| """Validate or prepare a fresh single-worker final-model Bench2Drive evaluation.""" |
| import argparse,json,os,shlex |
| from pathlib import Path |
| p=argparse.ArgumentParser();p.add_argument('--check',action='store_true');p.add_argument('--output',type=Path);a=p.parse_args() |
| root=Path(__file__).resolve().parents[1]; frozen=root/'bench2drive/evaluation/final_4cam' |
| config=json.loads((frozen/'4cam_score11/config.json').read_text()) |
| for name in ['checkpoint','hydra_config','model_root']: |
| path=Path(config['model'][name]);assert path.exists(),(name,path) |
| assert Path(config['model_launcher']).is_file() |
| if a.check:print(json.dumps({'status':'paths_ok','checkpoint':config['model']['checkpoint'],'evaluation_started':False},indent=2)) |
| if a.output: |
| out=a.output.resolve();out.mkdir(parents=True,exist_ok=False) |
| config['model']['checkpoint']=str(root/'checkpoints/bench2drive_4cam_score11.ckpt') |
| (out/'config.json').write_text(json.dumps(config,indent=2)) |
| def q(x):return shlex.quote(str(x)) |
| script='#!/usr/bin/env bash\nset -euo pipefail\n' |
| script+='export DRIVE_JEPA_B2D_CONFIG='+q(out/'config.json')+'\nexport DRIVE_JEPA_B2D_RESULT_DIR='+q(out/'results')+'\n' |
| script+='export CARLA_GPU="${CARLA_GPU:-0}" DRIVE_JEPA_GPU="${DRIVE_JEPA_GPU:-1}"\n' |
| script+='export CARLA_PORT="${CARLA_PORT:-2600}" TM_PORT="${TM_PORT:-8600}" DRIVE_JEPA_BRIDGE_PORT="${DRIVE_JEPA_BRIDGE_PORT:-50800}"\n' |
| script+='export OPENBLAS_NUM_THREADS=1 OMP_NUM_THREADS=1 PYTHONDONTWRITEBYTECODE=1\n' |
| script+='exec bash '+q(frozen/'resume.sh')+'\n' |
| (out/'run.sh').write_text(script);(out/'run.sh').chmod(0o755) |
| print('Prepared '+str(out/'run.sh')+'; no evaluation started.') |
| if not a.check and not a.output:p.error('provide --check or --output') |
|
|
