| # Eval the multitask ACT (policy_epoch_6000) on all 4 tasks, 10 eps each, | |
| # same eval env as the single-task evals (eval_act_ckpt.sh: n_exec=24, table_idx=1, | |
| # rand_offset=4000, seed=42). One task per GPU (parallel). Stats auto-found next to ckpt. | |
| LOGD=/home/hongyi/PWM/policy_rl/training_logs | |
| EVALSH=/home/hongyi/PWM/policy_rl/act/eval_act_ckpt.sh | |
| CKPT=/data0/hongyi/act_runs/multitask_30each_chunk25_6k/policy_epoch_6000_seed_0.ckpt | |
| run_task() { | |
| local t=$1 env=$2 gpu=$3 | |
| echo "===== MULTITASK EVAL $t (gpu $gpu) $(date +%H:%M:%S) =====" | |
| TASK="$env" GPU_EVAL="$gpu" bash "$EVALSH" "$CKPT" 10 | |
| echo "===== DONE $t =====" | |
| } | |
| run_task open_drawer Humanoid-Open-Drawer-v0 0 > "$LOGD/eval_multitask_open_drawer.log" 2>&1 & | |
| run_task open_laptop Humanoid-Open-Laptop-v0 1 > "$LOGD/eval_multitask_open_laptop.log" 2>&1 & | |
| run_task pour_balls Humanoid-Pour-Balls-v0 2 > "$LOGD/eval_multitask_pour_balls.log" 2>&1 & | |
| run_task push_box Humanoid-Push-Box-v0 3 > "$LOGD/eval_multitask_push_box.log" 2>&1 & | |
| wait | |
| echo "ALL MULTITASK EVALS DONE" | |