| # SIMPLE humanoid evaluation |
|
|
| This integration follows the [RoboDojo-derived service conventions](../SERVICE_CONVENTIONS.md). |
| Its native humanoid controllers, 36-value commands and task scoring remain distinct. |
|
|
| The current **v2** interface removes RSI's additional joint-target range |
| rejection. It forwards finite physical targets through the original controller |
| without clipping; native physics and controller limits remain unchanged. |
| Optional model target guards belong in `AgentPolicies/`, not the SIM service. |
| Frozen v1 records retain their old protocol and outcomes; see the |
| [action contract](EVALUATION_PROTOCOL.md#physical-36-dimensional-action). |
|
|
| This benchmark can run as an independent SIM service via [server.py](server.py). |
| Start from [server.example.json](server.example.json), adjust deployment paths/GPU |
| before launch, and follow the [shared server workflow](../SERVER_PROTOCOL.md). |
| The server owns native reset/control/scoring; the evaluator uses the client, and |
| the model receives only permitted observations. Native service-mode validation |
| is separate from adapter availability. |
|
|
| The server excludes its episode-local `cache/` from artifact transfer. The |
| adapter assigns this directory to native runtime caches (including Omniverse |
| texture caches and Torch extension builds); it is not rollout evidence. The |
| exclusion is recorded in session receipts and the captured launcher. Native originals are |
| retained, while observations, videos, logs, metrics and provenance remain |
| exported. This affects new launches only: existing frozen runs keep their |
| original inventories and cached files, without retroactive pruning. |
|
|
| [SIMPLE](https://github.com/physical-superintelligence-lab/SIMPLE) is the whole-body humanoid benchmark from Physical Superintelligence Lab, not SimplerEnv or HumanoidBench. The `simple_humanoid` adapter connects a sensor-driven policy to G1's native AMO/SONIC whole-body controllers. |
|
|
| The released inventory has 12 tasks. The default campaign selects BendPickMP and OpenFaucetTeleop; explicit `task_scope="released-12"` selects all 12 once each. These are fast task selections, not the native domain-randomization/episode schedule. See [task scope](bench_server/protocol/RELEASED_TASK_SCOPE.md) and [EVALUATION_PROTOCOL.md](EVALUATION_PROTOCOL.md). |
|
|
| ## Directory responsibilities |
|
|
| ```text |
| SIMPLE/ |
| ├── server.py # stable public service entrypoint |
| ├── server.example.json # operator paths and selected task |
| ├── bench_server/ |
| │ ├── adapter.py # public contract, reset mapping and scoring |
| │ ├── native_worker_client.py # private RPC and child-process lifecycle |
| │ ├── source_inventory.py # explicit service source capture inputs |
| │ └── protocol/ |
| │ ├── plan.py # benchmark-owned task selection |
| │ ├── POLICY_GUIDE.md # declared public sensor/action interface |
| │ ├── RELEASED_TASK_SCOPE.md # released task/reset scope and timing |
| │ └── simple_released_tasks.json # pinned task/backend/reset inventory |
| ├── environment/ # native worker, runtime pins, diagnostics |
| └── checks/ # protocol and integration regressions |
| ``` |
|
|
| The catalog is protocol data consumed by the service; native assets stay outside |
| the package at configured deployment paths. `bench_server/adapter.py` delivers |
| only the declared RGB/joint observations and translates public actions into the |
| private worker protocol. `native_worker_client.py` launches and closes the pinned |
| worker without defining tasks or model behavior. `server.main(argv=None)` uses |
| the service-owned source inventory independently of campaign task selection. |
| Model decisions and results stay in `AgentPolicies/<profile>/`. |
| The catalog bytes, task/reset identities and protocol IDs are preserved when |
| changing this directory layout. |
| The [public interface guide](bench_server/protocol/POLICY_GUIDE.md) is reusable |
| benchmark context. Historical reports, checklists and evidence caveats live in |
| the [anonymous code-agent results](../../../AgentPolicies/anonymous_code_agent/results/simple_humanoid/README.md). |
| The canonical adapter lives in `bench_server/adapter.py`; task selection lives |
| beside the protocol in `bench_server/protocol/plan.py`. |
|
|
| ## Prepare the environment |
|
|
| The source pin is `5e3d6f84e85343e34e9bca8d157f0d7813231185`, with Python 3.10, Isaac Sim 4.5 and MuJoCo 3.3.6. Native AMO/SONIC controllers and fixed locomotion weights are environment dependencies, not the high-level policy being evaluated. |
|
|
| Provision the upstream runtime, controller weights, robot assets, released evaluation metadata and referenced HSSD scenes under their respective licenses. [environment/upstream.json](environment/upstream.json) records source, compatibility-patch, controller and asset-manifest requirements. [simple_released_tasks.json](bench_server/protocol/simple_released_tasks.json) binds task/backends and released resets. |
|
|
| A portable all-assets installer is not yet available. Installing RSI alone is insufficient. Adapter path defaults remain site-specific: explicitly pass `simple_root` and `eval_root` for a compatible local materialization. The worker uses `<simple_root>/.venv/bin/python`. Do not bypass source/asset checks to use a different release. |
|
|
| Run one task/backend per adapter. Check GPU capacity before initialization: controller contexts may appear on other visible GPUs, so choosing a renderer index is not complete isolation. |
|
|
| ## Check the integration |
|
|
| These inventory checks do not import a simulator: |
|
|
| ```sh |
| PYTHONPATH=. python -B benchmarks/simBenchmarks/SIMPLE/checks/test_inventory.py -v |
| PYTHONPATH=. python -B benchmarks/simBenchmarks/SIMPLE/checks/test_instruction_contract.py -v |
| PYTHONPATH=. python -B benchmarks/simBenchmarks/SIMPLE/checks/test_server_launcher.py -v |
| PYTHONPATH=. python -B benchmarks/simBenchmarks/SIMPLE/checks/verify_inventory.py \ |
| --inventory benchmarks/simBenchmarks/SIMPLE/bench_server/protocol/simple_released_tasks.json |
| ``` |
|
|
| Run `checks/test_boundary.py` in the pinned native environment for runtime-dependent checks. [environment/diagnose.py](environment/diagnose.py) performs reset, stabilization, rendering and one measured hold with zero policy calls. Its CLI currently uses site-specific adapter path defaults and the two default task identities; a relocated deployment must use explicit adapter paths in evaluator-owned diagnostic setup. Diagnostic measurements are not a policy feature or capability score. |
|
|
| ## Evaluate one selected task |
|
|
| Configure the paths and one task in a local copy of `server.example.json`. |
| Set the evaluator-only token following the [shared server workflow](../SERVER_PROTOCOL.md), |
| then launch the stable entrypoint with a fresh result directory: |
|
|
| ```sh |
| python -B -m benchmarks.simBenchmarks.SIMPLE.server \ |
| --parameters /absolute/simple-server.json \ |
| --seed 20260907 --episodes 1 --port 8765 \ |
| --output-dir /absolute/model-results/simple_humanoid/new-run/server |
| ``` |
|
|
| The server starts without resetting the simulator. A trusted model-owned driver |
| connects to the declared schedule and performs the single reset/attempt. Its |
| policy receives the permitted observation/action interface, without the service |
| credential or private score/reset metadata. Keep client records beside server |
| records in the selected model's results namespace. Native full-mode support is |
| not implied by this service entrypoint. |
|
|
| For the model-owned native-vector driver, follow |
| [NATIVE_CONTROL.md](../../../AgentPolicies/gpt6_astra/docs/NATIVE_CONTROL.md). |
| See the [evaluation workflow](../../../docs/evaluation.md) for source capture |
| and closed-record reporting. |
|
|
| The [selection plan](bench_server/protocol/plan.py) freezes preselected tasks; its launcher also requires deployment-compatible runtime paths. Retain each task's single outcome, including failures and environment errors. Full native episode/DR coverage and a portable asset bootstrap remain unsupported. |
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|
