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7eb3f10 | 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 | # this script is for evaluating a given checkpoint.
# bash scripts/eval.sh PERACT_BC 0 ${exp_name}
# some params specified by user
method=$1
# set the seed number
seed="0"
# set the gpu id for evaluation. we use one gpu for parallel evaluation.
eval_gpu=${2:-"0"}
test_demo_path="path/to/your/dataset"
addition_info="$(date +%Y%m%d)"
exp_name=${3:-"${method}_${addition_info}"}
starttime=`date +'%Y-%m-%d %H:%M:%S'`
camera=False
gripper_mode='BimanualDiscrete'
arm_action_mode='BimanualEndEffectorPoseViaPlanning'
action_mode='BimanualMoveArmThenGripper'
tasks=[bimanual_pick_laptop,bimanual_pick_plate,bimanual_straighten_rope,coordinated_lift_ball,coordinated_lift_tray,coordinated_push_box,coordinated_put_bottle_in_fridge,dual_push_buttons,handover_item,bimanual_sweep_to_dustpan,coordinated_take_tray_out_of_oven,handover_item_easy]
eval_type="all"
eval_episodes=25
echo "I am going to kill the session ${exp_name}_${eval_type}, are you sure? (5s)"
sleep 2s
tmux kill-session -t ${exp_name}_${eval_type}
sleep 3s
echo "start new tmux session: ${exp_name}_${eval_type}, running eval.py"
tmux new-session -d -s ${exp_name}_${eval_type}
tmux select-pane -t 0
tmux send-keys "conda activate per2;
CUDA_VISIBLE_DEVICES=${eval_gpu} xvfb-run -a python eval.py method=$method \
rlbench.task_name=${exp_name} \
rlbench.demo_path=${test_demo_path} \
framework.start_seed=${seed} \
cinematic_recorder.enabled=${camera} \
rlbench.gripper_mode=${gripper_mode} \
rlbench.arm_action_mode=${arm_action_mode} \
rlbench.action_mode=${action_mode} \
rlbench.tasks=${tasks} \
framework.eval_type=${eval_type} \
framework.eval_episodes=${eval_episodes}
"
tmux -2 attach-session -t ${exp_name}_${eval_type} |