Closed Felixvillas closed 2 days ago
@amandlek @cremebrule Can you help me answer the above questions? Thank you!
This seems like it might be more related to mujoco and robosuite rather than robomimic. One other potential issue could be the policy forward pass time, which might be more of a bottleneck than simulation speed.
Hi~ How to accelerate the model evaluation during the training phase? When I train a BC model using RGBD information, correspondingly, I need to obtain the RGBD information of the interactive environment during the evaluation phase. To speed up the acquisition of environmental RGBD information, I used
MUJOCO_EGL="egl"
during training. Similar to:Unfortunately, I found that such a setting does not speed up the simulation speed of the environment during the evaluation phase of training.
However, when I just run the environment's test demo,
MUJOCO_EGL="egl"
can greatly accelerate the simulation speed of the environment. My test demodemo.py
is as follows:The command I use to run this test demo is as follows:
Notes: When I run
demo.py
, there is aGraphic
process on the GPU, indicating thatMUJOCO_GL="egl"
is working. However, when I runtrain.py
, there is noGraphic
process on the GPU, indicating thatMUJOCO_GL="egl"
is not taking effect. I do not know why this situation is occurring.Could you help me clarify this confusion? Thank you!