50 lines
2.6 KiB
Python
50 lines
2.6 KiB
Python
"""老师轨迹回放自检（2026-10-18 首次正式预训练后新增；train 阶段开训前自动跑，约 1 分钟）：
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把 gen 写出的老师 50 Hz 轨迹（keep=true）直接放进闭环仿真用的 PyTorch 运动学 / 碰撞 / 到达判据里检查。
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老师轨迹在 JS 侧已认证无碰、已到达；如果这里判出碰撞或未到达，说明仿真口径（kin.json、间隙、到达门槛）和数据对不上，
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那么闭环指标本身不可信，训练多少步都没用 —— 直接停下（rc 5）。
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python -m ml.eval.replay_teacher --n 512 --out ml/runs/replay_teacher.json
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判据：到达率（cat≠D）≥ 0.95，碰撞率 ≤ 0.01。"""
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import argparse, glob, json, os, sys
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import torch
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from ml.common.kin_torch import Kin
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from ml.sim.closed_loop import goal_err
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def main():
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ap = argparse.ArgumentParser()
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ap.add_argument('--shards', default='ml/data/shard_*.jsonl'); ap.add_argument('--n', type=int, default=512)
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ap.add_argument('--out', default='ml/runs/replay_teacher.json')
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ap.add_argument('--device', default='cuda' if torch.cuda.is_available() else 'cpu')
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a = ap.parse_args()
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kin = Kin(device=a.device)
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recs = []
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for f in sorted(glob.glob(a.shards)):
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for line in open(f, encoding='utf-8'):
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r = json.loads(line)
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if r.get('keep') and r.get('traj') and r.get('cat') != 'D': recs.append(r)
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if len(recs) >= a.n: break
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if len(recs) >= a.n: break
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if not recs: sys.exit('没有可回放的老师轨迹（先跑 gen）')
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reach = col = 0; worst_gap = []
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for r in recs:
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q = torch.tensor(r['traj'], dtype=torch.float32, device=a.device)
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mid = 0.5 * (q[1:] + q[:-1])
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g = kin.gaps(torch.cat([q, mid], 0), 0.5)['gm'].min(-1).values
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hit = bool((g <= 0).any()); col += hit; worst_gap.append(g.min().item())
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T = torch.tensor([r['T']], dtype=torch.float32, device=a.device)
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R = torch.tensor([r['R'] if r.get('R') else [0.] * 9], dtype=torch.float32, device=a.device)
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e, oe = goal_err(kin, q[-1:], T, R)
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reach += bool((e < 1).item() and (oe < 0.5).item())
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n = len(recs)
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res = {'n': n, 'reach': reach / n, 'collision': col / n, 'min_gap_mm_p10': sorted(worst_gap)[n // 10],
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'pass': reach / n >= 0.95 and col / n <= 0.01, 'fp': kin.fp}
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os.makedirs(os.path.dirname(a.out) or '.', exist_ok=True)
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json.dump(res, open(a.out, 'w', encoding='utf-8'), indent=1)
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print('老师轨迹回放：到达 %.1f%%、碰撞 %.1f%%（%d 条）' % (100 * res['reach'], 100 * res['collision'], n), flush=True)
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sys.exit(0 if res['pass'] else 5)
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if __name__ == '__main__':
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main()
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