File size: 3,234 Bytes
36b714d | 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 | """Portable entry to original inference/rollout code. Plans by default; --run executes."""
import argparse
import json
import os
from pathlib import Path
import subprocess
import sys
ROOT = Path(__file__).resolve().parents[1]
SUBSET_COMMIT = 'b5abe512dafd400736c6dca5905f2fd262dd9029'
PUBLIC_SUBSET_COMMIT = '73277c2022be224d3afb195b503a3cff56ded46d'
SUBSET_CHECKSUMS_SHA256 = 'a8a41f7c5162732cce287e77628840bf754f631825d3a6a343d51c648f932eb9'
def command(args):
common = ['--model','e5','--precision','fp32','--port',str(args.port),
'--output',str(args.output.resolve())]
if args.mode == 'server':
return [sys.executable,str(ROOT/'scripts/serve_hybrid_concurrent_policy.py'),
*common,'--max-clients','6']
if args.subset is None or args.task is None or args.setting is None:
raise ValueError('Episode requires --subset, --task and --setting')
from frozen_eval_subset import load_subset
subset = load_subset(args.subset,require_published=True)
if (subset.commit not in (SUBSET_COMMIT,PUBLIC_SUBSET_COMMIT)
or subset.protocol['subset_id'] != 'robotwin-eval-subset-v2-seen-unseen'
or subset.checksums_sha256 != SUBSET_CHECKSUMS_SHA256):
raise ValueError('Use the fixed original benchmark subset')
if not any(r['task']==args.task and r['setting']==args.setting and r['index']==args.index
for r in subset.plan):
raise ValueError('Requested episode is not in the fixed benchmark')
return [sys.executable,str(ROOT/'scripts/hybrid_worker.py'),*common,
'--mode','evaluate','--task',args.task,'--setting',args.setting,'--index',str(args.index),
'--condition','a100','--planner-initialization','skip_unused',
'--manifest-dir',str(subset.manifest_dir),
'--evaluation-protocol',subset.protocol['runtime_protocol'],
'--subset-id',subset.protocol['subset_id'],'--subset-commit',subset.commit]
def main(argv=None):
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument('mode',choices=['server','episode'])
parser.add_argument('--epoch',required=True,choices=['ep2','ep6'])
parser.add_argument('--output',type=Path,required=True)
parser.add_argument('--port',type=int,default=9340)
parser.add_argument('--subset',type=Path)
parser.add_argument('--task')
parser.add_argument('--setting',choices=['clean','randomized'])
parser.add_argument('--index',type=int,default=0)
parser.add_argument('--run',action='store_true')
args = parser.parse_args(argv)
if not 1 <= args.port <= 65535 or not 0 <= args.index < 10:
parser.error('Invalid port or benchmark episode index')
cmd = command(args)
if not args.run:
print(json.dumps({'status':'plan_only_no_gpu_or_server_started','epoch':args.epoch,'command':cmd}))
return
env = dict(os.environ, E5_EPOCH=args.epoch, EVAL_RENDER_SHADER='rt',
HF_HUB_OFFLINE='1', HF_HUB_DISABLE_TELEMETRY='1',
PYTHONPATH=os.pathsep.join([str(ROOT),str(ROOT/'scripts'),str(ROOT/'third_party/lingbot-vla-v2')]))
subprocess.run(cmd,cwd=ROOT,env=env,check=True)
if __name__ == '__main__':
main()
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