diff --git a/models/4_19_26_rocket/description.txt b/models/4_19_26_rocket/description.txt new file mode 100644 index 0000000000..f83f85d859 --- /dev/null +++ b/models/4_19_26_rocket/description.txt @@ -0,0 +1 @@ +This model was trained by Valentin. It is compatible with the repo at commit a41e5a69ca0ecc9c34c20409146475213d044c12 but not after that! diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_001000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_001000.pt new file mode 100644 index 0000000000..b1459a8ce5 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_001000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_003000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_003000.pt new file mode 100644 index 0000000000..38a3c2598f Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_003000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_004000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_004000.pt new file mode 100644 index 0000000000..9ff68c339a Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_004000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_005000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_005000.pt new file mode 100644 index 0000000000..6469f06d28 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_005000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_008000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_008000.pt new file mode 100644 index 0000000000..82994a0ee3 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_008000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_010000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_010000.pt new file mode 100644 index 0000000000..db8a0b6934 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_010000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_011000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_011000.pt new file mode 100644 index 0000000000..8a998af830 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_011000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_012854.pt b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_012854.pt new file mode 100644 index 0000000000..29e683be74 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/best_models/best_trainer_state_012854.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/config.yaml b/models/4_19_26_rocket/rocket-baseline-scaling/config.yaml new file mode 100644 index 0000000000..8232bfcced --- /dev/null +++ b/models/4_19_26_rocket/rocket-baseline-scaling/config.yaml @@ -0,0 +1,205 @@ +agent_index: null +controlled_exp: + train: + ent_coef: + values: + - 0.01 + - 0.005 + learning_rate: + values: + - 0.001 + - 0.003 + - 0.01 +env: + action_type: discrete + agent_obs_max_dist: 100.0 + boundary_segment_dropout: 0.5 + collision_behavior: 1 + compute_eval_metrics: false + control_mode: control_vehicles + dt: 0.1 + dynamics_model: jerk + goal_radius: 2.0 + goal_speed: 100.0 + inactive_agent_threshold: 0.4 + init_mode: create_all_valid + init_steps: 0 + lane_segment_dropout: 0.4 + map_dir: /gcs/valeo-cp2386-datasets/pufferdrive/v1.2/ + max_agents_per_env: 120 + max_boundary_segment_observations: 80 + max_goal_position: 120.0 + max_lane_segment_observations: 80 + max_partner_observations: 16 + max_position: 120.0 + max_road_segment_length: 10.0 + max_road_segment_width: 5.0 + max_traffic_control_distance: 100.0 + max_traffic_control_observations: 4 + max_veh_len: 15.0 + max_veh_width: 10.0 + max_waypoint_spacing: 40.0 + min_agents_per_env: 1 + min_waypoint_spacing: 20.0 + num_agents: 1024 + num_maps: 8 + num_target_waypoints: 3 + offroad_behavior: 1 + partner_blindness_prob: 0.0 + phantom_braking_duration: 10 + phantom_braking_prob: 0.0 + phantom_braking_trigger_prob: 0.0 + resample_frequency: 128000000 + reward_ade: 0.0 + reward_center_bias: 0.0 + reward_comfort: 0.05 + reward_conditioning: false + reward_goal: 1.0 + reward_lane_align: 0.03 + reward_lane_center: 0.0038 + reward_offroad_collision: 1.5 + reward_overspeed: 0.05 + reward_randomization: false + reward_reverse: 0.01 + reward_stop_line: 1.0 + reward_timestep: 2.5e-05 + reward_vehicle_collision: 1.5 + reward_vel_align: 1.0 + reward_velocity: 0.0025 + road_obs_behind_dist: 20.0 + road_obs_front_dist: 120.0 + road_obs_side_dist: 30.0 + scenario_length: 1280 + simulation_mode: gigaflow + spawn_initial_speed: 0.0 + target_type: static + termination_mode: 1 + traffic_control_scope: 0 + traffic_light_behavior: 1 +env_name: puffer_drive +eval: + backend: PufferEnv + eval_interval: 25 + human_replay_control_mode: '"control_sdc_only" ; Control only the self-driving car' + human_replay_eval: false + human_replay_num_agents: 64 ; This equals the number of scenarios, since we control + one agent in each + map_dir: pufferlib/resources/drive/binaries/eval + multi_scenario_eval: false + multi_scenario_num_scenarios: 250 + multi_scenario_simulation_mode: replay + num_agents: 512 + wosac_aggregate_results: True ; Only return aggregate results across all scenes + wosac_control_mode: '"control_wosac" ; Control the tracks to predict' + wosac_goal_radius: 2.0 ; Can shrink goal radius for WOSAC evaluation + wosac_init_mode: '"create_all_valid" ; Initialize from the tracks to predict' + wosac_init_steps: 10 ; When to start the simulation + wosac_num_agents: 256 ; Total number of WOSAC agents to evaluate + wosac_num_rollouts: 32 ; Number of policy rollouts per scene + wosac_realism_eval: false + wosac_sanity_check: false +eval_simulation: null +fps: 15 +gif_path: eval.gif +git: + commit_hash: null + commit_message: null + is_dirty: null +load_id: null +load_model_path: null +local_rank: 0 +max_runs: 200 +max_suggestion_cost: 3600 +neptune: false +neptune_name: pufferai +neptune_project: ablations +num_carla_maps: 8 +num_scenarios: 3 +package: ocean +policy: + actor_hidden_size: 512 + actor_num_layers: 0 + backbone_hidden_size: 512 + backbone_num_layers: 4 + critic_hidden_size: 512 + critic_num_layers: 0 + dropout: 0.0 + encoder_gigaflow: true + input_size: 128 + split_network: false +policy_name: Drive +render: 0 +render_mode: auto +render_obs: 0 +rnn: + hidden_size: 512 + input_size: 512 +rnn_name: null +save_frames: 0 +sweep: + downsample: 10 + goal: maximize + method: Protein + metric: score +tag: null +tb: true +train: + adam_beta1: 0.9 + adam_beta2: 0.999 + adam_eps: 1.0e-08 + adv_filter_ewma_beta: 0.25 + adv_filter_threshold_scale: 0.01 + adv_sampling_prio_alpha: 0.8499999999999999 + adv_sampling_prio_beta0: 0.8499999999999999 + anneal_lr: true + batch_size: auto + bptt_horizon: 128 + checkpoint_interval: 1000 + clip_coef: 0.2 + compile: false + compile_fullgraph: true + compile_mode: max-autotune-no-cudagraphs + cpu_offload: false + data_dir: /pufferdrive/training_output/ + device: 0 + ent_coef: 0.01 + gae_lambda: 0.95 + gamma: 0.999 + learning_rate: 0.0005 + log_interval: 1 + max_grad_norm: 0.5 + max_minibatch_size: 98304 + minibatch_size: 98304 + name: pufferai + normalize_rewards: true + obs_only: true + optimizer: adamw + ppo_granularity: auto + precision: float32 + project: ablations + render: false + render_interval: 1000 + render_map: none + seed: 42 + show_grid: false + show_human_logs: true + show_lasers: false + torch_deterministic: false + total_timesteps: 75000000000 + update_epochs: 2 + use_rnn: false + vf_clip_coef: null + vf_coef: 0.5 + vtrace_c_clip: 1 + vtrace_rho_clip: 1 +vec: + backend: Multiprocessing + batch_size: auto + num_envs: 48 + num_workers: auto + seed: 42 + zero_copy: true +video_path: videos +wandb: false +wandb_group: debug +wandb_project: pufferlib diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/events.out.tfevents.1775950510.cmle-training-workerpool0-13479849b3-0-mltf4.151.0 b/models/4_19_26_rocket/rocket-baseline-scaling/events.out.tfevents.1775950510.cmle-training-workerpool0-13479849b3-0-mltf4.151.0 new file mode 100644 index 0000000000..f130a07e13 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/events.out.tfevents.1775950510.cmle-training-workerpool0-13479849b3-0-mltf4.151.0 differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/events.out.tfevents.1775950511.cmle-training-workerpool0-13479849b3-0-mltf4.153.0 b/models/4_19_26_rocket/rocket-baseline-scaling/events.out.tfevents.1775950511.cmle-training-workerpool0-13479849b3-0-mltf4.153.0 new file mode 100644 index 0000000000..3476fe49e2 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/events.out.tfevents.1775950511.cmle-training-workerpool0-13479849b3-0-mltf4.153.0 differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/events.out.tfevents.1775950512.cmle-training-workerpool0-13479849b3-0-mltf4.152.0 b/models/4_19_26_rocket/rocket-baseline-scaling/events.out.tfevents.1775950512.cmle-training-workerpool0-13479849b3-0-mltf4.152.0 new file mode 100644 index 0000000000..07916b7803 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/events.out.tfevents.1775950512.cmle-training-workerpool0-13479849b3-0-mltf4.152.0 differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/events.out.tfevents.1775950512.cmle-training-workerpool0-13479849b3-0-mltf4.154.0 b/models/4_19_26_rocket/rocket-baseline-scaling/events.out.tfevents.1775950512.cmle-training-workerpool0-13479849b3-0-mltf4.154.0 new file mode 100644 index 0000000000..4f5d078712 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/events.out.tfevents.1775950512.cmle-training-workerpool0-13479849b3-0-mltf4.154.0 differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_001000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_001000.pt new file mode 100644 index 0000000000..b1459a8ce5 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_001000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_002000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_002000.pt new file mode 100644 index 0000000000..dc22c3dcdb Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_002000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_003000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_003000.pt new file mode 100644 index 0000000000..38a3c2598f Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_003000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_004000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_004000.pt new file mode 100644 index 0000000000..9ff68c339a Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_004000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_005000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_005000.pt new file mode 100644 index 0000000000..6469f06d28 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_005000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_006000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_006000.pt new file mode 100644 index 0000000000..fc98fbd3c5 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_006000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_007000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_007000.pt new file mode 100644 index 0000000000..074603861b Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_007000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_008000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_008000.pt new file mode 100644 index 0000000000..82994a0ee3 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_008000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_009000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_009000.pt new file mode 100644 index 0000000000..1b7ff7bd9c Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_009000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_010000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_010000.pt new file mode 100644 index 0000000000..db8a0b6934 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_010000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_011000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_011000.pt new file mode 100644 index 0000000000..8a998af830 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_011000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_012000.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_012000.pt new file mode 100644 index 0000000000..c8dd72f5dd Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_012000.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_012854.pt b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_012854.pt new file mode 100644 index 0000000000..29e683be74 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/models/model_puffer_drive_012854.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/puffer_drive_20260411-233508.pt b/models/4_19_26_rocket/rocket-baseline-scaling/puffer_drive_20260411-233508.pt new file mode 100644 index 0000000000..29e683be74 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/puffer_drive_20260411-233508.pt differ diff --git a/models/4_19_26_rocket/rocket-baseline-scaling/trainer_state.pt b/models/4_19_26_rocket/rocket-baseline-scaling/trainer_state.pt new file mode 100644 index 0000000000..1bdafce231 Binary files /dev/null and b/models/4_19_26_rocket/rocket-baseline-scaling/trainer_state.pt differ