Checkpoint 4
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Johnny Fernandes
Executable
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#!/bin/bash
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# tools/auto_dagger.sh — automated DAgger collection across many headless
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# Webots runs.
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#
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# For each (flock_size, run_index) combination, generates a world with N
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# active sheep at randomised positions, launches Webots in fast/headless
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# mode, lets the controller log (lidar_obs, teacher_action) pairs for up
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# to RUN_SEC seconds, kills the run, and moves on. The dog controller's
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# 500-step periodic flush means each run produces a complete .npz even
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# when killed by timeout.
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#
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# Usage:
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# tools/auto_dagger.sh [RUNS_PER_FLOCK] [SECONDS_PER_RUN]
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# RUNS_PER_FLOCK : how many randomised runs per flock size (default 3)
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# SECONDS_PER_RUN: wall-clock cap per Webots run (default 60)
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#
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# Env-var overrides:
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# HERDING_POLICY_DIR : policy the controller loads (only used when
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# HERDING_DAGGER_DRIVER=student). Default bc_v3.
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# HERDING_DAGGER_DRIVER : "teacher" (default) or "student".
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# HEADLESS=1 : force --no-rendering (default on).
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# FLOCKS="1 3 5 8 10" : space-separated flock sizes to iterate over.
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#
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# Output:
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# training/dagger/dagger_<ts>.npz — one per Webots run.
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#
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# After collection, run:
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# python -m tools.dagger_merge_train --out training/runs/bc_dagger
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set -e
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RUNS_PER_FLOCK=${1:-3}
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RUN_SEC=${2:-60}
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FLOCKS=${FLOCKS:-"1 3 5 8 10"}
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HEADLESS=${HEADLESS:-1}
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ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )/.." && pwd )"
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SRC="$ROOT/worlds/field.wbt"
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DST="$ROOT/worlds/field_test.wbt"
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POLICY_DIR="${HERDING_POLICY_DIR:-$ROOT/training/runs/bc_v3}"
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DRIVER="${HERDING_DAGGER_DRIVER:-teacher}"
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DONE_FILE="$ROOT/training/dagger/.DONE"
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WEBOTS_PID=""
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cleanup() {
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echo "Caught interrupt — killing Webots (pid=$WEBOTS_PID) and exiting."
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[[ -n "$WEBOTS_PID" ]] && kill "$WEBOTS_PID" 2>/dev/null
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wait "$WEBOTS_PID" 2>/dev/null || true
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exit 1
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}
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trap cleanup INT TERM
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webots_args=(--mode=fast --batch --minimize)
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if [[ "$HEADLESS" == "1" ]]; then
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webots_args+=(--no-rendering)
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fi
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echo "Auto-dagger collection"
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echo " flock sizes : $FLOCKS"
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echo " runs per size : $RUNS_PER_FLOCK"
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echo " seconds per run : $RUN_SEC"
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echo " policy dir : $POLICY_DIR (used only when driver=student)"
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echo " driver : $DRIVER"
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echo " webots flags : ${webots_args[*]}"
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echo
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# Runtime config — re-written before each run anyway, but written once
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# here so a manual webots launch at the same time would also pick it up.
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cat > "$ROOT/herding_runtime.cfg" <<EOF
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HERDING_MODE=dagger
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HERDING_POLICY_DIR=$POLICY_DIR
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HERDING_DAGGER_DRIVER=$DRIVER
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EOF
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# Count files before, so we can summarise what was added.
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mkdir -p "$ROOT/training/dagger"
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before_count=$(ls -1 "$ROOT/training/dagger"/dagger_*.npz 2>/dev/null | wc -l || echo 0)
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run_idx=0
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total_runs=0
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for f in $FLOCKS; do total_runs=$((total_runs + RUNS_PER_FLOCK)); done
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for flock in $FLOCKS; do
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for run in $(seq 1 "$RUNS_PER_FLOCK"); do
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run_idx=$((run_idx + 1))
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seed=$((1000 * flock + run))
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echo "=== [$run_idx/$total_runs] flock=$flock run=$run seed=$seed ==="
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# Generate randomised world.
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cp "$SRC" "$DST"
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for i in $(seq $((flock + 1)) 10); do
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sed -i "s|^Sheep .* \"sheep${i}\".*|# &|" "$DST"
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done
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# Inline Python: jitter sheep1..flock translations.
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python3 - "$DST" "$flock" "$seed" <<'PYEOF'
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import re, random, sys
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path, n_str, seed = sys.argv[1], sys.argv[2], sys.argv[3]
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n = int(n_str); random.seed(int(seed))
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with open(path) as f:
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txt = f.read()
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def rand_pos():
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while True:
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x = random.uniform(-12.0, 12.0)
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y = random.uniform(-10.0, 12.0) # avoid the gate strip
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if x * x + y * y > 9.0: # at least 3 m from dog spawn
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return x, y
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for i in range(1, n + 1):
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x, y = rand_pos()
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pat = re.compile(
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r'Sheep \{ translation\s+\S+\s+\S+\s+(\S+)\s+name "sheep' + str(i) + r'"'
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)
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txt = pat.sub(rf'Sheep {{ translation {x:.2f} {y:.2f} \g<1> name "sheep{i}"', txt, count=1)
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with open(path, "w") as f:
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f.write(txt)
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PYEOF
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# Run Webots in the background; poll for the .DONE sentinel or
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# the wall-clock timeout, whichever comes first.
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rm -f "$DONE_FILE"
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webots "${webots_args[@]}" "$DST" \
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> /tmp/webots_dagger_run.log 2>&1 &
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WEBOTS_PID=$!
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# Give the controller 10 s to start before polling the sentinel,
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# otherwise a sheep that spawns already penned triggers an instant
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# false-positive kill.
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elapsed=0
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grace=10
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while kill -0 "$WEBOTS_PID" 2>/dev/null; do
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if (( elapsed >= grace )) && [[ -f "$DONE_FILE" ]]; then
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echo " sentinel .DONE detected — killing Webots early"
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kill "$WEBOTS_PID" 2>/dev/null
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wait "$WEBOTS_PID" 2>/dev/null || true
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break
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fi
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if (( elapsed >= RUN_SEC )); then
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echo " timeout ($RUN_SEC s) — killing Webots"
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kill "$WEBOTS_PID" 2>/dev/null
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wait "$WEBOTS_PID" 2>/dev/null || true
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break
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fi
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sleep 2
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elapsed=$((elapsed + 2))
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done
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WEBOTS_PID=""
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# Quick sanity from the log: did the controller actually run?
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if grep -q "running in mode=dagger" /tmp/webots_dagger_run.log; then
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new_pairs=$(tail -50 /tmp/webots_dagger_run.log | grep -oE 'logged=[0-9]+' | tail -1)
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echo " controller ran ($new_pairs)"
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else
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echo " WARNING: controller may not have started (see /tmp/webots_dagger_run.log)"
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fi
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done
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done
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after_count=$(ls -1 "$ROOT/training/dagger"/dagger_*.npz 2>/dev/null | wc -l || echo 0)
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new_files=$((after_count - before_count))
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echo
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echo "Done."
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echo " new dagger files : $new_files"
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echo " total in dir : $after_count"
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echo
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echo "Next:"
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echo " python -m tools.dagger_merge_train --out training/runs/bc_dagger"
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