Task Orderings

We enable 21 randomly sampled task orderings for all 10-task task suites. The task ordering can be specified by the data.task_order_index command in the following:

export CUDA_VISIBLE_DEVICES=GPU_ID && export MUJOCO_EGL_DEVICE_ID=GPU_ID && python lifelong/main.py seed=SEED benchmark_name=BENCHMARK policy=POLICY lifelong=ALGO data.task_order_index=ORDER_ID

Assitive Note - Specific command generation

Policy: Select a policy bc_rnn_policy(ResNet-RNN) bc_transformer_policy(ResNet-T) bc_vilt_policy(ViT-T)
Algorithm: Select an algorithm base (Sequential) er (Experience Replay) ewc (Elastic Weight Consolidation) packnet (PackNet) single_task (Single Task) multitask (Multitask)
Benchmrak: Select a benchmark libero_spatial (LIBERO-Spatial) libero_object (LIBERO-Object) libero_goal (LIBERO-Goal) libero_90 (90 short-horizon tasks in LIBERO-100) libero_10 (LIBERO-Long, 10 long-horizon tasks in LIBERO-100)
GPU Id:
Random Seed
Task Ordering Index