| """Paired comparison of a LeRobot eval run against the official eval_info.json. |
| |
| lerobot-eval seeds episode i with start_seed + i (see rollout seeding in |
| lerobot/scripts/lerobot_eval.py), so with --seed=1000 our episode i uses the same |
| initial state as official episode i (seed 1000 + i). |
| |
| Usage: |
| python scripts/compare_with_official.py outputs/eval/official_500ep/eval_info.json |
| """ |
|
|
| import argparse |
| import json |
| import math |
| from pathlib import Path |
|
|
| OFFICIAL = Path(__file__).resolve().parents[1] / "results/day01/official_eval_info_hub.json" |
|
|
|
|
| def wilson(k: int, n: int, z: float = 1.96) -> tuple[float, float]: |
| p = k / n |
| denom = 1 + z**2 / n |
| center = (p + z**2 / (2 * n)) / denom |
| half = z * math.sqrt(p * (1 - p) / n + z**2 / (4 * n**2)) / denom |
| return center - half, center + half |
|
|
|
|
| def main() -> None: |
| parser = argparse.ArgumentParser() |
| parser.add_argument("ours", type=Path, help="eval_info.json written by lerobot-eval") |
| parser.add_argument("--official", type=Path, default=OFFICIAL) |
| parser.add_argument("--start-seed", type=int, default=1000) |
| args = parser.parse_args() |
|
|
| ours = json.loads(args.ours.read_text())["per_task"][0]["metrics"]["successes"] |
| official = {e["seed"]: e["success"] for e in json.loads(args.official.read_text())["per_episode"]} |
| seeds = [args.start_seed + i for i in range(len(ours))] |
| missing = [s for s in seeds if s not in official] |
| if missing: |
| raise SystemExit(f"official eval has no episodes for seeds {missing[:5]}...") |
| theirs = [official[s] for s in seeds] |
|
|
| n = len(ours) |
| k_ours, k_theirs = sum(ours), sum(theirs) |
| both = sum(a and b for a, b in zip(ours, theirs)) |
| only_ours = sum(a and not b for a, b in zip(ours, theirs)) |
| only_theirs = sum(b and not a for a, b in zip(ours, theirs)) |
| agree = n - only_ours - only_theirs |
|
|
| lo, hi = wilson(k_ours, n) |
| lo_t, hi_t = wilson(k_theirs, n) |
| print(f"seeds {seeds[0]}-{seeds[-1]} (n={n})") |
| print(f"ours : {k_ours}/{n} = {100 * k_ours / n:.1f}% (95% Wilson CI {100 * lo:.1f}-{100 * hi:.1f}%)") |
| print(f"official : {k_theirs}/{n} = {100 * k_theirs / n:.1f}% (95% Wilson CI {100 * lo_t:.1f}-{100 * hi_t:.1f}%)") |
| print(f"same outcome on {agree}/{n} seeds; both succeed {both}, only ours {only_ours}, only official {only_theirs}") |
| discordant = only_ours + only_theirs |
| if discordant: |
| |
| k = min(only_ours, only_theirs) |
| p = min(1.0, 2 * sum(math.comb(discordant, i) for i in range(k + 1)) / 2**discordant) |
| print(f"exact McNemar p = {p:.3f} ({discordant} discordant seeds)") |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
