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run_dual_eval.sh

@@ -23,8 +23,24 @@ export OPENPI_DATA_HOME
 
 echo "[INFO] task=$TASK_NAME gpus=$NUM_GPU eval_start=$EVAL_START eval_count=$EVAL_COUNT"
 
-# Launch one openpi policy server per GPU
 OPENPI_PIDS=()
+B1K_PID=""
+
+cleanup() {
+  echo "[INFO] cleanup: killing background processes …"
+  if [[ -n "$B1K_PID" ]]; then
+    kill "$B1K_PID" 2>/dev/null || true
+    wait "$B1K_PID" 2>/dev/null || true
+  fi
+  for pid in "${OPENPI_PIDS[@]}"; do
+    kill "$pid" 2>/dev/null || true
+    wait "$pid" 2>/dev/null || true
+  done
+  echo "[INFO] cleanup: done."
+}
+trap cleanup EXIT INT TERM HUP
+
+# Launch one openpi policy server per GPU
 for ((gpu = 0; gpu < NUM_GPU; gpu++)); do
   (
     cd /opt/eval/openpi-comet
@@ -78,9 +94,5 @@ done
 B1K_PID=$!
 
 wait "$B1K_PID" || true
-for pid in "${OPENPI_PIDS[@]}"; do
-  kill "$pid" 2>/dev/null || true
-  wait "$pid" || true
-done
 
 echo "[INFO] done."