File size: 3,069 Bytes
6aa6c12 | 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 | """Environment-only diagnostic; no evaluated model and no benchmark score."""
from __future__ import annotations
import argparse
import json
from pathlib import Path
from benchkit.artifacts import atomic_write_json
from benchmarks.simBenchmarks.LIBERO.bench_server.adapter import FIRST_PASS_SEED, LiberoBenchmarkAdapter, task_catalog
def main() -> None:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--task-id", type=int, default=0)
parser.add_argument("--suite", choices=tuple(task_catalog()), default="libero_10")
parser.add_argument("--scope", choices=("development", "task_coverage"), default="development")
parser.add_argument("--render-gpu-device-id", type=int, default=1)
parser.add_argument("--output-dir", type=Path, required=True)
args = parser.parse_args()
output = args.output_dir.resolve()
output.mkdir(parents=True, exist_ok=False)
result = {
"kind": "environment_diagnostic_not_model_evaluation",
"task_id": args.task_id, "suite": args.suite, "scope": args.scope,
"policy_calls": 0, "diagnostic_steps": 0,
"native_success_after_diagnostic_step": None,
"artifacts": {}, "status": "initializing", "error": None,
}
atomic_write_json(output / "diagnostic_status.json", {"status": "initializing"})
session = None
try:
adapter = LiberoBenchmarkAdapter(task_ids=[args.task_id], suite=args.suite, scope=args.scope,
render_gpu_device_id=args.render_gpu_device_id)
episode = adapter.episodes(FIRST_PASS_SEED)[0]
session = adapter.open_episode(episode)
session.bind_artifact_dir(output)
observation = session.reset()
transition = session.step((0.0,) * 6 + (-1.0,))
result["diagnostic_steps"] = 1
result["native_success_after_diagnostic_step"] = session.metrics()["success"]
if observation.metadata or transition.observation.metadata or observation.state is not None:
raise AssertionError("default RGB diagnostic leaked undeclared metadata/state")
result["camera_shapes"] = {key: list(value.shape) for key, value in observation.images.items()}
result["status"] = "completed"
except Exception as exc:
result["status"] = "failed"
result["error"] = {"type": type(exc).__name__, "message": str(exc)}
raise
finally:
try:
if session is not None:
try:
result["artifacts"] = session.artifacts()
finally:
session.close()
except Exception as exc:
result["status"] = "failed"
result["cleanup_error"] = {"type": type(exc).__name__, "message": str(exc)}
raise
finally:
atomic_write_json(output / "diagnostic_result.json", result)
atomic_write_json(output / "diagnostic_status.json", {"status": result["status"]})
print(json.dumps(result, indent=2, sort_keys=True))
if __name__ == "__main__":
main()
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