File size: 2,578 Bytes
293e6e5 | 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 | """Check chunk_eval.py against lerobot-eval: same checkpoint, same seeds, zero delay, no displacement.
For each execution mode, lerobot-eval runs ACT with the matching n_action_steps /
temporal_ensemble_coeff override, while chunk_eval.py runs the same mode through ChunkExecutor.
Matching per-seed outcomes and summed rewards show that the harness adds no behavior of its own.
Usage:
python scripts/compare_harness.py --lerobot OUT/lerobot --harness OUT/harness --out summary.json
"""
import argparse
import json
from pathlib import Path
PAIRS = {"full": "full_d00_m0", "replan25": "replan25_d00_m0", "replan10": "replan10_d00_m0", "te": "te_d00_m0"}
def lerobot_episodes(eval_info: Path, start_seed: int) -> dict[int, tuple[bool, float]]:
metrics = json.loads(eval_info.read_text())["per_task"][0]["metrics"]
pairs = zip(metrics["successes"], metrics["sum_rewards"], strict=True)
return {start_seed + i: (bool(s), float(r)) for i, (s, r) in enumerate(pairs)}
def harness_episodes(condition_dir: Path) -> dict[int, tuple[bool, float]]:
episodes = {}
for path in sorted(condition_dir.glob("seeds_*.json")):
for e in json.loads(path.read_text())["episodes"]:
episodes[e["seed"]] = (bool(e["success"]), float(e["sum_reward"]))
return episodes
def main() -> None:
parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument("--lerobot", type=Path, required=True, help="folder with <mode>/eval_info.json")
parser.add_argument("--harness", type=Path, required=True, help="chunk_eval.py --out folder")
parser.add_argument("--start-seed", type=int, default=1000)
parser.add_argument("--out", type=Path, default=None)
args = parser.parse_args()
rows = []
for mode, condition in PAIRS.items():
ref = lerobot_episodes(args.lerobot / mode / "eval_info.json", args.start_seed)
ours = harness_episodes(args.harness / condition)
seeds = sorted(ref.keys() & ours.keys())
row = {
"mode": mode,
"n": len(seeds),
"lerobot_successes": sum(ref[s][0] for s in seeds),
"harness_successes": sum(ours[s][0] for s in seeds),
"same_outcome": sum(ref[s][0] == ours[s][0] for s in seeds),
"same_sum_reward": sum(abs(ref[s][1] - ours[s][1]) < 1e-6 for s in seeds),
}
rows.append(row)
print(row, flush=True)
if args.out:
args.out.write_text(json.dumps(rows, indent=1))
if __name__ == "__main__":
main()
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