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v1.0.2-rc2; fix robogauge eval return None bug

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wty-yy
2026-03-25 15:32:39 +08:00
parent 090fcc093a
commit d2a16cc075
4 changed files with 117 additions and 40 deletions
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52
rsl_rl/rsl_rl/runners/on_policy_runner.py
View File

@@ -253,38 +253,56 @@ class OnPolicyRunner:
if self.robogauge_client is None:
return
if it % 500 == 0 or last_model:
# export jit model
jit_dir = os.path.join(self.log_dir, 'jit_models')
jit_path = os.path.join(jit_dir, f'policy_jit_{it}.pt')
export_policy_as_jit(self.alg.actor_critic, jit_dir, filename=f'policy_jit_{it}.pt')
# upload to robogauge
task_name = 'go2'
self.robogauge_client.submit_task(
model_path=jit_path,
step=it,
task_name=task_name,
experiment_name=self.cfg["experiment_name"]
)
try:
if it % 500 == 0 or last_model:
# export jit model
jit_dir = os.path.join(self.log_dir, 'jit_models')
jit_path = os.path.join(jit_dir, f'policy_jit_{it}.pt')
export_policy_as_jit(self.alg.actor_critic, jit_dir, filename=f'policy_jit_{it}.pt')
# upload to robogauge
task_name = 'go2'
self.robogauge_client.submit_task(
model_path=jit_path,
step=it,
task_name=task_name,
experiment_name=self.cfg["experiment_name"]
)
except Exception as e:
print(f"[WARN] RoboGauge submit failed at step {it}: {e}")
return
check_times = 1
if last_model:
check_times = int(1e9) # keep checking until the last model is evaluated
while check_times > 0:
check_times -= 1
self.robogauge_client.monitor_tasks()
try:
self.robogauge_client.monitor_tasks()
except Exception as e:
print(f"[WARN] RoboGauge monitor failed at step {it}: {e}")
break
results_dir = os.path.join(self.log_dir, 'robogauge_results')
os.makedirs(results_dir, exist_ok=True)
result_received = False
for task_id, resp in self.robogauge_client.response_data.items():
scores = resp['results']['scores']
step = resp['step']
if not isinstance(resp, dict):
print(f"[WARN] RoboGauge returned an invalid response for task {task_id}: {resp}")
continue
results = resp.get('results')
step = resp.get('step', it)
if results is None:
print(f"[WARN] RoboGauge returned empty results for task {task_id} at step {step}.")
continue
scores = results.get('scores')
if scores is None:
print(f"[WARN] RoboGauge results for task {task_id} at step {step} do not contain 'scores'.")
continue
if step == it:
result_received = True
for key, val in scores.items():
self.writer.add_scalar(f'RoboGauge/{key}', val, step)
results_path = os.path.join(results_dir, f'results_{step}.yaml')
with open(results_path, 'w', encoding='utf-8') as f:
yaml.dump(resp['results'], f, allow_unicode=True, sort_keys=False)
yaml.dump(results, f, allow_unicode=True, sort_keys=False)
if last_model and result_received:
print(f"RoboGauge result for step {it} received. Exiting wait loop.")

52
rsl_rl/rsl_rl/runners/on_policy_runner_cts.py
View File

@@ -298,38 +298,56 @@ class OnPolicyRunnerCTS:
if self.robogauge_client is None:
return
if it % 500 == 0 or last_model:
# export jit model
jit_dir = os.path.join(self.log_dir, 'jit_models')
jit_path = os.path.join(jit_dir, f'policy_jit_{it}.pt')
export_policy_as_jit(self.alg.model, jit_dir, filename=f'policy_jit_{it}.pt')
# upload to robogauge
task_name = 'go2_moe' # Both cts, moe-cts actor return a tuple `action, (latent, ...)`
self.robogauge_client.submit_task(
model_path=jit_path,
step=it,
task_name=task_name,
experiment_name=self.cfg["experiment_name"]
)
try:
if it % 500 == 0 or last_model:
# export jit model
jit_dir = os.path.join(self.log_dir, 'jit_models')
jit_path = os.path.join(jit_dir, f'policy_jit_{it}.pt')
export_policy_as_jit(self.alg.model, jit_dir, filename=f'policy_jit_{it}.pt')
# upload to robogauge
task_name = 'go2_moe' # Both cts, moe-cts actor return a tuple `action, (latent, ...)`
self.robogauge_client.submit_task(
model_path=jit_path,
step=it,
task_name=task_name,
experiment_name=self.cfg["experiment_name"]
)
except Exception as e:
print(f"[WARN] RoboGauge submit failed at step {it}: {e}")
return
check_times = 1
if last_model:
check_times = int(1e9) # keep checking until manually stopped
while check_times > 0:
check_times -= 1
self.robogauge_client.monitor_tasks()
try:
self.robogauge_client.monitor_tasks()
except Exception as e:
print(f"[WARN] RoboGauge monitor failed at step {it}: {e}")
break
results_dir = os.path.join(self.log_dir, 'robogauge_results')
os.makedirs(results_dir, exist_ok=True)
result_received = False
for task_id, resp in self.robogauge_client.response_data.items():
scores = resp['results']['scores']
step = resp['step']
if not isinstance(resp, dict):
print(f"[WARN] RoboGauge returned an invalid response for task {task_id}: {resp}")
continue
results = resp.get('results')
step = resp.get('step', it)
if results is None:
print(f"[WARN] RoboGauge returned empty results for task {task_id} at step {step}.")
continue
scores = results.get('scores')
if scores is None:
print(f"[WARN] RoboGauge results for task {task_id} at step {step} do not contain 'scores'.")
continue
if step == it:
result_received = True
for key, val in scores.items():
self.writer.add_scalar(f'RoboGauge/{key}', val, step)
results_path = os.path.join(results_dir, f'results_{step}.yaml')
with open(results_path, 'w', encoding='utf-8') as f:
yaml.dump(resp['results'], f, allow_unicode=True, sort_keys=False)
yaml.dump(results, f, allow_unicode=True, sort_keys=False)
if last_model and result_received:
print(f"RoboGauge result for step {it} received. Exiting wait loop.")