Merge branch 'dev' into simulate-results

scripts/hpc/train.pbs

@@ -67,7 +67,7 @@ fi
 python scripts/train.py \
     hydra.run.dir="$SCRATCH_RUNDIR" \
     ppo=stable \
-    logging=wandb_enabled
+    logging=hpc
 
 echo ">>> Staging out results to $DATA_RUNDIR..."
 cp -r "$SCRATCH_RUNDIR/." "$DATA_RUNDIR/"

scripts/simulate.py

@@ -367,6 +367,7 @@ def main(dict_cfg: DictConfig) -> None:
     observations0 = _get_observations(state0)
     env_obs_dim = int(_transform_obs_dict(observations0 or {}).shape[0])
     ckpt_obs_dim = _infer_checkpoint_obs_dim(policy)
+    
     if ckpt_obs_dim is not None and ckpt_obs_dim != env_obs_dim:
         raise ValueError(
             "Checkpoint/env mismatch: "
@@ -374,7 +375,7 @@ def main(dict_cfg: DictConfig) -> None:
             "Use the same Hydra config (morphology/arena/environment) "
             "that was used during training."
         )
-
+    
     # ======= SIMULATION =======
     headless = bool(config.simulation.headless)
     max_steps = config.simulation.max_steps

scripts/train.py

@@ -36,11 +36,9 @@ def main(dict_cfg: DictConfig):
     cfg_dict = OmegaConf.to_container(dict_cfg, resolve=True, throw_on_missing=True)
     init_logger(
         run_name=run_name,
-        config=cfg_dict,
-        project_name=config.logging.wandb_project_name,
-        entity=config.logging.wandb_entity,
+        full_config=cfg_dict,
+        logging_cfg=config.logging,
         base_dir=os.path.dirname(run_dir),
-        use_wandb=config.logging.track,
     )
     logger = get_logger()
     logger.info(f"Hydra-initialized run: {run_name}")