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v0.1.18; fix bug

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wty-yy
2025-12-29 01:57:36 +00:00
parent 7a304be263
commit feb9ddf907
3 changed files with 41 additions and 13 deletions
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2
UPDATE.md
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@@ -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

20
robogauge/tasks/pipeline/stress_pipeline.py
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@@ -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
@@ -189,30 +189,32 @@ 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']
for metric, means in result['results']['terrain_weighted_summary'].items():
for mean_name, value_str in means.items():
value = float(value_str.split(' ± ')[0])
metric_collections[metric][mean_name].append(value)
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])
metric_collections[metric][mean_name].append(value)
for mean_name, value in result['results']['terrain_quality_score'].items():
terrain_collections[terrain_name][mean_name].append(value)
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))

32
run.bash
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@@ -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