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markusgrotz / peract_bimanual

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Training cost #3

Closed aopolin-lv closed 3 months ago

aopolin-lv commented 3 months ago

Hi, authors.PerAct2 is a wonderful study which brings our attention to the bimanual tasks. I wonder that how it cost when training the agent. For example, 8*v100-16g 16 days like peract?

markusgrotz commented 3 months ago

Hi @aopolin-lv,

Thank you very much for your interest in our work. Can you clarify if you are looking for multi-task training?

aopolin-lv commented 3 months ago

Yes! You are right. In my case, I want to train a multi-task policy. Additionally, I reviewed the paper, and the results in Table 3 were all obtained through single-task training, right? According to Table 4, the training time for multi-task learning is very high and the performance is quite poor. Do you have any good suggestions for multi-task learning?

markusgrotz commented 3 months ago

Thank you for your patience! I finished the the first multi-task training with 100k iterations on four A-40 GPUs. Other methods are currently training. It takes about 4-10 days depending on the method. One of the time consuming parts is extracting the keyframes for training and filling the replay buffer.