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b3d14e3 | 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 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 | """Run the Layer-5 rediscovery sweep and write the paper artifacts.
Drives
:func:`roverdevkit.validation.rediscovery_report.run_rediscovery_loo`
over every registry rover (flown by default; pass ``--all`` to include
design-target rovers too) and emits the artifact set documented in
:func:`roverdevkit.validation.rediscovery_report.write_loo_artifacts`.
Per-rover NSGA-II hyperparameters and ``mass_ceiling_slop`` defaults
live in :data:`DEFAULT_PER_ROVER_OVERRIDES`; passing
``--no-per-rover-overrides`` disables them (useful for sensitivity
analysis - expect CADRE-unit to fail under uniform defaults).
Outputs (under ``--out-dir``, defaults to ``reports/rediscovery_loo``):
- ``summary.csv`` — one-row-per-rover summary table
- ``<rover>.json`` — per-rover full Pareto front and scoring detail
- ``failures.json`` — ``{rover_name: error_message}`` (empty if none)
- ``rediscovery_loo_report.md`` — human-readable rollup
Usage
-----
::
python scripts/run_rediscovery_loo.py
python scripts/run_rediscovery_loo.py --all --seed 42
python scripts/run_rediscovery_loo.py --out-dir reports/rediscovery_loo_paper
"""
from __future__ import annotations
import argparse
import logging
import sys
from pathlib import Path
import joblib
from roverdevkit.validation.rediscovery_report import (
DEFAULT_PER_ROVER_OVERRIDES,
run_rediscovery_loo,
write_loo_artifacts,
)
def _parse_args(argv: list[str] | None = None) -> argparse.Namespace:
p = argparse.ArgumentParser(
description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter
)
p.add_argument(
"--out-dir",
type=Path,
default=Path("reports/rediscovery_loo"),
)
p.add_argument(
"--all",
action="store_true",
help=(
"Include design-target rovers (MoonRanger, Rashid-1, Tenacious, "
"CADRE-unit) in addition to the flown rovers (Pragyan, Yutu-2). "
"Default: flown only."
),
)
p.add_argument("--seed", type=int, default=0)
p.add_argument("--population-size", type=int, default=60)
p.add_argument("--n-generations", type=int, default=16)
p.add_argument("--mass-ceiling-slop", type=float, default=0.10)
p.add_argument(
"--n-seeds",
type=int,
default=1,
help=(
"Number of NSGA-II seeds to ensemble per rover. 1 (default) "
"preserves single-seed historical behaviour; 5 is a paper-"
"grade ensemble (~5x evaluator budget per rover)."
),
)
p.add_argument(
"--backend",
choices=("evaluator", "surrogate"),
default="evaluator",
help=(
"evaluator = corrected physics (default, ~20 ms/design); "
"surrogate = calibrated quantile-XGB heads (~0.1 ms/design)."
),
)
p.add_argument(
"--quantile-bundles",
type=Path,
default=Path("models/surrogate_v9/quantile_bundles.joblib"),
help="Path to quantile bundles joblib; required when --backend=surrogate.",
)
p.add_argument(
"--evaluator-eval-cap",
type=int,
default=1000,
help=(
"Evaluator-backend NSGA-II evaluation cap per seed. Default 1000 "
"matches the webapp safety cap; high-budget runs typically use "
"10_000-25_000."
),
)
p.add_argument(
"--no-per-rover-overrides",
action="store_true",
help=(
"Disable DEFAULT_PER_ROVER_OVERRIDES (every rover uses the "
"uniform default budget). Expect CADRE-unit to land in "
"failures.json under this mode."
),
)
p.add_argument(
"--log-level",
default="INFO",
choices=("DEBUG", "INFO", "WARNING", "ERROR"),
)
return p.parse_args(argv)
def main(argv: list[str] | None = None) -> int:
args = _parse_args(argv)
logging.basicConfig(
level=getattr(logging, args.log_level),
format="%(asctime)s %(levelname)-7s %(name)s | %(message)s",
)
bundles = None
if args.backend == "surrogate":
if not args.quantile_bundles.exists():
raise FileNotFoundError(
f"--backend=surrogate requires quantile bundles; "
f"file not found: {args.quantile_bundles}"
)
bundles = joblib.load(args.quantile_bundles)
overrides = {} if args.no_per_rover_overrides else dict(DEFAULT_PER_ROVER_OVERRIDES)
summary = run_rediscovery_loo(
flown_only=not args.all,
seed=args.seed,
default_population_size=args.population_size,
default_n_generations=args.n_generations,
default_mass_ceiling_slop=args.mass_ceiling_slop,
per_rover_overrides=overrides,
n_seeds=args.n_seeds,
backend=args.backend,
bundles=bundles,
evaluator_eval_cap=args.evaluator_eval_cap,
)
written = write_loo_artifacts(summary, args.out_dir)
print(f"Wrote {len(written)} artifact(s) to {args.out_dir}:")
for name, path in sorted(written.items()):
print(f" {name}: {path}")
print()
print(f"Rovers succeeded: {len(summary.results)}")
print(f"Rovers failed: {len(summary.failures)}")
for rover_name, msg in summary.failures.items():
print(f" - {rover_name}: {msg}")
return 0
if __name__ == "__main__":
sys.exit(main())
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