| |
| """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}") |
|
|
| |
| 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()) |
|
|
