File size: 5,251 Bytes
8aa2acf | 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 | #!/usr/bin/env bash
set -uo pipefail
# ─────────────────────────────────────────────────────────────────────────────
# run_all_groot.sh — evaluate ALL 10 GR00T conflict checkpoints.
#
# One checkpoint per GPU: for each category we start a dedicated GR00T zmq
# inference server (gr00t venv) pinned to one GPU, then run the ManiSkill OOD
# sweep (ms venv) on the SAME GPU for GPU physics+render, then stop the server.
# Up to NUM_GPUS checkpoints run concurrently (processed in waves).
#
# Each checkpoint is evaluated on its OWN conflict experiment (category name).
# Every episode video is saved under
# ${OUT_ROOT}/<category>/experiments/<run_name>/video/ep000{,_wrist}.mp4
#
# Usage:
# bash run_all_groot.sh [seed] [total_episodes]
# Defaults: seed=42 total_episodes=200 (→ 400 runs per checkpoint)
# Override episode count: bash run_all_groot.sh 42 20
# ─────────────────────────────────────────────────────────────────────────────
SEED="${1:-42}"
TOTAL_EPISODES="${2:-200}"
ROOT=/workspace/groot_eval
HARNESS="${ROOT}/harness"
CKPT_ROOT="${ROOT}/checkpoints"
OUT_ROOT="${OUT_ROOT:-${ROOT}/results}"
LOG_DIR="${ROOT}/logs/run_$(date +%Y%m%d_%H%M%S)"
GROOT_VENV_PY="${ROOT}/gr00t_repo/codebase/.venv/bin/python"
GROOT_CODE="${ROOT}/gr00t_repo/codebase"
MS_PY="${ROOT}/.venv_ms/bin/python"
NUM_GPUS="${NUM_GPUS:-8}"
SIM_BACKEND="${SIM_BACKEND:-gpu}"
BASE_PORT="${BASE_PORT:-5600}"
CATEGORIES=(
color_object color_size color_spatial size_object spatial_object
spatial_size verb_color verb_object verb_size verb_spatial
)
mkdir -p "${LOG_DIR}" "${OUT_ROOT}"
echo "seed=${SEED} total_episodes=${TOTAL_EPISODES} sim_backend=${SIM_BACKEND}"
echo "logs: ${LOG_DIR}"
echo "results/videos: ${OUT_ROOT}"
run_one() {
local cat="$1" gpu="$2" port="$3"
local ckpt="${CKPT_ROOT}/${cat}"
local slog="${LOG_DIR}/server_${cat}.log"
local clog="${LOG_DIR}/client_${cat}.log"
local exp_root="${OUT_ROOT}/${cat}/experiments"
local results_txt="${OUT_ROOT}/${cat}/${cat}_ood_seed${SEED}.txt"
mkdir -p "${exp_root}" "$(dirname "${results_txt}")"
echo "[$(date +%H:%M:%S)] START ${cat} gpu=${gpu} port=${port}"
# ── Start GR00T inference server on this GPU ──
( cd "${GROOT_CODE}" && CUDA_VISIBLE_DEVICES="${gpu}" \
HF_HOME="${ROOT}/.hf_cache" HF_TOKEN="$(cat ${ROOT}/.hf_token)" \
NO_ALBUMENTATIONS_UPDATE=1 TOKENIZERS_PARALLELISM=false \
"${GROOT_VENV_PY}" -m gr00t.eval.run_gr00t_server \
--model-path "${ckpt}" \
--embodiment-tag new_embodiment \
--device cuda:0 \
--host 127.0.0.1 \
--port "${port}" ) > "${slog}" 2>&1 &
local server_pid=$!
# ── Wait until the server is listening (model load can take ~1-2 min) ──
local ready=0
for _ in $(seq 1 180); do
if ! kill -0 "${server_pid}" 2>/dev/null; then
echo "[${cat}] SERVER DIED during startup — see ${slog}"
break
fi
if grep -q "Server ready\|Server is ready and listening" "${slog}" 2>/dev/null; then
ready=1; break
fi
sleep 3
done
if [[ "${ready}" -ne 1 ]]; then
echo "[${cat}] server not ready; killing. tail server log:"
tail -n 20 "${slog}" || true
kill "${server_pid}" 2>/dev/null || true
wait "${server_pid}" 2>/dev/null || true
return 1
fi
echo "[$(date +%H:%M:%S)] [${cat}] server ready (pid ${server_pid}), starting sweep"
# ── Run the OOD sweep on the SAME GPU (ManiSkill GPU physics+render) ──
CUDA_VISIBLE_DEVICES="${gpu}" \
HOST=127.0.0.1 PORT="${port}" SIM_BACKEND="${SIM_BACKEND}" \
EXPERIMENT_ROOT="${exp_root}" GROOT_MAIN="${HARNESS}/groot_main.py" MS_PY="${MS_PY}" \
bash "${HARNESS}/run_ood_groot_inference.sh" \
"${cat}" "${SEED}" "${TOTAL_EPISODES}" "${results_txt}" \
> "${clog}" 2>&1
local rc=$?
# ── Stop the server ──
kill "${server_pid}" 2>/dev/null || true
wait "${server_pid}" 2>/dev/null || true
echo "[$(date +%H:%M:%S)] DONE ${cat} rc=${rc} results=${results_txt}"
return ${rc}
}
# ── Process in waves of NUM_GPUS (one checkpoint per GPU) ──
launched=0
pids=()
for idx in "${!CATEGORIES[@]}"; do
cat="${CATEGORIES[$idx]}"
gpu=$(( launched % NUM_GPUS ))
port=$(( BASE_PORT + gpu ))
run_one "${cat}" "${gpu}" "${port}" &
pids+=($!)
launched=$(( launched + 1 ))
if (( launched % NUM_GPUS == 0 )); then
echo "[$(date +%H:%M:%S)] --- waiting for wave to finish ---"
for p in "${pids[@]}"; do wait "${p}" || true; done
pids=()
fi
done
for p in "${pids[@]}"; do wait "${p}" || true; done
echo
echo "================ ALL DONE ================"
for cat in "${CATEGORIES[@]}"; do
rt="${OUT_ROOT}/${cat}/${cat}_ood_seed${SEED}.txt"
if [[ -f "${rt}" ]]; then
echo "### ${cat}"
grep -E "^overall_" "${rt}" 2>/dev/null || echo " (no overall_ line — check logs)"
else
echo "### ${cat}: MISSING ${rt}"
fi
done
echo "Videos under: ${OUT_ROOT}/<category>/experiments/<run_name>/video/"
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