SAC Results on Scooping
For both 3D and 6D action spaces, for both scooping tasks. For both keypoints and images (the latter means CURL). Also keypoints == state information.
Created on August 2|Last edited on August 2
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Overall TimelineResults (Test-Time)Results (Training)Example GIFs for SAC with Keypoints:SAC, [3DoF Actions]SAC, [6DoF Actions]Example GIFs for SAC with Images (CURL).SAC/CURL Single Sphere [3DoF Actions]SAC/CURL Single Sphere [6DoF Actions]SAC/CURL Multi- Sphere [3DoF Actions]SAC/CURL Multi- Sphere [6DoF Actions]
Overall Timeline
(08/02/2022) Have a few runs finished and some more in progress, will start this report.
- Adjusted the wandb below. It's very slow. :(
- Runs still in progress: 6 as of this morning, still chugging away since it's 1M total SAC/CURL steps. These are all with images and the 6DoF action spaces, 3X random seeds for one sphere, 3X for the two sphere case.
Quick observations:
- SAC with keypoints (state info) are terrible. Why?
- Images are doing ok with CURL for 3DoF and even 6DoF action spaces, but only for single-sphere envs.
- Why is the multi-sphere env still difficult? Grr.
Results (Test-Time)
SAC, state, 3DoF
3
SAC, state, 6DoF
3
SAC/CURL, img, 3DoF, 1 sphere
3
SAC/CURL, img, 6DoF, 1 sphere (300K s)
3
SAC/CURL, img, 6DoF, 1 sphere (1M steps)
3
SAC/CURL/ img, 6DoF, 2 spheres
3
Results (Training)
Run set
20
Run set
20
Run set
20
Run set
20
Example GIFs for SAC with Keypoints:
SAC, [3DoF Actions]
SAC, [6DoF Actions]
Example GIFs for SAC with Images (CURL).
SAC/CURL Single Sphere [3DoF Actions]
SAC/CURL Single Sphere [6DoF Actions]
SAC/CURL Multi- Sphere [3DoF Actions]
SAC/CURL Multi- Sphere [6DoF Actions]
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