Update readme file and shell file.

lunarlab-gatech · Dec 4, 2024 · c2c19e1 · c2c19e1
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diff --git a/README.md b/README.md
@@ -4,7 +4,7 @@ This repository implements a Morphological-Symmetry-Equivariant Heterogeneous Gr
 
 ![Figure 2](paper/teaser.png)
 
-For information on our method, see our [project page](https://lunarlab-gatech.github.io/MorphSym-HGNN/) and [paper(Coming Soon)]().
+For information on our method, see our [project page](https://lunarlab-gatech.github.io/MorphSym-HGNN/) and [paper](https://arxiv.org/abs/2412.01297).
 
 ## Installation
 To get started, setup a Conda Python environment with Python=3.11:

diff --git a/train.sh b/train.sh
@@ -65,3 +65,110 @@ python research/train_classification_msgn.py\
     --symmetry_mode MorphSym\
     --group_operator_path cfg/mini_cheetah-k4.yaml\
     --sample_ratio 0.45
+
+# ============== Testing ==============
+
+# # Main Experiment 1: Classification C2
+# python research/train_classification_msgn.py\
+#     --seed 2\
+#     --logger_project_name main_cls_c2\
+#     --model_type heterogeneous_gnn_c2\
+#     --symmetry_mode MorphSym\
+#     --group_operator_path cfg/mini_cheetah-c2.yaml
+
+# Main Experiment 1: Classification K4
+# python research/train_classification_msgn.py\
+#     --seed 2\
+#     --logger_project_name main_cls_k4\
+#     --model_type heterogeneous_gnn_k4\
+#     --symmetry_mode MorphSym\
+#     --group_operator_path cfg/mini_cheetah-k4.yaml
+
+# Main Experiment 2: Regression (GRF)
+# python research/evaluator_regression-grf_c2.py
+
+# python research/evaluator_classification_k4.py\
+#     --MorphSym_version K4\
+#     --symmetry_mode MorphSym\
+#     --group_operator_path cfg/mini_cheetah-k4.yaml\
+#     --path_to_checkpoint models/main_cls_k4/avid-moon-13/epoch=6-val_CE_loss=0.21062-val_F1_Score_Leg_Avg=0.94563.ckpt
+
+# python research/evaluator_classification_k4.py\
+#     --MorphSym_version K4\
+#     --symmetry_mode MorphSym\
+#     --group_operator_path cfg/mini_cheetah-k4.yaml\
+#     --path_to_checkpoint models/main_cls_k4_sample_eff/zesty-water-5/epoch=4-val_CE_loss=0.37975-val_F1_Score_Leg_Avg=0.88835.ckpt
+
+# python research/evaluator_classification_k4.py\
+#     --MorphSym_version K4\
+#     --symmetry_mode MorphSym\
+#     --group_operator_path cfg/mini_cheetah-k4.yaml\
+#     --path_to_checkpoint models/main_cls_k4_sample_eff/clean-aardvark-7/epoch=6-val_CE_loss=0.37497-val_F1_Score_Leg_Avg=0.90216.ckpt
+
+# python research/evaluator_classification_k4.py\
+#     --MorphSym_version K4\
+#     --symmetry_mode MorphSym\
+#     --group_operator_path cfg/mini_cheetah-k4.yaml\
+#     --path_to_checkpoint models/main_cls_k4_sample_eff/worthy-mountain-4/epoch=9-val_CE_loss=0.34174-val_F1_Score_Leg_Avg=0.92367.ckpt
+
+python research/evaluator_classification_k4.py\
+    --MorphSym_version K4\
+    --symmetry_mode MorphSym\
+    --group_operator_path cfg/mini_cheetah-k4.yaml\
+    --path_to_checkpoint models/main_cls_k4_sample_eff/worthy-mountain-4/epoch=9-val_CE_loss=0.34174-val_F1_Score_Leg_Avg=0.92367.ckpt
+
+
+# Main Experiment 1: Classification C2
+# python research/evaluator_classification_k4.py\
+#     --MorphSym_version C2\
+#     --group_operator_path cfg/mini_cheetah-c2.yaml\
+#     --symmetry_mode MorphSym\
+#     --path_to_checkpoint models/main_cls_c2/fearless-bush-9/epoch=5-val_CE_loss=0.20732-val_F1_Score_Leg_Avg=0.94922.ckpt
+
+# Main Experiment 2: Regression (GRF) - d=1
+# python research/evaluator_regression-grf_c2.py\
+#     --path_to_checkpoint models/main_grf_c2_d=1/olive-vortex-6/epoch=13-val_MSE_loss=72.31809-val_L1_loss=1.73057.ckpt\
+#     --test_only_on_z 1\
+#     --grf_dimension 1
+
+# # Main Experiment 2: Regression (GRF) - d=3
+# python research/evaluator_regression-grf_c2.py\
+#     --path_to_checkpoint models/main_grf_c2_d=3/helpful-gorge-6/epoch=7-val_MSE_loss=54.72873-val_L1_loss=2.28810.ckpt\
+#     --grf_body_to_world_frame 1\
+#     --grf_dimension 3
+
+# python research/evaluator_regression-grf_c2.py\
+#     --path_to_checkpoint models/main_grf_c2_d=3/glowing-snow-7/epoch=16-val_MSE_loss=57.40248-val_L1_loss=2.41434.ckpt\
+#     --grf_body_to_world_frame 1\
+#     --grf_dimension 3
+
+# Main Experiment 2: Regression (COM)
+# python research/train_regression_com_msgn.py\
+#     --seed 42\
+#     --batch_size 64\
+#     --num_layers 8\
+#     --hidden_size 128\
+#     --lr 0.0012\
+#     --epochs 60\
+#     --logger_project_name com_debug\
+#     --model_type heterogeneous_gnn_s4_com
+
+# Main Experiment 3: Sample Efficiency, Classification K4
+# python research/train_classification_msgn.py\
+#     --seed 2\
+#     --logger_project_name main_cls_k4\
+#     --model_type heterogeneous_gnn_k4\
+#     --symmetry_mode MorphSym\
+#     --group_operator_path cfg/mini_cheetah-k4.yaml\
+#     --sample_ratio 0.45
+
+# Test Baseline
+python research/evaluator_classification_k4.py\
+    --MorphSym_version C2\
+    --symmetry_mode MorphSym\
+    --group_operator_path cfg/mini_cheetah-c2.yaml\
+    --path_to_checkpoint models/main_cls_c2_sample_eff/summer-donkey-9/epoch=10-val_CE_loss=0.51589-val_F1_Score_Leg_Avg=0.83822.ckpt
+
+# Test GRF Baseline - d=3
+python research/evaluator_regression-grf.py\
+    --path_to_checkpoint models/grf_baseline_mihgnn_d=3/denim-elevator-5/epoch=4-val_MSE_loss=59.96093-val_L1_loss=2.49272.ckpt