| |
| """Attach the frozen LIBERO norm stats to an RLinf CFG actor checkpoint. |
| |
| RLinf's training checkpoint writer stores DCP and full weights but does not |
| copy the small OpenPI norm-statistics tree. This helper adds only that file, |
| atomically and without duplicating the base model. |
| """ |
|
|
| from __future__ import annotations |
|
|
| import argparse |
| import hashlib |
| import json |
| import os |
| import shutil |
| from pathlib import Path |
|
|
|
|
| PROJECT_ROOT = Path("/data/myx/RL_post_train").resolve() |
| BASE_NORM_STATS = PROJECT_ROOT / "checkpoints/base/RLinf-Pi05-LIBERO-SFT/physical-intelligence/libero/norm_stats.json" |
|
|
|
|
| def _sha256(path: Path) -> str: |
| digest = hashlib.sha256() |
| with path.open("rb") as handle: |
| for chunk in iter(lambda: handle.read(1024 * 1024), b""): |
| digest.update(chunk) |
| return digest.hexdigest() |
|
|
|
|
| def _resolve(raw: Path) -> Path: |
| path = raw.expanduser() |
| if not path.is_absolute(): |
| path = PROJECT_ROOT / path |
| path = path.resolve() |
| try: |
| path.relative_to(PROJECT_ROOT) |
| except ValueError as exc: |
| raise ValueError(f"checkpoint must remain under {PROJECT_ROOT}: {path}") from exc |
| return path |
|
|
|
|
| def main() -> int: |
| parser = argparse.ArgumentParser() |
| parser.add_argument( |
| "--checkpoint", |
| type=Path, |
| required=True, |
| help="Actor checkpoint directory (the directory containing model_state_dict/).", |
| ) |
| args = parser.parse_args() |
| actor_root = _resolve(args.checkpoint) |
| if not actor_root.is_dir(): |
| raise FileNotFoundError(f"actor checkpoint directory does not exist: {actor_root}") |
| if not (actor_root / "model_state_dict" / "full_weights.pt").is_file(): |
| raise FileNotFoundError( |
| f"full_weights.pt is missing below actor checkpoint: {actor_root}" |
| ) |
| if not BASE_NORM_STATS.is_file(): |
| raise FileNotFoundError(f"frozen base norm stats missing: {BASE_NORM_STATS}") |
|
|
| source_hash = _sha256(BASE_NORM_STATS) |
| destination = actor_root / "physical-intelligence/libero/norm_stats.json" |
| destination.parent.mkdir(parents=True, exist_ok=True) |
| if destination.exists(): |
| destination_hash = _sha256(destination) |
| if destination_hash != source_hash: |
| raise RuntimeError( |
| f"existing norm stats hash differs: {destination_hash} != {source_hash}" |
| ) |
| action = "already_present" |
| else: |
| temporary = destination.with_name( |
| f".{destination.name}.tmp.{os.getpid()}" |
| ) |
| try: |
| shutil.copyfile(BASE_NORM_STATS, temporary) |
| os.replace(temporary, destination) |
| finally: |
| if temporary.exists(): |
| temporary.unlink() |
| action = "copied" |
|
|
| print( |
| json.dumps( |
| { |
| "ok": True, |
| "action": action, |
| "actor_root": str(actor_root), |
| "norm_stats": str(destination), |
| "sha256": source_hash, |
| "bytes": destination.stat().st_size, |
| }, |
| ensure_ascii=False, |
| sort_keys=True, |
| ) |
| ) |
| return 0 |
|
|
|
|
| if __name__ == "__main__": |
| raise SystemExit(main()) |
|
|
