Fixed Speed Regression in Rearrangement Tasks #1085
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vincentpierre
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Jan 19, 2023
Skylion007
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Jan 19, 2023
| arm_key = f"{agent_k}_{arm_key}" | ||
| grip_key = f"{agent_k}_{grip_key}" | ||
| base_key = f"{agent_k}_{base_key}" | ||
| arm_key = f"{agent_k}_arm_action" |
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Huh, was this really right? shouldn't it be
arm_key = f"{agent_k}_{arm_action_name}"
dannymcy
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Jul 8, 2024
* Fixes to speed * Episode optional * Fixed reconfigure call
HHYHRHY
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Aug 31, 2024
* Fixes to speed * Episode optional * Fixed reconfigure call
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Motivation and Context
On the Rearrangement tasks, speed was up to 10x slower than expected. The core issue was unnecessary copying of episode files and writing to Hydra configs. Speedscope profile below shows the performance impact these config modifications had on a single environment.
How Has This Been Tested
Manually comparing training speeds.