feat: huoyi M20 smooth/bridge training and stability docs
Current code snapshot: smooth/bridge task configs, smooth random terrain, roll/pitch stability rewards, M20 URDF updates, eval profile and stability training documentation.
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# Copyright (c) 2025 Deep Robotics
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# SPDX-License-Identifier: BSD 3-Clause
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"""上限评估的网格汇总：把逐环境结果折叠成「难度等级 × 地形类型」的成功率矩阵。
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纯数据变换，只依赖 numpy，与仿真框架无关。
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``score`` 的公式与 ``criterion.py`` / 旧 ``eval.py`` 完全一致（三者代数等价）：
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对每个地形类型，先算逐级累积成功率 ``acc[i] = Π_{j<=i} rate[j]``，
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再算 ``score = Σ_i acc[i] * (i+1) * (1 - rate[i+1])``，最后一级的 ``(1 - rate)`` 取 1。
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含义是「在爬到第 i+1 级之前失败」的累积期望，值越大说明越能爬到高难度。
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"""
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from __future__ import annotations
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from typing import Any, Sequence
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import numpy as np
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from eval_kit.core.terrain_spec import TerrainSpec
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def accumulated_success(rates: Sequence[float]) -> list[float]:
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"""逐级累积成功率。"""
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accumulated: list[float] = []
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running = 1.0
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for rate in rates:
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running *= float(rate)
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accumulated.append(running)
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return accumulated
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def upper_limit_score(rates: Sequence[float]) -> float:
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"""由某一地形类型各难度等级的成功率算 score。"""
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rates = [float(rate) for rate in rates]
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accumulated = accumulated_success(rates)
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score = 0.0
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for index, acc_rate in enumerate(accumulated):
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next_failure = 1.0 - rates[index + 1] if index + 1 < len(rates) else 1.0
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score += acc_rate * (index + 1) * next_failure
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return score
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def aggregate_runs(runs: Sequence[tuple[int, dict[str, Any]]]) -> dict[str, Any]:
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"""把多次（不同随机种子）的指标聚合成 mean/std。
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单次 rollout 的噪声足以淹没两个策略之间的真实差异，所以做对比时应该跑多个
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种子并看分布，而不是看单个数。
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Args:
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runs: ``(seed, metrics)`` 列表，``metrics`` 来自
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:func:`eval_kit.core.metrics.compute_metrics`。
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"""
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if not runs:
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raise ValueError("没有任何一次 run 可以聚合。")
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# 逐环境的私有字段不参与聚合
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metric_keys: list[str] = []
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for _, metrics in runs:
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for key, value in metrics.items():
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if key.startswith("_"):
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continue
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if isinstance(value, (int, float)) and key not in metric_keys:
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metric_keys.append(key)
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summary: dict[str, Any] = {}
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for key in metric_keys:
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values = np.array([float(metrics.get(key, float("nan"))) for _, metrics in runs], dtype=np.float64)
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finite = values[np.isfinite(values)]
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if finite.size == 0:
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summary[key] = {
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"mean": float("nan"),
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"std": float("nan"),
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"min": float("nan"),
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"max": float("nan"),
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"values": values.tolist(),
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"finite_runs": 0,
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}
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continue
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summary[key] = {
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"mean": float(np.mean(finite)),
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"std": float(np.std(finite, ddof=1)) if finite.size > 1 else 0.0,
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"min": float(np.min(finite)),
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"max": float(np.max(finite)),
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"values": values.tolist(),
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"finite_runs": int(finite.size),
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}
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consistent: dict[str, Any] = {}
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for key in runs[0][1]:
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if not key.startswith("_") and isinstance(runs[0][1][key], str):
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values = {metrics.get(key) for _, metrics in runs}
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consistent[key] = runs[0][1][key]
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if len(values) > 1:
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consistent[f"{key}_INCONSISTENT"] = sorted(str(value) for value in values)
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return {
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"num_runs": len(runs),
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"seeds": [int(seed) for seed, _ in runs],
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"summary": summary,
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"constant": consistent,
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"per_run": [{"seed": int(seed), "metrics": metrics} for seed, metrics in runs],
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}
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def build_upper_limit_matrix(
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per_env: dict[str, list[float]],
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level_ids: np.ndarray,
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type_ids: np.ndarray,
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terrain_types: Sequence[str],
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spec: TerrainSpec,
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num_levels: int,
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) -> dict[str, Any]:
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"""把逐环境结果汇总成网格。
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Args:
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per_env: 含 ``success`` / ``max_progress`` / ``max_tilt`` 的逐环境列表，
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由 :func:`eval_kit.core.metrics.compute_metrics` 在
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``include_per_env=True`` 时给出。
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level_ids: ``(N,)`` 每个环境所属的难度等级（0 起）。
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type_ids: ``(N,)`` 每个环境所属的地形类型序号（对应 ``terrain_types``）。
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terrain_types: 地形类型名，同时决定矩阵列顺序。
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spec: 地形规格，用于取每级的难度值。
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num_levels: 难度等级数（矩阵行数）。
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"""
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success = np.asarray(per_env["success"], dtype=np.float64)
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max_progress = np.asarray(per_env["max_progress"], dtype=np.float64)
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max_tilt = np.asarray(per_env["max_tilt"], dtype=np.float64)
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level_ids = np.asarray(level_ids, dtype=np.int64)
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type_ids = np.asarray(type_ids, dtype=np.int64)
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if not (success.shape == max_progress.shape == max_tilt.shape == level_ids.shape == type_ids.shape):
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raise ValueError("逐环境数组与网格编号数组长度不一致。")
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per_type: dict[str, Any] = {}
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for type_index, terrain_type in enumerate(terrain_types):
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level_values = spec.levels_for(terrain_type, num_levels)
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rates: list[float] = []
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level_metrics: list[dict[str, Any]] = []
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for level_index, level_value in enumerate(level_values):
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mask = (type_ids == type_index) & (level_ids == level_index)
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total = int(np.count_nonzero(mask))
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if total == 0:
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rates.append(float("nan"))
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level_metrics.append(
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{
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"level": level_index + 1,
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"difficulty": float(level_value),
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"success_rate": float("nan"),
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"success_count": 0.0,
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"num_envs": 0,
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"avg_progress_m": float("nan"),
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"avg_max_tilt_rad": float("nan"),
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}
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)
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continue
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count = float(np.count_nonzero(success[mask] > 0.5))
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rates.append(count / total)
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level_metrics.append(
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{
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"level": level_index + 1,
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"difficulty": float(level_value),
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"success_rate": count / total,
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"success_count": count,
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"num_envs": total,
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"avg_progress_m": float(np.mean(max_progress[mask])),
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"avg_max_tilt_rad": float(np.mean(max_tilt[mask])),
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}
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)
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per_type[terrain_type] = {
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"levels": level_metrics,
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"success_rate": rates,
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"success_rate_accumulated": accumulated_success(rates),
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"score": upper_limit_score(rates),
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"max_level": len(level_values),
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"difficulty_unit": spec.unit.get(terrain_type, ""),
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}
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# 打成便于打印与比较的矩阵：行 = 难度等级，列 = 地形类型
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success_matrix: list[list[float]] = []
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accumulated_matrix: list[list[float]] = []
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difficulty_matrix: list[list[float]] = []
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for level_index in range(num_levels):
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success_row: list[float] = []
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accumulated_row: list[float] = []
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difficulty_row: list[float] = []
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for terrain_type in terrain_types:
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entry = per_type[terrain_type]
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rates = entry["success_rate"]
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accumulated = entry["success_rate_accumulated"]
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levels = entry["levels"]
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success_row.append(rates[level_index] if level_index < len(rates) else float("nan"))
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accumulated_row.append(accumulated[level_index] if level_index < len(accumulated) else float("nan"))
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difficulty_row.append(levels[level_index]["difficulty"] if level_index < len(levels) else float("nan"))
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success_matrix.append(success_row)
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accumulated_matrix.append(accumulated_row)
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difficulty_matrix.append(difficulty_row)
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return {
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"benchmark": spec.name,
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"terrain_types": list(terrain_types),
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"num_levels": num_levels,
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"difficulty_unit": {terrain_type: spec.unit.get(terrain_type, "") for terrain_type in terrain_types},
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"per_type": per_type,
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"scores": {terrain_type: per_type[terrain_type]["score"] for terrain_type in terrain_types},
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"matrix": {
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"success_rate": success_matrix,
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"success_rate_accumulated": accumulated_matrix,
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"difficulty": difficulty_matrix,
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},
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}
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