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results: jobs/20261005-165451-stack-default/** index/episodes.jsonl leaderboard/*

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Files changed (24) hide show
  1. results/index/episodes.jsonl +0 -0
  2. results/jobs/20261005-165451-stack-default/breakdown.json +0 -0
  3. results/jobs/20261005-165451-stack-default/episodes.jsonl +0 -0
  4. results/jobs/20261005-165451-stack-default/gautschi/0/done.txt +543 -0
  5. results/jobs/20261005-165451-stack-default/gautschi/0/episodes.json +0 -0
  6. results/jobs/20261005-165451-stack-default/gautschi/0/gautschi_launch.py +99 -0
  7. results/jobs/20261005-165451-stack-default/gautschi/0/sbatch.sh +5 -0
  8. results/jobs/20261005-165451-stack-default/gautschi/1/episodes.json +1 -0
  9. results/jobs/20261005-165451-stack-default/gautschi/1/gautschi_launch.py +123 -0
  10. results/jobs/20261005-165451-stack-default/gautschi/1/sbatch.sh +5 -0
  11. results/jobs/20261005-165451-stack-default/job.json +36 -0
  12. results/jobs/20261005-165451-stack-default/logs/shard-0000.jsonl.gz +3 -0
  13. results/jobs/20261005-165451-stack-default/logs/shard-0001.jsonl.gz +3 -0
  14. results/jobs/20261005-165451-stack-default/logs/shard-0002.jsonl.gz +3 -0
  15. results/jobs/20261005-165451-stack-default/logs/shard-0003.jsonl.gz +3 -0
  16. results/jobs/20261005-165451-stack-default/logs/shard-0004.jsonl.gz +3 -0
  17. results/jobs/20261005-165451-stack-default/logs/shard-0005.jsonl.gz +3 -0
  18. results/jobs/20261005-165451-stack-default/logs/shard-0006.jsonl.gz +3 -0
  19. results/jobs/20261005-165451-stack-default/logs/shard-0007.jsonl.gz +3 -0
  20. results/jobs/20261005-165451-stack-default/logs/shard-0008.jsonl.gz +3 -0
  21. results/jobs/20261005-165451-stack-default/logs/shard-0009.jsonl.gz +3 -0
  22. results/jobs/20261005-165451-stack-default/logs/shard-0010.jsonl.gz +3 -0
  23. results/jobs/20261005-165451-stack-default/summary.json +156 -0
  24. results/leaderboard/1__b97cbf4a159d.json +48 -0
results/index/episodes.jsonl CHANGED
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results/jobs/20261005-165451-stack-default/breakdown.json ADDED
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results/jobs/20261005-165451-stack-default/episodes.jsonl ADDED
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results/jobs/20261005-165451-stack-default/gautschi/0/done.txt ADDED
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results/jobs/20261005-165451-stack-default/gautschi/0/episodes.json ADDED
The diff for this file is too large to render. See raw diff
 
results/jobs/20261005-165451-stack-default/gautschi/0/gautschi_launch.py ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ """Runs on a Gautschi node (stdlib only): episodes from a queue in parallel workers, one contained Apptainer per episode."""
2
+ import argparse
3
+ import json
4
+ import os
5
+ import queue
6
+ import shutil
7
+ import subprocess
8
+ import threading
9
+ import time
10
+
11
+ RUN = ("source /opt/ros/humble/setup.bash && source /ws/install/setup.bash"
12
+ " && python3 -m simnode.batch /batch.json /out")
13
+ SAMPLE_S = 15
14
+ EPISODE_TIMEOUT_S = 1200 # about 4x the slowest lap; a killed episode has no outcome and is retried by the host
15
+
16
+
17
+ def worker_cmd(i, work, out, ep, sif, engine, stack):
18
+ """Private /tmp, HOME, /dev/shm, IPC, PIDs and loopback per episode, plus a distinct ROS_DOMAIN_ID per worker."""
19
+ return ["apptainer", "exec", "--contain", "--cleanenv", "--ipc", "--pid", "--net", "--network", "none", "--workdir", work,
20
+ "--env", f"ROS_DOMAIN_ID={i + 1}", "--env", "ROS_HOME=/tmp/ros", "--env", "TMPDIR=/tmp",
21
+ "--bind", f"{engine}:/opt/sim:ro", "--bind", f"{stack}:/ws:ro", "--bind", f"{out}:/out",
22
+ "--bind", f"{ep}:/batch.json:ro", sif, "bash", "-lc", RUN]
23
+
24
+
25
+ def main(argv=None):
26
+ p = argparse.ArgumentParser()
27
+ for a in ("episodes", "out", "sif", "engine", "stack", "work", "timeline", "done"):
28
+ p.add_argument("--" + a, required=True)
29
+ p.add_argument("--workers", type=int, required=True)
30
+ a = p.parse_args(argv)
31
+ with open(a.episodes) as f:
32
+ q = queue.Queue()
33
+ for e in json.load(f): # the host already ordered them, longest first
34
+ q.put(e)
35
+ os.makedirs(a.out, exist_ok=True)
36
+ lock, t0 = threading.Lock(), time.time()
37
+
38
+ def log(**ev):
39
+ with lock, open(a.timeline, "a") as f:
40
+ f.write(json.dumps(dict(ev, t=round(time.time() - t0, 3))) + "\n")
41
+
42
+ def worker(i):
43
+ while True:
44
+ try:
45
+ e = q.get_nowait()
46
+ except queue.Empty:
47
+ return
48
+ key, work = e["key"], os.path.join(a.work, e["key"])
49
+ stage, ep = os.path.join(work, "stage"), os.path.join(work, "ep.json")
50
+ os.makedirs(stage)
51
+ with open(ep, "w") as f:
52
+ json.dump([e], f)
53
+ log(ev="start", key=key, worker=i)
54
+ try:
55
+ rc = subprocess.run(worker_cmd(i, work, stage, ep, a.sif, a.engine, a.stack), stdout=subprocess.DEVNULL,
56
+ stderr=subprocess.DEVNULL, timeout=EPISODE_TIMEOUT_S).returncode
57
+ except subprocess.TimeoutExpired:
58
+ rc = "timeout"
59
+ if os.path.exists(os.path.join(stage, key, "outcome.json")):
60
+ tmp, dst = os.path.join(a.out, ".tmp-" + key), os.path.join(a.out, key)
61
+ shutil.rmtree(tmp, ignore_errors=True)
62
+ shutil.copytree(os.path.join(stage, key), tmp)
63
+ shutil.rmtree(dst, ignore_errors=True)
64
+ os.rename(tmp, dst) # the host's rsync sees a key only once its directory is complete
65
+ with lock, open(a.done, "a") as f:
66
+ f.write(key + "\n")
67
+ shutil.rmtree(work, ignore_errors=True)
68
+ log(ev="end", key=key, worker=i, rc=rc)
69
+
70
+ def sampler(stop):
71
+ """Job CPU use from its cgroup, as busy cores, every SAMPLE_S."""
72
+ try:
73
+ with open("/proc/self/cgroup") as f:
74
+ path = "/sys/fs/cgroup" + f.read().strip().split(":")[-1] + "/cpu.stat"
75
+ prev = None
76
+ while not stop.wait(SAMPLE_S if prev else 0):
77
+ with open(path) as f:
78
+ use = next(int(ln.split()[1]) for ln in f if ln.startswith("usage_usec"))
79
+ now = time.time()
80
+ if prev:
81
+ log(ev="cpu", busy_cores=round((use - prev[0]) / 1e6 / (now - prev[1]), 2))
82
+ prev = (use, now)
83
+ except (OSError, StopIteration, ValueError):
84
+ pass
85
+
86
+ cores = len(os.sched_getaffinity(0)) if hasattr(os, "sched_getaffinity") else os.cpu_count()
87
+ log(ev="launch", workers=a.workers, cores=cores)
88
+ stop = threading.Event()
89
+ threads = [threading.Thread(target=worker, args=(i,)) for i in range(a.workers)]
90
+ for t in threads + [threading.Thread(target=sampler, args=(stop,), daemon=True)]:
91
+ t.start()
92
+ for t in threads:
93
+ t.join()
94
+ stop.set()
95
+ log(ev="done")
96
+
97
+
98
+ if __name__ == "__main__":
99
+ main()
results/jobs/20261005-165451-stack-default/gautschi/0/sbatch.sh ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ #!/bin/bash
2
+ #SBATCH -p highmem -A lilly-rob1 -N 1 -n 1 -c 192 --time 35 -J AutoSim-dev --comment 20261005-165451-stack-default -o AutoSim/jobs/20261005-165451-stack-default/0/slurm-%j.out
3
+ W=/dev/shm/AutoSim-$SLURM_JOB_ID
4
+ trap 'rm -rf "$W"' EXIT
5
+ python3 $HOME/AutoSim/jobs/20261005-165451-stack-default/0/gautschi_launch.py --episodes $HOME/AutoSim/jobs/20261005-165451-stack-default/0/episodes.json --out $HOME/AutoSim/out/20261005-165451-stack-default --sif $HOME/AutoSim/images/AutoSim-99d206f40cb1.sif --engine $HOME/AutoSim/engine/b97cbf4a159d1d1c1fe102e98c8107a49bf6ec347263f204ed240fbcc0b5468a --stack $HOME/AutoSim/stacks/1a850b2efe12d88d740c4fe0884b9f8b00726333ea1bfce56acb2fdc797c5c1b --workers 96 --work $W --timeline $HOME/AutoSim/jobs/20261005-165451-stack-default/0/timeline.jsonl --done $HOME/AutoSim/jobs/20261005-165451-stack-default/0/done.txt
results/jobs/20261005-165451-stack-default/gautschi/1/episodes.json ADDED
@@ -0,0 +1 @@
 
 
1
+ [{"key": "faf9694b5d21d882a64e291dc7c7eb8e9cae38041a2840c21eb89035e9964ddd", "resolved": {"kart": {"name": "kart2", "chrono_dir": "chrono/kart2", "tyres": {"grip": 1.0}, "frame": {"torsion_scale": 0.5}, "steering_motor": {"rate_dps": 70.0, "travel_deg": 70.0, "step_deg": 0.9, "slop_deg": 5.0, "center_offset_deg": 0.4, "position_uncertainty_deg": 1.0}, "actuator": {"latency_ms": 240.0, "drive_tau_s": 0.41, "steer_latency_ms": 60.0}, "sensors": {"gps": {"enabled": true, "fix_chain": "measured", "fixed_gm_sigma_m": 0.006, "fixed_gm_tau_s": 7.0, "fixed_white_m": 0.002, "error_scale": 1.0, "latency_ms": 60.0, "rate_hz": 20.0, "float_dwell_scale": 1.0, "outages": false, "wrong_fix": false, "heading_source": "vtg"}, "imu": {"enabled": true, "vibration_scale": 0.3, "dlpf_hz": 0}, "wheel": {"white_mps": 0.03, "scale_error": 0.01, "rate_hz": 100.0}, "steer_encoder": {"enabled": false, "resolution_deg": 0.35, "white_deg": 0.2, "rate_hz": 50.0}}, "system_frequency": 60}, "kart_name": "kart2", "condition": "frame_high", "recipe": {"name": "stack-default", "source": {"repo": "AutonomousKart", "ref": "worktree:/Users/shay/PycharmProjects/AutonomousKart-sim", "tree": "1a850b2efe12d88d740c4fe0884b9f8b00726333ea1bfce56acb2fdc797c5c1b"}, "params": {"pathfinder_node": {"mpc.num_samples": 128}}, "notes": "First dev on Gautschi highmem, 192 cores"}, "scenario": {"type": "lap", "line": "line3", "laps": 1}, "seed": 2614694676, "tier": "dev", "engine_version": "b97cbf4a159d1d1c1fe102e98c8107a49bf6ec347263f204ed240fbcc0b5468a"}}]
results/jobs/20261005-165451-stack-default/gautschi/1/gautschi_launch.py ADDED
@@ -0,0 +1,123 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ """Runs on a Gautschi node (stdlib only): episodes from a queue in parallel workers, one contained Apptainer per episode."""
2
+ import argparse
3
+ import json
4
+ import os
5
+ import queue
6
+ import shutil
7
+ import subprocess
8
+ import threading
9
+ import time
10
+
11
+ RUN = ("source /opt/ros/humble/setup.bash && source /ws/install/setup.bash"
12
+ " && python3 -m simnode.batch /batch.json /out")
13
+ CUDA_LIB = "/ws/mpc_cuda/libmpc_cuda.so" # built per stack by runner/gautschi.build_stack for gautschi-gpu
14
+ SAMPLE_S = 15
15
+ EPISODE_TIMEOUT_S = 1200 # about 4x the slowest lap; a killed episode has no outcome and is retried by the host
16
+
17
+
18
+ def worker_cmd(i, work, out, ep, sif, engine, stack, gpu=None):
19
+ """Private /tmp, HOME, /dev/shm, IPC, PIDs and loopback per episode, plus a distinct ROS_DOMAIN_ID per worker;
20
+ gpu (a host CUDA device) adds the driver and the stack's CUDA MPC kernel."""
21
+ cuda = ["--nv", "--env", f"CUDA_VISIBLE_DEVICES={gpu}", "--env", f"MPC_CUDA_LIB={CUDA_LIB}"] if gpu is not None else []
22
+ return ["apptainer", "exec", *cuda, "--contain", "--cleanenv", "--ipc", "--pid", "--net", "--network", "none", "--workdir", work,
23
+ "--env", f"ROS_DOMAIN_ID={i + 1}", "--env", "ROS_HOME=/tmp/ros", "--env", "TMPDIR=/tmp",
24
+ "--bind", f"{engine}:/opt/sim:ro", "--bind", f"{stack}:/ws:ro", "--bind", f"{out}:/out",
25
+ "--bind", f"{ep}:/batch.json:ro", sif, "bash", "-lc", RUN]
26
+
27
+
28
+ def _solver(logdir):
29
+ """pathfinder's 'MPC solver: ...' and CUDA fallback lines from the episode's ROS logs."""
30
+ lines = []
31
+ for dp, _, fns in os.walk(logdir):
32
+ for fn in fns:
33
+ try:
34
+ with open(os.path.join(dp, fn), errors="replace") as f:
35
+ lines += [ln.strip() for ln in f if "MPC solver:" in ln or "CUDA MPC unavailable" in ln]
36
+ except OSError:
37
+ pass
38
+ return "\n".join(dict.fromkeys(lines))
39
+
40
+
41
+ def main(argv=None):
42
+ p = argparse.ArgumentParser()
43
+ for a in ("episodes", "out", "sif", "engine", "stack", "work", "timeline", "done"):
44
+ p.add_argument("--" + a, required=True)
45
+ p.add_argument("--workers", type=int, required=True)
46
+ p.add_argument("--gpus", type=int, default=0)
47
+ a = p.parse_args(argv)
48
+ with open(a.episodes) as f:
49
+ q = queue.Queue()
50
+ for e in json.load(f): # the host already ordered them, longest first
51
+ q.put(e)
52
+ os.makedirs(a.out, exist_ok=True)
53
+ lock, t0 = threading.Lock(), time.time()
54
+ devs = [d for d in os.environ.get("CUDA_VISIBLE_DEVICES", "").split(",") if d][:a.gpus] or [str(n) for n in range(a.gpus)]
55
+
56
+ def log(**ev):
57
+ with lock, open(a.timeline, "a") as f:
58
+ f.write(json.dumps(dict(ev, t=round(time.time() - t0, 3))) + "\n")
59
+
60
+ def worker(i):
61
+ while True:
62
+ try:
63
+ e = q.get_nowait()
64
+ except queue.Empty:
65
+ return
66
+ key, work = e["key"], os.path.join(a.work, e["key"])
67
+ stage, ep = os.path.join(work, "stage"), os.path.join(work, "ep.json")
68
+ os.makedirs(stage)
69
+ with open(ep, "w") as f:
70
+ json.dump([e], f)
71
+ log(ev="start", key=key, worker=i)
72
+ gpu = devs[i % len(devs)] if devs and e["resolved"].get("recipe", {}).get("sim", {}).get("cuda") else None
73
+ try:
74
+ rc = subprocess.run(worker_cmd(i, work, stage, ep, a.sif, a.engine, a.stack, gpu), stdout=subprocess.DEVNULL,
75
+ stderr=subprocess.DEVNULL, timeout=EPISODE_TIMEOUT_S).returncode
76
+ except subprocess.TimeoutExpired:
77
+ rc = "timeout"
78
+ solver = _solver(os.path.join(work, "tmp", "ros", "log"))
79
+ if solver and os.path.isdir(os.path.join(stage, key)):
80
+ with open(os.path.join(stage, key, "solver.txt"), "w") as f:
81
+ f.write(solver + "\n")
82
+ if os.path.exists(os.path.join(stage, key, "outcome.json")):
83
+ tmp, dst = os.path.join(a.out, ".tmp-" + key), os.path.join(a.out, key)
84
+ shutil.rmtree(tmp, ignore_errors=True)
85
+ shutil.copytree(os.path.join(stage, key), tmp)
86
+ shutil.rmtree(dst, ignore_errors=True)
87
+ os.rename(tmp, dst) # the host's rsync sees a key only once its directory is complete
88
+ with lock, open(a.done, "a") as f:
89
+ f.write(key + "\n")
90
+ shutil.rmtree(work, ignore_errors=True)
91
+ log(ev="end", key=key, worker=i, rc=rc, gpu=gpu,
92
+ solver=solver.split("MPC solver: ")[-1] if "MPC solver: " in solver else solver or None)
93
+
94
+ def sampler(stop):
95
+ """Job CPU use from its cgroup, as busy cores, every SAMPLE_S."""
96
+ try:
97
+ with open("/proc/self/cgroup") as f:
98
+ path = "/sys/fs/cgroup" + f.read().strip().split(":")[-1] + "/cpu.stat"
99
+ prev = None
100
+ while not stop.wait(SAMPLE_S if prev else 0):
101
+ with open(path) as f:
102
+ use = next(int(ln.split()[1]) for ln in f if ln.startswith("usage_usec"))
103
+ now = time.time()
104
+ if prev:
105
+ log(ev="cpu", busy_cores=round((use - prev[0]) / 1e6 / (now - prev[1]), 2))
106
+ prev = (use, now)
107
+ except (OSError, StopIteration, ValueError):
108
+ pass
109
+
110
+ cores = len(os.sched_getaffinity(0)) if hasattr(os, "sched_getaffinity") else os.cpu_count()
111
+ log(ev="launch", workers=a.workers, cores=cores)
112
+ stop = threading.Event()
113
+ threads = [threading.Thread(target=worker, args=(i,)) for i in range(a.workers)]
114
+ for t in threads + [threading.Thread(target=sampler, args=(stop,), daemon=True)]:
115
+ t.start()
116
+ for t in threads:
117
+ t.join()
118
+ stop.set()
119
+ log(ev="done")
120
+
121
+
122
+ if __name__ == "__main__":
123
+ main()
results/jobs/20261005-165451-stack-default/gautschi/1/sbatch.sh ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ #!/bin/bash
2
+ #SBATCH -p highmem -A lilly-rob1 -N 1 -n 1 -c 192 --time 19 -J AutoSim-dev --comment 20261005-165451-stack-default -o AutoSim/jobs/20261005-165451-stack-default/1/slurm-%j.out
3
+ W=/dev/shm/AutoSim-$SLURM_JOB_ID
4
+ trap 'rm -rf "$W"' EXIT
5
+ python3 $HOME/AutoSim/jobs/20261005-165451-stack-default/1/gautschi_launch.py --episodes $HOME/AutoSim/jobs/20261005-165451-stack-default/1/episodes.json --out $HOME/AutoSim/out/20261005-165451-stack-default --sif $HOME/AutoSim/images/AutoSim-99d206f40cb1.sif --engine $HOME/AutoSim/engine/b97cbf4a159d1d1c1fe102e98c8107a49bf6ec347263f204ed240fbcc0b5468a --stack $HOME/AutoSim/stacks/1a850b2efe12d88d740c4fe0884b9f8b00726333ea1bfce56acb2fdc797c5c1b --workers 1 --work $W --timeline $HOME/AutoSim/jobs/20261005-165451-stack-default/1/timeline.jsonl --done $HOME/AutoSim/jobs/20261005-165451-stack-default/1/done.txt
results/jobs/20261005-165451-stack-default/job.json ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "id": "20261005-165451-stack-default",
3
+ "tier": "dev",
4
+ "tier_version": 1,
5
+ "recipe": {
6
+ "name": "stack-default",
7
+ "source": {
8
+ "repo": "AutonomousKart",
9
+ "ref": "worktree:AutonomousKart-sim"
10
+ },
11
+ "params": {
12
+ "pathfinder_node": {
13
+ "mpc.num_samples": 128
14
+ }
15
+ },
16
+ "notes": "First dev on Gautschi highmem, 192 cores"
17
+ },
18
+ "user": "overnight",
19
+ "notes": "First dev on Gautschi highmem, 192 cores",
20
+ "where": "gautschi",
21
+ "status": "done",
22
+ "submitted_at": "2026-10-05T20:54:51.474+00:00",
23
+ "started_at": "2026-10-05T20:54:51.662+00:00",
24
+ "finished_at": "2026-10-05T23:08:49.362+00:00",
25
+ "total": 558,
26
+ "done": 558,
27
+ "errors": 1,
28
+ "build_log": null,
29
+ "workers": 96,
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