Update Wall-X to 1.1.0 (#104)
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Starrick Liu
Executable
+273
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#!/usr/bin/env bash
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set -euo pipefail
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# LIBERO evaluation launcher. Configure with environment variables:
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#
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# CHECKPOINT_PATH=/path/to/checkpoint bash scripts/run_libero.sh
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# bash scripts/run_libero.sh /path/to/checkpoint
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# CHECKPOINT_PATH=/path/to/checkpoint SMOKE=1 bash scripts/run_libero.sh
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# CONFIG=/path/to/eval.yaml bash scripts/run_libero.sh
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#
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# Optional knobs:
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# LIBERO_PATH=/path/to/LIBERO # optional when not cloned to third_party/LIBERO
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# CUDA_ID=0
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# DRIVER_MODE=in_process
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# NUM_WORKERS=1
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# MAX_BATCH_SIZE=1
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# ALL_SUITES=1 # run all standard LIBERO suites (40 tasks)
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# TASK_SUITES="libero_spatial ..." # custom suite list (space- or comma-separated)
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# TASK_SUITE_NAME=libero_spatial # single suite when ALL_SUITES=0 and TASK_SUITES unset
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# NUM_TRIALS_PER_TASK=50
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# TASK_INDICES=0,1,2 # omit to run every task in the suite
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# MAX_INFER_TIMES=52
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# NORM_KEY=libero_all
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# ROLLOUT_BASE=/path/to/rollout # per-suite logs under ${ROLLOUT_BASE}/${suite}/
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# LOG_DIR=/tmp/harrix_libero_eval # overrides ROLLOUT_BASE when set (single suite)
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# SKIP_LIBERO_DEP_CHECK=1 # bypass dependency preflight
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# export ALL_SUITES=1
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# export TASK_SUITE_NAME=libero_10
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# export CUDA_ID=0
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# export NUM_WORKERS=10
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# export NUM_TRIALS_PER_TASK=20
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# export CHECKPOINT_PATH=/path/to/checkpoint
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# export ROLLOUT_BASE=/path/to/rollout
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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SOURCE_ROOT="$(cd "${SCRIPT_DIR}/.." && pwd)"
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if [[ -d "${SOURCE_ROOT}/third_party/LIBERO" ]]; then
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export PYTHONPATH="${SOURCE_ROOT}/third_party/LIBERO:${PYTHONPATH:-}"
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fi
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if [[ -n "${LIBERO_PATH:-}" ]]; then
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export PYTHONPATH="${LIBERO_PATH}:${PYTHONPATH:-}"
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fi
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if [[ -f "${SCRIPT_DIR}/infer_libero.py" ]]; then
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INFER_LIBERO_CMD=("${SCRIPT_DIR}/infer_libero.py")
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elif [[ -f "${SOURCE_ROOT}/scripts/infer_libero.py" ]]; then
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INFER_LIBERO_CMD=(python "${SOURCE_ROOT}/scripts/infer_libero.py")
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elif command -v infer_libero.py >/dev/null 2>&1; then
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INFER_LIBERO_CMD=(infer_libero.py)
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else
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echo "infer_libero.py is not available. Install Wall-X first." >&2
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exit 2
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fi
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DEFAULT_ALL_SUITES=(
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libero_spatial
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libero_object
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libero_goal
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libero_10
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)
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if [[ $# -gt 1 ]]; then
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echo "Usage: bash scripts/run_libero.sh [CHECKPOINT_PATH]" >&2
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exit 2
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fi
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if [[ $# -eq 1 ]]; then
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CHECKPOINT_PATH="$1"
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fi
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export CUDA_VISIBLE_DEVICES="${CUDA_ID:-0}"
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# MuJoCo offscreen rendering via NVIDIA EGL (required on headless GPU nodes).
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export MUJOCO_GL=egl
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export PYOPENGL_PLATFORM=egl
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# LIBERO init-state files are trusted simulator assets. PyTorch 2.6 changed
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# torch.load() defaults in a way that breaks LIBERO's upstream loader.
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export TORCH_FORCE_NO_WEIGHTS_ONLY_LOAD="${TORCH_FORCE_NO_WEIGHTS_ONLY_LOAD:-1}"
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EGL_VENDOR_DIR="${HOME}/.config/glvnd/egl_vendor.d"
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EGL_VENDOR_FILE="${EGL_VENDOR_DIR}/10_nvidia.json"
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if [[ ! -f "${EGL_VENDOR_FILE}" ]]; then
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mkdir -p "${EGL_VENDOR_DIR}"
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cat > "${EGL_VENDOR_FILE}" <<'EOF'
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{
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"file_format_version" : "1.0.0",
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"ICD" : {
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"library_path" : "libEGL_nvidia.so.0"
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}
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}
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EOF
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fi
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export __EGL_VENDOR_LIBRARY_FILENAMES="${EGL_VENDOR_FILE}"
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export LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu:/usr/local/nvidia/lib:/usr/local/nvidia/lib64:${LD_LIBRARY_PATH:-}"
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# After CUDA_VISIBLE_DEVICES remapping, MuJoCo only sees devices from index 0.
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export MUJOCO_EGL_DEVICE_ID="${MUJOCO_EGL_DEVICE_ID:-0}"
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if [[ -d "${SOURCE_ROOT}/third_party/harrix/python" ]]; then
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export PYTHONPATH="${SOURCE_ROOT}/third_party/harrix/python:${PYTHONPATH:-}"
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fi
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if [[ -d "${SOURCE_ROOT}/wall_x" ]]; then
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export PYTHONPATH="${SOURCE_ROOT}:${PYTHONPATH:-}"
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fi
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check_libero_dependencies() {
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local missing
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if missing="$(
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python - <<'PY'
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import importlib.util
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checks = [
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("libero.libero", "LIBERO"),
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("robosuite", "robosuite"),
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("mujoco", "mujoco"),
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("OpenGL", "PyOpenGL"),
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("bddl", "bddl"),
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("gym", "gym"),
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("h5py", "h5py"),
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]
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missing = [label for module, label in checks if importlib.util.find_spec(module) is None]
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if missing:
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print(", ".join(missing))
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raise SystemExit(1)
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PY
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)"; then
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return 0
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fi
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cat >&2 <<EOF
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LIBERO simulator dependencies are missing: ${missing}
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Install the optional LIBERO simulator stack from the Wall-X repository root:
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pip install -r requirements-libero.txt
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mkdir -p third_party
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git clone https://github.com/Lifelong-Robot-Learning/LIBERO.git third_party/LIBERO
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If LIBERO is cloned elsewhere, pass it with:
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LIBERO_PATH=/path/to/LIBERO bash scripts/run_libero.sh ...
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Set SKIP_LIBERO_DEP_CHECK=1 only if you intentionally manage these dependencies elsewhere.
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EOF
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exit 2
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}
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if [[ "${SKIP_LIBERO_DEP_CHECK:-0}" != "1" ]]; then
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check_libero_dependencies
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fi
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resolve_task_suites() {
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local suites=()
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if [[ "${ALL_SUITES:-0}" == "1" ]]; then
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if [[ -n "${TASK_SUITES:-}" ]]; then
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TASK_SUITES="${TASK_SUITES//,/ }"
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read -r -a suites <<< "${TASK_SUITES}"
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else
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suites=("${DEFAULT_ALL_SUITES[@]}")
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fi
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elif [[ -n "${TASK_SUITES:-}" ]]; then
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TASK_SUITES="${TASK_SUITES//,/ }"
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read -r -a suites <<< "${TASK_SUITES}"
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else
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suites=("${TASK_SUITE_NAME:-libero_spatial}")
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fi
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echo "${suites[@]}"
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}
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resolve_log_dirs() {
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local suite="$1"
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local multi_suite="$2"
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local log_dir rollout_dir
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if [[ -n "${LOG_DIR:-}" ]]; then
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if [[ "${multi_suite}" == "1" ]]; then
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log_dir="${LOG_DIR}/${suite}"
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else
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log_dir="${LOG_DIR}"
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fi
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elif [[ -n "${ROLLOUT_BASE:-}" ]]; then
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if [[ "${multi_suite}" == "1" ]]; then
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log_dir="${ROLLOUT_BASE}/${suite}/json"
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else
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log_dir="${ROLLOUT_BASE}/json"
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fi
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else
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log_dir="/tmp/harrix_libero_eval"
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fi
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if [[ -n "${WALLX_ROLLOUT_DIR:-}" ]]; then
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if [[ "${multi_suite}" == "1" ]]; then
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rollout_dir="${WALLX_ROLLOUT_DIR}/${suite}"
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else
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rollout_dir="${WALLX_ROLLOUT_DIR}"
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fi
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elif [[ -n "${ROLLOUT_BASE:-}" ]]; then
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if [[ "${multi_suite}" == "1" ]]; then
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rollout_dir="${ROLLOUT_BASE}/${suite}/videos"
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else
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rollout_dir="${ROLLOUT_BASE}/videos"
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fi
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else
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rollout_dir=""
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fi
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mkdir -p "${log_dir}"
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if [[ -n "${rollout_dir}" ]]; then
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mkdir -p "${rollout_dir}"
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fi
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LOG_DIR_RESOLVED="${log_dir}"
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WALLX_ROLLOUT_DIR_RESOLVED="${rollout_dir}"
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}
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run_suite() {
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local suite="$1"
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local multi_suite="$2"
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resolve_log_dirs "${suite}" "${multi_suite}"
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if [[ -n "${WALLX_ROLLOUT_DIR_RESOLVED}" ]]; then
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export WALLX_ROLLOUT_DIR="${WALLX_ROLLOUT_DIR_RESOLVED}"
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else
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unset WALLX_ROLLOUT_DIR
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fi
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local args=()
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if [[ -n "${CONFIG:-}" ]]; then
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args+=(--config "${CONFIG}")
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else
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if [[ -z "${CHECKPOINT_PATH:-}" ]]; then
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echo "CHECKPOINT_PATH is required when CONFIG is not set." >&2
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exit 2
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fi
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args+=(--checkpoint-path "${CHECKPOINT_PATH}")
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fi
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if [[ -n "${TRAIN_CONFIG_PATH:-}" ]]; then
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args+=(--train-config-path "${TRAIN_CONFIG_PATH}")
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fi
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if [[ "${SMOKE:-0}" == "1" ]]; then
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args+=(--smoke)
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fi
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if [[ "${DET:-0}" == "1" ]]; then
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args+=(--deterministic-model)
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fi
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if [[ -n "${TASK_INDICES:-}" ]]; then
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args+=(--task-indices "${TASK_INDICES}")
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fi
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if [[ -n "${MAX_INFER_TIMES:-}" ]]; then
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args+=(--max-infer-times "${MAX_INFER_TIMES}")
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fi
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args+=(--driver-mode "${DRIVER_MODE:-in_process}")
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args+=(--num-workers "${NUM_WORKERS:-1}")
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args+=(--max-batch-size "${MAX_BATCH_SIZE:-1}")
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args+=(--task-suite-name "${suite}")
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args+=(--num-trials-per-task "${NUM_TRIALS_PER_TASK:-50}")
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args+=(--norm-key "${NORM_KEY:-libero_all}")
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args+=(--log-dir "${LOG_DIR_RESOLVED}")
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echo "=== LIBERO eval: suite=${suite} log_dir=${LOG_DIR_RESOLVED} ==="
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"${INFER_LIBERO_CMD[@]}" "${args[@]}"
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}
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suites=($(resolve_task_suites))
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multi_suite=0
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if [[ "${#suites[@]}" -gt 1 ]]; then
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multi_suite=1
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fi
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for suite in "${suites[@]}"; do
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run_suite "${suite}" "${multi_suite}"
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done
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