File size: 3,048 Bytes
b14c4b7 | 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 | from sim_reveal.procedural_envs import BAG_PROXY, CLOTH_PROXY, FOLIAGE_PROXY, make_proxy_env
def test_proxy_scripted_bench():
bag_wins = 0
foliage_wins = 0
cloth_wins = 0
for seed in range(10):
bag_env = make_proxy_env(proxy_name=BAG_PROXY.name, resolution=32, seed=seed, rollout_horizon=4)
bag_env.reset(seed=seed)
maintain = bag_env.evaluate_action_chunk(bag_env.macro_action_chunk("maintain_mouth", chunk_horizon=4), rollout_horizon=4)
retrieve = bag_env.evaluate_action_chunk(bag_env.macro_action_chunk("premature_retrieve", chunk_horizon=4), rollout_horizon=4)
if (maintain["hold_persistence"] >= retrieve["hold_persistence"]) and (maintain["reocclusion_rate"] <= retrieve["reocclusion_rate"]):
bag_wins += 1
foliage_env = make_proxy_env(proxy_name=FOLIAGE_PROXY.name, resolution=32, seed=seed, rollout_horizon=4)
foliage_env.reset(seed=seed)
pin = foliage_env.evaluate_action_chunk(foliage_env.macro_action_chunk("pin_canopy", chunk_horizon=4), rollout_horizon=4)
swipe = foliage_env.evaluate_action_chunk(foliage_env.macro_action_chunk("foliage_immediate_reocclusion", chunk_horizon=4), rollout_horizon=4)
if (pin["reocclusion_rate"] <= swipe["reocclusion_rate"]) and (pin["visibility_integral"] >= swipe["visibility_integral"]):
foliage_wins += 1
cloth_env = make_proxy_env(proxy_name=CLOTH_PROXY.name, resolution=32, seed=seed, rollout_horizon=4)
cloth_env.reset(seed=seed)
stabilize = cloth_env.evaluate_action_chunk(cloth_env.macro_action_chunk("stabilize_fold", chunk_horizon=4), rollout_horizon=4)
lift_high = cloth_env.evaluate_action_chunk(cloth_env.macro_action_chunk("cloth_lift_high", chunk_horizon=4), rollout_horizon=4)
if (stabilize["candidate_fold_preservation"] >= lift_high["candidate_fold_preservation"]) and (
stabilize["final_disturbance_cost"] <= lift_high["final_disturbance_cost"]
):
cloth_wins += 1
assert bag_wins >= 8
assert foliage_wins >= 8
assert cloth_wins >= 8
def test_cloth_candidate_utility_penalizes_fold_damage():
cloth_env = make_proxy_env(proxy_name=CLOTH_PROXY.name, resolution=32, seed=0, rollout_horizon=4)
gentle_reveal = {
"retrieval_success": 0.0,
"final_disturbance_cost": 0.18,
"reocclusion_rate": 0.02,
"candidate_layer_separation_quality": 0.92,
"candidate_fold_preservation": 0.78,
"candidate_top_layer_stability": 0.82,
"candidate_lift_too_much_risk": 0.08,
}
destructive_reveal = {
"retrieval_success": 0.0,
"final_disturbance_cost": 0.52,
"reocclusion_rate": 0.02,
"candidate_layer_separation_quality": 0.92,
"candidate_fold_preservation": 0.06,
"candidate_top_layer_stability": 0.18,
"candidate_lift_too_much_risk": 0.42,
}
assert cloth_env.candidate_outcome_utility(gentle_reveal) > cloth_env.candidate_outcome_utility(destructive_reveal)
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