| """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() |
|
|
