| # RoboDojo |
|
|
| This directory defines one public RoboDojo benchmark service. It owns the |
| simulator schedule, public observations and actions, fixed robot-only execution, |
| native scoring and evidence. Models never import or drive the native simulator. |
|
|
| - [Evaluation protocol](EVALUATION_PROTOCOL.md) |
| - [Environment preparation](environment/README.md) |
| - [Action rejection](ACTION_VALIDATION.md) |
| - [Robot-control acknowledgements](ROBOT_FEEDBACK.md) |
| - [Shared SIM wire protocol](../SERVER_PROTOCOL.md) |
|
|
| ## Directory responsibilities |
|
|
| ```text |
| RoboDojo/ |
| ├── server.py # public launch entrypoint |
| ├── server.example.json # deployment configuration example |
| ├── bench_server/ # benchmark service package |
| │ ├── adapter.py # public contract to native environment bridge |
| │ ├── native_worker_client.py # private worker communication |
| │ └── protocol/ # service-owned evaluation definitions |
| │ ├── task_catalog.json # task definitions and fixed panels |
| │ ├── task_catalog.py # catalog loading and validation |
| │ └── robot_feedback.py # public robot-control receipt schema |
| ├── environment/ # native worker, kinematics and runtime pins |
| └── checks/ # benchmark contract and implementation tests |
| ``` |
|
|
| `bench_server/` owns both the service implementation and its evaluation protocol. |
| Its `protocol/` subpackage remains dependency-light so catalog and reporting |
| tools can read definitions without starting the server or simulator. |
|
|
| This is an abbreviated responsibility view; protocol guides and package marker |
| files are omitted. [The task catalog](bench_server/protocol/task_catalog.json) is benchmark |
| protocol data: it defines instructions, seeds, horizons and fixed evaluation |
| panels. The server reads it to freeze the schedule. Native assets and runtime |
| bindings belong in `environment/`; operator paths, GPU selection and the chosen |
| named panel belong in `server.example.json` or an operator-owned copy. |
|
|
| `bench_server/native_worker_client.py` connects the adapter to the private |
| native worker. Model runners use the shared SIM service client instead. Moving |
| these modules into packages does not change the wire protocol, action semantics, |
| native scorer or historical result identities. The public launch command remains |
| `python -m benchmarks.simBenchmarks.RoboDojo.server`. |
|
|
| A private worker timeout or malformed acknowledgement faults that transport: |
| the service does not replay the operation or enqueue finalization behind an |
| unknown result. Cleanup uses bounded child termination and retains the error |
| and cleanup receipt. A complete, correlated native error can still permit |
| read-only finalization. Neither outcome authorizes an automatic case retry. |
|
|
| ## Supported service |
|
|
| The server exposes Direct control with two explicit deployment identities: |
| `deployment_track=reference` (the default) uses |
| `robodojo-direct-v2-rgb-proprio28-eef16-robot-feedback-v1`; |
| `deployment_track=official` uses |
| `robodojo-official-hf91f76c28-rgb-proprio28-eef16-feedback-v1`. |
| The [official runtime](environment/OFFICIAL_RUNTIME.md) binds public source and |
| assets without claiming historical reference equivalence. These identities |
| describe robot observations/actions and native execution, not the agent |
| method. The current GPT driver defaults to generic `codex-direct/v3`; using it |
| does not change this server interface or reproduce the historical v2 method's scores. |
| The task catalog currently |
| enables `classify_objects` with two immutable schedules: |
|
|
| - `fast`: fixed standard layouts 0–4, each attempted once; |
| - `full`: layouts 0–49, matching the upstream configured 50 episodes, each |
| attempted once; |
| - native horizon 1100 controls per layout; |
| - three RGB cameras plus measured robot joints/end-effector poses; |
| - absolute dual-arm end-effector targets; |
| - fixed numerical DLS conversion followed by one native control; |
| - one public robot-control acknowledgement after each executed control; |
| - native task success and score remain evaluator-private until reporting. |
|
|
| There is no runtime selector for earlier joint-control, v1, no-ACK, or |
| experimental arrange-number services. Their source remains recoverable from Git |
| history and local ignored `barks/`; it is not part of this public entrypoint. |
|
|
| ## Ownership boundary |
|
|
| `benchmarks/simBenchmarks/RoboDojo` owns benchmark behavior. Model prompts, |
| conversation state, voluntary-stop rules and action-generation logic belong in |
| `AgentPolicies/<model-profile>/`. Public results belong in |
| `AgentPolicies/<model-profile>/results/robodojo/`. The shared `benchkit/` may validate |
| and publish closed evidence, but it does not choose robot actions. |
|
|
| The service may expose declared robot state. It never exposes object truth, |
| layout metadata, reward internals, success predicates, hidden scorer state or a |
| task-solving RPC. Invalid public actions are not executed; the service returns a |
| structured rejection so the client can make its next decision. An uncertain |
| native or transport failure remains terminal. |
|
|
| ## Start the benchmark server |
|
|
| Copy [server.example.json](server.example.json) for the reference deployment or |
| [server.official.example.json](server.official.example.json) for the official |
| deployment to an operator-owned path and |
| replace the runtime manifest path, digest and GPU. Protocol fields are not |
| configurable. Select only a named catalog `panel`; arbitrary layout lists are |
| rejected. Use a fresh server output directory and a strong evaluator-only token: |
|
|
| ```sh |
| export RSI_SIM_SERVER_TOKEN='replace-with-a-url-safe-secret-of-at-least-32-characters' |
| python -B -m benchmarks.simBenchmarks.RoboDojo.server \ |
| --parameters /absolute/robodojo-direct-v2.json \ |
| --seed 20260907 --port 8765 \ |
| --output-dir /absolute/results-staging/robodojo/server |
| ``` |
|
|
| The service binds to loopback. Use authenticated SSH forwarding when the model |
| runner is on another node. Startup freezes the schedule but does not reset the |
| simulator. A case is claimed once; failed reset/action evidence is retained and |
| the case is not automatically retried. |
|
|
| Run the model-owned client separately, for example: |
|
|
| ```sh |
| python -B -m AgentPolicies.gpt6_astra.run \ |
| --sim-server http://127.0.0.1:8765 --benchmark robodojo \ |
| --control-method codex-direct/v3 \ |
| --seed 20260907 --episodes 5 --max-steps 1100 \ |
| --max-policy-calls 240 --replan-interval 5 --budget-mode horizon \ |
| --output-dir /absolute/results-staging/robodojo/client \ |
| --run-id classify_objects-category-sorting-direct-v3-panel5 |
| ``` |
|
|
| The client command and credentials are model-owned. The benchmark server does |
| not import `AgentPolicies/gpt6_astra`. |
| The five-control prefix is a method configuration, not a server-side repeat rule; |
| controls are submitted and acknowledged individually within the 1100-control horizon. |
| By default, native videos remain in the server output and the client retains |
| references. Use client `--copy-server-media` only when another local media copy |
| is wanted; see [recording options](../../../docs/recording.md). |
|
|
| ## Evidence and status |
|
|
| Every case retains its outcome, counts, configuration and separate errors. |
| Detailed interactions and videos are optional, enabled by default where |
| supported; see [recording options](../../../docs/recording.md). The current |
| server still generates native evidence; client retention switches do not disable |
| that capture. New services keep the three server-side camera videos by default, |
| with client references instead of duplicate downloads. Temporary frame images are |
| not kept after successful close when video evidence is available; use server |
| `--retain-frame-images` to retain them explicitly. Paired receipts, native events and all three videos support the |
| existing full-evidence audit/publication path, not general participation or basic |
| result eligibility. `fast` is the five-layout reference comparison |
| panel; `full` is this task's 50-layout native evaluation schedule, not the whole |
| multi-task RoboDojo matrix. CPU tests and artifact audits |
| do not prove native rendering or task success. The latest recorded native panel |
| and public report live under the model result namespace; generated media and raw |
| evidence are intentionally outside Git and require durable artifact storage. |
|
|
