Auto-sync: 2026-06-30 09:56:41

dovla_cil/eval/maniskill_policy_rollout.py

@@ -80,6 +80,7 @@ def evaluate_maniskill_policy_rollout(
     selection_seed: int = 0,
     selection_margin: float = 0.0,
     prepend_policy_candidate: bool = False,
+    proposal_lattice_types: tuple[str, ...] = (),
     field_optim_steps: int = 0,
     field_optim_step_size: float = 0.05,
     field_optim_trust_radius: float = 0.5,
@@ -369,6 +370,7 @@ def evaluate_maniskill_policy_rollout(
                 selection_seed=selection_seed,
                 selection_margin=selection_margin,
                 prepend_policy_candidate=prepend_policy_candidate,
+                proposal_lattice_types=proposal_lattice_types,
                 field_optim_steps=field_optim_steps,
                 field_optim_step_size=field_optim_step_size,
                 field_optim_trust_radius=field_optim_trust_radius,
@@ -426,6 +428,9 @@ def evaluate_maniskill_policy_rollout(
         "proposal_types": list(model_config.proposal_types)
         if selection_mode == "proposal_lattice"
         else [],
+        "proposal_lattice_types": list(proposal_lattice_types)
+        if selection_mode == "proposal_lattice"
+        else [],
         "selection_margin": selection_margin,
         "prepend_policy_candidate": bool(prepend_policy_candidate),
         "field_optim_steps": field_optim_steps
@@ -1199,6 +1204,7 @@ def _evaluate_task_cases(
     selection_seed: int = 0,
     selection_margin: float = 0.0,
     prepend_policy_candidate: bool = False,
+    proposal_lattice_types: tuple[str, ...] = (),
     field_optim_steps: int = 0,
     field_optim_step_size: float = 0.05,
     field_optim_trust_radius: float = 0.5,
@@ -1274,6 +1280,7 @@ def _evaluate_task_cases(
                 selection_seed=selection_seed + start,
                 selection_margin=selection_margin,
                 prepend_policy_candidate=prepend_policy_candidate,
+                proposal_lattice_types=proposal_lattice_types,
                 field_optim_steps=field_optim_steps,
                 field_optim_step_size=field_optim_step_size,
                 field_optim_trust_radius=field_optim_trust_radius,
@@ -1429,7 +1436,10 @@ def _evaluate_task_cases(
                                 retrieval_residual_scales
                             ),
                             retrieval_residual_reduce=retrieval_residual_reduce,
-                            proposal_types=model_config.proposal_types,
+                            proposal_types=(
+                                tuple(proposal_lattice_types)
+                                or tuple(model_config.proposal_types)
+                            ),
                         ),
                         "selected_residual_scale": _selected_residual_scale(
                             case,
@@ -1450,7 +1460,10 @@ def _evaluate_task_cases(
                                 retrieval_residual_scales
                             ),
                             retrieval_residual_reduce=retrieval_residual_reduce,
-                            proposal_type_count=len(model_config.proposal_types),
+                            proposal_type_count=len(
+                                tuple(proposal_lattice_types)
+                                or tuple(model_config.proposal_types)
+                            ),
                         ),
                         "candidate_source_group_id": case.candidate_source_group_id,
                     }
@@ -1815,6 +1828,7 @@ def _select_action_chunk(
     selection_seed: int,
     selection_margin: float = 0.0,
     prepend_policy_candidate: bool = False,
+    proposal_lattice_types: tuple[str, ...] = (),
     field_optim_steps: int = 0,
     field_optim_step_size: float = 0.05,
     field_optim_trust_radius: float = 0.5,
@@ -1867,7 +1881,12 @@ def _select_action_chunk(
     policy_mean = model.forward_policy(observations, instructions)
     batch_size = policy_mean.shape[0]
     if selection_mode == "proposal_lattice":
-        proposals = model.forward_proposals(observations, instructions)
+        proposal_types = tuple(proposal_lattice_types)
+        proposals = model.forward_proposals(
+            observations,
+            instructions,
+            proposal_types=proposal_types or None,
+        )
         return _select_lattice_action_chunk(
             model,
             observations,

logs/auto_sync_hf.log

@@ -261,3 +261,4 @@ No files have been modified since last commit. Skipping to prevent empty commit.
 No files have been modified since last commit. Skipping to prevent empty commit.
 No files have been modified since last commit. Skipping to prevent empty commit.
 No files have been modified since last commit. Skipping to prevent empty commit.
+No files have been modified since last commit. Skipping to prevent empty commit.