praxis-eval 0.1.0__tar.gz

praxis_eval-0.1.0/LICENSE

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praxis_eval-0.1.0/NOTICE

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+praxis-eval
+Copyright 2026 Chaoqi Liu
+
+This product includes software developed by Chaoqi Liu.
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praxis_eval-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: praxis-eval
+Version: 0.1.0
+Summary: Standalone robot-policy evaluation harness with local and remote policy adapters.
+License-Expression: Apache-2.0
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: NOTICE
+Requires-Dist: numpy>=1.26.0
+Requires-Dist: omegaconf>=2.3.0
+Provides-Extra: dev
+Requires-Dist: gymnasium>=1.0.0; extra == "dev"
+Requires-Dist: lerobot==0.4.4; extra == "dev"
+Requires-Dist: omegaconf>=2.3.0; extra == "dev"
+Requires-Dist: pre-commit>=4.0.0; extra == "dev"
+Requires-Dist: pytest>=8.0.0; extra == "dev"
+Requires-Dist: praxis-remote==0.1.0; extra == "dev"
+Requires-Dist: praxis-simpler==0.0.1.post2; extra == "dev"
+Requires-Dist: praxis-mshab==0.0.1.post2; extra == "dev"
+Requires-Dist: pyyaml>=6.0.0; extra == "dev"
+Requires-Dist: ruff>=0.4.0; extra == "dev"
+Requires-Dist: torch>=2.7.0; extra == "dev"
+Requires-Dist: tqdm>=4.66.0; extra == "dev"
+Provides-Extra: remote
+Requires-Dist: praxis-remote==0.1.0; extra == "remote"
+Provides-Extra: libero
+Requires-Dist: gymnasium>=1.0.0; extra == "libero"
+Requires-Dist: lerobot==0.4.4; extra == "libero"
+Requires-Dist: omegaconf>=2.3.0; extra == "libero"
+Requires-Dist: pyyaml>=6.0.0; extra == "libero"
+Requires-Dist: praxis-robosuite==1.5.2; extra == "libero"
+Requires-Dist: praxis-libero==0.1.1; extra == "libero"
+Requires-Dist: torch>=2.7.0; extra == "libero"
+Requires-Dist: tqdm>=4.66.0; extra == "libero"
+Provides-Extra: metaworld
+Requires-Dist: gymnasium>=1.0.0; extra == "metaworld"
+Requires-Dist: lerobot[metaworld]==0.4.4; extra == "metaworld"
+Requires-Dist: omegaconf>=2.3.0; extra == "metaworld"
+Requires-Dist: torch>=2.7.0; extra == "metaworld"
+Requires-Dist: tqdm>=4.66.0; extra == "metaworld"
+Provides-Extra: robocasa
+Requires-Dist: gymnasium>=1.0.0; extra == "robocasa"
+Requires-Dist: lerobot==0.4.4; extra == "robocasa"
+Requires-Dist: omegaconf>=2.3.0; extra == "robocasa"
+Requires-Dist: numpy==2.2.5; extra == "robocasa"
+Requires-Dist: mujoco==3.3.1; extra == "robocasa"
+Requires-Dist: praxis-robosuite==1.5.2; extra == "robocasa"
+Requires-Dist: praxis-robocasa==1.0.0; extra == "robocasa"
+Requires-Dist: lxml>=5.0.0; extra == "robocasa"
+Requires-Dist: torch>=2.7.0; extra == "robocasa"
+Requires-Dist: tqdm>=4.66.0; extra == "robocasa"
+Provides-Extra: robomimic
+Requires-Dist: gymnasium>=1.0.0; extra == "robomimic"
+Requires-Dist: lerobot==0.4.4; extra == "robomimic"
+Requires-Dist: omegaconf>=2.3.0; extra == "robomimic"
+Requires-Dist: robomimic==0.2.0; extra == "robomimic"
+Requires-Dist: praxis-robosuite==1.5.2; extra == "robomimic"
+Requires-Dist: torch>=2.7.0; extra == "robomimic"
+Requires-Dist: tqdm>=4.66.0; extra == "robomimic"
+Provides-Extra: simpler
+Requires-Dist: lerobot==0.4.4; extra == "simpler"
+Requires-Dist: omegaconf>=2.3.0; extra == "simpler"
+Requires-Dist: praxis-remote==0.1.0; extra == "simpler"
+Requires-Dist: praxis-simpler==0.0.1.post2; extra == "simpler"
+Requires-Dist: tqdm>=4.66.0; extra == "simpler"
+Provides-Extra: mshab
+Requires-Dist: lerobot==0.4.4; extra == "mshab"
+Requires-Dist: omegaconf>=2.3.0; extra == "mshab"
+Requires-Dist: praxis-remote==0.1.0; extra == "mshab"
+Requires-Dist: praxis-mshab==0.0.1.post2; extra == "mshab"
+Requires-Dist: tqdm>=4.66.0; extra == "mshab"
+Provides-Extra: all
+Requires-Dist: gymnasium>=1.0.0; extra == "all"
+Requires-Dist: lerobot[metaworld]==0.4.4; extra == "all"
+Requires-Dist: omegaconf>=2.3.0; extra == "all"
+Requires-Dist: praxis-remote==0.1.0; extra == "all"
+Requires-Dist: pyyaml>=6.0.0; extra == "all"
+Requires-Dist: praxis-robosuite==1.5.2; extra == "all"
+Requires-Dist: praxis-libero==0.1.1; extra == "all"
+Requires-Dist: numpy==2.2.5; extra == "all"
+Requires-Dist: mujoco==3.3.1; extra == "all"
+Requires-Dist: praxis-robocasa==1.0.0; extra == "all"
+Requires-Dist: lxml>=5.0.0; extra == "all"
+Requires-Dist: robomimic==0.2.0; extra == "all"
+Requires-Dist: praxis-simpler==0.0.1.post2; extra == "all"
+Requires-Dist: praxis-mshab==0.0.1.post2; extra == "all"
+Requires-Dist: torch>=2.7.0; extra == "all"
+Requires-Dist: tqdm>=4.66.0; extra == "all"
+Dynamic: license-file
+
+# praxis-eval
+
+`praxis-eval` is a standalone robot-policy evaluation package. It owns
+benchmark setup, rollout execution, metrics, artifacts, and documented
+environment contracts. It does not own model preprocessing, checkpoint loading,
+training, logging, or scheduling.
+
+The public boundary is intentionally small:
+
+- Eval emits generic observations: `Mapping[str, numpy.ndarray | str | bool | int | float]`.
+- Policy adapters consume those observations and return `numpy.ndarray` actions.
+- Each benchmark driver documents the observation keys it emits and the action
+  shape, dtype, range, and convention it expects.
+- Callers can run policies in the same process or call a remote policy through
+  `praxis-remote`.
+
+This keeps benchmark logic inside `praxis-eval` and model-specific adaptation
+inside the caller.
+
+## Installation
+
+Install the core package from PyPI:
+
+```bash
+pip install praxis-eval==0.1.0
+```
+
+The core package contains the public API, contracts, registry, result types,
+setup/verify dispatchers, and local policy adapter. Install benchmark extras
+for the simulator families you plan to run:
+
+```bash
+pip install "praxis-eval[remote]==0.1.0"
+pip install "praxis-eval[libero]==0.1.0"
+pip install "praxis-eval[metaworld]==0.1.0"
+pip install "praxis-eval[robocasa]==0.1.0"
+pip install "praxis-eval[robomimic]==0.1.0"
+pip install "praxis-eval[simpler]==0.1.0"
+pip install "praxis-eval[mshab]==0.1.0"
+```
+
+Use the source install when you need the current `main` branch before the next
+release:
+
+```bash
+pip install "praxis-eval @ git+https://github.com/Chaoqi-LIU/praxis-eval.git@main"
+```
+
+`remote` installs the optional
+[`praxis-remote`](https://github.com/Chaoqi-LIU/praxis-remote) adapter.
+`libero`, `metaworld`, `robocasa`, and `robomimic` normally run inside the
+current Python environment. `simpler` and `mshab` install lightweight package
+wrappers into the current environment, but their simulator stacks usually run
+best in dedicated runtimes created by `praxis-eval-setup`.
+
+For local development:
+
+```bash
+git clone https://github.com/Chaoqi-LIU/praxis-eval.git
+cd praxis-eval
+uv sync --extra dev
+uv run --extra dev pytest --strict-markers -m "not manual"
+```
+
+The repository has no simulator source submodules and no vendored
+`third_party/` checkouts. Simulator forks are normal Python dependencies
+published as `praxis-*` packages; setup commands download assets and create
+runtime environments outside the source tree.
+
+## Benchmark Extras
+
+| Extra | Installs | Runtime model |
+| --- | --- | --- |
+| `remote` | `praxis-remote==0.1.0` | Optional gRPC policy client. |
+| `libero` | `praxis-libero`, `praxis-robosuite` | Runs in the current Python environment. |
+| `metaworld` | LeRobot Meta-World dependencies | Runs in the current Python environment. |
+| `robocasa` | `praxis-robocasa`, `praxis-robosuite` | Runs in the current Python environment after asset setup. |
+| `robomimic` | RoboMimic, `praxis-robosuite` | Runs in the current Python environment. |
+| `simpler` | `praxis-simpler`, `praxis-remote` | Uses a dedicated SimplerEnv runtime for simulator execution. |
+| `mshab` | `praxis-mshab`, `praxis-remote` | Uses a dedicated MS-HAB runtime for simulator execution. |
+
+Prefer the narrowest extra that matches the benchmark you need. The `all` extra
+is available for CI and broad integration environments, but it is usually not
+the right choice for a policy-training environment because simulator dependency
+sets can be heavy.
+
+## Setup CLI
+
+Setup commands prepare benchmark assets or dedicated simulator runtimes. Run the
+setup command after installing the relevant extra.
+
+Top-level help:
+
+```bash
+praxis-eval-setup --help
+python -m praxis_eval.scripts.setup --help
+```
+
+RoboCasa setup downloads kitchen assets and writes `robocasa/macros_private.py`
+with the dataset root used by RoboCasa:
+
+```bash
+pip install "praxis-eval[robocasa]==0.1.0"
+praxis-eval-setup robocasa
+praxis-eval-setup robocasa --dataset-base-path /data/robocasa
+praxis-eval-setup robocasa --skip-download
+```
+
+SimplerEnv setup creates or updates a dedicated conda/micromamba environment
+from the env spec shipped inside `praxis-simpler`, installs the matching
+runtime packages into that environment, downloads ManiSkill assets, and writes
+activation hooks for Vulkan/EGL and `MS_ASSET_DIR`:
+
+```bash
+pip install "praxis-eval[simpler]==0.1.0"
+praxis-eval-setup simpler
+praxis-eval-setup simpler --env-manager micromamba --env-name simpler-praxis
+praxis-eval-setup simpler --ms-asset-dir /data/simpler/maniskill_assets
+praxis-eval-setup simpler --skip-assets
+```
+
+MS-HAB setup follows the same model using the env spec shipped inside
+`praxis-mshab`:
+
+```bash
+pip install "praxis-eval[mshab]==0.1.0"
+praxis-eval-setup mshab
+praxis-eval-setup mshab --env-manager micromamba --env-name mshab-praxis
+praxis-eval-setup mshab --ms-asset-dir /data/mshab/maniskill_assets
+praxis-eval-setup mshab --skip-assets
+```
+
+Each setup command supports `--help`:
+
+```bash
+praxis-eval-setup robocasa --help
+praxis-eval-setup simpler --help
+praxis-eval-setup mshab --help
+```
+
+## Verify CLI
+
+Verifier commands run short random-action rollouts. They confirm that a
+benchmark stack is importable, can create environments, can step, and can write
+evaluation artifacts.
+
+Top-level help:
+
+```bash
+praxis-eval-verify --help
+python -m praxis_eval.scripts.verify --help
+```
+
+Current-environment verifiers:
+
+```bash
+praxis-eval-verify libero --task libero_10 --task-id 0
+praxis-eval-verify metaworld --task reach-v3
+praxis-eval-verify robocasa --task CloseToasterOvenDoor
+praxis-eval-verify robomimic --task Lift --disable-render
+```
+
+Dedicated-runtime verifiers:
+
+```bash
+praxis-eval-verify simpler --env-name simpler-praxis --num-episodes 1 --num-envs 1
+praxis-eval-verify mshab --env-name mshab-praxis --num-episodes 1 --num-envs 1
+```
+
+Pass an explicit interpreter when the runtime is a container, a manually managed
+conda environment, or a cluster-provided Python binary:
+
+```bash
+praxis-eval-verify simpler --env-python-bin /path/to/simpler/bin/python
+praxis-eval-verify mshab --env-python-bin /path/to/mshab/bin/python
+```
+
+Each verifier supports `--help`:
+
+```bash
+praxis-eval-verify libero --help
+praxis-eval-verify metaworld --help
+praxis-eval-verify robocasa --help
+praxis-eval-verify robomimic --help
+praxis-eval-verify simpler --help
+praxis-eval-verify mshab --help
+```
+
+## Dedicated SimplerEnv and MS-HAB Runtimes
+
+SimplerEnv and MS-HAB are special because their simulator dependencies are often
+better isolated from the caller's main environment. The setup helpers create
+dedicated conda or micromamba environments from env specs shipped by
+`praxis-simpler` and `praxis-mshab`, then install `praxis-eval`,
+`praxis-remote`, and the matching simulator runtime package into that dedicated
+environment.
+
+The setup helpers do not clone simulator source trees. They read runtime env
+specs from installed package resources:
+
+```text
+praxis-simpler: simpler_env/praxis_conda_env.yaml
+praxis-mshab:   mshab/praxis_conda_env.yaml
+```
+
+Default managed asset locations are:
+
+```text
+~/.cache/praxis_eval/assets/simpler/maniskill_assets
+~/.cache/praxis_eval/assets/mshab/maniskill_assets
+```
+
+Override the asset location explicitly when a cluster or container already has a
+fixed asset mount:
+
+```bash
+praxis-eval-setup simpler --ms-asset-dir /path/to/simpler/maniskill_assets
+praxis-eval-setup mshab --ms-asset-dir /path/to/mshab/maniskill_assets
+```
+
+At evaluation time, pass the same path through the env config when you are not
+using the default managed cache:
+
+```python
+from praxis_eval import EvalConfig
+
+config = EvalConfig(
+    task="widowx_carrot_on_plate",
+    num_eval_per_task=5,
+    output_dir="eval/simpler",
+    env_kwargs={
+        "python_bin": "/path/to/simpler-praxis/bin/python",
+        "ms_asset_dir": "/data/simpler/maniskill_assets",
+    },
+)
+```
+
+The caller's policy environment does not need SimplerEnv or MS-HAB simulator
+dependencies installed. It only needs `praxis-eval` and a policy adapter that
+understands the observation/action contract.
+
+## Supported Benchmarks
+
+Built-in drivers are registered lazily when they are first requested.
+
+| Driver | Extra | Notes |
+| --- | --- | --- |
+| `libero` | `libero` | LIBERO tasks through the Praxis-compatible fork. |
+| `metaworld` | `metaworld` | Meta-World tasks through LeRobot integration. |
+| `robocasa` | `robocasa` | RoboCasa tasks, assets, and metrics. |
+| `robomimic` | `robomimic` | RoboMimic tasks and RoboSuite-backed rollouts. |
+| `simpler` | `simpler` | Usually run through a dedicated interpreter via `env.python_bin`. |
+| `mshab` | `mshab` | Usually run through a dedicated interpreter via `env.python_bin`. |
+
+Check available registered drivers:
+
+```python
+from praxis_eval import available_drivers
+
+print(available_drivers())
+```
+
+Inspect a benchmark contract:
+
+```python
+from praxis_eval import get_driver
+
+driver = get_driver("libero")
+print(driver.contract.observation_keys)
+print(driver.contract.action)
+```
+
+## Evaluation API
+
+Use `evaluate(env, policy, config)` for both local and remote policies:
+
+```python
+import numpy as np
+from praxis_eval import EvalConfig, LocalPolicy, evaluate
+
+
+def act(observations, *, policy_kwargs=None, episode_ids=None):
+    del policy_kwargs, episode_ids
+    return np.zeros((len(observations), 7), dtype=np.float32)
+
+
+result = evaluate(
+    "libero",
+    policy=LocalPolicy(act),
+    config=EvalConfig(
+        task="libero_spatial",
+        num_eval_per_task=10,
+        num_parallel_env=4,
+        output_dir="eval/libero_spatial",
+    ),
+)
+
+print(result.overall)
+```
+
+`EvalConfig` contains generic rollout settings. Benchmark-specific settings go
+in `env_kwargs`; policy-adapter settings go in `policy_kwargs`.
+
+```python
+from praxis_eval import EvalConfig
+
+config = EvalConfig(
+    task="libero_spatial",
+    task_ids=(0, 1, 2),
+    num_eval_per_task=5,
+    num_parallel_env=3,
+    output_dir="eval/libero_spatial",
+    record_episodes_per_task=1,
+    step_timeout_sec=30.0,
+    env_kwargs={"max_episode_steps": 400},
+    policy_kwargs={"temperature": 0.0},
+)
+```
+
+The returned `EvalResult` has aggregate metrics, per-task metrics, optional
+grouped metrics, artifact paths, and metadata:
+
+```python
+print(result.overall)
+print(result.per_task)
+print(result.artifacts)
+```
+
+## Observation and Action Contract
+
+An observation is a flat mapping. Keys are explicit and namespaced so policy
+adapters can stay generic:
+
+```python
+{
+    "task": "put the mug on the plate",
+    "observation.images.front": front_rgb,
+    "observation.images.wrist": wrist_rgb,
+    "observation.state": proprio,
+    "metadata.episode_index": 7,
+}
+```
+
+Values can be numpy arrays, strings, booleans, integers, floats, or numpy scalar
+values. Arrays can represent RGB images, depth, state, masks, point clouds, or
+calibration payloads. The benchmark contract tells the caller which keys are
+present for that benchmark.
+
+A policy adapter returns a batched `numpy.ndarray` action. `praxis-eval`
+validates the action against the benchmark `ActionSpec` when a driver supplies
+one. The policy itself does not need to know simulator internals; it only needs
+to know the documented observation keys and action format.
+
+## Remote Policies
+
+Install the remote extra and run a policy server with `praxis-remote`:
+
+```bash
+pip install "praxis-eval[remote]==0.1.0"
+```
+
+Then evaluate through `RemotePolicy`:
+
+```python
+from praxis_eval import EvalConfig, RemotePolicy, evaluate
+
+result = evaluate(
+    "robocasa",
+    policy=RemotePolicy("127.0.0.1:50051", timeout=30.0),
+    config=EvalConfig(
+        task="CloseDrawer",
+        num_eval_per_task=10,
+        output_dir="eval/robocasa",
+    ),
+)
+```
+
+Remote mode keeps the evaluator and policy in separate processes. This is useful
+when the policy runtime and simulator runtime need incompatible dependencies.
+
+## Repository Structure
+
+```text
+src/praxis_eval/
+  api.py                  # evaluate(env, policy, config)
+  contracts.py            # EnvContract, ObservationKey, ActionSpec
+  registry.py             # driver registration and lookup
+  types.py                # public EvalConfig, EvalResult, Policy protocol
+  policies/               # local and remote policy adapters
+  envs/                   # built-in benchmark drivers and env integration
+  evaluation/             # rollout orchestration, metrics, artifacts
+  scripts/                # setup and verify entry points
+  managed_paths.py        # default cache paths for managed assets
+tests/                    # package and integration tests
+```
+
+## Development Checks
+
+Run the same checks as CI:
+
+```bash
+uv run --extra dev pre-commit run check-license-headers --all-files
+uv run --extra dev ruff check .
+uv run --extra dev ruff format --check .
+uv run --extra dev pytest --strict-markers -m "not manual"
+uv build --sdist --wheel
+```
+
+Contributor setup and project rules are in [CONTRIBUTING.md](CONTRIBUTING.md).
+
+## License and Attribution
+
+`praxis-eval` is licensed under Apache-2.0. Redistribution must preserve the
+license, copyright notices, and `NOTICE` file. If this package supports your
+research or product work, please cite the repository using `CITATION.cff`.