naruya/mujoco-mil repository overview

$ docker pull naruya/mujoco-mil:python2

$ docker pull naruya/mujoco-mil
or
$ docker pull naruya/mujoco-mil:python3

$ docker build ./ -t mujoco-mil

# change "path/to/host/.mujoco", "path/to/workspace(this dir must include mil textures)"
$ docker run --runtime=nvidia -it --ipc=host \
             -e "DISPLAY" -e "QT_X11_NO_MITSHM=1" -v /tmp/.X11-unix:/tmp/.X11-unix \
             -v /home/hsr-dev2/.mujoco:/root/.mujoco -v /home/hsr-dev2/workspace/:/root/share \
             -p 8888:8888 --name mil naruya/mujoco-mil:python3
$ docker run --runtime=nvidia -it --ipc=host \
             -e "DISPLAY" -e "QT_X11_NO_MITSHM=1" -v /tmp/.X11-unix:/tmp/.X11-unix \
             -v /home/hsr_dev3/.mujoco:/root/.mujoco -v /home/hsr_dev3/workspace/:/root/share \
             -p 8889:8888 -p 8890:6006 --name tecnets naruya/mujoco-mil:python3
$ docker run --runtime=nvidia -it --ipc=host -p 8889:8888 -p 8890:6006 -v /share2/n-kondo:/root/share --name (mil_pytorch|kondo_tecnets) naruya/mujoco-mil:python3
$ python meta_train.py --demo_dir="../../data/mil/data/sim_push/" --state_path="../../data/mil/data/scale_and_bias_sim_push.pkl" --num_batch_tasks=64 --train_n_shot=6
$ python meta_train.py --demo_dir="../../data/mil/data_mini/sim_push/" --state_path="../../data/mil/data/scale_and_bias_sim_push.pkl"
(on DGX) $ OMP_NUM_THREADS=8 python meta_train.py --demo_dir="../../data/mil/data/sim_push/" --state_path="../../data/mil/data/scale_and_bias_sim_push.pkl" --num_batch_tasks=64 --train_n_shot=6

$ xhost local:

$ apt-get update
$ apt-get install ffmpeg

$ cd workspace
$ git clone https://github.com/naruya/mujoco.git
$ cd mujoco
$ python mujoco_sample.py

# change "path/to/textures"
$ cp -d -r ~/share/data/mil_data/textures ~/workspace/gym/gym/envs/mujoco/assets/sim_push_xmls

# change "path/to/textures"
$ cp -d -r ~/share/data/textures ~/workspace/gym/gym/envs/mujoco/assets/sim_push_xmls
$ cd workspace
$ git clone https://git.hsr.io/matsuolab/task_embedded_control_networks.git
$ cd task_embedded_control_networks
$ pip install -r requirements.txt
$ mkdir logs
~~ 1 ~~
$ git checkout 42c77570
$ wget https://www.dropbox.com/s/55t0j5b0odf2mbo/ctr_20.732142329216003_2019-05-22T17%3A15%3A58.938877.pt -P ./logs/
$ wget https://www.dropbox.com/s/d8yt1g9ru527hyg/emb_20.732142329216003_2019-05-22T17%3A15%3A58.936195.pt -P ./logs/
$ cd ~/workspace
$ mkdir -p mil/data/sim_push_common
$ cd $_
$ wget https://www.dropbox.com/s/l9ieg284inipyib/scale_and_bias_sim_push.pkl
$ cd ~/workspace/task_embedded_control_networks
$ jl &
# Run meta-test
$ apt-get install ffmpeg
$ pip install moviepy
& python meta_test.py --demo_dir="/root/share/data/mil_data/data/sim_push_test/" --log_dir="./logs" --emb_model_path="./logs/emb_20.732142329216003_2019-05-22T17:15:58.936195.pt" --ctr_model_path="./logs/ctr_20.732142329216003_2019-05-22T17:15:58.938877.pt"
$ tensorboard --logdir="runs" >/dev/null 2>&1 &
$ python meta_train.py --demo_dir="../../share/data/mil_data/data/sim_push/" --state_path="../../share/data/mil_data/data/sim_push_common/scale_and_bias_sim_push.pkl" --num_batch_tasks=12
$ python meta_test.py --demo_dir="../../share/data/mil_data/data/sim_push_test/" --state_path="../../share/data/mil_data/data/sim_push_common/scale_and_bias_sim_push.pkl" --emb_model_path="logs/20190601-062357/emb_epoch8_1.3480.pt" --ctr_model_path="logs/20190601-062357/ctr_epoch8_1.3480.pt"
$ python sim_test.py --demo_dir=../../data/mil/data/sim_push_test/ --state_path=../../data/mil/data/scale_and_bias_sim_push.pkl --emb_model_path=$emb --ctr_model_path=$ctr
~~ 2 ~~
$ git checkout 40bd381d
$ python meta_test.py --demo_dir="/root/share/data/mil_data/data/sim_push_test/" --log_dir="./logs" --num_workers=2

$ apt-get install zip
$ pip install tensorflow-gpu==1.12 imageio scipy natsort joblib

# change "path/to/textures"
$ cp -d -r ~/share/data/textures ~/workspace/gym/gym/envs/mujoco/assets/sim_push_xmls
$ cd workspace
$ git clone https://github.com/tianheyu927/mil.git
$ cd mil
$ mkdir -p logs/sim_push
$ mkdir data
$ wget https://www.dropbox.com/s/0stff78u60uu08j/sim_push.xavier_init.4_conv.4_strides.16_filters.3_fc.200_dim.bt_dim_20.mbs_50.ubs_1.numstep_1.updatelr_0.01.clip_10.conv_bt.fp.no_action.zero_state.two_heads.zip -P ./logs/sim_push
$ unzip sim_push.xavier_init.4_conv.4_strides.16_filters.3_fc.200_dim.bt_dim_20.mbs_50.ubs_1.numstep_1.updatelr_0.01.clip_10.conv_bt.fp.no_action.zero_state.two_heads.zip
$ rm sim_push.xavier_init.4_conv.4_strides.16_filters.3_fc.200_dim.bt_dim_20.mbs_50.ubs_1.numstep_1.updatelr_0.01.clip_10.conv_bt.fp.no_action.zero_state.two_heads.zip
$ cp -d -r ../../share/nama/mil/data/sim_push_test ./data # important!!!!
$ vim scripts/test_sim_push.sh # see issue @tianheyu927/mil
$ wget https://www.dropbox.com/s/l9ieg284inipyib/scale_and_bias_sim_push.pkl -P ./data/
$ ./scripts/test_sim_push.sh

$ pip install -r requirements.txt
$ python meta_train.py --demo_path="../../data/mil/data/sim_push" --state_path="../../data/mil/data/scale_and_bias_sim_push.pkl" ./runs/96bc1a5d