Add files using upload-large-folder tool

preparation/Airfoil3D-hard-v0/config.yaml

@@ -1,6 +1,3 @@
 env_id: Airfoil3D-hard-v0
-env_kwargs:
-  init_from_2d: false
+env_kwargs: {}
 overwrite_existing: false
-domain_idxs:
-- 6

preparation/Airfoil3D-hard-v0/hydra.yaml

@@ -104,23 +104,21 @@ hydra:
       - file
     disable_existing_loggers: false
   env: {}
-  mode: MULTIRUN
+  mode: RUN
   searchpath: []
   callbacks: {}
   output_subdir: .
   overrides:
     hydra:
-    - hydra.mode=MULTIRUN
+    - hydra.mode=RUN
     task:
     - env_id=Airfoil3D-hard-v0
-    - +env_kwargs.init_from_2d=False
-    - +domain_idxs=[6]
   job:
-    name: collect_statistics
+    name: aggregate_statistics
     chdir: true
-    override_dirname: +domain_idxs=[6],+env_kwargs.init_from_2d=False,env_id=Airfoil3D-hard-v0
-    id: '0'
-    num: 0
+    override_dirname: env_id=Airfoil3D-hard-v0
+    id: ???
+    num: ???
     config_name: preparation
     env_set: {}
     env_copy: []
@@ -132,12 +130,12 @@ hydra:
   runtime:
     version: 1.3.2
     version_base: '1.3'
-    cwd: /home/becktepe/git_projects/FluidGym
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
     config_sources:
     - path: hydra.conf
       schema: pkg
       provider: hydra
-    - path: /home/becktepe/git_projects/FluidGym/runscripts/configs
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
       schema: file
       provider: main
     - path: hydra_plugins.hydra_colorlog.conf
@@ -146,7 +144,7 @@ hydra:
     - path: ''
       schema: structured
       provider: schema
-    output_dir: /home/becktepe/git_projects/FluidGym/output/preparation/Airfoil3D-hard-v0
+    output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/preparation/Airfoil3D-hard-v0
     choices:
       hydra/env: default
       hydra/callbacks: null

preparation/Airfoil3D-hard-v0/overrides.yaml

@@ -1,3 +1 @@
 - env_id=Airfoil3D-hard-v0
-- +env_kwargs.init_from_2d=False
-- +domain_idxs=[6]

training/marl/Airfoil3D-easy-v0/SAC/3/multirun.yaml

@@ -0,0 +1,217 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=Airfoil3D-easy-v0
+    - algorithm=sb3_sac
+    - rl_mode=marl
+    - total_timesteps=20000
+    - seed=3
+  job:
+    name: train_sb3
+    chdir: true
+    override_dirname: algorithm=sb3_sac,env_id=Airfoil3D-easy-v0,rl_mode=marl,seed=3,total_timesteps=20000
+    id: ???
+    num: ???
+    config_name: train_sb3
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      algorithm: sb3_sac
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: Airfoil3D-easy-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 3
+rl_mode: marl
+total_timesteps: 20000
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: SAC
+  obj:
+    _target_: stable_baselines3.sac.sac.SAC
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    buffer_size: 1000000
+    learning_starts: 100
+    batch_size: 256
+    tau: 0.005
+    gamma: 0.99
+    train_freq: 1
+    gradient_steps: -1
+    action_noise: null
+    replay_buffer_class: null
+    replay_buffer_kwargs: null
+    optimize_memory_usage: false
+    ent_coef: auto
+    target_update_interval: 1
+    target_entropy: auto
+    use_sde: false
+    sde_sample_freq: -1
+    use_sde_at_warmup: false
+    stats_window_size: 100
+    tensorboard_log: null
+    policy_kwargs: {}
+    verbose: 0
+    seed: ${seed}
+    device: cuda
+    _init_setup_model: true
+cluster: {}

training/sarl/CylinderJet2D-medium-v0/TD-MPC/0/hydra.yaml

@@ -5,7 +5,36 @@ hydra:
     dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
     subdir: ''
   launcher:
-    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+    submitit_folder: ${hydra.sweep.dir}/.submitit/%j
+    timeout_min: 10080
+    cpus_per_task: 8
+    gpus_per_node: null
+    tasks_per_node: 1
+    mem_gb: 32
+    nodes: 1
+    name: ${hydra.job.name}
+    stderr_to_stdout: false
+    _target_: hydra_plugins.hydra_submitit_launcher.submitit_launcher.SlurmLauncher
+    partition: gpu
+    qos: null
+    comment: null
+    constraint: null
+    exclude: null
+    gres: gpu:a100:1
+    cpus_per_gpu: null
+    gpus_per_task: null
+    mem_per_gpu: null
+    mem_per_cpu: null
+    account: null
+    signal_delay_s: 120
+    max_num_timeout: 0
+    additional_parameters: {}
+    array_parallelism: 256
+    setup:
+    - ml lang
+    - ml Miniforge3
+    - conda activate pisotorch
+    - export FLUIDGYM_LOCAL_DATA_PATH=/scratch/hpc-prf-reinfphys/reinfph2/git_projects/rl-fluid-bench/local_data
   sweeper:
     _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
     max_batch_size: null
@@ -104,22 +133,25 @@ hydra:
       - file
     disable_existing_loggers: false
   env: {}
-  mode: RUN
+  mode: MULTIRUN
   searchpath: []
   callbacks: {}
   output_subdir: .
   overrides:
     hydra:
-    - hydra.mode=RUN
+    - hydra.mode=MULTIRUN
     task:
+    - wandb.enable=False
     - env_id=CylinderJet2D-medium-v0
     - seed=0
+    - cluster=pc2_gpu
+    - run_training=False
   job:
-    name: train_tdmpc
+    name: train_tdmpc_pc2
     chdir: true
-    override_dirname: env_id=CylinderJet2D-medium-v0,seed=0
-    id: ???
-    num: ???
+    override_dirname: cluster=pc2_gpu,env_id=CylinderJet2D-medium-v0,run_training=False,seed=0,wandb.enable=False
+    id: '32020001_0'
+    num: 0
     config_name: train_tdmpc
     env_set: {}
     env_copy: []
@@ -131,23 +163,20 @@ hydra:
   runtime:
     version: 1.3.2
     version_base: '1.3'
-    cwd: /home/becktepe/git_projects/FluidGym
+    cwd: /scratch/hpc-prf-reinfphys/reinfph2/git_projects/rl-fluid-bench
     config_sources:
     - path: hydra.conf
       schema: pkg
       provider: hydra
-    - path: /home/becktepe/git_projects/FluidGym/runscripts/configs
+    - path: /scratch/hpc-prf-reinfphys/reinfph2/git_projects/rl-fluid-bench/runscripts/configs
       schema: file
       provider: main
-    - path: hydra_plugins.hydra_colorlog.conf
-      schema: pkg
-      provider: hydra-colorlog
     - path: ''
       schema: structured
       provider: schema
-    output_dir: /home/becktepe/git_projects/FluidGym/output/training/sarl/CylinderJet2D-medium-v0/TD-MPC/0
+    output_dir: /scratch/hpc-prf-reinfphys/reinfph2/git_projects/rl-fluid-bench/output/training/sarl/CylinderJet2D-medium-v0/TD-MPC/0
     choices:
-      cluster: local
+      cluster: pc2_gpu
       hydra/env: default
       hydra/callbacks: null
       hydra/job_logging: default
@@ -155,6 +184,6 @@ hydra:
       hydra/hydra_help: default
       hydra/help: default
       hydra/sweeper: basic
-      hydra/launcher: basic
+      hydra/launcher: submitit_slurm
       hydra/output: default
   verbose: false

training/sarl/CylinderJet2D-medium-v0/TD-MPC/0/overrides.yaml

@@ -1,2 +1,5 @@
+- wandb.enable=False
 - env_id=CylinderJet2D-medium-v0
 - seed=0
+- cluster=pc2_gpu
+- run_training=False

training/sarl/CylinderJet2D-medium-v0/TD-MPC/3/test/test_eval_sequences.csv

@@ -0,0 +1,801 @@
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training/sarl/CylinderRot2D-easy-v0/TD-MPC/0/config.yaml

@@ -0,0 +1,48 @@
+env_id: CylinderRot2D-easy-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 0
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-easy-v0/TD-MPC/0/hydra.yaml

@@ -0,0 +1,161 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderRot2D-easy-v0
+    - total_timesteps=50000
+    - seed=0
+  job:
+    name: train_tdmpc
+    chdir: true
+    override_dirname: env_id=CylinderRot2D-easy-v0,seed=0,total_timesteps=50000
+    id: '0'
+    num: 0
+    config_name: train_tdmpc
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/TD-MPC/0
+    choices:
+      cluster: local
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

training/sarl/CylinderRot2D-easy-v0/TD-MPC/0/multirun.yaml

@@ -0,0 +1,209 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderRot2D-easy-v0
+    - total_timesteps=50000
+    - seed=0
+  job:
+    name: train_tdmpc
+    chdir: true
+    override_dirname: env_id=CylinderRot2D-easy-v0,seed=0,total_timesteps=50000
+    id: ???
+    num: ???
+    config_name: train_tdmpc
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: CylinderRot2D-easy-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 0
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-easy-v0/TD-MPC/0/overrides.yaml

@@ -0,0 +1,3 @@
+- env_id=CylinderRot2D-easy-v0
+- total_timesteps=50000
+- seed=0

training/sarl/CylinderRot2D-easy-v0/TD-MPC/0/test_eval_sequences.csv

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training/sarl/CylinderRot2D-easy-v0/TD-MPC/1/config.yaml

@@ -0,0 +1,48 @@
+env_id: CylinderRot2D-easy-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 1
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-easy-v0/TD-MPC/1/multirun.yaml

@@ -0,0 +1,209 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderRot2D-easy-v0
+    - total_timesteps=50000
+    - seed=1
+  job:
+    name: train_tdmpc
+    chdir: true
+    override_dirname: env_id=CylinderRot2D-easy-v0,seed=1,total_timesteps=50000
+    id: ???
+    num: ???
+    config_name: train_tdmpc
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: CylinderRot2D-easy-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 1
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-easy-v0/TD-MPC/1/overrides.yaml

@@ -0,0 +1,3 @@
+- env_id=CylinderRot2D-easy-v0
+- total_timesteps=50000
+- seed=1

training/sarl/CylinderRot2D-easy-v0/TD-MPC/1/test/test_eval_sequences.csv

@@ -0,0 +1,801 @@
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training/sarl/CylinderRot2D-easy-v0/TD-MPC/2/hydra.yaml

@@ -0,0 +1,161 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderRot2D-easy-v0
+    - total_timesteps=50000
+    - seed=2
+  job:
+    name: train_tdmpc
+    chdir: true
+    override_dirname: env_id=CylinderRot2D-easy-v0,seed=2,total_timesteps=50000
+    id: '0'
+    num: 0
+    config_name: train_tdmpc
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/TD-MPC/2
+    choices:
+      cluster: local
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

training/sarl/CylinderRot2D-easy-v0/TD-MPC/2/test/test_eval_sequences.csv

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training/sarl/CylinderRot2D-easy-v0/TD-MPC/3/multirun.yaml

@@ -0,0 +1,209 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderRot2D-easy-v0
+    - total_timesteps=50000
+    - seed=3
+  job:
+    name: train_tdmpc
+    chdir: true
+    override_dirname: env_id=CylinderRot2D-easy-v0,seed=3,total_timesteps=50000
+    id: ???
+    num: ???
+    config_name: train_tdmpc
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: CylinderRot2D-easy-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 3
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-easy-v0/TD-MPC/3/overrides.yaml

@@ -0,0 +1,3 @@
+- env_id=CylinderRot2D-easy-v0
+- total_timesteps=50000
+- seed=3

training/sarl/CylinderRot2D-easy-v0/TD-MPC/3/test_eval_sequences.csv

@@ -0,0 +1,801 @@
+reward,action_0,drag,lift,episode,step
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training/sarl/CylinderRot2D-easy-v0/TD-MPC/4/config.yaml

@@ -0,0 +1,48 @@
+env_id: CylinderRot2D-easy-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 4
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-easy-v0/TD-MPC/4/hydra.yaml

@@ -0,0 +1,161 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderRot2D-easy-v0
+    - total_timesteps=50000
+    - seed=4
+  job:
+    name: train_tdmpc
+    chdir: true
+    override_dirname: env_id=CylinderRot2D-easy-v0,seed=4,total_timesteps=50000
+    id: '0'
+    num: 0
+    config_name: train_tdmpc
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/TD-MPC/4
+    choices:
+      cluster: local
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

training/sarl/CylinderRot2D-easy-v0/TD-MPC/4/multirun.yaml

@@ -0,0 +1,209 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderRot2D-easy-v0
+    - total_timesteps=50000
+    - seed=4
+  job:
+    name: train_tdmpc
+    chdir: true
+    override_dirname: env_id=CylinderRot2D-easy-v0,seed=4,total_timesteps=50000
+    id: ???
+    num: ???
+    config_name: train_tdmpc
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: CylinderRot2D-easy-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 4
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-easy-v0/TD-MPC/4/overrides.yaml

@@ -0,0 +1,3 @@
+- env_id=CylinderRot2D-easy-v0
+- total_timesteps=50000
+- seed=4

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training/sarl/CylinderRot2D-hard-v0/TD-MPC/1/config.yaml

@@ -0,0 +1,48 @@
+env_id: CylinderRot2D-hard-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 1
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-hard-v0/TD-MPC/1/overrides.yaml

@@ -0,0 +1,3 @@
+- env_id=CylinderRot2D-hard-v0
+- total_timesteps=50000
+- seed=1

training/sarl/CylinderRot2D-hard-v0/TD-MPC/1/training_log.csv

@@ -0,0 +1,2 @@
+train/episode,train/step,train/env_step,train/total_time,train/episode_reward,train/mean_reward,eval/mean_reward
+1,0,0,206.96134686470032,-123.67241793870926,-1.5459052242338658,-2.5819105245172977

training/sarl/CylinderRot2D-hard-v0/TD-MPC/2/config.yaml

@@ -0,0 +1,48 @@
+env_id: CylinderRot2D-hard-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 2
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-hard-v0/TD-MPC/2/hydra.yaml

@@ -0,0 +1,161 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderRot2D-hard-v0
+    - total_timesteps=50000
+    - seed=2
+  job:
+    name: train_tdmpc
+    chdir: true
+    override_dirname: env_id=CylinderRot2D-hard-v0,seed=2,total_timesteps=50000
+    id: '0'
+    num: 0
+    config_name: train_tdmpc
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-hard-v0/TD-MPC/2
+    choices:
+      cluster: local
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

training/sarl/CylinderRot2D-hard-v0/TD-MPC/2/multirun.yaml

@@ -0,0 +1,209 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderRot2D-hard-v0
+    - total_timesteps=50000
+    - seed=2
+  job:
+    name: train_tdmpc
+    chdir: true
+    override_dirname: env_id=CylinderRot2D-hard-v0,seed=2,total_timesteps=50000
+    id: ???
+    num: ???
+    config_name: train_tdmpc
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: CylinderRot2D-hard-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 2
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-hard-v0/TD-MPC/2/overrides.yaml

@@ -0,0 +1,3 @@
+- env_id=CylinderRot2D-hard-v0
+- total_timesteps=50000
+- seed=2

training/sarl/CylinderRot2D-hard-v0/TD-MPC/2/training_log.csv

@@ -0,0 +1,2 @@
+train/episode,train/step,train/env_step,train/total_time,train/episode_reward,train/mean_reward,eval/mean_reward
+1,0,0,194.24247670173645,-203.91486909985542,-2.5489358637481927,-1.8496645845472812

training/sarl/CylinderRot2D-hard-v0/TD-MPC/3/config.yaml

@@ -0,0 +1,48 @@
+env_id: CylinderRot2D-hard-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 3
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-hard-v0/TD-MPC/3/hydra.yaml

@@ -0,0 +1,161 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderRot2D-hard-v0
+    - total_timesteps=50000
+    - seed=3
+  job:
+    name: train_tdmpc
+    chdir: true
+    override_dirname: env_id=CylinderRot2D-hard-v0,seed=3,total_timesteps=50000
+    id: '0'
+    num: 0
+    config_name: train_tdmpc
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-hard-v0/TD-MPC/3
+    choices:
+      cluster: local
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

training/sarl/CylinderRot2D-hard-v0/TD-MPC/3/multirun.yaml

@@ -0,0 +1,209 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderRot2D-hard-v0
+    - total_timesteps=50000
+    - seed=3
+  job:
+    name: train_tdmpc
+    chdir: true
+    override_dirname: env_id=CylinderRot2D-hard-v0,seed=3,total_timesteps=50000
+    id: ???
+    num: ???
+    config_name: train_tdmpc
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: CylinderRot2D-hard-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 3
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-hard-v0/TD-MPC/3/overrides.yaml

@@ -0,0 +1,3 @@
+- env_id=CylinderRot2D-hard-v0
+- total_timesteps=50000
+- seed=3

training/sarl/CylinderRot2D-hard-v0/TD-MPC/3/training_log.csv

@@ -0,0 +1,2 @@
+train/episode,train/step,train/env_step,train/total_time,train/episode_reward,train/mean_reward,eval/mean_reward
+1,0,0,212.3724000453949,-178.51814897358418,-2.231476862169802,-2.4740073502063753

training/sarl/CylinderRot2D-hard-v0/TD-MPC/4/config.yaml

@@ -0,0 +1,48 @@
+env_id: CylinderRot2D-hard-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 4
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-hard-v0/TD-MPC/4/multirun.yaml

@@ -0,0 +1,209 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/TD-MPC/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderRot2D-hard-v0
+    - total_timesteps=50000
+    - seed=4
+  job:
+    name: train_tdmpc
+    chdir: true
+    override_dirname: env_id=CylinderRot2D-hard-v0,seed=4,total_timesteps=50000
+    id: ???
+    num: ???
+    config_name: train_tdmpc
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: CylinderRot2D-hard-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 4
+device: cuda
+rl_mode: sarl
+total_timesteps: 50000
+run_training: true
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+n_test_episodes: 10
+modality: state
+action_repeat: 1
+train_steps: ${total_timesteps}
+iterations: 6
+num_samples: 512
+num_elites: 64
+mixture_coef: 0.05
+min_std: 0.05
+temperature: 0.5
+momentum: 0.1
+discount: 0.99
+batch_size: 512
+max_buffer_size: ${train_steps}
+horizon: 20
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 2
+rho: 0.5
+kappa: 0.1
+lr: 0.001
+std_schedule: linear(0.5, ${min_std}, ${train_steps})
+horizon_schedule: linear(1, ${horizon}, ${train_steps})
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 100
+update_freq: 2
+tau: 0.01
+enc_dim: 256
+mlp_dim: 512
+latent_dim: 50
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+cluster: {}

training/sarl/CylinderRot2D-hard-v0/TD-MPC/4/overrides.yaml

@@ -0,0 +1,3 @@
+- env_id=CylinderRot2D-hard-v0
+- total_timesteps=50000
+- seed=4

training/sarl/CylinderRot2D-hard-v0/TD-MPC/4/training_log.csv

@@ -0,0 +1,2 @@
+train/episode,train/step,train/env_step,train/total_time,train/episode_reward,train/mean_reward,eval/mean_reward
+1,0,0,214.30642294883728,-205.23183888196945,-2.5653979860246183,-2.489078333042562