File size: 2,567 Bytes
4839caf | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 | #!/bin/bash
# Generate validation trajectories for a single (task, subtask, obj) combo on HPC3.
# Output goes to mshab_data/gen_data_save_trajectories/{task}/{subtask}/val/{obj}/
#
# Usage: sbatch --export=TASK=set_table,SUBTASK=pick,OBJ=013_apple,MAX_TRAJ=100 scripts/gen_val_combo.sbatch
#
# Pipeline per combo:
# 1. gen_data.py with SPLIT=val, MAX_TRAJ=100 → val rollouts using val task_plan + spawn_data
# 2. add_pointcloud.py → pointcloud/{xyzw, rgb, mask}
# 3. add_xyzrgb.py → pointcloud/xyzrgb (1024 sampled pts)
#
#SBATCH -p acd_u
#SBATCH --nodes=1
#SBATCH --ntasks-per-node=1
#SBATCH --cpus-per-task=12
#SBATCH --mem=128G
#SBATCH --gres=gpu:1
#SBATCH -t 0-04:00:00
set -e
: "${TASK:?must pass TASK=...}"
: "${SUBTASK:?must pass SUBTASK=...}"
: "${OBJ:?must pass OBJ=...}"
MAX_TRAJ=${MAX_TRAJ:-100}
PROJECT=${PROJECT_ROOT}
LOG=$PROJECT/logs/gen_val_${TASK}_${SUBTASK}_${OBJ}_${SLURM_JOB_ID}.log
mkdir -p $PROJECT/logs
exec > "$LOG" 2>&1
module purge
module load cuda/12.6 gcc/11.5
export PATH=${CONDA_ENV_PATH}/bin:$PATH
export HF_HOME=${HF_CACHE_DIR}
export HUGGINGFACE_HUB_CACHE=${HF_CACHE_DIR}/hub
export HF_HUB_OFFLINE=1
export TRANSFORMERS_OFFLINE=1
export MS_ASSET_DIR=${MS_ASSET_DIR}
export MSHAB_CHECKPOINTS=$PROJECT/third_party/mshab/mshab_checkpoints
export SPLIT=val
export MAX_TRAJ=$MAX_TRAJ
echo "=== Host: $(hostname) Time: $(date) ==="
echo "TASK=$TASK SUBTASK=$SUBTASK OBJ=$OBJ SPLIT=$SPLIT MAX_TRAJ=$MAX_TRAJ"
nvidia-smi --query-gpu=name,memory.free --format=csv | head
OUT_DIR=$PROJECT/third_party/mshab/mshab_data/gen_data_save_trajectories/$TASK/$SUBTASK/val/$OBJ
# --- Step 1: gen_data ---
HAS_H5=$(find "$OUT_DIR" -name "*.h5" -size +500M 2>/dev/null | head -1)
if [ -z "$HAS_H5" ]; then
echo "=== [1/3] gen_data.py (val) ==="
cd $PROJECT/third_party/mshab
python -m mshab.utils.gen.gen_data "$TASK" "$SUBTASK" "$OBJ"
else
echo "=== [1/3] gen_data SKIPPED — existing h5: $HAS_H5 ==="
fi
H5=$(find "$OUT_DIR" -name "*.h5" -size +500M 2>/dev/null | head -1)
if [ -z "$H5" ]; then
echo "ERROR: gen_data produced no h5 file"
ls -la "$OUT_DIR" 2>&1 || true
exit 2
fi
echo "h5: $H5 ($(du -sh "$H5" | cut -f1))"
# --- Step 2: add pointcloud ---
echo "=== [2/3] add_pointcloud.py ==="
cd $PROJECT/third_party/mshab
python add_pointcloud.py --data-dir "$OUT_DIR" --max-workers 16
# --- Step 3: add xyzrgb ---
echo "=== [3/3] add_xyzrgb.py ==="
python add_xyzrgb.py --data-dir "$OUT_DIR"
echo "=== Done at $(date) ==="
du -sh "$H5"
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