v0.1.8

robogauge/scripts/evaluate_models.txt

@@ -0,0 +1,9 @@
+### Support using '#' as the starting comments ###
+### Uncommented lines provide the path to evaluated model ###
+
+/path/to/your/eval_model1.pt
+/path/to/your/eval_model2.pt
+/path/to/your/eval_model3.pt
+
+# /path/to/your/uneval_model1.pt
+# /path/to/your/uneval_model2.pt

robogauge/scripts/run.py

@@ -11,13 +11,18 @@ import os
 os.environ['MUJOCO_GL'] = 'glfw'  # avoid mujoco.Renderer EGL context error
 
 from robogauge.tasks import *
+from robogauge.tasks.pipeline.multi_pipeline import MultiPipeline
+
 from robogauge.utils.task_register import task_register
 from robogauge.utils.helpers import parse_args
 from robogauge.utils.logger import logger
 
+
 if __name__ == '__main__':
     args = parse_args()
-    logger.create(args.experiment_name, args.run_name)
-    logger.info(f"Starting experiment: {args.experiment_name}")
-    pipeline: BasePipeline = task_register.make_pipeline(args=args)
-    pipeline.run()
+    if not args.multi:
+        pipeline: BasePipeline = task_register.make_pipeline(args=args)
+        pipeline.run()
+    else:
+        multi_pipeline = MultiPipeline(args)
+        multi_pipeline.run()

robogauge/scripts/run_eval_models.sh

@@ -0,0 +1,74 @@
+#!/bin/bash
+
+# Description: This script automates the evaluation of multiple models 
+#              specified in default ./evaluate_models.txt file.
+#
+# Usage: ./run_scripts.sh [-n EXP_NAME] [-t TASK_NAME] [-s]
+#   -n EXP_NAME     Experiment name (default: go2_moe_flat)
+#   -t TASK_NAME    Task name (default: go2_moe_flat)
+#   -s              Save video (default: false)
+#   -h              Show this help message
+
+### Find the directory of the script ###
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+MODELS_FILE="$SCRIPT_DIR/evaluate_models.txt"
+RUN_PY="$SCRIPT_DIR/run.py"
+
+### Default Configure ###
+EXP_NAME="go2_moe_flat"     # Experiment name [-n]
+TASK_NAME="go2_moe_flat"    # Task name [-t]
+SAVE_VIDEO=false            # Whether to save video [-s]
+
+### Parse Arguments ###
+usage() {
+    echo "Usage: $0 [-n EXP_NAME] [-t TASK_NAME] [-s]"
+    echo "  -n EXP_NAME     Experiment name (default: ${EXP_NAME})"
+    echo "  -t TASK_NAME    Task name (default: ${TASK_NAME})"
+    echo "  -s              Save video (default: ${SAVE_VIDEO})"
+    echo "  -h              Show this help message"
+    exit 1
+}
+
+while getopts "n:t:sh" opt; do
+    case "${opt}" in
+        n) EXP_NAME="$OPTARG" ;;    # Experiment name [-n]
+        t) TASK_NAME="$OPTARG" ;;   # Task name [-t]
+        s) SAVE_VIDEO=true ;;       # Whether to save video [-s]
+        h) usage ;;                 # Print usage [-h]
+        *) usage ;;                 # Print usage for invalid options
+    esac
+done
+
+### Activate Conda Environment ###
+eval "$(conda shell.bash hook)"
+conda activate kaiwu
+
+### Read Models from File ###
+echo "Reading models from: $MODELS_FILE"
+mapfile -t models_paths < <(grep -v -e '^[[:space:]]*$' -e '^[[:space:]]*#' "$MODELS_FILE")
+
+if [ ${#models_paths[@]} -eq 0 ]; then
+    echo "Error: $MODELS_FILE is empty or contains only blank lines."
+    exit 1
+fi
+
+### Run Evaluation Scripts ###
+base_args="--task $TASK_NAME --headless --experiment-name $EXP_NAME"
+
+if [ "$SAVE_VIDEO" = true ]; then
+    base_args="$base_args --save-video"
+fi
+
+echo "================ Run Settings ================"
+echo "Script Dir: $SCRIPT_DIR"
+echo "Runner:     $RUN_PY"
+echo "Task:       $TASK_NAME"
+echo "Exp Name:   $EXP_NAME"
+echo "Save Video: $SAVE_VIDEO"
+echo "Models Qty: ${#models_paths[@]}"
+echo "=============================================="
+
+for model_path in "${models_paths[@]}"; do
+    echo "🚀 Evaluating model: $model_path 🚀"
+    python "$RUN_PY" $base_args --model-path "$model_path"
+done