File size: 3,831 Bytes
4c378c3 | 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 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 | #!/usr/bin/env python
"""Validate task completion after robot execution.
This validates whether a robot successfully completed a task by evaluating the final
scene state.
Usage:
python scripts/robot_eval/validate.py \
--scene-state outputs/.../scene_002/combined_house/house_state.json \
--dmd outputs/.../scene_002/combined_house/house.dmd.yaml \
--scene-dir outputs/.../scene_002 \
--task "Find a speaker and place it on the bed"
Inputs:
--scene-state: Path to scene_state.json (per-room) or house_state.json (combined house)
--dmd: Modified scene.dmd.yaml or house.dmd.yaml from robot (new poses after task)
--scene-dir: Scene root directory for package:// URI resolution (default: parent of DMD)
--task: Human task description to validate
Output:
Validation result with per-requirement scores and overall success.
"""
import argparse
import asyncio
import logging
from pathlib import Path
from scenesmith.agent_utils.blender import BlenderServer
from scenesmith.robot_eval import create_robot_eval_config
from scenesmith.robot_eval.success_validation.validator_agent import validate_task
logging.basicConfig(level=logging.INFO, format="%(levelname)s: %(message)s")
logger = logging.getLogger(__name__)
async def main():
parser = argparse.ArgumentParser(
description="Validate task completion after robot execution"
)
parser.add_argument(
"--scene-state",
required=True,
type=Path,
help="Path to scene_state.json (object metadata from scene generation)",
)
parser.add_argument(
"--dmd",
required=True,
type=Path,
help="Path to scene.dmd.yaml (final scene state after robot execution)",
)
parser.add_argument(
"--task",
required=True,
help="Human task description to validate",
)
parser.add_argument(
"--no-vision",
action="store_true",
help="Disable vision tools (skip Blender server startup)",
)
parser.add_argument(
"--scene-dir",
type=Path,
help="Scene root directory for package:// URI resolution (default: parent of DMD)",
)
args = parser.parse_args()
cfg = create_robot_eval_config()
logger.info(f"Task: {args.task}")
logger.info(f"Scene state: {args.scene_state}")
logger.info(f"DMD: {args.dmd}")
# Start Blender server for vision tools (unless disabled).
blender_server = None
if not args.no_vision:
logger.info("Starting Blender server for vision tools...")
blender_server = BlenderServer()
blender_server.start()
try:
result = await validate_task(
task_description=args.task,
cfg=cfg,
scene_state_path=args.scene_state,
dmd_path=args.dmd,
blender_server=blender_server,
scene_dir=args.scene_dir,
)
logger.info("")
logger.info("=" * 60)
logger.info("VALIDATION RESULT")
logger.info("=" * 60)
logger.info(f"Overall Success: {result.overall_success}")
logger.info(f"Overall Score: {result.overall_score:.2f}")
logger.info("")
logger.info("Requirements:")
for req in result.requirements:
score_float = req.score.to_float()
status = "✓" if score_float >= 1.0 else "◐" if score_float >= 0.5 else "✗"
logger.info(f" [{status}] {req.description} (score: {score_float})")
logger.info(f" {req.reasoning}")
logger.info("")
logger.info(f"Reasoning: {result.overall_reasoning}")
finally:
if blender_server is not None:
logger.info("Stopping Blender server...")
blender_server.stop()
if __name__ == "__main__":
asyncio.run(main())
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