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26k and fix bpu round

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This commit is contained in:
cyy_mac
2026-07-28 19:20:51 +08:00
parent a729020c78
commit 8e2f5d6de5
13 changed files with 148 additions and 37 deletions
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44
deploy_45dim_rl_gym/bpu_deploy_x5/README.md
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@@ -7,7 +7,7 @@
- `bpu_policy.py`：BPU policy wrapper，默认使用 `cpp_dnn_api_x5` C++ DNN API 后端。
- `cpp/`：C++ DNN API 推理库源码、板端编译脚本和纯 C++ benchmark。
- `deploy_go1_robotlab_bpu_x5_fastcpp.py`：基于现有 `lab_fastcpp` 状态机的 BPU 版本。
- `deploy_go1_robotlab_bpu_x5_fastcpp.py`：基于现有 `lab_fastcpp` 状态机的 BPU 版本，默认 26000。
## 重要限制
@@ -52,7 +52,7 @@ bash build_board.sh
默认模型：
```text
deploy_45dim_rl_gym/bpu_quantization/mapper_output_6500_gemm/policy_robotlab_6500_int16_gemm.bin
deploy_45dim_rl_gym/bpu_quantization/mapper_output_26000_gemm/policy_robotlab_26000_int16_gemm.bin
```
输入输出：
@@ -66,12 +66,12 @@ deploy_45dim_rl_gym/bpu_quantization/mapper_output_6500_gemm/policy_robotlab_650
```bash
cd /root/go1_pro_deploy
ls deploy_45dim_rl_gym/bpu_quantization/mapper_output_6500_gemm/policy_robotlab_6500_int16_gemm.bin
ls deploy_45dim_rl_gym/bpu_quantization/mapper_output_26000_gemm/policy_robotlab_26000_int16_gemm.bin
ls deploy_45dim_rl_gym/bpu_quantization/calibration_data/00000.bin
ls deploy_45dim_rl_gym/bpu_deploy_x5/cpp/libbpu_dnn_policy.so
```
如果 `mapper_output_6500_gemm/` 没有同步到 git，需要手动把 `.bin` 放到对应路径，
如果 `mapper_output_26000_gemm/` 没有同步到 git，需要手动把 `.bin` 放到对应路径，
或用 `--bpu-model` 指定绝对路径。
## 纯离线 BPU 自检
@@ -82,38 +82,32 @@ ls deploy_45dim_rl_gym/bpu_deploy_x5/cpp/libbpu_dnn_policy.so
cd /root/go1_pro_deploy
PYTHONPATH=/root/go1_pro_deploy \
python3 deploy_45dim_rl_gym/bpu_deploy_x5/test_bpu_policy.py \
--check-reference-00000 \
--bpu-model deploy_45dim_rl_gym/bpu_quantization/mapper_output_26000_gemm/policy_robotlab_26000_int16_gemm.bin \
--input-bin deploy_45dim_rl_gym/bpu_quantization/calibration_data_26000_robotlab_fast64/00000.bin \
--repeat 1000
```
通过时应看到：
```text
reference_max_abs_diff 0.0
```
当前板端 `root@192.168.150.167` 已验证：
```text
reference_max_abs_diff 4.76837158203125e-07
reference_mean_abs_diff 3.071812386679085e-07
repeat=1000 avg_ms=1.019592 # Python ctypes -> C++ DNN API
duplicate_errors=0
repeat=1000 avg_ms=... # Python ctypes -> C++ DNN API
```
纯 C++ benchmark：
```bash
cd /root/go1_pro_deploy/deploy_45dim_rl_gym/bpu_deploy_x5/cpp
./bpu_dnn_bench
./bpu_dnn_bench \
/root/go1_pro_deploy/deploy_45dim_rl_gym/bpu_quantization/mapper_output_26000_gemm/policy_robotlab_26000_int16_gemm.bin \
/root/go1_pro_deploy/deploy_45dim_rl_gym/bpu_quantization/calibration_data_26000_robotlab_fast64/00000.bin \
1000
```
当前板端结果：
```text
reference_max_abs_diff 0
repeat=1000 cpp_avg_ms=0.711932
duplicate_errors=0
input_floats=450 output_floats=12
repeat=1000 cpp_avg_ms=...
```
## 离线推理检查
@@ -132,6 +126,18 @@ python3 deploy_45dim_rl_gym/bpu_deploy_x5/deploy_go1_robotlab_bpu_x5_fastcpp.py
这一步仍会连接 MCU 读取状态，但不会发送电机指令。
如果要切回旧轮次：
```bash
PYTHONPATH=/root/go1_pro_deploy \
python3 deploy_45dim_rl_gym/bpu_deploy_x5/deploy_go1_robotlab_bpu_x5_fastcpp.py \
--bpu-round 6500
PYTHONPATH=/root/go1_pro_deploy \
python3 deploy_45dim_rl_gym/bpu_deploy_x5/deploy_go1_robotlab_bpu_x5_fastcpp.py \
--bpu-round 15000
```
## 悬空状态机测试
只有 `--infer-check` 日志确认 action 正常后，再悬空测试状态机。先不加

62
deploy_45dim_rl_gym/bpu_deploy_x5/deploy_go1_robotlab_bpu_x5_fastcpp.py
View File

@@ -5,7 +5,7 @@ Deploy the RoboGauge Go1 45-dim RobotLab BPU policy on Unitree Go1 PRO.
This uses go1_pro_sdk direct MCU control, not LCM or the official Unitree SDK.
Policy:
- policy_robotlab_6500_int16_gemm.bin
- policy_robotlab_26000_int16_gemm.bin by default
- single-frame obs: 45 dims
- BPU input: 10-frame history, 1x1x1x450 featuremap, stacked by observation terms
- command scale: [1.0, 1.0, 1.0]
@@ -66,10 +66,16 @@ except ImportError as exc:
"PYTHONPATH=/root/go1_pro_sdk python3 setup.py build_ext --inplace"
) from exc
DEFAULT_BPU_MODEL = (
HERE.parent / "bpu_quantization" / "mapper_output_6500_gemm" /
"policy_robotlab_6500_int16_gemm.bin"
)
BPU_MODEL_REGISTRY = {
"6500": HERE.parent / "bpu_quantization" / "mapper_output_6500_gemm" /
"policy_robotlab_6500_int16_gemm.bin",
"15000": HERE.parent / "bpu_quantization" / "mapper_output_gemm" /
"policy_robotlab_15000_int16_gemm.bin",
"26000": HERE.parent / "bpu_quantization" / "mapper_output_26000_gemm" /
"policy_robotlab_26000_int16_gemm.bin",
}
DEFAULT_BPU_ROUND = "26000"
DEFAULT_BPU_MODEL = BPU_MODEL_REGISTRY[DEFAULT_BPU_ROUND]
LOWCMD_BACKEND = "cpp_lowcmd_cpp_lowstate"
SPORT_KILL_CMD = (
'ssh pi@192.168.123.161 "sudo pkill -9 -f keep_sport_alive; '
@@ -217,6 +223,38 @@ def validate_joint_order():
print(f" [{i:02d}] {sdk_name:4s} -> {policy_name:8s} default={q0:+.3f}")
def resolve_bpu_model(args):
if args.bpu_model:
return Path(args.bpu_model).expanduser().resolve()
key = str(args.bpu_round)
if key not in BPU_MODEL_REGISTRY:
choices = ", ".join(sorted(BPU_MODEL_REGISTRY))
raise ValueError(f"Unknown --bpu-round {args.bpu_round!r}; choices: {choices}")
return BPU_MODEL_REGISTRY[key].expanduser().resolve()
def make_policy(args):
model_path = resolve_bpu_model(args)
policy = BpuInferLibPolicy(
model_path,
priority=args.bpu_priority,
bpu_cores=args.bpu_cores,
)
if policy.input_size != POLICY_INPUT_DIM:
policy.close()
raise ValueError(
f"BPU model input has {policy.input_size} values, expected {POLICY_INPUT_DIM}. "
"Use a RobotLab 10-frame/450-dim .bin."
)
if policy.output_size != NUM_ACTIONS:
policy.close()
raise ValueError(
f"BPU model output has {policy.output_size} values, expected exactly {NUM_ACTIONS}. "
"Compile an actions-only ONNX for deployment."
)
return policy
def apply_deadzone(value, deadzone):
if deadzone <= 0.0:
return float(value)
@@ -346,7 +384,8 @@ class JsonlLogger:
"num_obs": NUM_OBS,
"history_len": HISTORY_LEN,
"policy_backend": BpuInferLibPolicy.backend_name,
"bpu_model": str(Path(args.bpu_model).expanduser()),
"bpu_model": str(resolve_bpu_model(args)),
"bpu_round": args.bpu_round,
"policy_input_dim": POLICY_INPUT_DIM,
"bpu_input_shape": BPU_INPUT_SHAPE,
"bpu_output_shape": BPU_OUTPUT_SHAPE,
@@ -750,7 +789,7 @@ def run_infer_check(args):
logger = JsonlLogger(args.log_dir, args)
client = None
try:
policy = BpuInferLibPolicy(args.bpu_model, priority=args.bpu_priority, bpu_cores=args.bpu_cores)
policy = make_policy(args)
client, state = connect_client(args)
obs_builder = ObsHistoryBuilder()
cmd_filter = CommandFilter(args)
@@ -845,7 +884,7 @@ def run_deploy(args):
print(STARTUP_BANNER)
input("Press Enter when ready...")
policy = BpuInferLibPolicy(args.bpu_model, priority=args.bpu_priority, bpu_cores=args.bpu_cores)
policy = make_policy(args)
logger = JsonlLogger(args.log_dir, args)
client = None
state = None
@@ -1162,8 +1201,11 @@ def run_deploy(args):
def build_arg_parser():
parser = argparse.ArgumentParser(description="Deploy RoboGauge Go1 RobotLab BPU on Go1 PRO")
parser.add_argument("--bpu-model", default=str(DEFAULT_BPU_MODEL),
help="Path to policy_robotlab_6500_int16_gemm.bin")
parser.add_argument("--bpu-model", default="",
help="Path to a compiled RobotLab 10-frame BPU .bin; overrides --bpu-round")
parser.add_argument("--bpu-round", default=DEFAULT_BPU_ROUND,
choices=sorted(BPU_MODEL_REGISTRY),
help="Quick-select RobotLab BPU model round")
parser.add_argument("--bpu-priority", type=int, default=0)
parser.add_argument("--bpu-cores", type=int, nargs="+", default=[0],
help="Reserved BPU core ids for future runtime scheduling")