30 lines
975 B
Bash
30 lines
975 B
Bash
#!/usr/bin/env bash
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# S10 terrain-v4 50k training from scratch (16 GB recipe).
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# Override S10_OUTPUT for a fixed output directory.
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set -euo pipefail
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PROJECT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
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cd "$PROJECT_DIR"
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export PYTHONPATH="$PROJECT_DIR"
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export OMP_NUM_THREADS="${OMP_NUM_THREADS:-1}"
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export MUJOCO_GL="${MUJOCO_GL:-egl}"
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PY="${S10_PYTHON:-python}"
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OUT="${S10_OUTPUT:-logs/s10_terrain_v4_50k_$(date +%Y%m%d_%H%M%S)}"
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mkdir -p "$OUT"
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exec "$PY" scripts/train.py \
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--task s10-v4 \
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--terrain --terrain-revision 4 --seed 0 \
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--num-envs 4096 --num-steps-per-env 1 \
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--buffer-len 512 --wm-window 8 \
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--wm-batch 2048 --wm-updates 4 \
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--imag-batch 2048 --horizon 32 \
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--warmup 50 --critic-epochs 5 --critic-minibatches 4 \
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--iterations 50000 --save-interval 500 --log-interval 10 \
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--command-curriculum --command-curriculum-start 0 \
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--prioritized-replay \
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--video --video-length 500 --video-interval 2700 \
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--output "$OUT"
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