File size: 2,912 Bytes
2e0937e a1fc554 | 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 | # Environment Notes
This benchmark bundle was validated on a Linux GPU machine with:
- CoppeliaSim v4.1.0 available at `COPPELIASIM_ROOT`
- `xvfb` and `xauth` installed
- Qt xcb runtime libraries installed:
- `libxrender1`
- `libxkbcommon0`
- `libxkbcommon-x11-0`
- `libxcb-icccm4`
- `libxcb-image0`
- `libxcb-keysyms1`
- `libxcb-randr0`
- `libxcb-render-util0`
- `libxcb-shape0`
- `libxcb-shm0`
- `libxcb-sync1`
- `libxcb-xfixes0`
- `libxcb-xinerama0`
- `libxcb-xkb1`
The successful RLBench2 oven evaluation was run with:
```bash
xvfb-run -a -s "-screen 0 1400x900x24" python \
online_evaluation_rlbench/evaluate_policy.py \
--checkpoint models/3dfa_peract2/3dfa_peract2.pth \
--task bimanual_take_tray_out_of_oven \
--data_dir data/3dfa/peract2_test \
--dataset Peract2_3dfront_3dwrist \
--image_size 256,256 \
--model_type denoise3d \
--bimanual true \
--prediction_len 1 \
--backbone clip \
--fps_subsampling_factor 4 \
--embedding_dim 120 \
--num_attn_heads 8 \
--num_vis_instr_attn_layers 3 \
--num_history 3 \
--num_shared_attn_layers 4 \
--relative_action false \
--rotation_format quat_xyzw \
--denoise_timesteps 5 \
--denoise_model rectified_flow
```
The `take shoes out of box` validation path was run from the bundled
PointFlowMatch source on a Blackwell GPU machine after upgrading the RLBench
environment to Torch `2.11.0+cu128` / torchvision `0.26.0+cu128` /
torchaudio `2.11.0+cu128`. The bundled PointFlowMatch tree also contains two
local compatibility fixes required for this workspace:
- `pfp/envs/rlbench_env.py`
- adapts PointFlowMatch to the local RLBench camera naming and observation API
- broadens motion-planning failure recovery to handle simulator-side runtime failures
- `pfp/policy/fm_policy.py`
- adds an inference-only fallback when legacy `composer` cannot import on modern Torch
- loads checkpoints with `weights_only=False` for PyTorch 2.6+
The shoes evaluation command used here was:
```bash
scripts/run_pointflowmatch_take_shoes_out_of_box.sh 10 50
```
That wrapper expands to the equivalent raw command:
```bash
export PYTHONPATH=third_party/diffusion_policy:third_party/PointFlowMatch:${PYTHONPATH:-}
export COPPELIASIM_ROOT=/path/to/CoppeliaSim
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH:-}:$COPPELIASIM_ROOT
export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT
xvfb-run -a -s "-screen 0 1400x900x24" python \
third_party/PointFlowMatch/scripts/evaluate.py \
log_wandb=False \
env_runner.env_config.vis=False \
env_runner.num_episodes=10 \
env_runner.max_episode_length=200 \
policy.ckpt_name=1717447341-indigo-quokka/1717447341-indigo-quokka \
policy.num_k_infer=50
```
Result note for shoes:
- `reports/pointflowmatch_take_shoes_out_of_box_ep10_k50_gpu/summary.json`
records a verified non-zero result before a later RLBench/PyRep crash in the
same longer rollout.
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