code/gpair_dispatcher.sh

#!/usr/bin/env bash
# gpair_dispatcher.sh — long-running tmux-resident dispatcher for GR00T pair eval.
# Polls every 30s: for each free GPU (no gpair_g<g> tmux session), pop the next
# job from a priority list of queue files and launch it.  Independent of Claude
# wakeups — runs until all queue files are empty (and then continues idle, in
# case new queues get added).
#
# Queue file priority order (first non-empty wins):
#   1) cs_queue.txt           — HARD color_size残余 (highest)
#   2) vs_queue.txt           — verb_spatial
#   3) ecs_queue.txt          — EASY color_size
#   4) any *_queue.txt below LOG_DIR (lex-sorted)
#
# Each line: "<ckpt>:<seed>".  After successful dispatch, line is removed.
# Logs each dispatch to dispatcher.log.

set -u
ROOT=/workspace/groot_eval
H="$ROOT/harness"
LD="$ROOT/logs/gr00t_pair"
DLOG="$LD/dispatcher.log"
PRIORITY=(cs_queue.txt vs_queue.txt ecs_queue.txt af_queue.txt)
INTERVAL=30
PORT_BASE=5700

mkdir -p "$LD"
echo "[$(date +%F\ %H:%M:%S)] dispatcher start (pid $$, interval ${INTERVAL}s)" >> "$DLOG"

# log-rotation: cap at 5000 lines
trim_log() { [[ -f "$DLOG" ]] && [[ "$(wc -l < "$DLOG")" -gt 5000 ]] && tail -3000 "$DLOG" > "$DLOG.tmp" && mv "$DLOG.tmp" "$DLOG"; }

pop_one() {
  # echo "<ckpt>:<seed> <queue_file>" or nothing
  local f
  for f in "${PRIORITY[@]}"; do
    local qf="$LD/$f"
    [[ -s "$qf" ]] || continue
    local line; line=$(head -1 "$qf")
    [[ -n "$line" ]] && { echo "$line $qf"; return 0; }
  done
  # any other *_queue.txt
  for qf in "$LD"/*_queue.txt; do
    [[ -s "$qf" ]] || continue
    case "$(basename "$qf")" in cs_queue.txt|vs_queue.txt|ecs_queue.txt) continue;; esac
    local line; line=$(head -1 "$qf")
    [[ -n "$line" ]] && { echo "$line $qf"; return 0; }
  done
  return 1
}

while true; do
  for g in 0 1 2 3 4 5 6 7; do
    if tmux has-session -t "gpair_g$g" 2>/dev/null; then continue; fi
    # GPU free — try to grab next job
    pair=$(pop_one) || continue
    job=${pair%% *}; qf=${pair##* }
    port=$((PORT_BASE + g))
    # all-factor job: "af:<ckpt>"  → runs run_af_one_ckpt_fast.sh (3 seeds in one launch)
    if [[ "$job" == af:* ]]; then
      ck=${job#af:}
      if [[ ! -d "/workspace/groot_eval/gr00t_af_ckpts/$ck" ]]; then
        echo "[$(date +%H:%M:%S)] WAIT af $ck not present in gr00t_af_ckpts/" >> "$DLOG"
        continue
      fi
      tmux new-session -d -s "gpair_g$g" \
        "bash $H/run_af_one_ckpt_fast.sh $ck $g $port > $LD/r_af_${ck}.log 2>&1"
      sed -i '1d' "$qf"
      echo "[$(date +%H:%M:%S)] DISPATCH AF $ck → g$g (port $port) from $(basename $qf)" >> "$DLOG"
      continue
    fi
    # pair-grid job: "ckpt:seed" or "ckpt:seed:mode"
    IFS=':' read -r ck sd mode <<<"$job"
    mode=${mode:-hard}
    if [[ ! -d "/workspace/gr00t_pair_ckpt/$ck" ]]; then
      echo "[$(date +%H:%M:%S)] WAIT $ck:$sd not yet downloaded (skip this round)" >> "$DLOG"
      continue
    fi
    if [[ "$mode" == "easy" ]]; then
      tag="${ck}_EASY_seed${sd}"
    else
      tag="${ck}_seed${sd}"
    fi
    tmux new-session -d -s "gpair_g$g" \
      "COLOR_SIZE_MODE=$mode SEEDS_OVERRIDE=$sd bash $H/run_groot_one_ckpt.sh $ck $g $port > $LD/r_${tag}.log 2>&1"
    sed -i '1d' "$qf"
    echo "[$(date +%H:%M:%S)] DISPATCH $ck:$sd:$mode → g$g (port $port) from $(basename $qf)" >> "$DLOG"
  done
  trim_log
  sleep "$INTERVAL"
done