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| import gymnasium as gym |
| import torch |
| from typing import Optional |
|
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| from evaluators.evaluator_base import EvaluatorBase |
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| from isaaclab.managers import TerminationTermCfg as DoneTerm |
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|
| class Gr00tN1Evaluator(EvaluatorBase): |
| """ |
| The purpose of this class is to evaluate the performance of gr00t-N1 policy on the nut pouring |
| and pipe sorting tasks, by tracking the success rate of the policy over a series of demos. |
| Success is defined as termination term in the environment configuration script |
| """ |
|
|
| def __init__(self, checkpoint_name: str, eval_file_path: Optional[str] = None, seed: int = 10) -> None: |
| super().__init__(checkpoint_name, eval_file_path, seed) |
| self.num_success = 0 |
| self.num_rollouts = 0 |
|
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| def evaluate_step(self, env: gym.Env, succeess_term: DoneTerm) -> None: |
| success_term_val = succeess_term.func(env, **succeess_term.params) |
|
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| self.num_success += torch.sum(success_term_val).item() |
| self.num_rollouts += len(success_term_val) |
|
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| def summarize_demos(self): |
| |
| print(f"\n{'='*50}") |
| print(f"\nSuccessful trials: {self.num_success}, out of {self.num_rollouts} trials") |
| print(f"Success rate: {self.num_success / self.num_rollouts}") |
| print(f"{'='*50}\n") |
|
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| self.eval_dict["summary"] = { |
| "successful_trials": self.num_success, |
| "total_rollouts": self.num_rollouts, |
| "success_rate": self.num_success / self.num_rollouts, |
| } |
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|
