54 lines
1.9 KiB
Markdown
54 lines
1.9 KiB
Markdown
# Simulation & Evaluation
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The simulation pipeline allows you to visualize trained models and evaluate their performance under various conditions.
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## Overview
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The simulation pipeline is metadata-driven. Training-specific configurations (morphology, arena, environment, etc.) are automatically loaded from the `_metadata.yaml` file associated with the model checkpoint.
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## Basic Simulation
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To simulate a model in the MuJoCo viewer:
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```bash
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uv run scripts/simulate.py simulation.model_path=runs/your_run/final_model.flax
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```
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## Amputation & Morphology Overrides
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You can test trained models on different morphologies (e.g., amputating legs) by providing a morphology override. The observations will be automatically padded up to the training morphology's dimensions:
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```bash
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uv run scripts/simulate.py \
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simulation.model_path=runs/your_run/final_model.flax \
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simulation.morphology_override=configs/morphology/3_arms.yaml
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```
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## Video Recording
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Recording videos requires the `[evaluation]` extra:
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```bash
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uv run scripts/simulate.py \
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simulation.model_path=runs/your_run/final_model.flax \
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simulation.record_video=true \
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simulation.max_steps=1000
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```
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Videos and evaluation metadata are stored in timestamped folders alongside the model:
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`runs/your_run/final_model_evaluations/eval_<timestamp>/simulation.mp4`
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### Top-Down and Follow Cameras
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Using the following script, you can render a top-down and follow camera view for multiple models at once:
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```bash
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uv run scripts/poster_visualisations/render_poster_videos.py \
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runs/final-models/centralized/.../final_model.flax \
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runs/final-models/fully-connected/.../final_model.flax \
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runs/final-models/ring/.../final_model.flax \
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--max-steps 10000 --width 640 --height 480 --fps 60 \
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--output-root vids/poster/
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```
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For batch evaluation and cross-model comparison, see the **[Evaluation Guide](./evaluation.md)**.
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