RoboGauge/CMD.md

Single Pipeline

python robogauge/scripts/run.py \
    --task go2_moe.flat \
    --experiment-name debug \
    --headless

Multi Pipeline

python robogauge/scripts/run.py \
    --task go2_moe.flat \
    --experiment-name debug \
    --multi \
    --num-processes 5 \
    --seeds 0 1 2 3 4 \
    --frictions 0.5 1.0 1.5 2.0 2.5 \
    --headless

Level Pipeline

# Must specify single frictions for LevelPipeline!
python robogauge/scripts/run.py \
    --task go2_moe.slope \
    --experiment-name debug \
    --search-max-level \
    --seeds 0 1 2 \
    --frictions 1.0 \
    --headless

Stress Pipeline

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 \
    --seeds 0 1 2 \
    --frictions 0.5 1.0 1.5 2.0 2.5 \
    --headless

Radar/Bar Plot

将Multi Run结果绘制在雷达图中

# 可选--out保存到图片
python robogauge/utils/visualize_results.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 \
    /home/xfy/Coding/robot_gauge/mytest/results \
    --range 0.35 1.0 \
    --out logs/1.jpg