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Checkpoint 6

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Johnny Fernandes
2026-05-11 10:35:48 +01:00
parent b457155538
commit fce0e0c786
27 changed files with 194 additions and 704 deletions
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tools/run_webots.sh
+9 -13
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@@ -7,19 +7,17 @@
# Usage:
# tools/run_webots.sh [N] [MODE]
# N : number of active sheep (1..10), default 10
# MODE : "bc" | "rl" | "strombom" | "sequential" | "dagger", default "bc"
# MODE : "bc" | "rl" | "strombom" | "sequential", default "bc"
#
# Examples:
# tools/run_webots.sh 10 bc # BC-trained policy, 10 sheep
# tools/run_webots.sh 10 bc # behaviour-cloned MLP, 10 sheep
# tools/run_webots.sh 10 rl # KL-PPO fine-tune of bc, 10 sheep
# tools/run_webots.sh 5 sequential # the analytic teacher, 5 sheep
# tools/run_webots.sh 3 strombom # canonical baseline, 3 sheep
# tools/run_webots.sh 5 sequential # single-target analytic baseline
# tools/run_webots.sh 3 strombom # canonical Strömbom analytic
#
# Notes:
# * The RL mode loads the latest BC policy by default — priority
# the BC policy (bc/policy.zip) (the controller resolves it).
# (LiDAR-perception, frame-stack K=4). Override via
# HERDING_POLICY_DIR=/path/to/run env var.
# * bc loads training/runs/bc/policy.zip, rl loads training/runs/rl.
# Override via HERDING_POLICY_DIR=/path/to/run env var.
# * Conda env "tir" must be active (provides stable-baselines3 + torch).
set -e
@@ -30,10 +28,9 @@ if (( N < 1 || N > 10 )); then
echo "N must be 1..10, got $N" >&2; exit 1
fi
case "$MODE" in
bc|rl|strombom|sequential|dagger) ;;
*) echo "MODE must be bc|rl|strombom|sequential|dagger, got '$MODE'" >&2; exit 1 ;;
bc|rl|strombom|sequential) ;;
*) echo "MODE must be bc|rl|strombom|sequential, got '$MODE'" >&2; exit 1 ;;
esac
DAGGER_DRIVER=${HERDING_DAGGER_DRIVER:-teacher}
ROOT="$( cd "$( dirname "${BASH_SOURCE[0]}" )/.." && pwd )"
SRC="$ROOT/worlds/field.wbt"
@@ -59,7 +56,6 @@ RESOLVED_POLICY_DIR="${HERDING_POLICY_DIR:-$ROOT/training/runs/bc}"
cat > "$ROOT/herding_runtime.cfg" <<EOF
HERDING_MODE=$MODE
HERDING_POLICY_DIR=$RESOLVED_POLICY_DIR
HERDING_DAGGER_DRIVER=$DAGGER_DRIVER
EOF
export HERDING_MODE="$MODE"
@@ -68,7 +64,7 @@ export HERDING_POLICY_DIR="$RESOLVED_POLICY_DIR"
# The controller writes this sentinel when all GT sheep are penned. We
# poll for it and kill Webots so the run finishes cleanly instead of
# idling for minutes after the task is done.
DONE_FILE="$ROOT/training/dagger/.DONE"
DONE_FILE="$ROOT/training/.run_done"
mkdir -p "$(dirname "$DONE_FILE")"
rm -f "$DONE_FILE"