diff --git a/.vscode/launch.json b/.vscode/launch.json
index abad633..a47b4fc 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -5,16 +5,34 @@
"version": "0.2.0",
"configurations": [
{
- "name": "Python 调试程序: run.py",
+ "name": "go2 moe flat single pipeline",
"type": "debugpy",
"request": "launch",
"program": "${workspaceFolder}/robogauge/scripts/run.py",
"args": [
"--task", "go2_moe_flat",
"--experiment-name", "debug",
+ "--seed", "0",
+ "--friction", "1.6",
"--headless"
],
"console": "integratedTerminal"
- }
+ },
+ {
+ "name": "go2 moe slope level pipeline",
+ "type": "debugpy",
+ "request": "launch",
+ "program": "${workspaceFolder}/robogauge/scripts/run.py",
+ "args": [
+ "--task", "go2_moe_slope",
+ "--experiment-name", "debug",
+ "--seed", "0",
+ "--search-max-level",
+ "--seeds", "0", "1", "2",
+ "--frictions", "1",
+ "--headless"
+ ],
+ "console": "integratedTerminal"
+ },
]
}
diff --git a/CMD.md b/CMD.md
index e52fa8e..977ece8 100644
--- a/CMD.md
+++ b/CMD.md
@@ -1,4 +1,4 @@
-# Single Run
+# Single Pipeline
```bash
python robogauge/scripts/run.py \
--task go2_moe_flat \
@@ -6,7 +6,7 @@ python robogauge/scripts/run.py \
--headless
```
-# Multi Run
+# Multi Pipeline
```bash
python robogauge/scripts/run.py \
--task go2_moe_flat \
@@ -23,6 +23,16 @@ python robogauge/scripts/run.py \
--headless
```
+# Level Pipeline
+```bash
+python robogauge/scripts/run.py \
+ --task go2_slope \
+ --experiment-name debug \
+ --seed 0 \
+ --headless \
+ --search-max-level --seeds 0 1 2 --frictions 1
+```
+
# Radar/Bar Plot
将Multi Run结果绘制在雷达图中
```bash
diff --git a/UPDATE.md b/UPDATE.md
index 58763d1..25cd7e0 100644
--- a/UPDATE.md
+++ b/UPDATE.md
@@ -1,5 +1,9 @@
# UPDATE
-TODO: 处理LevelPipeline返回的result信息
+## 20251224
+### v0.1.14
+1. 处理LevelPipeline返回的result信息, 保存最高等级可通过地形返回的aggregated_results和level等级
+2. 完成wave地形的LevelPipeline支持
+3. 各种Pipeline的run直接返回dict信息, 不再是路径
## 20251222
### v0.1.13
1. 即使模型崩溃也要继续测完后续的goals, 但是跳过当前的sub goals
diff --git a/resources/terrains/wave/wave.png b/resources/terrains/wave/wave.png
new file mode 100644
index 0000000..80d6ddb
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diff --git a/resources/terrains/wave/wave_1.xml b/resources/terrains/wave/wave_1.xml
new file mode 100644
index 0000000..6d5a73f
--- /dev/null
+++ b/resources/terrains/wave/wave_1.xml
@@ -0,0 +1,20 @@
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diff --git a/resources/terrains/wave/wave_10.xml b/resources/terrains/wave/wave_10.xml
new file mode 100644
index 0000000..b4b3861
--- /dev/null
+++ b/resources/terrains/wave/wave_10.xml
@@ -0,0 +1,20 @@
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diff --git a/resources/terrains/wave/wave_2.xml b/resources/terrains/wave/wave_2.xml
new file mode 100644
index 0000000..e557a54
--- /dev/null
+++ b/resources/terrains/wave/wave_2.xml
@@ -0,0 +1,20 @@
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diff --git a/resources/terrains/wave/wave_3.xml b/resources/terrains/wave/wave_3.xml
new file mode 100644
index 0000000..5fc39c0
--- /dev/null
+++ b/resources/terrains/wave/wave_3.xml
@@ -0,0 +1,20 @@
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diff --git a/resources/terrains/wave/wave_4.xml b/resources/terrains/wave/wave_4.xml
new file mode 100644
index 0000000..e622e68
--- /dev/null
+++ b/resources/terrains/wave/wave_4.xml
@@ -0,0 +1,20 @@
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diff --git a/resources/terrains/wave/wave_5.xml b/resources/terrains/wave/wave_5.xml
new file mode 100644
index 0000000..675b2fd
--- /dev/null
+++ b/resources/terrains/wave/wave_5.xml
@@ -0,0 +1,20 @@
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diff --git a/resources/terrains/wave/wave_6.xml b/resources/terrains/wave/wave_6.xml
new file mode 100644
index 0000000..0ea2785
--- /dev/null
+++ b/resources/terrains/wave/wave_6.xml
@@ -0,0 +1,20 @@
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diff --git a/resources/terrains/wave/wave_7.xml b/resources/terrains/wave/wave_7.xml
new file mode 100644
index 0000000..48f5dce
--- /dev/null
+++ b/resources/terrains/wave/wave_7.xml
@@ -0,0 +1,20 @@
+
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diff --git a/resources/terrains/wave/wave_8.xml b/resources/terrains/wave/wave_8.xml
new file mode 100644
index 0000000..b62af90
--- /dev/null
+++ b/resources/terrains/wave/wave_8.xml
@@ -0,0 +1,20 @@
+
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diff --git a/resources/terrains/wave/wave_9.xml b/resources/terrains/wave/wave_9.xml
new file mode 100644
index 0000000..4822108
--- /dev/null
+++ b/resources/terrains/wave/wave_9.xml
@@ -0,0 +1,20 @@
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diff --git a/robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py b/robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py
index 10f7418..49f6676 100644
--- a/robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py
+++ b/robogauge/tasks/gauge/gauge_configs/terrain_levels_config.py
@@ -22,5 +22,16 @@ class TerrainLevelsConfig(Config):
class wave:
levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
- targets = []
+ targets = [
+ [6.5, 0.0, 0.08],
+ [6.5, 0.0, 0.16],
+ [6.5, 0.0, 0.24],
+ [6.5, 0.0, 0.32],
+ [6.5, 0.0, 0.40],
+ [6.5, 0.0, 0.48],
+ [6.5, 0.0, 0.56],
+ [6.5, 0.0, 0.64],
+ [6.5, 0.0, 0.72],
+ [6.5, 0.0, 0.80],
+ ]
diff --git a/robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py b/robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py
index 461c474..3f84555 100644
--- a/robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py
+++ b/robogauge/tasks/gauge/gauge_configs/wave_gauge_config.py
@@ -14,14 +14,14 @@ class WaveGaugeConfig(BaseGaugeConfig):
class assets(BaseGaugeConfig.assets):
terrain_name = "wave"
- terrain_level = 1 # 1-10
- terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wave/wave_1.xml'
- terrain_spawn_pos = [1.5, 0, 1] # x y z [m], robot freejoint spawn position on the terrain
+ terrain_level = 10 # 1-10
+ terrain_xml = '{ROBOGAUGE_ROOT_DIR}/resources/terrains/wave/wave_10.xml'
+ terrain_spawn_pos = [1.5, 1.25, 1.0] # x y z [m], robot freejoint spawn position on the terrain
class goals:
class target_pos_velocity: # goal to reach a target position by velocity command
enabled = True
- target_pos = [4, 0, 1.0] # x y z [m], target position in the environment, used for target position goal
+ target_pos = [6.5, 0.0, 0.8] # x y z [m], target position in the environment, used for target position goal
lin_vel_x = 1.0 # +/- m/s
lin_vel_y = 1.0 # +/- m/s
ang_vel_yaw = 1.5 # +/- rad/s
diff --git a/robogauge/tasks/pipeline/base_pipeline.py b/robogauge/tasks/pipeline/base_pipeline.py
index ad6fb7d..bb9029b 100644
--- a/robogauge/tasks/pipeline/base_pipeline.py
+++ b/robogauge/tasks/pipeline/base_pipeline.py
@@ -117,7 +117,7 @@ class BasePipeline:
logger.info("✅ Pipeline execution finished.")
logger.info(f"📁 Logging saved at: {logger.log_dir}")
- return logger.log_dir, error
+ return self.gauge.results, error
def reset_sim_and_robot(self, sim_data: SimData):
self.sim.reset()
diff --git a/robogauge/tasks/pipeline/level_pipeline.py b/robogauge/tasks/pipeline/level_pipeline.py
index c9c1b66..cb56126 100644
--- a/robogauge/tasks/pipeline/level_pipeline.py
+++ b/robogauge/tasks/pipeline/level_pipeline.py
@@ -16,7 +16,6 @@ class LevelPipeline:
def __init__(self, args):
self.args = args
self.seeds = args.seeds
- self.model_path = None
logger.create(args.experiment_name+'_level', args.run_name)
def run(self):
@@ -25,30 +24,39 @@ class LevelPipeline:
# binary search levels
l, r = 0, 10
+ all_level_results = {}
while l < r:
level = (l + r + 1) // 2
- if self.test_level(level):
+ all_success, results = self.test_level(level)
+ all_level_results[level] = results
+ if all_success:
l = level
else:
r = level - 1
- if l >= 1:
- logger.info(f"🏆 Found maximum level: {l}")
+ level = l
+ level_results = all_level_results.get(l, {
+ 'model_path': results['model_path'],
+ 'terrain_name': results['terrain_name'],
+ 'terrain_level': 0,
+ })
+ if level >= 1:
+ logger.info(f"🏆 Found maximum level: {level}")
else:
logger.info(f"❌ No valid level found [1-10].")
+ with open(logger.log_dir / "level_search_results.yaml", 'w') as f:
+ yaml.dump(level_results, f, allow_unicode=True, sort_keys=False)
+ return level, level_results
+
def test_level(self, level: int) -> bool:
logger.info(f"🔍 Testing level {level}...")
self.args.level = level
multi_pipeline = MultiPipeline(self.args)
- log_dir = multi_pipeline.run()
- # load results.yaml
- with open(log_dir / "aggregated_results.yaml", 'r') as f:
- results = yaml.safe_load(f)
- self.model_path = results['model_path']
- success_mean = float(results['success']['mean'].split(' ')[0])
+ aggregated_results = multi_pipeline.run()
+ success_mean = float(aggregated_results['success']['mean'].split(' ')[0])
all_success = success_mean == 1.0
if all_success:
logger.info(f"✅ Level {level} passed all tests.")
else:
logger.info(f"❌ Level {level} failed some tests.")
- return all_success
+ return all_success, aggregated_results
\ No newline at end of file
diff --git a/robogauge/tasks/pipeline/multi_pipeline.py b/robogauge/tasks/pipeline/multi_pipeline.py
index b64d0ae..7c88437 100644
--- a/robogauge/tasks/pipeline/multi_pipeline.py
+++ b/robogauge/tasks/pipeline/multi_pipeline.py
@@ -36,18 +36,19 @@ def run_single_process(args, data):
console_output=False
)
pipeline = task_register.make_pipeline(args=local_args, create_logger=False)
- log_dir, error = pipeline.run()
+ results, error = pipeline.run()
if error is None:
ret = {
'status': 'success',
- 'log_dir': log_dir,
+ 'results': results,
'model_path': pipeline.robot_cfg.control.model_path,
}
else:
logger.error(f"❌ Process with seed={seed}, base_mass={base_mass}, friction={friction} failed with error: {error}")
ret = {
'status': 'error',
- 'log_dir': log_dir,
+ 'results': results,
+ 'model_path': pipeline.robot_cfg.control.model_path,
'data': data,
'error_msg': str(error),
'traceback': traceback.format_exc()
@@ -61,8 +62,14 @@ class MultiPipeline:
self.frictions = args.frictions
self.base_masses = args.base_masses
self.num_processes = args.num_processes
- self.model_path = None
+ self.static_info = {}
logger.create(args.experiment_name+'_multi', args.run_name+'_multi')
+
+ def add_static_info(self, key: str, value):
+ if key not in self.static_info:
+ self.static_info[key] = value
+ else:
+ assert self.static_info[key] == value, f"Static info key '{key}' has conflicting values: {self.static_info[key]} vs {value}"
def run(self):
logger.info(f"🚀 Starting Multi-Process Evaluation with {self.num_processes} processes.")
@@ -71,32 +78,30 @@ class MultiPipeline:
workers_data = list(product(self.seeds, self.base_masses, self.frictions))
ctx = multiprocessing.get_context('spawn')
worker_func = functools.partial(run_single_process, self.args)
- result_log_dirs = []
+ results_list = []
success_flags = []
with ctx.Pool(processes=self.num_processes) as pool:
iterator = pool.imap_unordered(worker_func, workers_data)
for results in tqdm(iterator, total=len(workers_data), desc="Evaluation"):
success_flags.append(results['status'] == 'success')
- result_log_dirs.append(results['log_dir'])
- if results['status'] == 'success':
- if self.model_path is None:
- self.model_path = results['model_path']
- else:
- assert self.model_path == results['model_path'], "Model paths do not match across runs."
- else:
+ results_list.append(results['results'])
+ self.add_static_info('model_path', results['model_path'])
+ self.add_static_info('terrain_name', results['results']['terrain_name'])
+ self.add_static_info('terrain_level', results['results']['terrain_level'])
+ if results['status'] != 'success':
data = results['data']
logger.error(f"❌ Process with seed={data[0]}, base_mass={data[1]}, friction={data[2]} failed with error: {results['error_msg']}")
logger.info("✅ Multi-Process Evaluation Completed.")
- self.aggregate_results(result_log_dirs, success_flags, workers_data)
- return logger.log_dir
+ aggregated_results = self.aggregate_results(results_list, success_flags, workers_data)
+ return aggregated_results
- def aggregate_results(self, log_dirs, success_flags, workers_data):
- """ Process results.yaml from each log_dir """
+ def aggregate_results(self, all_results, success_flags, workers_data):
+ """ Process results from all processes and aggregate them. """
logger.info("📊 Aggregating Results from all runs...")
- summary = {'model_path': self.model_path, 'success': {}}
+ summary = {'success': {}, **self.static_info}
finish_msg = (
f"""\n{'='*20} Run Finish Summary {'='*20}\n"""
f"""{'Seed':^10}{'Base Mass':^15}{'Friction':^15}{'Status':^10}\n"""
@@ -109,27 +114,9 @@ class MultiPipeline:
finish_msg += f"""{'='*88}"""
logger.info(finish_msg)
- all_results = []
- all_yaml_paths = []
- for path in log_dirs:
- yaml_path = Path(path) / "results.yaml"
- if not yaml_path.exists():
- logger.warning(f"Results file not found: {yaml_path}, skipping.")
- continue
- with open(yaml_path, 'r') as file:
- data = yaml.safe_load(file)
- if data:
- all_results.append(data)
- all_yaml_paths.append(yaml_path)
if not all_results:
logger.error("No results to aggregate.")
return
- yaml_paths_str = '\n'.join([str(p) for p in all_yaml_paths])
- logger.info(
- f"""\n{'='*20} Results Files {'='*20}\n"""
- f"""{yaml_paths_str}\n"""
- f"""{'='*56}"""
- )
value_collections = defaultdict(lambda: defaultdict(list))
for result in all_results:
@@ -156,3 +143,4 @@ class MultiPipeline:
f"""{yaml.dump(summary, allow_unicode=True)}"""
f"""{'='*60}"""
)
+ return summary