Merge branch 'q3-bayes' of https://git.simba-robotics.com/HelixCopex/mcm-26-b into q3-bayes

2026-09-11 11:37:22 +08:00
parent a18a139a1d fd48064000
commit 2bc4c7ed82
218 changed files with 280849 additions and 50 deletions
@@ -0,0 +1,93 @@
+"""固定场景配对审核：先保存 baseline，再以相同场景、误差种子比较改进。
+
+不连接官方模拟器；真值仅用于本地模拟器和执行后的验收。
+"""
+import argparse
+from dataclasses import asdict
+from dataclasses import replace
+import hashlib
+import importlib.util
+import json
+import math
+from pathlib import Path
+from statistics import mean, median
+from time import perf_counter
+import sys
+
+from mcm26b.config import ProblemConfig
+from mcm26b.evaluation import recompute_virtual_time
+from mcm26b.planner.bayes_loop import BayesLoop
+from mcm26b.protocol.client import SimulatorClient
+from mcm26b.sim import LocalSimulator, LocalSimTransport, Source
+from mcm26b.sim.scenes import random_omni_scene
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument('--label', required=True)
+    parser.add_argument('--out', type=Path, default=Path('output/q3/optimization-20260911'))
+    parser.add_argument('--suite', choices=('development', 'validation'), default='development')
+    parser.add_argument('--baseline', action='store_true', help='加载输出根目录冻结的baseline_bayes.py及配置')
+    args = parser.parse_args()
+    folder = args.out / args.suite / args.label
+    folder.mkdir(parents=True, exist_ok=False)
+    config = ProblemConfig()
+    loop_cls = BayesLoop
+    if args.baseline:
+        frozen = json.loads((args.out/'baseline_config.json').read_text(encoding='utf-8'))
+        config = replace(config, **{name: replace(getattr(config, name), **values)
+                                    for name, values in frozen.items()})
+        spec = importlib.util.spec_from_file_location('mcm26b.planner._frozen_baseline',
+                                                      args.out/'baseline_bayes.py')
+        module = importlib.util.module_from_spec(spec)
+        sys.modules[spec.name] = module
+        spec.loader.exec_module(module)
+        loop_cls = module.BayesLoop
+    source_sha256 = {str(p): hashlib.sha256(p.read_bytes()).hexdigest()
+                     for p in sorted(Path('src/mcm26b').rglob('*.py'))}
+    if args.baseline:
+        for name in ('baseline_bayes.py', 'baseline_config.json'):
+            source_sha256[str(args.out/name)] = hashlib.sha256((args.out/name).read_bytes()).hexdigest()
+    scenes = []
+    if args.suite == 'development':
+        for count in (10, 16):
+            for seed in range(6):
+                scenes.append((f'random-{count}-{seed}', random_omni_scene(seed, count), 20260910 + seed))
+            edge = [Source(c+1, 1800*math.cos(math.pi/6+2*math.pi*c/count),
+                           1800*math.sin(math.pi/6+2*math.pi*c/count), 1000) for c in range(count)]
+            scenes.append((f'boundary-{count}', edge, 20260910))
+    else:
+        for count in (10, 13, 16):
+            for seed in range(100, 106):
+                scenes.append((f'holdout-{count}-{seed}', random_omni_scene(seed, count), 20260910+seed))
+    rows = []
+    for name, sources, error_seed in scenes:
+        sim = LocalSimulator(sources, robot_id='BENCH', config=config, error_seed=error_seed)
+        client = SimulatorClient('BENCH', config=config, transport=LocalSimTransport(sim))
+        start = perf_counter()
+        summary = loop_cls(client, config).run()
+        actions = client.log.action_events()
+        valid = (summary['completed'] and sim.cleared == {s.channel for s in sources}
+                 and not summary['anomalies'] and summary['exit_reason'] == 'user_exit'
+                 and not recompute_virtual_time(actions)['mismatches']
+                 and not ({s.channel for s in sources} & set(summary['absent_channels'])))
+        row = dict(case=name, valid=valid, virtual_s=client.state.virtual_time_s,
+                   measures=summary['measures'], clears=summary['clears'],
+                   failed_clears=summary['clears']-len(sim.cleared),
+                   distance_m=summary['move_distance_m'], wall_s=perf_counter()-start)
+        rows.append(row)
+        (folder / (name+'.json')).write_text(json.dumps(dict(
+            sources=[asdict(s) for s in sources], error_seed=error_seed,
+            summary=summary, actions=actions), ensure_ascii=False), encoding='utf-8')
+        print(f'{name}: valid={valid} T={row["virtual_s"]:.1f} M={row["measures"]}', flush=True)
+    result = dict(config=asdict(config), source='local_simulator_only', baseline=args.baseline, rows=rows,
+                  mean_s=mean(r['virtual_s'] for r in rows), median_s=median(r['virtual_s'] for r in rows),
+                  max_s=max(r['virtual_s'] for r in rows), valid=sum(r['valid'] for r in rows),
+                  under_4000=sum(r['virtual_s'] < 4000 for r in rows),
+                  source_sha256=source_sha256)
+    (folder/'results.json').write_text(json.dumps(result, ensure_ascii=False, indent=2), encoding='utf-8')
+    print({k:result[k] for k in ('mean_s','median_s','max_s','valid','under_4000')}, flush=True)
+
+
+if __name__ == '__main__':
+    main()