How to accelerate the eval process

nickgkan / 3d_diffuser_actor

Code for the paper "3D Diffuser Actor: Policy Diffusion with 3D Scene Representations"

https://3d-diffuser-actor.github.io/

MIT License

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How to accelerate the eval process #33

Closed nightsky-nostar closed 1 day ago

nightsky-nostar commented 1 month ago

I run the command bash online_evalution_rlbench/eval_gnfactor.sh. This took a lot of time. I tried to set headless=True when initial the Environment class from rlbench.environment. However, that did not make a significant effect.

Is there any way to speed up the eval process？ Thank you in advance!

nickgkan commented 4 days ago

Hi, what part of the evaluation is slow? The model may take a second before it moves until the next keypose. Make sure you run this on a GPU. I'm not sure if there is a way not to display graphics at all so that it's faster, we didn't consider such an alternative.