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Fix sbatch scripts and set default to GOATPolicy #13

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Fix sbatch scripts and set default to GOATPolicy #13

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deaa1a4
Change to GOATPolicy for train and eval scripts
gchhablani Jun 26, 2024
681c02b
Use goat bench run script
gchhablani Jun 27, 2024
4062112
Use current sbatch conventions
gchhablani Jun 27, 2024
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2 changes: 1 addition & 1 deletion config/experiments/ver_instance_imagenav.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ habitat_baselines:
rl:

policy:
name: "PointNavResnetCLIPPolicy"
name: "GOATPolicy"

ppo:
# ppo params
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2 changes: 1 addition & 1 deletion config/experiments/ver_language_nav.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ habitat_baselines:
rl:

policy:
name: "PointNavResnetCLIPPolicy"
name: "GOATPolicy"

ppo:
# ppo params
Expand Down
2 changes: 1 addition & 1 deletion config/experiments/ver_objectnav.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ habitat_baselines:
rl:

policy:
name: "PointNavResnetCLIPPolicy"
name: "GOATPolicy"

ppo:
# ppo params
Expand Down
6 changes: 3 additions & 3 deletions goat_bench/models/high_level_policy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -104,7 +104,7 @@ def __init__(
print("Start initialization of GOAT high level policy.......")

ovon_policy_cls = baseline_registry.get_policy(
"PointNavResnetCLIPPolicy"
"GOATPolicy"
)
print(observation_space)
print(dir(observation_space))
Expand Down Expand Up @@ -144,7 +144,7 @@ def __init__(
}
)
language_policy_cls = baseline_registry.get_policy(
"PointNavResnetCLIPPolicy"
"GOATPolicy"
)
print("Pol ", language_policy_cls)
self.language_policy = language_policy_cls.from_config(
Expand All @@ -171,7 +171,7 @@ def __init__(
}
)
image_policy_cls = baseline_registry.get_policy(
"PointNavResnetCLIPPolicy"
"GOATPolicy"
)
self.image_policy = image_policy_cls.from_config(
config,
Expand Down
8 changes: 4 additions & 4 deletions scripts/eval/1-goat-skill-chaining.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -2,12 +2,12 @@
#SBATCH --job-name=goat
#SBATCH --output=slurm_logs/eval/goat-%j.out
#SBATCH --error=slurm_logs/eval/goat-%j.err
#SBATCH --gpus 1
#SBATCH --gpus a40:1
#SBATCH --nodes 1
#SBATCH --cpus-per-task 6
#SBATCH --ntasks-per-node 1
#SBATCH --constraint="a40"
#SBATCH --partition=short
#SBATCH --partition=cvmlp-lab
#SBATCH --qos=short
#SBATCH --exclude=xaea-12
#SBATCH --signal=USR1@100

Expand All @@ -23,7 +23,7 @@ eval_ckpt_path_dir="data/new_checkpoints/goat_bench/ver/skill_chain/"
tensorboard_dir="tb/goat_bench/ver/skill_chain/val_seen/"
split="val_seen"

srun python -um goat.run \
srun python -um goat_bench.run \
--run-type eval \
--exp-config config/experiments/ver_goat_skill_chain.yaml \
habitat_baselines.num_environments=1 \
Expand Down
10 changes: 5 additions & 5 deletions scripts/eval/1-instance-imagenav-eval.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -2,12 +2,12 @@
#SBATCH --job-name=goat
#SBATCH --output=slurm_logs/eval/goat-%j.out
#SBATCH --error=slurm_logs/eval/goat-%j.err
#SBATCH --gpus 1
#SBATCH --gpus a40:1
#SBATCH --nodes 1
#SBATCH --cpus-per-task 6
#SBATCH --ntasks-per-node 1
#SBATCH --constraint="a40|rtx_6000|2080_ti"
#SBATCH --partition=short
#SBATCH --partition=cvmlp-lab
#SBATCH --qos=short
#SBATCH --exclude=xaea-12
#SBATCH --signal=USR1@100

Expand All @@ -32,11 +32,11 @@ DATA_PATH="data/datasets/iin/hm3d/v2/"
echo "Evaluating ckpt: ${eval_ckpt_path_dir}"
echo "Data path: ${DATA_PATH}/${split}/${split}.json.gz"

srun python -um goat.run \
srun python -um goat_bench.run \
--run-type eval \
--exp-config config/experiments/ver_instance_imagenav.yaml \
habitat_baselines.num_environments=2 \
habitat_baselines.rl.policy.name=PointNavResnetCLIPPolicy \
habitat_baselines.rl.policy.name=GOATPolicy \
habitat_baselines.tensorboard_dir=$tensorboard_dir \
habitat_baselines.eval_ckpt_path_dir=$eval_ckpt_path_dir \
habitat_baselines.checkpoint_folder=$eval_ckpt_path_dir \
Expand Down
10 changes: 5 additions & 5 deletions scripts/eval/1-languagenav-eval.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -2,12 +2,12 @@
#SBATCH --job-name=goat
#SBATCH --output=slurm_logs/eval/goat-%j.out
#SBATCH --error=slurm_logs/eval/goat-%j.err
#SBATCH --gpus 1
#SBATCH --gpus a40:1
#SBATCH --nodes 1
#SBATCH --cpus-per-task 6
#SBATCH --ntasks-per-node 1
#SBATCH --constraint="a40|rtx_6000|2080_ti"
#SBATCH --partition=short
#SBATCH --partition=cvmlp-lab
#SBATCH --qos=short
#SBATCH --exclude=xaea-12
#SBATCH --signal=USR1@100

Expand All @@ -32,11 +32,11 @@ DATA_PATH="data/datasets/languagenav/hm3d/v5_final/"
echo "Evaluating ckpt: ${eval_ckpt_path_dir}"
echo "Data path: ${DATA_PATH}/${split}/${split}.json.gz"

srun python -um goat.run \
srun python -um goat_bench.run \
--run-type eval \
--exp-config config/experiments/ver_language_nav.yaml \
habitat_baselines.num_environments=20 \
habitat_baselines.rl.policy.name=PointNavResnetCLIPPolicy \
habitat_baselines.rl.policy.name=GOATPolicy \
habitat_baselines.tensorboard_dir=$tensorboard_dir \
habitat_baselines.eval_ckpt_path_dir=$eval_ckpt_path_dir \
habitat_baselines.checkpoint_folder=$eval_ckpt_path_dir \
Expand Down
10 changes: 5 additions & 5 deletions scripts/train/1-instance-imagenav-ver.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -2,13 +2,13 @@
#SBATCH --job-name=goat
#SBATCH --output=slurm_logs/goat-ver-%j.out
#SBATCH --error=slurm_logs/goat-ver-%j.err
#SBATCH --gpus 4
#SBATCH --gpus a40:4
#SBATCH --nodes 1
#SBATCH --cpus-per-task 10
#SBATCH --ntasks-per-node 4
#SBATCH --constraint=a40
#SBATCH --partition=cvmlp-lab
#SBATCH --qos=short
#SBATCH --exclude=megabot,gundam,kitt,cheetah
#SBATCH --partition=short
#SBATCH --signal=USR1@100
#SBATCH --requeue

Expand All @@ -30,12 +30,12 @@ TENSORBOARD_DIR="tb/iin/ver/resnetclip_rgb_clip_image/seed_1/"
CHECKPOINT_DIR="data/new_checkpoints/iin/ver/resnetclip_rgb_clip_image/seed_1/"
DATA_PATH="data/datasets/iin/hm3d/v2/"

srun python -um goat.run \
srun python -um goat_bench.run \
--run-type train \
--exp-config config/experiments/ver_instance_imagenav.yaml \
habitat_baselines.trainer_name="ver" \
habitat_baselines.num_environments=32 \
habitat_baselines.rl.policy.name=PointNavResnetCLIPPolicy \
habitat_baselines.rl.policy.name=GOATPolicy \
habitat_baselines.rl.ddppo.train_encoder=False \
habitat_baselines.rl.ddppo.backbone=resnet50_clip_avgpool \
habitat_baselines.tensorboard_dir=${TENSORBOARD_DIR} \
Expand Down
10 changes: 5 additions & 5 deletions scripts/train/1-language-nav-ver.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -2,13 +2,13 @@
#SBATCH --job-name=goat
#SBATCH --output=slurm_logs/goat-ver-%j.out
#SBATCH --error=slurm_logs/goat-ver-%j.err
#SBATCH --gpus 4
#SBATCH --gpus a40:4
#SBATCH --nodes 1
#SBATCH --cpus-per-task 10
#SBATCH --ntasks-per-node 4
#SBATCH --constraint=a40
#SBATCH --partition=cvmlp-lab
#SBATCH --qos=short
#SBATCH --exclude=megabot,gundam,kitt,cheetah
#SBATCH --partition=short
#SBATCH --signal=USR1@100
#SBATCH --requeue

Expand All @@ -30,12 +30,12 @@ TENSORBOARD_DIR="tb/languagenav/ver/resnetclip_rgb_text/seed_1/"
CHECKPOINT_DIR="data/new_checkpoints/languagenav/ver/resnetclip_rgb_text/seed_1/"
DATA_PATH="data/datasets/languagenav/hm3d/v5_final/"

srun python -um goat.run \
srun python -um goat_bench.run \
--run-type train \
--exp-config config/experiments/ver_language_nav.yaml \
habitat_baselines.trainer_name="ver" \
habitat_baselines.num_environments=32 \
habitat_baselines.rl.policy.name=PointNavResnetCLIPPolicy \
habitat_baselines.rl.policy.name=GOATPolicy \
habitat_baselines.rl.ddppo.train_encoder=False \
habitat_baselines.rl.ddppo.backbone=resnet50_clip_avgpool \
habitat_baselines.tensorboard_dir=${TENSORBOARD_DIR} \
Expand Down
12 changes: 6 additions & 6 deletions scripts/train/1-ovon-ver.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -2,12 +2,12 @@
#SBATCH --job-name=goat
#SBATCH --output=slurm_logs/goat-ver-%j.out
#SBATCH --error=slurm_logs/goat-ver-%j.err
#SBATCH --gpus 1
#SBATCH --gpus a40:4
#SBATCH --nodes 1
#SBATCH --cpus-per-task 10
#SBATCH --ntasks-per-node 1
#SBATCH --constraint=a40
#SBATCH --partition=short
#SBATCH --ntasks-per-node 4
#SBATCH --partition=cvmlp-lab
#SBATCH --qos=short
#SBATCH --signal=USR1@100
#SBATCH --requeue

Expand All @@ -28,12 +28,12 @@ TENSORBOARD_DIR="tb/ovon/ver/resnetclip_rgb_text/seed_1/"
CHECKPOINT_DIR="data/new_checkpoints/ovon/ver/resnetclip_rgb_text/seed_1/"
DATA_PATH="data/datasets/ovon/hm3d/v5_final/"

srun python -um goat.run \
srun python -um goat_bench.run \
--run-type train \
--exp-config config/experiments/ver_objectnav.yaml \
habitat_baselines.trainer_name="ver" \
habitat_baselines.num_environments=8 \
habitat_baselines.rl.policy.name=PointNavResNetCLIPPolicy \
habitat_baselines.rl.policy.name=GOATPolicy \
habitat_baselines.rl.ddppo.train_encoder=False \
habitat_baselines.rl.ddppo.backbone=resnet50_clip_avgpool \
habitat_baselines.tensorboard_dir=${TENSORBOARD_DIR} \
Expand Down
6 changes: 3 additions & 3 deletions scripts/train/2-goat-ver-monolithic.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -2,13 +2,13 @@
#SBATCH --job-name=goat
#SBATCH --output=slurm_logs/goat-ver-%j.out
#SBATCH --error=slurm_logs/goat-ver-%j.err
#SBATCH --gpus 4
#SBATCH --gpus a40:4
#SBATCH --nodes 1
#SBATCH --cpus-per-task 10
#SBATCH --ntasks-per-node 4
#SBATCH --constraint=a40
#SBATCH --partition=cvmlp-lab
#SBATCH --qos=short
#SBATCH --exclude=gundam,xaea-12,baymax
#SBATCH --partition=short
#SBATCH --signal=USR1@100
#SBATCH --requeue

Expand Down