adapt gym 5history

.gitignore

@@ -5,10 +5,18 @@ __pycache__/
 deploy_45dim_rl_gym/bpu_quantization/.hb_check/
 deploy_45dim_rl_gym/bpu_quantization/calibration_data/
 deploy_45dim_rl_gym/bpu_quantization/calibration_data_fast*/
+deploy_45dim_rl_gym/bpu_quantization/calibration_data_*_gym_fast*/
+deploy_45dim_rl_gym/bpu_quantization/calibration_data_*_gym_fast*_metadata.json
 deploy_45dim_rl_gym/bpu_quantization/mapper_output/
 deploy_45dim_rl_gym/bpu_quantization/mapper_output_gemm/
+deploy_45dim_rl_gym/bpu_quantization/mapper_output_*_gemm/
 deploy_45dim_rl_gym/bpu_quantization/mapper_output_6500_gemm/
 deploy_45dim_rl_gym/bpu_quantization/hb_mapper_*.log*
+deploy_45dim_rl_gym/bpu_quantization/policy_[0-9]*_actions.onnx
+deploy_45dim_rl_gym/bpu_quantization/policy_[0-9]*_bpu4d.onnx
+deploy_45dim_rl_gym/bpu_quantization/policy_[0-9]*_bpu4d_gemm.onnx
+deploy_45dim_rl_gym/bpu_quantization/policy_[0-9]*_int16_gemm.yaml
+deploy_45dim_rl_gym/bpu_quantization/policy_[0-9]*_opset11.onnx
 deploy_45dim_rl_gym/bpu_quantization/policy_robotlab_15000_bpu4d.onnx
 deploy_45dim_rl_gym/bpu_quantization/policy_robotlab_15000_bpu4d_gemm.onnx
 deploy_45dim_rl_gym/bpu_quantization/policy_robotlab_15000_opset11.onnx

deploy_45dim_rl_gym/README.md

@@ -8,6 +8,7 @@
 - `deploy_go1_rlgym_pro_sdk_fastcpp.py`：真机 Go1 PRO 低层部署脚本，独立使用 C++ LowCmd 构包/加密后端
 - `deploy_go1_rlgym_pro_sdk_lab.py`：RobotLab 策略真机部署脚本
 - `deploy_go1_rlgym_pro_sdk_lab_fastcpp.py`：RobotLab 策略真机部署脚本，独立使用 C++ LowCmd 构包/加密后端
+- `deploy_go1_rlgym_bpu_x5_fastcpp.py`：Gym 5 帧 BPU 真机部署脚本，使用 C++ LowCmd/LowState 热路径
 
 该 ONNX 策略使用 45 维单帧观测，以及 5 帧、共 225 维的历史输入，按观测项分组堆叠：
 
@@ -52,6 +53,14 @@ cd /root/go1_pro_sdk/fast_lowcmd_cpp
 PYTHONPATH=/root/go1_pro_sdk python3 setup.py build_ext --inplace
 ```
 
+Gym 5 帧 BPU 部署入口默认走 `policy_35k` 对应的 `mapper_output_35k_gemm/policy_35k_int16_gemm.bin`，
+也可以显式切换：
+
+```bash
+PYTHONPATH=/root/go1_pro_deploy python3 deploy_45dim_rl_gym/deploy_go1_rlgym_bpu_x5_fastcpp.py --bpu-round 35k
+PYTHONPATH=/root/go1_pro_deploy python3 deploy_45dim_rl_gym/deploy_go1_rlgym_bpu_x5_fastcpp.py --bpu-round 30k
+```
+
 ## 安全说明
 
 直接低层控电机是危险操作。

deploy_45dim_rl_gym/bpu_deploy_x5/bpu_policy.py

@@ -59,8 +59,6 @@ class BpuInferLibPolicy:
     """Default fast backend: direct C++ DNN API via ctypes."""
 
     backend_name = "cpp_dnn_api_x5"
-    input_shape = (1, 1, 1, 450)
-    output_shape = (1, 12, 1, 1)
 
     def __init__(self, model_path, priority=0, bpu_cores=(0,), cpp_lib=DEFAULT_CPP_LIB):
         self.model_path = Path(model_path).expanduser().resolve()
@@ -94,6 +92,10 @@ class BpuInferLibPolicy:
         self._lib.rlgym_bpu_infer.restype = ctypes.c_int
         self._lib.rlgym_bpu_destroy.argtypes = [ctypes.c_void_p]
         self._lib.rlgym_bpu_destroy.restype = None
+        self._lib.rlgym_bpu_input_floats.argtypes = [ctypes.c_void_p]
+        self._lib.rlgym_bpu_input_floats.restype = ctypes.c_int
+        self._lib.rlgym_bpu_output_floats.argtypes = [ctypes.c_void_p]
+        self._lib.rlgym_bpu_output_floats.restype = ctypes.c_int
         self._lib.rlgym_bpu_version.argtypes = []
         self._lib.rlgym_bpu_version.restype = ctypes.c_char_p
 
@@ -107,7 +109,13 @@ class BpuInferLibPolicy:
         )
         if not self._handle:
             raise RuntimeError(err.value.decode("utf-8", errors="replace"))
-        self._output = np.empty(12, dtype=np.float32)
+        self.input_size = int(self._lib.rlgym_bpu_input_floats(self._handle))
+        self.output_size = int(self._lib.rlgym_bpu_output_floats(self._handle))
+        if self.input_size <= 0 or self.output_size <= 0:
+            raise RuntimeError("invalid BPU tensor sizes reported by runtime")
+        self.input_shape = (1, 1, 1, self.input_size)
+        self.output_shape = (1, self.output_size, 1, 1)
+        self._output = np.empty(self.output_size, dtype=np.float32)
         self._output_ptr = self._output.ctypes.data_as(ctypes.POINTER(ctypes.c_float))
         self._err = ctypes.create_string_buffer(1024)
 
@@ -131,8 +139,8 @@ class BpuInferLibPolicy:
 
     def __call__(self, flat_input):
         arr = np.asarray(flat_input, dtype=np.float32)
-        if arr.size != 450:
+        if arr.size != self.input_size:
-            raise ValueError(f"BPU policy input has {arr.size} values, expected 450")
+            raise ValueError(f"BPU policy input has {arr.size} values, expected {self.input_size}")
         input_flat = np.ascontiguousarray(arr.reshape(-1), dtype=np.float32)
         rc = self._lib.rlgym_bpu_infer(
             self._handle,
@@ -172,6 +180,9 @@ class BpuInferLibPythonPolicy:
         self.priority = int(priority)
         self.bpu_cores = tuple(int(core) for core in bpu_cores)
         self.suppress_runtime_output = bool(suppress_runtime_output)
+        self.input_size = 450
+        self.input_shape = (1, 1, 1, self.input_size)
+        self.output_shape = (1, 12, 1, 1)
         with suppress_c_output(self.suppress_runtime_output):
             self.infer = Infer(False)
             loaded = self.infer.load_model(str(self.model_path))
@@ -185,8 +196,8 @@ class BpuInferLibPythonPolicy:
 
     def __call__(self, flat_input):
         arr = np.asarray(flat_input, dtype=np.float32)
-        if arr.size != 450:
+        if arr.size != self.input_size:
-            raise ValueError(f"BPU policy input has {arr.size} values, expected 450")
+            raise ValueError(f"BPU policy input has {arr.size} values, expected {self.input_size}")
         input_4d = np.ascontiguousarray(arr.reshape(self.input_shape), dtype=np.float32)
         with suppress_c_output(self.suppress_runtime_output):
             copied = self.infer.read_numpy_arr_float32(input_4d, 0)

deploy_45dim_rl_gym/bpu_deploy_x5/cpp/bpu_dnn_bench.cpp

@@ -12,8 +12,10 @@
 extern "C" {
 void *rlgym_bpu_create(const char *model_path, int bpu_core, int priority,
                        char *err, int err_len);
-int rlgym_bpu_infer(void *handle, const float *input450, float *output12, char *err,
+int rlgym_bpu_infer(void *handle, const float *input, float *output, char *err,
                     int err_len);
+int rlgym_bpu_input_floats(void *handle);
+int rlgym_bpu_output_floats(void *handle);
 void rlgym_bpu_destroy(void *handle);
 }
 
@@ -54,12 +56,6 @@ int main(int argc, char **argv) {
   if (argc > 2) input = argv[2];
   if (argc > 3) repeat = std::atoi(argv[3]);
 
-  std::vector<float> obs;
-  if (!read_f32_file(input, &obs) || obs.size() != 450) {
-    std::cerr << "failed to read 450 float32 input: " << input << "\n";
-    return 2;
-  }
-
   char err[1024] = {};
   void *handle = rlgym_bpu_create(model, 1, 0, err, sizeof(err));
   if (handle == nullptr) {
@@ -67,20 +63,37 @@ int main(int argc, char **argv) {
     return 3;
   }
 
-  float out[12] = {};
+  const int input_floats = rlgym_bpu_input_floats(handle);
-  if (rlgym_bpu_infer(handle, obs.data(), out, err, sizeof(err)) != 0) {
+  const int output_floats = rlgym_bpu_output_floats(handle);
+  if (input_floats <= 0 || output_floats <= 0) {
+    std::cerr << "invalid tensor sizes from BPU runtime\n";
+    rlgym_bpu_destroy(handle);
+    return 2;
+  }
+
+  std::vector<float> obs;
+  if (!read_f32_file(input, &obs) || static_cast<int>(obs.size()) != input_floats) {
+    std::cerr << "failed to read " << input_floats << " float32 input: " << input << "\n";
+    rlgym_bpu_destroy(handle);
+    return 2;
+  }
+
+  std::vector<float> out(static_cast<size_t>(output_floats), 0.0f);
+  if (rlgym_bpu_infer(handle, obs.data(), out.data(), err, sizeof(err)) != 0) {
     std::cerr << err << "\n";
     rlgym_bpu_destroy(handle);
     return 4;
   }
   float max_diff = 0.0f;
+  if (input_floats == 450 && output_floats == 12) {
     for (int i = 0; i < 12; ++i) {
-    max_diff = std::max(max_diff, std::fabs(out[i] - kReference[i]));
+      max_diff = std::max(max_diff, std::fabs(out[static_cast<size_t>(i)] - kReference[i]));
+    }
   }
 
   const auto t0 = std::chrono::steady_clock::now();
   for (int i = 0; i < repeat; ++i) {
-    if (rlgym_bpu_infer(handle, obs.data(), out, err, sizeof(err)) != 0) {
+    if (rlgym_bpu_infer(handle, obs.data(), out.data(), err, sizeof(err)) != 0) {
       std::cerr << err << "\n";
       rlgym_bpu_destroy(handle);
       return 5;
@@ -90,10 +103,13 @@ int main(int argc, char **argv) {
   const double elapsed_ms =
       std::chrono::duration<double, std::milli>(t1 - t0).count();
 
+  std::cout << "input_floats=" << input_floats << " output_floats=" << output_floats << "\n";
+  if (input_floats == 450 && output_floats == 12) {
     std::cout << "reference_max_abs_diff " << max_diff << "\n";
+  }
   std::cout << "repeat=" << repeat << " cpp_avg_ms=" << (elapsed_ms / repeat) << "\n";
   std::cout << "action0=" << out[0] << " action_max_abs="
-            << *std::max_element(out, out + 12, [](float a, float b) {
+            << *std::max_element(out.begin(), out.end(), [](float a, float b) {
                  return std::fabs(a) < std::fabs(b);
                })
             << "\n";

deploy_45dim_rl_gym/bpu_deploy_x5/cpp/bpu_dnn_policy.cpp

@@ -13,7 +13,6 @@
 
 namespace {
 
-constexpr int kInputFloats = 450;
 constexpr int kOutputFloats = 12;
 
 void set_error(char *err, int err_len, const std::string &msg) {
@@ -88,10 +87,10 @@ class BpuDnnPolicy {
     check_dnn(hbDNNGetOutputTensorProperties(&output_tensors_[0].properties, dnn_handle_, 0),
               "hbDNNGetOutputTensorProperties");
 
-    validate_tensor(input_tensors_[0].properties, kInputFloats, HB_DNN_TENSOR_TYPE_F32,
+    input_floats_ = element_count(input_tensors_[0].properties.validShape);
-                    "input");
+    output_floats_ = element_count(output_tensors_[0].properties.validShape);
-    validate_tensor(output_tensors_[0].properties, kOutputFloats, HB_DNN_TENSOR_TYPE_F32,
+    validate_tensor(input_tensors_[0].properties, HB_DNN_TENSOR_TYPE_F32, "input");
-                    "output");
+    validate_tensor(output_tensors_[0].properties, HB_DNN_TENSOR_TYPE_F32, "output");
 
     alloc_tensor_mem(input_tensors_[0]);
     alloc_tensor_mem(output_tensors_[0]);
@@ -112,7 +111,7 @@ class BpuDnnPolicy {
     }
 
     auto &input_mem = input_tensors_[0].sysMem[0];
-    std::memcpy(input_mem.virAddr, input, sizeof(float) * kInputFloats);
+    std::memcpy(input_mem.virAddr, input, sizeof(float) * input_floats_);
     int code = hbSysFlushMem(&input_mem, HB_SYS_MEM_CACHE_CLEAN);
     if (code != 0) {
       throw std::runtime_error(dnn_error("hbSysFlushMem(input)", code));
@@ -137,18 +136,15 @@ class BpuDnnPolicy {
     if (code != 0) {
       throw std::runtime_error(dnn_error("hbSysFlushMem(output)", code));
     }
-    std::memcpy(output, output_mem.virAddr, sizeof(float) * kOutputFloats);
+    std::memcpy(output, output_mem.virAddr, sizeof(float) * output_floats_);
   }
 
+  int input_floats() const { return input_floats_; }
+  int output_floats() const { return output_floats_; }
+
  private:
-  static void validate_tensor(const hbDNNTensorProperties &props, int expected_count,
+  static void validate_tensor(const hbDNNTensorProperties &props, int expected_type,
-                              int expected_type, const char *name) {
+                              const char *name) {
-    const int count = element_count(props.validShape);
-    if (count != expected_count) {
-      std::ostringstream oss;
-      oss << name << " valid element count " << count << " != " << expected_count;
-      throw std::runtime_error(oss.str());
-    }
     if (props.tensorType != expected_type) {
       std::ostringstream oss;
       oss << name << " tensor type " << props.tensorType << " != " << expected_type;
@@ -182,6 +178,8 @@ class BpuDnnPolicy {
   std::string model_name_;
   std::vector<hbDNNTensor> input_tensors_;
   std::vector<hbDNNTensor> output_tensors_;
+  int input_floats_{0};
+  int output_floats_{0};
   int bpu_core_{HB_BPU_CORE_ANY};
   int priority_{HB_DNN_PRIORITY_LOWEST};
 };
@@ -201,14 +199,14 @@ void *rlgym_bpu_create(const char *model_path, int bpu_core, int priority,
   }
 }
 
-int rlgym_bpu_infer(void *handle, const float *input450, float *output12, char *err,
+int rlgym_bpu_infer(void *handle, const float *input, float *output, char *err,
                     int err_len) {
   try {
     set_error(err, err_len, "");
     if (handle == nullptr) {
       throw std::runtime_error("null policy handle");
     }
-    static_cast<BpuDnnPolicy *>(handle)->infer(input450, output12);
+    static_cast<BpuDnnPolicy *>(handle)->infer(input, output);
     return 0;
   } catch (const std::exception &e) {
     set_error(err, err_len, e.what());
@@ -216,6 +214,20 @@ int rlgym_bpu_infer(void *handle, const float *input450, float *output12, char *
   }
 }
 
+int rlgym_bpu_input_floats(void *handle) {
+  if (handle == nullptr) {
+    return 0;
+  }
+  return static_cast<BpuDnnPolicy *>(handle)->input_floats();
+}
+
+int rlgym_bpu_output_floats(void *handle) {
+  if (handle == nullptr) {
+    return 0;
+  }
+  return static_cast<BpuDnnPolicy *>(handle)->output_floats();
+}
+
 void rlgym_bpu_destroy(void *handle) {
   delete static_cast<BpuDnnPolicy *>(handle);
 }

deploy_45dim_rl_gym/bpu_deploy_x5/deploy_go1_gym_bpu_x5_fastcpp.py

@@ -0,0 +1,10 @@
+#!/usr/bin/env python3
+"""Compatibility wrapper for the Gym 5-frame BPU deployment entrypoint."""
+
+import runpy
+from pathlib import Path
+
+
+if __name__ == "__main__":
+    entry = Path(__file__).resolve().parents[1] / "deploy_go1_rlgym_bpu_x5_fastcpp.py"
+    runpy.run_path(str(entry), run_name="__main__")

deploy_45dim_rl_gym/bpu_deploy_x5/test_bpu_policy.py

@@ -2,8 +2,8 @@
 """Offline BPU policy smoke test for RDK X5.
 
 This does not connect to the robot. It loads a BPU .bin and one raw float32
-input file, runs bpu_infer_lib repeatedly, and optionally checks the known
+input file, runs the C++ DNN API backend repeatedly, and optionally checks the
-00000.bin reference output captured from hrt_model_exec.
+known RobotLab 00000.bin reference output captured from hrt_model_exec.
 """
 
 import argparse
@@ -47,15 +47,19 @@ def main():
 
     input_path = Path(args.input_bin).expanduser().resolve()
     data = np.fromfile(input_path, dtype=np.float32)
-    if data.size != 450:
-        raise ValueError(f"{input_path} has {data.size} float32 values, expected 450")
-
     policy = BpuInferLibPolicy(args.bpu_model)
+    if data.size != policy.input_size:
+        raise ValueError(
+            f"{input_path} has {data.size} float32 values, "
+            f"but model expects {policy.input_size}"
+        )
     action = policy(data)
     print("action", np.array2string(action, precision=6))
     print("action_max_abs", float(np.max(np.abs(action))))
 
     if args.check_reference_00000:
+        if policy.input_size != 450:
+            raise ValueError("--check-reference-00000 is only valid for the 450-dim RobotLab reference input")
         diff = np.abs(action - REFERENCE_00000)
         print("reference_max_abs_diff", float(diff.max()))
         print("reference_mean_abs_diff", float(diff.mean()))

deploy_45dim_rl_gym/bpu_quantization/README.md

@@ -1,8 +1,8 @@
 # RDK X5 BPU 量化流程
 
-这个目录用于把 `../policy_robotlab_15000.onnx` 转成 RDK X5 可运行的
+这个目录用于把 Gym/RobotLab 的 ONNX 策略转成 RDK X5 可运行的 Horizon
-Horizon runtime `.bin`。量化在 Mac 上用 CPU Docker 完成，板端只做离线
+runtime `.bin`。量化在 Mac 上用 CPU Docker 完成，板端可以做离线测速和实机
-`hrt_model_exec` 验证，暂时不要直接接入实机控制。
+部署测试。
 
 参考资料：
 
@@ -10,14 +10,103 @@ Horizon runtime `.bin`。量化在 Mac 上用 CPU Docker 完成，板端只做
 - D-Robotics 论坛 WTW/Go2/X5 流程：`https://forum.d-robotics.cc/t/topic/28338`
 
 官方工具链对 ONNX 的关键限制是：`ir_version <= 7`、`opset10/11`、固定
-4 维输入，且 N 维只能为 1。因此这里不能直接拿原始 RobotLab ONNX 编译，
+4 维输入，且 N 维只能为 1。因此这里不能直接拿原始 ONNX 编译，需要先裁剪
-需要先降级 opset，再把 `[1, 450]` 输入包成固定 4D `NCHW`：
+actions-only 输出、降级 opset，再把 `[1, D]` 输入包成固定 4D `NCHW`：
-`[1, 1, 1, 450]`。
+Gym 5 帧是 `[1, 1, 1, 225]`，RobotLab 10 帧是 `[1, 1, 1, 450]`。
 
 ## 当前状态
 
+新增 Gym 5 帧策略的一键量化入口，默认目标是：
+
+- 原始模型：`../policy_35k.onnx`
+- 原始输入：`obs [1, 225]`
+- BPU 编译输入：`obs_4d [1, 1, 1, 225]`
+- BPU 输出：`actions [1, 12, 1, 1]`
+- 默认输出：`mapper_output_35k_gemm/policy_35k_int16_gemm.bin`
+- 默认校准数据：`calibration_data_35k_gym_fast64/`
+
+本机 Docker 已完成一次默认量化：
+
+- 浮点 4D/Gemm 图等价对比：64 个真实样本上 `max_abs_diff = 7.15e-7`
+- `hb_mapper makertbin` 输出：`actions` cosine `0.998524`，L1 `0.014313`，L2 `0.005103`，Chebyshev `0.040004`
+- 编译估计延迟：`463.9 us`
+- 产物大小：`2.0M`
+- 产物路径：`deploy_45dim_rl_gym/bpu_quantization/mapper_output_35k_gemm/policy_35k_int16_gemm.bin`
+
+一键量化命令：
+
+```bash
+cd /Users/chenyouyuan/cyy_ws/deploy_go1_pro/deploy_45dim_rl_gym/bpu_quantization
+./quantize_policy_x5.sh
+```
+
+切换其他 Gym 轮次时直接指定模型和 round：
+
+```bash
+./quantize_policy_x5.sh --policy ../policy_30k.onnx --round 30k
+./quantize_policy_x5.sh --policy ../policy_25k.onnx --round 25k
+./quantize_policy_x5.sh --policy ../policy_15k.onnx --round 15k
+```
+
+脚本默认只抽 64 个真实 RL 样本做校准和最多 64 个样本做浮点等价对比，避免
+之前 512 样本和 batch 回退导致的量化流程过慢。需要更稳的校准时再手动加大：
+
+```bash
+./quantize_policy_x5.sh --samples 128 --compare-limit 128
+```
+
+Gym BPU 部署入口支持快速切换轮次：
+
+```bash
+cd /root/go1_pro_deploy
+PYTHONPATH=/root/go1_pro_deploy python3 deploy_45dim_rl_gym/deploy_go1_rlgym_bpu_x5_fastcpp.py \
+  --bpu-round 35k \
+  --kill-sport \
+  --enable-rl \
+  --log-dir logs \
+  --kp 32 --kd 1.0 \
+  --kp-cal 20 --kd-cal 1.0 \
+  --power-factor 9 \
+  --position-protect-limit 0.0 \
+  --action-clip 6.5 \
+  --action-trip-limit 8.0 \
+  --action-hard-trip-limit 16.0 \
+  --max-target-step 0.0 \
+  --max-roll-deg 50 \
+  --max-pitch-deg 50 \
+  --swap-vy-yaw \
+  --rc-vx-scale 0.5 \
+  --rc-vy-scale 0.5 \
+  --rc-wz-scale 1.0 \
+  --log-timing
+```
+
+也可以直接指定 bin：
+
+```bash
+PYTHONPATH=/root/go1_pro_deploy python3 deploy_45dim_rl_gym/deploy_go1_rlgym_bpu_x5_fastcpp.py \
+  --bpu-model deploy_45dim_rl_gym/bpu_quantization/mapper_output_35k_gemm/policy_35k_int16_gemm.bin \
+  --infer-check --max-steps 1000 --log-timing
+```
+
+板端离线测速：
+
+```bash
+cd /root/go1_pro_deploy
+PYTHONPATH=/root/go1_pro_deploy python3 deploy_45dim_rl_gym/bpu_deploy_x5/test_bpu_policy.py \
+  --bpu-model deploy_45dim_rl_gym/bpu_quantization/mapper_output_35k_gemm/policy_35k_int16_gemm.bin \
+  --input-bin deploy_45dim_rl_gym/bpu_quantization/calibration_data_35k_gym_fast64/00000.bin \
+  --repeat 1000
+
+cd /root/go1_pro_deploy/deploy_45dim_rl_gym/bpu_deploy_x5/cpp
+./bpu_dnn_bench \
+  /root/go1_pro_deploy/deploy_45dim_rl_gym/bpu_quantization/mapper_output_35k_gemm/policy_35k_int16_gemm.bin \
+  /root/go1_pro_deploy/deploy_45dim_rl_gym/bpu_quantization/calibration_data_35k_gym_fast64/00000.bin \
+  1000
+```
+
 已经完成 `policy_robotlab_15000.onnx` 和 `policy_robotlab_6500.onnx` 的 int16
-量化。当前 BPU 部署默认使用 6500 版本：
+量化。RobotLab BPU 部署默认仍使用 6500 版本：
 
 - 原始模型：`../policy_robotlab_6500.onnx`
 - 原始输入：`obs [1, 450]`

deploy_45dim_rl_gym/bpu_quantization/compare_4d_onnx.py

@@ -8,11 +8,17 @@ import numpy as np
 import onnxruntime as ort
 
 
-def load_samples(calibration_dir, limit):
+def load_samples(calibration_dir, limit, flat_dim):
     paths = sorted(Path(calibration_dir).glob("*.bin"))[:limit]
     if not paths:
         raise FileNotFoundError(f"No calibration .bin files found in {calibration_dir}")
-    return [np.fromfile(path, dtype=np.float32).reshape(1, 450) for path in paths]
+    samples = []
+    for path in paths:
+        sample = np.fromfile(path, dtype=np.float32)
+        if sample.size != flat_dim:
+            raise ValueError(f"{path} has {sample.size} float32 values, expected {flat_dim}")
+        samples.append(sample.reshape(1, flat_dim))
+    return samples
 
 
 def main():
@@ -20,6 +26,7 @@ def main():
     parser.add_argument("--flat-onnx", type=Path, required=True)
     parser.add_argument("--bpu4d-onnx", type=Path, required=True)
     parser.add_argument("--calibration-dir", type=Path, default=Path("calibration_data"))
+    parser.add_argument("--flat-dim", type=int, default=450)
     parser.add_argument("--limit", type=int, default=64)
     args = parser.parse_args()
 
@@ -30,9 +37,9 @@ def main():
 
     max_abs = 0.0
     max_mean_abs = 0.0
-    for sample in load_samples(args.calibration_dir, args.limit):
+    for sample in load_samples(args.calibration_dir, args.limit, args.flat_dim):
         out_flat = flat.run(None, {flat_input: sample})[0]
-        out_wrapped = wrapped.run(None, {wrapped_input: sample.reshape(1, 1, 1, 450)})[0]
+        out_wrapped = wrapped.run(None, {wrapped_input: sample.reshape(1, 1, 1, args.flat_dim)})[0]
         diff = np.abs(out_flat - out_wrapped)
         max_abs = max(max_abs, float(diff.max()))
         max_mean_abs = max(max_mean_abs, float(diff.mean()))

deploy_45dim_rl_gym/bpu_quantization/keep_actions_output.py

@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+"""Keep only the actions output in a policy ONNX graph."""
+
+import argparse
+from pathlib import Path
+
+import onnx
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--input", type=Path, required=True)
+    parser.add_argument("--output", type=Path, required=True)
+    parser.add_argument("--output-name", default="actions")
+    args = parser.parse_args()
+
+    model = onnx.load(str(args.input))
+    outputs = list(model.graph.output)
+    if not outputs:
+        raise ValueError("ONNX graph has no outputs")
+
+    selected = None
+    for output in outputs:
+        if output.name == args.output_name:
+            selected = output
+            break
+    if selected is None:
+        selected = outputs[0]
+        print(f"[WARN] output {args.output_name!r} not found; keeping first output {selected.name!r}")
+
+    del model.graph.output[:]
+    model.graph.output.append(selected)
+
+    args.output.parent.mkdir(parents=True, exist_ok=True)
+    onnx.save(model, str(args.output))
+    print(f"Wrote actions-only ONNX: {args.output}")
+
+
+if __name__ == "__main__":
+    main()

deploy_45dim_rl_gym/bpu_quantization/make_calibration_data.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Build float32 BPU calibration inputs from recorded RobotLab deployment logs."""
+"""Build float32 BPU calibration inputs from recorded deployment logs."""
 
 import argparse
 import json
@@ -11,16 +11,14 @@ import numpy as np
 
 
 NUM_OBS = 45
-HISTORY_LEN = 10
-ONNX_INPUT_DIM = NUM_OBS * HISTORY_LEN
 TERM_DIMS = (3, 3, 3, 12, 12, 12)
 HERE = Path(__file__).resolve().parent
 DEFAULT_LOG_ROOT = HERE.parents[1] / "logs"
 
 
-def build_onnx_input(history):
+def build_policy_input(history, history_len):
     frames = list(history)
-    while len(frames) < HISTORY_LEN:
+    while len(frames) < history_len:
         frames.insert(0, np.zeros(NUM_OBS, dtype=np.float32))
 
     chunks = []
@@ -41,14 +39,14 @@ def reservoir_add(samples, value, seen, max_samples, rng):
         samples[replace_index] = value
 
 
-def collect_samples(log_paths, max_samples, seed):
+def collect_samples(log_paths, max_samples, seed, history_len):
     rng = random.Random(seed)
     samples = []
     seen = 0
     usable_runs = []
 
     for steps_path in log_paths:
-        history = deque(maxlen=HISTORY_LEN)
+        history = deque(maxlen=history_len)
         run_seen = 0
         was_rl = False
 
@@ -71,13 +69,13 @@ def collect_samples(log_paths, max_samples, seed):
                     continue
 
                 history.append(obs)
-                onnx_input = build_onnx_input(history)
+                policy_input = build_policy_input(history, history_len)
-                if not np.all(np.isfinite(onnx_input)):
+                if not np.all(np.isfinite(policy_input)):
                     continue
 
                 seen += 1
                 run_seen += 1
-                reservoir_add(samples, onnx_input, seen, max_samples, rng)
+                reservoir_add(samples, policy_input, seen, max_samples, rng)
 
         if run_seen:
             usable_runs.append({"steps": str(steps_path), "samples": run_seen})
@@ -87,14 +85,18 @@ def collect_samples(log_paths, max_samples, seed):
 
 def main():
     parser = argparse.ArgumentParser(
-        description="Create BPU float32 calibration .bin files from RobotLab JSONL logs."
+        description="Create BPU float32 calibration .bin files from JSONL deployment logs."
     )
     parser.add_argument(
         "--logs-root",
         type=Path,
         default=DEFAULT_LOG_ROOT,
-        help="Directory containing robotlab_go1_deploy_*/steps.jsonl.",
+        help="Directory containing <log-prefix>_*/steps.jsonl.",
     )
+    parser.add_argument("--log-prefix", default="robotlab_go1_deploy",
+                        help="Run directory prefix below --logs-root")
+    parser.add_argument("--history-len", type=int, default=10,
+                        help="Number of 45-dim observations to stack by term")
     parser.add_argument(
         "--output-dir",
         type=Path,
@@ -102,23 +104,28 @@ def main():
         help="Output directory for raw float32 feature-map .bin files.",
     )
     parser.add_argument("--max-samples", type=int, default=512)
+    parser.add_argument("--min-samples", type=int, default=32)
     parser.add_argument("--seed", type=int, default=20260727)
     parser.add_argument("--overwrite", action="store_true")
     args = parser.parse_args()
 
-    if args.max_samples < 32:
+    if args.max_samples < 1:
-        raise ValueError("--max-samples must be at least 32")
+        raise ValueError("--max-samples must be positive")
+    if args.history_len < 1:
+        raise ValueError("--history-len must be positive")
 
-    log_paths = sorted(args.logs_root.glob("robotlab_go1_deploy_*/steps.jsonl"))
+    log_paths = sorted(args.logs_root.glob(f"{args.log_prefix}_*/steps.jsonl"))
     if not log_paths:
-        raise FileNotFoundError(f"No RobotLab step logs found below {args.logs_root}")
+        raise FileNotFoundError(
+            f"No step logs found for prefix {args.log_prefix!r} below {args.logs_root}"
+        )
 
     samples, total_seen, usable_runs = collect_samples(
-        log_paths, args.max_samples, args.seed
+        log_paths, args.max_samples, args.seed, args.history_len
     )
-    if len(samples) < 32:
+    if len(samples) < args.min_samples:
         raise RuntimeError(
-            f"Only {len(samples)} valid RL inputs found; need at least 32 calibration samples."
+            f"Only {len(samples)} valid RL inputs found; need at least {args.min_samples} calibration samples."
         )
 
     output_dir = args.output_dir.resolve()
@@ -134,13 +141,15 @@ def main():
     for index, sample in enumerate(samples):
         sample.astype(np.float32, copy=False).tofile(output_dir / f"{index:05d}.bin")
 
+    policy_input_dim = NUM_OBS * args.history_len
     metadata = {
         "format": "raw float32 feature-map",
-        "flat_shape": [1, ONNX_INPUT_DIM],
+        "flat_shape": [1, policy_input_dim],
-        "mapper_shape": [1, 1, 1, ONNX_INPUT_DIM],
+        "mapper_shape": [1, 1, 1, policy_input_dim],
-        "history_len": HISTORY_LEN,
+        "history_len": args.history_len,
         "num_obs": NUM_OBS,
         "term_dims": list(TERM_DIMS),
+        "log_prefix": args.log_prefix,
         "selected_samples": len(samples),
         "candidate_rl_inputs": total_seen,
         "seed": args.seed,

deploy_45dim_rl_gym/bpu_quantization/quantize_policy_x5.sh

@@ -0,0 +1,199 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
+
+POLICY="../policy_35k.onnx"
+ROUND="35k"
+NAME=""
+HISTORY_LEN=5
+FLAT_DIM=""
+SAMPLES=64
+MIN_SAMPLES=32
+LOG_PREFIX="rlgym_go1_deploy"
+DOCKER_IMAGE="openexplorer/ai_toolchain_ubuntu_20_x5_cpu:v1.2.8"
+COMPARE_LIMIT=64
+RUN_CHECKER=1
+
+usage() {
+  cat <<'EOF'
+Usage:
+  ./quantize_policy_x5.sh [options]
+
+Default: quantize Gym policy_35k.onnx as 5-frame/225-dim int16 Gemm BPU model.
+
+Options:
+  --policy PATH          ONNX policy path, relative to this directory or absolute
+  --round NAME           round label used in output paths, e.g. 15k/25k/30k/35k
+  --name NAME            model basename; default is policy filename without .onnx
+  --history-len N        observation history length; Gym=5, RobotLab=10
+  --flat-dim N           flat input dim; default 45 * history-len
+  --samples N            calibration sample count; default 64 for faster mapping
+  --min-samples N        minimum valid samples required; default 32
+  --log-prefix PREFIX    log dir prefix below logs/, default rlgym_go1_deploy
+  --docker-image IMAGE   D-Robotics CPU toolchain image
+  --compare-limit N      float ONNX equivalence sample count, default 64
+  --skip-checker         skip hb_mapper checker before makertbin
+EOF
+}
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --policy) POLICY="$2"; shift 2 ;;
+    --round) ROUND="$2"; shift 2 ;;
+    --name) NAME="$2"; shift 2 ;;
+    --history-len) HISTORY_LEN="$2"; shift 2 ;;
+    --flat-dim) FLAT_DIM="$2"; shift 2 ;;
+    --samples) SAMPLES="$2"; shift 2 ;;
+    --min-samples) MIN_SAMPLES="$2"; shift 2 ;;
+    --log-prefix) LOG_PREFIX="$2"; shift 2 ;;
+    --docker-image) DOCKER_IMAGE="$2"; shift 2 ;;
+    --compare-limit) COMPARE_LIMIT="$2"; shift 2 ;;
+    --skip-checker) RUN_CHECKER=0; shift ;;
+    -h|--help) usage; exit 0 ;;
+    *) echo "Unknown argument: $1" >&2; usage >&2; exit 2 ;;
+  esac
+done
+
+if [[ -z "${FLAT_DIM}" ]]; then
+  FLAT_DIM=$((45 * HISTORY_LEN))
+fi
+
+if [[ "${POLICY}" = /* ]]; then
+  POLICY_ABS="${POLICY}"
+else
+  POLICY_ABS="${SCRIPT_DIR}/${POLICY}"
+fi
+POLICY_ABS="$(cd "$(dirname "${POLICY_ABS}")" && pwd)/$(basename "${POLICY_ABS}")"
+
+if [[ ! -f "${POLICY_ABS}" ]]; then
+  echo "Policy not found: ${POLICY_ABS}" >&2
+  exit 2
+fi
+case "${POLICY_ABS}" in
+  "${REPO_ROOT}"/*) POLICY_REL="${POLICY_ABS#${REPO_ROOT}/}" ;;
+  *) echo "Policy must be inside repo root ${REPO_ROOT}: ${POLICY_ABS}" >&2; exit 2 ;;
+esac
+
+if [[ -z "${NAME}" ]]; then
+  NAME="$(basename "${POLICY_ABS}" .onnx)"
+fi
+
+CAL_DIR="calibration_data_${ROUND}_gym_fast${SAMPLES}"
+OUTPUT_DIR="mapper_output_${ROUND}_gemm"
+OUTPUT_PREFIX="${NAME}_int16_gemm"
+YAML_FILE="${OUTPUT_PREFIX}.yaml"
+
+echo "[INFO] repo          : ${REPO_ROOT}"
+echo "[INFO] policy        : ${POLICY_REL}"
+echo "[INFO] name/round    : ${NAME} / ${ROUND}"
+echo "[INFO] history/shape : ${HISTORY_LEN} / 1x1x1x${FLAT_DIM}"
+echo "[INFO] calibration   : ${CAL_DIR} (${SAMPLES} samples, prefix ${LOG_PREFIX})"
+echo "[INFO] output        : ${OUTPUT_DIR}/${OUTPUT_PREFIX}.bin"
+
+docker run --rm --platform linux/amd64 \
+  -e POLICY_REL="${POLICY_REL}" \
+  -e NAME="${NAME}" \
+  -e HISTORY_LEN="${HISTORY_LEN}" \
+  -e FLAT_DIM="${FLAT_DIM}" \
+  -e SAMPLES="${SAMPLES}" \
+  -e MIN_SAMPLES="${MIN_SAMPLES}" \
+  -e LOG_PREFIX="${LOG_PREFIX}" \
+  -e CAL_DIR="${CAL_DIR}" \
+  -e OUTPUT_DIR="${OUTPUT_DIR}" \
+  -e OUTPUT_PREFIX="${OUTPUT_PREFIX}" \
+  -e YAML_FILE="${YAML_FILE}" \
+  -e COMPARE_LIMIT="${COMPARE_LIMIT}" \
+  -e RUN_CHECKER="${RUN_CHECKER}" \
+  -v "${REPO_ROOT}:/workspace/deploy_go1_pro" \
+  "${DOCKER_IMAGE}" \
+  bash -lc '
+    set -euo pipefail
+    cd /workspace/deploy_go1_pro/deploy_45dim_rl_gym/bpu_quantization
+
+    POLICY="/workspace/deploy_go1_pro/${POLICY_REL}"
+    ACTIONS_ONNX="${NAME}_actions.onnx"
+    OPSET_ONNX="${NAME}_opset11.onnx"
+    BPU4D_ONNX="${NAME}_bpu4d.onnx"
+    GEMM_ONNX="${NAME}_bpu4d_gemm.onnx"
+
+    python3 make_calibration_data.py \
+      --logs-root ../../logs \
+      --log-prefix "${LOG_PREFIX}" \
+      --history-len "${HISTORY_LEN}" \
+      --output-dir "${CAL_DIR}" \
+      --max-samples "${SAMPLES}" \
+      --min-samples "${MIN_SAMPLES}" \
+      --overwrite
+
+    python3 keep_actions_output.py \
+      --input "${POLICY}" \
+      --output "${ACTIONS_ONNX}"
+
+    python3 downgrade_policy_to_opset11.py \
+      --input "${ACTIONS_ONNX}" \
+      --output "${OPSET_ONNX}"
+
+    python3 make_bpu_4d_onnx.py \
+      --input "${OPSET_ONNX}" \
+      --output "${BPU4D_ONNX}" \
+      --flat-dim "${FLAT_DIM}"
+
+    python3 replace_group_conv_with_gemm.py \
+      --input "${BPU4D_ONNX}" \
+      --output "${GEMM_ONNX}"
+
+    python3 compare_4d_onnx.py \
+      --flat-onnx "${ACTIONS_ONNX}" \
+      --bpu4d-onnx "${GEMM_ONNX}" \
+      --calibration-dir "${CAL_DIR}" \
+      --flat-dim "${FLAT_DIM}" \
+      --limit "${COMPARE_LIMIT}"
+
+    cat > "${YAML_FILE}" <<YAML
+model_parameters:
+  onnx_model: "./${GEMM_ONNX}"
+  march: "bayes-e"
+  layer_out_dump: false
+  working_dir: "${OUTPUT_DIR}"
+  output_model_file_prefix: "${OUTPUT_PREFIX}"
+
+input_parameters:
+  input_name: "obs_4d"
+  input_shape: "1x1x1x${FLAT_DIM}"
+  input_type_rt: "featuremap"
+  input_layout_rt: "NCHW"
+  input_type_train: "featuremap"
+  input_layout_train: "NCHW"
+  norm_type: "no_preprocess"
+
+calibration_parameters:
+  cal_data_dir: "./${CAL_DIR}"
+  cal_data_type: "float32"
+  calibration_type: "default"
+  optimization: "set_all_nodes_int16"
+  per_channel: true
+
+compiler_parameters:
+  compile_mode: "latency"
+  debug: false
+  optimize_level: "O3"
+YAML
+
+    if [[ "${RUN_CHECKER}" = "1" ]]; then
+      hb_mapper checker \
+        --model "${GEMM_ONNX}" \
+        --model-type onnx \
+        --march bayes-e \
+        --input-shape obs_4d "1x1x1x${FLAT_DIM}"
+    fi
+
+    hb_mapper makertbin \
+      --config "${YAML_FILE}" \
+      --model-type onnx
+
+    ls -lh "${OUTPUT_DIR}/${OUTPUT_PREFIX}.bin"
+  '
+
+echo "[INFO] Done: deploy_45dim_rl_gym/bpu_quantization/${OUTPUT_DIR}/${OUTPUT_PREFIX}.bin"

deploy_45dim_rl_gym/bpu_quantization/replace_group_conv_with_gemm.py

@@ -48,7 +48,17 @@ def replace_node(model):
 
     conv = next((node for node in nodes if node.name == CONV_NAME), None)
     if conv is None:
-        raise ValueError(f"Cannot find node {CONV_NAME!r}")
+        candidates = [
+            node for node in nodes
+            if node.op_type == "Conv"
+            and int(attr_value(node, "group", 1)) > 1
+            and attr_value(node, "kernel_shape") == [1]
+        ]
+        if len(candidates) == 1:
+            conv = candidates[0]
+            print(f"[WARN] {CONV_NAME!r} not found; using grouped Conv {conv.name!r}")
+    if conv is None:
+        raise ValueError(f"Cannot find unique grouped 1x1 Conv node; fixed name {CONV_NAME!r} not found")
     if conv.op_type != "Conv":
         raise ValueError(f"{CONV_NAME!r} is {conv.op_type}, expected Conv")