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haosulab / ManiSkill

SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark
https://maniskill.readthedocs.io/en/latest/
Apache License 2.0
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[CSE 276F Submission] PlaceSphere-v1 #379

Closed astonastonaston closed 3 weeks ago

astonastonaston commented 3 weeks ago

The task involves grasping a sphere and placing that on top of a little bin. The task is solvable via ppo in 5000_0000 epochs.

Training command: python ppo.py --env_id="PlaceSphere-v1" --num_envs=1024 --update_epochs=8 --num_minibatches=32 --total_timesteps=50_000_000

Evaluation command: python ppo.py --env_id="PlaceSphere-v1" --evaluate --checkpoint=/path_to_final_ckpt.pt --num_eval_envs=1 --num-eval-steps=1000 --seed=2

Evaluation results: eval_success_rate=0.8478260869565217

StoneT2000 commented 3 weeks ago

Work looks good. Just resolve conflicts with main and see my comments. Can confirm RL works as well.

astonastonaston commented 3 weeks ago

Conflicts resolved. I re-structured a bit and hopefully I didn't make their RollBall docs wrong.

StoneT2000 commented 3 weeks ago

Conflicts resolved. I re-structured a bit and hopefully I didn't make their RollBall docs wrong.

Still missing fixes for the 2 reviewed parts. see comments above

astonastonaston commented 3 weeks ago

Conflicts resolved. I re-structured a bit and hopefully I didn't make their RollBall docs wrong.

Still missing fixes for the 2 reviewed parts. see comments above

I can't see any comment or required change in the code... Could you specify where they are?

astonastonaston commented 3 weeks ago

Okay now the 2 parts are fixed