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feat(sim): save air-insert and rollout validation updates

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This commit is contained in:
Logic
2026-05-05 20:52:53 +08:00
parent 73f5b6e3d9
commit acbd7c605a
11 changed files with 2555 additions and 242 deletions
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roboimi/demos/vla_scripts/train_vla.py
+23 -3
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@@ -702,10 +702,28 @@ def _run_training(cfg: DictConfig):
from roboimi.demos.vla_scripts import eval_vla
rollout_cfg = OmegaConf.create(OmegaConf.to_container(cfg, resolve=False))
rollout_num_episodes = int(cfg.train.get('rollout_num_episodes', 1))
rollout_device = str(cfg.train.get('rollout_device', cfg.train.device))
configured_rollout_workers = cfg.train.get('rollout_num_workers', None)
if configured_rollout_workers is None:
if rollout_device.startswith('cuda'):
rollout_num_workers = min(max(rollout_num_episodes, 1), 8)
else:
rollout_num_workers = 1
else:
rollout_num_workers = int(configured_rollout_workers)
rollout_cfg.eval.ckpt_path = str(checkpoint_path)
rollout_cfg.eval.num_episodes = int(cfg.train.get('rollout_num_episodes', 1))
rollout_cfg.eval.num_episodes = rollout_num_episodes
rollout_cfg.eval.num_workers = rollout_num_workers
rollout_cfg.eval.headless = True
rollout_cfg.eval.device = 'cpu'
rollout_cfg.eval.device = rollout_device
rollout_cfg.eval.cuda_devices = cfg.train.get('rollout_cuda_devices', None)
rollout_cfg.eval.response_timeout_s = float(
cfg.train.get('rollout_response_timeout_s', 300.0)
)
rollout_cfg.eval.server_startup_timeout_s = float(
cfg.train.get('rollout_server_startup_timeout_s', 300.0)
)
rollout_cfg.eval.verbose_action = False
rollout_cfg.eval.record_video = False
rollout_cfg.eval.save_trajectory_image = True
@@ -716,9 +734,11 @@ def _run_training(cfg: DictConfig):
)
log.info(
"🎯 开始 checkpoint rollout 验证: %s (episodes=%s, headless=True)",
"🎯 开始 checkpoint rollout 验证: %s (episodes=%s, device=%s, workers=%s, headless=True)",
checkpoint_path,
rollout_cfg.eval.num_episodes,
rollout_cfg.eval.device,
rollout_cfg.eval.num_workers,
)
return eval_vla._run_eval(rollout_cfg)