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v0.1.16; Add StressPipeline

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wty-yy
2025-12-26 14:47:39 +08:00
parent 9d9d83ed9f
commit 65490fe591
31 changed files with 318 additions and 122 deletions
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15
robogauge/utils/helpers.py
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@@ -80,20 +80,27 @@ def parse_args():
# Multiprocessing parameters, with different seeds
{"name": "--multi", "action": "store_true", "default": False, "help": "Enable multiprocessing."},
{"name": "--num-processes", "type": int, "default": 2, "help": "Number of parallel processes."},
{"name": "--seeds", "type": int, "nargs": "+", "default": [0], "help": "List of random seeds for multiple runs."},
{"name": "--seeds", "type": int, "nargs": "+", "default": [0, 1, 2, 3, 4], "help": "List of random seeds for multiple runs."},
{"name": "--base-masses", "type": float, "nargs": "+", "default": [0], "help": "List of base masses for the model."},
{"name": "--frictions", "type": float, "nargs": "+", "default": [0.4, 0.7, 1.0, 1.3, 1.6], "help": "List of friction coefficients for the model."},
{"name": "--frictions", "type": float, "nargs": "+", "default": [0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2.0, 2.25, 2.5], "help": "List of friction coefficients for the model."},
# Level pipeline parameters
{"name": "--search-max-level", "action": "store_true", "default": False, "help": "Use level pipeline to search maximum level."},
# Stress pipeline parameters
{"name": "--stress-benchmark", "action": "store_true", "default": False, "help": "Use stress pipeline to benchmark model robustness."},
{"name": "--stress-terrain-names", "type": str, "nargs": "+", "default": ["flat", "slope", "wave", "stairs_up", "stairs_down"], "help": "List of terrain names for stress benchmark."},
{"name": "--stress-num-processes", "type": int, "default": 2, "help": "Number of parallel processes for stress benchmark."},
]
for param in parameters:
parser.add_argument(param['name'], **{k: v for k, v in param.items() if k != 'name'})
args = parser.parse_args()
flatten_task_name = args.task_name.replace('.', '_')
args.cli_experiment_name = args.experiment_name
if args.experiment_name is not None:
args.experiment_name = f"{args.task_name}_{args.experiment_name}"
args.experiment_name = f"{flatten_task_name}_{args.experiment_name}"
else:
args.experiment_name = args.task_name
args.experiment_name = flatten_task_name
return args
def snake_to_pascal(s: str) -> str:

4
robogauge/utils/task_register.py
View File

@@ -10,7 +10,7 @@
from robogauge import ROBOGAUGE_ROOT_DIR
from robogauge.utils.logger import logger
from robogauge.utils.helpers import parse_args, set_seed
from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import TerrainLevelsConfig
from robogauge.tasks.gauge.gauge_configs.terrain_levels_config import TerrainSearchLevelsConfig
class TaskRegister():
def __init__(self):
@@ -72,7 +72,7 @@ class TaskRegister():
sim_cfg.domain_rand.base_mass = args.base_mass
if args.level is not None:
gauger_cfg.assets.terrain_level = args.level
levels_cfg = TerrainLevelsConfig()
levels_cfg = TerrainSearchLevelsConfig()
cfg = getattr(levels_cfg, gauger_cfg.assets.terrain_name)
assert cfg is not None, f"Level {args.level} configuration not found in TerrainLevelsConfig."
assert args.level in cfg.levels, f"Level must be in {cfg.levels}."