assests / common /source /starBenchserver /benchmarks /simBenchmarks /SIMPLE /environment /diagnose.py
| """No-model reset/warmup/render/one-hold-tick diagnostic, NOT a capability score.""" | |
| from __future__ import annotations | |
| import argparse | |
| import json | |
| import traceback | |
| from pathlib import Path | |
| from benchmarks.simBenchmarks.SIMPLE.bench_server.adapter import SimpleHumanoidBenchmarkAdapter, TASKS, SEED | |
| def main(): | |
| parser = argparse.ArgumentParser(description=__doc__) | |
| parser.add_argument("--task", required=True, choices=TASKS) | |
| parser.add_argument("--output", type=Path, required=True) | |
| parser.add_argument("--gpu", type=int, default=4) | |
| parser.add_argument("--rgb-only", action="store_true") | |
| parser.add_argument("--budget-mode", choices=("decisions", "horizon"), default="decisions") | |
| args = parser.parse_args() | |
| args.output.mkdir(parents=True, exist_ok=False) | |
| adapter = SimpleHumanoidBenchmarkAdapter(task_names=(args.task,), gpu_id=args.gpu, diagnostic=True, | |
| proprioception=not args.rgb_only, budget_mode=args.budget_mode) | |
| session = adapter.open_episode(adapter.episodes(SEED)[0]) | |
| session.bind_artifact_dir(args.output) | |
| report = {"task": args.task, "diagnostic_only": True, "policy_calls": 0, "passed": False, | |
| "protocol": adapter.descriptor.to_dict(), "action_spec": adapter.action_spec.to_dict(), | |
| "observation_spec": adapter.observation_spec.to_dict()} | |
| try: | |
| first = session.reset() | |
| transition = session.diagnostic_hold() | |
| report.update({"passed": True, "reset_rgb_shape": list(first.images["head_stereo_left"].shape), | |
| "post_hold_rgb_shape": list(transition.observation.images["head_stereo_left"].shape), | |
| "reset_state_size": len(first.state) if first.state is not None else 0, | |
| "post_hold_state_size": len(transition.observation.state) if transition.observation.state is not None else 0, | |
| "instruction": first.instruction, "metrics": session.metrics(), "artifacts": session.artifacts()}) | |
| except BaseException as exc: | |
| report.update({"error": f"{type(exc).__name__}: {exc}", "traceback": traceback.format_exc()}) | |
| raise | |
| finally: | |
| (args.output / "diagnostic_result.json").write_text(json.dumps(report, indent=2) + "\n") | |
| session.close() | |
| if __name__ == "__main__": | |
| main() | |