actaug GR00T train+eval bundle: code (save-at/stop-at), eval stack (porting fixes), subset builder, protocol docs
38dc077 verified | # Evaluate ONE GR00T checkpoint on the negmesh8/mimicgen8 exact160 bank, LOCAL node, | |
| # 1 GPU running 4 servers+clients (GPUS=0,0,0,0). Wraps eval_groot15_exact_replay.sh with | |
| # local env overrides. Args via env: MODEL_PATH (required), ROOT (output dir, required), | |
| # CUDA_DEV (default 0), N_EPISODES (default 160). | |
| set -uo pipefail | |
| : "${MODEL_PATH:?set MODEL_PATH}"; : "${ROOT:?set ROOT (eval output dir)}" | |
| CUDA_DEV="${CUDA_DEV:-0}" | |
| EVAL_DIR=/sjw_alinlab/home/jonghoon/pose6daug/pose6daug-scripts/eval | |
| MYGROOT=/sjw_alinlab/home/jonghoon/pose6daug/hf_model/myGR00T | |
| BANK=/sjw_alinlab/home/jonghoon/pose6daug/eval_banks/transfer_actaug/actaug/eval/table2_exact160/bank_pnpcountertocab_mimicgen8_exact160_replay_policyseed12345_20260506 | |
| export MYGROOT_ROOT="$MYGROOT" | |
| export MYGROOT_PY="$HOME/miniconda3/envs/mygr00t/bin/python" | |
| export ROBOCASA_PY="$HOME/miniconda3/envs/robocasa/bin/python" | |
| export ROBOCASA_ROOT="" ROBOSUITE_ROOT="" # robocasa env already has robocasa/robosuite importable | |
| export EVAL_CLIENT="$EVAL_DIR/eval_robocasa_replay_state_grasp.py" | |
| export REPLAY_STATE_ROOT="$BANK" | |
| export N_EPISODES="${N_EPISODES:-160}" EXPECTED_REPLAY_STATES="${EXPECTED_REPLAY_STATES:-$N_EPISODES}" | |
| export POLICY_SEED="${POLICY_SEED:-12345}" SEED_BASE="${SEED_BASE:-42}" ACTION_HORIZON="${ACTION_HORIZON:-16}" | |
| export ENV_NAME=PickPlaceCounterToCabinet EVAL_TASK=PnPCounterToCab | |
| export GPUS="${CUDA_DEV},${CUDA_DEV},${CUDA_DEV},${CUDA_DEV}" # 4 workers on ONE gpu | |
| export GENERATIVE_TEXTURES="${GENERATIVE_TEXTURES:-0}" # off: avoids capture-machine /lp-dev texture paths; real scene comes from recorded XML | |
| export MODEL_PATH ROOT | |
| export MUJOCO_GL=egl PYOPENGL_PLATFORM=egl MUJOCO_EGL_DEVICE_ID=0 HF_HUB_OFFLINE=1 TOKENIZERS_PARALLELISM=false | |
| mkdir -p "$ROOT" | |
| cd "$EVAL_DIR" | |
| exec bash eval_groot15_exact_replay.sh | |