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b39cb38 f0e5095 b39cb38 f0e5095 b39cb38 f0e5095 b39cb38 | 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 | #!/usr/bin/env bash
# Queue a formal 100-seed All-5 evaluation without racing the corresponding
# training process. Each watcher is pinned to the GPU vacated by its method.
set -euo pipefail
method="${1:?method: dino|stereo|moe|local_arca}"
gpu="${2:?physical GPU index}"
skip_tasks=",${3:-},"
eval_workers="${EVAL_WORKERS:-1}"
root=/workspace/RoboFactory/runs/strict640x480_v2
py=/workspace/venvs/robofactory-act/bin/python3.10
case "$method" in
dino)
checkpoint="$root/results/frozen_dinov3_act_all5_80k/checkpoint_080000.pt"
evaluator=/workspace/act_liftbarrier/evaluate_shared_act.py
result_dir="$root/results/frozen_dinov3_act_all5_80k/formal_heldout_100"
;;
stereo)
checkpoint="$root/results/stereo_cross_relbias_all5_80k/checkpoint_080000.pt"
evaluator=/workspace/act_liftbarrier/evaluate_stereo_act.py
result_dir="$root/results/stereo_cross_relbias_all5_80k/formal_heldout_100"
;;
moe)
checkpoint="$root/results/stereo_ffn_moe_all5_80k/checkpoint_080000.pt"
evaluator=/workspace/act_liftbarrier/evaluate_stereo_act.py
result_dir="$root/results/stereo_ffn_moe_all5_80k/formal_heldout_100"
;;
local_arca)
checkpoint="$root/results/local_arca_all5_80k/checkpoint_080000.pt"
evaluator=/workspace/act_liftbarrier/evaluate_stereo_act.py
result_dir="$root/results/local_arca_all5_80k/formal_heldout_100"
;;
*) echo "unknown method: $method" >&2; exit 2 ;;
esac
while [[ ! -s "$checkpoint" ]]; do
sleep 60
done
mkdir -p "$result_dir"
for task in lift_barrier camera_alignment three_robots_stack_cube long_pipeline_delivery take_photo; do
case "$skip_tasks" in *",$task,"*) echo "SKIP_ASSIGNED_TASK $method $task"; continue;; esac
result="$result_dir/eval_${task}.json"
# A parallel worker may have already completed this exact frozen protocol on
# another freed GPU. Reuse only a complete 100-episode JSON; never treat a
# partial file as valid.
if [[ -s "$result" ]] && "$py" - "$result" <<'PY'
import json, sys
r = json.load(open(sys.argv[1], encoding="utf-8"))
raise SystemExit(0 if r.get("episodes") == 100 and len(r.get("rows", [])) == 100 else 1)
PY
then
echo "REUSE_FORMAL_EVAL $method $task"
continue
fi
# A single worker owns the freed GPU, avoiding concurrent simulator processes
# silently contending for one policy replica. The seed file is frozen and
# verified by the evaluator before any rollout starts.
CUDA_VISIBLE_DEVICES="$gpu" "$py" -u "$evaluator" \
--checkpoint "$checkpoint" --task "$task" \
--seed-file "$root/heldout_seeds/$task.json" --episodes 100 \
--workers "$eval_workers" --devices 0 --max-steps 1500 \
--output "$result"
done
printf 'FORMAL_ALL5_EVALUATION_COMPLETE %s\n' "$method"
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