cyy/RoboGauge
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v1.0.0; fix bugs

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wty-yy
2025-12-30 11:15:37 +08:00
parent 587d014683
commit 5a5500668b
6 changed files with 20 additions and 14 deletions
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5
robogauge/tasks/pipeline/stress_pipeline.py
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@@ -178,12 +178,14 @@ class StressPipeline:
return
summary = {**self.static_info, 'summary': {}, 'robust_score': {}, 'benchmark_score': 0.0, 'scores': {}}
scores = summary['scores']
metric_collections = defaultdict(lambda: defaultdict(list))
terrain_collections = defaultdict(lambda: defaultdict(list))
zero_terrain_count = defaultdict(lambda: 0)
for result in all_results:
terrain_name = result['data']['terrain_name']
terrain_level = result['level'] # None, 0, 1, ..., 10
scores[terrain_name] = 0.0
key = f'{terrain_name}_{terrain_level}'
key += f'_baseMass{result["data"]["base_mass"]}_friction{result["data"]["friction"]}'
if terrain_level == 0:
@@ -207,7 +209,6 @@ class StressPipeline:
robust_score = defaultdict(dict)
robust_scores = []
scores = summary['scores']
for terrain_name, means in terrain_collections.items():
for mean_name, values in means.items():
values.extend([0.0] * zero_terrain_count[terrain_name]) # include zero terrains
@@ -215,7 +216,7 @@ class StressPipeline:
scores[terrain_name] = robust_score[terrain_name]['mean@50']
robust_scores.append(robust_score[terrain_name]['mean@50'])
summary['robust_score'] = dict(robust_score)
summary['benchmark_score'] = float(np.mean(robust_scores))
summary['benchmark_score'] = float(np.mean(list(scores.values())))
scores['benchmark'] = summary['benchmark_score']
save_path = stress_logger.log_dir / "stress_benchmark_results.yaml"