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| import gymnasium as gym |
| import json |
| import os |
| from abc import ABC, abstractmethod |
| from datetime import datetime |
| from typing import Dict, Optional |
|
|
| JSON_INDENT = 4 |
|
|
|
|
| class EvaluatorBase(ABC): |
| """ |
| Base class for all evaluators. An evaluator tracks the performance of a task over a series of demos. |
| """ |
|
|
| def __init__(self, checkpoint_name: str, eval_file_path: Optional[str] = None, seed: int = 10) -> None: |
| """ |
| Initializes the EvaluatorBase object. |
| |
| Args: |
| eval_file_path (os.path, optional): The path where the the evaluation file should be stored. |
| Defaults to None (which means no evaluation file will be stored). |
| checkpoint_name (str, optional): Name of checkpoint used for evaluation. |
| """ |
| if eval_file_path is not None: |
| assert os.path.exists(os.path.dirname(eval_file_path)) |
| self.eval_file_path = eval_file_path |
| self.eval_dict = {} |
| self.eval_dict["metadata"] = { |
| "checkpoint_name": checkpoint_name, |
| "seed": seed, |
| "date": datetime.now().strftime("%Y-%m-%d %H:%M:%S"), |
| } |
|
|
| @abstractmethod |
| def evaluate_step(self, env: gym.Env) -> None: |
| """ |
| Evaluates the current state of the task. |
| |
| Args: |
| observed_state (State): The observed state of the environment. |
| env (gym.Env): The environment in which the cube stacking task is being evaluated. |
| """ |
| pass |
|
|
| def maybe_write_eval_file(self): |
| """ |
| If the evaluation file is set, the eval dict will be written to it. |
| """ |
| if self.eval_file_path is not None: |
| with open(self.eval_file_path, "w") as json_file: |
| json.dump(self.eval_dict, json_file, indent=JSON_INDENT) |
|
|
| @abstractmethod |
| def summarize_demos(self) -> Dict: |
| pass |
|
|
