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[train] 更新新MJCF与第一版完整训练框架

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This commit is contained in:
eastzio
2026-07-27 12:31:21 +08:00
parent dfd646cf47
commit b08956aec7
116 changed files with 7649 additions and 6760 deletions
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05_software/train/rc_mjlab/mjlab/scripts/benchmarks/generate_report.py
+73 -7
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@@ -215,6 +215,27 @@ def generate_dashboard_html(runs: list[dict], throughput_data: list[dict]) -> st
border-color: var(--accent);
color: white;
}}
.range-selector {{
display: flex;
gap: 0.4rem;
margin-bottom: 1rem;
}}
.range-btn {{
background: var(--bg-card);
border: 1px solid var(--border);
border-radius: 6px;
padding: 0.3rem 0.75rem;
cursor: pointer;
color: var(--text);
font-size: 0.8rem;
font-weight: 500;
}}
.range-btn:hover {{ border-color: var(--accent); }}
.range-btn.active {{
background: var(--accent);
border-color: var(--accent);
color: white;
}}
.tab-content {{ display: none; }}
.tab-content.active {{ display: block; }}
.tab-description {{
@@ -303,12 +324,24 @@ def generate_dashboard_html(runs: list[dict], throughput_data: list[dict]) -> st
<div id="tracking" class="tab-content active">
<p class="tab-description">Nightly motion imitation training and evaluation on Unitree G1 (1024 trials per run).</p>
<div class="range-selector" id="range-selector">
<button class="range-btn" data-days="30">30d</button>
<button class="range-btn active" data-days="90">90d</button>
<button class="range-btn" data-days="180">180d</button>
<button class="range-btn" data-days="0">All</button>
</div>
<div class="charts" id="charts"></div>
</div>
<div id="throughput" class="tab-content">
<p class="tab-description">Physics simulation throughput across tasks (4096 parallel envs, NVIDIA RTX 5090).</p>
<div class="task-grid" id="task-grid"></div>
<div class="range-selector" id="range-selector-tp">
<button class="range-btn" data-days="30">30d</button>
<button class="range-btn active" data-days="90">90d</button>
<button class="range-btn" data-days="180">180d</button>
<button class="range-btn" data-days="0">All</button>
</div>
<div id="task-chart-panels"></div>
</div>
@@ -393,6 +426,8 @@ def generate_dashboard_html(runs: list[dict], throughput_data: list[dict]) -> st
}};
let charts = [];
let trackingCharts = [];
let throughputCharts = [];
function updateChartColors() {{
const style = getComputedStyle(root);
@@ -449,7 +484,7 @@ def generate_dashboard_html(runs: list[dict], throughput_data: list[dict]) -> st
`;
chartsContainer.appendChild(card);
charts.push(new Chart(card.querySelector('canvas'), {{
const chart = new Chart(card.querySelector('canvas'), {{
type: 'line',
data: {{
datasets: [
@@ -459,7 +494,8 @@ def generate_dashboard_html(runs: list[dict], throughput_data: list[dict]) -> st
borderColor: color,
backgroundColor: color + '20',
borderWidth: 2,
pointRadius: 4,
pointRadius: 2,
pointHoverRadius: 5,
tension: 0.1,
fill: true
}},
@@ -531,7 +567,9 @@ def generate_dashboard_html(runs: list[dict], throughput_data: list[dict]) -> st
}}
}}
}}
}}));
}});
charts.push(chart);
trackingCharts.push(chart);
}});
// Tab switching
@@ -621,7 +659,8 @@ def generate_dashboard_html(runs: list[dict], throughput_data: list[dict]) -> st
borderColor: '#58a6ff',
backgroundColor: '#58a6ff20',
borderWidth: 2,
pointRadius: 4,
pointRadius: 2,
pointHoverRadius: 5,
tension: 0.1,
fill: true
}},
@@ -631,7 +670,8 @@ def generate_dashboard_html(runs: list[dict], throughput_data: list[dict]) -> st
borderColor: '#3fb950',
backgroundColor: '#3fb95020',
borderWidth: 2,
pointRadius: 4,
pointRadius: 2,
pointHoverRadius: 5,
tension: 0.1,
fill: true
}}
@@ -697,6 +737,7 @@ def generate_dashboard_html(runs: list[dict], throughput_data: list[dict]) -> st
}}
}});
charts.push(chart);
throughputCharts.push(chart);
throughputChartInstances[task] = {{ chart, panelId: `task-panel-${{i}}` }};
// Card click handler
@@ -712,6 +753,23 @@ def generate_dashboard_html(runs: list[dict], throughput_data: list[dict]) -> st
}} else {{
taskGrid.innerHTML = '<p style="color: var(--text-dim)">No throughput data available. Run measure_throughput.py to generate data.</p>';
}}
// Date-range windowing across both tracking and throughput charts.
// Setting min and clearing max also resets any zoom/pan.
function setRange(days) {{
const min = days > 0 ? Date.now() - days * 86400000 : undefined;
[...trackingCharts, ...throughputCharts].forEach(c => {{
c.options.scales.x.min = min;
c.options.scales.x.max = undefined;
c.update();
}});
document.querySelectorAll('.range-btn').forEach(b =>
b.classList.toggle('active', parseInt(b.dataset.days) === days));
}}
document.querySelectorAll('.range-btn').forEach(btn => {{
btn.addEventListener('click', () => setRange(parseInt(btn.dataset.days)));
}});
setRange(90);
</script>
</body>
</html>
@@ -764,7 +822,11 @@ def main(
if run_id in eval_results_by_id:
print(f"Using cached result for {run_id}")
else:
result = evaluate_run(run_path, num_envs)
try:
result = evaluate_run(run_path, num_envs)
except RuntimeError as e:
print(f"Skipping {run_path}: {e}")
continue
eval_results_by_id[run_id] = result
new_evals += 1
else:
@@ -783,7 +845,11 @@ def main(
print(f"Reached eval limit ({eval_limit}), skipping remaining new runs")
break
run_path = f"{entity}/{project}/{run.id}"
result = evaluate_run(run_path, num_envs)
try:
result = evaluate_run(run_path, num_envs)
except RuntimeError as e:
print(f"Skipping {run.name} ({run.id}): {e}")
continue
eval_results_by_id[run.id] = result
new_evals += 1