103 lines
3.4 KiB
Bash
Executable File
103 lines
3.4 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Evaluate a TorchScript JIT navigation policy (e.g. the official B2W baseline
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# nav_policy_new.pt) on the IsaacLab navigation env, with the same PLAY_*
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# terrain env vars as eval_terminations.sh.
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#
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# Example: baseline on dense paper-style maze
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# PLAY_DIFFICULTY="0.8,1.0" \
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# PLAY_SUBTERRAIN_MIX="maze=1,non_maze=0,pits=0" \
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# PLAY_CLASSIC_MAZE=1 \
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# ./scripts/eval_jit_baseline.sh \
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# --task Isaac-Nav-PPO-B2W-Play-v0 \
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# --jit-policy assets/baselines/b2w_nav_policy_new.pt \
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# --envs 32 --steps 2000
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set -euo pipefail
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REPO_ROOT="$(cd "$(dirname "$0")/.." && pwd)"
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TASK="Isaac-Nav-PPO-B2W-Play-v0"
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JIT_HOST=""
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NUM_ENVS=32
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STEPS=2000
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SEED=42
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usage() {
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cat <<EOF
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Usage: $(basename "$0") --jit-policy PATH [options]
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Required:
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--jit-policy PATH Host path to a TorchScript .pt policy.
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(will be mounted into /workspace at /jit_policy.pt)
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Options:
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--task NAME Gym task id (default: $TASK).
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--envs N Parallel envs (default: $NUM_ENVS).
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--steps N env.step() calls (default: $STEPS).
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--seed N (default: $SEED).
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-h, --help Show this help.
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Forwarded env vars (set on host):
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PLAY_DIFFICULTY="lo,hi"
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PLAY_SUBTERRAIN_MIX="maze=1,non_maze=0,pits=0"
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PLAY_MAZE_ONLY=1
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PLAY_CELL_SIZE=2.0
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PLAY_CLASSIC_MAZE=1
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EOF
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exit 0
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}
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--jit-policy) JIT_HOST="$2"; shift 2 ;;
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--task) TASK="$2"; shift 2 ;;
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--envs) NUM_ENVS="$2"; shift 2 ;;
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--steps) STEPS="$2"; shift 2 ;;
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--seed) SEED="$2"; shift 2 ;;
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-h|--help) usage ;;
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*) echo "[error] Unknown arg: $1" >&2; usage ;;
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esac
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done
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[[ -z "$JIT_HOST" ]] && { echo "[error] --jit-policy is required." >&2; exit 1; }
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# Resolve to absolute path
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if [[ "$JIT_HOST" != /* ]]; then JIT_HOST="$REPO_ROOT/$JIT_HOST"; fi
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[[ -f "$JIT_HOST" ]] || { echo "[error] JIT file not found: $JIT_HOST" >&2; exit 1; }
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JIT_CTR="/workspace/baseline_policy.pt"
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cat <<EOF
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[eval-jit] task = $TASK
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[eval-jit] jit (host) = $JIT_HOST
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[eval-jit] jit (ctr) = $JIT_CTR
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[eval-jit] envs = $NUM_ENVS
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[eval-jit] steps = $STEPS
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[eval-jit] PLAY_DIFFICULTY = ${PLAY_DIFFICULTY:-(default)}
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[eval-jit] PLAY_SUBTERRAIN_MIX = ${PLAY_SUBTERRAIN_MIX:-(default)}
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[eval-jit] PLAY_MAZE_ONLY = ${PLAY_MAZE_ONLY:-(default)}
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[eval-jit] PLAY_CELL_SIZE = ${PLAY_CELL_SIZE:-(default)}
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[eval-jit] PLAY_CLASSIC_MAZE = ${PLAY_CLASSIC_MAZE:-(default)}
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EOF
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docker run --rm --gpus all \
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-e ACCEPT_EULA=Y -e PRIVACY_CONSENT=Y \
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-e PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True \
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-e PLAY_DIFFICULTY="${PLAY_DIFFICULTY:-}" \
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-e PLAY_SUBTERRAIN_MIX="${PLAY_SUBTERRAIN_MIX:-}" \
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-e PLAY_MAZE_ONLY="${PLAY_MAZE_ONLY:-}" \
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-e PLAY_CELL_SIZE="${PLAY_CELL_SIZE:-}" \
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-e PLAY_CLASSIC_MAZE="${PLAY_CLASSIC_MAZE:-}" \
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--shm-size=16g --network host --ipc host \
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--ulimit memlock=-1 --ulimit stack=67108864 \
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-v "$REPO_ROOT/outputs/logs:/workspace/IsaacLab/logs" \
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-v "$REPO_ROOT/mount/sru-navigation-sim:/workspace/IsaacLab/source/isaaclab_nav_task" \
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-v "$REPO_ROOT/mount/rsl_rl:/workspace/rsl_rl" \
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-v "$JIT_HOST:$JIT_CTR:ro" \
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--entrypoint bash sru-nav:latest -lc \
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"./isaaclab.sh -p source/isaaclab_nav_task/scripts/eval_jit_policy.py \
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--task $TASK \
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--num_envs $NUM_ENVS \
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--steps $STEPS \
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--seed $SEED \
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--jit_policy $JIT_CTR \
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--headless"
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