Wbk/1026

.dockerignore

@@ -0,0 +1,6 @@
+Dockerfile
+.*
+!.git
+!.gitignore
+!.gitmodules
+!.python-version

.env.template

@@ -0,0 +1,13 @@
+# .env template
+
+# Path for logs
+LOG_FOLDER=
+
+# Your HPC account code
+NYU_HPC_ACCOUNT=
+
+# NYU ID
+USERNAME=
+
+SINGULARITY_IMAGE=
+OVERLAY_FILE=

.github/workflows/ci.yml

@@ -0,0 +1,42 @@
+name: Continuous Integration
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+jobs:
+  build-and-smoketest:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+
+      - name: Build Docker image
+        run: docker build --tag gpudrive:latest .
+
+      - name: Run smoke test inside Docker container (using a here document)
+        run: |
+          docker run --rm gpudrive:latest /bin/bash -c "$(cat << 'EOF'
+          #!/bin/bash
+          set -e
+          set -x
+          export DEBIAN_FRONTEND=noninteractive
+          echo 'Dummy cuda'
+          ln -s /usr/local/cuda/lib64/stubs/libcuda.so /usr/local/cuda/lib64/stubs/libcuda.so.1
+          export LD_LIBRARY_PATH=/usr/local/cuda/lib64/stubs/:$LD_LIBRARY_PATH
+          echo 'Modifications to run without extra data'
+          sed -i 's|train_path: \"data/processed/training\"|train_path: \"data/processed/examples\"|g' examples/experimental/config/visualization_config.yaml
+          sed -i '/# Load policy/{N;N;N;N;N;N;s|# Load policy\n    policy = load_policy(\n        path_to_cpt=config.cpt_path,\n        model_name=config.cpt_name,\n        device=config.device,\n        env=env,\n    )|from gpudrive.networks.late_fusion import NeuralNet\n    policy = NeuralNet.from_pretrained(\"daphne-cornelisse/policy_S10_000_02_27\")|}' examples/experimental/viz_rollouts.py
+          echo 'Modifications to run without GPU'
+          sed -i 's/device=\"cuda\"/device=\"cpu\"/g' gpudrive/datatypes/observation.py
+          export PYTHONFAULTHANDLER=1
+          ulimit -c unlimited
+          echo 'Run smoketest'
+          /gpudrive/.venv/bin/python examples/experimental/viz_rollouts.py
+          EOF
+          )"

.gitignore

@@ -4,3 +4,261 @@
 /.vs
 /CMakeSettings.json
 /scripts/__pycache__
+/train_src/madrona_escape_room_learn/__pycache__
+.vscode/launch.json
+.vscode/settings.json
+.vscode/tasks.json
+.uv_cache
+
+/examples/benchmarks/results/
+/baselines/ppo/logs/*
+*.sif
+/cloudpickle
+/cloudpickle-3.0.0.dist-info
+*madrona.diff
+/bin
+/zipp*
+/google-cloud-sdk/*
+*.gz
+
+# Data
+hpc/overlay*
+data/raw/*
+data/processed/validation/*
+data/processed/training/*
+data/processed/testing/*
+data/processed/sampled/*
+data/processed/hand_designed/*
+analyze/figures/*
+
+# Logging
+/wandb
+/wandb*
+events.out.tfevents.*
+/runs*
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+*.csv
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.venv
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+### Python Patch ###
+# Poetry local configuration file - https://python-poetry.org/docs/configuration/#local-configuration
+poetry.toml
+
+# ruff
+.ruff_cache/
+
+# LSP config files
+pyrightconfig.json
+
+*~
+
+# Environment variables
+# To be manually created using .env.template
+.env
+
+# Logs
+examples/experimental/logs/*
+
+# Sbatch scripts
+*.sh
+
+# Videos
+videos/
+output_videos_larger_dataset/
+output_videos_small_dataset/
+
+# Trained models
+models/
+
+# End of https://www.toptal.com/developers/gitignore/api/python,c++
+GPUDrive_full/
+
+# large artifacts
+
+
+output/

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "external/madrona"]
 	path = external/madrona
-	url = https://github.com/shacklettbp/madrona.git
+	url = https://github.com/m-naumann/madrona.git
+[submodule "external/json"]
+	path = external/json
+	url = https://github.com/nlohmann/json.git

.pre-commit-config.yaml

@@ -0,0 +1,18 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.0.1  # Use the latest version
+    hooks:
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-added-large-files
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 3.9.2  # Use the latest version
+    hooks:
+      - id: flake8
+  - repo: https://github.com/psf/black
+    rev: 22.3.0  # Use the latest version
+    hooks:
+      - id: black
+        args: [--line-length, "79"]

.python-version

@@ -0,0 +1 @@
+3.11

111.txt

@@ -0,0 +1,9 @@
+启动uv虚拟环境
+source .venv/bin/activate
+
+export HF_ENDPOINT=https://hf-mirror.com
+
+进docker
+docker run --gpus all -it --rm --shm-size=20G -v ${PWD}:/workspace gpudrive:latest /bin/bash
+关闭进程号
+kill -9 11981

CMakeLists.txt

@@ -1,5 +1,5 @@
-cmake_minimum_required(VERSION 3.18 FATAL_ERROR)
-cmake_policy(VERSION 3.18)
+cmake_minimum_required(VERSION 3.24 FATAL_ERROR) # for madrona
+
 include("${CMAKE_CURRENT_SOURCE_DIR}/external/madrona/cmake/madrona_init.cmake")
 
 project(Madrona3DExample LANGUAGES C CXX)
@@ -8,4 +8,7 @@ include(setup)
 include(dependencies)
 
 add_subdirectory(external)
+enable_testing()  # Enable testing capabilities
+
 add_subdirectory(src)
+add_subdirectory(tests)  # Add your tests directory