DRAFT: Record per episode metadata and results#806
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Record every value drawn by an enabled variation's sampler so downstream sensitivity-analysis tooling has the input factors that produced each episode. This adds a sample-observer layer the recorder builds on: SamplerBase gains add_listener/remove_listener and a sample() template method that notifies listeners around the concrete _sample(); VariationBase gains add_sample_listener/remove_sample_listener, re-binding subscriptions onto the sampler rebuilt by apply_cfg so they survive cfg swaps. ArenaEnvBuilder constructs a VariationRecorder, attaches it after Hydra overrides but before any sampling, and exposes it on env.unwrapped. The recorder is stashed on the builder rather than the env cfg because the configclass __post_init__ deep-copies its attributes, which would orphan the listener closures. Signed-off-by: alex <amillane@nvidia.com>
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…isode data into visualizer, make camera obs recorder use centralized episode idx.
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The per-episode recording contains almost all of the data we need. The only thing missing is some job-level metadata, but I don't think that's a blocker, the current approach looks good to me.
| # Request the per-episode results write into this job's output subdir | ||
| # (the same directory the video recorders use), one file per rebuild. | ||
| results_path = os.path.join(video_cfg.video_base_dir, f"episode_results_rebuild{rebuild_idx}.jsonl") | ||
| env.unwrapped.episode_results_recorder.write(results_path) |
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write() is inside the try block, so if it raises (e.g. a permissions error) the except catches it and marks the job as failed, even though the rollout itself completed successfully
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Superceded by #810 |
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Summary
Record per-episode data.
Detailed description
envthat accumulates per-episode data and optionally writes it to disk.IsaacLabManagerBasedRLEnv