diff --git a/.idea/.gitignore b/.idea/.gitignore new file mode 100644 index 00000000..13566b81 --- /dev/null +++ b/.idea/.gitignore @@ -0,0 +1,8 @@ +# Default ignored files +/shelf/ +/workspace.xml +# Editor-based HTTP Client requests +/httpRequests/ +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml diff --git a/.idea/humanoid-bench.iml b/.idea/humanoid-bench.iml new file mode 100644 index 00000000..2f9173b4 --- /dev/null +++ b/.idea/humanoid-bench.iml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml new file mode 100644 index 00000000..ac21435f --- /dev/null +++ b/.idea/inspectionProfiles/Project_Default.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 00000000..105ce2da --- /dev/null +++ b/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 00000000..778f9db7 --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 00000000..3c7ac11c --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 00000000..35eb1ddf --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/commands b/commands new file mode 100644 index 00000000..c648cd5e --- /dev/null +++ b/commands @@ -0,0 +1,7 @@ +conda create -n humanoidbench python=3.11 +conda activate humanoidbench +pip install -e . +pip install "jax[cuda12]==0.4.28" +pip install -r requirements_jaxrl.txt +pip install -r requirements_dreamer.txt +pip install -r requirements_tdmpc.txt diff --git a/pip_packages.txt b/pip_packages.txt new file mode 100644 index 00000000..562449c3 --- /dev/null +++ b/pip_packages.txt @@ -0,0 +1,180 @@ +Package Version Editable project location +---------------------------- ------------ ---------------------------------- +absl-py 2.2.1 +antlr4-python3-runtime 4.9.3 +asttokens 3.0.0 +astunparse 1.6.3 +attrs 25.3.0 +blinker 1.9.0 +brax 0.9.4 +certifi 2025.1.31 +charset-normalizer 3.4.1 +chex 0.1.89 +click 8.1.8 +cloudpickle 3.0.0 +colored 2.2.4 +contextlib2 21.6.0 +contourpy 1.3.1 +cycler 0.12.1 +decorator 4.4.2 +distrax 0.1.5 +dm_control 1.0.20 +dm-env 1.6 +dm-sonnet 2.0.2 +dm-tree 0.1.9 +docker-pycreds 0.4.0 +embodied 0.0.0 /home/skr/humanoid-bench/dreamerv3 +etils 1.12.2 +executing 2.2.0 +Farama-Notifications 0.0.4 +filelock 3.18.0 +Flask 3.1.0 +flask-cors 5.0.1 +flatbuffers 25.2.10 +flax 0.8.5 +fonttools 4.56.0 +fsspec 2025.3.0 +gast 0.6.0 +gitdb 4.0.12 +GitPython 3.1.44 +glfw 2.8.0 +google-pasta 0.2.0 +grpcio 1.71.0 +gym 0.26.2 +gym-notices 0.0.8 +gymnasium 0.29.1 +gymnax 0.0.8 +h5py 3.13.0 +humanize 4.12.2 +humanoid_bench 0.2 /home/skr/humanoid-bench +hydra-core 1.3.2 +hydra-submitit-launcher 1.2.0 +idna 3.10 +imageio 2.34.2 +imageio-ffmpeg 0.6.0 +importlib_resources 6.5.2 +ipdb 0.13.13 +ipython 9.0.2 +ipython_pygments_lexers 1.1.1 +itsdangerous 2.2.0 +jax 0.5.3 +jax-cuda12-pjrt 0.5.3 +jax-cuda12-plugin 0.5.3 +jaxlib 0.5.3 +jaxopt 0.8.3 +jaxrl_m 0.1.0 /home/skr/humanoid-bench/jaxrl_m +jedi 0.19.2 +Jinja2 3.1.6 +keras 3.9.1 +kiwisolver 1.4.8 +labmaze 1.0.6 +libclang 18.1.1 +lxml 5.3.1 +Markdown 3.7 +markdown-it-py 3.0.0 +MarkupSafe 3.0.2 +matplotlib 3.9.0 +matplotlib-inline 0.1.7 +mdurl 0.1.2 +ml_collections 0.1.1 +ml_dtypes 0.5.1 +moviepy 1.0.3 +mpmath 1.3.0 +msgpack 1.0.8 +mujoco 3.1.6 +mujoco-mjx 3.1.6 +multiagent 0.0.1 +namex 0.0.8 +natsort 8.4.0 +nest-asyncio 1.6.0 +networkx 3.4.2 +numpy 1.26.4 +nvidia-cublas-cu12 12.1.3.1 +nvidia-cuda-cupti-cu12 12.1.105 +nvidia-cuda-nvcc-cu12 12.8.93 +nvidia-cuda-nvrtc-cu12 12.1.105 +nvidia-cuda-runtime-cu12 12.1.105 +nvidia-cudnn-cu12 8.9.2.26 +nvidia-cufft-cu12 11.0.2.54 +nvidia-curand-cu12 10.3.2.106 +nvidia-cusolver-cu12 11.4.5.107 +nvidia-cusparse-cu12 12.1.0.106 +nvidia-nccl-cu12 2.20.5 +nvidia-nvjitlink-cu12 12.8.93 +nvidia-nvtx-cu12 12.1.105 +omegaconf 2.3.0 +opencv-python 4.10.0.84 +opt_einsum 3.4.0 +optax 0.2.2 +optree 0.14.1 +orbax-checkpoint 0.11.5 +packaging 24.2 +pandas 2.2.2 +parso 0.8.4 +pexpect 4.9.0 +pillow 11.1.0 +pip 25.0 +platformdirs 4.3.7 +plotly 5.22.0 +proglog 0.1.10 +prompt_toolkit 3.0.50 +protobuf 4.25.6 +psutil 7.0.0 +ptyprocess 0.7.0 +pure_eval 0.2.3 +Pygments 2.19.1 +PyOpenGL 3.1.9 +pyparsing 3.2.3 +pyquaternion 0.9.9 +python-dateutil 2.9.0.post0 +pytinyrenderer 0.0.14 +pytz 2025.2 +PyYAML 6.0.2 +pyzmq 26.0.3 +requests 2.32.3 +rich 13.7.1 +ruamel.yaml 0.18.6 +ruamel.yaml.clib 0.2.12 +scipy 1.15.2 +seaborn 0.13.2 +sentry-sdk 2.24.1 +setproctitle 1.3.5 +setuptools 75.8.0 +simplejson 3.20.1 +six 1.17.0 +smmap 5.0.2 +stack-data 0.6.3 +submitit 1.5.2 +sympy 1.13.3 +tabulate 0.9.0 +tdmpc2 0.0 /home/skr/humanoid-bench/tdmpc2 +tenacity 9.0.0 +tensorboard 2.16.2 +tensorboard-data-server 0.7.2 +tensorboardX 2.6.2.2 +tensordict 0.4.0 +tensorflow 2.16.2 +tensorflow-io-gcs-filesystem 0.37.1 +tensorflow-probability 0.24.0 +tensorstore 0.1.73 +termcolor 2.4.0 +tf_keras 2.16.0 +toolz 1.0.0 +torch 2.3.1+cu121 +torchaudio 2.3.1+cu121 +torchrl 0.4.0 +torchvision 0.18.1+cu121 +tqdm 4.66.4 +traitlets 5.14.3 +treescope 0.1.9 +trimesh 4.6.6 +triton 2.3.1 +typing_extensions 4.13.0 +tzdata 2025.2 +urllib3 2.3.0 +wandb 0.17.3 +wcwidth 0.2.13 +Werkzeug 3.1.3 +wheel 0.45.1 +wrapt 1.17.2 +zipp 3.21.0 diff --git a/requirements_jaxrl.txt b/requirements_jaxrl.txt index fc649525..b43a9de3 100644 --- a/requirements_jaxrl.txt +++ b/requirements_jaxrl.txt @@ -2,4 +2,7 @@ ml_collections==0.1.1 flax==0.8.5 distrax==0.1.5 -tf_keras==2.16.0 \ No newline at end of file +tf_keras==2.16.0 + + +#pip uninstall -y jax jaxlib jaxopt jaxrl_m jax-cuda12-plugin jax-cuda12-pjrt diff --git a/requirements_tdmpc.txt b/requirements_tdmpc.txt index 6ac36e1d..c4054890 100644 --- a/requirements_tdmpc.txt +++ b/requirements_tdmpc.txt @@ -1,11 +1,15 @@ --editable tdmpc2 torch==2.3.1 -torchaudio==2.3.1 -torchrl==0.4.0 torchvision==0.18.1 +torchaudio==2.3.1 +--extra-index-url https://download.pytorch.org/whl/cu121 + hydra-core==1.3.2 hydra-submitit-launcher==1.2.0 pyquaternion==0.9.9 tensordict==0.4.0 pandas==2.2.2 termcolor==2.4.0 +jax[cuda12]==0.4.28 +torchrl==0.4.0 + diff --git a/setup.py b/setup.py index c93bee9d..55a5df87 100644 --- a/setup.py +++ b/setup.py @@ -15,7 +15,7 @@ "imageio==2.34.2", "gymnax==0.0.8", "brax==0.9.4", - "torch==2.3.1", + #"torch==2.3.1", "opencv-python==4.10.0.84", "natsort==8.4.0", ] diff --git a/test_env_img.png b/test_env_img.png index 6f2031f5..c64501bf 100644 Binary files a/test_env_img.png and b/test_env_img.png differ