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runner.py
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runner.py
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import itertools
import os
import subprocess
import sys
import asyncio
import copy
import glob
import shutil
from pathlib import Path
from runner_utils import main, slurm_main, construct_varying_keys, construct_jobs
local = '--local' in sys.argv
greene = '--greene' in sys.argv
dry_run = '--dry-run' in sys.argv
GPUS = [0, 1, 2, 3]
MULTIPLEX = 2
# basename = "pv100_sacqex_v2"
# grid = [
# {
# # define the task
# "_main": ["main_sac_qex.py"],
# "eval_every": [1],
# "env": ["point"],
# "task": ["velocity"],
# "max_episodes": [500],
# "max_steps": [100],
# "seed": list(range(8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.02],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.95],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac_qex"],
# "policy_updates_per_step": [1],
# },
# ]
# basename = "pv100_bbe_v4_updates"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["point"],
# "task": ["velocity"],
# "max_episodes": [500],
# "seed": list(range(8)),
# "no_exploration": [False],
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.02],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.95],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [4],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [4],
# "update_target_every": [4],
# },
# {
# # define the task
# "_main": ["main_bbe.py"],
# "eval_every": [1],
# "env": ["point"],
# "task": ["velocity"],
# "max_episodes": [500],
# "seed": list(range(8)),
# "no_exploration": [False],
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.02],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.95],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [4],
# },
# ]
# basename = "wex_walk_narrow_sparse_v3_seeds"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["walker_explore"],
# "task": ["walk_narrow_sparse"],
# "seed": list(range(4)),
# "no_exploration": [True, False],
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [5e-1],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# basename = "walker_walk_v1_seeds"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["walker"],
# "task": ["walk"],
# "seed": list(range(4)),
# "no_exploration": [True, False],
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [5e-1],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# basename = "finger_all_v6_scale_low"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["finger_explore"],
# "task": ["turn_hard_narrow"],
# "seed": list(range(8)),
# "no_exploration": [True, False],
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.1],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["finger"],
# "task": ["turn_hard"],
# "seed": list(range(8)),
# "no_exploration": [True, False],
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.1],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# finger_all_v1arrow_seed0_no_explorationTrue--rrow_seed0_no_explorationFalse.slurm
# basename = "finger_all_v2_rerun"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [5],
# "env": ["finger_explore"],
# "task": ["turn_hard_narrow"],
# "seed": [0],
# "no_exploration": [True, False],
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.34],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# basename = "fex_hard_v3_seeds"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [5],
# "env": ["finger_explore"],
# "task": ["turn_hard_narrow"],
# "seed": list(range(4)),
# "no_exploration": [True, False],
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [1e-1],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# basename = "finger_v2"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [5],
# "env": ["finger"],
# "task": ["turn_hard"],
# "seed": list(range(4)),
# "no_exploration": [True, False],
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [1e-1],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# basename = "bice_v6_seeds"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["ball_in_cup", "ball_in_cup_explore"],
# "task": ["catch"],
# "no_exploration": [True, False],
# "seed": list(range(4)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.24],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# basename = "reacher_v10_correct"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["reacher_explore"],
# "task": ["hard_narrow_init"],
# "max_episodes": [500],
# "no_exploration": [True, False],
# "seed": list(range(8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.06],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["reacher"],
# "task": ["hard"],
# "max_episodes": [500],
# "no_exploration": [True, False],
# "seed": list(range(8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.06],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# reacher_explore_v8_seedshard_no_explorationFalse_seed4--hard_no_explorationFalse_seed5
# basename = "reacher_explore_v9_rerun"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["reacher_explore"],
# "task": ["hard"],
# "max_episodes": [500],
# "no_exploration": [False],
# "seed": [4, 5],
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.18],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# basename = "hallway_all_v4"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["hallway"],
# "task": ["velocity_1", "velocity_4_inverse_distractor"],
# "max_episodes": [100],
# "no_exploration": [True, False],
# "seed": list(range(4)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.068],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["hallway"],
# "task": ["velocity_4", "velocity_4_distractor"],
# "max_episodes": [300],
# "no_exploration": [True, False],
# "seed": list(range(4)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.068],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# basename = "hallway_vis_v2"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["hallway"],
# "task": ["velocity_4"],
# "video_every": [1],
# "no_exploration": [False, True],
# # "seed": [0, 1],
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.01],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [4],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# basename = "pv100_v10_greene"
# grid = [
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["point"],
# "task": ["velocity"],
# "seed": list(range(2)),
# "no_exploration": [True, False],
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [6e-2],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.95],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [4],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# basename = "bbe_all_v3_moreseeds"
# grid = [
# # reacher
# {
# # define the task
# "_main": ["main_bbe.py"],
# "eval_every": [1],
# "env": ["reacher_explore"],
# "task": ["hard_narrow_init"],
# "max_episodes": [500],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.06],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# },
# {
# # define the task
# "_main": ["main_bbe.py"],
# "eval_every": [1],
# "env": ["reacher"],
# "task": ["hard"],
# "max_episodes": [500],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.06],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# },
# # ball-in-cup
# {
# # define the task
# "_main": ["main_bbe.py"],
# "eval_every": [1],
# "env": ["ball_in_cup", "ball_in_cup_explore"],
# "task": ["catch"],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.078],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# },
# # finger
# {
# # define the task
# "_main": ["main_bbe.py"],
# "eval_every": [1],
# "env": ["finger_explore"],
# "task": ["turn_hard_narrow"],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.11],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# },
# {
# # define the task
# "_main": ["main_bbe.py"],
# "eval_every": [1],
# "env": ["finger"],
# "task": ["turn_hard"],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.11],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# },
# # walker
# {
# # define the task
# "_main": ["main_bbe.py"],
# "eval_every": [1],
# "env": ["walker_explore"],
# "task": ["walk_narrow_sparse"],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.16],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# },
# {
# # define the task
# "_main": ["main_bbe.py"],
# "eval_every": [1],
# "env": ["walker"],
# "task": ["walk"],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.16],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# },
# ]
# basename = "ufo_all_v3_moreseeds"
# grid = [
# # reacher
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["reacher_explore"],
# "task": ["hard_narrow_init"],
# "max_episodes": [500],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.06],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["reacher"],
# "task": ["hard"],
# "max_episodes": [500],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.06],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# # ball-in-cup
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["ball_in_cup", "ball_in_cup_explore"],
# "task": ["catch"],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.078],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# # finger
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["finger_explore"],
# "task": ["turn_hard_narrow"],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.11],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["finger"],
# "task": ["turn_hard"],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.11],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# # walker
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["walker_explore"],
# "task": ["walk_narrow_sparse"],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.16],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# {
# # define the task
# "_main": ["main.py"],
# "eval_every": [1],
# "env": ["walker"],
# "task": ["walk"],
# "seed": list(range(4, 8)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.16],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac"],
# "policy_updates_per_step": [1],
# # novelty Q settings
# "uniform_update_candidates": [True],
# "n_updates_per_step": [2],
# "update_target_every": [2],
# },
# ]
# basename = "sacqex_all_v2"
# grid = [
# # reacher
# {
# # define the task
# "_main": ["main_sac_qex.py"],
# "eval_every": [1],
# "env": ["reacher_explore"],
# "task": ["hard_narrow_init"],
# "max_episodes": [500],
# "seed": list(range(4)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.06],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac_qex"],
# },
# {
# # define the task
# "_main": ["main_sac_qex.py"],
# "eval_every": [1],
# "env": ["reacher"],
# "task": ["hard"],
# "max_episodes": [500],
# "seed": list(range(4)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.06],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac_qex"],
# },
# # ball-in-cup
# {
# # define the task
# "_main": ["main_sac_qex.py"],
# "eval_every": [1],
# "env": ["ball_in_cup", "ball_in_cup_explore"],
# "task": ["catch"],
# "seed": list(range(4)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.078],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.9],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac_qex"],
# },
# # finger
# {
# # define the task
# "_main": ["main_sac_qex.py"],
# "eval_every": [1],
# "env": ["finger_explore"],
# "task": ["turn_hard_narrow"],
# "seed": list(range(4)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.11],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac_qex"],
# "policy_updates_per_step": [1],
# },
# {
# # define the task
# "_main": ["main_sac_qex.py"],
# "eval_every": [1],
# "env": ["finger"],
# "task": ["turn_hard"],
# "seed": list(range(4)),
# # density settings
# "density": ["keops_kernel_count"],
# "density_state_scale": [0.11],
# "density_action_scale": [1],
# "density_max_obs": [2**15],
# "density_tolerance": [0.5],
# "density_conserve_weight": [True],
# # task policy settings
# "policy": ["sac_qex"],
# "policy_updates_per_step": [1],
# },
# # walker
# {
# # define the task
# "_main": ["main_sac_qex.py"],
# "eval_every": [1],
# "env": ["walker_explore"],
# "task": ["walk_narrow_sparse"],
# "seed": list(range(4)),