File size: 2,753 Bytes
adc02fa | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 | #!/usr/bin/env python
"""
Phase B: Generate 12-task ManiSkill collection (FASTEST option)
This expands from 6 to 12 tasks within ManiSkill.
Faster than Meta-World integration, still demonstrates generality.
"""
from __future__ import annotations
import argparse
import sys
from pathlib import Path
PROJECT_ROOT = Path(__file__).resolve().parents[1]
if str(PROJECT_ROOT) not in sys.path:
sys.path.insert(0, str(PROJECT_ROOT))
# Use existing infrastructure
from dovla_cil.generation.maniskill_lattice import generate_maniskill_cil_lattice
def main(argv: list[str] | None = None) -> int:
parser = argparse.ArgumentParser(
description="Phase B: Generate 12-task ManiSkill collection"
)
parser.add_argument("--out", type=Path, default=Path("data/phase_b_12tasks"))
parser.add_argument("--k", type=int, default=16)
parser.add_argument("--groups-per-task", type=int, default=500)
parser.add_argument("--seed", type=int, default=42)
args = parser.parse_args(argv)
print("=" * 70)
print("Phase B: 12-Task ManiSkill Collection")
print("=" * 70)
print()
print("Strategy: Expand from 6 to 12 tasks within ManiSkill")
print("Benefit: Uses existing infrastructure, fastest option")
print()
# 12 diverse ManiSkill tasks
tasks = [
# Original 6 (easy-medium)
("PickCube-v1", 800),
("PushCube-v1", 800),
("PullCube-v1", 600),
("StackCube-v1", 600),
("LiftPegUpright-v1", 600),
("PegInsertionSide-v1", 600),
# New 6 (medium-hard)
("TurnFaucet-v1", 500),
("OpenDrawer-v1", 500),
("CloseDrawer-v1", 500),
("PlugCharger-v1", 400),
("HangMug-v1", 400),
("PourWater-v1", 400),
]
print("Tasks:")
total_groups = 0
for task_id, num_groups in tasks:
print(f" {task_id:25s} {num_groups:4d} groups")
total_groups += num_groups
print()
print(f"Total: {total_groups} groups, {total_groups * args.k} records")
print()
# TODO: Check if demo files exist for new tasks
demo_dir = Path(f"/scratch/$USER/dovla/demonstrations/maniskill")
print("⚠️ Implementation needed:")
print()
print("1. Download ManiSkill demos for 6 new tasks:")
print(f" cd {demo_dir}")
print(" # Download TurnFaucet, OpenDrawer, CloseDrawer, etc.")
print()
print("2. Run generation:")
print(" sbatch scripts/slurm/phase_b_generate_12tasks.sbatch")
print()
print("3. Train on 12-task collection:")
print(" sbatch scripts/slurm/phase_b_train_12tasks.sbatch")
print()
print("Estimated effort: 1-2 days (generation) + 2-3 days (training)")
return 0
if __name__ == "__main__":
sys.exit(main())
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