[Question] pi0.5 eval 跑起来报错？

[bevictory]

1、执行bash scripts/launch_pi_onlineeval.sh 报错
ImportError: cannot import name 'RLDSDroidDataConfig' from partially initialized module 'openpi.training.config'
2、拷贝EBench/baselines/openpi/src/下的config.py至openpi/src目录下，再次运行
TypeError: RLDSDroidDataConfig.init() got an unexpected keyword argument 'datasets'

[bevictory]

我增加了datasets定义
运行报错
RuntimeError: Cannot connect to server at 0.0.0.0. Ensure the evaluation server is running. Error: Invalid URL '0.0.0.0/docs': No scheme supplied. Perhaps you meant https://0.0.0.0/docs?

这里需要填https://internrobotics.shlab.org.cn/eval以及真实的token吗？不能连接本地的GenManip服务端？

[kew6688]

可以连接本地的GenManip，比如默认启动GenManip eval server

INFO:     Started server process [614542]
INFO:     Waiting for application startup.
INFO:     Application startup complete.
INFO:     Uvicorn running on http://0.0.0.0:8087 (Press CTRL+C to quit)

在这里填 python scripts/pi_eval_client_online.py --eval_host http://0.0.0.0:8087 来连接本地服务

[bevictory]

可以连接本地的GenManip，比如默认启动GenManip eval server

INFO:     Started server process [614542]
INFO:     Waiting for application startup.
INFO:     Application startup complete.
INFO:     Uvicorn running on http://0.0.0.0:8087 (Press CTRL+C to quit)

在这里填 python scripts/pi_eval_client_online.py --eval_host http://0.0.0.0:8087 来连接本地服务

已经解决了

现在遇到新问题，
genmanip报500 Internal server error

client端报错：raise RuntimeError(f"HTTP error on reset: {resp.status_code} - {detail}")
RuntimeError: HTTP error on reset: 500 - {'detail': 'ValueError: No job started. Call start_new_job first.'}

是不是需要先执行gmp submit？

解决了上面错误，又遇到新问题
from curobo.types.state import JointState
ModuleNotFoundError: No module named 'curobo.types.state'; 'curobo.types' is not a package

=====
运行pi0.5，是不是需要下载资产？下载哪个？放在哪里？需要修改哪里的配置文件吗？

[kew6688]

可以检查一下 Genmanip 是否正确安装，需要安装在运行 ray_eval_server 的环境里
https://genmanip.com/introduction/installation/

cd Path/to/GenManip

# Install Required Python packages.
bash scripts/install.sh

# download all robot assets and corresponding cuRobo configurations
python standalone_tools/download_assets.py --dataset all-robot 

EBench Asset 包含了需要的资产 https://huggingface.co/datasets/InternRobotics/EBench-Assets
需要放在 GenManip/saved 下
saved/assets 和 saved/tasks