From 9c1b3be3bee7b052884afb11cf42d94e9ee93341 Mon Sep 17 00:00:00 2001 From: zhangpf21 <761160775@qq.com> Date: Sat, 9 May 2026 15:13:17 +0800 Subject: [PATCH 1/9] 1 --- .DS_Store | Bin 0 -> 6148 bytes .libero/config.yaml | 5 +++++ .vscode/settings.json | 4 ++++ examples/scripts/run_libero.sh | 8 +++++++- examples/train_sim.py | 12 +++++++----- 5 files changed, 23 insertions(+), 6 deletions(-) create mode 100644 .DS_Store create mode 100644 .libero/config.yaml create mode 100644 .vscode/settings.json diff --git a/.DS_Store b/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..b46e77c041ed4f1c3489934bbdc5165516d89302 GIT binary patch literal 6148 zcmeHKOHRWu5PdFHX~m{XHb^-^B{)GS&7u+?iCzFoBUIEeZ3!1-9go3T|T z4s0ugW~A}+=S}Q+j^Y@A>#rxrKo>xpF4*X>_`zgcyk?EiBZE$#@q`(2EQhnjU5#xW ze^CLyxj8nt#T=#m8_yPFE?8cSQ+n@9O;c#$f$R-lxZ5YP*Cp;pjeCwE`p9sNt18zW zMcjP|_l(?2jF3g_w}{=sg6qxk$Z{HSKO=63vuDg>fD2-enNF$^jr%B~%j|MIV~wfS z<~q{~OGdAl`>GnR8oie^YLl6hx#sG6^w)?lI+gisnwbKofGMyu1$btQwGTX6X$qJE zrodJK`936c!8BmuQ9m6l^a?<1vRjRH`DK)tBw!k_@W>IG^Pxl^>cSPn`Ed3pftLm> zJo<3BaQSdyW*2TKPG{%y6Q#qY9<4M5Oo6Hbd%oF~^FRCj{$CBUmMLHg{3``qb1)k8 znNm1gYstx3o6v9QV!|stZbMknqnKPdiVx{(>`$aZOam4k*+a7*0hPfDQ(&hGd;@;o Bc0m9D literal 0 HcmV?d00001 diff --git a/.libero/config.yaml b/.libero/config.yaml new file mode 100644 index 0000000..4fa7ba6 --- /dev/null +++ b/.libero/config.yaml @@ -0,0 +1,5 @@ +assets: /home/xsuper/dsrl_pi0/LIBERO/libero/libero/assets +bddl_files: /home/xsuper/dsrl_pi0/LIBERO/libero/libero/bddl_files +benchmark_root: /home/xsuper/dsrl_pi0/LIBERO/libero/libero +datasets: /home/xsuper/dsrl_pi0/LIBERO/libero/datasets +init_states: /home/xsuper/dsrl_pi0/LIBERO/libero/libero/init_files diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..4b5a294 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,4 @@ +{ + "python-envs.defaultEnvManager": "ms-python.python:conda", + "python-envs.defaultPackageManager": "ms-python.python:conda" +} \ No newline at end of file diff --git a/examples/scripts/run_libero.sh b/examples/scripts/run_libero.sh index 7e0f2b5..a8f9670 100644 --- a/examples/scripts/run_libero.sh +++ b/examples/scripts/run_libero.sh @@ -11,6 +11,12 @@ export OPENPI_DATA_HOME=./openpi export EXP=./logs/$proj_name; export CUDA_VISIBLE_DEVICES=$device_id export XLA_PYTHON_CLIENT_PREALLOCATE=false +export PIP_INDEX_URL=https://pypi.tuna.tsinghua.edu.cn/simple +export PYTHONPATH=$PWD:$PWD/LIBERO:$PWD/openpi/src:$PYTHONPATH +export LIBERO_CONFIG_PATH=$PWD/.libero +export NUMBA_DISABLE_JIT=1 +export MPLCONFIGDIR=$PWD/.cache/matplotlib +mkdir -p "$MPLCONFIGDIR" pip install mujoco==3.3.1 @@ -31,4 +37,4 @@ python3 examples/launch_train_sim.py \ --resize_image 64 \ --action_magnitude 1.0 \ --query_freq 20 \ ---hidden_dims 128 \ \ No newline at end of file +--hidden_dims 128 \ diff --git a/examples/train_sim.py b/examples/train_sim.py index a9d99c9..a992137 100755 --- a/examples/train_sim.py +++ b/examples/train_sim.py @@ -1,9 +1,11 @@ #! /usr/bin/env python import os -# Tell XLA to use Triton GEMM, this improves steps/sec by ~30% on some GPUs from https://github.com/huggingface/gym-aloha/tree/main?tab=readme-ov-file#-gpu-rendering-egl -xla_flags = os.environ.get('XLA_FLAGS', '') -xla_flags += ' --xla_gpu_triton_gemm_any=True' -os.environ['XLA_FLAGS'] = xla_flags +# Triton GEMM can improve throughput on some GPUs, but older JAX/XLA builds may +# crash while compiling half-precision kernels on newer architectures. +if os.environ.get('DSRL_ENABLE_TRITON_GEMM', '0') == '1': + xla_flags = os.environ.get('XLA_FLAGS', '') + xla_flags += ' --xla_gpu_triton_gemm_any=True' + os.environ['XLA_FLAGS'] = xla_flags import pathlib, copy @@ -161,4 +163,4 @@ def main(variant): replay_buffer = online_replay_buffer replay_buffer.seed(variant.seed) trajwise_alternating_training_loop(variant, agent, env, eval_env, online_replay_buffer, replay_buffer, wandb_logger, shard_fn=shard_fn, agent_dp=agent_dp) - \ No newline at end of file + From e276799c0484e9c80ac8962c57d8e726a85bf4b2 Mon Sep 17 00:00:00 2001 From: zhangpf21 <761160775@qq.com> Date: Sat, 9 May 2026 16:34:10 +0800 Subject: [PATCH 2/9] test --- examples/scripts/run_libero.sh | 1 - 1 file changed, 1 deletion(-) diff --git a/examples/scripts/run_libero.sh b/examples/scripts/run_libero.sh index a8f9670..5b4495f 100644 --- a/examples/scripts/run_libero.sh +++ b/examples/scripts/run_libero.sh @@ -6,7 +6,6 @@ export DISPLAY=:0 export MUJOCO_GL=egl export PYOPENGL_PLATFORM=egl export MUJOCO_EGL_DEVICE_ID=$device_id - export OPENPI_DATA_HOME=./openpi export EXP=./logs/$proj_name; export CUDA_VISIBLE_DEVICES=$device_id From c916fc46fe735871fe50fb80548a301a6ed355ae Mon Sep 17 00:00:00 2001 From: zhangpf21 <761160775@qq.com> Date: Sat, 9 May 2026 16:50:06 +0800 Subject: [PATCH 3/9] =?UTF-8?q?=E6=B5=8B=E8=AF=952?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- examples/scripts/run_libero.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/scripts/run_libero.sh b/examples/scripts/run_libero.sh index 5b4495f..0592b4d 100644 --- a/examples/scripts/run_libero.sh +++ b/examples/scripts/run_libero.sh @@ -1,7 +1,7 @@ #!/bin/bash proj_name=DSRL_pi0_Libero device_id=0 - +#测试 export DISPLAY=:0 export MUJOCO_GL=egl export PYOPENGL_PLATFORM=egl From 250662d7af85ca81bd092f215c7eb716ed0b5b24 Mon Sep 17 00:00:00 2001 From: zhangpf21 <761160775@qq.com> Date: Mon, 11 May 2026 09:14:48 +0800 Subject: [PATCH 4/9] =?UTF-8?q?=E6=B5=8B=E8=AF=951111?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- examples/scripts/run_libero.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/scripts/run_libero.sh b/examples/scripts/run_libero.sh index 0592b4d..b570a40 100644 --- a/examples/scripts/run_libero.sh +++ b/examples/scripts/run_libero.sh @@ -1,7 +1,7 @@ #!/bin/bash proj_name=DSRL_pi0_Libero device_id=0 -#测试 +#测试1111 export DISPLAY=:0 export MUJOCO_GL=egl export PYOPENGL_PLATFORM=egl From df9a3984d25ecec72542fa0d7ce371999b3016c5 Mon Sep 17 00:00:00 2001 From: zhangpf21 <761160775@qq.com> Date: Mon, 11 May 2026 09:16:31 +0800 Subject: [PATCH 5/9] =?UTF-8?q?=E6=B5=8B=E8=AF=952?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- examples/scripts/run_libero.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/scripts/run_libero.sh b/examples/scripts/run_libero.sh index b570a40..c2d7e4f 100644 --- a/examples/scripts/run_libero.sh +++ b/examples/scripts/run_libero.sh @@ -1,7 +1,7 @@ #!/bin/bash proj_name=DSRL_pi0_Libero device_id=0 -#测试1111 +#测试2 export DISPLAY=:0 export MUJOCO_GL=egl export PYOPENGL_PLATFORM=egl From ce43728b828eaaf81ba2d574e0770828a1cd2310 Mon Sep 17 00:00:00 2001 From: zhangpf21 <761160775@qq.com> Date: Mon, 11 May 2026 09:18:57 +0800 Subject: [PATCH 6/9] zzz --- examples/scripts/run_libero.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/scripts/run_libero.sh b/examples/scripts/run_libero.sh index c2d7e4f..d4a2c33 100644 --- a/examples/scripts/run_libero.sh +++ b/examples/scripts/run_libero.sh @@ -1,7 +1,7 @@ #!/bin/bash proj_name=DSRL_pi0_Libero device_id=0 -#测试2 +#zzz export DISPLAY=:0 export MUJOCO_GL=egl export PYOPENGL_PLATFORM=egl From 7e5788fbb1a0f901b318bcc91ee399c192161a34 Mon Sep 17 00:00:00 2001 From: zhangpf21 <761160775@qq.com> Date: Mon, 11 May 2026 09:44:45 +0800 Subject: [PATCH 7/9] zzzz --- examples/scripts/run_libero.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/scripts/run_libero.sh b/examples/scripts/run_libero.sh index d4a2c33..4550ab0 100644 --- a/examples/scripts/run_libero.sh +++ b/examples/scripts/run_libero.sh @@ -1,7 +1,7 @@ #!/bin/bash proj_name=DSRL_pi0_Libero device_id=0 -#zzz +#zzzz export DISPLAY=:0 export MUJOCO_GL=egl export PYOPENGL_PLATFORM=egl From 43450d3e4da85dc7cf013c41ca525e4f06d91e09 Mon Sep 17 00:00:00 2001 From: zhangpf21 <761160775@qq.com> Date: Mon, 11 May 2026 10:12:37 +0800 Subject: [PATCH 8/9] ppp --- examples/scripts/run_libero.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/scripts/run_libero.sh b/examples/scripts/run_libero.sh index 4550ab0..77007be 100644 --- a/examples/scripts/run_libero.sh +++ b/examples/scripts/run_libero.sh @@ -1,7 +1,7 @@ #!/bin/bash proj_name=DSRL_pi0_Libero device_id=0 -#zzzz +#pppp export DISPLAY=:0 export MUJOCO_GL=egl export PYOPENGL_PLATFORM=egl From 4fe2d795c74e4b00ca4c017ef6ae396d8bece707 Mon Sep 17 00:00:00 2001 From: zhangpf21 <761160775@qq.com> Date: Mon, 11 May 2026 10:34:45 +0800 Subject: [PATCH 9/9] fff --- examples/scripts/run_libero.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/scripts/run_libero.sh b/examples/scripts/run_libero.sh index 77007be..3bb3bd2 100644 --- a/examples/scripts/run_libero.sh +++ b/examples/scripts/run_libero.sh @@ -1,7 +1,7 @@ #!/bin/bash proj_name=DSRL_pi0_Libero device_id=0 -#pppp +#fff export DISPLAY=:0 export MUJOCO_GL=egl export PYOPENGL_PLATFORM=egl