7842 insertions(+), 3 deletions(-) create mode 100644 docs/introduction/demos.md create mode 100644 docs/modules/datasets.md create mode 100644 robomimic/scripts/get_dataset_stats.py create mode 100644 robomimic/scripts/internal/__init__.py create mode 100644 robomimic/scripts/internal/d4rl.sh create mode 100644 robomimic/scripts/internal/dataset_creation.sh create mode 100644 robomimic/scripts/internal/dataset_links.sh create mode 100644 robomimic/scripts/internal/extract_d4rl_results.py create mode 100644 robomimic/scripts/internal/give_slack_notification.py create mode 100644 robomimic/scripts/internal/hyperparam_helper_old.py create mode 100644 robomimic/scripts/internal/make_observation_videos_real_robot.py create mode 100644 robomimic/scripts/internal/merge_filter_keys.py create mode 100644 robomimic/scripts/internal/merge_hdf5.py create mode 100644 robomimic/scripts/internal/print_hdf5_attr.py create mode 100644 robomimic/scripts/internal/remove_filter_keys.py create mode 100644 robomimic/scripts/internal/remove_hdf5_attr.py create mode 100644 robomimic/scripts/internal/rename_filter_keys.py create mode 100644 robomimic/scripts/internal/reorganize_scripts.py create mode 100644 robomimic/scripts/internal/replace_env_meta.py create mode 100644 robomimic/scripts/internal/teleop_to_env_meta.py create mode 100644 robomimic/scripts/internal/truncate_dataset_for_real.py create mode 100644 robomimic/utils/macros.py create mode 100644 tests/assets/test.hdf5 diff --git a/.gitignore b/.gitignore index 03304668..98e3f290 100644 --- a/.gitignore +++ b/.gitignore @@ -4,9 +4,6 @@ dist/ # datasets folder datasets/ -# local test dataset that is lazily downloaded by example scripts -tests/assets/test.hdf5 - # pycharm configs .idea/ diff --git a/docs/introduction/demos.md b/docs/introduction/demos.md new file mode 100644 index 00000000..3198b791 --- /dev/null +++ b/docs/introduction/demos.md @@ -0,0 +1,87 @@ +# Demo Showcases + +## Hyperparam Sweeps + +- TODO + +## Simple Train Loop + +We include a simple example script in `examples/simple_train_loop.py` to show how easy it is to use our `SequenceDataset` class and standardized hdf5 datasets in a general torch training loop. Run the example using the command below. + +```sh +$ python examples/simple_train_loop.py +``` + +Modifying this example for use in other code repositories is simple. First, create the dataset loader as in the script. + +```python +from robomimic.utils.dataset import SequenceDataset + +def get_data_loader(dataset_path): + """ + Get a data loader to sample batches of data. + """ + dataset = SequenceDataset( + hdf5_path=dataset_path, + obs_keys=( # observations we want to appear in batches + "robot0_eef_pos", + "robot0_eef_quat", + "robot0_gripper_qpos", + "object", + ), + dataset_keys=( # can optionally specify more keys here if they should appear in batches + "actions", + "rewards", + "dones", + ), + load_next_obs=True, + frame_stack=1, + seq_length=10, # length-10 temporal sequences + pad_frame_stack=True, + pad_seq_length=True, # pad last obs per trajectory to ensure all sequences are sampled + get_pad_mask=False, + goal_mode=None, + hdf5_cache_mode="all", # cache dataset in memory to avoid repeated file i/o + hdf5_use_swmr=True, + hdf5_normalize_obs=False, + filter_by_attribute=None, # can optionally provide a filter key here + ) + print("\n============= Created Dataset =============") + print(dataset) + print("") + + data_loader = DataLoader( + dataset=dataset, + sampler=None, # no custom sampling logic (uniform sampling) + batch_size=100, # batches of size 100 + shuffle=True, + num_workers=0, + drop_last=True # don't provide last batch in dataset pass if it's less than 100 in size + ) + return data_loader + +data_loader = get_data_loader(dataset_path="/path/to/your/dataset.hdf5") +``` + +Then, construct your model, and use the same pattern as in the `run_train_loop` function in the script, to iterate over batches to train the model. + +```python +for epoch in range(1, num_epochs + 1): + + # iterator for data_loader - it yields batches + data_loader_iter = iter(data_loader) + + for train_step in range(gradient_steps_per_epoch): + # load next batch from data loader + try: + batch = next(data_loader_iter) + except StopIteration: + # data loader ran out of batches - reset and yield first batch + data_loader_iter = iter(data_loader) + batch = next(data_loader_iter) + + # @batch is a dictionary with keys loaded from the dataset. + # Train your model on the batch below. + +``` + diff --git a/docs/modules/datasets.md b/docs/modules/datasets.md new file mode 100644 index 00000000..e1829004 --- /dev/null +++ b/docs/modules/datasets.md @@ -0,0 +1,10 @@ +# Datasets + +TODO: Danfei + +## Dataset Class + +TODO + +- explanation of Dataset class to show how dataset keys and obs modalities (defined in config) are loaded, either cached in memory or not, etc. + diff --git a/robomimic/scripts/get_dataset_stats.py b/robomimic/scripts/get_dataset_stats.py new file mode 100644 index 00000000..59887ba8 --- /dev/null +++ b/robomimic/scripts/get_dataset_stats.py @@ -0,0 +1,129 @@ +""" +Helper script to report dataset statistics. By default, will print trajectory length statistics, +the maximum and minimum action element in the dataset, filter keys present, environment +metadata, and the structure of the first demonstration. If --verbose is passed, it will +report the exact demo keys under each filter key, and the structure of all demonstrations +(not just the first one). + +Args: + dataset (str): path to hdf5 dataset + + filter_key (str): if provided, report statistics on the subset of trajectories + in the file that correspond to this filter key + + verbose (bool): if flag is provided, print more details, like the structure of all + demonstrations (not just the first one) + +Example usage: + + # run script on example hdf5 packaged with repository + python get_dataset_stats.py --dataset ../../tests/assets/test.hdf5 + + # run script only on validation data + python get_dataset_stats.py --dataset ../../tests/assets/test.hdf5 --filter_key valid +""" +import h5py +import json +import argparse +import numpy as np + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "--dataset", + type=str, + help="path to hdf5 dataset", + ) + parser.add_argument( + "--filter_key", + type=str, + default=None, + help="(optional) if provided, report statistics on the subset of trajectories \ + in the file that correspond to this filter key", + ) + parser.add_argument( + "--verbose", + action='store_true', + help="verbose output", + ) + args = parser.parse_args() + + # extract demonstration list from file + filter_key = args.filter_key + all_filter_keys = None + f = h5py.File(args.dataset, "r") + if filter_key is not None: + # use the demonstrations from the filter key instead + print("NOTE: using filter key {}".format(filter_key)) + demos = sorted([elem.decode("utf-8") for elem in np.array(f["mask/{}".format(filter_key)])]) + else: + # use all demonstrations + demos = sorted(list(f["data"].keys())) + + # extract filter key information + if "mask" in f: + all_filter_keys = {} + for fk in f["mask"]: + fk_demos = sorted([elem.decode("utf-8") for elem in np.array(f["mask/{}".format(fk)])]) + all_filter_keys[fk] = fk_demos + + # put demonstration list in increasing episode order + inds = np.argsort([int(elem[5:]) for elem in demos]) + demos = [demos[i] for i in inds] + + # extract length of each trajectory in the file + traj_lengths = [] + action_min = np.inf + action_max = -np.inf + for ep in demos: + traj_lengths.append(f["data/{}/actions".format(ep)].shape[0]) + action_min = min(action_min, np.min(f["data/{}/actions".format(ep)][()])) + action_max = max(action_max, np.max(f["data/{}/actions".format(ep)][()])) + traj_lengths = np.array(traj_lengths) + + # report statistics on the data + print("") + print("total transitions: {}".format(np.sum(traj_lengths))) + print("total trajectories: {}".format(traj_lengths.shape[0])) + print("traj length mean: {}".format(np.mean(traj_lengths))) + print("traj length std: {}".format(np.std(traj_lengths))) + print("traj length min: {}".format(np.min(traj_lengths))) + print("traj length max: {}".format(np.max(traj_lengths))) + print("action min: {}".format(action_min)) + print("action max: {}".format(action_max)) + print("") + print("==== Filter Keys ====") + if all_filter_keys is not None: + for fk in all_filter_keys: + print("filter key {} with {} demos".format(fk, len(all_filter_keys[fk]))) + else: + print("no filter keys") + print("") + if args.verbose: + if all_filter_keys is not None: + print("==== Filter Key Contents ====") + for fk in all_filter_keys: + print("filter_key {} with {} demos: {}".format(fk, len(all_filter_keys[fk]), all_filter_keys[fk])) + print("") + env_meta = json.loads(f["data"].attrs["env_args"]) + print("==== Env Meta ====") + print(json.dumps(env_meta, indent=4)) + print("") + + print("==== Dataset Structure ====") + for ep in demos: + print("episode {} with {} transitions".format(ep, f["data/{}".format(ep)].attrs["num_samples"])) + for k in f["data/{}".format(ep)]: + if k in ["obs", "next_obs"]: + print(" key: {}".format(k)) + for mod in f["data/{}/{}".format(ep, k)]: + mod_shape = f["data/{}/{}/{}".format(ep, k, mod)].shape + print(" mod {} with shape {}".format(mod, mod_shape)) + elif isinstance(f["data/{}/{}".format(ep, k)], h5py.Dataset): + key_shape = f["data/{}/{}".format(ep, k)].shape + print(" key: {} with shape {}".format(k, key_shape)) + + if not args.verbose: + break + + f.close() diff --git a/robomimic/scripts/internal/__init__.py b/robomimic/scripts/internal/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/robomimic/scripts/internal/d4rl.sh b/robomimic/scripts/internal/d4rl.sh new file mode 100644 index 00000000..4025bc9b --- /dev/null +++ b/robomimic/scripts/internal/d4rl.sh @@ -0,0 +1,2696 @@ +#!/bin/bash + +### CQL walker medium expert + +# CLR 3e-5 x ALR {3e-5, 1e-4}, dual with tau 10.0 vs. no dual with alpha 10.0 +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_walker2d_medium_expert_clr_0.0003_alr_3e-05_dual_True_tau_10.0_alpha_1.0.json &> cql_d4rl_walker2d_medium_expert_clr_0.0003_alr_3e-05_dual_True_tau_10.0_alpha_1.0.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_walker2d_medium_expert_clr_0.0003_alr_0.0001_dual_True_tau_10.0_alpha_1.0.json &> cql_d4rl_walker2d_medium_expert_clr_0.0003_alr_0.0001_dual_True_tau_10.0_alpha_1.0.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_walker2d_medium_expert_clr_0.0003_alr_3e-05_dual_False_alpha_10.0.json &> cql_d4rl_walker2d_medium_expert_clr_0.0003_alr_3e-05_dual_False_alpha_10.0.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_walker2d_medium_expert_clr_0.0003_alr_0.0001_dual_False_alpha_10.0.json &> cql_d4rl_walker2d_medium_expert_clr_0.0003_alr_0.0001_dual_False_alpha_10.0.txt + + +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_walker2d_medium_clr_0.0003_alr_0.0001_bsize_100_nepoch_100_alpha_10.0_bc_steps_0.json &> cql_d4rl_ds_walker2d_medium_clr_0.0003_alr_0.0001_bsize_100_nepoch_100_alpha_10.0_bc_steps_0.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_halfcheetah_random_clr_0.0003_alr_0.0001_bsize_100_nepoch_100_alpha_10.0_bc_steps_0.json &> cql_d4rl_ds_halfcheetah_random_clr_0.0003_alr_0.0001_bsize_100_nepoch_100_alpha_10.0_bc_steps_0.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_walker2d_medium_expert_clr_0.0003_alr_0.0001_bsize_100_nepoch_55_alpha_10.0_bc_steps_0_ld_300_400.json &> cql_d4rl_ds_walker2d_medium_expert_clr_0.0003_alr_0.0001_bsize_100_nepoch_55_alpha_10.0_bc_steps_0_ld_300_400.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_walker2d_medium_expert_clr_0.0003_alr_0.0001_bsize_100_nepoch_55_alpha_5.0_bc_steps_0.json &> cql_d4rl_ds_walker2d_medium_expert_clr_0.0003_alr_0.0001_bsize_100_nepoch_55_alpha_5.0_bc_steps_0.txt + + +# pen human - BC-Gaussian, CQL (bc, no bc) +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_pen_human_alr_0.0001_bsize_100_nepoch_2000.json &> bc_d4rl_ds_pen_human_alr_0.0001_bsize_100_nepoch_2000.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_pen_human_clr_0.0003_alr_0.0001_bsize_100_nepoch_2000_alpha_10.0_bc_steps_0.json &> cql_d4rl_ds_pen_human_clr_0.0003_alr_0.0001_bsize_100_nepoch_2000_alpha_10.0_bc_steps_0.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_pen_human_clr_0.0003_alr_0.0001_bsize_100_nepoch_2000_alpha_10.0_bc_steps_40000.json &> cql_d4rl_ds_pen_human_clr_0.0003_alr_0.0001_bsize_100_nepoch_2000_alpha_10.0_bc_steps_40000.txt + + +# ant-maze umaze-diverse and medium-diverse, CQL (bc, no bc) x (dual, no dual) +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_antmaze_umaze_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_alpha_10.0_bc_steps_0.json &> cql_d4rl_ds_antmaze_umaze_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_alpha_10.0_bc_steps_0.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_antmaze_umaze_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_alpha_10.0_bc_steps_40000.json &> cql_d4rl_ds_antmaze_umaze_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_alpha_10.0_bc_steps_40000.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_antmaze_umaze_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_dual_True_tau_5.0_alpha_5.0_bc_steps_0.json &> cql_d4rl_ds_antmaze_umaze_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_dual_True_tau_5.0_alpha_5.0_bc_steps_0.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_antmaze_umaze_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_dual_True_tau_5.0_alpha_5.0_bc_steps_40000.json &> cql_d4rl_ds_antmaze_umaze_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_dual_True_tau_5.0_alpha_5.0_bc_steps_40000.txt + +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_antmaze_medium_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_alpha_10.0_bc_steps_0.json &> cql_d4rl_ds_antmaze_medium_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_alpha_10.0_bc_steps_0.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_antmaze_medium_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_alpha_10.0_bc_steps_40000.json &> cql_d4rl_ds_antmaze_medium_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_alpha_10.0_bc_steps_40000.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_antmaze_medium_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_dual_True_tau_5.0_alpha_5.0_bc_steps_0.json &> cql_d4rl_ds_antmaze_medium_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_dual_True_tau_5.0_alpha_5.0_bc_steps_0.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_antmaze_medium_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_dual_True_tau_5.0_alpha_5.0_bc_steps_40000.json &> cql_d4rl_ds_antmaze_medium_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_dual_True_tau_5.0_alpha_5.0_bc_steps_40000.txt + +# ant-maze more runs - rnnd 400, 1000 +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_antmaze_umaze_diverse_plr_0.001_seq_10_mlp__rnnd_400_gmm_True.json &> bc_d4rl_ds_antmaze_umaze_diverse_plr_0.001_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_antmaze_umaze_diverse_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.json &> bc_d4rl_ds_antmaze_umaze_diverse_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_antmaze_umaze_diverse_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_d4rl_ds_antmaze_umaze_diverse_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_antmaze_umaze_diverse_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True.json &> hbcq_d4rl_ds_antmaze_umaze_diverse_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True.txt + +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_antmaze_umaze_diverse_plr_0.001_seq_10_mlp__rnnd_1000_gmm_True.json &> bc_d4rl_ds_antmaze_umaze_diverse_plr_0.001_seq_10_mlp__rnnd_1000_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_antmaze_umaze_diverse_plr_0.001_seq_10_mlp__rnnd_1000_gmm_False.json &> bc_d4rl_ds_antmaze_umaze_diverse_plr_0.001_seq_10_mlp__rnnd_1000_gmm_False.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_antmaze_umaze_diverse_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_1000_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_d4rl_ds_antmaze_umaze_diverse_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_1000_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_antmaze_umaze_diverse_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_1000_c_rnnd_100_gmm_True.json &> hbcq_d4rl_ds_antmaze_umaze_diverse_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_1000_c_rnnd_100_gmm_True.txt + +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_antmaze_medium_diverse_plr_0.001_seq_10_mlp__rnnd_400_gmm_True.json &> bc_d4rl_ds_antmaze_medium_diverse_plr_0.001_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_antmaze_medium_diverse_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.json &> bc_d4rl_ds_antmaze_medium_diverse_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_antmaze_medium_diverse_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_d4rl_ds_antmaze_medium_diverse_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_antmaze_medium_diverse_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True.json &> hbcq_d4rl_ds_antmaze_medium_diverse_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True.txt + +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_antmaze_medium_diverse_plr_0.001_seq_10_mlp__rnnd_1000_gmm_True.json &> bc_d4rl_ds_antmaze_medium_diverse_plr_0.001_seq_10_mlp__rnnd_1000_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_antmaze_medium_diverse_plr_0.001_seq_10_mlp__rnnd_1000_gmm_False.json &> bc_d4rl_ds_antmaze_medium_diverse_plr_0.001_seq_10_mlp__rnnd_1000_gmm_False.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_antmaze_medium_diverse_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_1000_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_d4rl_ds_antmaze_medium_diverse_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_1000_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_antmaze_medium_diverse_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_1000_c_rnnd_100_gmm_True.json &> hbcq_d4rl_ds_antmaze_medium_diverse_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_1000_c_rnnd_100_gmm_True.txt + + +# pen-human more runs - rnnd 400, 1000 +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_pen_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_2001_gmm_True.json &> bc_d4rl_ds_pen_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_2001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_pen_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_2001_gmm_False.json &> bc_d4rl_ds_pen_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_2001_gmm_False.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_pen_human_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_2001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_d4rl_ds_pen_human_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_2001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_pen_human_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_2001.json &> hbcq_d4rl_ds_pen_human_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_2001.txt + +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_pen_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_2001_gmm_True.json &> bc_d4rl_ds_pen_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_2001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_d4rl_ds_pen_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_2001_gmm_False.json &> bc_d4rl_ds_pen_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_2001_gmm_False.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_pen_human_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_1000_nepoch_2001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_d4rl_ds_pen_human_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_1000_nepoch_2001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_pen_human_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_1000_c_rnnd_100_gmm_True_nepoch_2001.json &> hbcq_d4rl_ds_pen_human_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_1000_c_rnnd_100_gmm_True_nepoch_2001.txt + +# other adroit tasks with bc-rnn +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_door_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_door_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_door_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_door_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_door_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_door_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_door_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_door_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_hammer_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_hammer_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_hammer_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_hammer_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_hammer_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_hammer_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_hammer_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_hammer_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_relocate_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_relocate_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_relocate_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_relocate_human_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_relocate_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_relocate_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_relocate_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_relocate_human_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_pen_cloned_plr_0.001_seq_10_mlp__rnnd_400_nepoch_30_gmm_True.json &> bc_rnn_d4rl_ds_pen_cloned_plr_0.001_seq_10_mlp__rnnd_400_nepoch_30_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_pen_cloned_plr_0.001_seq_10_mlp__rnnd_400_nepoch_30_gmm_False.json &> bc_rnn_d4rl_ds_pen_cloned_plr_0.001_seq_10_mlp__rnnd_400_nepoch_30_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_pen_cloned_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_30_gmm_True.json &> bc_rnn_d4rl_ds_pen_cloned_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_30_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_pen_cloned_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_30_gmm_False.json &> bc_rnn_d4rl_ds_pen_cloned_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_30_gmm_False.txt + + +# more adroit bc-rnn scan +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_pen_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_pen_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_pen_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_pen_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_pen_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_pen_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_pen_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_pen_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_pen_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_pen_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_pen_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_pen_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_door_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_door_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_door_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_door_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_door_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_door_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_door_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_door_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_door_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_door_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_door_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_door_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_hammer_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_hammer_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_hammer_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_hammer_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_hammer_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_hammer_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_hammer_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_hammer_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_hammer_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_hammer_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_hammer_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_hammer_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_relocate_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_relocate_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_relocate_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_relocate_human_plr_0.0001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_relocate_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_relocate_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_relocate_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_relocate_human_plr_0.0001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_relocate_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.json &> bc_rnn_d4rl_ds_relocate_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_relocate_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.json &> bc_rnn_d4rl_ds_relocate_human_plr_0.0001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.txt + + +# kitchen exps + +# LR 1e-3 +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp__rnnd_100_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp__rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp__rnnd_100_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp__rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_100_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_100_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_400_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_100_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_100_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_100_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_100_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_400_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_100_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_100_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_100_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_100_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_400_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp_300_400_rnnd_400_gmm_False.txt + + +# LR 1e-4 +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp__rnnd_100_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp__rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp__rnnd_100_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp__rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_100_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_100_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_400_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_100_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_100_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_100_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_100_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_400_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_100_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_100_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_100_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_100_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_400_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_10_mlp_300_400_rnnd_400_gmm_False.txt + + +# BC normal, LR 1e-3 vs. LR 1e-4, GMM y / n, MLP deep or normal +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_1_mlp_300_400_rnn_False_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_1_mlp_300_400_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_1_mlp_300_400_rnn_False_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_1_mlp_300_400_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_1_mlp_256_256_256_rnn_False_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_1_mlp_256_256_256_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_1_mlp_256_256_256_rnn_False_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_1_mlp_256_256_256_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_1_mlp_300_400_rnn_False_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_1_mlp_300_400_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_1_mlp_300_400_rnn_False_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_1_mlp_300_400_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_1_mlp_256_256_256_rnn_False_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_1_mlp_256_256_256_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_1_mlp_256_256_256_rnn_False_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.0001_seq_1_mlp_256_256_256_rnn_False_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_1_mlp_300_400_rnn_False_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_1_mlp_300_400_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_1_mlp_300_400_rnn_False_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_1_mlp_300_400_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_1_mlp_256_256_256_rnn_False_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_1_mlp_256_256_256_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_1_mlp_256_256_256_rnn_False_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_1_mlp_256_256_256_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_300_400_rnn_False_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_300_400_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_300_400_rnn_False_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_300_400_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_256_256_256_rnn_False_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_256_256_256_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_256_256_256_rnn_False_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_256_256_256_rnn_False_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_1_mlp_300_400_rnn_False_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_1_mlp_300_400_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_1_mlp_300_400_rnn_False_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_1_mlp_300_400_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_1_mlp_256_256_256_rnn_False_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_1_mlp_256_256_256_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_1_mlp_256_256_256_rnn_False_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_1_mlp_256_256_256_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_300_400_rnn_False_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_300_400_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_300_400_rnn_False_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_300_400_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_256_256_256_rnn_False_gmm_True.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_256_256_256_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_256_256_256_rnn_False_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.0001_seq_1_mlp_256_256_256_rnn_False_gmm_False.txt + + +# kitchen - seq scan +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_5_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_5_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_50_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_50_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_100_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_complete_nepoch_1001_horz_281_plr_0.001_seq_100_mlp__rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_5_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_5_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_50_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_50_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_100_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_partial_nepoch_501_horz_281_plr_0.001_seq_100_mlp__rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_5_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_5_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_10_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_50_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_50_mlp__rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl/bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_100_mlp__rnnd_400_gmm_False.json &> bc_rnn_d4rl_ds_kitchen_mixed_nepoch_501_horz_281_plr_0.001_seq_100_mlp__rnnd_400_gmm_False.txt + + + +# ant maze hard with tanh gaussian +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_antmaze_medium_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_dual_True_tau_5.0_alpha_5.0_bc_steps_40000_tanh_True.json &> cql_d4rl_ds_antmaze_medium_diverse_clr_0.0003_alr_0.0001_bsize_100_nepoch_60_dual_True_tau_5.0_alpha_5.0_bc_steps_40000_tanh_True.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_antmaze_medium_diverse_clr_0.0003_alr_0.0001_bsize_256_nepoch_60_dual_True_tau_5.0_alpha_5.0_bc_steps_40000_tanh_True.json &> cql_d4rl_ds_antmaze_medium_diverse_clr_0.0003_alr_0.0001_bsize_256_nepoch_60_dual_True_tau_5.0_alpha_5.0_bc_steps_40000_tanh_True.txt + +# half cheetah random with tanh gaussian +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_halfcheetah_random_clr_0.0003_alr_0.0001_bsize_100_nepoch_100_alpha_5.0_bc_steps_40000_tanh_True.json &> cql_d4rl_ds_halfcheetah_random_clr_0.0003_alr_0.0001_bsize_100_nepoch_100_alpha_5.0_bc_steps_40000_tanh_True.txt +python train.py --algo cql --config ../exps/d4rl/cql_d4rl_ds_halfcheetah_random_clr_0.0003_alr_0.0001_bsize_256_nepoch_100_alpha_5.0_bc_steps_40000_tanh_True.json &> cql_d4rl_ds_halfcheetah_random_clr_0.0003_alr_0.0001_bsize_256_nepoch_100_alpha_5.0_bc_steps_40000_tanh_True.txt + + +# walker medium expert with hbcq, start critic training late +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_walker2d_medium_expert_clr_0.001_aslr_0.001_aclr_0.0001_c_start_10_actor_True_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp_.json &> hbcq_d4rl_ds_walker2d_medium_expert_clr_0.001_aslr_0.001_aclr_0.0001_c_start_10_actor_True_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp_.txt +python train.py --algo hbcq --config ../exps/d4rl/hbcq_d4rl_ds_walker2d_medium_expert_clr_0.001_aslr_0.001_aclr_0.0001_c_start_10_actor_True_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp_300_400.json &> hbcq_d4rl_ds_walker2d_medium_expert_clr_0.001_aslr_0.001_aclr_0.0001_c_start_10_actor_True_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp_300_400.txt + + +### Lift RB + +# BCQ 4 dataset variants + CQL (no bc) on dense fixed horizon +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_fixed_horz_sparse_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_fixed_horz_sparse_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_fixed_horz_dense_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_fixed_horz_dense_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_task_comp_dense_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_task_comp_dense_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_task_comp_done_timeout_dense_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_task_comp_done_timeout_dense_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo cql --config ../exps/lift_rb/cql_lift_rb_ds_fixed_horz_dense_clr_0.0003_alr_0.0001_bsize_100_alpha_10.0_bc_steps_0.json &> cql_lift_rb_ds_fixed_horz_dense_clr_0.0003_alr_0.0001_bsize_100_alpha_10.0_bc_steps_0.txt + +# new 4 dataset variants - BC-GMM (flat) vs. BCQ default +python train.py --algo bc --config ../exps/lift_rb/bc_rnn_lift_rb_ds_dense_os_ts_done_end_plr_0.001_seq_1_rnn_False_gmm_True.json &> bc_rnn_lift_rb_ds_dense_os_ts_done_end_plr_0.001_seq_1_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/lift_rb/bc_rnn_lift_rb_ds_dense_ts_done_end_plr_0.001_seq_1_rnn_False_gmm_True.json &> bc_rnn_lift_rb_ds_dense_ts_done_end_plr_0.001_seq_1_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/lift_rb/bc_rnn_lift_rb_ds_dense_os_ts_done_end_buffer_499_plr_0.001_seq_1_rnn_False_gmm_True.json &> bc_rnn_lift_rb_ds_dense_os_ts_done_end_buffer_499_plr_0.001_seq_1_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/lift_rb/bc_rnn_lift_rb_ds_dense_ts_done_end_buffer_499_plr_0.001_seq_1_rnn_False_gmm_True.json &> bc_rnn_lift_rb_ds_dense_ts_done_end_buffer_499_plr_0.001_seq_1_rnn_False_gmm_True.txt + +python train.py --algo bc --config ../exps/lift_rb/bc_rnn_lift_rb_ds_dense_ts_done_end_buffer_499_zero_act_plr_0.001_seq_1_rnn_False_gmm_True.json &> bc_rnn_lift_rb_ds_dense_ts_done_end_buffer_499_zero_act_plr_0.001_seq_1_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/lift_rb/bc_rnn_lift_rb_ds_dense_ts_done_end_buffer_499_zero_act_no_play_plr_0.001_seq_1_rnn_False_gmm_True.json &> bc_rnn_lift_rb_ds_dense_ts_done_end_buffer_499_zero_act_no_play_plr_0.001_seq_1_rnn_False_gmm_True.txt + + +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_os_ts_done_end_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_dense_os_ts_done_end_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_ts_done_end_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_dense_ts_done_end_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_os_ts_done_end_buffer_499_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_dense_os_ts_done_end_buffer_499_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_ts_done_end_buffer_499_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_dense_ts_done_end_buffer_499_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt + +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_ts_done_end_buffer_499_zero_act_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_dense_ts_done_end_buffer_499_zero_act_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_ts_done_end_buffer_499_zero_act_no_play_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_dense_ts_done_end_buffer_499_zero_act_no_play_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt + + +# new variants with done mode 2 + +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_actor_True_inf_True.json &> hbcq_lift_rb_ds_dense_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_actor_True_inf_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_os_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_actor_True_inf_True.json &> hbcq_lift_rb_ds_dense_os_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_actor_True_inf_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_os_ts_done_mode_2_buffer_499_clr_0.001_aslr_0.001_aclr_0.0001_actor_True_inf_True.json &> hbcq_lift_rb_ds_dense_os_ts_done_mode_2_buffer_499_clr_0.001_aslr_0.001_aclr_0.0001_actor_True_inf_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_actor_True_inf_True.json &> hbcq_lift_rb_ds_dense_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_actor_True_inf_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_ts_done_mode_2_buffer_499_clr_0.001_aslr_0.001_aclr_0.0001_actor_True_inf_True.json &> hbcq_lift_rb_ds_dense_ts_done_mode_2_buffer_499_clr_0.001_aslr_0.001_aclr_0.0001_actor_True_inf_True.txt + +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_sparse_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_sparse_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_sparse_os_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_sparse_os_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_sparse_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_sparse_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt + + +# testing late critic epoch start +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_fixed_horz_dense_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_100_actor_True.json &> hbcq_lift_rb_ds_fixed_horz_dense_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_100_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_fixed_horz_dense_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_-1_actor_True.json &> hbcq_lift_rb_ds_fixed_horz_dense_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_-1_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_sparse_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_100_actor_True.json &> hbcq_lift_rb_ds_sparse_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_100_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_sparse_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_-1_actor_True.json &> hbcq_lift_rb_ds_sparse_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_-1_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_sparse_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_100_actor_True.json &> hbcq_lift_rb_ds_sparse_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_100_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_sparse_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_-1_actor_True.json &> hbcq_lift_rb_ds_sparse_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_-1_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_100_actor_True_inf_True.json &> hbcq_lift_rb_ds_dense_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_100_actor_True_inf_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_dense_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_-1_actor_True_inf_True.json &> hbcq_lift_rb_ds_dense_ts_done_mode_2_clr_0.001_aslr_0.001_aclr_0.0001_c_start_100_as_end_-1_actor_True_inf_True.txt + + +# negative rewards, done mode 1 (fixed horizon), dense vs. sparse, truncate vs. full +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_nr_fixed_horz_sparse_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_nr_fixed_horz_sparse_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_nr_fixed_horz_dense_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_nr_fixed_horz_dense_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_nr_dense_ts_done_end_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_nr_dense_ts_done_end_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/lift_rb/hbcq_lift_rb_ds_nr_sparse_ts_done_end_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_lift_rb_ds_nr_sparse_ts_done_end_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt + + + + +### RT-v1 + +# CQL no BC on lift, cans +python train.py --algo cql --config ../exps/rt_v1/cql_rt_v1_ds_lift_subopt_clr_0.0003_alr_0.0001_bsize_100_nepoch_801_alpha_10.0_bc_steps_0.json &> cql_rt_v1_ds_lift_subopt_clr_0.0003_alr_0.0001_bsize_100_nepoch_801_alpha_10.0_bc_steps_0.txt +python train.py --algo cql --config ../exps/rt_v1/cql_rt_v1_ds_cans_top_225_clr_0.0003_alr_0.0001_bsize_100_nepoch_801_alpha_10.0_bc_steps_0.json &> cql_rt_v1_ds_cans_top_225_clr_0.0003_alr_0.0001_bsize_100_nepoch_801_alpha_10.0_bc_steps_0.txt + +python train.py --algo cql --config ../exps/rt_v1/cql_rt_v1_ds_lift_subopt_clr_0.0003_alr_0.0001_bsize_100_nepoch_801_alpha_10.0_bc_steps_40000.json &> cql_rt_v1_ds_lift_subopt_clr_0.0003_alr_0.0001_bsize_100_nepoch_801_alpha_10.0_bc_steps_40000.txt +python train.py --algo cql --config ../exps/rt_v1/cql_rt_v1_ds_lift_subopt_clr_0.0003_alr_1e-05_bsize_100_nepoch_801_alpha_10.0_bc_steps_0.json &> cql_rt_v1_ds_lift_subopt_clr_0.0003_alr_1e-05_bsize_100_nepoch_801_alpha_10.0_bc_steps_0.txt + +# dense (no BC, BC, LR 1e-5) +python train.py --algo cql --config ../exps/rt_v1/cql_rt_v1_ds_lift_subopt_dense_clr_0.0003_alr_0.0001_bsize_100_nepoch_801_alpha_10.0_bc_steps_0.json &> cql_rt_v1_ds_lift_subopt_dense_clr_0.0003_alr_0.0001_bsize_100_nepoch_801_alpha_10.0_bc_steps_0.txt +python train.py --algo cql --config ../exps/rt_v1/cql_rt_v1_ds_lift_subopt_dense_clr_0.0003_alr_0.0001_bsize_100_nepoch_801_alpha_10.0_bc_steps_40000.json &> cql_rt_v1_ds_lift_subopt_dense_clr_0.0003_alr_0.0001_bsize_100_nepoch_801_alpha_10.0_bc_steps_40000.txt +python train.py --algo cql --config ../exps/rt_v1/cql_rt_v1_ds_lift_subopt_dense_clr_0.0003_alr_1e-05_bsize_100_nepoch_801_alpha_10.0_bc_steps_0.json &> cql_rt_v1_ds_lift_subopt_dense_clr_0.0003_alr_1e-05_bsize_100_nepoch_801_alpha_10.0_bc_steps_0.txt + + +# BC-RNN-VAE with uniform categ latent, beta 0.05 on lift, cans +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_lift_subopt_plr_0.001_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> bc_rnn_rt_v1_ds_lift_subopt_plr_0.001_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + +# diff KL +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.5_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.5_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + +# RNN dim 1000 +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + +# LR 1e-4 +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.0001_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.0001_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + +# enc-RNN bidirectional +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_True_bidir_True_dec_rnn_True_enc_sg_True_dec_sg_True.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_True_bidir_True_dec_rnn_True_enc_sg_True_dec_sg_True.txt + +# BC-RNN large hidden dim on cans - LR 1e-3, 1e-4 +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_mlp__rnnd_400_nepoch_801.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_mlp__rnnd_400_nepoch_801.txt +# python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.0001_seq_30_mlp__rnnd_400_nepoch_801.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.0001_seq_30_mlp__rnnd_400_nepoch_801.txt + +# BC-RNN large hidden dim (1000) on lift / cans, LR 1e-3 +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_lift_subopt_plr_0.001_seq_30_mlp__nepoch_801_rnnd_1000.json &> bc_rnn_rt_v1_ds_lift_subopt_plr_0.001_seq_30_mlp__nepoch_801_rnnd_1000.txt +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_mlp__nepoch_801_rnnd_1000.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_mlp__nepoch_801_rnnd_1000.txt + +# above on cans, but categ + KL 0.5, 0.005 +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.5_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.5_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + + +# HBCQ-Latent-Seq + +# Lift (dense + sparse, n-step returns) +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_lift_subopt_latent_True_pc_True_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_lift_subopt_latent_True_pc_True_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_lift_subopt_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_lift_subopt_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_lift_subopt_dense_latent_True_pc_True_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_lift_subopt_dense_latent_True_pc_True_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_lift_subopt_dense_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_lift_subopt_dense_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + +# scan - rnn hidden dim (400, 1000) + num_epochs (1601, 801) x pc (True, False) + +# Lift +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_lift_subopt_latent_True_pc_True_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_1601_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_lift_subopt_latent_True_pc_True_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_1601_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_lift_subopt_latent_True_pc_True_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_lift_subopt_latent_True_pc_True_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_lift_subopt_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_1601_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_lift_subopt_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_1601_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_lift_subopt_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_lift_subopt_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + +# Cans +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_cans_top_225_latent_True_pc_True_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_1601_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_cans_top_225_latent_True_pc_True_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_1601_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_cans_top_225_latent_True_pc_True_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_cans_top_225_latent_True_pc_True_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_cans_top_225_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_1601_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_cans_top_225_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_400_nepoch_1601_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_cans_top_225_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_cans_top_225_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_1000_nepoch_801_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + + +# Cans follow-ups with larger hidden dim + longer +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_mlp__rnnd_2000_nepoch_1001_gmm_True.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_mlp__rnnd_2000_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/rt_v1/bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_mlp__rnnd_2000_nepoch_1001_gmm_False.json &> bc_rnn_rt_v1_ds_cans_top_225_plr_0.001_seq_30_mlp__rnnd_2000_nepoch_1001_gmm_False.txt +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_cans_top_225_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_1000_nepoch_1601_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_cans_top_225_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_1000_nepoch_1601_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_cans_top_225_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_1000_nepoch_1601_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_rt_v1_ds_cans_top_225_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_30_rnnd_1000_nepoch_1601_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + +# Cans with HBCQ-RNN-GMM +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_cans_top_225_clr_0.001_aslr_0.001_actor_False_seq_30_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_1601.json &> hbcq_rt_v1_ds_cans_top_225_clr_0.001_aslr_0.001_actor_False_seq_30_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_1601.txt +python train.py --algo hbcq --config ../exps/rt_v1/hbcq_rt_v1_ds_cans_top_225_clr_0.001_aslr_0.001_actor_False_seq_30_as_rnnd_1000_c_rnnd_100_gmm_True_nepoch_1601.json &> hbcq_rt_v1_ds_cans_top_225_clr_0.001_aslr_0.001_actor_False_seq_30_as_rnnd_1000_c_rnnd_100_gmm_True_nepoch_1601.txt + + + + +### D4RL Manip - Lift Suboptimal Paired 1 ### + +## normal, done at end of trajectory + +# BC / BC-RNN / BC-RNN-VAE categ +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_1_rnn_False.json &> bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_1_rnn_False.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired1_plr_0.0001_seq_1_rnn_False.json &> bc_rnn_ds_lift_subopt_paired1_plr_0.0001_seq_1_rnn_False.txt + +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_10_mlp__rnnd_100.json &> bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_10_mlp__rnnd_100.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_10_mlp__rnnd_400.json &> bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_10_mlp__rnnd_400.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired1_plr_0.0001_seq_10_mlp__rnnd_100.json &> bc_rnn_ds_lift_subopt_paired1_plr_0.0001_seq_10_mlp__rnnd_100.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired1_plr_0.0001_seq_10_mlp__rnnd_400.json &> bc_rnn_ds_lift_subopt_paired1_plr_0.0001_seq_10_mlp__rnnd_400.txt + +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_10_rnnd_100_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_10_rnnd_100_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_10_rnnd_400_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_10_rnnd_400_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + + +# HBCQ on 4 dataset variants +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_aclr_0.0001_actor_False.json &> hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_aclr_0.0001_actor_False.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_dense_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_ds_lift_subopt_paired1_dense_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_dense_clr_0.001_aslr_0.001_aclr_0.0001_actor_False.json &> hbcq_ds_lift_subopt_paired1_dense_clr_0.001_aslr_0.001_aclr_0.0001_actor_False.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_buffer_300_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_ds_lift_subopt_paired1_buffer_300_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_buffer_300_clr_0.001_aslr_0.001_aclr_0.0001_actor_False.json &> hbcq_ds_lift_subopt_paired1_buffer_300_clr_0.001_aslr_0.001_aclr_0.0001_actor_False.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_dense_buffer_300_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.json &> hbcq_ds_lift_subopt_paired1_dense_buffer_300_clr_0.001_aslr_0.001_aclr_0.0001_actor_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_dense_buffer_300_clr_0.001_aslr_0.001_aclr_0.0001_actor_False.json &> hbcq_ds_lift_subopt_paired1_dense_buffer_300_clr_0.001_aslr_0.001_aclr_0.0001_actor_False.txt + +# HBCQ Latent Seq +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.0001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.0001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.0001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.0001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + + +# HBCQ-RNN-GMM +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_1001.json &> hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.0001_aslr_0.0001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_1001.json &> hbcq_ds_lift_subopt_paired1_clr_0.0001_aslr_0.0001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.0001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_1001.json &> hbcq_ds_lift_subopt_paired1_clr_0.0001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.0001_aslr_0.0003_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_1001.json &> hbcq_ds_lift_subopt_paired1_clr_0.0001_aslr_0.0003_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_1001.txt + + +## best runs - on both paired, and careless + +# rnnd 400, careless +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_careless_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_ds_lift_subopt_careless_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_careless_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.json &> bc_rnn_ds_lift_subopt_careless_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_careless_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_ds_lift_subopt_careless_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_careless_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_1001.json &> hbcq_ds_lift_subopt_careless_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_nepoch_1001.txt + +# rnnd 1000, paired +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.json &> bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.json &> bc_rnn_ds_lift_subopt_paired1_plr_0.001_seq_10_mlp__rnnd_1000_nepoch_1001_gmm_False.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_1000_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_1000_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_1000_c_rnnd_100_gmm_True_nepoch_1001.json &> hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_1000_c_rnnd_100_gmm_True_nepoch_1001.txt + + + +# paired - HBCQ-RNN-GMM without mlp layers for rnn +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.json &> hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_400_gmm_True_mlp_300_400_nepoch_1001.json &> hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_400_gmm_True_mlp_300_400_nepoch_1001.txt + + +# paired - pre-train action sampler before critic +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_c_start_400_as_end_400_actor_False_seq_10_as_rnnd_1000_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.json &> hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_c_start_400_as_end_400_actor_False_seq_10_as_rnnd_1000_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_c_start_400_as_end_-1_actor_False_seq_10_as_rnnd_1000_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.json &> hbcq_ds_lift_subopt_paired1_clr_0.001_aslr_0.001_c_start_400_as_end_-1_actor_False_seq_10_as_rnnd_1000_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.txt + +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.001_aslr_0.001_c_start_400_as_end_400_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10.json &> hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.001_aslr_0.001_c_start_400_as_end_400_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.0001_aslr_0.001_c_start_400_as_end_400_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10.json &> hbcq_ds_lift_subopt_paired1_latent_True_pc_False_clr_0.0001_aslr_0.001_c_start_400_as_end_400_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10.txt + + +# rnnd - (100, 400) - paired 2 with bc-rnn, gmm y/n +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp__rnnd_100_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp__rnnd_400_nepoch_1001_gmm_False.txt + +# rnnd 400 - paired 2 with bcq-rnn-gmm, bcq-latent-seq, done 1 vs. 2 +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_ds_lift_subopt_paired2_done_1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_ds_lift_subopt_paired2_done_2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + + +# paired 2, same as above but with MLP +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp_300_400_rnnd_100_nepoch_1001_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp_300_400_rnnd_100_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp_300_400_rnnd_100_nepoch_1001_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp_300_400_rnnd_100_nepoch_1001_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp_300_400_rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp_300_400_rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp_300_400_rnnd_400_nepoch_1001_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_10_mlp_300_400_rnnd_400_nepoch_1001_gmm_False.txt + +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_1_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp_300_400_enc_mlp_300_400_categ_True_ld_1_cd_10.json &> hbcq_ds_lift_subopt_paired2_done_1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp_300_400_enc_mlp_300_400_categ_True_ld_1_cd_10.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp_300_400_enc_mlp_300_400_categ_True_ld_1_cd_10.json &> hbcq_ds_lift_subopt_paired2_done_2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_mlp_300_400_enc_mlp_300_400_categ_True_ld_1_cd_10.txt + + +# paired 2, bcq-latent-seq, done 1 vs. 2 - try KL 0.5, 0.005 +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.5_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_ds_lift_subopt_paired2_done_1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.5_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_ds_lift_subopt_paired2_done_1_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.5_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_ds_lift_subopt_paired2_done_2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.5_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.json &> hbcq_ds_lift_subopt_paired2_done_2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_mlp__enc_mlp_300_400_categ_True_ld_1_cd_10_plearn_False_enc_rnn_False_dec_rnn_True_enc_sg_True_dec_sg_True.txt + + +# paired 2, seq length scan +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_5_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_5_mlp__rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_10_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_10_mlp__rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_50_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_50_mlp__rnnd_400_nepoch_1001_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_100_mlp__rnnd_400_nepoch_1001_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_100_mlp__rnnd_400_nepoch_1001_gmm_True.txt + +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_seq_scan_5_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_seq_scan_5_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_seq_scan_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_seq_scan_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_seq_scan_30_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_seq_scan_30_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_seq_scan_50_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_seq_scan_50_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + + +# paired 2, bc +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.001_seq_scan_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.0001_seq_scan_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.0001_seq_scan_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.0001_seq_scan_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.0001_seq_scan_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.0001_seq_scan_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.0001_seq_scan_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_plr_0.0001_seq_scan_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_plr_0.0001_seq_scan_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt + + + +# paired 2, stable value / negative rew + +# HBCQ normal, gmm / vae, normal / low tau / high num samples +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005_nact_samp_10.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005_nact_samp_100.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.0005_nact_samp_10.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005_nact_samp_10.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005_nact_samp_100.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.0005_nact_samp_10.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.0005_nact_samp_10.txt + +# HBCQ-RNN, normal / low tau / high num samples +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_tau_0.005_nact_samp_10_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_tau_0.005_nact_samp_10_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_tau_0.005_nact_samp_100_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_tau_0.005_nact_samp_100_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_tau_0.0005_nact_samp_10_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_clr_0.001_aslr_0.001_actor_False_tau_0.0005_nact_samp_10_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + + +# same as above, but on dense instead of sparse rewards +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005_nact_samp_10.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005_nact_samp_100.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.0005_nact_samp_10.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005_nact_samp_10.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005_nact_samp_100.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.0005_nact_samp_10.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.0005_nact_samp_10.txt + +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_tau_0.005_nact_samp_10_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_tau_0.005_nact_samp_10_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_tau_0.005_nact_samp_100_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_tau_0.005_nact_samp_100_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_tau_0.0005_nact_samp_10_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_tau_0.0005_nact_samp_10_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + + +# repeat the positive runs with infinite horizon formulation to see if it matches performance of negative +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005_nact_samp_10_inf_True.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005_nact_samp_10_inf_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005_nact_samp_100_inf_True.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005_nact_samp_100_inf_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.0005_nact_samp_10_inf_True.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.0005_nact_samp_10_inf_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005_nact_samp_10_inf_True.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005_nact_samp_10_inf_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005_nact_samp_100_inf_True.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005_nact_samp_100_inf_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.0005_nact_samp_10_inf_True.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.0005_nact_samp_10_inf_True.txt + +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_tau_0.005_nact_samp_10_inf_True_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_tau_0.005_nact_samp_10_inf_True_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_tau_0.005_nact_samp_100_inf_True_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_tau_0.005_nact_samp_100_inf_True_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_tau_0.0005_nact_samp_10_inf_True_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_dense_clr_0.001_aslr_0.001_actor_False_tau_0.0005_nact_samp_10_inf_True_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + + +# paired 2 SUCCESS ONLY, best of {BC, BC-RNN, BCQ, BCQ-RNN} +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_done_2_succ_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_done_2_succ_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_done_2_succ_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_done_2_succ_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_succ_clr_0.001_aslr_0.001_actor_False_gmm_True_vae_False_tau_0.0005.json &> hbcq_ds_lift_subopt_paired2_done_2_succ_clr_0.001_aslr_0.001_actor_False_gmm_True_vae_False_tau_0.0005.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_done_2_succ_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_lift_subopt_paired2_done_2_succ_clr_0.001_aslr_0.001_actor_False_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + + +# paired 2, image runs + +# BC image, LR 1e-3 vs. 1e-4, GMM true vs. false +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seq_scan_1_mlp_300_400_nepoch_201_rnn_False_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seq_scan_1_mlp_300_400_nepoch_201_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seq_scan_1_mlp_300_400_nepoch_201_rnn_False_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seq_scan_1_mlp_300_400_nepoch_201_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.0001_seq_scan_1_mlp_300_400_nepoch_201_rnn_False_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.0001_seq_scan_1_mlp_300_400_nepoch_201_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.0001_seq_scan_1_mlp_300_400_nepoch_201_rnn_False_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.0001_seq_scan_1_mlp_300_400_nepoch_201_rnn_False_gmm_False.txt + + +# BC image, LR 1e-3 vs. 1e-4, GMM true vs. false, num epochs 501 +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seq_scan_1_mlp_300_400_nepoch_501_rnn_False_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seq_scan_1_mlp_300_400_nepoch_501_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seq_scan_1_mlp_300_400_nepoch_501_rnn_False_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seq_scan_1_mlp_300_400_nepoch_501_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.0001_seq_scan_1_mlp_300_400_nepoch_501_rnn_False_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.0001_seq_scan_1_mlp_300_400_nepoch_501_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.0001_seq_scan_1_mlp_300_400_nepoch_501_rnn_False_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.0001_seq_scan_1_mlp_300_400_nepoch_501_rnn_False_gmm_False.txt + + +# BC-RNN image, LR 1e-3, GMM true vs. false, num epochs 201, batch size 32 +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seq_scan_10_mlp__rnnd_400_nepoch_201_gmm_True.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seq_scan_10_mlp__rnnd_400_nepoch_201_gmm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seq_scan_10_mlp__rnnd_400_nepoch_201_gmm_False.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seq_scan_10_mlp__rnnd_400_nepoch_201_gmm_False.txt + + + +# HBCQ image, defaults, VAE vs. GMM, in memory True +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_image_clr_0.001_aslr_0.001_actor_False_nepoch_501_in_mem_True_gmm_False_vae_True.json &> hbcq_ds_lift_subopt_paired2_image_clr_0.001_aslr_0.001_actor_False_nepoch_501_in_mem_True_gmm_False_vae_True.txt +python train.py --algo hbcq --config ../exps/d4rl_manip/hbcq_ds_lift_subopt_paired2_image_clr_0.001_aslr_0.001_actor_False_nepoch_501_in_mem_True_gmm_True_vae_False.json &> hbcq_ds_lift_subopt_paired2_image_clr_0.001_aslr_0.001_actor_False_nepoch_501_in_mem_True_gmm_True_vae_False.txt + +# BC RNN image, LR 1e-3, GMM true, MLP (y /n), RNND (100, 400), in memory True +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seqq_10_mlp__rnnd_100_nepoch_501_gmm_True_in_mem_True.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seqq_10_mlp__rnnd_100_nepoch_501_gmm_True_in_mem_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seqq_10_mlp__rnnd_400_nepoch_501_gmm_True_in_mem_True.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seqq_10_mlp__rnnd_400_nepoch_501_gmm_True_in_mem_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seqq_10_mlp_300_400_rnnd_100_nepoch_501_gmm_True_in_mem_True.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seqq_10_mlp_300_400_rnnd_100_nepoch_501_gmm_True_in_mem_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seqq_10_mlp_300_400_rnnd_400_nepoch_501_gmm_True_in_mem_True.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seqq_10_mlp_300_400_rnnd_400_nepoch_501_gmm_True_in_mem_True.txt + +# BC RNN image, LR 1e-3, GMM true - in memory True vs. False +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seqq_10_mlp__rnnd_400_nepoch_501_gmm_True_in_memm_True.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seqq_10_mlp__rnnd_400_nepoch_501_gmm_True_in_memm_True.txt +python train.py --algo bc --config ../exps/d4rl_manip/bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seqq_10_mlp__rnnd_400_nepoch_501_gmm_True_in_memm_False.json &> bc_rnn_ds_lift_subopt_paired2_image_plr_0.001_seqq_10_mlp__rnnd_400_nepoch_501_gmm_True_in_memm_False.txt + + + + + +# runs on 100 demo v1 datasets + +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/josiah/ --done_mode 2 --name states_done_2.hdf5 +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/josiah/ --done_mode 2 --shaped --name states_dense_done_2.hdf5 +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/josiah/ --done_mode 2 --images --name states_images_done_2.hdf5 +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/josiah/ --done_mode 2 --images --shaped --name states_dense_images_done_2.hdf5 + +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_pick_place_can/ --done_mode 2 --images --depths --name state_images_depth_done_2.hdf5 + +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/ --done_mode 2 --images --depths --name state_images_depth_wrist_cam_done_2.hdf5 +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_1/ --done_mode 2 --images --depths --name state_images_depth_wrist_cam_done_2.hdf5 + + +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_lift_single_expert/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84.hdf5 +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_lift_single_expert/ --done_mode 2 --name state_done_2.hdf5 + +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_can_single_expert/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84.hdf5 +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_can_single_expert/ --done_mode 2 --name state_done_2.hdf5 + +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_square_single_expert/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84.hdf5 +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_square_single_expert/ --done_mode 2 --name state_done_2.hdf5 + +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_lift_single_expert/ --done_mode 2 --images --depths --name state_images_depth_done_2_120_120.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_can_single_expert/ --done_mode 2 --images --depths --name state_images_depth_done_2_120_120.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_square_single_expert/ --done_mode 2 --images --depths --name state_images_depth_done_2_120_120.hdf5 + + +python merge_hdf5.py --batches \ +~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/state_images_depth_wrist_cam_done_2.hdf5 \ +~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_1/state_images_depth_wrist_cam_done_2.hdf5 \ +--valid --name state_images_depth_wrist_cam_done_2_all.hdf5 + +python merge_hdf5.py --batches \ +~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/state_images_depth_done_2_120_120.hdf5 \ +~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_1/state_images_depth_done_2_120_120.hdf5 \ +--valid --name state_images_depth_done_2_120_120_all.hdf5 + +python merge_hdf5.py --batches \ +~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/state_images_depth_done_2_84_84.hdf5 \ +~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_1/state_images_depth_done_2_84_84.hdf5 \ +--valid --name state_images_depth_done_2_84_84_all.hdf5 + +python split_train_val.py --batch ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/josiah/states_done_2.hdf5 +python split_train_val.py --batch ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/josiah/states_dense_done_2.hdf5 +python split_train_val.py --batch ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/josiah/states_images_done_2.hdf5 +python split_train_val.py --batch ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/josiah/states_dense_images_done_2.hdf5 + +python merge_hdf5.py --batches \ +~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/ajay/states_done_2.hdf5 \ +~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/yuke/states_done_2.hdf5 \ +~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/roberto/states_done_2.hdf5 \ +~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/josiah/states_done_2.hdf5 \ +--valid --name states_done_2_all.hdf5 + +# extraction +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square_1/ --done_mode 2 --name states_done_2.hdf5 +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square_1/ --done_mode 2 --shaped --name states_dense_done_2.hdf5 +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square_1/ --done_mode 2 --images --name states_images_done_2.hdf5 +python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square_1/ --done_mode 2 --images --shaped --name states_dense_images_done_2.hdf5 + +# python demo_to_sars.py --folder ~/Desktop/robosuite_v1_demos/panda_pick_place_can/ --done_mode 2 --images --name states_images_wrist_done_2.hdf5 + +python split_train_val.py --batch ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_v1_2/states_done_2.hdf5 +python split_train_val.py --batch ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_v1_2/states_dense_done_2.hdf5 +python split_train_val.py --batch ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_v1_2/states_images_done_2.hdf5 +python split_train_val.py --batch ~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_v1_2/states_dense_images_done_2.hdf5 + +python merge_hdf5.py --batches ~/Desktop/robosuite_v1_demos/panda_pick_place_can_v1_2_1/states_dense_images_done_2.hdf5 ~/Desktop/robosuite_v1_demos/panda_pick_place_can_v1_2_1/states_dense_images_done_2_1.hdf5 --valid --name states_dense_images_done_2_all.hdf5 + + +### Extraction for multi-human datasets for benchmark, using filter keys ("prep_for_release" branch) ### + +# postprocess teleop hdf5 and create train-val split for each human's hdf5 +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/ajay/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/ajay/demo.hdf5 + +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/chen/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/chen/demo.hdf5 + +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/danfei/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/danfei/demo.hdf5 + +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/josiah/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/josiah/demo.hdf5 + +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/roberto/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/roberto/demo.hdf5 + +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/yuke/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/yuke/demo.hdf5 + + +# merge each human's datasets into one hdf5 +python merge_hdf5.py --batches \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/ajay/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/chen/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/danfei/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/josiah/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/roberto/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/yuke/demo.hdf5 \ +--name demo_merged.hdf5 --valid \ +--write_filter_keys ajay chen danfei josiah roberto yuke + +mv ~/Desktop/benchmark_datasets/panda_lift_multi_human/ajay/demo_merged.hdf5 \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 + +# create data subsets of interest by grouping different humans together +python merge_filter_keys.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 \ +--filter_keys ajay josiah --name better --valid + +python merge_filter_keys.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 \ +--filter_keys danfei yuke --name okay --valid + +python merge_filter_keys.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 \ +--filter_keys chen roberto --name worse --valid + +python merge_filter_keys.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 \ +--filter_keys danfei yuke ajay josiah --name okay_better --valid + +python merge_filter_keys.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 \ +--filter_keys chen roberto ajay josiah --name worse_better --valid + +python merge_filter_keys.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 \ +--filter_keys chen roberto danfei yuke --name worse_okay --valid + +# verify dataset looks okay +python get_dataset_stats.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 --verbose + + +### demo-to-sars after switching branch to "benchmark" ### +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_lift_multi_human/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_lift_multi_human/ --done_mode 2 --name state_done_2.hdf5 + +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_can_multi_human/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_can_multi_human/ --done_mode 2 --name state_done_2.hdf5 + +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_square_multi_human/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_square_multi_human/ --done_mode 2 --name state_done_2.hdf5 + + + +### Extraction for MART multi-human datasets for benchmark, using filter keys ("prep_for_release" branch) ### + +# postprocess teleop hdf5 and create train-val split for each human's hdf5 +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/ajay_josiah/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/ajay_josiah/demo.hdf5 + +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/ajay_yuke/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/ajay_yuke/demo.hdf5 + +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/josiah_chen/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/josiah_chen/demo.hdf5 + +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/roberto_chen/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/roberto_chen/demo.hdf5 + +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/roberto_danfei/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/roberto_danfei/demo.hdf5 + +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/yuke_danfei/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/yuke_danfei/demo.hdf5 + + +# merge each human's datasets into one hdf5 +python merge_hdf5.py --batches \ +~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/ajay_josiah/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/ajay_yuke/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/josiah_chen/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/roberto_chen/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/roberto_danfei/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/yuke_danfei/demo.hdf5 \ +--name demo_merged.hdf5 --valid \ +--write_filter_keys ajay_josiah ajay_yuke josiah_chen roberto_chen roberto_danfei yuke_danfei + +mv ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/ajay_josiah/demo_merged.hdf5 \ +~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/demo.hdf5 + +# # create data subsets of interest by grouping different humans together +# python merge_filter_keys.py \ +# --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/demo.hdf5 \ +# --filter_keys ajay josiah --name better --valid + +# python merge_filter_keys.py \ +# --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/demo.hdf5 \ +# --filter_keys danfei yuke --name okay --valid + +# python merge_filter_keys.py \ +# --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/demo.hdf5 \ +# --filter_keys chen roberto --name worse --valid + +# python merge_filter_keys.py \ +# --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/demo.hdf5 \ +# --filter_keys danfei yuke ajay josiah --name okay_better --valid + +# python merge_filter_keys.py \ +# --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/demo.hdf5 \ +# --filter_keys chen roberto ajay josiah --name worse_better --valid + +# python merge_filter_keys.py \ +# --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/demo.hdf5 \ +# --filter_keys chen roberto danfei yuke --name worse_okay --valid + +sbatch /cvgl2/u/amandlek/installed_libraries/benchmark/slurm/slurm/scripts/batchrl_benchmark/hp_sweep/low_dim/hbcq/test_rb_bcq_def_1/hbcq_ds_rb_lift_sparse_done_succ_ld_vae_True_clr_0.001_aslr_0.001_aclr_0.001_actor_False_kl_0.5.sbatch +sbatch /cvgl2/u/amandlek/installed_libraries/benchmark/slurm/slurm/scripts/batchrl_benchmark/hp_sweep/low_dim/hbcq/test_rb_bcq_def_1/hbcq_ds_rb_lift_sparse_done_succ_neg_ld_vae_True_clr_0.001_aslr_0.001_aclr_0.001_actor_False_kl_0.5.sbatch +sbatch /cvgl2/u/amandlek/installed_libraries/benchmark/slurm/slurm/scripts/batchrl_benchmark/hp_sweep/low_dim/hbcq/test_rb_bcq_def_1/hbcq_ds_rb_lift_dense_done_none_ld_vae_True_clr_0.001_aslr_0.001_aclr_0.001_actor_False_kl_0.5.sbatch +sbatch /cvgl2/u/amandlek/installed_libraries/benchmark/slurm/slurm/scripts/batchrl_benchmark/hp_sweep/low_dim/hbcq/test_rb_bcq_1/hbcq_ds_rb_lift_sparse_done_end_ld_actor_True_vae_True_clr_0.001_aslr_0.001_aclr_0.001_kl_0.5_tau_0.005_prior_gmm.sbatch +sbatch /cvgl2/u/amandlek/installed_libraries/benchmark/slurm/slurm/scripts/batchrl_benchmark/hp_sweep/low_dim/hbcq/test_rb_bcq_1/hbcq_ds_rb_lift_sparse_done_succ_ld_actor_True_vae_True_clr_0.001_aslr_0.001_aclr_0.001_kl_0.05_tau_0.005_prior_normal.sbatch +sbatch /cvgl2/u/amandlek/installed_libraries/benchmark/slurm/slurm/scripts/batchrl_benchmark/hp_sweep/low_dim/hbcq/test_rb_bcq_1/hbcq_ds_rb_lift_sparse_done_succ_ld_actor_True_vae_True_clr_0.001_aslr_0.0001_aclr_0.0001_kl_0.05_tau_0.0005_prior_gmm.sbatch +sbatch /cvgl2/u/amandlek/installed_libraries/benchmark/slurm/slurm/scripts/batchrl_benchmark/hp_sweep/low_dim/bc/test_rb_bc_1/bc_ds_rb_lift_sparse_done_end_ld_plr_0.0001_mlp_1024_1024_gmm_False.sbatch +sbatch /cvgl2/u/amandlek/installed_libraries/benchmark/slurm/slurm/scripts/batchrl_benchmark/hp_sweep/low_dim/bc/test_rb_bc_rnn_1/bc_rnn_ds_rb_lift_sparse_done_end_ld_plr_0.001_seq_10_rnnd_400_mlp_gmm_False.sbatch +sbatch /cvgl2/u/amandlek/installed_libraries/benchmark/slurm/slurm/scripts/batchrl_benchmark/hp_sweep/low_dim/bc/test_rb_bc_rnn_1/bc_rnn_ds_rb_lift_sparse_done_end_ld_plr_0.0001_seq_10_rnnd_400_mlp_gmm_False.sbatch + + +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/lift_rb_dense_done_end.hdf5 --n 12000 --filter_key 12k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/lift_rb_dense_done_none.hdf5 --n 12000 --filter_key 12k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/lift_rb_sparse_done_end.hdf5 --n 12000 --filter_key 12k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/lift_rb_sparse_done_success.hdf5 --n 12000 --filter_key 12k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/lift_rb_sparse_neg_rew_done_end.hdf5 --n 12000 --filter_key 12k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/lift_rb_sparse_neg_rew_done_success.hdf5 --n 12000 --filter_key 12k + +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/lift_rb_dense_done_end.hdf5 --n 15000 --filter_key 15k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/lift_rb_dense_done_none.hdf5 --n 15000 --filter_key 15k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/lift_rb_sparse_done_end.hdf5 --n 15000 --filter_key 15k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/lift_rb_sparse_done_success.hdf5 --n 15000 --filter_key 15k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/lift_rb_sparse_neg_rew_done_end.hdf5 --n 15000 --filter_key 15k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/lift_rb_sparse_neg_rew_done_success.hdf5 --n 15000 --filter_key 15k + + +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_dense_done_end.hdf5 --n 1500 --filter_key 1.5k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_dense_done_none.hdf5 --n 1500 --filter_key 1.5k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_sparse_done_end.hdf5 --n 1500 --filter_key 1.5k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_sparse_done_success.hdf5 --n 1500 --filter_key 1.5k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_sparse_neg_rew_done_end.hdf5 --n 1500 --filter_key 1.5k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_sparse_neg_rew_done_success.hdf5 --n 1500 --filter_key 1.5k + +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_dense_done_end.hdf5 --n 3900 --filter_key 3.9k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_dense_done_none.hdf5 --n 3900 --filter_key 3.9k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_done_end.hdf5 --n 3900 --filter_key 3.9k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_done_success.hdf5 --n 3900 --filter_key 3.9k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_neg_rew_done_end.hdf5 --n 3900 --filter_key 3.9k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_neg_rew_done_success.hdf5 --n 3900 --filter_key 3.9k + + +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_dense_done_end.hdf5 --n 1800 --filter_key 1.8k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_dense_done_none.hdf5 --n 1800 --filter_key 1.8k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_sparse_done_end.hdf5 --n 1800 --filter_key 1.8k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_sparse_done_success.hdf5 --n 1800 --filter_key 1.8k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_sparse_neg_rew_done_end.hdf5 --n 1800 --filter_key 1.8k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_sparse_neg_rew_done_success.hdf5 --n 1800 --filter_key 1.8k + +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_dense_done_end.hdf5 --n 5100 --filter_key 5.1k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_dense_done_none.hdf5 --n 5100 --filter_key 5.1k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_done_end.hdf5 --n 5100 --filter_key 5.1k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_done_success.hdf5 --n 5100 --filter_key 5.1k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_neg_rew_done_end.hdf5 --n 5100 --filter_key 5.1k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_neg_rew_done_success.hdf5 --n 5100 --filter_key 5.1k + +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_dense_done_end.hdf5 --n 5700 --filter_key 5.7k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_dense_done_none.hdf5 --n 5700 --filter_key 5.7k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_done_end.hdf5 --n 5700 --filter_key 5.7k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_done_success.hdf5 --n 5700 --filter_key 5.7k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_neg_rew_done_end.hdf5 --n 5700 --filter_key 5.7k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_neg_rew_done_success.hdf5 --n 5700 --filter_key 5.7k + +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_dense_done_end.hdf5 --n 6300 --filter_key 6.3k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_dense_done_none.hdf5 --n 6300 --filter_key 6.3k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_done_end.hdf5 --n 6300 --filter_key 6.3k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_done_success.hdf5 --n 6300 --filter_key 6.3k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_neg_rew_done_end.hdf5 --n 6300 --filter_key 6.3k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_neg_rew_done_success.hdf5 --n 6300 --filter_key 6.3k + +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_image_sparse_done_end.hdf5 --n 1500 --filter_key 1.5k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_image_sparse_done_success.hdf5 --n 1500 --filter_key 1.5k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_image_sparse_done_end.hdf5 --n 5100 --filter_key 5.1k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_image_sparse_done_success.hdf5 --n 5100 --filter_key 5.1k + + +python train.py --config ~/Downloads/bc_lift_ckpt_fk_1.8k_lr_1e-4_gmm_n_mlp_1024_1024.json +python train.py --config ~/Downloads/hbcq_lift_ckpt_fk_1.8k_def_actor_y.json + +python train.py --config ~/Downloads/bc_can_ckpt_fk_5.1k_lr_1e-4_gmm_n_mlp_1024_1024.json +python train.py --config ~/Downloads/hbcq_can_ckpt_fk_5.1k_def_actor_y.json + +python train.py --config ~/Downloads/bc_can_ckpt_fk_5.7k_lr_1e-4_gmm_n_mlp_1024_1024.json +python train.py --config ~/Downloads/hbcq_can_ckpt_fk_5.7k_def_actor_y.json + +python train.py --config ~/Downloads/bc_can_ckpt_fk_6.3k_lr_1e-4_gmm_n_mlp_1024_1024.json +python train.py --config ~/Downloads/hbcq_can_ckpt_fk_6.3k_def_actor_y.json + +# verify dataset looks okay +python get_dataset_stats.py \ +--dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/demo.hdf5 --verbose + + +### demo-to-sars after switching branch to "benchmark" ### +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/ --done_mode 2 --name state_done_2.hdf5 + + +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/subopt_can_paired/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/subopt_can_paired/ --done_mode 2 --name state_done_2.hdf5 + +# obs-extraction for full proprioception to be included in datasets (for observation space ablations) +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_lift_single_expert/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84_obs.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_lift_single_expert/ --done_mode 2 --name state_done_2_obs.hdf5 + +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_can_single_expert/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84_obs.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_can_single_expert/ --done_mode 2 --name state_done_2_obs.hdf5 + +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_square_single_expert/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84_obs.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_square_single_expert/ --done_mode 2 --name state_done_2_obs.hdf5 + + +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_lift_multi_human/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84_obs.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_lift_multi_human/ --done_mode 2 --name state_done_2_obs.hdf5 + +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_can_multi_human/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84_obs.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_can_multi_human/ --done_mode 2 --name state_done_2_obs.hdf5 + +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_square_multi_human/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84_obs.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_square_multi_human/ --done_mode 2 --name state_done_2_obs.hdf5 + + +### TODO: multi-arm on mart_tasks robosuite branch ### +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84_obs.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/ --done_mode 2 --name state_done_2_obs.hdf5 + +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/ --done_mode 2 --images --depths --name state_images_depth_done_2_84_84_obs.hdf5 +python demo_to_sars.py --folder ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/ --done_mode 2 --name state_done_2_obs.hdf5 + + + +### prepare dataset ablations - 20% and 50% splits ### +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_single_expert/demo.hdf5 --name 20_percent --ratio 0.2 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_single_expert/state_done_2.hdf5 --name 20_percent --ratio 0.2 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_single_expert/state_images_depth_done_2_84_84.hdf5 --name 20_percent --ratio 0.2 + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_can_single_expert/demo.hdf5 --name 20_percent --ratio 0.2 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_can_single_expert/state_done_2.hdf5 --name 20_percent --ratio 0.2 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_can_single_expert/state_images_depth_done_2_84_84.hdf5 --name 20_percent --ratio 0.2 + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_square_single_expert/demo.hdf5 --name 20_percent --ratio 0.2 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_square_single_expert/state_done_2.hdf5 --name 20_percent --ratio 0.2 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_square_single_expert/state_images_depth_done_2_84_84.hdf5 --name 20_percent --ratio 0.2 + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/demo.hdf5 --name 20_percent --ratio 0.2 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/state_done_2.hdf5 --name 20_percent --ratio 0.2 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/state_images_depth_done_2_84_84.hdf5 --name 20_percent --ratio 0.2 + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_images_depth_done_2_84_84.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay josiah yuke roberto danfei chen + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_can_multi_human/demo.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_can_multi_human/state_images_depth_done_2_84_84.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay josiah yuke roberto danfei chen + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_square_multi_human/demo.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_square_multi_human/state_images_depth_done_2_84_84.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay josiah yuke roberto danfei chen + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/demo.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay_josiah ajay_yuke josiah_chen roberto_chen roberto_danfei yuke_danfei +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay_josiah ajay_yuke josiah_chen roberto_chen roberto_danfei yuke_danfei +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_images_depth_done_2_84_84.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay_josiah ajay_yuke josiah_chen roberto_chen roberto_danfei yuke_danfei + + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_single_expert/demo.hdf5 --name 50_percent --ratio 0.5 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_single_expert/state_done_2.hdf5 --name 50_percent --ratio 0.5 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_single_expert/state_images_depth_done_2_84_84.hdf5 --name 50_percent --ratio 0.5 + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_can_single_expert/demo.hdf5 --name 50_percent --ratio 0.5 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_can_single_expert/state_done_2.hdf5 --name 50_percent --ratio 0.5 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_can_single_expert/state_images_depth_done_2_84_84.hdf5 --name 50_percent --ratio 0.5 + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_square_single_expert/demo.hdf5 --name 50_percent --ratio 0.5 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_square_single_expert/state_done_2.hdf5 --name 50_percent --ratio 0.5 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_square_single_expert/state_images_depth_done_2_84_84.hdf5 --name 50_percent --ratio 0.5 + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/demo.hdf5 --name 50_percent --ratio 0.5 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/state_done_2.hdf5 --name 50_percent --ratio 0.5 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/state_images_depth_done_2_84_84.hdf5 --name 50_percent --ratio 0.5 + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_images_depth_done_2_84_84.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay josiah yuke roberto danfei chen + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_can_multi_human/demo.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_can_multi_human/state_images_depth_done_2_84_84.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay josiah yuke roberto danfei chen + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_square_multi_human/demo.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_square_multi_human/state_images_depth_done_2_84_84.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay josiah yuke roberto danfei chen + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/demo.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay_josiah ajay_yuke josiah_chen roberto_chen roberto_danfei yuke_danfei +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay_josiah ajay_yuke josiah_chen roberto_chen roberto_danfei yuke_danfei +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_images_depth_done_2_84_84.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay_josiah ajay_yuke josiah_chen roberto_chen roberto_danfei yuke_danfei + + +# BC normal - 8 runs per dataset, LR {1e-3, 1e-4}, GMM {true / false}, arch {(300, 400), (256, 256, 256)} +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_1001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_256_256_256_nepoch_1001_rnn_False_gmm_False.txt + + +# HBCQ normal - 8 runs per dataset - {gmm, vae} x n_samp {10, 100} x tau {0.005, 0.0005} +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_10.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_100.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_10.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_100.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_10.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_100.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_10.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_100.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_100.txt + +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_10.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_100.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_10.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_100.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_10.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_100.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_10.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_100.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_100.txt + +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_10.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_100.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_10.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_100.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_10.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_100.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_10.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_100.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_100.txt + +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_10.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_100.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_10.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_100.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_10.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_100.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_10.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_100.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_100.txt + +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_10.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_100.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_10.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_100.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_10.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_100.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_10.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_100.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_100.txt + +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_10.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_100.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_10.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_100.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_False_vae_True_tau_0.0005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_10.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_100.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.005_nact_samp_100.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_10.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_10.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_100.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_nepoch_1001_gmm_True_vae_False_tau_0.0005_nact_samp_100.txt + + +# BC-RNN - 8 runs per dataset - LR 1e-3, seq 10, gmm {y, n} x rnnd {100, 400} x MLP {y, n} +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_False.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_False.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_1001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_100_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp_300_400_nepoch_1001_rnnd_400_gmm_False.txt + + +# BCQ-RNN - 6 runs per dataset. LR 1e-3, seq 10. [rnnd 400, MLP (y / n), tau 0.005], [rnnd (100, 400), MLP n, tau (0.005, 0.0005) ] +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_lift_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_lift_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_panda_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp_300_400_nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --algo hbcq --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_nut_assembly_square_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_100_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + + +# GTI - 6 runs per dataset - seq 10, PLR / GLR (1e-3, 1e-4), (1e-3, 1e-3) (1e-4, 1e-5), rnnd (100, 400), beta 0.05, MLP n +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_lift_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_lift_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_lift_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_lift_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_lift_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_lift_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_lift_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_lift_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_lift_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_lift_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_lift_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_lift_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt + +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_lift_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_lift_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_lift_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_lift_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_lift_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_lift_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_lift_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_lift_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_lift_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_lift_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_lift_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_lift_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt + +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_pick_place_can_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_pick_place_can_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_pick_place_can_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_pick_place_can_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_pick_place_can_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_pick_place_can_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_pick_place_can_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_pick_place_can_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_pick_place_can_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_pick_place_can_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_pick_place_can_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_pick_place_can_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt + +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_pick_place_can_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_pick_place_can_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_pick_place_can_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_pick_place_can_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_pick_place_can_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_pick_place_can_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_pick_place_can_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_pick_place_can_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt + +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_nut_assembly_square_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_nut_assembly_square_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_nut_assembly_square_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_nut_assembly_square_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_nut_assembly_square_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_nut_assembly_square_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_nut_assembly_square_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_nut_assembly_square_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt + +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_glr_0.001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_glr_0.0001_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_100_vae_True_kl_0.05.txt +python train.py --algo gti --config ../exps/v1_datasets/gti_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.json &> gti_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_glr_1e-05_seq_10_nepoch_1001_mlp__rnnd_400_vae_True_kl_0.05.txt + + +# BC, LR 1e-4, GMM True, more epochs +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.txt + + +# BC-RNN, LR 1e-4, also more epochs +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_lift_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp_300_400_nepoch_2001_rnnd_400_gmm_False.txt + + + +# nut assembly, BC / BC-RNN with even larger nets +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.txt + + +# BC / BC-RNN, GMM variations + +# BC +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.01_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_softplus.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_exp.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_softplus.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_exp.txt + +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.01_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_softplus.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_exp.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_softplus.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_exp.txt + +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.01_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_softplus.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_exp.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_softplus.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_exp.txt + +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.01_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_softplus.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_exp.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_5_min_0.0001_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_softplus.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True_nm_100_min_0.01_act_exp.txt + + +# BC-RNN +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.01_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_softplus.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_exp.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_softplus.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_exp.txt + +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.01_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_softplus.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_exp.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_softplus.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_exp.txt + +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.01_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_softplus.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_exp.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_softplus.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_exp.txt + +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.01_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_softplus.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_exp.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_5_min_0.0001_act_exp.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_softplus.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_softplus.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_exp.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_nm_100_min_0.01_act_exp.txt + + +# BC image, gmm (y / n), prop (y / n) +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im_prop.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im_prop.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im_prop.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im_prop.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im_prop.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im_prop.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im_prop.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im_prop.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im_prop.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im_prop.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_True_mod_im_prop.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_1_mlp_300_400_nepoch_501_rnn_False_gmm_False_mod_im_prop.txt + + +# BC-RNN image, gmm (y / n), prop (y / n) +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im_prop.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im_prop.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_sawyer_lift_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im_prop.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im_prop.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im_prop.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_True_mod_im_prop.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.txt + + +# BC-RNN image scans on panda can + +# LR 1e-4 (gmm False only) +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0001_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.txt + +# rnn with mlp +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp_300_400_nepoch_501_rnnd_100_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp_300_400_nepoch_501_rnnd_100_gmm_True_mod_im.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp_300_400_nepoch_501_rnnd_100_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp_300_400_nepoch_501_rnnd_100_gmm_True_mod_im_prop.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp_300_400_nepoch_501_rnnd_100_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp_300_400_nepoch_501_rnnd_100_gmm_False_mod_im.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp_300_400_nepoch_501_rnnd_100_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp_300_400_nepoch_501_rnnd_100_gmm_False_mod_im_prop.txt + +# rnnd 400 +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_400_gmm_True_mod_im.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_400_gmm_True_mod_im.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_400_gmm_True_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_400_gmm_True_mod_im_prop.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_400_gmm_False_mod_im.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_400_gmm_False_mod_im.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_400_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.001_seq_10_mlp__nepoch_501_rnnd_400_gmm_False_mod_im_prop.txt + +# LR scan + seed variability +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0005_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop_seed_0.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0005_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop_seed_0.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0005_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop_seed_1.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0005_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop_seed_1.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0005_seq_10_mlp__nepoch_501_rnnd_400_gmm_False_mod_im_prop_seed_0.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0005_seq_10_mlp__nepoch_501_rnnd_400_gmm_False_mod_im_prop_seed_0.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0005_seq_10_mlp__nepoch_501_rnnd_400_gmm_False_mod_im_prop_seed_1.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0005_seq_10_mlp__nepoch_501_rnnd_400_gmm_False_mod_im_prop_seed_1.txt + +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0003_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0003_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0003_seq_10_mlp__nepoch_501_rnnd_400_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0003_seq_10_mlp__nepoch_501_rnnd_400_gmm_False_mod_im_prop.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0007_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0007_seq_10_mlp__nepoch_501_rnnd_100_gmm_False_mod_im_prop.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0007_seq_10_mlp__nepoch_501_rnnd_400_gmm_False_mod_im_prop.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_image_plr_0.0007_seq_10_mlp__nepoch_501_rnnd_400_gmm_False_mod_im_prop.txt + + + +scp -i ~/.ssh/bc.pem -r ubuntu@3.133.158.11:/home/ubuntu/installed_libraries/batchRL/can_paired2_trained_models/ + +scp -i ~/.ssh/bc.pem -r ubuntu@3.137.217.215:/home/ubuntu/installed_libraries/batchRL/spirl_trained_models/ . + + +# nut assembly, 200 demos, BC / BC-RNN + +# BC +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_1_mlp_1024_1024_nepoch_2001_rnn_False_gmm_False.txt + +# BC-RNN +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.txt + +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_True.txt +python train.py --algo bc --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_1000_gmm_False.txt + + +# sawyer can, paired 2 + +# BC +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_False.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.0001_seq_1_mlp_300_400_nepoch_2001_rnn_False_gmm_False.txt + +# BC-RNN +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_paired2_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt + +# BCQ +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.005.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.0005.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_False_vae_True_tau_0.0005.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.005.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.0005.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.001_actor_False_nepoch_1601_gmm_True_vae_False_tau_0.0005.txt + +# BCQ-RNN +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.0001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.0001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + +# BCQ-RNN, more epochs +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.0001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1601.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_clr_0.001_aslr_0.0001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1601.txt + +# BCQ-Latent-Seq + +# categ, enc-dec subgoals +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld_300_400_categ_True_ld_1_cd_10_pl_False_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld_300_400_categ_True_ld_1_cd_10_pl_False_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld_300_400_categ_True_ld_1_cd_10_pl_False_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld_300_400_categ_True_ld_1_cd_10_pl_False_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld_300_400_categ_True_ld_1_cd_10_pl_False_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld_300_400_categ_True_ld_1_cd_10_pl_False_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld_300_400_categ_True_ld_1_cd_10_pl_False_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld_300_400_categ_True_ld_1_cd_10_pl_False_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.txt + +# N(0, 1), enc-dec subgoals +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.txt + +# GMM, enc-dec subgoals +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True.txt + + +# categ, no subgoals +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld__categ_True_ld_1_cd_10_pl_False_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld__categ_True_ld_1_cd_10_pl_False_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld__categ_True_ld_1_cd_10_pl_False_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld__categ_True_ld_1_cd_10_pl_False_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld__categ_True_ld_1_cd_10_pl_False_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld__categ_True_ld_1_cd_10_pl_False_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld__categ_True_ld_1_cd_10_pl_False_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld__categ_True_ld_1_cd_10_pl_False_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.txt + +# N(0, 1), no subgoals +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.txt + +# GMM, no subgoals +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.05_dec_ld__enc_ld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_clr_0.001_aslr_0.0001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.005_dec_ld__enc_ld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False.txt + + +# follow-ups - trying single-step return, prior [normal, gmm], KL [0.5, 5e-4], pre-train AS 200 (y / n), enc sg (y / n) + +# N(0, 1), subgoals +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.5_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_-1.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.5_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_-1.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.5_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_200.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.5_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_200.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.0005_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_-1.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.0005_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_-1.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.0005_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_200.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_nepoch_1001_vae_True_kl_0.0005_dec_ld__enc_ld_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_200.txt + +# GMM, subgoals +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.5_dld__eld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_-1.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.5_dld__eld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_-1.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.5_dld__eld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_200.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.5_dld__eld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_200.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.0005_dld__eld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_-1.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.0005_dld__eld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_-1.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.0005_dld__eld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_200.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.0005_dld__eld_300_400_p_gmm_True_p_mlp_300_400_e_rnn_False_d_rnn_True_e_sg_True_d_sg_True_crit_st_200.txt + +# N(0, 1), no subgoals +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.5_dld__eld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_-1.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.5_dld__eld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_-1.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.5_dld__eld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_200.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.5_dld__eld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_200.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.0005_dld__eld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_-1.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.0005_dld__eld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_-1.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.0005_dld__eld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_200.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.0005_dld__eld__e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_200.txt + +# GMM, no subgoals +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.5_dld__eld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_-1.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.5_dld__eld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_-1.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.5_dld__eld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_200.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.5_dld__eld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_200.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.0005_dld__eld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_-1.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.0005_dld__eld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_-1.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.0005_dld__eld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_200.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_latent_True_pc_False_ss_ret_True_clr_0.001_aslr_0.001_actor_False_seq_10_rnnd_400_ne_1001_vae_True_kl_0.0005_dld__eld__p_gmm_True_p_mlp_300_400_e_rnn_True_d_rnn_True_e_sg_False_d_sg_False_crit_st_200.txt + + +# SPIRL initial scans on panda lift expert +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.5.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.5.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.005.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.005.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_False_kl_0.5.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_False_kl_0.5.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_False_kl_0.005.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_False_kl_0.005.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.5.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.5.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.005.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.005.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_False_kl_0.5.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_False_kl_0.5.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_False_kl_0.005.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_False_kl_0.005.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.5.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.5.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.005.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.005.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_False_kl_0.5.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_False_kl_0.5.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_False_kl_0.005.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_False_kl_0.005.txt + +# more scans + +# lower beta +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.0005.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.0005.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_5e-05.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_5e-05.txt + +# gmm skill prior +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_0.005_min_0.01.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_0.005_min_0.01.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_0.005_min_0.0001.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_0.005_min_0.0001.txt + +# deeper skill MLP +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_128_128_128_128_128_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.005.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_128_128_128_128_128_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.005.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_1024_1024_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.005.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_1024_1024_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.005.txt + +# encoder bidir +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_bidir_True_kl_0.005.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_bidir_True_kl_0.005.txt + +# enc + dec MLPs +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld_300_400_dec_ld_300_400_rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.005.json &> bc_rnn_ds_v1_ds_panda_lift_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld_300_400_dec_ld_300_400_rnnd_400_gaussian_True_gmm_False_lne_True_kl_0.005.txt + + +# best on panda cans / nut assembly (low beta, gmm true / false) +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_5e-05.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_5e-05.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_5e-06.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_5e-06.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-05_min_0.0001.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-05_min_0.0001.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.txt + +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_5e-05.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_5e-05.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_5e-06.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_True_gmm_False_lne_True_kl_5e-06.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-05_min_0.0001.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-05_min_0.0001.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.txt + +# best on panda nut assembly 200 +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_128_128_128_128_128_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_128_128_128_128_128_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_1024_1024_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_nepoch_1501_spirl__plr_0.001_slr_0.0001_seq_10_sld_1024_1024_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_300_400_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_128_128_128_128_128_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_128_128_128_128_128_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_1024_1024_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_nepoch_1501_spirl__plr_0.0001_slr_0.0001_seq_10_sld_1024_1024_enc_ld__dec_ld__rnnd_400_gaussian_False_gmm_True_lne_True_kl_5e-06_min_0.0001.txt + + + +# BC-RNN, open-loop + +# panda lift +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_lift_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.txt + +# panda can +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.txt + +# sawyer can +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.json &> bc_rnn_ds_v1_ds_sawyer_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.txt + +# panda square +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False_open_loop_True.txt + + +# BC-RNN-VAE, panda can scan + +# categ +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__categ_True_cd_10_ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__categ_True_cd_10_ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__categ_True_cd_10_ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__categ_True_cd_10_ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__categ_True_cd_10_ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__categ_True_cd_10_ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__categ_True_cd_10_ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__categ_True_cd_10_ed_rnn_True.txt + +# N(0, 1) +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__ed_rnn_True.txt + +# GMM - dec cond y +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True.txt + +# GMM - dec cond n +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False.txt + + +# BC-RNN-VAE open-loop, panda can scan + +# categ +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__categ_True_cd_10_ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__categ_True_cd_10_ed_rnn_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__categ_True_cd_10_ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__categ_True_cd_10_ed_rnn_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__categ_True_cd_10_ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__categ_True_cd_10_ed_rnn_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__categ_True_cd_10_ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__categ_True_cd_10_ed_rnn_True_open_loop_True.txt + +# N(0, 1) +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__ed_rnn_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__ed_rnn_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__ed_rnn_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__ed_rnn_True_open_loop_True.txt + +# GMM - dec cond y +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_open_loop_True.txt + +# GMM - dec cond n +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.0005_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_dec_cond_False_open_loop_True.txt + + +# best RNN-VAE runs on panda square 200 +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.5_mlp__ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.5_mlp__ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.5_mlp__ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.5_mlp__ed_rnn_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__ed_rnn_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.5_mlp__prior_gmm_True_pld_300_400_ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.5_mlp__prior_gmm_True_pld_300_400_ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.5_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.5_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_open_loop_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_open_loop_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_vae_True_kl_0.05_mlp__prior_gmm_True_pld_300_400_ed_rnn_True_open_loop_True.txt + + +# 8-layer RNN on panda square 200 +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_128_rnnnl_8_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_128_rnnnl_8_gmm_True.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_128_rnnnl_8_gmm_True.json &> bc_rnn_ds_v1_ds_panda_nut_assembly_square_200_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_128_rnnnl_8_gmm_True.txt + + +# useful command for moving files from output of grep +ls | grep open_loop | xargs mv -t ../open_loop_trained_models/ + +ls | grep flow | xargs mv -t ../v1_ds_flow_trained_models/ + +### OPAL ### +python train.py --config ../exps/d4rl/opal_default_antmaze_medium_diverse.json &> opal_default_antmaze_medium_diverse.txt +python train.py --config ../exps/d4rl/opal_good_antmaze_medium_diverse.json &> opal_good_antmaze_medium_diverse.txt +python train.py --config ../exps/d4rl/opal_default_antmaze_medium_diverse_dec_rnn.json &> opal_default_antmaze_medium_diverse_dec_rnn.txt +python train.py --config ../exps/d4rl/opal_default_antmaze_medium_diverse_no_gauss_dec.json &> opal_default_antmaze_medium_diverse_no_gauss_dec.txt + +python train.py --config ../exps/d4rl/opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_3e-05_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_1.0_bc_0_gauss_dec_True_kl_0.1.json &> opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_3e-05_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_1.0_bc_0_gauss_dec_True_kl_0.1.txt +python train.py --config ../exps/d4rl/opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_3e-05_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_1.0_bc_0_gauss_dec_False_kl_0.1.json &> opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_3e-05_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_1.0_bc_0_gauss_dec_False_kl_0.1.txt +python train.py --config ../exps/d4rl/opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_3e-05_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_1.0_bc_0_gauss_dec_True_kl_0.01.json &> opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_3e-05_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_1.0_bc_0_gauss_dec_True_kl_0.01.txt +python train.py --config ../exps/d4rl/opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_0.0001_plr_0.001_ns_False_ss_True_gamma_0.99_min_q_5.0_bc_0_gauss_dec_True_kl_0.1.json &> opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_0.0001_plr_0.001_ns_False_ss_True_gamma_0.99_min_q_5.0_bc_0_gauss_dec_True_kl_0.1.txt + +# more good CQL scans +python train.py --config ../exps/d4rl/opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_0.0001_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_5.0_bc_0_gauss_dec_True_kl_0.1_ld_8.json &> opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_0.0001_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_5.0_bc_0_gauss_dec_True_kl_0.1_ld_8.txt +python train.py --config ../exps/d4rl/opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_0.0001_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_5.0_bc_0_gauss_dec_True_kl_0.1_ld_16.json &> opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_0.0001_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_5.0_bc_0_gauss_dec_True_kl_0.1_ld_16.txt +python train.py --config ../exps/d4rl/opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_0.0001_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_5.0_bc_0_gauss_dec_True_kl_0.0125_ld_8.json &> opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_0.0001_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_5.0_bc_0_gauss_dec_True_kl_0.0125_ld_8.txt +python train.py --config ../exps/d4rl/opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_0.0001_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_5.0_bc_0_gauss_dec_True_kl_0.00625_ld_16.json &> opal_ds_antmaze_medium_diverse_nepoch_201_pretrain_100_clr_0.0003_alr_0.0001_plr_0.001_ns_True_ss_False_gamma_0.99_min_q_5.0_bc_0_gauss_dec_True_kl_0.00625_ld_16.txt + + +### PLAS ### +python train.py --config ../exps/d4rl/plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_1.0_lat_clip_0.5.json &> plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_1.0_lat_clip_0.5.txt +python train.py --config ../exps/d4rl/plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_1.0_lat_clip_None.json &> plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_1.0_lat_clip_None.txt +python train.py --config ../exps/d4rl/plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_lat_clip_0.5.json &> plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_lat_clip_0.5.txt +python train.py --config ../exps/d4rl/plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_lat_clip_None.json &> plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_lat_clip_None.txt +python train.py --config ../exps/d4rl/plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_1.0_lat_clip_0.5.json &> plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_1.0_lat_clip_0.5.txt +python train.py --config ../exps/d4rl/plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_1.0_lat_clip_None.json &> plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_1.0_lat_clip_None.txt +python train.py --config ../exps/d4rl/plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_lat_clip_0.5.json &> plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_lat_clip_0.5.txt +python train.py --config ../exps/d4rl/plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_lat_clip_None.json &> plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_lat_clip_None.txt + +# better betas hopefully +python train.py --config ../exps/d4rl/plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_ld_12_kl_0.041666666666666664.json &> plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_ld_12_kl_0.041666666666666664.txt +python train.py --config ../exps/d4rl/plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_ld_16_kl_0.03125.json &> plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_ld_16_kl_0.03125.txt +python train.py --config ../exps/d4rl/plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_ld_12_kl_0.041666666666666664.json &> plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_ld_12_kl_0.041666666666666664.txt +python train.py --config ../exps/d4rl/plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_ld_16_kl_0.03125.json &> plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_ld_16_kl_0.03125.txt +python train.py --config ../exps/d4rl/plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_1.0_ld_12_kl_0.041666666666666664.json &> plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_1.0_ld_12_kl_0.041666666666666664.txt +python train.py --config ../exps/d4rl/plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_1.0_ld_16_kl_0.03125.json &> plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_1.0_ld_16_kl_0.03125.txt +python train.py --config ../exps/d4rl/plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_1.0_ld_12_kl_0.041666666666666664.json &> plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_1.0_ld_12_kl_0.041666666666666664.txt +python train.py --config ../exps/d4rl/plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_1.0_ld_16_kl_0.03125.json &> plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_1.0_ld_16_kl_0.03125.txt + +# try flow models +python train.py --config ../exps/d4rl/plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_relu.json &> plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_relu.txt +python train.py --config ../exps/d4rl/plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_tanh.json &> plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_tanh.txt +python train.py --config ../exps/d4rl/plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_relu.json &> plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_relu.txt +python train.py --config ../exps/d4rl/plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_tanh.json &> plas_ds_walker2d_medium_expert_nepoch_51_pretrain_25_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_tanh.txt +python train.py --config ../exps/d4rl/plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_relu.json &> plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_relu.txt +python train.py --config ../exps/d4rl/plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_tanh.json &> plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_tanh.txt +python train.py --config ../exps/d4rl/plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_relu.json &> plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_relu.txt +python train.py --config ../exps/d4rl/plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_tanh.json &> plas_ds_halfcheetah_random_nepoch_101_pretrain_50_lam_0.75_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_tanh.txt + + +### BC-Flow ### + +# panda can initial scan +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_tanh.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_tanh.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_tanh.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_tanh.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_tanh.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_2_act_tanh.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_tanh.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_1501_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_tanh.txt + +# follow-ups +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_tanh.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_256_nf_3_act_tanh.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_256_256_256_nf_2_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_256_256_256_nf_2_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_256_256_256_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_256_256_256_nf_3_act_relu.txt + +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_256_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_256_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_256_nf_3_act_tanh.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_256_nf_3_act_tanh.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_256_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_256_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_256_nf_3_act_tanh.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_256_nf_3_act_tanh.txt + +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_8_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_8_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_8_nf_3_act_tanh.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_8_nf_3_act_tanh.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_8_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_8_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_8_nf_3_act_tanh.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_1024_1024_8_nf_3_act_tanh.txt + +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_8_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_8_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_8_nf_3_act_tanh.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_8_nf_3_act_tanh.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_8_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_8_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_8_nf_3_act_tanh.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_8_nf_3_act_tanh.txt + +# more follow-ups +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_1024_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_1024_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_1024_nf_4_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_1024_nf_4_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_1024_oldims_1024_1024_256_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_1024_oldims_1024_1024_256_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_1024_oldims_1024_1024_256_nf_4_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_1024_oldims_1024_1024_256_nf_4_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_1024_oldims_1024_1024_1024_256_nf_3_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_1024_oldims_1024_1024_1024_256_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_1024_oldims_1024_1024_1024_256_nf_4_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_1024_oldims_1024_1024_1024_256_nf_4_act_relu.txt + +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_256_nf_6_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_256_nf_6_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_256_nf_8_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_256_nf_8_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_256_256_256_nf_6_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_256_256_256_nf_6_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_256_256_256_nf_8_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_256_256_256_nf_8_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_256_nf_6_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_256_nf_6_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_256_nf_8_act_relu.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_256_256_oldims_256_256_256_nf_8_act_relu.txt + +# more after fixing LL computation +python train.py --config ../exps/v1_datasets/bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_256_nf_6_act_relu_grad_1e5.json &> bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_256_nf_6_act_relu_grad_1e5.txt +python train.py --config ../exps/v1_datasets/bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_256_nf_6_act_tanh_grad_1e5.json &> bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_256_nf_6_act_tanh_grad_1e5.txt +python train.py --config ../exps/v1_datasets/bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_256_nf_6_act_relu.json &> bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_256_nf_6_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_256_nf_6_act_tanh.json &> bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_1024_1024_256_nf_6_act_tanh.txt +python train.py --config ../exps/v1_datasets/bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_1024_oldims_1024_1024_256_nf_4_act_relu.json &> bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_1024_oldims_1024_1024_256_nf_4_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_1024_oldims_1024_1024_256_nf_4_act_tanh.json &> bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_1024_oldims_1024_1024_256_nf_4_act_tanh.txt +python train.py --config ../exps/v1_datasets/bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_256_256_256_nf_3_act_relu.json &> bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_256_256_256_nf_3_act_relu.txt +python train.py --config ../exps/v1_datasets/bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_256_256_256_nf_3_act_tanh.json &> bc_rnn1_ds_v1_ds_panda_pick_place_can_plr_0.0001_seq_1_nepoch_2201_flow_True_ldims_1024_1024_oldims_256_256_256_nf_3_act_tanh.txt + + +### Cans Paired 2 Follow-ups ### + +# hbcq latent seq normal +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.005_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.005_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_f_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_f_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t.txt + +# hbcq latent seq open-loop +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.05_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t_oloop_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.05_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t_oloop_True.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t_oloop_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t_oloop_True.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t_oloop_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t_oloop_True.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t_oloop_True.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_300_400_ernn_t_drnn_t_oloop_True.txt + +# hbcq spirl +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.05_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.05_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.05_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_f.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.05_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_f.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.05_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_f_tr_f.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.05_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_f_tr_f.txt + +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_f.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_f.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_f_tr_f.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_f_tr_f.txt + +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_f.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_f.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_f_tr_f.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_f_tr_f.txt + +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_f.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_f.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_f_tr_f.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_f_tr_f.txt + +# best hbcq spirl, more variants +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_f_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_f_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-07_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-07_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.0001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.0001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_crit_st_200_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_crit_st_200_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/v1_datasets/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_128_128_128_128_128_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_128_128_128_128_128_gmm_True_min_0.0001_lne_t_tr_t.txt + + +# hbcq latent seq with flow prior +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_f_fld_256_256_nf_2_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_f_fld_256_256_nf_2_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_f_fld_1024_1024_nf_2_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_f_fld_1024_1024_nf_2_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_f_fld_256_256_nf_3_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_f_fld_256_256_nf_3_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_f_fld_1024_1024_nf_3_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_f_fld_1024_1024_nf_3_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_f_fld_256_256_nf_2_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_f_fld_256_256_nf_2_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_f_fld_1024_1024_nf_2_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_f_fld_1024_1024_nf_2_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_f_fld_256_256_nf_3_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_f_fld_256_256_nf_3_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_f_fld_1024_1024_nf_3_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_f_fld_1024_1024_nf_3_ernn_t_drnn_t.txt + +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_t_fld_256_256_nf_2_p_mlp_256_256_256_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_t_fld_256_256_nf_2_p_mlp_256_256_256_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_t_fld_256_256_nf_2_p_mlp_1024_1024_256_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_t_fld_256_256_nf_2_p_mlp_1024_1024_256_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_t_fld_256_256_nf_3_p_mlp_256_256_256_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_t_fld_256_256_nf_3_p_mlp_256_256_256_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_t_fld_256_256_nf_3_p_mlp_1024_1024_256_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_flow_t_c_t_fld_256_256_nf_3_p_mlp_1024_1024_256_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_t_fld_256_256_nf_2_p_mlp_256_256_256_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_t_fld_256_256_nf_2_p_mlp_256_256_256_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_t_fld_256_256_nf_2_p_mlp_1024_1024_256_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_t_fld_256_256_nf_2_p_mlp_1024_1024_256_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_t_fld_256_256_nf_3_p_mlp_256_256_256_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_t_fld_256_256_nf_3_p_mlp_256_256_256_ernn_t_drnn_t.txt +python train.py --config ../exps/cans_paired2/hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_t_fld_256_256_nf_3_p_mlp_1024_1024_256_ernn_t_drnn_t.json &> hbcq_ds_v1_ds_sawyer_pick_place_can_paired2_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_flow_t_c_t_fld_256_256_nf_3_p_mlp_1024_1024_256_ernn_t_drnn_t.txt + + +### HAN-VAE ### + +# initial beta scan +python train.py --config ../exps/han/bc_han_vae_panda_lift_lr_1e-3_beta_5e-2.json &> bc_han_vae_panda_lift_lr_1e-3_beta_5e-2.txt +python train.py --config ../exps/han/bc_han_vae_panda_lift_lr_1e-3_beta_5e-3.json &> bc_han_vae_panda_lift_lr_1e-3_beta_5e-3.txt +python train.py --config ../exps/han/bc_han_vae_panda_lift_lr_1e-3_beta_5e-5.json &> bc_han_vae_panda_lift_lr_1e-3_beta_5e-5.txt +python train.py --config ../exps/han/bc_han_vae_panda_lift_lr_1e-3_beta_5e-6.json &> bc_han_vae_panda_lift_lr_1e-3_beta_5e-6.txt + +# more runs +python train.py --config ../exps/han/bc_han_vae_panda_lift_lr_1e-3_beta_5e-3_temp_10_categ_49_ne_1001.json &> bc_han_vae_panda_lift_lr_1e-3_beta_5e-3_temp_10_categ_49_ne_1001.txt +python train.py --config ../exps/han/bc_han_vae_panda_can_lr_1e-3_beta_5e-3_temp_10_categ_49_ne_1001.json &> bc_han_vae_panda_can_lr_1e-3_beta_5e-3_temp_10_categ_49_ne_1001.txt +python train.py --config ../exps/han/bc_han_vae_panda_can_lr_1e-3_beta_5e-2_temp_10_categ_49_ne_501.json &> bc_han_vae_panda_can_lr_1e-3_beta_5e-2_temp_10_categ_49_ne_501.txt +python train.py --config ../exps/han/bc_han_vae_panda_can_lr_1e-3_beta_5e-4_temp_10_categ_49_ne_501.json &> bc_han_vae_panda_can_lr_1e-3_beta_5e-4_temp_10_categ_49_ne_501.txt + +# landmark initial runs +python train.py --config ../exps/han/bc_han_landmark_panda_lift_lr_1e-3.json &> bc_han_landmark_panda_lift_lr_1e-3.txt +python train.py --config ../exps/han/bc_han_landmark_panda_lift_lr_1e-3_fixed_var_0.05.json &> bc_han_landmark_panda_lift_lr_1e-3_fixed_var_0.05.txt +python train.py --config ../exps/han/bc_han_landmark_panda_lift_lr_1e-3_fixed_var_0.05_thresh_0.1.json &> bc_han_landmark_panda_lift_lr_1e-3_fixed_var_0.05_thresh_0.1.txt +python train.py --config ../exps/han/bc_han_landmark_panda_can_lr_1e-3_fixed_var_0.05.json &> bc_han_landmark_panda_can_lr_1e-3_fixed_var_0.05.txt + +python train.py --config ../exps/han/bc_han_landmark_panda_can_lr_1e-3_fixed_var_0.05_thresh_0.1.json &> bc_han_landmark_panda_can_lr_1e-3_fixed_var_0.05_thresh_0.1.txt +python train.py --config ../exps/han/bc_rnn_ds_v1_ds_panda_pick_place_can_proprio_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_proprio_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_True.txt +python train.py --config ../exps/han/bc_rnn_ds_v1_ds_panda_pick_place_can_proprio_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_False.json &> bc_rnn_ds_v1_ds_panda_pick_place_can_proprio_plr_0.0001_seq_1_mlp_256_256_256_nepoch_2001_rnn_False_gmm_False.txt + +# v1.2 robosuite panda can sanity check +python train.py --config ../exps/v1_2_datasets/bc_rnn_ds_v1_2_panda_can_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_2_panda_can_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --config ../exps/v1_2_datasets/bc_rnn_ds_v1_2_panda_can_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_2_panda_can_plr_0.001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt +python train.py --config ../exps/v1_2_datasets/bc_rnn_ds_v1_2_panda_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.json &> bc_rnn_ds_v1_2_panda_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_True.txt +python train.py --config ../exps/v1_2_datasets/bc_rnn_ds_v1_2_panda_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.json &> bc_rnn_ds_v1_2_panda_can_plr_0.0001_seq_10_mlp__nepoch_2001_rnnd_400_gmm_False.txt + + +# BC with crop augmentation +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_crop_t_s_60_n_20_coord_t.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_crop_t_s_60_n_20_coord_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_crop_t_s_60_n_20_coord_f.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_crop_t_s_60_n_20_coord_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_prop_crop_t_s_60_n_20_coord_t.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_prop_crop_t_s_60_n_20_coord_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_prop_crop_t_s_60_n_20_coord_f.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_prop_crop_t_s_60_n_20_coord_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_501_mod_im_prop_crop_t_s_60_n_20_coord_t.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_501_mod_im_prop_crop_t_s_60_n_20_coord_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_501_mod_im_prop_crop_t_s_60_n_20_coord_f.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_501_mod_im_prop_crop_t_s_60_n_20_coord_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_prop_crop_t_s_60_n_20_coord_t_pt_t.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_prop_crop_t_s_60_n_20_coord_t_pt_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_prop_crop_t_s_60_n_20_coord_f_pt_t.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_prop_crop_t_s_60_n_20_coord_f_pt_t.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_prop_coord_t.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_prop_coord_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_prop_pt_t.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_501_mod_im_prop_pt_t.txt + +# more +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_crop_t_s_60_n_20_coord_t_pt_f.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_crop_t_s_60_n_20_coord_t_pt_f.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_crop_t_s_60_n_20_coord_f_pt_f.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_crop_t_s_60_n_20_coord_f_pt_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_coord_t_pt_f.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_coord_t_pt_f.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_coord_f_pt_f.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_coord_f_pt_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_crop_t_s_60_n_20_coord_f_pt_t.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_crop_t_s_60_n_20_coord_f_pt_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_coord_f_pt_t.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_coord_f_pt_t.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_coord_f_pt_t.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_coord_f_pt_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_coord_f_pt_f.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_coord_f_pt_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_f.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_f.txt + +# wrist +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_crop_t_s_60_n_20_coord_f_pt_f_cat_t.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_crop_t_s_60_n_20_coord_f_pt_f_cat_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_crop_t_s_60_n_20_coord_f_pt_f_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_crop_t_s_60_n_20_coord_f_pt_f_cat_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_coord_f_pt_f_cat_t.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_coord_f_pt_f_cat_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_coord_f_pt_f_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_coord_f_pt_f_cat_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t_cat_t.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t_cat_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t_cat_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_f_cat_t.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_f_cat_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_f_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_f_cat_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_coord_f_pt_t_cat_t.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_coord_f_pt_t_cat_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_coord_f_pt_t_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_coord_f_pt_t_cat_f.txt + +# next batch of runs + +# crop pos enc +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_True_coord_f_pt_f.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_True_coord_f_pt_f.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_True_coord_f_pt_f.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_True_coord_f_pt_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_True_coord_f_pt_f_cat_t.json &> bc_ds_v1_panda_can_image_wrist_plr_0.001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_True_coord_f_pt_f_cat_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_True_coord_f_pt_f_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_True_coord_f_pt_f_cat_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_True_coord_f_pt_f_cat_t.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_True_coord_f_pt_f_cat_t.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_True_coord_f_pt_f_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_True_coord_f_pt_f_cat_f.txt + +# lr 1e-3 instead of 1e-4 on best runs +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_f_pt_f_cat_f.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_f_pt_f_cat_f.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_f_pt_f_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_f_pt_f_cat_f.txt + +# BC wrist (no crop) with coord conv +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.001_nepoch_1001_mod_im_coord_t_pt_t_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.001_nepoch_1001_mod_im_coord_t_pt_t_cat_f.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.001_nepoch_1001_mod_im_prop_coord_t_pt_t_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.001_nepoch_1001_mod_im_prop_coord_t_pt_t_cat_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_coord_t_pt_t_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_coord_t_pt_t_cat_f.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_t_pt_t_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_t_pt_t_cat_f.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.001_nepoch_1001_mod_im_prop_coord_t_pt_f_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.001_nepoch_1001_mod_im_prop_coord_t_pt_f_cat_f.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_t_pt_f_cat_f.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_t_pt_f_cat_f.txt + +# same as tars / capri +python train.py --config ../exps/han/bc_han_landmark_panda_can_lr_1e-4_temp_10.0_fixed_var_0.05_thresh_0.3_n_2_ne_1002.json &> bc_han_landmark_panda_can_lr_1e-4_temp_10.0_fixed_var_0.05_thresh_0.3_n_2_ne_1002.txt +python train.py --config ../exps/han/bc_han_landmark_panda_can_lr_1e-4_temp_10.0_fixed_var_0.05_thresh_0.3_n_2_ne_1002_no_prop.json &> bc_han_landmark_panda_can_lr_1e-4_temp_10.0_fixed_var_0.05_thresh_0.3_n_2_ne_1002_no_prop.txt + + +# some ablations + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_f_pt_f_cat_f_ssmax_t_no_lin_temp_1.0.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_f_pt_f_cat_f_ssmax_t_no_lin_temp_1.0.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_f_pt_f_cat_f_ssmax_t_temp_10.0.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_f_pt_f_cat_f_ssmax_t_temp_10.0.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_f_pt_f_cat_f_ssmax_f_temp_1.0.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_f_pt_f_cat_f_ssmax_f_temp_1.0.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_True_cat_f_ssmax_t_no_lin_temp_1.0.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_True_cat_f_ssmax_t_no_lin_temp_1.0.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_True_cat_f_ssmax_t_temp_10.0.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_True_cat_f_ssmax_t_temp_10.0.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_True_cat_f_ssmax_f_temp_1.0.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_True_cat_f_ssmax_f_temp_1.0.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_t_pt_f_ssmax_t_no_lin_temp_1.0.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_t_pt_f_ssmax_t_no_lin_temp_1.0.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_t_pt_f_ssmax_t_temp_10.0.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_t_pt_f_ssmax_t_temp_10.0.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_t_pt_f_ssmax_f_temp_1.0.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_t_pt_f_ssmax_f_temp_1.0.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_1001_mod_im_prop_coord_t_pt_f_ssmax_t_no_lin_temp_1.0.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_1001_mod_im_prop_coord_t_pt_f_ssmax_t_no_lin_temp_1.0.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_1001_mod_im_prop_coord_t_pt_f_ssmax_t_temp_10.0.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_1001_mod_im_prop_coord_t_pt_f_ssmax_t_temp_10.0.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_1001_mod_im_prop_coord_t_pt_f_ssmax_f_temp_1.0.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_1001_mod_im_prop_coord_t_pt_f_ssmax_f_temp_1.0.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t_ssmax_t_no_lin_temp_1.0.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t_ssmax_t_no_lin_temp_1.0.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t_ssmax_t_temp_10.0.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t_ssmax_t_temp_10.0.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t_ssmax_f_temp_1.0.json &> bc_ds_v1_panda_can_image_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t_ssmax_f_temp_1.0.txt + +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_f_pt_f_cat_f_gmm_True.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_crop_t_s_60_n_20_pos_enc_False_coord_f_pt_f_cat_f_gmm_True.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t_cat_f_gmm_True.json &> bc_ds_v1_panda_can_image_wrist_plr_0.0001_nepoch_1001_mod_im_prop_coord_f_pt_t_cat_f_gmm_True.txt +python train.py --config ../exps/han/bc_ds_v1_panda_can_image_plr_0.001_nepoch_1001_mod_im_prop_coord_t_pt_f_gmm_True.json &> bc_ds_v1_panda_can_image_plr_0.001_nepoch_1001_mod_im_prop_coord_t_pt_f_gmm_True.txt + + + + +### low-dim runs on multi-human ### + +# BC, can +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_ajay_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_can_ajay_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_ajay_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_can_ajay_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_ajay_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_can_ajay_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_ajay_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_can_ajay_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_josiah_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_can_josiah_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_josiah_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_can_josiah_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_josiah_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_can_josiah_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_josiah_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_can_josiah_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_roberto_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_can_roberto_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_roberto_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_can_roberto_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_roberto_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_can_roberto_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_roberto_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_can_roberto_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_yuke_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_can_yuke_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_yuke_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_can_yuke_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_yuke_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_can_yuke_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_yuke_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_can_yuke_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_all_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_can_all_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_all_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_can_all_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_all_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_can_all_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_all_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_can_all_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt + + +# BC-RNN, can +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_can_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_can_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_can_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_can_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_can_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_can_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_can_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_can_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_can_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_can_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_can_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_can_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_can_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_can_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_can_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_can_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_can_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_can_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_can_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_can_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt + + +# HBCQ-Seq, can +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_can_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_can_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_multi_panda_can_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_multi_panda_can_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_roberto_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_can_roberto_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_roberto_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_can_roberto_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_can_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_can_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_multi_panda_can_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_multi_panda_can_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_yuke_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_can_yuke_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_yuke_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_can_yuke_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_all_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_can_all_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_all_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_can_all_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0001_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0001_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.0001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.0001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.0001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_can_all_lt_t_ss_t_clr_0.001_aslr_0.0001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_can_all_clr_0.001_aslr_0.0001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_can_all_clr_0.001_aslr_0.0001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + + +# BC, square +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_ajay_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_square_ajay_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_ajay_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_square_ajay_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_ajay_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_square_ajay_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_ajay_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_square_ajay_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_josiah_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_square_josiah_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_josiah_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_square_josiah_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_josiah_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_square_josiah_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_josiah_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_square_josiah_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_roberto_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_square_roberto_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_roberto_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_square_roberto_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_roberto_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_square_roberto_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_roberto_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_square_roberto_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_yuke_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_square_yuke_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_yuke_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_square_yuke_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_yuke_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_square_yuke_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_yuke_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_square_yuke_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_all_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_square_all_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_all_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_square_all_plr_0.001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_all_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.json &> bc_rnn_ds_multi_panda_square_all_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_all_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.json &> bc_rnn_ds_multi_panda_square_all_plr_0.0001_seq_1_mlp_300_400_nepoch_1501_rnn_False_gmm_False.txt + +# BC-RNN, square +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_square_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_square_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_square_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_square_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_square_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_square_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_square_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_square_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_square_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_square_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_square_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_square_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_square_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_square_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_square_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_square_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_square_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_square_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.json &> bc_rnn_ds_multi_panda_square_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.json &> bc_rnn_ds_multi_panda_square_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_400_gmm_False.txt + + +# HBCQ-Seq, square +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_square_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_square_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_multi_panda_square_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_multi_panda_square_roberto_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_roberto_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_square_roberto_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_roberto_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_square_roberto_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_square_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_square_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_multi_panda_square_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_multi_panda_square_yuke_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_yuke_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_square_yuke_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_yuke_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_square_yuke_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.json &> hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-06_dld__eld__ernn_t_drnn_t_spirl__slr_0.0001_sld_1024_1024_gmm_True_min_0.0001_lne_t_tr_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_all_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_square_all_clr_0.001_aslr_0.001_actor_False_tau_0.005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_all_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_square_all_clr_0.001_aslr_0.001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0001_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0001_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.0001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.0001_actor_f_seq_10_rnnd_400_ne_1001_kl_5e-05_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.0001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.json &> hbcq_ds_multi_panda_square_all_lt_t_ss_t_clr_0.001_aslr_0.0001_actor_f_seq_10_rnnd_400_ne_1001_kl_0.0005_dld__eld__p_gmm_t_p_mlp_1024_1024_ernn_t_drnn_t.txt +python train.py --config ../exps/multi/hbcq_ds_multi_panda_square_all_clr_0.001_aslr_0.0001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.json &> hbcq_ds_multi_panda_square_all_clr_0.001_aslr_0.0001_actor_False_tau_0.0005_seq_10_as_rnnd_400_c_rnnd_100_gmm_True_mlp__nepoch_1001.txt + + +# BC-RNN, rnnd 1000, cans +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_can_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_can_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_can_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_can_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_can_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_can_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_can_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_can_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_can_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_can_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_can_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_can_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_can_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_can_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_can_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_can_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_can_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_can_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_can_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_can_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_can_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt + +# BC-RNN, rnnd 1000, square + +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_square_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_square_ajay_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_square_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_square_ajay_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_square_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_square_josiah_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_square_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_square_josiah_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_square_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_square_roberto_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_square_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_square_roberto_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_square_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_square_yuke_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_square_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_square_yuke_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_square_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_square_all_plr_0.001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.json &> bc_rnn_ds_multi_panda_square_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_True.txt +python train.py --config ../exps/multi/bc_rnn_ds_multi_panda_square_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.json &> bc_rnn_ds_multi_panda_square_all_plr_0.0001_seq_10_mlp__nepoch_1501_rnnd_1000_gmm_False.txt + + +# scp -i ~/.ssh/bc.pem -r ubuntu@3.15.149.29:/home/ubuntu/installed_libraries/batchRL/multi_trained_models/ + + +# han-new runs +python train.py --config ../exps/han_new/.json &> .txt + +python train.py --config ../exps/han_new/han_stack_eval_t_depth_fix.json &> han_stack_eval_t_depth_fix.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_f_only_crops.json &> han_chen_stack_eval_f_only_crops.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_f_only_crops_L2.json &> han_chen_stack_eval_f_only_crops_L2.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_only_crops_L2.json &> han_chen_stack_eval_t_only_crops_L2.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix.json &> han_chen_stack_eval_t_depth_fix.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ee_crop_0.0.json &> han_chen_stack_eval_t_depth_fix_ee_crop_0.0.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ee_crop_1.0.json &> han_chen_stack_eval_t_depth_fix_ee_crop_1.0.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_decay_n_cos_n.json &> han_chen_stack_eval_t_depth_fix_decay_n_cos_n.txt + +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_decay_n_cos_n_loss_reweight_n.json &> han_chen_stack_eval_t_depth_fix_decay_n_cos_n_loss_reweight_n.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_decay_n_cos_y_loss_reweight_n.json &> han_chen_stack_eval_t_depth_fix_decay_n_cos_y_loss_reweight_n.txt + +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ee_crop_1.0_no_test_rand.json &> han_chen_stack_eval_t_depth_fix_ee_crop_1.0_no_test_rand.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ee_crop_0.4_no_test_rand.json &> han_chen_stack_eval_t_depth_fix_ee_crop_0.4_no_test_rand.txt + +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_no_control_law.json &> han_chen_stack_eval_t_depth_fix_no_control_law.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_f_depth_fix_no_control_law.json &> han_chen_stack_eval_f_depth_fix_no_control_law.txt + +python train.py --config ../exps/han_new/han_chen_stack_eval_f_depth_fix_no_control_law_no_eef.json &> han_chen_stack_eval_f_depth_fix_no_control_law_no_eef.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_no_control_law_no_eef.json &> han_chen_stack_eval_t_depth_fix_no_control_law_no_eef.txt + + +# han-new ablation runs +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ctrl_law_f.json &> han_chen_stack_eval_t_depth_fix_ctrl_law_f.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ctrl_law_f_ee_pos_f.json &> han_chen_stack_eval_t_depth_fix_ctrl_law_f_ee_pos_f.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ctrl_law_f_ee_crop_f.json &> han_chen_stack_eval_t_depth_fix_ctrl_law_f_ee_crop_f.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ctrl_law_f_ee_crop_f_ee_pos_f.json &> han_chen_stack_eval_t_depth_fix_ctrl_law_f_ee_crop_f_ee_pos_f.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ctrl_law_f_conf_f_ee_pos_f.json &> han_chen_stack_eval_t_depth_fix_ctrl_law_f_conf_f_ee_pos_f.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ctrl_law_f_ee_crop_f_conf_f_ee_pos_f.json &> han_chen_stack_eval_t_depth_fix_ctrl_law_f_ee_crop_f_conf_f_ee_pos_f.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ee_pos_f.json &> han_chen_stack_eval_t_depth_fix_ee_pos_f.txt + +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_hard_att_temp_1.0.json &> han_chen_stack_eval_t_depth_fix_hard_att_temp_1.0.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_hard_att_temp_10.0.json &> han_chen_stack_eval_t_depth_fix_hard_att_temp_10.0.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ctrl_law_f_ee_pos_f_hard_att_temp_1.0.json &> han_chen_stack_eval_t_depth_fix_ctrl_law_f_ee_pos_f_hard_att_temp_1.0.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ctrl_law_f_ee_pos_f_hard_att_temp_10.0.json &> han_chen_stack_eval_t_depth_fix_ctrl_law_f_ee_pos_f_hard_att_temp_10.0.txt + +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_crop_t_s_119_n_1.json &> han_chen_stack_eval_t_depth_fix_crop_t_s_119_n_1.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_crop_t_s_108_n_1.json &> han_chen_stack_eval_t_depth_fix_crop_t_s_108_n_1.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_crop_f.json &> han_chen_stack_eval_t_depth_fix_crop_f.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ctrl_law_f_crop_t_s_108_n_1.json &> han_chen_stack_eval_t_depth_fix_ctrl_law_f_crop_t_s_108_n_1.txt +python train.py --config ../exps/han_new/han_chen_stack_eval_t_depth_fix_ctrl_law_f_crop_f.json &> han_chen_stack_eval_t_depth_fix_ctrl_law_f_crop_f.txt + + +# bc crops x image size +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.json &> bc_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.json &> bc_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.json &> bc_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.json &> bc_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.txt + +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_120_crop_f_h_120_w_120_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_can_im_120_120_crop_f_h_120_w_120_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_120_crop_f_h_120_w_120_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.json &> bc_ds_v1_panda_can_im_120_120_crop_f_h_120_w_120_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_120_crop_f_h_120_w_120_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_can_im_120_120_crop_f_h_120_w_120_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_120_crop_f_h_120_w_120_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.json &> bc_ds_v1_panda_can_im_120_120_crop_f_h_120_w_120_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_120_crop_t_h_108_w_108_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_can_im_120_120_crop_t_h_108_w_108_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_120_crop_t_h_108_w_108_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.json &> bc_ds_v1_panda_can_im_120_120_crop_t_h_108_w_108_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_120_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_can_im_120_120_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_120_120_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.json &> bc_ds_v1_panda_can_im_120_120_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.txt + +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_60_60_crop_f_h_60_w_60_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_can_im_60_60_crop_f_h_60_w_60_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_60_60_crop_f_h_60_w_60_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.json &> bc_ds_v1_panda_can_im_60_60_crop_f_h_60_w_60_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_60_60_crop_f_h_60_w_60_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_can_im_60_60_crop_f_h_60_w_60_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_60_60_crop_f_h_60_w_60_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.json &> bc_ds_v1_panda_can_im_60_60_crop_f_h_60_w_60_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_60_60_crop_t_h_56_w_56_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_can_im_60_60_crop_t_h_56_w_56_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_60_60_crop_t_h_56_w_56_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.json &> bc_ds_v1_panda_can_im_60_60_crop_t_h_56_w_56_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_60_60_crop_t_h_30_w_30_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_can_im_60_60_crop_t_h_30_w_30_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_can_im_60_60_crop_t_h_30_w_30_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.json &> bc_ds_v1_panda_can_im_60_60_crop_t_h_30_w_30_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_False.txt + +### TODO: 3 of the runs require single machines ### +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.txt + +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_120_120_crop_f_h_120_w_120_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_120_120_crop_f_h_120_w_120_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_120_120_crop_f_h_120_w_120_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_120_120_crop_f_h_120_w_120_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_120_120_crop_t_h_108_w_108_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_120_120_crop_t_h_108_w_108_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_120_120_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_120_120_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.txt + +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_60_60_crop_f_h_60_w_60_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_60_60_crop_f_h_60_w_60_n_1_plr_0.001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_60_60_crop_f_h_60_w_60_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_60_60_crop_f_h_60_w_60_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_60_60_crop_t_h_56_w_56_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_60_60_crop_t_h_56_w_56_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_60_60_crop_t_h_30_w_30_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_60_60_crop_t_h_30_w_30_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_gmm_True.txt + +# follow-up rnn +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_60_60_crop_t_h_56_w_56_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_60_60_crop_t_h_56_w_56_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.txt + +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_can_im_120_120_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_panda_can_im_120_120_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.txt + + +# same as above, but panda square 200 +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_square_all_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_square_all_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_square_all_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_square_all_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt + +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_square_all_im_120_120_crop_f_h_120_w_120_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_square_all_im_120_120_crop_f_h_120_w_120_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_square_all_im_120_120_crop_t_h_108_w_108_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_square_all_im_120_120_crop_t_h_108_w_108_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_square_all_im_120_120_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_square_all_im_120_120_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt + +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_square_all_im_84_84_crop_f_h_84_w_84_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_square_all_im_84_84_crop_f_h_84_w_84_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_square_all_im_84_84_crop_t_h_76_w_76_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_square_all_im_84_84_crop_t_h_76_w_76_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_ds_v1_panda_square_all_im_84_84_crop_t_h_42_w_42_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.json &> bc_ds_v1_panda_square_all_im_84_84_crop_t_h_42_w_42_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_gmm_True.txt + +# rnn +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_square_all_im_84_84_crop_f_h_84_w_84_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_panda_square_all_im_84_84_crop_f_h_84_w_84_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_square_all_im_84_84_crop_t_h_76_w_76_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_panda_square_all_im_84_84_crop_t_h_76_w_76_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_square_all_im_84_84_crop_t_h_42_w_42_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_panda_square_all_im_84_84_crop_t_h_42_w_42_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.txt + +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_square_all_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_panda_square_all_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.txt +python train.py --config ../exps/han_image_size/bc_rnn_ds_v1_panda_square_all_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.json &> bc_rnn_ds_v1_panda_square_all_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_gmm_True.txt + +# HAN panda cans initial runs +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160.json &> han_ds_v1_panda_can_im_120_160.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_ctrl_law_f.json &> han_ds_v1_panda_can_im_120_160_ctrl_law_f.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_ctrl_law_f_ee_pos_f.json &> han_ds_v1_panda_can_im_120_160_ctrl_law_f_ee_pos_f.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_ctrl_law_f_hard_att_temp_1.0.json &> han_ds_v1_panda_can_im_120_160_ctrl_law_f_hard_att_temp_1.0.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_ctrl_law_f_ee_pos_f_hard_att_temp_1.0.json &> han_ds_v1_panda_can_im_120_160_ctrl_law_f_ee_pos_f_hard_att_temp_1.0.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_ctrl_law_f_crop_t_s_108_n_1.json &> han_ds_v1_panda_can_im_120_160_ctrl_law_f_crop_t_s_108_n_1.txt + +# sanity check on wrist y/n gmm y/n crops 1/10 using han config - results were weird before +python train.py --config ../exps/han_image_size/ &> + +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_no_action_space_crops_10_LR_1e-4.json &> han_ds_v1_panda_can_im_120_160_no_action_space_crops_10_LR_1e-4.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_no_action_space_crops_10_LR_1e-4_wrist.json &> han_ds_v1_panda_can_im_120_160_no_action_space_crops_10_LR_1e-4_wrist.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_no_action_space_crops_10_LR_1e-4_gmm.json &> han_ds_v1_panda_can_im_120_160_no_action_space_crops_10_LR_1e-4_gmm.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_no_action_space_crops_10_LR_1e-4_wrist_gmm.json &> han_ds_v1_panda_can_im_120_160_no_action_space_crops_10_LR_1e-4_wrist_gmm.txt + +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_no_action_space_crops_1_LR_1e-4.json &> han_ds_v1_panda_can_im_120_160_no_action_space_crops_1_LR_1e-4.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_no_action_space_crops_1_LR_1e-4_gmm.json &> han_ds_v1_panda_can_im_120_160_no_action_space_crops_1_LR_1e-4_gmm.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_no_action_space_crops_1_LR_1e-4_wrist.json &> han_ds_v1_panda_can_im_120_160_no_action_space_crops_1_LR_1e-4_wrist.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_no_action_space_crops_1_LR_1e-4_wrist_gmm.json &> han_ds_v1_panda_can_im_120_160_no_action_space_crops_1_LR_1e-4_wrist_gmm.txt + +# more HAN action space scans +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_eef_crop_test.json &> han_ds_v1_panda_can_im_120_160_eef_crop_test.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_LR_1e-3.json &> han_ds_v1_panda_can_im_120_160_LR_1e-3.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_no_eef_pos.json &> han_ds_v1_panda_can_im_120_160_no_eef_pos.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_no_eef_crop.json &> han_ds_v1_panda_can_im_120_160_no_eef_crop.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_offset_0.25_all.json &> han_ds_v1_panda_can_im_120_160_offset_0.25_all.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_gain_bias_0.5_scale_0.5.json &> han_ds_v1_panda_can_im_120_160_gain_bias_0.5_scale_0.5.txt + + +# HAN 3d policy - initial runs +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_10_eef_crop_n.json &> han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_10_eef_crop_n.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_1_rel_y_eef_n_crop_10_eef_crop_n.json &> han_ds_v1_panda_can_im_120_160_3d_n_1_rel_y_eef_n_crop_10_eef_crop_n.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_10_rel_y_eef_n_crop_10_eef_crop_n.json &> han_ds_v1_panda_can_im_120_160_3d_n_10_rel_y_eef_n_crop_10_eef_crop_n.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_1_eef_crop_n.json &> han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_1_eef_crop_n.txt + +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_y_crop_10_eef_crop_n.json &> han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_y_crop_10_eef_crop_n.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_3_rel_n_eef_n_crop_10_eef_crop_n.json &> han_ds_v1_panda_can_im_120_160_3d_n_3_rel_n_eef_n_crop_10_eef_crop_n.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_10_eef_crop_y.json &> han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_10_eef_crop_y.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_10_eef_crop_y_grip_n.json &> han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_10_eef_crop_y_grip_n.txt + +# ablations on best initial run +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_10_eef_crop_y_grip_n_epoch_1201.json &> han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_10_eef_crop_y_grip_n_epoch_1201.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_10_eef_crop_y_grip_n_epoch_1201_LR_3e-4.json &> han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_10_eef_crop_y_grip_n_epoch_1201_LR_3e-4.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_10_eef_crop_y_grip_n_epoch_1201_LR_1e-3.json &> han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_10_eef_crop_y_grip_n_epoch_1201_LR_1e-3.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_3_rel_n_eef_n_crop_10_eef_crop_y_grip_n_epoch_1201.json &> han_ds_v1_panda_can_im_120_160_3d_n_3_rel_n_eef_n_crop_10_eef_crop_y_grip_n_epoch_1201.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_y_crop_10_eef_crop_y_grip_n_epoch_1201.json &> han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_y_crop_10_eef_crop_y_grip_n_epoch_1201.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_1_eef_crop_y_grip_n_epoch_1201.json &> han_ds_v1_panda_can_im_120_160_3d_n_3_rel_y_eef_n_crop_1_eef_crop_y_grip_n_epoch_1201.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_10_rel_y_eef_n_crop_10_eef_crop_y_grip_n_epoch_1201.json &> han_ds_v1_panda_can_im_120_160_3d_n_10_rel_y_eef_n_crop_10_eef_crop_y_grip_n_epoch_1201.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_n_1_rel_y_eef_n_crop_10_eef_crop_y_grip_n_epoch_1201.json &> han_ds_v1_panda_can_im_120_160_3d_n_1_rel_y_eef_n_crop_10_eef_crop_y_grip_n_epoch_1201.txt + +# ablation with wrist obs +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_wrist_n_3_rel_y_eef_n_crop_10_eef_crop_y_grip_n.json &> han_ds_v1_panda_can_im_120_160_3d_wrist_n_3_rel_y_eef_n_crop_10_eef_crop_y_grip_n.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_wrist_n_3_rel_y_eef_n_crop_10_eef_crop_y_grip_y.json &> han_ds_v1_panda_can_im_120_160_3d_wrist_n_3_rel_y_eef_n_crop_10_eef_crop_y_grip_y.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_wrist_n_3_rel_y_eef_n_crop_1_eef_crop_y_grip_n.json &> han_ds_v1_panda_can_im_120_160_3d_wrist_n_3_rel_y_eef_n_crop_1_eef_crop_y_grip_n.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_wrist_n_10_rel_y_eef_n_crop_10_eef_crop_y_grip_n.json &> han_ds_v1_panda_can_im_120_160_3d_wrist_n_10_rel_y_eef_n_crop_10_eef_crop_y_grip_n.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_wrist_n_1_rel_y_eef_n_crop_10_eef_crop_y_grip_n.json &> han_ds_v1_panda_can_im_120_160_3d_wrist_n_1_rel_y_eef_n_crop_10_eef_crop_y_grip_n.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_wrist_n_3_rel_y_eef_y_crop_10_eef_crop_y_grip_n.json &> han_ds_v1_panda_can_im_120_160_3d_wrist_n_3_rel_y_eef_y_crop_10_eef_crop_y_grip_n.txt + +# more n keypoints on best runs +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_wrist_n_10_rel_y_eef_y_crop_10_eef_crop_y_grip_n.json &> han_ds_v1_panda_can_im_120_160_3d_wrist_n_10_rel_y_eef_y_crop_10_eef_crop_y_grip_n.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_wrist_n_30_rel_y_eef_y_crop_10_eef_crop_y_grip_n.json &> han_ds_v1_panda_can_im_120_160_3d_wrist_n_30_rel_y_eef_y_crop_10_eef_crop_y_grip_n.txt + +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_wrist_n_10_rel_y_eef_n_crop_1_eef_crop_y_grip_n.json &> han_ds_v1_panda_can_im_120_160_3d_wrist_n_10_rel_y_eef_n_crop_1_eef_crop_y_grip_n.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_wrist_n_30_rel_y_eef_n_crop_1_eef_crop_y_grip_n.json &> han_ds_v1_panda_can_im_120_160_3d_wrist_n_30_rel_y_eef_n_crop_1_eef_crop_y_grip_n.txt + +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_wrist_n_10_rel_y_eef_n_crop_10_eef_crop_y_grip_y.json &> han_ds_v1_panda_can_im_120_160_3d_wrist_n_10_rel_y_eef_n_crop_10_eef_crop_y_grip_y.txt +python train.py --config ../exps/han_image_size/han_ds_v1_panda_can_im_120_160_3d_wrist_n_30_rel_y_eef_n_crop_10_eef_crop_y_grip_y.json &> han_ds_v1_panda_can_im_120_160_3d_wrist_n_30_rel_y_eef_n_crop_10_eef_crop_y_grip_y.txt + + +# BC-spirl with image, KL scan + randomization scan +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.05.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.05.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-05.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-05.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06.txt + +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.05.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.05.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-05.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-05.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06.txt + +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.05.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.05.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-05.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-05.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06.txt + +# rnnd 1000 +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_kl_0.0005.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_kl_0.0005.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_kl_0.0005.txt + +# vae-rnn with proprio +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.05_prop_t.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.05_prop_t.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_prop_t.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_prop_t.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_prop_t.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_prop_t.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.05_prop_t.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.05_prop_t.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_prop_t.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_prop_t.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_prop_t.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_prop_t.txt + +# on panda square 200 +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06.txt + +# 3d conditioning + +# (no crop - not run) +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_3_eef_True.json &> bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_3_eef_True.txt +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_3_eef_False.json &> bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_3_eef_False.txt +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_True.json &> bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_True.txt +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_False.json &> bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_False.txt + +# crop 1 +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_3_eef_True.json &> bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_3_eef_True.txt +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_3_eef_False.json &> bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_3_eef_False.txt +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_True.json &> bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_True.txt +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_False.json &> bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_False.txt + + +# vae-rnn with proprio, panda square +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_prop_t.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_prop_t.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_prop_t.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_prop_t.txt + +# rnnd 1000, panda square +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_kl_5e-06.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_f_h_120_w_160_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_kl_5e-06.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_kl_5e-06.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_1000_kl_5e-06.txt + +# 3d conditioning, panda square +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_3_eef_False.json &> bc_spirl_3d_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_3_eef_False.txt +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_False.json &> bc_spirl_3d_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_False.txt +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_nkp_3_eef_False.json &> bc_spirl_3d_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_nkp_3_eef_False.txt +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_nkp_10_eef_False.json &> bc_spirl_3d_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_nkp_10_eef_False.txt + + +# hierarchical SPIRL +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_5e-06.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_5e-06.txt + +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_5e-06.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_301_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_5e-06.txt + + +# re-do some runs +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_nkp_10_eef_False.json &> bc_spirl_3d_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_nkp_10_eef_False.txt +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_square_all_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_nkp_10_eef_False.json &> bc_spirl_3d_ds_v1_panda_square_all_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_5e-06_nkp_10_eef_False.txt + +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_False.json &> bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_False.txt +python train.py --config ../exps/han_image_size/bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_False.json &> bc_spirl_3d_ds_v1_panda_can_im_120_160_crop_t_h_60_w_60_n_10_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_10_mlp__rnnd_400_kl_0.0005_nkp_10_eef_False.txt + +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_5e-06.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_square_all_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_5e-06.txt + +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_10_h_5_mlp__rnnd_400_kl_5e-06.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_0.0005.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_0.0005.txt +python train.py --config ../exps/han_image_size/bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_5e-06.json &> bc_spirl_ds_v1_panda_can_im_120_160_crop_t_h_108_w_144_n_1_plr_0.0001_nepoch_601_mod_im_wrist_prop_cat_f_seq_50_l_5_h_10_mlp__rnnd_400_kl_5e-06.txt + + +# HITL new runs + +# image +python train.py --config ../exps/hitl_image/bc_rnn_im_ds_base_plr_0.001.json &> bc_rnn_im_ds_base_plr_0.001.txt +python train.py --config ../exps/hitl_image/bc_rnn_im_ds_base_plr_0.0001.json &> bc_rnn_im_ds_base_plr_0.0001.txt +python train.py --config ../exps/hitl_image/bc_rnn_im_ds_more_plr_0.001.json &> bc_rnn_im_ds_more_plr_0.001.txt +python train.py --config ../exps/hitl_image/bc_rnn_im_ds_more_plr_0.0001.json &> bc_rnn_im_ds_more_plr_0.0001.txt + +python train.py --config ../exps/hitl_image/bc_rnn_im_ds_v3_hg_dagger_plr_0.0001_iwr_True.json &> bc_rnn_im_ds_v3_hg_dagger_plr_0.0001_iwr_True.txt +python train.py --config ../exps/hitl_image/bc_rnn_im_ds_v3_hg_dagger_plr_0.0001_iwr_False.json &> bc_rnn_im_ds_v3_hg_dagger_plr_0.0001_iwr_False.txt +python train.py --config ../exps/hitl_image/bc_rnn_im_ds_v3_iwr_plr_0.0001_iwr_True.json &> bc_rnn_im_ds_v3_iwr_plr_0.0001_iwr_True.txt +python train.py --config ../exps/hitl_image/bc_rnn_im_ds_v3_iwr_plr_0.0001_iwr_False.json &> bc_rnn_im_ds_v3_iwr_plr_0.0001_iwr_False.txt + +python train.py --config ../exps/hitl_image/bc_rnn_im_ds_v3_hg_dagger_cross_plr_0.0001_iwr_True.json &> bc_rnn_im_ds_v3_hg_dagger_cross_plr_0.0001_iwr_True.txt +python train.py --config ../exps/hitl_image/bc_rnn_im_ds_v3_hg_dagger_cross_plr_0.0001_iwr_False.json &> bc_rnn_im_ds_v3_hg_dagger_cross_plr_0.0001_iwr_False.txt + + +# low-dim +python train.py --config ../exps/hitl_low_dim/bc_rnn_ld_ds_base_plr_0.001.json &> bc_rnn_ld_ds_base_plr_0.001.txt +python train.py --config ../exps/hitl_low_dim/bc_rnn_ld_ds_base_plr_0.0001.json &> bc_rnn_ld_ds_base_plr_0.0001.txt +python train.py --config ../exps/hitl_low_dim/bc_rnn_ld_ds_more_plr_0.001.json &> bc_rnn_ld_ds_more_plr_0.001.txt +python train.py --config ../exps/hitl_low_dim/bc_rnn_ld_ds_more_plr_0.0001.json &> bc_rnn_ld_ds_more_plr_0.0001.txt + +python train.py --config ../exps/hitl_low_dim/bc_rnn_ld_ds_v3_hg_dagger_plr_0.0001_iwr_True.json &> bc_rnn_ld_ds_v3_hg_dagger_plr_0.0001_iwr_True.txt +python train.py --config ../exps/hitl_low_dim/bc_rnn_ld_ds_v3_hg_dagger_plr_0.0001_iwr_False.json &> bc_rnn_ld_ds_v3_hg_dagger_plr_0.0001_iwr_False.txt +python train.py --config ../exps/hitl_low_dim/bc_rnn_ld_ds_v3_iwr_plr_0.0001_iwr_True.json &> bc_rnn_ld_ds_v3_iwr_plr_0.0001_iwr_True.txt +python train.py --config ../exps/hitl_low_dim/bc_rnn_ld_ds_v3_iwr_plr_0.0001_iwr_False.json &> bc_rnn_ld_ds_v3_iwr_plr_0.0001_iwr_False.txt + +python train.py --config ../exps/hitl_low_dim/bc_rnn_ld_ds_v3_hg_dagger_cross_plr_0.0001_iwr_True.json &> bc_rnn_ld_ds_v3_hg_dagger_cross_plr_0.0001_iwr_True.txt +python train.py --config ../exps/hitl_low_dim/bc_rnn_ld_ds_v3_hg_dagger_cross_plr_0.0001_iwr_False.json &> bc_rnn_ld_ds_v3_hg_dagger_cross_plr_0.0001_iwr_False.txt + + + + +# dataset playback for RT benchmark + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_done_success.hdf5 --filter_key 3.9k --video_path ~/Downloads/playback_can_rb_3.9k.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/subopt_can_paired/state_done_2.hdf5 --video_path ~/Downloads/playback_can_paired.mp4 --n 50 + +# worse (roberto, chen) +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --filter_key roberto --video_path ~/Downloads/rt_benchmark_playback/playback_lift_mh_worse_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --filter_key chen --video_path ~/Downloads/rt_benchmark_playback/playback_lift_mh_worse_2.mp4 + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --filter_key roberto --video_path ~/Downloads/rt_benchmark_playback/playback_can_mh_worse_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --filter_key chen --video_path ~/Downloads/rt_benchmark_playback/playback_can_mh_worse_2.mp4 + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --filter_key roberto --video_path ~/Downloads/rt_benchmark_playback/playback_square_mh_worse_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --filter_key chen --video_path ~/Downloads/rt_benchmark_playback/playback_square_mh_worse_2.mp4 + +# okay (yuke, danfei) +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --filter_key yuke --video_path ~/Downloads/rt_benchmark_playback/playback_lift_mh_okay_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --filter_key danfei --video_path ~/Downloads/rt_benchmark_playback/playback_lift_mh_okay_2.mp4 + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --filter_key yuke --video_path ~/Downloads/rt_benchmark_playback/playback_can_mh_okay_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --filter_key danfei --video_path ~/Downloads/rt_benchmark_playback/playback_can_mh_okay_2.mp4 + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --filter_key yuke --video_path ~/Downloads/rt_benchmark_playback/playback_square_mh_okay_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --filter_key danfei --video_path ~/Downloads/rt_benchmark_playback/playback_square_mh_okay_2.mp4 + +# better (ajay, josiah) +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --filter_key ajay --video_path ~/Downloads/rt_benchmark_playback/playback_lift_mh_better_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --filter_key josiah --video_path ~/Downloads/rt_benchmark_playback/playback_lift_mh_better_2.mp4 + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --filter_key ajay --video_path ~/Downloads/rt_benchmark_playback/playback_can_mh_better_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --filter_key josiah --video_path ~/Downloads/rt_benchmark_playback/playback_can_mh_better_2.mp4 + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --filter_key ajay --video_path ~/Downloads/rt_benchmark_playback/playback_square_mh_better_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --filter_key josiah --video_path ~/Downloads/rt_benchmark_playback/playback_square_mh_better_2.mp4 + + +# 6 subsets for transport +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --filter_key ajay_josiah --video_path ~/Downloads/rt_benchmark_playback/playback_transport_mh_better.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --filter_key yuke_danfei --video_path ~/Downloads/rt_benchmark_playback/playback_transport_mh_okay.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --filter_key roberto_chen --video_path ~/Downloads/rt_benchmark_playback/playback_transport_mh_worse.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --filter_key ajay_yuke --video_path ~/Downloads/rt_benchmark_playback/playback_transport_mh_okay_better.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --filter_key roberto_danfei --video_path ~/Downloads/rt_benchmark_playback/playback_transport_mh_worse_okay.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --filter_key josiah_chen --video_path ~/Downloads/rt_benchmark_playback/playback_transport_mh_worse_better.mp4 + +# SE +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_benchmark_playback/playback_lift_se.mp4 --n 50 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_benchmark_playback/playback_can_se.mp4 --n 50 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_benchmark_playback/playback_square_se.mp4 --n 50 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_benchmark_playback/playback_transport_se.mp4 --n 50 + +# tool hang (sim) +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_tool_hanging_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_benchmark_playback/playback_tool_hang_se.mp4 --n 100 --camera_names sideview + + +# observation space videos +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_obs/obs_can.mp4 --n 20 --camera_names agentview robot0_eye_in_hand +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_obs/obs_transport.mp4 --n 20 --camera_names shouldercamera0 shouldercamera1 robot0_eye_in_hand robot1_eye_in_hand +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_tool_hanging_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_obs/obs_tool_hang.mp4 --n 20 --camera_names sideview robot0_eye_in_hand + + +# real videos +python playback_dataset.py --dataset ~/Desktop/real_robot/lift/demo.hdf5 --use-obs --video_path ~/Downloads/rt_benchmark_playback/playback_lift_real.mp4 --video_skip 1 --n 50 +python playback_dataset.py --dataset ~/Desktop/real_robot/can/demo.hdf5 --use-obs --video_path ~/Downloads/rt_benchmark_playback/playback_can_real.mp4 --video_skip 1 --n 50 +python playback_dataset.py --dataset ~/Desktop/real_robot/tool_hanging_deadline/demo.hdf5 --use-obs --video_path ~/Downloads/rt_benchmark_playback/playback_tool_hang_real.mp4 --video_skip 1 --n 50 + + +# get first frame videos for all tasks +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_single_expert/state_done_2.hdf5 --video_path ~/Downloads/playback_first/playback_lift_first.mp4 --first +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_single_expert/state_done_2.hdf5 --video_path ~/Downloads/playback_first/playback_can_first.mp4 --first +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_single_expert/state_done_2.hdf5 --video_path ~/Downloads/playback_first/playback_square_first.mp4 --first +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/state_done_2.hdf5 --video_path ~/Downloads/playback_first/playback_transport_first.mp4 --first +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_tool_hanging_single_expert/state_done_2.hdf5 --video_path ~/Downloads/playback_first/playback_tool_hang_first.mp4 --camera_names sideview --first + +### TODO: make sure to edit the file to only grab the relevant camera image first in playback_obs ### +python playback_dataset.py --dataset ~/Desktop/real_robot/lift/demo.hdf5 --use-obs --video_path ~/Downloads/playback_first/playback_lift_real_first.mp4 --first +python playback_dataset.py --dataset ~/Desktop/real_robot/can/demo.hdf5 --use-obs --video_path ~/Downloads/playback_first/playback_can_real_first.mp4 --first +python playback_dataset.py --dataset ~/Desktop/real_robot/tool_hanging_deadline/demo.hdf5 --use-obs --video_path ~/Downloads/playback_first/playback_tool_hang_real_first.mp4 --first + +# can paired BCQ rollouts +python test.py --agent /afs/cs.stanford.edu/u/amandlek/installed_libraries/benchmark/slurm/log/batchRL/batchrl_benchmark/hp_sweep/low_dim/hbcq/can_paired_bcq_low_dim/benchmark_can_paired_ld_bc_trained_models/hbcq_ds_can_paired_ld_seed_1/2021-06-12-15-12-19-179527/models/model_epoch_800_PickPlaceCan_success_0.46.pth \ +--render_video --video_dir ~/Downloads/can_paired_rollouts --n_rollouts 50 --horizon 400 --seed 1 + +python test.py --agent /afs/cs.stanford.edu/u/amandlek/installed_libraries/benchmark/slurm/log/batchRL/batchrl_benchmark/hp_sweep/low_dim/bc/can_paired_bc_rnn_low_dim/benchmark_can_paired_ld_bc_trained_models/bc_rnn_ds_can_paired_ld_seed_1/2021-06-08-13-01-35-323829/models/model_epoch_300_PickPlaceCan_success_0.74.pth \ +--render_video --video_dir ~/Downloads/can_paired_rollouts_bc_rnn --n_rollouts 50 --horizon 400 --seed 1 + diff --git a/robomimic/scripts/internal/dataset_creation.sh b/robomimic/scripts/internal/dataset_creation.sh new file mode 100644 index 00000000..3292b342 --- /dev/null +++ b/robomimic/scripts/internal/dataset_creation.sh @@ -0,0 +1,340 @@ +#!/bin/bash + +### NOTE: script was updated from benchmark branch ### + +################################################################# +# Preparation of demo.hdf5s # +################################################################# + +### All ### + +# make sure we convert from internal teleop demo.hdf5 and remove unneeded keys +python teleop_to_env_meta.py --dataset ~/Desktop/final_benchmark_datasets/lift/mg/demo.hdf5 +python remove_hdf5_attr.py --dataset ~/Desktop/final_benchmark_datasets/lift/mg/demo.hdf5 + +# can verify using this script +python print_hdf5_attr.py --dataset ~/Desktop/final_benchmark_datasets/lift/mg/demo.hdf5 + +### Machine-Generated ### + +# datasets were truncated into subsets of trajectories to make it harder +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_dense_done_success.hdf5 --n 1500 --filter_key 1.5k +python truncate_dataset.py --dataset /afs/cs.stanford.edu/u/amandlek/Desktop/benchmark_datasets/panda_lift_replay_buffer/rb_sparse_done_success.hdf5 --n 1500 --filter_key 1.5k + + +### Multi-Human (and some Proficient-Human) ### + + +# first, each person's demos were postprocessed, converted to compatible demo.hdf5, and then split into train-val + +# python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/ajay/demo.hdf5 +# python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/ajay/demo.hdf5 + +### note: dataset filter keys were prepared beforehand ### + +# first, each person's demos were postprocessed, converted to compatible demo.hdf5, and then split into train-val +python teleop_to_env_meta.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/ajay/demo.hdf5 +python split_train_val.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/ajay/demo.hdf5 + +# then, the multi-human datasets were merged, keeping track of each peron's demos under filter keys +python merge_hdf5.py --batches \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/ajay/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/chen/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/danfei/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/josiah/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/roberto/demo.hdf5 \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/yuke/demo.hdf5 \ +--name demo_merged.hdf5 --valid \ +--write_filter_keys ajay chen danfei josiah roberto yuke + +mv ~/Desktop/benchmark_datasets/panda_lift_multi_human/ajay/demo_merged.hdf5 \ +~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 + +# then, additional filter keys were created by merging different people's keys together +python merge_filter_keys.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 \ +--filter_keys ajay josiah --name better --valid + +python merge_filter_keys.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 \ +--filter_keys danfei yuke --name okay --valid + +python merge_filter_keys.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 \ +--filter_keys chen roberto --name worse --valid + +python merge_filter_keys.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 \ +--filter_keys danfei yuke ajay josiah --name okay_better --valid + +python merge_filter_keys.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 \ +--filter_keys chen roberto ajay josiah --name worse_better --valid + +python merge_filter_keys.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 \ +--filter_keys chen roberto danfei yuke --name worse_okay --valid + +# verify dataset looks okay +python get_dataset_stats.py \ +--dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 --verbose + + +## create dataset size ablation filter keys ## +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_single_expert/demo.hdf5 --name 20_percent --ratio 0.2 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/demo.hdf5 --name 20_percent --ratio 0.2 --input_filter_keys ajay_josiah ajay_yuke josiah_chen roberto_chen roberto_danfei yuke_danfei + + +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_single_expert/demo.hdf5 --name 50_percent --ratio 0.5 +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_lift_multi_human/demo.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay josiah yuke roberto danfei chen +python create_dataset_subsets.py --batch ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/demo.hdf5 --name 50_percent --ratio 0.5 --input_filter_keys ajay_josiah ajay_yuke josiah_chen roberto_chen roberto_danfei yuke_danfei + + +################################################################# +# Rename filter keys for anonymity. # +################################################################# + +### rename MH filter keys ### +python rename_filter_keys.py --dataset ~/Desktop/final_benchmark_datasets/lift/mh/demo.hdf5 \ +--filter_keys ajay josiah yuke danfei roberto chen \ +--rename_filter_keys better_operator_1 better_operator_2 okay_operator_1 okay_operator_2 worse_operator_1 worse_operator_2 \ +--valid + +python rename_filter_keys.py --dataset ~/Desktop/final_benchmark_datasets/can/mh/demo.hdf5 \ +--filter_keys ajay josiah yuke danfei roberto chen \ +--rename_filter_keys better_operator_1 better_operator_2 okay_operator_1 okay_operator_2 worse_operator_1 worse_operator_2 \ +--valid + +python rename_filter_keys.py --dataset ~/Desktop/final_benchmark_datasets/square/mh/demo.hdf5 \ +--filter_keys ajay josiah yuke danfei roberto chen \ +--rename_filter_keys better_operator_1 better_operator_2 okay_operator_1 okay_operator_2 worse_operator_1 worse_operator_2 \ +--valid + +python rename_filter_keys.py --dataset ~/Desktop/final_benchmark_datasets/transport/mh/demo.hdf5 \ +--filter_keys ajay_josiah yuke_danfei roberto_chen ajay_yuke josiah_chen roberto_danfei \ +--rename_filter_keys better okay worse okay_better worse_better worse_okay \ +--valid + +################################################################# +# Observation Extraction (this part uses the new script) # +################################################################# + + +### NOTE: we use done-mode 0 for MG (also include done-mode 2, just in case it works better, for low-dim) ### + +### mg ### + +python dataset_states_to_obs.py --done_mode 0 \ +--dataset ~/Desktop/final_benchmark_datasets/lift/mg/demo.hdf5 \ +--output_name low_dim_sparse.hdf5 +python dataset_states_to_obs.py --done_mode 0 \ +--dataset ~/Desktop/final_benchmark_datasets/lift/mg/demo.hdf5 \ +--output_name image_sparse.hdf5 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 + +python dataset_states_to_obs.py --done_mode 0 \ +--dataset ~/Desktop/final_benchmark_datasets/can/mg/demo.hdf5 \ +--output_name low_dim_sparse.hdf5 +python dataset_states_to_obs.py --done_mode 0 \ +--dataset ~/Desktop/final_benchmark_datasets/can/mg/demo.hdf5 \ +--output_name image_sparse.hdf5 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 + +# dense --shaped as well +python dataset_states_to_obs.py --done_mode 0 --shaped \ +--dataset ~/Desktop/final_benchmark_datasets/lift/mg/demo.hdf5 \ +--output_name low_dim_dense.hdf5 +python dataset_states_to_obs.py --done_mode 0 --shaped \ +--dataset ~/Desktop/final_benchmark_datasets/lift/mg/demo.hdf5 \ +--output_name image_dense.hdf5 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 + +python dataset_states_to_obs.py --done_mode 0 --shaped \ +--dataset ~/Desktop/final_benchmark_datasets/can/mg/demo.hdf5 \ +--output_name low_dim_dense.hdf5 +python dataset_states_to_obs.py --done_mode 0 --shaped \ +--dataset ~/Desktop/final_benchmark_datasets/can/mg/demo.hdf5 \ +--output_name image_dense.hdf5 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 + +# done mode 2 as well, for low-dim, to try it +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/lift/mg/demo.hdf5 \ +--output_name low_dim_sparse_done_2.hdf5 +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/can/mg/demo.hdf5 \ +--output_name low_dim_sparse_done_2.hdf5 +python dataset_states_to_obs.py --done_mode 2 --shaped \ +--dataset ~/Desktop/final_benchmark_datasets/lift/mg/demo.hdf5 \ +--output_name low_dim_dense_done_2.hdf5 +python dataset_states_to_obs.py --done_mode 2 --shaped \ +--dataset ~/Desktop/final_benchmark_datasets/can/mg/demo.hdf5 \ +--output_name low_dim_dense_done_2.hdf5 + +### NOTE: we use done-mode 2 for PH / MH ### + +### ph ### + +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/lift/ph/demo.hdf5 \ +--output_name low_dim.hdf5 +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/lift/ph/demo.hdf5 \ +--output_name image.hdf5 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 + +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/can/ph/demo.hdf5 \ +--output_name low_dim.hdf5 +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/can/ph/demo.hdf5 \ +--output_name image.hdf5 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 + +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/square/ph/demo.hdf5 \ +--output_name low_dim.hdf5 +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/square/ph/demo.hdf5 \ +--output_name image.hdf5 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 + +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/transport/ph/demo.hdf5 \ +--output_name low_dim.hdf5 +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/transport/ph/demo.hdf5 \ +--output_name image.hdf5 --camera_names shouldercamera0 shouldercamera1 robot0_eye_in_hand robot1_eye_in_hand --camera_height 84 --camera_width 84 + +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/tool_hang/ph/demo.hdf5 \ +--output_name low_dim.hdf5 +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/tool_hang/ph/demo.hdf5 \ +--output_name image.hdf5 --camera_names sideview robot0_eye_in_hand --camera_height 240 --camera_width 240 + +### mh ### + +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/lift/mh/demo.hdf5 \ +--output_name low_dim.hdf5 +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/lift/mh/demo.hdf5 \ +--output_name image.hdf5 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 + +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/can/mh/demo.hdf5 \ +--output_name low_dim.hdf5 +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/can/mh/demo.hdf5 \ +--output_name image.hdf5 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 + +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/square/mh/demo.hdf5 \ +--output_name low_dim.hdf5 +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/square/mh/demo.hdf5 \ +--output_name image.hdf5 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 + +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/transport/mh/demo.hdf5 \ +--output_name low_dim.hdf5 +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/transport/mh/demo.hdf5 \ +--output_name image.hdf5 --camera_names shouldercamera0 shouldercamera1 robot0_eye_in_hand robot1_eye_in_hand --camera_height 84 --camera_width 84 + + +### can-paired ### + +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/can/paired/demo.hdf5 \ +--output_name low_dim.hdf5 +python dataset_states_to_obs.py --done_mode 2 \ +--dataset ~/Desktop/final_benchmark_datasets/can/paired/demo.hdf5 \ +--output_name image.hdf5 --camera_names agentview robot0_eye_in_hand --camera_height 84 --camera_width 84 + +################################################################# +# Dataset Playback Videos # +################################################################# + + +# dataset playback for RT benchmark datasets + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_replay_buffer/rb_sparse_done_success.hdf5 --filter_key 3.9k --video_path ~/Downloads/playback_can_rb_3.9k.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/subopt_can_paired/state_done_2.hdf5 --video_path ~/Downloads/playback_can_paired.mp4 --n 50 + +# worse (roberto, chen) +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --filter_key roberto --video_path ~/Downloads/rt_benchmark_playback/playback_lift_mh_worse_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --filter_key chen --video_path ~/Downloads/rt_benchmark_playback/playback_lift_mh_worse_2.mp4 + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --filter_key roberto --video_path ~/Downloads/rt_benchmark_playback/playback_can_mh_worse_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --filter_key chen --video_path ~/Downloads/rt_benchmark_playback/playback_can_mh_worse_2.mp4 + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --filter_key roberto --video_path ~/Downloads/rt_benchmark_playback/playback_square_mh_worse_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --filter_key chen --video_path ~/Downloads/rt_benchmark_playback/playback_square_mh_worse_2.mp4 + +# okay (yuke, danfei) +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --filter_key yuke --video_path ~/Downloads/rt_benchmark_playback/playback_lift_mh_okay_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --filter_key danfei --video_path ~/Downloads/rt_benchmark_playback/playback_lift_mh_okay_2.mp4 + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --filter_key yuke --video_path ~/Downloads/rt_benchmark_playback/playback_can_mh_okay_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --filter_key danfei --video_path ~/Downloads/rt_benchmark_playback/playback_can_mh_okay_2.mp4 + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --filter_key yuke --video_path ~/Downloads/rt_benchmark_playback/playback_square_mh_okay_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --filter_key danfei --video_path ~/Downloads/rt_benchmark_playback/playback_square_mh_okay_2.mp4 + +# better (ajay, josiah) +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --filter_key ajay --video_path ~/Downloads/rt_benchmark_playback/playback_lift_mh_better_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_multi_human/state_done_2.hdf5 --filter_key josiah --video_path ~/Downloads/rt_benchmark_playback/playback_lift_mh_better_2.mp4 + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --filter_key ajay --video_path ~/Downloads/rt_benchmark_playback/playback_can_mh_better_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_multi_human/state_done_2.hdf5 --filter_key josiah --video_path ~/Downloads/rt_benchmark_playback/playback_can_mh_better_2.mp4 + +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --filter_key ajay --video_path ~/Downloads/rt_benchmark_playback/playback_square_mh_better_1.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_multi_human/state_done_2.hdf5 --filter_key josiah --video_path ~/Downloads/rt_benchmark_playback/playback_square_mh_better_2.mp4 + + +# 6 subsets for transport +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --filter_key ajay_josiah --video_path ~/Downloads/rt_benchmark_playback/playback_transport_mh_better.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --filter_key yuke_danfei --video_path ~/Downloads/rt_benchmark_playback/playback_transport_mh_okay.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --filter_key roberto_chen --video_path ~/Downloads/rt_benchmark_playback/playback_transport_mh_worse.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --filter_key ajay_yuke --video_path ~/Downloads/rt_benchmark_playback/playback_transport_mh_okay_better.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --filter_key roberto_danfei --video_path ~/Downloads/rt_benchmark_playback/playback_transport_mh_worse_okay.mp4 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_multi_human/state_done_2.hdf5 --filter_key josiah_chen --video_path ~/Downloads/rt_benchmark_playback/playback_transport_mh_worse_better.mp4 + +# SE +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_benchmark_playback/playback_lift_se.mp4 --n 50 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_benchmark_playback/playback_can_se.mp4 --n 50 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_benchmark_playback/playback_square_se.mp4 --n 50 +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_benchmark_playback/playback_transport_se.mp4 --n 50 + +# tool hang (sim) +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_tool_hanging_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_benchmark_playback/playback_tool_hang_se.mp4 --n 100 --camera_names sideview + + +# observation space videos +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_obs/obs_can.mp4 --n 20 --camera_names agentview robot0_eye_in_hand +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_obs/obs_transport.mp4 --n 20 --camera_names shouldercamera0 shouldercamera1 robot0_eye_in_hand robot1_eye_in_hand +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_tool_hanging_single_expert/state_done_2.hdf5 --video_path ~/Downloads/rt_obs/obs_tool_hang.mp4 --n 20 --camera_names sideview robot0_eye_in_hand + + +# real videos +python playback_dataset.py --dataset ~/Desktop/real_robot/lift/demo.hdf5 --use-obs --video_path ~/Downloads/rt_benchmark_playback/playback_lift_real.mp4 --video_skip 1 --n 50 +python playback_dataset.py --dataset ~/Desktop/real_robot/can/demo.hdf5 --use-obs --video_path ~/Downloads/rt_benchmark_playback/playback_can_real.mp4 --video_skip 1 --n 50 +python playback_dataset.py --dataset ~/Desktop/real_robot/tool_hanging_deadline/demo.hdf5 --use-obs --video_path ~/Downloads/rt_benchmark_playback/playback_tool_hang_real.mp4 --video_skip 1 --n 50 + + +# get first frame videos for all tasks +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_lift_single_expert/state_done_2.hdf5 --video_path ~/Downloads/playback_first/playback_lift_first.mp4 --first +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_can_single_expert/state_done_2.hdf5 --video_path ~/Downloads/playback_first/playback_can_first.mp4 --first +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_square_single_expert/state_done_2.hdf5 --video_path ~/Downloads/playback_first/playback_square_first.mp4 --first +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_two_arm_transport_single_expert/state_done_2.hdf5 --video_path ~/Downloads/playback_first/playback_transport_first.mp4 --first +python playback_dataset.py --dataset ~/Desktop/benchmark_datasets/panda_tool_hanging_single_expert/state_done_2.hdf5 --video_path ~/Downloads/playback_first/playback_tool_hang_first.mp4 --camera_names sideview --first + +### TODO: make sure to edit the file to only grab the relevant camera image first in playback_obs ### +python playback_dataset.py --dataset ~/Desktop/real_robot/lift/demo.hdf5 --use-obs --video_path ~/Downloads/playback_first/playback_lift_real_first.mp4 --first +python playback_dataset.py --dataset ~/Desktop/real_robot/can/demo.hdf5 --use-obs --video_path ~/Downloads/playback_first/playback_can_real_first.mp4 --first +python playback_dataset.py --dataset ~/Desktop/real_robot/tool_hanging_deadline/demo.hdf5 --use-obs --video_path ~/Downloads/playback_first/playback_tool_hang_real_first.mp4 --first + +# can paired BCQ rollouts +python test.py --agent /afs/cs.stanford.edu/u/amandlek/installed_libraries/benchmark/slurm/log/batchRL/batchrl_benchmark/hp_sweep/low_dim/hbcq/can_paired_bcq_low_dim/benchmark_can_paired_ld_bc_trained_models/hbcq_ds_can_paired_ld_seed_1/2021-06-12-15-12-19-179527/models/model_epoch_800_PickPlaceCan_success_0.46.pth \ +--render_video --video_dir ~/Downloads/can_paired_rollouts --n_rollouts 50 --horizon 400 --seed 1 + +python test.py --agent /afs/cs.stanford.edu/u/amandlek/installed_libraries/benchmark/slurm/log/batchRL/batchrl_benchmark/hp_sweep/low_dim/bc/can_paired_bc_rnn_low_dim/benchmark_can_paired_ld_bc_trained_models/bc_rnn_ds_can_paired_ld_seed_1/2021-06-08-13-01-35-323829/models/model_epoch_300_PickPlaceCan_success_0.74.pth \ +--render_video --video_dir ~/Downloads/can_paired_rollouts_bc_rnn --n_rollouts 50 --horizon 400 --seed 1 + + diff --git a/robomimic/scripts/internal/dataset_links.sh b/robomimic/scripts/internal/dataset_links.sh new file mode 100644 index 00000000..9dcbfcf6 --- /dev/null +++ b/robomimic/scripts/internal/dataset_links.sh @@ -0,0 +1,79 @@ +#!/bin/bash + +# lift - ph +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/lift/ph/demo.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/lift/ph/low_dim.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/lift/ph/image.hdf5 + +# lift - mh +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/lift/mh/demo.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/lift/mh/low_dim.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/lift/mh/image.hdf5 + +# lift - mg +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/lift/mg/demo.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/lift/mg/low_dim_sparse.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/lift/mg/low_dim_dense.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/lift/mg/image_sparse.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/lift/mg/image_dense.hdf5 + + +# can - ph +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/ph/demo.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/ph/low_dim.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/ph/image.hdf5 + +# can - mh +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/mh/demo.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/mh/low_dim.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/mh/image.hdf5 + +# can - mg +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/mg/demo.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/mg/low_dim_sparse.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/mg/low_dim_dense.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/mg/image_sparse.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/mg/image_dense.hdf5 + +# can - paired +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/paired/demo.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/paired/low_dim.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can/paired/image.hdf5 + + +# square - ph +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/square/ph/demo.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/square/ph/low_dim.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/square/ph/image.hdf5 + +# square - mh +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/square/mh/demo.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/square/mh/low_dim.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/square/mh/image.hdf5 + + +# transport - ph +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/transport/ph/demo.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/transport/ph/low_dim.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/transport/ph/image.hdf5 + +# transport - mh +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/transport/mh/demo.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/transport/mh/low_dim.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/transport/mh/image.hdf5 + + +# tool hang - ph +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/tool_hang/ph/demo.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/tool_hang/ph/low_dim.hdf5 +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/tool_hang/ph/image.hdf5 + + +# lift_real - ph +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/lift_real/ph/demo.hdf5 + +# can_real - ph +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/can_real/ph/demo.hdf5 + +# tool_hang_real +curl -O http://downloads.cs.stanford.edu/downloads/rt_benchmark/tool_hang_real/ph/demo.hdf5 diff --git a/robomimic/scripts/internal/extract_d4rl_results.py b/robomimic/scripts/internal/extract_d4rl_results.py new file mode 100644 index 00000000..2a93044d --- /dev/null +++ b/robomimic/scripts/internal/extract_d4rl_results.py @@ -0,0 +1,81 @@ +""" +A convenience script to report the average return of the last 10 rollout evaluations. +This is useful for collecting D4RL results, to be consistent with how the TD3_BC paper +(https://arxiv.org/abs/2106.06860) reported their results. +""" +import os +import json +import argparse +import numpy as np +import gym +import d4rl +import tensorflow as tf + + +def read_tb_log(tb_file, env_name): + """ + Helper function to extract rollout results from a tensorboard log. + """ + results = dict() + verify_env_name = None + for e in tf.compat.v1.train.summary_iterator(tb_file): + epoch = e.step + for v in e.summary.value: + tag = v.tag + exclude_suffixes = ["mean", "std", "min", "max"] + if v.tag.startswith("Rollout/Return/") and not any([v.tag.endswith(suff) for suff in exclude_suffixes]): + results[e.step] = v.simple_value + verify_env_name = v.tag.split("/")[-1] + assert env_name == verify_env_name + sorted_epochs = sorted([x for x in list(results.keys())]) + assert len(sorted_epochs) >= 10, "must have at least 10 evaluations but got {}".format(len(sorted_epochs)) + assert sorted_epochs[-1] == 200, "last epoch must be 200" + score = np.mean([results[e] for e in sorted_epochs[-10:]]) + env = gym.make(env_name) + normalized_score = env.get_normalized_score(score) + return score, normalized_score + + +def read_all_tb_logs(base_dir): + """ + Reads all tensorboard logs in all subdirectories. Assumes the following directory structure: + + [env_name] + trained_models + [exp_name] + [timestamp_dir] + logs + tb + [tb_file] + models + videos + """ + results = {} + for env_name in sorted(os.listdir(base_dir)): + env_dir = os.path.join(base_dir, env_name) + assert len(os.listdir(env_dir)) == 1 + trained_models_dir = os.path.join(env_dir, os.listdir(env_dir)[0]) + assert len(os.listdir(trained_models_dir)) == 1 + exp_dir = os.path.join(trained_models_dir, os.listdir(trained_models_dir)[0]) + assert len(os.listdir(exp_dir)) == 1 + timestamp_dir = os.path.join(exp_dir, os.listdir(exp_dir)[0]) + tb_dir = os.path.join(timestamp_dir, "logs", "tb") + assert len(os.listdir(tb_dir)) == 1 + tb_file = os.path.join(tb_dir, os.listdir(tb_dir)[0]) + score, normalized_score = read_tb_log(tb_file=tb_file, env_name=env_name) + results[env_name] = dict(score=score, normalized_score=normalized_score) + return results + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "--dir", + type=str, + help="path to top-level directory", + ) + + args = parser.parse_args() + results = read_all_tb_logs(base_dir=args.dir) + print(json.dumps(results, indent=4)) + diff --git a/robomimic/scripts/internal/give_slack_notification.py b/robomimic/scripts/internal/give_slack_notification.py new file mode 100644 index 00000000..549a568c --- /dev/null +++ b/robomimic/scripts/internal/give_slack_notification.py @@ -0,0 +1,71 @@ +""" +Script to send a slack message for notifications on completed training runs. +Super extra, but gotta love it. +""" + +import argparse +import socket +import ssl as ssl_lib +import certifi + +import slack_sdk +from slack_sdk import WebClient +from slack_sdk.errors import SlackApiError + +import robomimic +import robomimic.utils.macros as Macros + +SLACK_TOKEN = Macros.SLACK_TOKEN +SLACK_USER_ID = Macros.SLACK_USER_ID + +def give_slack_notif(msg): + # for some reason, we need to explicitly create an SSL context + ssl_context = ssl_lib.create_default_context(cafile=certifi.where()) + client = WebClient(Macros.SLACK_TOKEN, ssl=ssl_context) + + try: + response = client.chat_postMessage( + channel=Macros.SLACK_USER_ID, + text=msg, + ) + except SlackApiError as e: + # You will get a SlackApiError if "ok" is False + assert e.response["ok"] is False + assert e.response["error"] # str like 'invalid_auth', 'channel_not_found' + print(f"Got a slack error: {e.response['error']}") + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + + # name of bash script - assumes the script is in the same directory as this file + parser.add_argument( + "--script_name", + type=str, + ) + + args = parser.parse_args() + + print("sending slack message for completion from script: {}".format(args.script_name)) + with open(args.script_name, "r") as f: + # collect python commands from bash script + lines = f.readlines() + python_lines = [l for l in lines if l.strip().startswith("python")] + f_str = "\n".join(python_lines) + f_str = "```{}```".format(f_str) + message_str = "Completed the following training runs!\nHostname: {}\nScript Name: {}\n".format(socket.gethostname(), args.script_name) + message_str += f_str + + # for some reason, we need to explicitly create an SSL context + ssl_context = ssl_lib.create_default_context(cafile=certifi.where()) + client = WebClient(SLACK_TOKEN, ssl=ssl_context) + + try: + response = client.chat_postMessage( + channel=SLACK_USER_ID, + text=message_str, + ) + except SlackApiError as e: + # You will get a SlackApiError if "ok" is False + assert e.response["ok"] is False + assert e.response["error"] # str like 'invalid_auth', 'channel_not_found' + print(f"Got a slack error: {e.response['error']}") \ No newline at end of file diff --git a/robomimic/scripts/internal/hyperparam_helper_old.py b/robomimic/scripts/internal/hyperparam_helper_old.py new file mode 100644 index 00000000..7c948e3a --- /dev/null +++ b/robomimic/scripts/internal/hyperparam_helper_old.py @@ -0,0 +1,3360 @@ +""" +A useful script for generating json files and shell scripts for conducting parameter scans. +The script takes a path to a base json file as an argument and a shell file name. +It generates a set of new json files in the same folder as the base json file, and +a shell file script that contains commands to run for each experiment. + +Instructions: + +(1) Decide on what json parameters you would like to sweep over, and fill those in as + keys in @PARAMETERS below, taking note of the hierarchical key + formatting using "/". Fill in corresponding values for each - these will + be used in creating the experiment names, and for determining the range + of values to sweep. Make sure that the list of values for each parameter is + equal in size (unless you want to use the @combinations functionality). + +(2) Start with a base json that specifies a complete set of parameters for a single + run (including those that you don't want to change). + +(3) That's it! Run the script with the following arguments. The new experiment jsons + will be put into the same directory as your base json, and the script to run them + will be created at the path you specify below. + + Args: + algo (str): desired algorithm (e.g. bc, bcq, etc.) + + config (str): path to the base json you created above + + script (str): path to generated script to run the experiments + + combinations (bool): if True, generate experiments for all possible + parameter combinations. +""" + +import argparse +import os +import json +import itertools + +from collections import OrderedDict +from copy import deepcopy + +# Parameter Dictionary that should map from parameters (specified in hierarchical key format) +# to tuple values that should specify: +# (1) base name for each parameter variation when naming each experiment +# (2) list of parameter values to sweep +# (3) parameter group identifier - only used when @combinations argument is set. +# Assign parameters the same identifier to sweep over them together. Combinations +# are only taken between parameter groups. + + +# BC-RNN tuning +PARAMETERS = OrderedDict({ + "train/data": + ( + "ds", + [ + # "~/Desktop/lift_suboptimal/states1.hdf5", + # "~/Desktop/roboturk_v1/RoboTurkPilot/bins-Can/states.hdf5", # "fastest_225 filter key" + # "~/Desktop/d4rl_manip/lift_v1_subopt_paired1/states.hdf5", + # "~/Desktop/d4rl_manip/lift_v1_subopt_careless/states.hdf5", + # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_done_1.hdf5", + + # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_done_2_succ.hdf5", + + # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_images_done_2.hdf5", + + # "~/Desktop/robosuite_v1_demos/panda_lift/states_done_2.hdf5", + # "~/Desktop/robosuite_v1_demos/sawyer_lift/states_done_2.hdf5", + # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/states_done_2.hdf5", + # "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can/states_done_2.hdf5", + # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/states_done_2.hdf5", + # "~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square/states_done_2.hdf5", + + # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/states_done_2_combined.hdf5", + # "~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square/states_done_2_combined.hdf5", + + # "~/Desktop/robosuite_v1_demos/panda_pick_place_can_v1_2_1/states_done_2_all.hdf5", + "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/ajay/states_done_2.hdf5", + "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/josiah/states_done_2.hdf5", + "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/roberto/states_done_2.hdf5", + "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/yuke/states_done_2.hdf5", + "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/states_done_2.hdf5", + + "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/ajay/states_done_2.hdf5", + "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/josiah/states_done_2.hdf5", + "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/roberto/states_done_2.hdf5", + "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/yuke/states_done_2.hdf5", + "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/states_done_2.hdf5", + + # "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can_paired2/states_done_2.hdf5", + + # "~/Desktop/robosuite_v1_demos/panda_lift/states_images_done_2.hdf5", + # "~/Desktop/robosuite_v1_demos/sawyer_lift/states_images_done_2.hdf5", + # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/states_images_done_2.hdf5", + # "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can/states_images_done_2.hdf5", + # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/states_images_done_2.hdf5", + # "~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square/states_images_done_2.hdf5", + + # "~/Desktop/d4rl/converted/antmaze_umaze_diverse.hdf5", + # "~/Desktop/d4rl/converted/antmaze_medium_diverse.hdf5", + + # "~/Desktop/d4rl/converted/pen-v0_demos_clipped.hdf5", + # "~/Desktop/d4rl/converted/door-v0_demos_clipped.hdf5", + # "~/Desktop/d4rl/converted/hammer-v0_demos_clipped.hdf5", + # "~/Desktop/d4rl/converted/relocate-v0_demos_clipped.hdf5", + # "~/Desktop/d4rl/converted/pen-demos-v0-bc-combined.hdf5", + + # "~/Desktop/d4rl/converted/kitchen_complete_v0.hdf5", + # "~/Desktop/d4rl/converted/kitchen_partial_v0.hdf5", + # "~/Desktop/d4rl/converted/kitchen_mixed_v0.hdf5", + ], + 0, + [ + # "lift_subopt", + # "cans_top_225", + # "lift_subopt_paired1", + # "lift_subopt_careless", + # "lift_subopt_paired2", + + # "lift_subopt_paired2_done_2_succ", + + # "lift_subopt_paired2_image", + + # "v1_ds_panda_lift", + # "v1_ds_sawyer_lift", + # "v1_ds_panda_pick_place_can", + # "v1_ds_sawyer_pick_place_can", + # "v1_ds_panda_nut_assembly_square", + # "v1_ds_sawyer_nut_assembly_square", + + # "v1_ds_panda_nut_assembly_square_200", + # "v1_ds_sawyer_nut_assembly_square_200", + + # "v1_2_panda_can", + "multi_panda_can_ajay", + "multi_panda_can_josiah", + "multi_panda_can_roberto", + "multi_panda_can_yuke", + "multi_panda_can_all", + + "multi_panda_square_ajay", + "multi_panda_square_josiah", + "multi_panda_square_roberto", + "multi_panda_square_yuke", + "multi_panda_square_all", + + # "v1_ds_sawyer_pick_place_can_paired2", + + # "v1_ds_panda_lift_image", + # "v1_ds_sawyer_lift_image", + # "v1_ds_panda_pick_place_can_image", + # "v1_ds_sawyer_pick_place_can_image", + # "v1_ds_panda_nut_assembly_square_image", + # "v1_ds_sawyer_nut_assembly_square_image", + + # "antmaze_umaze_diverse", + # "antmaze_medium_diverse", + + # "pen_human", + # "door_human", + # "hammer_human", + # "relocate_human", + # "pen_cloned", + + # "kitchen_complete", + # "kitchen_partial", + # "kitchen_mixed", + ], + ), + # "train/hdf5_filter": + # ( + # "", + # [ + # None, None, None, + # # "fastest_225", + # ], + # 0, + # ), + # "train/num_epochs": + # ( + # "nepoch", + # [1001, 501, 501], + # 0, + # ), + # "experiment/render_video": + # ( + # "", + # [False, False, False], + # 0, + # ), + # "experiment/rollout/horizon": + # ( + # "horz", + # [281, 281, 281], + # 0, + # ), + # "experiment/rollout/rate": + # ( + # "", + # [50, 25, 25], + # 0, + # ), + # "experiment/save_every_n_epochs": + # ( + # "", + # [50, 25, 25], + # 0, + # ), + "algo/optim_params/policy/learning_rate/initial": + ( + "plr", + [1e-3, 1e-4], + # [3e-4, 7e-4], + # [1e-4], + # [1e-3], + 1, + ), + "train/seq_length": + ( + "seq", + [10], + # [5, 10, 50, 100], + # [1], + 2, + ), + "train/subgoal_horizons": + ( + "", + [[10]], + # [[5], [10], [50], [100]], + # [[1]], + 2, + ), + "algo/rnn/horizon": + ( + "", + [10], + # [5, 10, 50, 100], + # [1], + 2, + ), + "algo/actor_layer_dims": + ( + "mlp", + # [[], [300, 400]], + [[]], + # [[300, 400], [256, 256, 256]], + # [[300, 400]], + # [[300, 400], [1024, 1024]], + # [[1024, 1024]], + 3, + ), + "train/num_epochs": + ( + "nepoch", + # [2201], + [1501], + # [2001], + # [1001, 1001], + # [501, 501], + 4, + ), + "algo/rnn/hidden_dim": + ( + "rnnd", + # [128], + # [100, 400], + # [400, 1000], + # [400], + [1000], + # [100, 400, 1000], + 4, + ), + # "algo/rnn/num_layers": + # ( + # "rnnnl", + # [8], + # 4, + # ), + # "train/num_epochs": + # ( + # "nepoch", + # # [1001], + # [501, 501], + # # [201], + # # [2001, 2001], + # # [1001, 1001, 1001], + # # [30, 30], + # 4, + # ), + + # "algo/rnn/enabled": + # ( + # "rnn", + # [False, False], + # # [False], + # 5, + # ), + + "algo/gmm/enabled": + ( + "gmm", + [True, False], + # [True], + # [False], + 5, + ), + + # "algo/rnn/open_loop": + # ( + # "open_loop", + # [True], + # # [True], + # # [False], + # 6, + # ), + + # "algo/gmm/num_modes": + # ( + # "nm", + # [5, 5, 5, 100, 100], + # 6, + # ), + # "algo/gmm/min_std": + # ( + # "min", + # [0.01, 1e-4, 1e-4, 0.01, 0.01], + # 6, + # ), + # "algo/gmm/std_activation": + # ( + # "act", + # ["exp", "softplus", "exp", "softplus", "exp"], + # 6, + # ), + + # "algo/modalities/observation": + # ( + # "mod", + # # [["agentview_image"], ["agentview_image", "proprio"]], + # [["agentview_image", "proprio"]], + # 6, + # # ["im", "im_prop"], + # ["im_prop"], + # ), + + # "train/seed": + # ( + # "seed", + # [0, 1], + # 7, + # ), + # "test/seed": + # ( + # "", + # [0, 1], + # 7, + # ), + + # "train/hdf5_in_memory": + # ( + # "in_mem", + # [True], + # 6, + # ), + + # "algo/vae/enabled": + # ( + # "vae", + # [True], + # 5, + # ), + # "algo/vae/kl_weight": + # ( + # "kl", + # # [0.5, 0.05, 5e-3, 5e-4], + # # [0.05], + # # [0.05, 5e-4], + # [0.5, 0.05], + # 6, + # ), + # "algo/vae/decoder_layer_dims": + # ( + # # "dec_mlp", + # "mlp", + # # [[], [300, 400]], + # [[]], + # # [[300, 400]], + # 7, + # ), + # "algo/vae/encoder_layer_dims": + # ( + # # "enc_mlp", + # "", + # # [[], [300, 400]], + # [[]], + # # [[300, 400]], + # 7, + # ), + + # # # gmm + # # "algo/vae/prior/learn": + # # ( + # # "prior_gmm", + # # # [False, True], + # # [True], + # # 8, + # # ), + # # "algo/vae/prior/use_gmm": + # # ( + # # "", + # # # [False, True], + # # [True], + # # 8, + # # ), + # # "algo/vae/prior/gmm_learn_weights": + # # ( + # # "", + # # # [False, True], + # # [True], + # # 8, + # # ), + # # "algo/vae/prior/is_conditioned": + # # ( + # # "", + # # # [False, True], + # # [True], + # # 8, + # # ), + # # "algo/vae/prior/gmm_weights_are_conditioned": + # # ( + # # "", + # # # [False, True], + # # [True], + # # 8, + # # ), + # # "algo/vae/prior_layer_dims": + # # ( + # # "pld", + # # # [[], [300, 400]], + # # [[300, 400]], + # # 8, + # # ), + # # # "algo/vae/prior/gmm_low_noise_eval": + # # # ( + # # # "lne", + # # # [True], + # # # 8, + # # # ), + + # # # categ + # # "algo/vae/prior/use_categorical": + # # ( + # # "categ", + # # [True], + # # 8, + # # ), + # # "algo/vae/latent_dim": + # # ( + # # # "ld", + # # "", + # # [1], + # # 8, + # # ), + # # "algo/vae/prior/categorical_dim": + # # ( + # # "cd", + # # [10], + # # 8, + # # ), + # # "algo/vae/prior/categorical_min_temp": + # # ( + # # # "mtemp", + # # "", + # # [0.5], + # # 8, + # # ), + # # "algo/vae/prior/categorical_gumbel_softmax_hard": + # # ( + # # # "hard", + # # "", + # # # [True, False], + # # [False], + # # 9, + # # ), + # # "algo/vae/prior/learn": + # # ( + # # "", + # # # [False, True], + # # [False], + # # 10, + # # ), + # # "algo/vae/prior/is_conditioned": + # # ( + # # "", + # # # [False, True], + # # [False], + # # 10, + # # ), + + + # "algo/vae/rnn/encoder_is_rnn": + # ( + # # "enc_rnn", + # "ed_rnn", + # # [False], + # [True], + # 11, + # ), + # # "algo/rnn/kwargs/bidirectional": + # # ( + # # "bidir", + # # [True], + # # 11, + # # ), + # "algo/vae/rnn/decoder_is_rnn": + # ( + # "", + # [True], + # 11, + # ), + # # "algo/vae/rnn/encoder_use_subgoals": + # # ( + # # "enc_sg", + # # [True], + # # 12, + # # ), + # # "algo/vae/rnn/encoder_replace_actions": + # # ( + # # "", + # # [True], + # # 12, + # # ), + # # "algo/vae/rnn/decoder_use_subgoals": + # # ( + # # "dec_sg", + # # [True], + # # 13, + # # ), + + # # "algo/vae/decoder/is_conditioned": + # # ( + # # "dec_cond", + # # [False], + # # 14, + # # ), + + # # "algo/rnn/open_loop": + # # ( + # # "open_loop", + # # [True], + # # # [False], + # # 15, + # # ), + + # "algo/flow/enabled": + # ( + # "flow", + # # [True], + # [True, True, True], + # 5, + # ), + # "algo/rnn/enabled": + # ( + # "", + # # [False], + # [False, False, False], + # 5, + # ), + # "algo/flow/layer_dims": + # ( + # "ldims", + # # [[256, 256]], + # # [[1024, 1024, 1024]], + # [[1024, 1024], [1024, 1024, 1024], [1024, 1024]], + # 5, + # ), + # "algo/flow/obs_layer_dims": + # ( + # "oldims", + # # [[256, 256, 256]], + # # [[1024, 1024, 256], [1024, 1024, 8], [256, 256, 8]], + # # [[256, 256, 8]], + # [[1024, 1024, 256], [1024, 1024, 256], [256, 256, 256]], + # 5, + # ), + # "algo/flow/num_flows": + # ( + # "nf", + # # [2, 3], + # # [3, 4], + # # [6, 8], + # [6, 4, 3], + # 5, + # ), + # "algo/flow/activation": + # ( + # "act", + # ["relu", "tanh"], + # # ["relu"], + # 7, + # ), +}) + +# # BC-SPIRL tuning +# PARAMETERS = OrderedDict({ +# "train/data": +# ( +# "ds", +# [ +# # "~/Desktop/lift_suboptimal/states1.hdf5", +# # "~/Desktop/roboturk_v1/RoboTurkPilot/bins-Can/states.hdf5", # "fastest_225 filter key" +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired1/states.hdf5", +# # "~/Desktop/d4rl_manip/lift_v1_subopt_careless/states.hdf5", +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_done_1.hdf5", + +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_done_2_succ.hdf5", + +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_images_done_2.hdf5", + +# # "~/Desktop/robosuite_v1_demos/panda_lift/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_lift/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square/states_done_2.hdf5", + +# "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/states_done_2_combined.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square/states_done_2_combined.hdf5", + +# # "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can_paired2/states_done_2.hdf5", + +# # "~/Desktop/robosuite_v1_demos/panda_lift/states_images_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_lift/states_images_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/states_images_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can/states_images_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/states_images_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square/states_images_done_2.hdf5", + +# # "~/Desktop/d4rl/converted/antmaze_umaze_diverse.hdf5", +# # "~/Desktop/d4rl/converted/antmaze_medium_diverse.hdf5", + +# # "~/Desktop/d4rl/converted/pen-v0_demos_clipped.hdf5", +# # "~/Desktop/d4rl/converted/door-v0_demos_clipped.hdf5", +# # "~/Desktop/d4rl/converted/hammer-v0_demos_clipped.hdf5", +# # "~/Desktop/d4rl/converted/relocate-v0_demos_clipped.hdf5", +# # "~/Desktop/d4rl/converted/pen-demos-v0-bc-combined.hdf5", + +# # "~/Desktop/d4rl/converted/kitchen_complete_v0.hdf5", +# # "~/Desktop/d4rl/converted/kitchen_partial_v0.hdf5", +# # "~/Desktop/d4rl/converted/kitchen_mixed_v0.hdf5", +# ], +# 0, +# [ +# # "lift_subopt", +# # "cans_top_225", +# # "lift_subopt_paired1", +# # "lift_subopt_careless", +# # "lift_subopt_paired2", + +# # "lift_subopt_paired2_done_2_succ", + +# # "lift_subopt_paired2_image", + +# # "v1_ds_panda_lift", +# # "v1_ds_sawyer_lift", +# # "v1_ds_panda_pick_place_can", +# # "v1_ds_sawyer_pick_place_can", +# # "v1_ds_panda_nut_assembly_square", +# # "v1_ds_sawyer_nut_assembly_square", + +# "v1_ds_panda_nut_assembly_square_200", +# # "v1_ds_sawyer_nut_assembly_square_200", + +# # "v1_ds_sawyer_pick_place_can_paired2", + +# # "v1_ds_panda_lift_image", +# # "v1_ds_sawyer_lift_image", +# # "v1_ds_panda_pick_place_can_image", +# # "v1_ds_sawyer_pick_place_can_image", +# # "v1_ds_panda_nut_assembly_square_image", +# # "v1_ds_sawyer_nut_assembly_square_image", + +# # "antmaze_umaze_diverse", +# # "antmaze_medium_diverse", + +# # "pen_human", +# # "door_human", +# # "hammer_human", +# # "relocate_human", +# # "pen_cloned", + +# # "kitchen_complete", +# # "kitchen_partial", +# # "kitchen_mixed", +# ], +# ), +# # "train/hdf5_filter": +# # ( +# # "", +# # [ +# # None, None, None, +# # # "fastest_225", +# # ], +# # 0, +# # ), +# "train/num_epochs": +# ( +# "nepoch", +# [1501], +# 1, +# ), + +# "algo/spirl/enabled": +# ( +# "spirl", +# [True], +# 2, +# [""], +# ), +# "algo/vae/enabled": +# ( +# "", +# [True], +# 2, +# ), + +# "algo/optim_params/policy/learning_rate/initial": +# ( +# "plr", +# # [1e-3, 1e-3, 1e-4], +# [1e-3, 1e-4], +# # [1e-3], +# 3, +# ), +# "algo/optim_params/skill_prior/learning_rate/initial": +# ( +# "slr", +# # [1e-3, 1e-4, 1e-4], +# [1e-4, 1e-4], +# 3, +# ), +# "train/seq_length": +# ( +# "seq", +# [10], +# # [5, 10, 50, 100], +# # [1], +# 4, +# ), +# "train/subgoal_horizons": +# ( +# "", +# [[10]], +# # [[5], [10], [50], [100]], +# # [[1]], +# 4, +# ), +# "algo/rnn/horizon": +# ( +# "", +# [10], +# # [5, 10, 50, 100], +# # [1], +# 4, +# ), +# "algo/spirl/layer_dims": +# ( +# "sld", +# [(300, 400), (128, 128, 128, 128, 128), (1024, 1024)], +# # [(128, 128, 128, 128, 128)], +# # [(1024, 1024)], +# 5, +# ), +# "algo/vae/encoder_layer_dims": +# ( +# "enc_ld", +# [[]], +# # [(300, 400)], +# 6, +# ), +# "algo/vae/decoder_layer_dims": +# ( +# "dec_ld", +# [[]], +# # [(300, 400)], +# 6, +# ), +# "algo/rnn/hidden_dim": +# ( +# "rnnd", +# # [100], +# # [100, 400], +# # [400, 1000], +# [400], +# # [1000], +# # [100, 400, 1000], +# 6, +# ), + +# "algo/gaussian/enabled": +# ( +# "gaussian", +# # [True, False], +# # [True], +# [False], +# 7, +# ), +# "algo/gmm/enabled": +# ( +# "gmm", +# # [False, True], +# [True], +# # [False], +# 7, +# ), + +# "algo/gaussian/low_noise_eval": +# ( +# "lne", +# # [True, False], +# [True], +# 8, +# ), +# "algo/gmm/low_noise_eval": +# ( +# "", +# # [True, False], +# [True], +# 8, +# ), + +# # "algo/rnn/kwargs/bidirectional": +# # ( +# # "bidir", +# # [True], +# # 9, +# # ), + +# "algo/vae/kl_weight": +# ( +# "kl", +# # [0.05], +# # [0.5, 0.005], +# # [5e-3], +# [5e-6], +# 10, +# ), + +# "algo/gmm/min_std": +# ( +# "min", +# # [0.01, 1e-4], +# [1e-4], +# 11, +# ), +# }) + +# # OPAL tuning +# PARAMETERS = OrderedDict({ +# "train/data": +# ( +# "ds", +# [ +# "~/Desktop/d4rl/converted/antmaze_medium_diverse_v0.hdf5", +# # "~/Desktop/d4rl/converted/antmaze_large_diverse_v0.hdf5", +# ], +# 0, +# [ +# "antmaze_medium_diverse", +# # "antmaze_large_diverse", +# ], +# ), +# "train/num_epochs": +# ( +# "nepoch", +# [201], +# 1, +# ), +# "algo/opal/pretrain_epochs": +# ( +# "pretrain", +# [100], +# 0, +# ), +# "algo/low_level/optim_params/policy/learning_rate/epoch_schedule": +# ( +# "", +# [[100]], +# 0, +# ), +# "experiment/rollout/warmstart": +# ( +# "", +# [100], +# 0, +# ), + +# # learning rates +# "algo/high_level/optim_params/critic/learning_rate/initial": +# ( +# "clr", +# [3e-4], +# 3, +# ), + +# "algo/high_level/optim_params/actor/learning_rate/initial": +# ( +# "alr", +# # [3e-5], +# [1e-4], +# 3, +# ), + +# "algo/low_level/optim_params/policy/learning_rate/initial": +# ( +# "plr", +# [1e-3], +# 3, +# ), + +# # OPAL params +# "algo/opal/use_n_step_return": +# ( +# "ns", +# [True], +# # [False], +# 3, +# ), +# "algo/opal/use_single_step_return": +# ( +# "ss", +# [False], +# # [True], +# 3, +# ), +# "algo/high_level/discount": +# ( +# "gamma", +# [0.99], +# # [0.99 ** 10], +# 3, +# ), + +# # CQL params +# "algo/high_level/critic/min_q_weight": +# ( +# "min_q", +# # [1.0], +# [5.0], +# 3, +# ), + +# "algo/high_level/actor/bc_start_steps": +# ( +# "bc", +# # [40000], +# [0], +# 3, +# ), + +# # gaussian decoding +# "algo/low_level/vae/decoder/reconstruction_sum_across_elements": +# ( +# "gauss_dec", +# [True], +# # [False], +# 6, +# ), +# "algo/low_level/vae/decoder/learn_variance": +# ( +# "", +# [True], +# # [False], +# 6, +# ), + +# # "algo/low_level/vae/encoder_layer_dims": +# # ( +# # "enc_ld", +# # [[]], +# # # [(300, 400)], +# # 6, +# # ), +# # "algo/low_level/vae/decoder_layer_dims": +# # ( +# # "dec_ld", +# # [[]], +# # # [(300, 400)], +# # 6, +# # ), +# # "algo/low_level/rnn/hidden_dim": +# # ( +# # "rnnd", +# # [400], +# # 6, +# # ), + +# "algo/low_level/vae/kl_weight": +# ( +# "kl", +# # [0.1, 0.1], +# [0.1 / 8, 0.1 / 16], +# 10, +# ), +# "algo/low_level/vae/latent_dim": +# ( +# "ld", +# [8, 16], +# 10, +# ), +# }) + +# # PLAS tuning +# PARAMETERS = OrderedDict({ +# "train/data": +# ( +# "ds", +# [ +# "~/Desktop/d4rl/converted/walker2d_medium_expert.hdf5", +# "~/Desktop/d4rl/converted/halfcheetah_random.hdf5", +# ], +# 0, +# [ +# "walker2d_medium_expert", +# "halfcheetah_random", +# ], +# ), +# "train/num_epochs": +# ( +# "nepoch", +# [51, 101], +# # [101], +# 0, +# ), +# "algo/optim_params/latent_network/end_epoch": +# ( +# "pretrain", +# [25, 50], +# # [50], +# 0, +# ), +# "algo/optim_params/critic/start_epoch": +# ( +# "", +# [25, 50], +# # [50], +# 0, +# ), +# "algo/optim_params/actor/start_epoch": +# ( +# "", +# [25, 50], +# # [50], +# 0, +# ), +# "experiment/rollout/warmstart": +# ( +# "", +# [25, 50], +# # [50], +# 0, +# ), + +# # lambda +# "algo/critic/ensemble/weight": +# ( +# "lam", +# # [1.0, 0.75], +# [0.75], +# # [1.0], +# 1, +# ), + +# # "algo/latent_network/vae/latent_dim": +# # ( +# # "ld", +# # [12, 16], +# # 3, +# # ), +# # "algo/latent_network/vae/kl_weight": +# # ( +# # "kl", +# # [0.5 / 12., 0.5 / 16.], +# # 3, +# # ), + +# "algo/latent_network/flow/enabled": +# ( +# "flow", +# [True], +# 3, +# ), +# "algo/latent_network/vae/enabled": +# ( +# "", +# [False], +# 3, +# ), +# "algo/latent_network/flow/layer_dims": +# ( +# "ldims", +# [[256, 256]], +# 3, +# ), +# "algo/latent_network/flow/obs_layer_dims": +# ( +# "oldims", +# [[256, 256, 256]], +# 3, +# ), +# "algo/latent_network/flow/num_flows": +# ( +# "nf", +# [2, 3], +# 4, +# ), +# "algo/latent_network/flow/activation": +# ( +# "act", +# ["relu", "tanh"], +# 5, +# ), +# }) + +# # GTI tuning +# PARAMETERS = OrderedDict({ +# "train/data": +# ( +# "ds", +# [ +# "~/Desktop/robosuite_v1_demos/panda_lift/states_done_2.hdf5", +# "~/Desktop/robosuite_v1_demos/sawyer_lift/states_done_2.hdf5", +# "~/Desktop/robosuite_v1_demos/panda_pick_place_can/states_done_2.hdf5", +# "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can/states_done_2.hdf5", +# "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/states_done_2.hdf5", +# "~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square/states_done_2.hdf5", +# ], +# 0, +# [ +# "v1_ds_panda_lift", +# "v1_ds_sawyer_lift", +# "v1_ds_panda_pick_place_can", +# "v1_ds_sawyer_pick_place_can", +# "v1_ds_panda_nut_assembly_square", +# "v1_ds_sawyer_nut_assembly_square", +# ], +# ), +# "algo/actor/optim_params/policy/learning_rate/initial": +# ( +# "plr", +# [1e-3, 1e-3, 1e-4], +# 1, +# ), +# "algo/planner/optim_params/goal_network/learning_rate/initial": +# ( +# "glr", +# [1e-3, 1e-4, 1e-5], +# 1, +# ), +# "train/seq_length": +# ( +# "seq", +# [10], +# 2, +# ), +# "train/subgoal_horizons": +# ( +# "", +# [[10]], +# 2, +# ), +# "algo/actor/rnn/horizon": +# ( +# "", +# [10], +# 2, +# ), +# "algo/subgoal_update_interval": +# ( +# "", +# [10], +# 2, +# ), +# "train/num_epochs": +# ( +# "nepoch", +# [1001], +# 3, +# ), + +# "algo/actor/actor_layer_dims": +# ( +# "mlp", +# # [[], [300, 400]], +# [[]], +# 4, +# ), +# "algo/actor/rnn/hidden_dim": +# ( +# "rnnd", +# [100, 400], +# 5, +# ), + +# "algo/planner/vae/enabled": +# ( +# "vae", +# [True], +# 6, +# ), +# "algo/planner/vae/kl_weight": +# ( +# "kl", +# [0.05], +# 7, +# ), +# # "algo/planner/vae/latent_dim": +# # ( +# # "ld", +# # # [1, 16], +# # [1], +# # 7, +# # ), +# # "algo/planner/vae/prior/use_categorical": +# # ( +# # "categ", +# # [True], +# # 8, +# # ), +# # "algo/planner/vae/prior/categorical_dim": +# # ( +# # "cd", +# # [10], +# # 8, +# # ), +# # "algo/planner/vae/prior/categorical_min_temp": +# # ( +# # "mtemp", +# # [0.5], +# # 8, +# # ), +# # "algo/planner/vae/prior/categorical_gumbel_softmax_hard": +# # ( +# # "hard", +# # # [True, False], +# # [False], +# # 9, +# # ), +# # "algo/planner/vae/prior/learn": +# # ( +# # "plearn", +# # [True, False], +# # 10, +# # ), +# # "algo/planner/vae/prior/is_conditioned": +# # ( +# # "", +# # [True, False], +# # 10, +# # ), + +# }) + +# # IRIS tuning +# PARAMETERS = OrderedDict({ +# "train/data": +# ( +# "ds", +# [ +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count/states_combined.hdf5", +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count/no_self_im/states_combined.hdf5", +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count/ungrasp/states_combined.hdf5", +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count/ungrasp/no_self_im/states_combined.hdf5", +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count/ungrasp/no_self_im/states_combined_both.hdf5", + +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count_v2/ungrasp/states_combined.hdf5", +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count_v2/ungrasp/no_self_im/states_combined.hdf5", +# "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count_v3/ungrasp/states_combined.hdf5", +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count_v3/ungrasp/no_self_im/states_combined.hdf5", +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count_v4/ungrasp/states_combined.hdf5", +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count_v4/ungrasp/no_self_im/states_combined.hdf5", +# ], +# 0, +# [ +# # "bad_100_random_30_count", +# # "bad_100_random_30_count_no_self_im", +# # "bad_100_random_30_count_ungrasp", +# # "bad_100_random_30_count_ungrasp_no_self_im", +# # "bad_100_random_30_count_both_no_self_im", + +# # "bad_100_random_30_count_ungrasp_v2", +# # "bad_100_random_30_count_ungrasp_no_self_im_v2", +# "bad_100_random_30_count_ungrasp_v3", +# # "bad_100_random_30_count_ungrasp_no_self_im_v3", +# # "bad_100_random_30_count_ungrasp_v4", +# # "bad_100_random_30_count_ungrasp_no_self_im_v4", +# ], +# ), +# "algo/rwp/weights": +# ( +# "", +# [ +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count_v2/ungrasp/base_policy.pth", +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count_v2/ungrasp/base_policy.pth", +# "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count_v3/ungrasp/base_policy.pth", +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count_v3/ungrasp/base_policy.pth", +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count_v4/ungrasp/base_policy.pth", +# # "~/Desktop/coffee/coffee_bad_100/intervention/random_30_1_count_v4/ungrasp/base_policy.pth", +# ], +# 0, +# ), +# "algo/actor/optim_params/policy/learning_rate/initial": +# ( +# "plr", +# # [1e-3, 1e-3], +# [1e-3], +# 1, +# ), +# "algo/value_planner/planner/optim_params/goal_network/learning_rate/initial": +# ( +# "glr", +# # [1e-3, 1e-4], +# [1e-4], +# 1, +# ), +# "algo/value_planner/value/optim_params/critic/learning_rate/initial": +# ( +# "vlr1", +# [1e-3], +# 1, +# ), +# "algo/value_planner/value/optim_params/vae/learning_rate/initial": +# ( +# "vlr2", +# [1e-3], +# 1, +# ), +# "train/seq_length": +# ( +# "seq", +# [10], +# 2, +# ), +# "train/subgoal_horizons": +# ( +# "", +# [[10]], +# 2, +# ), +# "algo/actor/rnn/horizon": +# ( +# "", +# [10], +# 2, +# ), +# "algo/subgoal_update_interval": +# ( +# "", +# [10], +# 2, +# ), +# "train/num_epochs": +# ( +# "nepoch", +# [1501], +# 3, +# ), + +# "algo/actor/actor_layer_dims": +# ( +# "mlp", +# # [[], [300, 400]], +# [[]], +# 4, +# ), + +# "algo/value_planner/planner/vae/kl_weight": +# ( +# "kl", +# # [1e-4, 0.05, 0.5], +# [0.5], +# 6, +# ), +# "algo/value_planner/planner/vae/latent_dim": +# ( +# "ld", +# # [1, 16], +# [1], +# 7, +# ), +# "algo/value_planner/planner/vae/prior/use_categorical": +# ( +# "categ", +# [True], +# 8, +# ), +# "algo/value_planner/planner/vae/prior/categorical_dim": +# ( +# "cd", +# [10], +# 8, +# ), +# "algo/value_planner/planner/vae/prior/categorical_min_temp": +# ( +# "mtemp", +# [0.5], +# 8, +# ), +# "algo/value_planner/planner/vae/prior/categorical_gumbel_softmax_hard": +# ( +# "hard", +# # [True, False], +# [False], +# 9, +# ), + +# "algo/rwp/finetune/enabled": +# ( +# "finetune", +# [True], +# 20, +# ), +# "algo/rwp/use_balanced_sampling": +# ( +# "balanced_samp", +# # [True, False], +# [False], +# 21, +# ), +# "algo/rwp/finetune/init_from_base_policy": +# ( +# "init", +# [False], +# 22, +# ), + +# # waypoint config +# "algo/rwp/use_waypoints": +# ( +# "wp", +# [True], +# 23, +# ), +# "algo/rwp/waypoints_on_all": +# ( +# "all", +# # [True, False], +# [False], +# 24, +# ), +# "algo/rwp/closest_waypoint_ignore_radius": +# ( +# "r", +# [0], +# # [10], +# 25, +# ), + + +# }) + + +# # HBCQ Latent +# PARAMETERS = OrderedDict({ +# "algo/latent_action/enabled": +# ( +# "latent", +# [True], +# 1, +# ), +# "algo/latent_action/prior_correction/enabled": +# ( +# "pc", +# [True, False], +# 2, +# ), +# "algo/latent_action/use_encoder_mean": +# ( +# "enc_mean", +# [True, False], +# 3, +# ), +# "algo/actor/enabled": +# ( +# "actor", +# [True, False], +# 4, +# ), +# }) + + +# # CQL Tuning +# PARAMETERS = OrderedDict({ +# "train/data": +# ( +# "ds", +# [ +# # "~/Desktop/d4rl/converted/walker2d_medium_expert.hdf5", +# # "~/Desktop/d4rl/converted/walker2d_medium.hdf5", +# "~/Desktop/d4rl/converted/halfcheetah_random.hdf5", +# # "~/Desktop/d4rl/converted/pen-v0_demos_clipped.hdf5", + +# # "~/Desktop/d4rl/converted/antmaze_umaze_diverse.hdf5", +# # "~/Desktop/d4rl/converted/antmaze_medium_diverse.hdf5", + +# # "~/Desktop/lift_rb/1/states_fixed_horz_done.hdf5", +# # "~/Desktop/lift_rb/1/states_fixed_horz_done_shaped.hdf5", +# # "~/Desktop/lift_rb/1/states_task_comp_done_shaped.hdf5", +# # "~/Desktop/lift_rb/1/states_task_comp_done_timeout_shaped.hdf5", + +# # "~/Desktop/lift_suboptimal/states1.hdf5", +# # "~/Desktop/roboturk_v1/RoboTurkPilot/bins-Can/states.hdf5", # "fastest_225 filter key" +# # "~/Desktop/lift_suboptimal/states_dense.hdf5", +# ], +# 0, +# [ +# # "walker2d_medium_expert", +# # "walker2d_medium", +# "halfcheetah_random", +# # "pen_human", + +# # "antmaze_umaze_diverse", +# # "antmaze_medium_diverse", + +# # "fixed_horz_sparse", +# # "fixed_horz_dense", +# # "task_comp_dense", +# # "task_comp_done_timeout_dense", + +# # "lift_subopt", +# # "cans_top_225", +# # "lift_subopt_dense", +# ], +# ), +# "train/hdf5_filter": +# ( +# "", +# [ +# None, +# # "fastest_225", +# ], +# 0, +# ), +# "algo/optim_params/critic/learning_rate/initial": +# ( +# "clr", +# [3e-4, 3e-4], +# 1, +# ), +# "algo/optim_params/actor/learning_rate/initial": +# ( +# "alr", +# [1e-4, 1e-4], +# 1, +# ), +# "train/batch_size": +# ( +# "bsize", +# [100, 256], +# 1, +# ), +# "train/num_epochs": +# ( +# "nepoch", +# # [55], +# # [60], +# [100], +# # [2000], +# # [1000], +# # [801], +# 2, +# ), +# # "algo/dual/use_lagrange": +# # ( +# # "dual", +# # [True], +# # # [False], +# # 2, +# # ), +# # "algo/dual/lagrange_threshold": +# # ( +# # "tau", +# # # [10.0], +# # [5.0], +# # 2, +# # ), +# "algo/min_q_weight": +# ( +# "alpha", +# # [1.0], +# # [10.0], +# [5.0], +# 3, +# ), +# "algo/bc_updates": +# ( +# "bc_steps", +# [40000], +# # [0, 40000], +# # [0], +# 4, +# ), + +# # "algo/critic/layer_dims": +# # ( +# # "ld", +# # [[300, 400]], +# # 5, +# # ), +# # "algo/actor/layer_dims": +# # ( +# # "", +# # [[300, 400]], +# # 5, +# # ), + +# "algo/actor/gaussian/use_tanh": +# ( +# "tanh", +# [True], +# 5, +# ), + +# }) + + + +# # HBCQ Tuning +# PARAMETERS = OrderedDict({ +# "train/data": +# ( +# "ds", +# [ +# # "~/Desktop/lift_rb/1/states_fixed_horz_done.hdf5", +# # "~/Desktop/lift_rb/1/states_fixed_horz_done_shaped.hdf5", +# # "~/Desktop/lift_rb/1/states_task_comp_done_shaped.hdf5", +# # "~/Desktop/lift_rb/1/states_task_comp_done_timeout_shaped.hdf5", + +# # "~/Desktop/lift_suboptimal/states1.hdf5", +# # "~/Desktop/roboturk_v1/RoboTurkPilot/bins-Can/states.hdf5", # "fastest_225 filter key" + +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired1/states.hdf5", +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired1/states_dense.hdf5", +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired1/states_buffer_300.hdf5", +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired1/states_dense_buffer_300.hdf5", + +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_done_1.hdf5", +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_done_2.hdf5", +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_dense_done_2.hdf5", +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_done_2_succ.hdf5", + +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_images_done_2.hdf5", + +# # "~/Desktop/robosuite_v1_demos/panda_lift/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_lift/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square/states_done_2.hdf5", + +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/ajay/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/josiah/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/roberto/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/yuke/states_done_2.hdf5", +# "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/states_done_2.hdf5", + +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/ajay/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/josiah/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/roberto/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/yuke/states_done_2.hdf5", +# "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/states_done_2.hdf5", + +# # "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can_paired2/states_done_2.hdf5", + +# # "~/Desktop/robosuite_v1_demos/panda_lift/states_dense_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_lift/states_dense_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/states_dense_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can/states_dense_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/states_dense_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square/states_dense_done_2.hdf5", + +# # "~/Desktop/d4rl_manip/lift_v1_subopt_careless/states.hdf5", + +# # "~/Desktop/d4rl/converted/antmaze_umaze_diverse.hdf5", +# # "~/Desktop/d4rl/converted/antmaze_medium_diverse.hdf5", + +# # "~/Desktop/d4rl/converted/pen-v0_demos_clipped.hdf5", + +# # "~/Desktop/d4rl/converted/walker2d_medium_expert.hdf5", +# ], +# 0, +# [ +# # "fixed_horz_sparse", +# # "fixed_horz_dense", +# # "task_comp_dense", +# # "task_comp_done_timeout_dense", + +# # "lift_subopt", +# # "cans_top_225", + +# # "lift_subopt_paired1", +# # "lift_subopt_paired1_dense", +# # "lift_subopt_paired1_buffer_300", +# # "lift_subopt_paired1_dense_buffer_300", + +# # "lift_subopt_paired2_done_1", +# # "lift_subopt_paired2_done_2", +# # "lift_subopt_paired2_done_2_dense", +# # "lift_subopt_paired2_done_2_succ", + +# # "lift_subopt_paired2_image", + +# # "v1_ds_panda_lift", +# # "v1_ds_sawyer_lift", +# # "v1_ds_panda_pick_place_can", +# # "v1_ds_sawyer_pick_place_can", +# # "v1_ds_panda_nut_assembly_square", +# # "v1_ds_sawyer_nut_assembly_square", + +# # "multi_panda_can_ajay", +# # "multi_panda_can_josiah", +# # "multi_panda_can_roberto", +# # "multi_panda_can_yuke", +# "multi_panda_can_all", + +# # "multi_panda_square_ajay", +# # "multi_panda_square_josiah", +# # "multi_panda_square_roberto", +# # "multi_panda_square_yuke", +# "multi_panda_square_all", + +# # "v1_ds_sawyer_pick_place_can_paired2", + +# # "lift_subopt_careless", + +# # "antmaze_umaze_diverse", +# # "antmaze_medium_diverse", + +# # "pen_human", + +# # "walker2d_medium_expert", +# ], +# ), +# # "train/hdf5_filter": +# # ( +# # "", +# # [ +# # None, +# # # None, None, +# # # "fastest_225", +# # ], +# # 0, +# # ), +# "algo/optim_params/critic/learning_rate/initial": +# ( +# "clr", +# # [1e-3, 1e-4, 1e-4, 1e-4], +# [1e-3], +# 1, +# ), +# "algo/optim_params/action_sampler/learning_rate/initial": +# ( +# "aslr", +# # [1e-3, 1e-4, 1e-3, 3e-4], +# [1e-3], +# 1, +# ), +# # "algo/optim_params/actor/learning_rate/initial": +# # ( +# # "aclr", +# # [1e-4], +# # 1, +# # ), + +# # "algo/optim_params/critic/start_epoch": +# # ( +# # "c_start", +# # [400, 400], +# # 1, +# # ), +# # "algo/optim_params/action_sampler/end_epoch": +# # ( +# # "as_end", +# # [400, -1], +# # 1, +# # ), + +# "algo/actor/enabled": +# ( +# "actor", +# # [True, False], +# [False], +# # [True], +# 2, +# ), + +# # "train/num_epochs": +# # ( +# # "nepoch", +# # [1601], +# # # [1001], +# # # [501], +# # 6, +# # ), + +# # "train/hdf5_in_memory": +# # ( +# # "in_mem", +# # [True], +# # 6, +# # ), + +# # "algo/action_sampler/gmm/enabled": +# # ( +# # "gmm", +# # # [True], +# # [False, True], +# # 7, +# # ), +# # "algo/action_sampler/vae/enabled": +# # ( +# # "vae", +# # # [False], +# # [True, False], +# # 7, +# # ), + +# "algo/target_tau": +# ( +# "tau", +# # [5e-3, 5e-3, 5e-4, 5e-4], +# # [5e-3, 5e-3, 5e-4], +# [5e-3, 5e-4], +# # 8, +# 3, +# ), +# # "algo/critic/num_action_samples": +# # ( +# # "nact_samp", +# # # [10, 100, 10, 100], +# # [10, 100, 10], +# # # 8, +# # 3, +# # ), +# # "algo/infinite_horizon": +# # ( +# # "inf", +# # [True], +# # # 9, +# # 4, +# # ), + +# # RNN-GMM +# "train/seq_length": +# ( +# "seq", +# [10], +# # [5, 10, 30, 50], +# # [30], +# 5, +# ), +# "train/subgoal_horizons": +# ( +# "", +# [[10]], +# # [[5], [10], [30], [50]], +# # [[30]], +# 5, +# ), +# "algo/action_sampler/rnn/horizon": +# ( +# "", +# [10], +# # [5, 10, 30, 50], +# # [30], +# 5, +# ), +# "algo/critic/rnn/horizon": +# ( +# "", +# [10], +# # [5, 10, 30, 50], +# # [30], +# 5, +# ), + +# "algo/action_sampler/rnn/hidden_dim": +# ( +# "as_rnnd", +# # [400, 1000], +# # [1000], +# # [400, 100], +# [400], +# 6, +# ), +# "algo/action_sampler/rnn/enabled": +# ( +# "", +# # [True, True], +# [True], +# 6, +# ), +# "algo/critic/rnn/hidden_dim": +# ( +# "c_rnnd", +# # [100, 100], +# [100], +# 6, +# ), +# "algo/critic/rnn/enabled": +# ( +# "", +# # [True, True], +# [True], +# 6, +# ), + +# "algo/action_sampler/gmm/enabled": +# ( +# "gmm", +# # [True, True], +# [True], +# 6, +# ), +# "algo/action_sampler/vae/enabled": +# ( +# "", +# # [False, False], +# [False], +# 6, +# ), + +# "algo/action_sampler/actor_layer_dims": +# ( +# "mlp", +# # [[], [300, 400]], +# [[]], +# # [[300, 400]], +# 7, +# ), +# "algo/critic/layer_dims": +# ( +# "", +# # [[], [300, 400]], +# [[]], +# # [[300, 400]], +# 7, +# ), + +# "train/num_epochs": +# ( +# "nepoch", +# # [1601, 1601], +# [1001], +# # [2001, 2001], +# 8, +# ), + + +# }) + + +# # HBCQ Seq Tuning +# PARAMETERS = OrderedDict({ +# "train/data": +# ( +# "ds", +# [ +# # "~/Desktop/lift_rb/1/states_fixed_horz_done.hdf5", +# # "~/Desktop/lift_rb/1/states_fixed_horz_done_shaped.hdf5", +# # "~/Desktop/lift_rb/1/states_task_comp_done_shaped.hdf5", +# # "~/Desktop/lift_rb/1/states_task_comp_done_timeout_shaped.hdf5", + +# # "~/Desktop/lift_suboptimal/states1.hdf5", +# # "~/Desktop/roboturk_v1/RoboTurkPilot/bins-Can/states.hdf5", # "fastest_225 filter key" +# # "~/Desktop/lift_suboptimal/states_dense.hdf5", + +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired1/states.hdf5", +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired1/states_dense.hdf5", +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired1/states_buffer_300.hdf5", +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired1/states_dense_buffer_300.hdf5", + +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_done_1.hdf5", +# # "~/Desktop/d4rl_manip/lift_v1_subopt_paired2/states_done_2.hdf5", + +# # "~/Desktop/robosuite_v1_demos/panda_lift/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_lift/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square/states_done_2.hdf5", + +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/states_done_2_combined.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square/states_done_2_combined.hdf5", + +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/ajay/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/josiah/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/roberto/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/yuke/states_done_2.hdf5", +# "~/Desktop/robosuite_v1_demos/panda_pick_place_can_multi/states_done_2.hdf5", + +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/ajay/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/josiah/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/roberto/states_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/yuke/states_done_2.hdf5", +# "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square_multi/states_done_2.hdf5", + +# # "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can_paired2/states_done_2.hdf5", + +# # "~/Desktop/d4rl_manip/lift_v1_subopt_careless/states.hdf5", + +# # "~/Desktop/d4rl/converted/antmaze_umaze_diverse.hdf5", +# # "~/Desktop/d4rl/converted/antmaze_medium_diverse.hdf5", + +# # "~/Desktop/d4rl/converted/pen-v0_demos_clipped.hdf5", +# ], +# 0, +# [ +# # "fixed_horz_sparse", +# # "fixed_horz_dense", +# # "task_comp_dense", +# # "task_comp_done_timeout_dense", + +# # "lift_subopt", +# # "cans_top_225", +# # "lift_subopt_dense", + +# # "lift_subopt_paired1", +# # "lift_subopt_paired1_dense", +# # "lift_subopt_paired1_buffer_300", +# # "lift_subopt_paired1_dense_buffer_300", + +# # "lift_subopt_paired2_done_1", +# # "lift_subopt_paired2_done_2", + +# # "v1_ds_panda_lift", +# # "v1_ds_sawyer_lift", +# # "v1_ds_panda_pick_place_can", +# # "v1_ds_sawyer_pick_place_can", +# # "v1_ds_panda_nut_assembly_square", +# # "v1_ds_sawyer_nut_assembly_square", + +# # "v1_ds_panda_nut_assembly_square_200", +# # "v1_ds_sawyer_nut_assembly_square_200", + +# # "multi_panda_can_ajay", +# # "multi_panda_can_josiah", +# # "multi_panda_can_roberto", +# # "multi_panda_can_yuke", +# "multi_panda_can_all", + +# # "multi_panda_square_ajay", +# # "multi_panda_square_josiah", +# # "multi_panda_square_roberto", +# # "multi_panda_square_yuke", +# "multi_panda_square_all", + +# # "v1_ds_sawyer_pick_place_can_paired2", + +# # "lift_subopt_careless", + +# # "antmaze_umaze_diverse", +# # "antmaze_medium_diverse", + +# # "pen_human", +# ], +# ), +# # "train/hdf5_filter": +# # ( +# # "", +# # [ +# # None, None, +# # # "fastest_225", +# # ], +# # 0, +# # ), +# "algo/latent_action/enabled": +# ( +# "lt", +# [True], +# 1, +# ["t"], +# ), +# "algo/action_sampler/rnn/enabled": +# ( +# "", +# # [True, True], +# [True], +# 1, +# ), +# "algo/action_sampler/vae/enabled": +# ( +# "", +# [True], +# 1, +# ), +# # "algo/latent_action/prior_correction/enabled": +# # ( +# # "pc", +# # # [True, False], +# # [False], +# # 2, +# # ), +# # "algo/latent_action/use_encoder_mean": +# # ( +# # "enc_mean", +# # [True, False], +# # 3, +# # ), +# "algo/latent_action/value/use_single_step_return": +# ( +# "ss", +# [True], +# # [False], +# 2, +# ["t"], +# # ["f"], +# ), +# "algo/latent_action/value/use_n_step_return": +# ( +# "", +# [False], +# # [True], +# 2, +# ), + +# "algo/optim_params/critic/learning_rate/initial": +# ( +# "clr", +# # [1e-3, 1e-3], +# [1e-3], +# 4, +# ), +# "algo/optim_params/action_sampler/learning_rate/initial": +# ( +# "aslr", +# # [1e-3, 1e-4], +# [1e-3], +# 4, +# ), +# # "algo/optim_params/actor/learning_rate/initial": +# # ( +# # "aclr", +# # [1e-4], +# # 4, +# # ), + +# "algo/actor/enabled": +# ( +# "actor", +# # [True, False], +# # [False, False], +# [False], +# 4, +# ["f"], +# ), + + +# "train/seq_length": +# ( +# "seq", +# [10], +# 5, +# ), +# "train/subgoal_horizons": +# ( +# "", +# [[10]], +# 5, +# ), +# "algo/action_sampler/rnn/horizon": +# ( +# "", +# [10], +# 5, +# ), + +# "algo/action_sampler/rnn/hidden_dim": +# ( +# "rnnd", +# # [400, 1000], +# [400], +# 6, +# ), +# "train/num_epochs": +# ( +# "ne", +# # [1601], +# [1001], +# # [2001, 2001], +# 6, +# ), + +# "algo/action_sampler/vae/kl_weight": +# ( +# "kl", +# # [5e-2, 5e-4, 5e-5, 5e-6], +# # [5e-6], +# # [0.05, 0.005], +# # [0.05], +# # [0.5, 5e-4], +# # [5e-4, 5e-6], +# [5e-5, 1e-4, 5e-3], +# # [5e-4], +# 9, +# ), +# "algo/action_sampler/vae/decoder_layer_dims": +# ( +# "dld", +# # [[], [300, 400]], +# [[]], +# # [[300, 400]], +# 10, +# ), +# "algo/action_sampler/vae/encoder_layer_dims": +# ( +# "eld", +# # [[], [300, 400]], +# # [[300, 400]], +# [[]], +# 10, +# ), + +# # gmm prior +# "algo/action_sampler/vae/prior/learn": +# ( +# "p_gmm", +# # [False, True], +# [True], +# 10, +# ["t"], +# ), +# "algo/action_sampler/vae/prior/use_gmm": +# ( +# "", +# # [False, True], +# [True], +# 10, +# ), +# "algo/action_sampler/vae/prior/gmm_learn_weights": +# ( +# "", +# # [False, True], +# [True], +# 10, +# ), +# "algo/action_sampler/vae/prior/is_conditioned": +# ( +# "", +# # [False, True], +# [True], +# 10, +# ), +# "algo/action_sampler/vae/prior/gmm_weights_are_conditioned": +# ( +# "", +# # [False, True], +# [True], +# 10, +# ), +# "algo/action_sampler/vae/prior_layer_dims": +# ( +# "p_mlp", +# # [[], [300, 400]], +# # [[300, 400]], +# [[1024, 1024]], +# 11, +# ), +# # "algo/action_sampler/vae/prior/gmm_low_noise_eval": +# # ( +# # "lne", +# # [True], +# # 12, +# # ), + +# # # categorical +# # "algo/action_sampler/vae/prior/use_categorical": +# # ( +# # "categ", +# # [True], +# # 10, +# # ), +# # "algo/action_sampler/vae/latent_dim": +# # ( +# # "ld", +# # [1], +# # 10, +# # ), +# # "algo/action_sampler/vae/prior/categorical_dim": +# # ( +# # "cd", +# # [10], +# # 10, +# # ), +# # "algo/action_sampler/vae/prior/categorical_min_temp": +# # ( +# # # "mtemp", +# # "", +# # [0.5], +# # 10, +# # ), +# # "algo/action_sampler/vae/prior/categorical_gumbel_softmax_hard": +# # ( +# # # "hard", +# # "", +# # # [True, False], +# # [False], +# # 11, +# # ), +# # "algo/action_sampler/vae/prior/learn": +# # ( +# # "pl", +# # # [False, True], +# # [False], +# # 12, +# # ), +# # "algo/action_sampler/vae/prior/is_conditioned": +# # ( +# # "", +# # # [False, True], +# # [False], +# # 12, +# # ), + +# # # normalizing flow prior +# # "algo/action_sampler/vae/prior/learn": +# # ( +# # "p_flow", +# # # [False, True], +# # [True], +# # 10, +# # ["t"], +# # ), +# # "algo/action_sampler/vae/prior/use_normalizing_flow": +# # ( +# # "", +# # # [False, True], +# # [True], +# # 10, +# # ), +# # "algo/action_sampler/vae/prior/is_conditioned": +# # ( +# # "c", +# # # [False, True], +# # # [True], +# # [False], +# # 10, +# # # ["t"], +# # ["f"], +# # ), +# # "algo/action_sampler/vae/prior/is_conditioned": +# # ( +# # "c", +# # # [False, True], +# # [True], +# # # [False], +# # 10, +# # ["t"], +# # # ["f"], +# # ), +# # "algo/action_sampler/vae/prior/flow_layer_dims": +# # ( +# # "fld", +# # # [[256, 256], [1024, 1024], [256, 256], [1024, 1024]], +# # [[256, 256], [256, 256], [256, 256], [256, 256]], +# # 11, +# # ), +# # "algo/action_sampler/vae/prior/flow_num": +# # ( +# # "nf", +# # [2, 2, 3, 3], +# # 11, +# # ), +# # # "algo/action_sampler/vae/prior/flow_activation": +# # # ( +# # # "fact", +# # # ["relu"], +# # # 11, +# # # ), +# # "algo/action_sampler/vae/prior_layer_dims": +# # ( +# # "p_mlp", +# # # [[], [300, 400]], +# # # [[300, 400]], +# # [[256, 256, 256], [1024, 1024, 256], [256, 256, 256], [1024, 1024, 256]], +# # # [[1024, 1024]], +# # 11, +# # ), + +# # "algo/action_sampler/rnn/kwargs/bidirectional": +# # ( +# # "bidir", +# # [True], +# # 12, +# # ), +# "algo/action_sampler/vae/rnn/encoder_is_rnn": +# ( +# "ernn", +# # [False], +# [True], +# 13, +# ["t"], +# ), +# "algo/action_sampler/vae/rnn/decoder_is_rnn": +# ( +# "drnn", +# [True], +# 13, +# ["t"], +# ), +# # "algo/action_sampler/vae/rnn/encoder_use_subgoals": +# # ( +# # "e_sg", +# # # [True], +# # [False], +# # 14, +# # ), +# # "algo/action_sampler/vae/rnn/encoder_replace_actions": +# # ( +# # "", +# # [True], +# # 14, +# # ), +# # "algo/action_sampler/vae/rnn/decoder_use_subgoals": +# # ( +# # "d_sg", +# # # [True], +# # [False], +# # 15, +# # ), + +# # "algo/optim_params/critic/start_epoch": +# # ( +# # "crit_st", +# # [-1, 200], +# # 16, +# # ), + +# # ## open-loop ## +# # "algo/action_sampler/rnn/open_loop": +# # ( +# # "oloop", +# # [True], +# # # [False], +# # 17, +# # ), + +# # ## spirl ## +# # "algo/action_sampler/spirl/enabled": +# # ( +# # "spirl", +# # [True], +# # 18, +# # [""], +# # ), +# # "algo/optim_params/skill_prior/learning_rate/initial": +# # ( +# # "slr", +# # [1e-4], +# # 19, +# # ), +# # "algo/action_sampler/spirl/layer_dims": +# # ( +# # "sld", +# # # [(300, 400), (128, 128, 128, 128, 128), (1024, 1024)], +# # # [(128, 128, 128, 128, 128)], +# # [(1024, 1024)], +# # 19, +# # ), +# # "algo/action_sampler/gmm/enabled": +# # ( +# # "gmm", +# # [True], +# # 20, +# # ), +# # "algo/action_sampler/gmm/min_std": +# # ( +# # "min", +# # [1e-4], +# # 20, +# # ), +# # "algo/action_sampler/gmm/low_noise_eval": +# # ( +# # "lne", +# # # [True, False], +# # # [True, True, False], +# # [True], +# # 21, +# # # ["t", "t", "f"], +# # ["t"], +# # ), +# # "algo/latent_action/spirl/skill_prior_eval_at_train": +# # ( +# # "tr", +# # # [True, False, False], +# # [True], +# # 21, +# # # ["t", "f", "f"], +# # ["t"], +# # ), +# }) + +# # BC image with random crops +# PARAMETERS = OrderedDict({ +# "train/data": +# ( +# "ds", +# [ +# # "~/Desktop/robosuite_v1_demos/panda_lift/states_images_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_lift/states_images_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/states_images_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_pick_place_can/states_images_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/states_images_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/sawyer_nut_assembly_square/states_images_done_2.hdf5", + +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/states_images_wrist_done_2.hdf5", + +# "~/Desktop/robosuite_v1_demos/panda_pick_place_can/state_images_depth_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/state_images_depth_done_2_120_120.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/state_images_depth_done_2_60_60.hdf5", +# ], +# 0, +# [ +# # "v1_panda_lift_image", +# # "v1_sawyer_lift_image", +# # "v1_panda_can_image", +# # "v1_sawyer_can_image", +# # "v1_panda_square_image", +# # "v1_sawyer_square_image", + +# # "v1_panda_can_image_wrist", + +# "v1_panda_can_im_120_160", +# # "v1_panda_can_im_120_120", +# # "v1_panda_can_im_60_60", +# ], +# ), +# "algo/optim_params/policy/learning_rate/initial": +# ( +# "plr", +# # [1e-3, 1e-4], +# # [1e-3], +# [1e-4], +# 1, +# ), +# "train/num_epochs": +# ( +# "nepoch", +# [601], +# # [1001], +# 2, +# ), +# "algo/modalities/observation": +# ( +# "mod", +# # [["agentview_image"], ["agentview_image", "proprio"]], +# # [["agentview_image", "proprio"]], +# # [["agentview_image"]], +# # [["agentview_image", "robot0_eye_in_hand_image"], ["agentview_image", "robot0_eye_in_hand_image", "proprio"]], +# [["agentview_image", "robot0_eye_in_hand_image", "proprio"]], +# # [["agentview_image", "robot0_eye_in_hand_image"]], +# 3, +# # ["im", "im_prop"], +# # ["im_prop"], +# # ["im"], +# # ["im_wrist", "im_wrist_prop"], +# ["im_wrist_prop"], +# # ["im_wrist"], +# ), + +# "algo/obs_encoder/visual_core_kwargs/use_random_crops": +# ( +# "crop", +# [True], +# 4, +# ["t"], +# ), +# "algo/obs_encoder/visual_core_kwargs/random_crop_h": +# ( +# "s", +# [60], +# 4, +# ), +# "algo/obs_encoder/visual_core_kwargs/random_crop_w": +# ( +# "", +# [60], +# 4, +# ), +# "algo/obs_encoder/visual_core_kwargs/random_crop_n": +# ( +# "n", +# [20], +# 4, +# ), +# "algo/obs_encoder/visual_core_kwargs/random_crop_pos_enc": +# ( +# "pos_enc", +# # [True], +# [False], +# 4, +# ), + +# "algo/obs_encoder/visual_core_kwargs/input_coord_conv": +# ( +# "coord", +# # [True, False], +# # [True], +# [False], +# 5, +# # ["t", "f"], +# # ["t"], +# ["f"], +# ), +# "algo/obs_encoder/visual_core_kwargs/pretrained": +# ( +# "pt", +# # [True], +# [False], +# # [True, False], +# 6, +# # ["t"], +# ["f"], +# # ["t", "f"], +# ), +# "algo/obs_encoder/visual_core_kwargs/concat_visual_obs": +# ( +# "cat", +# # [True], +# [False], +# # [True, False], +# 7, +# # ["t"], +# ["f"], +# # ["t", "f"], +# ), + +# # "algo/obs_encoder/use_spatial_softmax": +# # ( +# # "ssmax", +# # # [True], +# # # [False], +# # [True, True, False], +# # 8, +# # # ["t"], +# # # ["f"], +# # ["t_no_lin", "t", "f"], +# # ), +# # "algo/obs_encoder/spatial_softmax_kwargs/temperature": +# # ( +# # "temp", +# # [1.0, 10.0, 1.0], +# # 8, +# # ), + +# # "algo/gmm/enabled": +# # ( +# # "gmm", +# # [True], +# # 9, +# # ), + + + +# # "train/seq_length": +# # ( +# # "seq", +# # [10], +# # # [5, 10, 50, 100], +# # # [1], +# # 2, +# # ), +# # "train/subgoal_horizons": +# # ( +# # "", +# # [[10]], +# # # [[5], [10], [50], [100]], +# # # [[1]], +# # 2, +# # ), +# # "algo/rnn/horizon": +# # ( +# # "", +# # [10], +# # # [5, 10, 50, 100], +# # # [1], +# # 2, +# # ), +# # "algo/actor_layer_dims": +# # ( +# # "mlp", +# # # [[], [300, 400]], +# # [[]], +# # # [[300, 400], [256, 256, 256]], +# # # [[300, 400]], +# # # [[300, 400], [1024, 1024]], +# # # [[1024, 1024]], +# # 3, +# # ), +# # "algo/rnn/hidden_dim": +# # ( +# # "rnnd", +# # # [128], +# # # [100, 400], +# # # [400, 1000], +# # [400], +# # # [1000], +# # # [100, 400, 1000], +# # 4, +# # ), +# # "algo/rnn/num_layers": +# # ( +# # "rnnnl", +# # [8], +# # 4, +# # ), + +# # "algo/rnn/enabled": +# # ( +# # "rnn", +# # # [False, False], +# # [False], +# # 5, +# # ), + +# # "algo/gmm/enabled": +# # ( +# # "gmm", +# # [True, False], +# # # [True], +# # # [False], +# # 5, +# # ), + +# # "algo/rnn/open_loop": +# # ( +# # "open_loop", +# # [True], +# # # [True], +# # # [False], +# # 6, +# # ), + +# # "algo/gmm/num_modes": +# # ( +# # "nm", +# # [5, 5, 5, 100, 100], +# # 6, +# # ), +# # "algo/gmm/min_std": +# # ( +# # "min", +# # [0.01, 1e-4, 1e-4, 0.01, 0.01], +# # 6, +# # ), +# # "algo/gmm/std_activation": +# # ( +# # "act", +# # ["exp", "softplus", "exp", "softplus", "exp"], +# # 6, +# # ), +# }) + + +# # HAN ablations +# PARAMETERS = OrderedDict({ +# "train/data": +# ( +# "ds", +# [ +# "~/Desktop/robosuite_v1_demos/panda_pick_place_can/state_images_depth_done_2.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/state_images_depth_done_2_120_120.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/state_images_depth_done_2_60_60.hdf5", + +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/state_images_depth_done_2_all.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/state_images_depth_done_2_120_120_all.hdf5", +# # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/state_images_depth_done_2_84_84_all.hdf5", +# ], +# 0, +# [ +# "v1_panda_can_im_120_160", +# # "v1_panda_can_im_120_120", +# # "v1_panda_can_im_60_60", + +# # "v1_panda_square_all_im_120_160", +# # "v1_panda_square_all_im_120_120", +# # "v1_panda_square_all_im_84_84", +# ], +# ), + +# "algo/han/action_space/use_control_law": +# ( +# "ctrl_law", +# [False], +# 1, +# ["f"], +# ), + +# # "algo/han/action_space/use_eef_crop": +# # ( +# # "ee_crop", +# # [False], +# # 1, +# # ["f"], +# # ), + +# # "algo/han/action_space/use_confidence": +# # ( +# # "conf", +# # [False], +# # 1, +# # ["f"], +# # ), + +# # "algo/han/action_space/use_eef_pos": +# # ( +# # "ee_pos", +# # [False], +# # 1, +# # ["f"], +# # ), + +# # "algo/han/action_space/hard_attention_temp": +# # ( +# # "hard_att_temp", +# # # [1.0, 10.0], +# # [1.0], +# # 4, +# # ), + + +# # "algo/obs_encoder/visual_core_kwargs/use_random_crops": +# # ( +# # "crop", +# # [True], +# # # [False], +# # 4, +# # ["t"], +# # # ["f"], +# # ), +# # "algo/obs_encoder/visual_core_kwargs/random_crop_h": +# # ( +# # "s", +# # # [60], +# # # [119], +# # [108], +# # 4, +# # ), +# # "algo/obs_encoder/visual_core_kwargs/random_crop_w": +# # ( +# # "", +# # # [60], +# # # [159], +# # [146], +# # 4, +# # ), +# # "algo/obs_encoder/visual_core_kwargs/random_crop_n": +# # ( +# # "n", +# # # [20], +# # [1], +# # 4, +# # ), +# }) + +# BC image with random crops +PARAMETERS = OrderedDict({ + "train/data": + ( + "ds", + [ + # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/state_images_depth_wrist_cam_done_2.hdf5", + "~/Desktop/robosuite_v1_demos/panda_pick_place_can/state_images_depth_done_2.hdf5", + # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/state_images_depth_done_2_120_120.hdf5", + # "~/Desktop/robosuite_v1_demos/panda_pick_place_can/state_images_depth_done_2_60_60.hdf5", + + # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/state_images_depth_wrist_cam_done_2_all.hdf5", + "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/state_images_depth_done_2_all.hdf5", + # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/state_images_depth_done_2_120_120_all.hdf5", + # "~/Desktop/robosuite_v1_demos/panda_nut_assembly_square/state_images_depth_done_2_84_84_all.hdf5", + ], + 0, + [ + "v1_panda_can_im_120_160", + # "v1_panda_can_im_120_120", + # "v1_panda_can_im_60_60", + + "v1_panda_square_all_im_120_160", + # "v1_panda_square_all_im_120_120", + # "v1_panda_square_all_im_84_84", + ], + ), + "algo/obs_encoder/visual_core_kwargs/use_random_crops": + ( + "crop", + # [False, True, True], + # [False, True], + [True], + 1, + # ["f", "t", "t"], + # ["f", "t"], + ["t"], + ), + "algo/obs_encoder/visual_core_kwargs/random_crop_h": + ( + "h", + # [120, 108, 60], + # [120, 108, 60], + # [60, 56, 30], + # [84, 76, 42], + # [120, 108], + [108], + 1, + ), + "algo/obs_encoder/visual_core_kwargs/random_crop_w": + ( + "w", + # [160, 144, 60], + # [120, 108, 60], + # [60, 56, 30], + # [84, 76, 42], + # [160, 144], + [144], + 1, + ), + "algo/obs_encoder/visual_core_kwargs/random_crop_n": + ( + "n", + # [1, 1, 10], + # [1, 1], + [1], + 1, + ), + # "algo/obs_encoder/visual_core_kwargs/random_crop_pos_enc": + # ( + # "pos_enc", + # # [True], + # [False], + # 0, + # ), + + "algo/optim_params/policy/learning_rate/initial": + ( + "plr", + # [1e-4, 1e-4, 1e-4], + # [1e-4, 1e-4], + [1e-4], + 1, + ), + "train/num_epochs": + ( + "nepoch", + [301], + # [1001], + 2, + ), + "algo/modalities/observation": + ( + "mod", + # [["agentview_image"], ["agentview_image", "proprio"]], + # [["agentview_image", "proprio"]], + # [["agentview_image"]], + # [["agentview_image", "robot0_eye_in_hand_image"], ["agentview_image", "robot0_eye_in_hand_image", "proprio"]], + [["agentview_image", "robot0_eye_in_hand_image", "proprio"]], + # [["agentview_image", "robot0_eye_in_hand_image", "proprio", "agentview_depth", "robot0_eye_in_hand_depth", "robot0_eye_in_hand_transform", "robot0_eye_in_hand_inverse_transform"]], + # [["agentview_image", "robot0_eye_in_hand_image"]], + 2, + # ["im", "im_prop"], + # ["im_prop"], + # ["im"], + # ["im_wrist", "im_wrist_prop"], + ["im_wrist_prop"], + # ["im_wrist"], + ), + "algo/obs_encoder/visual_core_kwargs/concat_visual_obs": + ( + "cat", + # [True], + [False], + # [True, False], + 2, + # ["t"], + ["f"], + # ["t", "f"], + ), + + # for spirl-h + "train/seq_length": + ( + "seq", + [50, 50], + 3, + ), + "algo/rnn/horizon": + ( + "l", + [10, 5], + 3, + ), + "algo/spirl/hierarchical/horizon": + ( + "h", + [5, 10], + 3, + ), + "algo/spirl/hierarchical/enabled": + ( + "", + [True, True], + 3, + ), + + # "train/seq_length": + # ( + # "seq", + # [10], + # 3, + # ), + # "train/subgoal_horizons": + # ( + # "", + # [[10]], + # 3, + # ), + # "algo/rnn/horizon": + # ( + # "", + # [10], + # 3, + # ), + "algo/actor_layer_dims": + ( + "mlp", + [[]], + # [[300, 400]], + 4, + ), + "algo/rnn/hidden_dim": + ( + "rnnd", + [400], + # [1000], + 4, + ), + # for spirl-h + "algo/spirl/hierarchical/hidden_dim": + ( + "", + [400], + # [1000], + 4, + ), + + + # "algo/gmm/enabled": + # ( + # "gmm", + # # [True, False], + # [True], + # 5, + # ), + + "algo/vae/kl_weight": + ( + "kl", + # [5e-2, 5e-4, 5e-5, 5e-6], + [5e-4, 5e-6], + # [0.05], + # [0.05, 5e-4], + # [0.5, 0.05], + 5, + ), + # "algo/spirl/use_proprio": + # ( + # "prop", + # [True], + # 6, + # ["t"], + # ), + + # "algo/han/action_space/num_3d_kp": + # ( + # "nkp", + # [3, 10], + # 6, + # ), + # "algo/han/action_space/use_eef_pos": + # ( + # "eef", + # # [True, False], + # [False], + # 7, + # ), +}) + +# an example of tuning for BC (no RNN) +PARAMETERS = OrderedDict({ + "train/data": + ( + "ds", + [ + # "~/Desktop/icra_public/coffee/ajay/base/states_images.hdf5", + # "~/Desktop/icra_public/coffee/ajay/more/states_images_combined.hdf5", + # "~/Desktop/icra_public/coffee/ajay/v3/no_gmm/bs_false_no_self_im/no_self_im/states_images_combined.hdf5", + # "~/Desktop/icra_public/coffee/ajay/v3/no_gmm/bs_true/states_images_combined.hdf5", + + # for cross exp + "~/Desktop/icra_public/coffee/ajay/v3/no_gmm/bs_false_no_self_im/states_images_combined.hdf5", + ], + 0, + [ + # "base", + # "more", + # "v3_hg_dagger", + # "v3_iwr", + "v3_hg_dagger_cross", + ], + ), + "algo/optim_params/policy/learning_rate/initial": + ( + "plr", + # [1e-3, 1e-4], + [1e-4], + 1, + ), + + "algo/iwr/enabled": + ( + "iwr", + [True, False], + 2, + ), + + # "algo/gmm/enabled": + # ( + # "gmm", + # [True, False], + # 6, + # ), +}) + + +def load_json(json_file, verbose=True): + with open(json_file, 'r') as f: + config = json.load(f) + if verbose: + print('loading external config: =================') + print(json.dumps(config, indent=4)) + print('==========================================') + return config + +def save_json(config, json_file): + with open(json_file, 'w') as f: + # preserve original key ordering + json.dump(config, f, sort_keys=False, indent=4) + +def name_for_experiment(base_name, parameter_setting, parameter_names): + """ + Given the base name and the dictionary between parameter names + and a specific parameter setting, this function generates + the name for the experiment. + """ + name = base_name + for k in parameter_setting: + # append parameter name and value to end of base name + if len(PARAMETERS[k][0]) == 0: + # empty string indicates that naming should be skipped + continue + if parameter_names[k] is not None: + # take name from passed dictionary + val_str = parameter_names[k] + else: + val_str = parameter_setting[k] + if isinstance(parameter_setting[k], list) or isinstance(parameter_setting[k], tuple): + # convert list to string to avoid weird spaces and naming problems + val_str = "_".join([str(x) for x in parameter_setting[k]]) + name += '_{}_{}'.format(PARAMETERS[k][0], val_str) + return name + +def value_for_key(dic, k, v=None): + """ + Get value for hierarchical dictionary with levels denoted by "/". + If @v is not None, set that to be the new value. + """ + val = dic + subkeys = k.split('/') + for s in subkeys[:-1]: + val = val[s] + if v is not None: + val[subkeys[-1]] = v + return val[subkeys[-1]] + +def get_parameter_ranges(base_config, all_combinations=False): + """ + Extract parameter ranges from base json file. If @all_combinations, take + all possible combinations of the parameter ranges to generate an expanded + set of values. + """ + + ### TODO: per parameter group, get range(n) as the list in ordered dict, then take all combs between groups, and then use indices to add params to each groups members ### + + # mapping from group id to list of indices to grab from each parameter's list + # of values in the parameter group + parameter_group_indices = OrderedDict() + for k in PARAMETERS: + group_id = PARAMETERS[k][2] + assert isinstance(PARAMETERS[k][1], list) + num_param_values = len(PARAMETERS[k][1]) + if group_id not in parameter_group_indices: + parameter_group_indices[group_id] = list(range(num_param_values)) + else: + assert len(parameter_group_indices[group_id]) == num_param_values, \ + "error: inconsistent number of parameter values in group with id {}".format(group_id) + + if all_combinations: + keys = list(parameter_group_indices.keys()) + inds = list(parameter_group_indices.values()) + new_parameter_group_indices = OrderedDict( + { k : [] for k in keys } + ) + # get all combinations of the different parameter group indices + # and then use these indices to determine the new parameter ranges + # per member of each parameter group. + # + # e.g. with two parameter groups, one with two values, and another with three values + # we have [0, 1] x [0, 1, 2] = [0, 0], [0, 1], [0, 2], [1, 0], [1, 1], [1, 2] + # so the corresponding parameter group indices are [0, 0, 0, 1, 1, 1] and + # [0, 1, 2, 0, 1, 2], and all parameters in each parameter group are indexed + # together using these indices, to get each parameter range. + for comb in itertools.product(*inds): + for i in range(len(comb)): + new_parameter_group_indices[keys[i]].append(comb[i]) + parameter_group_indices = new_parameter_group_indices + + # use the indices to gather the parameter values to sweep per parameter + parameter_ranges = OrderedDict() + parameter_names = OrderedDict() + for k in PARAMETERS: + parameter_values = PARAMETERS[k][1] + group_id = PARAMETERS[k][2] + inds = parameter_group_indices[group_id] + parameter_ranges[k] = [parameter_values[ind] for ind in inds] + + # add in parameter names if supplied + parameter_names[k] = None + if len(PARAMETERS[k]) == 4: + par_names = PARAMETERS[k][3] + assert isinstance(par_names, list) + assert len(par_names) == len(parameter_values) + parameter_names[k] = [par_names[ind] for ind in inds] + + # ensure that the number of parameter settings is the same per parameter + first_key = list(parameter_ranges.keys())[0] + num_settings = len(parameter_ranges[first_key]) + for k in parameter_ranges: + assert len(parameter_ranges[k]) == num_settings, "inconsistent number of values" + + return parameter_ranges, parameter_names + +def generate_jsons(base_json_file, all_combinations=False): + + # base directory for saving jsons + base_dir = os.path.dirname(base_json_file) + + # read base json + base_config = load_json(base_json_file) + + # base exp name from this base config + base_exp_name = base_config['experiment']['name'] + + # use base json to determine the parameter ranges + parameter_ranges, parameter_names = get_parameter_ranges(base_config, all_combinations=all_combinations) + + # iterate through each parameter setting to create each json + first_key = list(parameter_ranges.keys())[0] + num_settings = len(parameter_ranges[first_key]) + + # keep track of path to generated jsons + json_paths = [] + + for i in range(num_settings): + # the specific parameter setting for this experiment + setting = { k : parameter_ranges[k][i] for k in parameter_ranges } + maybe_parameter_names = OrderedDict() + for k in parameter_names: + maybe_parameter_names[k] = None + if parameter_names[k] is not None: + maybe_parameter_names[k] = parameter_names[k][i] + + # experiment name from setting + exp_name = name_for_experiment(base_exp_name, setting, maybe_parameter_names) + + # copy old json, but override name, and parameter values + json_dict = deepcopy(base_config) + json_dict['experiment']['name'] = exp_name + for k in parameter_ranges: + value_for_key(json_dict, k, v=parameter_ranges[k][i]) + + # save file in same directory as old json + json_path = os.path.join(base_dir, "{}.json".format(exp_name)) + save_json(json_dict, json_path) + json_paths.append(json_path) + + return json_paths, base_config + +def script_from_jsons(json_paths, batch, script_name): + """ + Generates a bash script to run the experiments that correspond to + the input jsons. + """ + with open(script_name, 'w') as f: + f.write("#!/bin/bash\n\n") + for path in json_paths: + # output text file + output_txt = os.path.basename(path)[:-5] # exclude .json + + # command to write to file + cmd = "python train.py --config {} &> {}.txt\n".format(path, output_txt) + f.write(cmd) + + +def main(args): + # make experiment jsons + json_paths, base_config = generate_jsons( + base_json_file=args.config, + all_combinations=args.combinations, + ) + + # make a script to run them + script_from_jsons( + json_paths=json_paths, + batch=base_config['train']['data'], + script_name=args.script, + ) + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + + # Path to base json config to use for randomization + parser.add_argument( + "--config", + type=str, + ) + + # Script name to generate + parser.add_argument( + "--script", + type=str, + ) + + # Whether to generate all combinations of parameter ranges. + parser.add_argument( + "--combinations", + action='store_true', + ) + + args = parser.parse_args() + main(args) + diff --git a/robomimic/scripts/internal/make_observation_videos_real_robot.py b/robomimic/scripts/internal/make_observation_videos_real_robot.py new file mode 100644 index 00000000..6e42002e --- /dev/null +++ b/robomimic/scripts/internal/make_observation_videos_real_robot.py @@ -0,0 +1,218 @@ +""" +A convenience script to visualize image observations from batch dataset trajectories. +It will output a video that consists of observations from several trajectories in a batch. +""" + +import os +import json +import h5py +import argparse +import imageio +import numpy as np +from tqdm import tqdm + +# a list of 2-tuples per episode, used for hardcoding interventions - each should +# correspond approximately to timestamps in seconds for intervention start / end +# INTERVENTION_SEGMENTS = [ +# [(3, 5), (9, 10)], +# [], +# [(8, 11)], +# ] +INTERVENTION_SEGMENTS = [ +] + +# exclude wrist images +EXCLUDE_WRIST = True + +def filter_interventions(interventions, window): + """ + Only keeps intervention signal if it is True for @window timesteps. + """ + new_interventions = np.array([False for _ in range(len(interventions))]) + start_ind = -1 + consec_ints = 0 + for i in range(len(interventions)): + if interventions[i]: + if (i == 0 or not interventions[i - 1]): + # start of new sequence + start_ind = i + consec_ints += 1 + else: + if consec_ints >= window: + # end of sequence, and got enough consecutive ints + new_interventions[start_ind: start_ind + consec_ints] = True + # reset counting + start_ind = -1 + consec_ints = 0 + + if consec_ints >= window: + # end of sequence, and got enough consecutive ints + new_interventions[start_ind: start_ind + consec_ints] = True + + return new_interventions + +def video_name_from_ep(video_name, ep_count): + lst = video_name.split(".") + return ".".join(lst[:-1]) + "_{}.".format(ep_count) + lst[-1] + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "--batch", + type=str, + ) + parser.add_argument( + "--video_name", # name of video + type=str, + ) + parser.add_argument( + "--n", # number of trajectories to dump to video + type=int, + default=None, + ) + parser.add_argument( + "--filter_key", + type=str, + default=None, + ) + parser.add_argument( + "--batch_no_self_im", + type=str, + default=None, + ) + parser.add_argument( + "--per_episode", # flag for per episode videos + action='store_true', + ) + parser.add_argument( + "--video_skip", # number of frames to subsample + type=int, + default=5, + ) + parser.add_argument( + "--video_fps", # fps for video + type=int, + default=20, + ) + parser.add_argument( + "--int_filter_window", # number of frames to subsample + type=int, + default=None, + ) + args = parser.parse_args() + + np.random.seed(0) + + demo_path = os.path.dirname(args.batch) + + f = h5py.File(args.batch, "r") + f2 = None + if args.batch_no_self_im is not None: + f2 = h5py.File(args.batch_no_self_im, "r") + + # list of all demonstrations episodes (sorted in increasing number order) + if args.filter_key is not None: + print("using filter key: {}".format(args.filter_key)) + demos = sorted([elem.decode("utf-8") for elem in np.array(f["mask/{}".format(args.filter_key)])]) + else: + demos = list(f["data"].keys()) + inds = np.argsort([int(elem[5:]) for elem in demos]) + demos = [demos[i] for i in inds] + if args.n is not None: + demos = demos[:args.n] + + # create a video writer with imageio + video_name = args.video_name + if video_name is None: + video_name = "./playback_{}.mp4".format(env_name) + if not args.per_episode: + video_writer = imageio.get_writer(video_name, fps=args.video_fps) + video_skip = args.video_skip + video_count = 0 + + # filtering for intervention signal + int_filter_window = args.int_filter_window + + # convert intervention segment timestamps (in seconds) to approximate frame numbers + # (assumes that video skip is consistent between reference videos and new videos) + CONVERTED_INTERVENTION_SEGMENTS = [] + for lst in INTERVENTION_SEGMENTS: + lst1 = [] + for tup in lst: + assert len(tup) == 2 + tup1 = (round(tup[0] * args.video_fps), round(tup[1] * args.video_fps)) + lst1.append(tup1) + CONVERTED_INTERVENTION_SEGMENTS.append(lst1) + + # iterate through dataset trajectories + for ep_ind in tqdm(range(len(demos))): + + # maybe make new video writer + if args.per_episode: + ep_video_name = video_name_from_ep(video_name, ep_count=ep_ind) + video_writer = imageio.get_writer(ep_video_name, fps=args.video_fps) + + # episode name + ep = demos[ep_ind] + + # get name of all image observations + image_keys = [k for k in f["data/{}/obs".format(ep)] if "image" in k] + assert len(image_keys) > 0 + num_images = f["data/{}/obs/{}".format(ep, image_keys[0])].shape[0] + + use_interventions = False + if (f2 is not None) or (len(CONVERTED_INTERVENTION_SEGMENTS) > 0): + # infer intervention signal first + use_interventions = True + if f2 is not None: + interventions = [] + j = 0 + num_images2 = f2["data/{}/obs/{}".format(ep, image_keys[0])].shape[0] + for i in range(num_images): + # check for equal observations + if j < num_images2 and np.array_equal(f["data/{}/obs/{}".format(ep, image_keys[0])][i], f2["data/{}/obs/{}".format(ep, image_keys[0])][j]): + # if j < f2["data/{}/actions".format(ep)].shape[0] and np.equal(f["data/{}/actions".format(ep)][i], f2["data/{}/actions".format(ep)][j]): + j += 1 + interventions.append(True) + else: + interventions.append(False) + else: + # each tuple specifies an intervention interval + interventions = np.array([False for _ in range(num_images)]) + for tup in CONVERTED_INTERVENTION_SEGMENTS[ep_ind]: + interventions[tup[0] : tup[1]] = True + + if int_filter_window is not None: + # LPF on interventions + interventions = filter_interventions(interventions=interventions, window=int_filter_window) + + # iterate through observations in this trajectory + for i in range(num_images): + # subsample frames + if i % video_skip == 0: + # concatenate image obs together + if EXCLUDE_WRIST: + im = f["data/{}/obs/{}".format(ep, image_keys[0])][i] + else: + im = [f["data/{}/obs/{}".format(ep, k)][i] for k in image_keys] + im = np.concatenate(im, axis=1) + + # maybe add a red border to indicate intervention + if use_interventions and interventions[i]: + border_size = 5 + im[:border_size, :, :] = [255., 0., 0.] + im[-border_size:, :, :] = [255., 0., 0.] + im[:, :border_size, :] = [255., 0., 0.] + im[:, -border_size:, :] = [255., 0., 0.] + + video_writer.append_data(im) + + # maybe close video writer + if args.per_episode: + video_writer.close() + + f.close() + if not args.per_episode: + video_writer.close() + if f2 is not None: + f2.close() diff --git a/robomimic/scripts/internal/merge_filter_keys.py b/robomimic/scripts/internal/merge_filter_keys.py new file mode 100644 index 00000000..d5ec2c94 --- /dev/null +++ b/robomimic/scripts/internal/merge_filter_keys.py @@ -0,0 +1,71 @@ +""" +A convenience script to create a new filter key in a file by merging two or more existing filter keys. +""" + +import h5py +import argparse +import numpy as np + +from robomimic.utils.file_utils import create_hdf5_filter_key + + +def main(args): + + # aggregate the demonstration keys across the filter keys + f = h5py.File(args.dataset, "r") + all_demos = [] + all_train_demos = [] + all_valid_demos = [] + for fk in args.filter_keys: + assert "mask/{}".format(fk) in f, "filter key {} not found!".format(fk) + demos = sorted([elem.decode("utf-8") for elem in np.array(f["mask/{}".format(fk)])]) + all_demos += demos + if args.valid: + assert "mask/{}_train".format(fk) in f, "filter key {}_train not found!".format(fk) + assert "mask/{}_valid".format(fk) in f, "filter key {}_valid not found!".format(fk) + train_demos = [x.decode("utf-8") for x in f["mask/{}_train".format(fk)][:]] + valid_demos = [x.decode("utf-8") for x in f["mask/{}_valid".format(fk)][:]] + assert set(train_demos + valid_demos) == set(demos), "train-val split has issues" + all_train_demos += train_demos + all_valid_demos += valid_demos + f.close() + + # make sure we have no redundant keys + assert len(set(all_demos)) == len(all_demos), "redundant keys present among filter keys!" + + # write new filter keys + print("creating new filter key {} from filter keys {}".format(args.name, args.filter_keys)) + create_hdf5_filter_key(hdf5_path=args.dataset, demo_keys=sorted(all_demos), key_name=args.name) + if args.valid: + print("creating new filter keys {} and {}".format("{}_train".format(args.name), "{}_valid".format(args.name))) + create_hdf5_filter_key(hdf5_path=args.dataset, demo_keys=sorted(all_train_demos), key_name="{}_train".format(args.name)) + create_hdf5_filter_key(hdf5_path=args.dataset, demo_keys=sorted(all_valid_demos), key_name="{}_valid".format(args.name)) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "--dataset", + type=str, + help="path to hdf5 dataset", + ) + parser.add_argument( + "--filter_keys", + type=str, + nargs='+', + help="filter keys to merge into a new filter key", + ) + parser.add_argument( + "--name", + type=str, + help="name for filter key to create", + ) + parser.add_argument( + "--valid", + action='store_true', + help="merge train-valid splits as well", + ) + + args = parser.parse_args() + main(args) + diff --git a/robomimic/scripts/internal/merge_hdf5.py b/robomimic/scripts/internal/merge_hdf5.py new file mode 100644 index 00000000..524d90f8 --- /dev/null +++ b/robomimic/scripts/internal/merge_hdf5.py @@ -0,0 +1,207 @@ +""" +A convenience script to merge two or more hdf5s together into one file. +""" + +import os +import json +import h5py +import argparse +import numpy as np + + +def print_warning(str_to_print): + print("*" * 50) + print("WARNING: {}".format(str_to_print)) + print("*" * 50) + print("") + + +def maybe_copy_attribute_from_source_files(new_file_group, source_files, attr_name, json_load=False): + """ + Helper function for attributes that should be copied over from source files. + It prints warnings for attributes that do not match across all the source files. + + Args: + new_file_group: base group for new merged file (usually just new_f["data"]) + source_files: list of source file handles + attr_name (str): attribute name to maybe copy + json_load (bool): if True, assumes that value to copy is a json string, so it will + be loaded as a dictionary before checking for equality across files. This is + so order will not matter when making the comparison. + """ + n_files = len(source_files) + vals = [] + val_fids = [] + for f_id, source_f in enumerate(source_files): + if attr_name in source_f["data"].attrs: + vals.append(source_f["data"].attrs[attr_name]) + val_fids.append(f_id) + + if len(vals) == 0: + print_warning("not writing attribute {} since not found in any file".format(attr_name)) + return + + # only bother checking equality if all files have the attribute + all_equal = False + if len(vals) == n_files: + vals_to_check = vals + if json_load: + vals_to_check = [json.loads(val) for val in vals] + all_equal = (vals_to_check[:-1] == vals_to_check[1:]) # check if all elements are equal + + if not all_equal: + print_warning("attribute {} is not equal in all files - copying from file {}".format(attr_name, val_fids[0])) + + # write value + new_file_group.attrs[attr_name] = vals[0] + + +def main(args): + # source hdf5s + assert (len(args.datasets) > 1), "must provide more than one file!" + assert (len(set(args.datasets)) == len(args.datasets)), "duplicate file!" + read_filter_keys = len(args.read_filter_keys) > 0 + if read_filter_keys: + assert len(args.read_filter_keys) == len(args.datasets), "must provide filter key per dataset" + write_filter_keys = len(args.write_filter_keys) > 0 + if write_filter_keys: + assert len(args.write_filter_keys) == len(args.datasets), "must provide filter key per dataset" + source_files = [] + for bf in args.datasets: + source_files.append(h5py.File(bf, "r")) + + # new hdf5 + demo_path = os.path.dirname(args.datasets[0]) + new_path = os.path.join(demo_path, args.name) + new_f = h5py.File(new_path, "w") + new_f_grp = new_f.create_group("data") + + num_demos = 0 + lengths = [] + train_demos = [] + valid_demos = [] + for f_id, f in enumerate(source_files): + # maybe reduce demos to merge using filter key + demos = list(f["data"].keys()) + has_read_filter_key = False + if read_filter_keys: + if "mask/{}".format(args.read_filter_keys[f_id]) in f: + print("using read filter key {} for file {}".format(args.read_filter_keys[f_id], f_id)) + has_read_filter_key = True + demos = sorted([elem.decode("utf-8") for elem in np.array(f["mask/{}".format(args.read_filter_keys[f_id])][:])]) + else: + print_warning("read filter key {} does not exist in file {}".format(args.read_filter_keys[f_id], f_id)) + inds = np.argsort([int(elem[5:]) for elem in demos]) + demos = [demos[i] for i in inds] + + # maybe copy train-val split as well + if args.valid: + filter_key_str = "{}_".format(args.read_filter_keys[f_id]) if has_read_filter_key else "" + f_train = [x.decode("utf-8") for x in f["mask/{}train".format(filter_key_str)][:]] + f_valid = [x.decode("utf-8") for x in f["mask/{}valid".format(filter_key_str)][:]] + assert set(f_train + f_valid) == set(demos), "train-val split has issues" + + new_demo_groups = [] + new_train_demos = [] + new_valid_demos = [] + for i in range(len(demos)): + ep = demos[i] + print('%s to demo_%i' % (ep, num_demos)) + grp_name = "demo_{}".format(num_demos) + ep_data_grp = new_f_grp.create_group(grp_name) + + new_demo_groups.append(grp_name) + if args.valid: + # preserve train / valid split across the file merge + if ep in f_valid: + new_valid_demos.append(grp_name) + valid_demos.append(grp_name) + else: + new_train_demos.append(grp_name) + train_demos.append(grp_name) + + # write the datasets + for k in f["data/{}".format(ep)]: + if k in ["obs", "next_obs"]: + # dataset per modality + for m in f["data/{}/{}".format(ep, k)]: + ep_data_grp.create_dataset("{}/{}".format(k, m), + data=np.array(f["data/{}/{}/{}".format(ep, k, m)]), + ) + elif isinstance(f["data/{}/{}".format(ep, k)], h5py.Dataset): + ep_data_grp.create_dataset(k, data=np.array(f["data/{}/{}".format(ep, k)])) + + # write the metadata present in attributes as well + for k in f["data/{}".format(ep)].attrs: + ep_data_grp.attrs[k] = f["data/{}".format(ep)].attrs[k] + + lengths.append(ep_data_grp.attrs["num_samples"]) + num_demos += 1 + + if write_filter_keys: + # write the list of demos to filter key in new merged file + print_warning("write file {} to filter key {}".format(f_id, args.write_filter_keys[f_id])) + new_f["mask/{}".format(args.write_filter_keys[f_id])] = np.array(new_demo_groups, dtype='S') + # maybe copy train-val split to this filter key as well + if args.valid: + new_f["mask/{}_train".format(args.write_filter_keys[f_id])] = np.array(new_train_demos, dtype='S') + new_f["mask/{}_valid".format(args.write_filter_keys[f_id])] = np.array(new_valid_demos, dtype='S') + + + if args.valid: + # write the train-valid split + new_f["mask/train"] = np.array(train_demos, dtype='S') + new_f["mask/valid"] = np.array(valid_demos, dtype='S') + + # write dataset attributes (metadata) + new_f_grp.attrs["total"] = np.sum(lengths) + maybe_copy_attribute_from_source_files(new_file_group=new_f_grp, source_files=source_files, attr_name="env", json_load=False) + maybe_copy_attribute_from_source_files(new_file_group=new_f_grp, source_files=source_files, attr_name="teleop_config", json_load=True) + maybe_copy_attribute_from_source_files(new_file_group=new_f_grp, source_files=source_files, attr_name="teleop_env_metadata", json_load=True) + maybe_copy_attribute_from_source_files(new_file_group=new_f_grp, source_files=source_files, attr_name="env_args", json_load=True) + + new_f.close() + for f in source_files: + f.close() + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + + # datasets to merge + parser.add_argument( + "--datasets", + nargs='+', + ) + + # puts merged batch in same folder as batch 1, with the passed name + parser.add_argument( + "--name", + type=str, + default="states.hdf5" + ) + + # flag for merging train-valid splits as well + parser.add_argument( + "--valid", + action='store_true', + ) + + # if provided, use the filter key per dataset for merging (will print a warning if it doesn't exist) + parser.add_argument( + "--read_filter_keys", + type=str, + nargs='+', + default=[], + ) + + # if provided, store the list of demonstrations for each dataset in the corresponding filter key in the merged file + parser.add_argument( + "--write_filter_keys", + type=str, + nargs='+', + default=[], + ) + + args = parser.parse_args() + main(args) diff --git a/robomimic/scripts/internal/print_hdf5_attr.py b/robomimic/scripts/internal/print_hdf5_attr.py new file mode 100644 index 00000000..5e465765 --- /dev/null +++ b/robomimic/scripts/internal/print_hdf5_attr.py @@ -0,0 +1,55 @@ +""" +Script for replacing part of env_meta. +""" + +import argparse +import h5py +import json + + +def main(hdf5_path, verbose=False): + """ + Prints attributes present in hdf5 file. + """ + + # list of all demonstration episodes (sorted in increasing number order) + f = h5py.File(hdf5_path, "r") + + global_attr_keys = [k for k in f["data"].attrs] + print("\nglobal attributes") + print(global_attr_keys) + + if verbose: + for k in global_attr_keys: + print("") + print("key: {}".format(k)) + print(f["data"].attrs[k]) + + ep = [k for k in f["data"]][0] + demo_attr_keys = [k for k in f["data/{}".format(ep)].attrs] + print("\ndemo attributes") + print(demo_attr_keys) + + if verbose: + for k in demo_attr_keys: + print("") + print("key: {}".format(k)) + print(f["data/{}".format(ep)].attrs[k]) + + f.close() + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "--dataset", + type=str, + help="path to hdf5 dataset", + ) + parser.add_argument( + "--verbose", + action='store_true', + help="verbose output", + ) + args = parser.parse_args() + main(args.dataset, args.verbose) diff --git a/robomimic/scripts/internal/remove_filter_keys.py b/robomimic/scripts/internal/remove_filter_keys.py new file mode 100644 index 00000000..74217afe --- /dev/null +++ b/robomimic/scripts/internal/remove_filter_keys.py @@ -0,0 +1,44 @@ +""" +A convenience script to remove filter keys from a file. +""" + +import h5py +import argparse + + +def main(args): + + f = h5py.File(args.dataset, "a") + for fk in args.filter_keys: + assert "mask/{}".format(fk) in f, "filter key {} not found!".format(fk) + if args.valid: + assert "mask/{}_train".format(fk) in f, "filter key {}_train not found!".format(fk) + assert "mask/{}_valid".format(fk) in f, "filter key {}_valid not found!".format(fk) + del f["mask/{}_train".format(fk)] + del f["mask/{}_valid".format(fk)] + del f["mask/{}".format(fk)] + f.close() + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "--dataset", + type=str, + help="path to hdf5 dataset", + ) + parser.add_argument( + "--filter_keys", + type=str, + nargs='+', + help="filter keys to remove", + ) + parser.add_argument( + "--valid", + action='store_true', + help="remove train-valid splits as well", + ) + + args = parser.parse_args() + main(args) + diff --git a/robomimic/scripts/internal/remove_hdf5_attr.py b/robomimic/scripts/internal/remove_hdf5_attr.py new file mode 100644 index 00000000..e3e1e837 --- /dev/null +++ b/robomimic/scripts/internal/remove_hdf5_attr.py @@ -0,0 +1,34 @@ +""" +Internal conversion tool to remove extra hdf5 attributes in demo.hdf5 files. +""" +import h5py +import argparse + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "--dataset", + type=str, + help="path to input hdf5 dataset", + ) + args = parser.parse_args() + + # open file for editing + f = h5py.File(args.dataset, "a") + + # check important global attributes and remove all others + assert "env_args" in f["data"].attrs + assert "total" in f["data"].attrs + for attr_k in f["data"].attrs: + if attr_k not in ["env_args", "total"]: + del f["data"].attrs[attr_k] + + for ep in f["data"]: + # check important per-demo attributes and remove all others + assert "num_samples" in f["data/{}".format(ep)].attrs + for attr_k in f["data/{}".format(ep)].attrs: + if attr_k not in ["model_file", "num_samples"]: + del f["data/{}".format(ep)].attrs[attr_k] + + f.close() diff --git a/robomimic/scripts/internal/rename_filter_keys.py b/robomimic/scripts/internal/rename_filter_keys.py new file mode 100644 index 00000000..29f37c22 --- /dev/null +++ b/robomimic/scripts/internal/rename_filter_keys.py @@ -0,0 +1,67 @@ +""" +A convenience script to rename existing filter keys. +""" + +import h5py +import argparse +import numpy as np + + +def main(args): + + assert len(args.filter_keys) == len(args.rename_filter_keys), "mismatch in filter key argument length!" + + f = h5py.File(args.dataset, "a") + for fk, rfk in zip(args.filter_keys, args.rename_filter_keys): + # get fk demos + assert "mask/{}".format(fk) in f, "filter key {} not found!".format(fk) + fk_demos = sorted([elem.decode("utf-8") for elem in np.array(f["mask/{}".format(fk)])]) + + if args.valid: + # get fk train-val demos + assert "mask/{}_train".format(fk) in f, "filter key {}_train not found!".format(fk) + assert "mask/{}_valid".format(fk) in f, "filter key {}_valid not found!".format(fk) + train_fk_demos = sorted([x.decode("utf-8") for x in f["mask/{}_train".format(fk)][:]]) + valid_fk_demos = sorted([x.decode("utf-8") for x in f["mask/{}_valid".format(fk)][:]]) + assert set(train_fk_demos + valid_fk_demos) == set(fk_demos), "train-val split has issues" + + # replace train-val fk + f["mask/{}_train".format(rfk)] = np.array(train_fk_demos, dtype='S') + f["mask/{}_valid".format(rfk)] = np.array(valid_fk_demos, dtype='S') + del f["mask/{}_train".format(fk)] + del f["mask/{}_valid".format(fk)] + + # replace fk + f["mask/{}".format(rfk)] = np.array(fk_demos, dtype='S') + del f["mask/{}".format(fk)] + f.close() + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "--dataset", + type=str, + help="path to hdf5 dataset", + ) + parser.add_argument( + "--filter_keys", + type=str, + nargs='+', + help="filter keys to rename", + ) + parser.add_argument( + "--rename_filter_keys", + type=str, + nargs='+', + help="new filter key names", + ) + parser.add_argument( + "--valid", + action='store_true', + help="rename train-valid splits as well", + ) + + args = parser.parse_args() + main(args) + diff --git a/robomimic/scripts/internal/reorganize_scripts.py b/robomimic/scripts/internal/reorganize_scripts.py new file mode 100644 index 00000000..11be59fb --- /dev/null +++ b/robomimic/scripts/internal/reorganize_scripts.py @@ -0,0 +1,38 @@ +""" +Simple script to help reorganize a sequence of runs into separate groups to copy and paste +into a bash script. +""" + +import argparse + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + + # name of bash script - assumes the script is in the same directory as this file + parser.add_argument( + "--script", + type=str, + ) + + parser.add_argument( + "--n_machines", + type=int, + ) + + args = parser.parse_args() + + python_lines_by_machine = [[] for _ in range(args.n_machines)] + + with open(args.script, "r") as f: + # collect python commands from bash script + lines = f.readlines() + python_lines = [l.strip() for l in lines if l.strip().startswith("python")] + + for i in range(len(python_lines)): + python_lines_by_machine[i % args.n_machines].append(python_lines[i]) + + print("") + for i in range(args.n_machines): + print("\nmachine_{}\n".format(i)) + for j in range(len(python_lines_by_machine[i])): + print(python_lines_by_machine[i][j]) diff --git a/robomimic/scripts/internal/replace_env_meta.py b/robomimic/scripts/internal/replace_env_meta.py new file mode 100644 index 00000000..fec54258 --- /dev/null +++ b/robomimic/scripts/internal/replace_env_meta.py @@ -0,0 +1,33 @@ +""" +Script for replacing part of env_meta. +""" + +import argparse +import h5py +import json + + +def main(hdf5_path): + """ + Replace part of env-meta. + """ + + # list of all demonstration episodes (sorted in increasing number order) + f = h5py.File(hdf5_path, "a") + + env_meta = json.loads(f["data"].attrs["env_args"]) + env_meta["env_name"] = "ToolHang" + f["data"].attrs["env_args"] = json.dumps(env_meta, indent=4) + + f.close() + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "--dataset", + type=str, + help="path to hdf5 dataset", + ) + args = parser.parse_args() + main(args.dataset) diff --git a/robomimic/scripts/internal/teleop_to_env_meta.py b/robomimic/scripts/internal/teleop_to_env_meta.py new file mode 100644 index 00000000..4576596a --- /dev/null +++ b/robomimic/scripts/internal/teleop_to_env_meta.py @@ -0,0 +1,128 @@ +""" +Internal conversion tool to convert teleoperation config to env meta in demonstration hdf5s. +Also adds trajectory length to each episode as metadata if it is missing. +""" +import os +import h5py +import json +import argparse + +import robosuite + +import robomimic +import robomimic.envs.env_base as EB +from robomimic.config import Config +from robomimic.envs.env_robosuite import EnvRobosuite + + +def env_args_from_teleop_config(teleop_config, env_metadata=None): + """ + Extract some important robosuite args from the teleop config. + """ + + # some default arguments that will be overriden when extracting data + robosuite_args = { + "has_renderer": False, + "has_offscreen_renderer": False, + "ignore_done": True, + "use_object_obs": True, + "use_camera_obs": False, + "camera_depth": False, + "camera_height": 84, + "camera_width": 84, + "camera_name": "agentview", + "gripper_visualization": False, + "reward_shaping": False, + } + + is_v1 = (robosuite.__version__.split(".")[0] == "1") + is_v1_1 = is_v1 and (robosuite.__version__.split(".")[1] == "1") + is_v1_2 = is_v1 and (robosuite.__version__.split(".")[1] == "2") + if env_metadata is not None and is_v1: + # set some args + robosuite_args["control_freq"] = env_metadata["robosuite_args"]["control_freq"] + robosuite_args["controller_configs"] = env_metadata["robosuite_args"]["controller_configs"] + robosuite_args["robots"] = env_metadata["robosuite_args"]["robots"] + + if "env_configuration" in env_metadata["robosuite_args"]: + robosuite_args["env_configuration"] = env_metadata["robosuite_args"]["env_configuration"] + + # renaming of args + if not is_v1_1 and not is_v1_2: + robosuite_args["gripper_visualizations"] = robosuite_args["gripper_visualization"] + robosuite_args["camera_names"] = robosuite_args["camera_name"] + robosuite_args["camera_depths"] = robosuite_args["camera_depth"] + robosuite_args["camera_heights"] = robosuite_args["camera_height"] + robosuite_args["camera_widths"] = robosuite_args["camera_width"] + del robosuite_args["gripper_visualization"] + del robosuite_args["camera_name"] + del robosuite_args["camera_depth"] + del robosuite_args["camera_height"] + del robosuite_args["camera_width"] + + return robosuite_args + + robosuite_args["control_freq"] = 100 + if teleop_config.controller.flag.osc: + # using OSC - pass controller config to env args + import RobotTeleop + controller_json_path = os.path.join(RobotTeleop.__path__[0], + "assets/osc/robosuite/osc.json") + with open(controller_json_path, "r") as f: + controller_args = json.load(f) + robosuite_args["controller_config"] = controller_args + robosuite_args["control_freq"] = 20 + return robosuite_args + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "--dataset", + type=str, + help="path to input hdf5 dataset", + ) + args = parser.parse_args() + + # open file for editing to add env meta to metadata + f = h5py.File(args.dataset, "a") + + # read env name + env_name = f["data"].attrs["env"] + + # teleop config to robosuite args + teleop_config_json = json.loads(f["data"].attrs["teleop_config"]) + teleop_config = Config(teleop_config_json) + teleop_env_config_json = None + if "teleop_env_metadata" in f["data"].attrs: + teleop_env_config_json = json.loads(f["data"].attrs["teleop_env_metadata"]) + robosuite_args = env_args_from_teleop_config(teleop_config, env_metadata=teleop_env_config_json) + + # construct and save env meta + env_meta = dict() + env_meta["type"] = EB.EnvType.ROBOSUITE_TYPE + env_meta["env_name"] = env_name + env_meta["env_kwargs"] = robosuite_args + f["data"].attrs["env_args"] = json.dumps(env_meta, indent=4) # environment info + + print("====== Added env meta ======") + print(f["data"].attrs["env_args"]) + + total_samples = 0 + for ep in f["data"]: + # ensure model-xml is in per-episode metadata + assert "model_file" in f["data/{}".format(ep)].attrs + + # add "num_samples" into per-episode metadata + if "num_samples" in f["data/{}".format(ep)].attrs: + del f["data/{}".format(ep)].attrs["num_samples"] + n_sample = f["data/{}/actions".format(ep)].shape[0] + f["data/{}".format(ep)].attrs["num_samples"] = n_sample + total_samples += n_sample + + # add total samples to global metadata + if "total" in f["data"].attrs: + del f["data"].attrs["total"] + f["data"].attrs["total"] = total_samples + + f.close() diff --git a/robomimic/scripts/internal/truncate_dataset_for_real.py b/robomimic/scripts/internal/truncate_dataset_for_real.py new file mode 100644 index 00000000..423c4b08 --- /dev/null +++ b/robomimic/scripts/internal/truncate_dataset_for_real.py @@ -0,0 +1,79 @@ +""" +Script for truncating an hdf5 into first N trajectories (not filter key) and removing observations +from hdf5. Make sure to call h5repack to actually save disk space! +""" + +import argparse +import h5py +import numpy as np + + +def truncate_hdf5(hdf5_path, n): + # list of all demonstration episodes (sorted in increasing number order) + f = h5py.File(hdf5_path, "a") + demos = list(f["data"].keys()) + inds = np.argsort([int(elem[5:]) for elem in demos]) + demos = [demos[i] for i in inds] + + # assert number of demos is more than n + num_demos = len(demos) + assert num_demos > n, "less demos ({}) than truncation number ({})!".format(num_demos, n) + + print("truncating {} demos to first {}".format(num_demos, n)) + + for ep in demos[n:]: + del f["data/{}".format(ep)] + f.close() + + print("WARNING: make sure to call h5repack to actually reclaim the space!") + + +def remove_obs(hdf5_path, obs_keys): + """ + Removes obs_keys (list) as observations from the hdf5. Useful for + real robot hdf5s that collect extraneous, unneeded observations. + """ + + # list of all demonstration episodes (sorted in increasing number order) + f = h5py.File(hdf5_path, "a") + demos = list(f["data"].keys()) + inds = np.argsort([int(elem[5:]) for elem in demos]) + demos = [demos[i] for i in inds] + + print("removing {} from observations".format(obs_keys)) + + for ep in demos: + for k in obs_keys: + del f["data/{}/obs/{}".format(ep, k)] + del f["data/{}/next_obs/{}".format(ep, k)] + f.close() + + print("WARNING: make sure to call h5repack to actually reclaim the space!") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "--dataset", + type=str, + help="path to hdf5 dataset", + ) + parser.add_argument( + "--n", + type=int, + help="number of demos to truncate to", + default=None, + ) + parser.add_argument( + "--obs_keys", + type=str, + help="observations to remove from the file", + nargs='+', + default=[], + ) + args = parser.parse_args() + + if args.n is not None: + truncate_hdf5(args.dataset, n=args.n) + if len(args.obs_keys) > 0: + remove_obs(args.dataset, obs_keys=args.obs_keys) \ No newline at end of file diff --git a/robomimic/utils/macros.py b/robomimic/utils/macros.py new file mode 100644 index 00000000..205e12e0 --- /dev/null +++ b/robomimic/utils/macros.py @@ -0,0 +1,15 @@ +""" +User-specific macro settings that can be imported and toggled. + +To make sure global reference is maintained, should import these settings as: + +`import robomimic.utils.macros as macros` +""" + +### Slack Notifications ### + +# Token for sending slack notifications +SLACK_TOKEN = None + +# User ID for user that should receive slack notifications +SLACK_USER_ID = None diff --git a/tests/assets/test.hdf5 b/tests/assets/test.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..e7d96f34858ec50d9083c5c493c7fd7e23c2f277 GIT binary patch literal 45939724 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