From baf11a6cd4b183365fa7c1c5fa67b2f0dab6d27a Mon Sep 17 00:00:00 2001 From: wty-yy <993660140@qq.com> Date: Sat, 27 Dec 2025 16:13:18 +0000 Subject: [PATCH] v0.1.17; update 7-9 --- .gitignore | 1 + CMD.md | 20 ++- README.md | 3 +- UPDATE.md | 5 +- robogauge/tasks/pipeline/multi_pipeline.py | 41 +++-- robogauge/tasks/pipeline/stress_pipeline.py | 58 +++--- robogauge/utils/helpers.py | 4 +- robogauge/utils/progress_monitor.py | 152 ++++++++++------ .../plot_radar_and_bar.py} | 14 +- .../utils/visualize/plot_terrain_levels.py | 168 ++++++++++++++++++ run.bash | 49 +++++ setup.py | 4 +- 12 files changed, 405 insertions(+), 114 deletions(-) rename robogauge/utils/{visualize_results.py => visualize/plot_radar_and_bar.py} (94%) create mode 100644 robogauge/utils/visualize/plot_terrain_levels.py create mode 100755 run.bash diff --git a/.gitignore b/.gitignore index 43779f7..780aefd 100644 --- a/.gitignore +++ b/.gitignore @@ -8,5 +8,6 @@ __pycache__/ # Logger logs/ +logs*/ .aim/ *.bkp \ No newline at end of file diff --git a/CMD.md b/CMD.md index 89d62fe..dbe21aa 100644 --- a/CMD.md +++ b/CMD.md @@ -51,9 +51,8 @@ python robogauge/scripts/run.py \ --task go2_moe \ --experiment-name debug \ --stress-benchmark \ - --stress-terrain-names flat slope stairs_up stairs_down wave \ - --stress-num-processes 2 \ - --num-processes 3 \ + --stress-terrain-names flat slope stairs_up stairs_down wave obstacle \ + --num-processes 6 \ --seeds 0 1 2 3 4 \ --frictions 0.5 1.0 1.5 2.0 2.5 \ --compress-logs \ @@ -64,14 +63,23 @@ python robogauge/scripts/run.py \ 将Multi Run结果绘制在雷达图中 ```bash # 可选--out保存到图片 -python robogauge/utils/visualize_results.py \ +python robogauge/utils/visualize/plot_radar_and_bar.py \ aggregated_results_1.yaml \ aggregated_results_2.yaml \ --out logs/1.jpg # 绘制下全部 *.yaml, 可选range控制radar, bar y轴显示范围 -python robogauge/utils/visualize_results.py \ +python robogauge/utils/visualize/plot_radar_and_bar.py \ /home/xfy/Coding/robot_gauge/mytest/results \ --range 0.35 1.0 \ --out logs/1.jpg -``` \ No newline at end of file +``` + +# Terrain Levels Plot +```bash +# 绘制5种可变等级的地形与摩擦系数的关系图 +python robogauge/utils/visualize/plot_terrain_levels.py \ + aggregated_results_1.yaml \ + aggregated_results_2.yaml \ + --out logs/terrain_analysis.jpg +``` diff --git a/README.md b/README.md index a491ef4..4eae21d 100644 --- a/README.md +++ b/README.md @@ -13,10 +13,11 @@ | Unitree go2 | 四足 | ✅ | ## 安装 -参考[PyTorch官网](https://pytorch.org/get-started/locally/)安装2.0以上任意版本, 安装本仓库 +推荐安装`python=3.8`, 参考[PyTorch官网](https://pytorch.org/get-started/locally/)安装2.0以上任意版本, 安装本仓库 ```bash git clone https://github.com/wty-yy/RoboGauge.git +cd RoboGauge pip install -e . ``` diff --git a/UPDATE.md b/UPDATE.md index 37fcc83..6aac6e4 100644 --- a/UPDATE.md +++ b/UPDATE.md @@ -6,7 +6,10 @@ 3. 在StressPipeline测试中, 不再保存 4. 添加obstacles地形 5. 优化分数计算方法, 按照`(level-1)*0.1+metric_score`计算 -6. 加入日志文件夹递归保存, StressPipeline -> LevelPipeline -> MultiPipeline, 加入压缩参数`--compress-logs`, 将日志文件夹压缩为`subtasks.tar.xz`, 日志文件压缩`4M->100kb` +6. 加入日志文件夹递归保存, StressPipeline -> LevelPipeline -> MultiPipeline, 加入压缩参数`--compress-logs`, 将日志文件夹压缩为`subtasks.tar.xz`, 日志文件压缩`4M->100kb` (6种地形的全部评估测试日志压缩后`29M->539K`) +7. StressPipeline和MultiPipeline同时工作时, 很大概率发生死锁 (StressPipeline传入的任务超过10个以上), 将MultiPipeline的num-processes设置为1即可避免该问题 (不创建Process), 为了提高速度可以将flat的不同域随机化也展平 +8. 将进度条换成当前时间/剩余时间 +9. 添加`plot_terrain_levels.py`绘图代码, 绘制5种可变等级的地形与摩擦系数的关系图 ## 20251226 ### v0.1.16 1. 基本完成StressPipeline, 加入绘制进度条的线程, 其他进程通过Queue更新主进程的进度条 diff --git a/robogauge/tasks/pipeline/multi_pipeline.py b/robogauge/tasks/pipeline/multi_pipeline.py index 6247b4d..e82e286 100644 --- a/robogauge/tasks/pipeline/multi_pipeline.py +++ b/robogauge/tasks/pipeline/multi_pipeline.py @@ -91,25 +91,38 @@ class MultiPipeline: multi_logger.info(f"🔢 Seeds: {self.seeds}, Frictions: {self.frictions}, Base masses: {self.base_masses}") workers_data = list(product(self.seeds, self.base_masses, self.frictions)) - report_progress(self.progress_data, ProgressTypes.INIT, total=len(workers_data), desc="🚀 MultiPipeline Executing") + report_progress(self.progress_data, ProgressTypes.INIT, total=len(workers_data), desc="🚀 MultiPipeline") ctx = multiprocessing.get_context('spawn') worker_func = functools.partial(run_single_process, self.args) results_list = [] - with NoDaemonPool(processes=self.num_processes, context=ctx) as pool: - iterator = pool.imap_unordered(worker_func, workers_data) - bar = iterator + + def update_results(results): + results_list.append(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']) + report_progress(self.progress_data, ProgressTypes.UPDATE, value=1) + if results['status'] != 'success': + data = results['data'] + multi_logger.error(f"❌ Process with seed={data[0]}, base_mass={data[1]}, friction={data[2]} failed with error: {results['error_msg']}") + + if self.num_processes == 1: + multi_logger.info("🚀 Running in Serial Mode") + bar = workers_data if self.console_output: - bar = tqdm(iterator, total=len(workers_data), desc="Evaluation") - for results in bar: - results_list.append(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']) - report_progress(self.progress_data, ProgressTypes.UPDATE, value=1) - if results['status'] != 'success': - data = results['data'] - multi_logger.error(f"❌ Process with seed={data[0]}, base_mass={data[1]}, friction={data[2]} failed with error: {results['error_msg']}") + bar = tqdm(workers_data, desc="Evaluation") + for data in bar: + results = worker_func(data) + update_results(results) + else: + with NoDaemonPool(processes=self.num_processes, context=ctx) as pool: + iterator = pool.imap_unordered(worker_func, workers_data) + bar = iterator + if self.console_output: + bar = tqdm(iterator, total=len(workers_data), desc="Evaluation") + for results in bar: + update_results(results) multi_logger.info("✅ Multi-Process Evaluation Completed.") aggregated_results = self.aggregate_results(results_list) diff --git a/robogauge/tasks/pipeline/stress_pipeline.py b/robogauge/tasks/pipeline/stress_pipeline.py index c9b441d..add375d 100644 --- a/robogauge/tasks/pipeline/stress_pipeline.py +++ b/robogauge/tasks/pipeline/stress_pipeline.py @@ -41,23 +41,22 @@ def run_pipeline(args, progress_queue, data): args = deepcopy(args) task_id = data['task_id'] search = data['search_max_level'] - task_label = f"[{data['terrain_name']}]" + task_label = f"[{data['terrain_name']}] M:{data['base_mass']} F:{data['friction']}" progress_data = ProgressData( task_id=task_id, msg_prefix=task_label + ' ', progress_queue=progress_queue ) - if search is True: - task_label += f" M:{data['base_mass']} F:{data['friction']}" - progress_data.msg_prefix = task_label + ' ' - args.friction = data['friction'] - args.frictions = [data['friction']] - args.base_mass = data['base_mass'] - args.base_masses = [data['base_mass']] - args.task_name = f"{data['task_robot_model']}.{data['terrain_name']}" - args.experiment_name = f"{args.experiment_name}_{data['terrain_name']}_M{data['base_mass']}_F{data['friction']}" - args.goals = GOALS['level_pipeline'] + args.friction = data['friction'] + args.frictions = [data['friction']] + args.base_mass = data['base_mass'] + args.base_masses = [data['base_mass']] + args.task_name = f"{data['task_robot_model']}.{data['terrain_name']}" + args.experiment_name = f"{args.experiment_name}_{data['terrain_name']}_M{data['base_mass']}_F{data['friction']}" + + if search is True: + args.goals = GOALS['level_pipeline'] level, level_results = LevelPipeline(args, console_output=False, progress_data=progress_data).run() if level == 0: # no valid level found report_progress(progress_data, ProgressTypes.FINISH, desc=f"❌ Failed (Lv 0)") @@ -68,8 +67,8 @@ def run_pipeline(args, progress_queue, data): 'level': 0, } return results - report_progress(progress_data, ProgressTypes.RESET, total=0, desc=f"✅ Found Lv {level} -> Running") + progress_data.msg_prefix += f"(Lv {level}) " else: level = None # flat terrain args.task_name = f"{data['task_robot_model']}.{data['terrain_name']}" @@ -91,13 +90,14 @@ class StressPipeline: self.args = args self.seeds = args.seeds self.task_robot_model = args.task_name.split('.')[0] - self.num_processes = args.stress_num_processes + self.num_processes = args.num_processes args.experiment_name = self.task_robot_model + '_stress' + ('' if args.cli_experiment_name is None else '_' + args.cli_experiment_name) self.static_info = {} stress_logger.create(args.experiment_name, args.run_name) self.args.parent_log_dir = str(stress_logger.log_dir / "subtasks") self.compress_logs = args.compress_logs args.compress_logs = False # Disable child log compression + args.num_processes = 1 # Disable child multi-process def add_static_info(self, key: str, value): if key not in self.static_info: @@ -125,16 +125,13 @@ class StressPipeline: 'terrain_name': terrain_name, 'search_max_level': search_max_level, } - if search_max_level: - for friction, base_mass in product(self.args.frictions, self.args.base_masses): - now_data = deepcopy(data) - now_data.update({ - 'friction': friction, - 'base_mass': base_mass, - }) - workers_data.append(now_data) - else: - workers_data.append(data) + for friction, base_mass in product(self.args.frictions, self.args.base_masses): + now_data = deepcopy(data) + now_data.update({ + 'friction': friction, + 'base_mass': base_mass, + }) + workers_data.append(now_data) ### Start progress monitor ### progress_queue, monitor_thread = start_progress_monitor_thread(len(workers_data)) @@ -182,16 +179,14 @@ class StressPipeline: stress_logger.error("No results to aggregate.") return - summary = {**self.static_info, 'summary': {}} + summary = {**self.static_info, 'summary': {}, 'final_score': {}} value_collections = defaultdict(lambda: defaultdict(list)) zero_terrain_count = 0 for result in all_results: terrain_name = result['data']['terrain_name'] terrain_level = result['level'] # None, 0, 1, ..., 10 - key = terrain_name - if terrain_level is not None: - key += f'_{terrain_level}' - key += f'_baseMass{result["data"]["base_mass"]}_friction{result["data"]["friction"]}' + key = f'{terrain_name}_{terrain_level}' + key += f'_baseMass{result["data"]["base_mass"]}_friction{result["data"]["friction"]}' if terrain_level == 0: summary[key] = None zero_terrain_count += 1 @@ -201,14 +196,19 @@ class StressPipeline: for metric, means in result['results']['summary'].items(): for mean_name, mean_value in means.items(): value = float(mean_value.split(' ')[0]) - value += (terrain_level - 1) * 0.1 if terrain_level is not None else 0.0 + if terrain_level is not None: # level terrain + value = (terrain_level - 1) * 0.1 + value * 0.1 value_collections[metric][mean_name].append(value) + final_metrics = defaultdict(list) for metric, means in value_collections.items(): summary['summary'][metric] = {} for mean_name, values in means.items(): values.extend([0.0] * zero_terrain_count) # include zero terrains summary['summary'][metric][mean_name] = f"{float(np.mean(values)):.4f} ± {float(np.std(values)):.4f}" + final_metrics[mean_name].append(np.mean(values)) + for mean_name, values in final_metrics.items(): + summary['final_score'][mean_name] = float(np.mean(values)) save_path = stress_logger.log_dir / "stress_benchmark_results.yaml" with open(save_path, 'w') as file: diff --git a/robogauge/utils/helpers.py b/robogauge/utils/helpers.py index bfb2ca8..84d00d2 100644 --- a/robogauge/utils/helpers.py +++ b/robogauge/utils/helpers.py @@ -80,7 +80,6 @@ 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, 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": [0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2.0, 2.25, 2.5], "help": "List of friction coefficients for the model."}, @@ -91,8 +90,9 @@ def parse_args(): # 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."}, + # Common parameters + {"name": "--num-processes", "type": int, "default": 2, "help": "Number of parallel processes for Multi or Stress benchmark."}, {"name": "--compress-logs", "action": "store_true", "default": False, "help": "Compress and delete logs after run."}, ] for param in parameters: diff --git a/robogauge/utils/progress_monitor.py b/robogauge/utils/progress_monitor.py index 45201d6..5c885e3 100644 --- a/robogauge/utils/progress_monitor.py +++ b/robogauge/utils/progress_monitor.py @@ -2,16 +2,17 @@ ''' @File : progress_monitor.py @Time : 2025/12/27 00:10:07 -@Author : wty-yy +@Author : wty-yy (with Gemini 3) @Version : 1.0 @Blog : https://wty-yy.github.io/ -@Desc : Centralized progress monitoring for multiprocessing tasks using tqdm +@Desc : Centralized progress monitoring with Dynamic Slot Management ''' from tqdm import tqdm import multiprocessing from typing import Dict from threading import Thread from dataclasses import dataclass +import heapq class ProgressTypes: INIT = 'init' # Init progress (set total, desc) @@ -50,76 +51,111 @@ def report_progress(progress_data: ProgressData, msg_type, value=None, desc=None class ProgressMonitor: def __init__(self, total_rows): self.total_rows = total_rows - self.bars: Dict[int, tqdm] = {} + self.active_bars: Dict[int, Dict] = {} + self.free_slots = [] + self.max_slot_used = 0 + def _get_free_slot(self): + """ Get a free screen display position """ + if self.free_slots: + return heapq.heappop(self.free_slots) + else: + self.max_slot_used += 1 + return self.max_slot_used + + def _release_slot(self, slot): + """ Release a screen display position """ + heapq.heappush(self.free_slots, slot) + def listener_loop(self, queue): """ - Run in a separate thread in the main process to consume the Queue and update tqdm. + Listener thread in the main process """ - # print(f"Monitor started for {self.total_rows} tasks...") - for i in range(self.total_rows): - self.bars[i] = tqdm( - total=100, - position=i, - desc=f"Task {i} Pending...", - bar_format="{l_bar}{bar}| {n_fmt}/{total_fmt} [{elapsed}]", - leave=True - ) + # Create the main progress bar (Position 0) + main_bar = tqdm( + total=self.total_rows, + position=0, + desc="🚀 Total Progress", + bar_format="{l_bar}{bar}| {n_fmt}/{total_fmt} [Done: {n_fmt}] [{elapsed}<{remaining}]", + leave=True, + smoothing=0.1 # Optional: set smoothing factor (0-1) to prevent drastic ETA fluctuations due to slow tasks + ) - active_tasks = self.total_rows + # Number of tasks still pending + pending_tasks = self.total_rows - while active_tasks > 0: + while pending_tasks > 0: record = queue.get() - if record is None: # Poison pill signal - break + if record is None: break task_id, msg_type, data = record - if task_id not in self.bars: - continue - - bar = self.bars[task_id] - if msg_type == ProgressTypes.INIT: - total = data['total'] - desc = data['desc'] - bar.reset(total=total) - bar.set_description(desc) - bar.refresh() - - elif msg_type == ProgressTypes.UPDATE: - val = data['value'] - bar.update(val) - - elif msg_type == ProgressTypes.DESC: - desc = data['desc'] - if desc: + # --- Dynamically create/get sub progress bars --- + if task_id not in self.active_bars: + # Only create bar when message received to avoid Pending screen flicker + slot = self._get_free_slot() + # leave=False is key: after task completion, clear the line for new task reuse + bar = tqdm( + total=100, + position=slot, + desc=f"Task {task_id} Starting...", + bar_format="{l_bar}{bar}| {n_fmt}/{total_fmt} [{elapsed}<{remaining}]", + leave=False + ) + self.active_bars[task_id] = {'bar': bar, 'slot': slot} + + bar_info = self.active_bars[task_id] + bar = bar_info['bar'] + + # --- Handle messages --- + try: + if msg_type == ProgressTypes.INIT: + total = data.get('total', 100) + desc = data.get('desc', '') + bar.reset(total=total) bar.set_description(desc) + bar.refresh() - elif msg_type == ProgressTypes.RESET: - # Scenario: Level search finished, starting MultiPipeline, reset progress bar - total = data['total'] - desc = data['desc'] - bar.reset(total=total) - bar.set_description(desc) - bar.refresh() - - elif msg_type == ProgressTypes.FINISH: - desc = data['desc'] - if desc: + elif msg_type == ProgressTypes.UPDATE: + val = data.get('value', 1) + bar.update(val) + + elif msg_type == ProgressTypes.DESC: + desc = data.get('desc') + if desc: bar.set_description(desc) + + elif msg_type == ProgressTypes.RESET: + total = data.get('total', 100) + desc = data.get('desc', '') + bar.reset(total=total) bar.set_description(desc) - bar.refresh() - # Note: We do not close the bar here to keep it displayed until all tasks are finished and closed together. - active_tasks -= 1 - - elif msg_type == ProgressTypes.ERROR: - desc = data['desc'] - bar.set_description(desc) - bar.refresh() - active_tasks -= 1 + bar.refresh() + + elif msg_type == ProgressTypes.FINISH or msg_type == ProgressTypes.ERROR: + # Update sub progress bar status + desc = data.get('desc') + if desc: bar.set_description(desc) + bar.refresh() + + # Close sub progress bar and release slot + bar.close() # 因为 leave=False，这行会从屏幕消失 + slot = bar_info['slot'] + self._release_slot(slot) + del self.active_bars[task_id] + + # Update the main progress bar + main_bar.update(1) + main_bar.refresh() + + pending_tasks -= 1 - # After all tasks are finished, close all bars - for bar in self.bars.values(): - bar.close() + except Exception as e: + pass # Prevent printing errors from disrupting layout + + # Close all remaining bars (theoretically should be empty except main_bar) + main_bar.close() + for info in self.active_bars.values(): + info['bar'].close() def start_progress_monitor_thread(total_rows): """ diff --git a/robogauge/utils/visualize_results.py b/robogauge/utils/visualize/plot_radar_and_bar.py similarity index 94% rename from robogauge/utils/visualize_results.py rename to robogauge/utils/visualize/plot_radar_and_bar.py index 9ee2aa3..820dd88 100644 --- a/robogauge/utils/visualize_results.py +++ b/robogauge/utils/visualize/plot_radar_and_bar.py @@ -1,3 +1,12 @@ +# -*- coding: utf-8 -*- +''' +@File : plot_radar_and_bar.py +@Time : 2025/12/27 22:52:24 +@Author : wty-yy (with Gemini 3) +@Version : 1.0 +@Blog : https://wty-yy.github.io/ +@Desc : 可视化评测结果，生成雷达图和柱状图 +''' import matplotlib.pyplot as plt from pathlib import Path import numpy as np @@ -48,9 +57,10 @@ def load_data(file_paths): model_name = os.path.basename(raw_path).replace('.pt', '') values = [] + summary = content['summary'] for k in metric_keys: - if k in content: - raw_val = content[k]['mean@50'] + if k in summary: + raw_val = summary[k]['mean@25'] values.append(parse_value_string(raw_val)) else: values.append(0.0) diff --git a/robogauge/utils/visualize/plot_terrain_levels.py b/robogauge/utils/visualize/plot_terrain_levels.py new file mode 100644 index 0000000..dac1a96 --- /dev/null +++ b/robogauge/utils/visualize/plot_terrain_levels.py @@ -0,0 +1,168 @@ +# -*- coding: utf-8 -*- +''' +@File : plot_terrain_levels.py +@Time : 2025/12/27 23:04:01 +@Author : wty-yy (with Gemini 3) +@Version : 1.0 +@Blog : https://wty-yy.github.io/ +@Desc : None +@Desc : 可视化不同地形下随着摩擦力变化的关卡通过等级 (Terrain Level vs Friction) +''' +import matplotlib.pyplot as plt +from pathlib import Path +import numpy as np +import yaml +import argparse +import os +import re + +# --- 配置 Matplotlib 样式 --- +config = { + "font.family": 'serif', + "figure.figsize": (18, 10), + "font.size": 12, + "mathtext.fontset": 'cm', + 'axes.unicode_minus': False +} +plt.rcParams.update(config) +plt.rcParams['font.serif'] = ['Times New Roman', 'DejaVu Serif', 'serif'] + +def load_terrain_data(file_paths): + """ + 加载数据并按模型、地形、摩擦力组织 + Returns: + model_data: {model_name: {terrain_type: {friction: level}}} + """ + target_terrains = ['wave', 'slope', 'stairs_up', 'stairs_down', 'obstacle'] + model_data = {} + + # 用于从键名中提取 friction 的正则 (例如 friction1.25) + friction_pattern = re.compile(r'friction([\d\.]+)') + + for path in file_paths: + if not os.path.exists(path): + print(f"[ERROR] File not found: {path}") + continue + + with open(path, 'r', encoding='utf-8') as f: + content = yaml.safe_load(f) + + # 获取模型名称 + raw_path = content.get('model_path', 'Unknown_Model') + model_name = os.path.basename(raw_path).replace('.pt', '') + + if model_name not in model_data: + model_data[model_name] = {t: {} for t in target_terrains} + + # 遍历YAML中的每个测试条目 + for key, value in content.items(): + if key in ['model_path', 'summary']: + continue + + # 1. 检查地形是否在目标列表中 + t_name = value.get('terrain_name') + if t_name not in target_terrains: + continue + + # 2. 从 key 中提取摩擦力 + match = friction_pattern.search(key) + if not match: + continue + friction = float(match.group(1)) + + # 3. 获取地形等级 (取该条件下该地形的最大值，防止重复) + level = value.get('terrain_level', 0) + + # 记录数据 + current_max = model_data[model_name][t_name].get(friction, -1) + if level > current_max: + model_data[model_name][t_name][friction] = level + + return model_data, target_terrains + +def plot_results(model_data, terrain_labels, output_file=None): + """绘制 2x3 的子图""" + if not model_data: + print("No data to plot.") + return + + # 设置 2行3列 的布局 + fig, axes = plt.subplots(2, 3, figsize=(18, 10), sharex=True, sharey=True) + axes = axes.flatten() + + # 自动获取颜色映射 + colors = plt.cm.get_cmap("tab10", len(model_data)) + + # 遍历前5个地形进行绘图 + for i, t_name in enumerate(terrain_labels): + ax = axes[i] + + for idx, (model_name, terrains) in enumerate(model_data.items()): + data_points = terrains.get(t_name, {}) + if not data_points: + continue + + # 排序 (Friction, Level) + sorted_points = sorted(data_points.items()) + xs, ys = zip(*sorted_points) + + ax.plot(xs, ys, marker='o', linestyle='-', linewidth=2, + label=model_name, color=colors(idx), alpha=0.8) + + ax.set_title(t_name.replace('_', ' ').title(), fontsize=14) + ax.grid(True, linestyle='--', alpha=0.6) + + # --- 第6张图：绘制平均值 (Average) --- + ax_avg = axes[5] + for idx, (model_name, terrains) in enumerate(model_data.items()): + # 聚合该模型下所有地形的数据用于计算平均值 + # 结构: friction -> [level_slope, level_wave, ...] + friction_agg = {} + for t_name in terrain_labels: + for f, l in terrains[t_name].items(): + if f not in friction_agg: + friction_agg[f] = [] + friction_agg[f].append(l) + + if not friction_agg: + continue + + # 计算平均值并排序 + sorted_frictions = sorted(friction_agg.keys()) + avg_levels = [np.mean(friction_agg[f]) for f in sorted_frictions] + + ax_avg.plot(sorted_frictions, avg_levels, marker='s', linestyle='-', linewidth=2, + label=model_name, color=colors(idx), alpha=0.8) + + ax_avg.set_title('Average Performance', fontsize=14) + ax_avg.grid(True, linestyle='--', alpha=0.6) + + # 仅在最后一张图显示图例，避免遮挡 + ax_avg.legend(loc='best', frameon=False, title="Models") + + # 最下面一行设置 X 轴标签 + for i in [3, 4, 5]: + axes[i].set_xlabel('Friction ($\mu$)') + + # 最左边一列设置 Y 轴标签 + for i in [0, 3]: + axes[i].set_ylabel('Terrain Level') + + plt.tight_layout() + # 稍微调整间距防止标签重叠 + # plt.subplots_adjust(wspace=0.1, hspace=0.15) + + if output_file: + plt.savefig(output_file, dpi=300, bbox_inches='tight') + print(f"Plot saved to {output_file}") + else: + plt.show() + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Plot terrain level vs friction curves.") + parser.add_argument('files', metavar='F', type=str, nargs='+', help='YAML result files') + parser.add_argument('--out', type=str, default='terrain_analysis.jpg', help='Output image filename') + args = parser.parse_args() + + data, labels = load_terrain_data(args.files) + plot_results(data, labels, output_file=args.out) \ No newline at end of file diff --git a/run.bash b/run.bash new file mode 100755 index 0000000..9d047e0 --- /dev/null +++ b/run.bash @@ -0,0 +1,49 @@ +#!/bin/bash + +source /root/Programs/miniforge3/bin/activate robot + +python robogauge/scripts/run.py \ + --task go2_moe \ + --experiment-name debug \ + --stress-benchmark \ + --stress-terrain-names flat slope stairs_up stairs_down wave obstacle \ + --num-processes 62 \ + --seeds 0 1 2 3 4 \ + --frictions 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 \ + --compress-logs \ + --headless + +python robogauge/scripts/run.py \ + --task go2_moe \ + --model-path /root/Coding/RoboGauge/mytest/go2_moe_cts_hard_terrain_141k.pt \ + --experiment-name debug \ + --stress-benchmark \ + --stress-terrain-names flat slope stairs_up stairs_down wave obstacle \ + --num-processes 62 \ + --seeds 0 1 2 3 4 \ + --frictions 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 \ + --compress-logs \ + --headless + +python robogauge/scripts/run.py \ + --task go2 \ + --model-path /root/Coding/RoboGauge/mytest/go2_cts_hard_terrain_141k.pt \ + --experiment-name debug \ + --stress-benchmark \ + --stress-terrain-names flat slope stairs_up stairs_down wave obstacle \ + --num-processes 62 \ + --seeds 0 1 2 3 4 \ + --frictions 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 \ + --compress-logs \ + --headless + +python robogauge/scripts/run.py \ + --task go2 \ + --experiment-name debug \ + --stress-benchmark \ + --stress-terrain-names flat slope stairs_up stairs_down wave obstacle \ + --num-processes 62 \ + --seeds 0 1 2 3 4 \ + --frictions 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 \ + --compress-logs \ + --headless diff --git a/setup.py b/setup.py index c2e3170..e39d8d0 100644 --- a/setup.py +++ b/setup.py @@ -13,9 +13,11 @@ setup( "mujoco>=3.0.0", "dm_control>=1.0.14", "scipy", - "matplotlib", + "matplotlib==3.6.3", "tqdm", "imageio[ffmpeg]", + "tensorboard", + "PyYAML", ], python_requires=">=3.8",