[Feature] RoboHive integration (#1119)

pytorch · Sep 6, 2023 · 0ed2208 · 0ed2208 · github-actions · Sep 6, 2023
1 parent 72e8fa4
commit 0ed2208
Show file tree

Hide file tree

Showing 15 changed files with 1,039 additions and 86 deletions.
diff --git a/.circleci/unittest/linux_libs/scripts_gym/setup_env.sh b/.circleci/unittest/linux_libs/scripts_gym/setup_env.sh
@@ -82,8 +82,6 @@ conda env config vars set \
   LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/pytorch/rl/mujoco-py/mujoco_py/binaries/linux/mujoco210/bin
 #  LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/circleci/project/mujoco-py/mujoco_py/binaries/linux/mujoco210/bin
 
-#  LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/src/nvidia-470.63.01 \
-
 # make env variables apparent
 conda deactivate && conda activate "${env_dir}"
 

diff --git a/.circleci/unittest/linux_libs/scripts_robohive/environment.yml b/.circleci/unittest/linux_libs/scripts_robohive/environment.yml
@@ -0,0 +1,28 @@
+channels:
+  - pytorch
+  - defaults
+dependencies:
+  - pip
+  - protobuf
+  - pip:
+    # Initial version is required to install Atari ROMS in setup_env.sh
+    - gym==0.13
+    - hypothesis
+    - future
+    - cloudpickle
+    - pygame
+    - moviepy
+    - tqdm
+    - pytest
+    - pytest-cov
+    - pytest-mock
+    - pytest-instafail
+    - pytest-rerunfailures
+    - pytest-error-for-skips
+    - expecttest
+    - pyyaml
+    - scipy
+    - hydra-core
+    - patchelf
+    - mujoco==2.3.3
+    - dm_control==1.0.11
diff --git a/.circleci/unittest/linux_libs/scripts_robohive/install_and_run_test.sh b/.circleci/unittest/linux_libs/scripts_robohive/install_and_run_test.sh
@@ -0,0 +1,88 @@
+#!/usr/bin/env bash
+
+unset PYTORCH_VERSION
+# For unittest, nightly PyTorch is used as the following section,
+# so no need to set PYTORCH_VERSION.
+# In fact, keeping PYTORCH_VERSION forces us to hardcode PyTorch version in config.
+apt-get update && apt-get install -y git wget libglew-dev libx11-dev x11proto-dev g++ gcc libosmesa6-dev
+
+set -e
+set -v
+
+eval "$(./conda/bin/conda shell.bash hook)"
+conda activate ./env
+
+#apt-get update -y && apt-get install git wget gcc g++ -y
+
+if [ "${CU_VERSION:-}" == cpu ] ; then
+    cudatoolkit="cpuonly"
+    version="cpu"
+else
+    if [[ ${#CU_VERSION} -eq 4 ]]; then
+        CUDA_VERSION="${CU_VERSION:2:1}.${CU_VERSION:3:1}"
+    elif [[ ${#CU_VERSION} -eq 5 ]]; then
+        CUDA_VERSION="${CU_VERSION:2:2}.${CU_VERSION:4:1}"
+    fi
+    echo "Using CUDA $CUDA_VERSION as determined by CU_VERSION ($CU_VERSION)"
+    version="$(python -c "print('.'.join(\"${CUDA_VERSION}\".split('.')[:2]))")"
+    cudatoolkit="cudatoolkit=${version}"
+fi
+
+case "$(uname -s)" in
+    Darwin*) os=MacOSX;;
+    *) os=Linux
+esac
+
+# submodules
+git submodule sync && git submodule update --init --recursive
+
+printf "Installing PyTorch with %s\n" "${CU_VERSION}"
+if [ "${CU_VERSION:-}" == cpu ] ; then
+    # conda install -y pytorch torchvision cpuonly -c pytorch-nightly
+    # use pip to install pytorch as conda can frequently pick older release
+#    conda install -y pytorch cpuonly -c pytorch-nightly
+    pip3 install --pre torch --extra-index-url https://download.pytorch.org/whl/nightly/cpu --force-reinstall
+else
+    pip3 install --pre torch --extra-index-url https://download.pytorch.org/whl/nightly/cu116 --force-reinstall
+fi
+
+# install tensordict
+pip install git+https://github.com/pytorch-labs/tensordict.git
+
+# smoke test
+python -c "import tensordict"
+
+printf "* Installing torchrl\n"
+python setup.py develop
+python -c "import torchrl"
+
+# Extracted from run_test.sh to run once.
+
+export PYTORCH_TEST_WITH_SLOW='1'
+python -m torch.utils.collect_env
+# Avoid error: "fatal: unsafe repository"
+git config --global --add safe.directory '*'
+
+root_dir="$(git rev-parse --show-toplevel)"
+env_dir="${root_dir}/env"
+lib_dir="${env_dir}/lib"
+
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$lib_dir
+export MKL_THREADING_LAYER=GNU
+
+python .circleci/unittest/helpers/coverage_run_parallel.py -m pytest test/smoke_test.py -v --durations 20
+
+# let's make sure we have a GPU at our disposal
+python -c """
+import torch
+devcount = torch.cuda.device_count()
+assert devcount
+print('device count', devcount)
+"""
+
+echo $MUJOCO_GL
+echo $sim_backend
+
+sim_backend=MUJOCO MUJOCO_GL=egl python .circleci/unittest/helpers/coverage_run_parallel.py -m pytest test/test_libs.py --instafail -v --durations 20 -k "robohive" --error-for-skips
+coverage combine
+coverage xml -i
diff --git a/.circleci/unittest/linux_libs/scripts_robohive/post_process.sh b/.circleci/unittest/linux_libs/scripts_robohive/post_process.sh
@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+set -e
+
+eval "$(./conda/bin/conda shell.bash hook)"
+conda activate ./env
Benchmark suite	Current: `0ed2208`	Previous: `72e8fa4`	Ratio
`benchmarks/test_objectives_benchmarks.py::test_values[td0_return_estimate-False-False]`	`2154.5458310123054` iter/sec (`stddev: 0.0001696702737637344`)	`4960.701323959285` iter/sec (`stddev: 0.000028058602672688787`)	`2.30`
`benchmarks/test_objectives_benchmarks.py::test_gae_speed[vec_generalized_advantage_estimate-False-32-512]`	`153.80935347950486` iter/sec (`stddev: 0.0007756500058936735`)	`364.55547161812103` iter/sec (`stddev: 0.0000715708843292818`)	`2.37`
`benchmarks/test_objectives_benchmarks.py::test_cql_speed`	`17.12548628912288` iter/sec (`stddev: 0.004489653874303065`)	`36.417492119200304` iter/sec (`stddev: 0.001905452174263691`)	`2.13`
`benchmarks/test_objectives_benchmarks.py::test_a2c_speed`	`78.00991744668993` iter/sec (`stddev: 0.001796707344310305`)	`182.11811669523672` iter/sec (`stddev: 0.000520353026306427`)	`2.33`
`benchmarks/test_objectives_benchmarks.py::test_ppo_speed`	`75.42018418013396` iter/sec (`stddev: 0.0012650167645970921`)	`173.7927667936809` iter/sec (`stddev: 0.0011248995175982786`)	`2.30`
`benchmarks/test_objectives_benchmarks.py::test_reinforce_speed`	`95.93548176739742` iter/sec (`stddev: 0.0013886332785366697`)	`236.8311351406333` iter/sec (`stddev: 0.000347613612121172`)	`2.47`
`benchmarks/test_objectives_benchmarks.py::test_iql_speed`	`19.36842447234394` iter/sec (`stddev: 0.0057922054725693855`)	`45.033296378531226` iter/sec (`stddev: 0.0020890097224068004`)	`2.33`