上传 Task E 数据采集与过滤脚本

code/task_e_collection/run_task_e_pipeline.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/../.." && pwd)"
+PYTHON="${PYTHON:-/home/ubuntu/envs/genmanip-isaac5-py311/bin/python}"
+ISAACLAB_SITE="/home/ubuntu/envs/genmanip-isaac5-py311/lib/python3.11/site-packages/isaaclab/source"
+
+export OMNI_KIT_ACCEPT_EULA=YES
+export PYTHONUNBUFFERED=1
+export CUDA_VISIBLE_DEVICES="${CUDA_VISIBLE_DEVICES:-0}"
+export PYTHONPATH="${ISAACLAB_SITE}/isaaclab:${ISAACLAB_SITE}/isaaclab_tasks:${ISAACLAB_SITE}/isaaclab_assets:${ISAACLAB_SITE}/isaaclab_rl:${ISAACLAB_SITE}/isaaclab_mimic:${ROOT_DIR}/source/atec_rl_lab:${ROOT_DIR}/scripts/act:${PYTHONPATH:-}"
+
+cd "$ROOT_DIR"
+
+DATA_DIR="${DATA_DIR:-datasets/atec_task_e}"
+NUM_DEMOS="${NUM_DEMOS:-100}"
+PICK_OBJECTS="${PICK_OBJECTS:-3 2 1}"
+read -r -a PICK_OBJECTS_ARGS <<< "$PICK_OBJECTS"
+MAX_ATTEMPTS="${MAX_ATTEMPTS:-0}"
+TOTAL_ITERS="${TOTAL_ITERS:-100000}"
+BATCH_SIZE="${BATCH_SIZE:-512}"
+SEED="${SEED:-1}"
+LOG_FREQ="${LOG_FREQ:-100}"
+SAVE_FREQ="${SAVE_FREQ:-5000}"
+RUN_NAME="${RUN_NAME:-act-task-e-rgb-${NUM_DEMOS}demos-seed${SEED}}"
+RESUME_CHECKPOINT="${RESUME_CHECKPOINT:-}"
+RESUME_ITER="${RESUME_ITER:-}"
+
+RAW_DATA="${DATA_DIR}/trajectory.hdf5"
+FILTERED_DATA="${DATA_DIR}/trajectory_filtered.hdf5"
+
+mkdir -p "$DATA_DIR" logs
+
+echo "[ATEC Task E] root: $ROOT_DIR"
+echo "[ATEC Task E] python: $PYTHON"
+echo "[ATEC Task E] data: $DATA_DIR"
+echo "[ATEC Task E] demos: $NUM_DEMOS, pick_objects: ${PICK_OBJECTS_ARGS[*]}, batch: $BATCH_SIZE, iters: $TOTAL_ITERS"
+
+if [[ ! -f "$RAW_DATA" ]]; then
+    "$PYTHON" -u scripts/act/collect_demos_task_e.py \
+    --pick_objects "${PICK_OBJECTS_ARGS[@]}" \
+    --num_demos "$NUM_DEMOS" \
+    --headless \
+    --enable_cameras \
+    --save_images \
+    --only_success \
+    --trace \
+    --abort_failed_lift \
+    --max_attempts "$MAX_ATTEMPTS" \
+    --output_dir "$DATA_DIR"
+else
+  echo "[ATEC Task E] Found $RAW_DATA, skip collection."
+fi
+
+if [[ ! -f "$FILTERED_DATA" ]]; then
+  "$PYTHON" -u scripts/act/filter_demos.py \
+    --input "$RAW_DATA" \
+    --output "$FILTERED_DATA" \
+    --threshold 0.001
+else
+  echo "[ATEC Task E] Found $FILTERED_DATA, skip filtering."
+fi
+
+TRAIN_ARGS=(
+  --demo_path "$FILTERED_DATA"
+  --num_demos "$NUM_DEMOS"
+  --include_rgb
+  --total_iters "$TOTAL_ITERS"
+  --batch_size "$BATCH_SIZE"
+  --log_freq "$LOG_FREQ"
+  --save_freq "$SAVE_FREQ"
+  --seed "$SEED"
+  --exp_name "$RUN_NAME"
+)
+
+if [[ -n "$RESUME_CHECKPOINT" ]]; then
+  TRAIN_ARGS+=(--resume_checkpoint "$RESUME_CHECKPOINT")
+fi
+if [[ -n "$RESUME_ITER" ]]; then
+  TRAIN_ARGS+=(--resume_iter "$RESUME_ITER")
+fi
+
+"$PYTHON" -u scripts/act/train_task_e.py "${TRAIN_ARGS[@]}"