-
Notifications
You must be signed in to change notification settings - Fork 2
/
mesa_exps.txt
125 lines (83 loc) · 10.4 KB
/
mesa_exps.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
Meta Recovery RL Runs
#=============Navigation 1=============#
# Generating Data
python gen_pointbot0_demos.py
# SAC Baseline
python main.py --env-name simplepointbot0 --cuda --num_eps 300 --logdir nav1_recovery_notask --logdir_suffix sac_baseline --start_steps 100
# Recovery RL (model-free recovery)
python main.py --env-name simplepointbot0 --cuda --use_recovery --gamma_safe 0.8 --eps_safe 0.3 --use_qvalue --ddpg_recovery --num_eps 300 --logdir nav1_recovery_notask --logdir_suffix recovery_rl_0.8_0.3_recovery --online_iters 100
# Meta
python main.py --env-name simplepointbot0 --cuda --use_recovery --gamma_safe 0.8 --eps_safe 0.3 --use_qvalue --ddpg_recovery --num_eps 300 --logdir nav1_recovery_notask --logdir_suffix recovery_rl_0.8_0.3_meta --online_iters 100 --meta
# Multitask
python main.py --env-name simplepointbot0 --cuda --use_recovery --gamma_safe 0.8 --eps_safe 0.3 --use_qvalue --ddpg_recovery --num_eps 300 --logdir nav1_recovery_notask --logdir_suffix recovery_rl_0.8_0.3_multitask --online_iters 100 --multitask
#=============Navigation 2=============#
# Generating Data
python gen_pointbot1_demos.py
# SAC Baseline
python main.py --env-name simplepointbot1 --cuda --num_eps 300 --logdir nav2_recovery_notask --logdir_suffix sac_baseline --start_steps 100
# Recovery RL (model-free recovery)
python main.py --env-name simplepointbot1 --cuda --use_recovery --gamma_safe 0.65 --eps_safe 0.1 --use_qvalue --ddpg_recovery --num_eps 300 --logdir nav2_recovery_notask --logdir_suffix recovery_rl_0.65_0.1_recovery
# Meta
python main.py --env-name simplepointbot1 --cuda --use_recovery --gamma_safe 0.65 --eps_safe 0.1 --use_qvalue --ddpg_recovery --num_eps 300 --logdir nav2_recovery_notask --logdir_suffix recovery_rl_0.65_0.1_meta --online_iters 100 --meta
# Multitask
python main.py --env-name simplepointbot1 --cuda --use_recovery --gamma_safe 0.65 --eps_safe 0.1 --use_qvalue --ddpg_recovery --num_eps 300 --logdir nav2_recovery_notask --logdir_suffix recovery_rl_0.65_0.1_multitask --online_iters 100 --multitask
#=============Cartpole-Length=============#
# Gathering Data
# Change logdir_suffix length accordingly to train env cartpole length
python main.py --env-name cartpole --cuda --logdir cartpole_notask_data --logdir_suffix length_0.4 --num_eps 100 --gamma_safe 0.8 --save_replay --start_steps 100
# SAC Baseline
python main.py --env-name cartpole --cuda --logdir cartpole_recovery_notask --logdir_suffix sac_baseline --num_eps 400 --start_steps 100
# Recovery RL
python -m main --cuda --env-name cartpole --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.8 --eps_safe 0.1 --num_eps 400 --logdir cartpole_recovery_notask --logdir_suffix recovery_0.8_0.1
# Multitask
python -m main --cuda --env-name cartpole --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.8 --eps_safe 0.1 --num_eps 400 --logdir cartpole_recovery_notask --logdir_suffix recovery_0.8_0.1_multitask --online_iters 100 --multitask
# Meta
python -m main --cuda --env-name cartpole --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.8 --eps_safe 0.1 --num_eps 400 --logdir cartpole_recovery_notask --logdir_suffix recovery_0.8_0.1_meta --online_iters 100 --meta --test_size 400
#=============HalfCheetah-Disabled=============#
# Generating Data (for each disabled joint index [1,2,3,4,5])
# Change logdir_suffix with corresponding joint index
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_notask_data --logdir_suffix joint_5 --num_eps 400 --gamma_safe 0.85 --save_replay --start_steps 10000
# SAC Baseline
python main.py --env-name HalfCheetah-Disabled --cuda --num_eps 500 --logdir hc_recovery_notask --logdir_suffix sac_baseline --start_steps 10000
# Recovery RL (0.8, 0.1) were the best
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_recovery_notask --logdir_suffix recovery_rl_0.8_0.1 --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3
# Meta
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_recovery_notask --logdir_suffix recovery_rl_0.8_0.1_meta --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3 --meta --test_size 10000 --online_iters 500
# Multitask
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_recovery_notask --logdir_suffix recovery_rl_0.8_0.1_multitask --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3 --multitask --test_size 10000 --online_iters 500
#=============Ant-Disabled=============#
# Generating Data (For each Disabled Join [0,1,2,3]
# Similarly, modify logdir_suffix accordingly
python main.py --env-name Ant-Disabled --cuda --logdir ant_notask_data --logdir_suffix joint_3 --num_eps 800 --gamma_safe 0.8 --save_replay --start_steps 10000
# SAC Baseline
python main.py --env-name Ant-Disabled --cuda --num_eps 1000 --logdir ant_recovery_notask --logdir_suffix sac_baseline --start_steps 10000
# Recovery
python main.py --env-name Ant-Disabled --cuda --logdir ant_recovery_notask --logdir_suffix recovery_rl_0.8_0.3_small --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.3 --num_eps 1000 --critic_safe_pretraining_steps 15000
# Multitask
python main.py --env-name Ant-Disabled --cuda --logdir ant_recovery_notask --logdir_suffix recovery_rl_0.8_0.3_multitask --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.3 --num_eps 1000 --critic_safe_pretraining_steps 15000 --multitask --test_size 20000 --online_iters 600
# Meta
python main.py --env-name Ant-Disabled --cuda --logdir ant_recovery_notask --logdir_suffix recovery_rl_0.8_0.3_meta --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.3 --num_eps 1000 --critic_safe_pretraining_steps 15000 --meta --test_size 20000 --online_iters 600
#===========Ablation 1: Train Dataset Size============#
# 1x
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_testsize_notask --logdir_suffix recovery_rl_0.8_0.1_meta_1 --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3 --meta --test_size 400000
# 1/2x
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_testsize_notask --logdir_suffix recovery_rl_0.8_0.1_meta_2 --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3 --meta --test_size 200000
# 1/4x
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_testsize_notask --logdir_suffix recovery_rl_0.8_0.1_meta_4 --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3 --meta --test_size 100000
# 1/8x
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_testsize_notask --logdir_suffix recovery_rl_0.8_0.1_meta_8 --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3 --meta --test_size 50000
# 1/16x
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_testsize_notask --logdir_suffix recovery_rl_0.8_0.1_meta_16 --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3 --meta --test_size 25000
# 1/32x
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_testsize_notask --logdir_suffix recovery_rl_0.8_0.1_meta_32 --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3 --meta --test_size 12500
# 1/64
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_testsize_notask --logdir_suffix recovery_rl_0.8_0.1_meta_64 --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3 --meta --test_size 6250
# 1/128
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_testsize_notask --logdir_suffix recovery_rl_0.8_0.1_meta_128 --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3 --meta --test_size 3125
#===========Ablation 2: Partial Joint Disabled============#
# Meta
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_partial_notask --logdir_suffix recovery_rl_0.8_0.1_meta --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3 --meta
# Multitask
python main.py --env-name HalfCheetah-Disabled --cuda --logdir hc_partial_notask --logdir_suffix recovery_rl_0.8_0.1_multitask --start_steps 10000 --use_recovery --ddpg_recovery --use_qvalue --critic_safe_update_freq 5 --recovery_policy_update_freq 5 --gamma_safe 0.80 --eps_safe 0.1 --num_eps 500 --critic_safe_pretraining_steps 10000 --pos_fraction 0.3 --multitask
#=============FetchPush=============#
# WIP