add extra parameters

WenchangGaoT · Nov 4, 2023 · 5cd2904 · 5cd2904
1 parent 5c5b02c
commit 5cd2904
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Showing 2 changed files with 15 additions and 6 deletions.
diff --git a/experiments/homer/bridge/eval.py b/experiments/homer/bridge/eval.py
@@ -54,8 +54,8 @@
 flags.DEFINE_spaceseplist("goal_eep", [0.3, 0.0, 0.15], "Goal position")
 flags.DEFINE_spaceseplist("initial_eep", [0.3, 0.0, 0.15], "Initial position")
 flags.DEFINE_integer("horizon", 1, "Observation history length")
-flags.DEFINE_integer("pred_horizon", 1, "Observation history length")
-flags.DEFINE_integer("exec_horizon", 1, "Action sequence length")
+flags.DEFINE_integer("pred_horizon", 1, "Length of action sequence from model")
+flags.DEFINE_integer("exec_horizon", 1, "Length of action sequence to execute")
 flags.DEFINE_bool("deterministic", False, "Whether to sample action deterministically")
 flags.DEFINE_float("temperature", 1.0, "Temperature for sampling actions")
 flags.DEFINE_string("ip", "localhost", "IP address of the robot")

diff --git a/experiments/homer/scripts/eval.sh b/experiments/homer/scripts/eval.sh
@@ -1,16 +1,22 @@
 NAMES=(
-    "focus_only_on_gripper_20231101_063346"
+    "gc_bridge_match_old_20231026_193653"
 )
 
 STEPS=(
-    "600000"
+    "345000"
 )
 
-VIDEO_DIR="11-2"
+VIDEO_DIR="11-3"
 
 TIMESTEPS="50"
 
-TEMPERATURE="0.1"
+TEMPERATURE="1.0"
+
+HORIZON="1"
+
+PRED_HORIZON="1"
+
+EXEC_HORIZON="1"
 
 CMD="python experiments/homer/bridge/eval.py \
     --num_timesteps $TIMESTEPS \
@@ -21,6 +27,9 @@ CMD="python experiments/homer/bridge/eval.py \
     $(for i in "${!NAMES[@]}"; do echo "--checkpoint_example_batch_path /mount/harddrive/homer/checkpoints/${NAMES[$i]}/example_batch.msgpack "; done) \
     --im_size 256 \
     --temperature $TEMPERATURE \
+    --horizon $HORIZON \
+    --pred_horizon $PRED_HORIZON \
+    --exec_horizon $EXEC_HORIZON \
     --blocking
 "