Package exact adaptive implementation: code/examples/realRobots/Piper/eval_files/compare_adaptive_uniform_open_loop.py

models/piper-pick-white-block-25hz-qwenpi-v3-adaptive-left-exclude-gripper-native-controls13-gb32-50k-20260905/code/examples/realRobots/Piper/eval_files/compare_adaptive_uniform_open_loop.py

@@ -0,0 +1,86 @@
+#!/usr/bin/env python3
+"""Compare adaptive and uniform checkpoints on their common 10-step prefix."""
+
+from __future__ import annotations
+
+import argparse
+import json
+from pathlib import Path
+
+import numpy as np
+
+
+def _metrics(values: np.ndarray) -> dict:
+    values = np.asarray(values, dtype=np.float64)
+    return {
+        "rmse": float(np.sqrt(np.mean(np.square(values)))),
+        "mae": float(np.mean(np.abs(values))),
+        "first_action_rmse": float(np.sqrt(np.mean(np.square(values[:, 0])))),
+        "arm_rmse": float(np.sqrt(np.mean(np.square(values[..., :6])))),
+        "gripper_rmse": float(np.sqrt(np.mean(np.square(values[..., 6])))),
+    }
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("adaptive_arrays", type=Path)
+    parser.add_argument("uniform_arrays", type=Path)
+    parser.add_argument("--output", type=Path, required=True)
+    args = parser.parse_args()
+
+    with np.load(args.adaptive_arrays.expanduser().resolve()) as adaptive_file:
+        adaptive = {key: adaptive_file[key] for key in adaptive_file.files}
+    with np.load(args.uniform_arrays.expanduser().resolve()) as uniform_file:
+        uniform = {key: uniform_file[key] for key in uniform_file.files}
+    np.testing.assert_array_equal(adaptive["sample_index"], uniform["sample_index"])
+    np.testing.assert_array_equal(adaptive["episode_index"], uniform["episode_index"])
+    np.testing.assert_array_equal(adaptive["frame_index"], uniform["frame_index"])
+
+    horizon = 10  # every positive-duration 13-row cubic plan guarantees ten native steps
+    adaptive_model_error = adaptive["prediction_vs_original_error"][:, :horizon]
+    adaptive_representation_error = adaptive["spline_vs_original_error"][:, :horizon]
+    uniform_model_error = uniform["prediction_vs_original_error"][:, :horizon]
+    uniform_representation_error = uniform["spline_vs_original_error"][:, :horizon]
+    adaptive_model = _metrics(adaptive_model_error)
+    uniform_model = _metrics(uniform_model_error)
+    adaptive_representation = _metrics(adaptive_representation_error)
+    uniform_representation = _metrics(uniform_representation_error)
+    report = {
+        "passed": True,
+        "comparison": "same recorded observations and common native-rate prefix",
+        "observations": int(len(adaptive["sample_index"])),
+        "horizon_steps": int(horizon),
+        "adaptive": {
+            "model_vs_original": adaptive_model,
+            "representation_vs_original": adaptive_representation,
+        },
+        "uniform": {
+            "model_vs_original": uniform_model,
+            "representation_vs_original": uniform_representation,
+        },
+        "adaptive_vs_uniform": {
+            "model_arm_rmse_reduction_fraction": (
+                1.0 - adaptive_model["arm_rmse"] / uniform_model["arm_rmse"]
+            ),
+            "model_overall_rmse_reduction_fraction": (
+                1.0 - adaptive_model["rmse"] / uniform_model["rmse"]
+            ),
+            "representation_arm_rmse_reduction_fraction": (
+                1.0
+                - adaptive_representation["arm_rmse"]
+                / uniform_representation["arm_rmse"]
+            ),
+        },
+        "gripper_note": (
+            "Continuous gripper error is reported separately because gripper dimension 6 is excluded "
+            "from knot placement and is projected to binary commands during deployment."
+        ),
+    }
+    output = args.output.expanduser().resolve()
+    output.parent.mkdir(parents=True, exist_ok=True)
+    output.write_text(json.dumps(report, indent=2) + "\n")
+    print(json.dumps({"output": str(output), **report["adaptive_vs_uniform"]}, indent=2))
+
+
+if __name__ == "__main__":
+    main()