def training_pipeline(cls, **kwargs):
ppo_steps = int(1e6)
lr = 2.5e-4
num_mini_batch = 2 if not torch.cuda.is_available() else 6
update_repeats = 4
num_steps = 128
metric_accumulate_interval = cls.MAX_STEPS * 10 # Log every 10 max length tasks
save_interval = 10000
gamma = 0.99
use_gae = True
gae_lambda = 1.0
max_grad_norm = 0.5
return TrainingPipeline(
save_interval=save_interval,
metric_accumulate_interval=metric_accumulate_interval,
optimizer_builder=Builder(optim.Adam, dict(lr=lr)),
num_mini_batch=num_mini_batch,
update_repeats=update_repeats,
max_grad_norm=max_grad_norm,
num_steps=num_steps,
named_losses={
"ppo_loss": PPO(clip_decay=LinearDecay(ppo_steps), **PPOConfig),
},
gamma=gamma,
use_gae=use_gae,
gae_lambda=gae_lambda,
advance_scene_rollout_period=cls.ADVANCE_SCENE_ROLLOUT_PERIOD,
pipeline_stages=[
PipelineStage(loss_names=["ppo_loss"], max_stage_steps=ppo_steps,),
],
lr_scheduler_builder=Builder(
LambdaLR, {"lr_lambda": LinearDecay(steps=ppo_steps)}
),
)
def training_pipeline(cls, **kwargs):
ppo_steps = int(250000000)
lr = 3e-4
num_mini_batch = 1
update_repeats = 3
num_steps = 30
save_interval = 5000000
log_interval = 1000
gamma = 0.99
use_gae = True
gae_lambda = 0.95
max_grad_norm = 0.5
return TrainingPipeline(
save_interval=save_interval,
metric_accumulate_interval=log_interval,
optimizer_builder=Builder(optim.Adam, dict(lr=lr)),
num_mini_batch=num_mini_batch,
update_repeats=update_repeats,
max_grad_norm=max_grad_norm,
num_steps=num_steps,
named_losses={"ppo_loss": PPO(**PPOConfig)},
gamma=gamma,
use_gae=use_gae,
gae_lambda=gae_lambda,
advance_scene_rollout_period=cls.ADVANCE_SCENE_ROLLOUT_PERIOD,
pipeline_stages=[
PipelineStage(loss_names=["ppo_loss"],
max_stage_steps=ppo_steps)
],
lr_scheduler_builder=Builder(
LambdaLR, {"lr_lambda": LinearDecay(steps=ppo_steps)}),
)
def training_pipeline(self, **kwargs):
ppo_steps = int(300000000)
lr = 3e-4
num_mini_batch = 1
update_repeats = 4
num_steps = 128
save_interval = 5000000
log_interval = 10000
gamma = 0.99
use_gae = True
gae_lambda = 0.95
max_grad_norm = 0.5
action_strs = ObjectNavTask.class_action_names()
non_end_action_inds_set = {
i
for i, a in enumerate(action_strs) if a != robothor_constants.END
}
end_action_ind_set = {action_strs.index(robothor_constants.END)}
return TrainingPipeline(
save_interval=save_interval,
metric_accumulate_interval=log_interval,
optimizer_builder=Builder(optim.Adam, dict(lr=lr)),
num_mini_batch=num_mini_batch,
update_repeats=update_repeats,
max_grad_norm=max_grad_norm,
num_steps=num_steps,
named_losses={
"ppo_loss":
PPO(**PPOConfig),
"grouped_action_imitation":
GroupedActionImitation(
nactions=len(ObjectNavTask.class_action_names()),
action_groups=[
non_end_action_inds_set, end_action_ind_set
],
),
},
gamma=gamma,
use_gae=use_gae,
gae_lambda=gae_lambda,
advance_scene_rollout_period=self.ADVANCE_SCENE_ROLLOUT_PERIOD,
pipeline_stages=[
PipelineStage(
loss_names=["ppo_loss", "grouped_action_imitation"],
max_stage_steps=ppo_steps,
)
],
lr_scheduler_builder=Builder(
LambdaLR, {"lr_lambda": LinearDecay(steps=ppo_steps)}),
)