Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix --checkpoint docs #313

Open
wants to merge 2 commits into
base: main
Choose a base branch
from
+22 −7
Open

fix --checkpoint docs #313

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
e93c6d3
fix `--checkpoint` docs
VladimirFokow Mar 21, 2024
0fdb141
better phrasing about --checkpoint
VladimirFokow Mar 21, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
29 changes: 22 additions & 7 deletions docs/source/setup/sample.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -157,7 +157,7 @@ format.

.. code:: bash

./orbit.sh -p source/standalone//workflows/robomimic/play.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --checkpoint /PATH/TO/model.pth
./orbit.sh -p source/standalone//workflows/robomimic/play.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --checkpoint model_filename.pt

Reinforcement Learning
~~~~~~~~~~~~~~~~~~~~~~
Expand All @@ -177,7 +177,7 @@ from the environments into the respective libraries function argument and return
# note: we enable cpu flag since SB3 doesn't optimize for GPU anyway
./orbit.sh -p source/standalone/workflows/sb3/train.py --task Isaac-Cartpole-v0 --headless --cpu
# run script for playing with 32 environments
./orbit.sh -p source/standalone/workflows/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --checkpoint /PATH/TO/model.zip
./orbit.sh -p source/standalone/workflows/sb3/play.py --task Isaac-Cartpole-v0 --num_envs 32 --checkpoint model_filename.pt

- Training an agent with
`SKRL <https://skrl.readthedocs.io>`__ on ``Isaac-Reach-Franka-v0``:
Expand All @@ -189,7 +189,7 @@ from the environments into the respective libraries function argument and return
# run script for training
./orbit.sh -p source/standalone/workflows/skrl/train.py --task Isaac-Reach-Franka-v0 --headless
# run script for playing with 32 environments
./orbit.sh -p source/standalone/workflows/skrl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint /PATH/TO/model.pt
./orbit.sh -p source/standalone/workflows/skrl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint model_filename.pt

- Training an agent with
`RL-Games <https://github.com/Denys88/rl_games>`__ on ``Isaac-Ant-v0``:
Expand All @@ -201,7 +201,7 @@ from the environments into the respective libraries function argument and return
# run script for training
./orbit.sh -p source/standalone/workflows/rl_games/train.py --task Isaac-Ant-v0 --headless
# run script for playing with 32 environments
./orbit.sh -p source/standalone/workflows/rl_games/play.py --task Isaac-Ant-v0 --num_envs 32 --checkpoint /PATH/TO/model.pth
./orbit.sh -p source/standalone/workflows/rl_games/play.py --task Isaac-Ant-v0 --num_envs 32 --checkpoint model_filename.pt

- Training an agent with
`RSL-RL <https://github.com/leggedrobotics/rsl_rl>`__ on ``Isaac-Reach-Franka-v0``:
Expand All @@ -213,10 +213,12 @@ from the environments into the respective libraries function argument and return
# run script for training
./orbit.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Reach-Franka-v0 --headless
# run script for playing with 32 environments
./orbit.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint /PATH/TO/model.pth
./orbit.sh -p source/standalone/workflows/rsl_rl/play.py --task Isaac-Reach-Franka-v0 --num_envs 32 --checkpoint model_filename.pt

All the scripts above log the training progress to `Tensorboard`_ in the ``logs`` directory in the root of
the repository. The logs directory follows the pattern ``logs/<library>/<task>/<date-time>``, where ``<library>``
All the scripts above log the training progress to `Tensorboard`_ in the ``logs`` directory.

The ``logs`` directory is in the root of the repository, and follows the pattern
``logs/<library>/<task>/<date-time>``, where ``<library>``
is the name of the learning framework, ``<task>`` is the task name, and ``<date-time>`` is the timestamp at
which the training script was executed.

Expand All @@ -228,3 +230,16 @@ To view the logs, run:
./orbit.sh -p -m tensorboard.main --logdir=logs

.. _Tensorboard: https://www.tensorflow.org/tensorboard


.. note::

In some examples above the ``--checkpoint`` argument is used.
It is not required: if not specified, the latest ``model.pt`` is taken automatically.

Example usage: ``--checkpoint model_999.pt``

You can also specify the run where to take the checkpoint from, for example:
``--load_run 2024-03-11_16-11-38``

The model checkpoints are saved and loaded from the ``logs`` directory (see above).