File size: 4,840 Bytes
456c9d7 | 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 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 | #!/usr/bin/env python
"""Build stable Task 0 baseline manifest and summary files."""
from __future__ import annotations
import argparse
import csv
import json
import sys
from pathlib import Path
SCRIPT_DIR = Path(__file__).resolve().parent
if str(SCRIPT_DIR) not in sys.path:
sys.path.insert(0, str(SCRIPT_DIR))
from task0_baseline_common import ( # noqa: E402
expected_keys,
load_config,
load_episode_records,
parse_int_spec,
protocol_hash,
require_project_path,
summarize_records,
write_resolved_config,
)
def _args() -> argparse.Namespace:
parser = argparse.ArgumentParser()
parser.add_argument("--input-dir", type=Path, required=True)
parser.add_argument(
"--config",
type=Path,
default=Path("configs/baseline/libero10_task0_pi05_sft_formal.yaml"),
)
parser.add_argument("--seeds", default=None, help="Override expected seeds, e.g. 0,1")
parser.add_argument("--trial-ids", default=None, help="Override expected trials, e.g. 0-49")
return parser.parse_args()
def _write_manifest(path: Path, records: list[dict]) -> None:
path.parent.mkdir(parents=True, exist_ok=True)
with path.open("w", encoding="utf-8") as handle:
for record in sorted(records, key=lambda item: (item["policy_seed"], item["trial_id"])):
handle.write(json.dumps(record, ensure_ascii=False, sort_keys=True))
handle.write("\n")
def _write_csv(path: Path, summary: dict) -> None:
rows = [
{
"scope": "overall",
"policy_seed": "",
"planned": summary["planned_episode_count"],
"completed": summary["completed_episode_count"],
"errors": summary["error_episode_count"],
"success_count": summary["success_count"],
"failure_count": summary["failure_count"],
"success_rate": summary["success_rate"],
"wilson_95ci_low": summary["wilson_95ci"][0],
"wilson_95ci_high": summary["wilson_95ci"][1],
}
]
for seed, values in sorted(summary["per_policy_seed"].items(), key=lambda item: int(item[0])):
rows.append(
{
"scope": "policy_seed",
"policy_seed": seed,
"planned": values["planned"],
"completed": values["completed"],
"errors": values["error_count"],
"success_count": values["success_count"],
"failure_count": values["failure_count"],
"success_rate": values["success_rate"],
"wilson_95ci_low": values["wilson_95ci"][0],
"wilson_95ci_high": values["wilson_95ci"][1],
}
)
path.parent.mkdir(parents=True, exist_ok=True)
with path.open("w", encoding="utf-8", newline="") as handle:
writer = csv.DictWriter(handle, fieldnames=list(rows[0]))
writer.writeheader()
writer.writerows(rows)
def main() -> int:
args = _args()
root = require_project_path(args.input_dir, label="result directory")
cfg = load_config(args.config)
cfg_hash = protocol_hash(cfg)
configured_seeds = [int(seed) for seed in cfg.policy_seeds]
configured_trials = [int(trial) for trial in cfg.trial_ids]
seeds = parse_int_spec(args.seeds, label="seeds") if args.seeds else configured_seeds
trials = parse_int_spec(args.trial_ids, label="trial ids") if args.trial_ids else configured_trials
records = load_episode_records(root, expected_protocol_hash=cfg_hash)
summary = summarize_records(
records,
expected=expected_keys(seeds, trials),
protocol_version=str(cfg.protocol_version),
protocol_sha256=cfg_hash,
)
summary["checkpoint_repo"] = str(cfg.model.checkpoint_repo)
summary["checkpoint_revision"] = str(cfg.model.checkpoint_revision)
summary["checkpoint_weight_sha256"] = str(cfg.model.checkpoint_weight_sha256)
summary["source_commits"] = {
"rlinf": "0505431899574619da86f551bad70b71e0ea2177",
"openpi": "c5dc4b9296a1a4739bf52828f28a579f12dce763",
"libero": "0c5e40cc4ae63e09c14e7df6f74481e9ee8585f7",
}
summary["expected_policy_seeds"] = seeds
summary["expected_trial_ids"] = trials
_write_manifest(root / "episode_manifest.jsonl", records)
root.mkdir(parents=True, exist_ok=True)
(root / "summary.json").write_text(
json.dumps(summary, ensure_ascii=False, indent=2, sort_keys=True) + "\n",
encoding="utf-8",
)
_write_csv(root / "summary.csv", summary)
write_resolved_config(root / "resolved_config.yaml", cfg)
(root / "protocol.sha256").write_text(cfg_hash + "\n", encoding="utf-8")
print(json.dumps(summary, ensure_ascii=False, sort_keys=True))
return 0
if __name__ == "__main__":
raise SystemExit(main())
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