v0.1.18; fix bug

UPDATE.md

@@ -6,6 +6,8 @@
 3. 对有难度地形设置goals, 但是忘记设置到地形的正中心了!!!在每种地形上调出对应的中心初始位置
 4. 添加`--spawn-type`配置, 根据评估和搜索修改初始生成点, 完成slope, wave, stairs up, stairs down, obstacle
 5. 重新详细设计整个打分标准, 引入几个阶段性得分: quality_score, terrain_quality_score, robust_score, benchmark_score
+6. 对于楼梯环境, 计算benchmark_score和统计每个metrics平均分时, 不计算下楼梯, 因为下楼梯几乎对模型没有仍和区分度 (都是最高难度)
+Fix bug: 修复零难度的地形个数计算问题
 ## 20251227
 ### v0.1.17
 1. args中添加`goals`配置, 在LevelPipeline和MultiPipeline中指定goals, 修正压力测试中评估的目标不对的问题

robogauge/tasks/pipeline/stress_pipeline.py

@@ -181,7 +181,7 @@ class StressPipeline:
         summary = {**self.static_info, 'summary': {}, 'robust_score': {}, 'benchmark_score': 0.0}
         metric_collections = defaultdict(lambda: defaultdict(list))
         terrain_collections = defaultdict(lambda: defaultdict(list))
-        zero_terrain_count = 0
+        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
@@ -189,10 +189,11 @@ class StressPipeline:
             key += f'_baseMass{result["data"]["base_mass"]}_friction{result["data"]["friction"]}'
             if terrain_level == 0:
                 summary[key] = None
-                zero_terrain_count += 1
+                zero_terrain_count[terrain_name] += 1
                 continue
             summary[key] = result['results']
 
+            if terrain_name != 'stairs_down':  # skip stairs_down for metrics means calculation
                 for metric, means in result['results']['terrain_weighted_summary'].items():
                     for mean_name, value_str in means.items():
                         value = float(value_str.split(' ± ')[0])
@@ -203,16 +204,17 @@ class StressPipeline:
         for metric, means in metric_collections.items():
             summary['summary'][metric] = {}
             for mean_name, values in means.items():
-                values.extend([0.0] * zero_terrain_count)  # include zero terrains
+                values.extend([0.0] * sum(zero_terrain_count.values()))  # include zero terrains
                 summary['summary'][metric][mean_name] = f"{float(np.mean(values)):.4f} ± {float(np.std(values)):.4f}"
         
         robust_score = defaultdict(dict)
         robust_scores = []
         for terrain_name, means in terrain_collections.items():
             for mean_name, values in means.items():
-                values.extend([0.0] * zero_terrain_count)  # include zero terrains
+                values.extend([0.0] * zero_terrain_count[terrain_name])  # include zero terrains
                 robust_score[terrain_name][mean_name] = float(np.mean(values))
-                robust_scores.append(robust_score[terrain_name][mean_name])
+            if terrain_name != 'stairs_down':  # skip stairs_down for benchmark score calculation
+                robust_scores.append(robust_score[terrain_name]['mean@50'])
         summary['robust_score'] = dict(robust_score)
         summary['benchmark_score'] = float(np.mean(robust_scores))
 

run.bash

@@ -9,7 +9,7 @@ python robogauge/scripts/run.py \
     --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 \
+    --frictions 0.5 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 \
     --compress-logs \
     --headless
 
@@ -21,7 +21,7 @@ python robogauge/scripts/run.py \
     --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 \
+    --frictions 0.5 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 \
     --compress-logs \
     --headless
 
@@ -33,7 +33,7 @@ python robogauge/scripts/run.py \
     --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 \
+    --frictions 0.5 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 \
     --compress-logs \
     --headless
 
@@ -44,6 +44,30 @@ python robogauge/scripts/run.py \
     --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 \
+    --frictions 0.5 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_100k.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 0.5 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_100k.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 0.5 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 \
     --compress-logs \
     --headless