File size: 2,298 Bytes
5d08972 | 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 | #!/usr/bin/env bash
# 40-episode sample (5 per object) with stage logging. Two models in parallel, 2 GPUs each,
# staying off GPU 0/1 and leaving 2,3 to the running training.
set -u
M=/data/minha/pose6daug/train_robocasa/myGR00T
PY=/data/nvidia/gripper_augmentator/conda-envs/mygr00t/bin/python
RPY=/lp-dev/jonghoon/robocasa_calib/envs/robocasa/bin/python
PP=/lp-dev/jonghoon/robocasa_calib/repos/robosuite_robocasa_dev:/lp-dev/jonghoon/robocasa_calib/repos/robocasa:$M
RS=/lp-dev/jonghoon/isaac-gr00t/eval_results/pnpcountertocab_mimicgen8_exact160_replay_policyseed12345_20260506
OUT=/home/nvidia/minha/pose6daug/evals/results/grasp_sample40
EPS="0,1,2,3,4,20,21,22,23,24,40,41,42,43,44,60,61,62,63,64,80,81,82,83,84,100,101,102,103,104,120,121,122,123,124,140,141,142,143,144"
one () { # tag, model, gpu, port
local tag=$1 model=$2 gpu=$3 port=$4
local d=$OUT/$tag; mkdir -p $d
( cd $M; PYTHONPATH=$M CUDA_VISIBLE_DEVICES=$gpu $PY scripts/inference_service.py --server --port $port --model_path $model --data_config single_panda_gripper --embodiment_tag new_embodiment --seed 12345 ) > $d/server.log 2>&1 &
echo $! > $d/server.pid
for i in $(seq 1 120); do
python3 -c "import socket,sys;s=socket.socket();sys.exit(0 if s.connect_ex(('127.0.0.1',$port))==0 else 1)" && break
sleep 5
done
echo "[grasp] $tag server ready $(date -u +%H:%M:%S)"
PYTHONPATH=$PP CUDA_VISIBLE_DEVICES=$gpu $RPY $M/scripts/eval_robocasa_replay_state_grasp.py --host 127.0.0.1 --port $port --model_path $model --output_dir $d --env_name PickPlaceCounterToCabinet --eval_task PnPCounterToCab --finetuned_task grasp-sample-$tag --replay_state_root $RS --episode_indices "$EPS" --worker_id 00 --seed 42 --max_episode_steps 750 --action_horizon 16 --robots PandaOmron --generative_textures --policy_seed 12345 > $d/client.log 2>&1
echo "[grasp] $tag done $(date -u +%H:%M:%S)"
kill $(cat $d/server.pid) 2>/dev/null
}
one mimicgen30k /data/minha/pose6daug/train_robocasa/runs/pnpcountertocab_mimicgen_natural_256_fixed_newemb_from60k_gbs64_30000steps_20260920_133919/checkpoint-30000 4 8851 &
sleep 10
one vace30k /data/minha/pose6daug/train_robocasa/runs/vace_batch64_30k_from_hf/checkpoint-30000 6 8861 &
wait
echo "[grasp] ALL DONE $(date -u +%H:%M:%S)"
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