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OmniGibson
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Fix profiling bugs

This commit is contained in:
Wensi (Vince) Ai 2024-02-15 11:52:37 -08:00
parent e024b05331
commit 2365206915
4 changed files with 20 additions and 19 deletions
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4
.github/workflows/profiling.yml vendored
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@ -2,7 +2,7 @@ name: Profiling
on:
workflow_dispatch:
push:
pull_request:
branches:
- og-develop
@ -50,5 +50,5 @@ jobs:
fail-on-alert: false
alert-threshold: '200%'
github-token: ${{ secrets.GITHUB_TOKEN }}
comment-on-alert: true
comment-on-alert: false
auto-push: true

16
scripts/profiling.js
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@ -1,22 +1,22 @@
const canvasDict = {
'baseline_total_canvas': ["Total frame time", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch", "Rs_int, with 3 Fetch"]],
'baseline_total_canvas': ["FPS", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch", "Rs_int, with 3 Fetch"]],
'baseline_loading_canvas': ["Loading time", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch", "Rs_int, with 3 Fetch"]],
'baseline_omni_canvas': ["Omni step time", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch", "Rs_int, with 3 Fetch"]],
'baseline_non_omni_canvas': ["Non-omni step time", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch", "Rs_int, with 3 Fetch"]],
'baseline_mem_canvas': ["Memory usage", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch", "Rs_int, with 3 Fetch"]],
'baseline_vram_canvas': ["Vram usage", ["Empty scene", "Rs_int", "Rs_int, with 1 Fetch", "Rs_int, with 3 Fetch"]],
'np_total_canvas': ["Total frame time", ["Empty scene, with 1 Fetch, fluids", "Empty scene, with 1 Fetch, cloth", "Empty scene, with 1 Fetch, macro particles", "Empty scene, with 1 Fetch, cloth, fluids, macro particles"]],
'np_total_canvas': ["FPS", ["Empty scene, with 1 Fetch, fluids", "Empty scene, with 1 Fetch, cloth", "Empty scene, with 1 Fetch, macro particles", "Empty scene, with 1 Fetch, cloth, fluids, macro particles"]],
'np_loading_canvas': ["Loading time", ["Empty scene, with 1 Fetch, fluids", "Empty scene, with 1 Fetch, cloth", "Empty scene, with 1 Fetch, macro particles", "Empty scene, with 1 Fetch, cloth, fluids, macro particles"]],
'np_omni_canvas': ["Omni step time", ["Empty scene, with 1 Fetch, fluids", "Empty scene, with 1 Fetch, cloth", "Empty scene, with 1 Fetch, macro particles", "Empty scene, with 1 Fetch, cloth, fluids, macro particles"]],
'np_non_omni_canvas': ["Non-omni step time", ["Empty scene, with 1 Fetch, fluids", "Empty scene, with 1 Fetch, cloth", "Empty scene, with 1 Fetch, macro particles", "Empty scene, with 1 Fetch, cloth, fluids, macro particles"]],
'np_mem_canvas': ["Memory usage", ["Empty scene, with 1 Fetch, fluids", "Empty scene, with 1 Fetch, cloth", "Empty scene, with 1 Fetch, macro particles", "Empty scene, with 1 Fetch, cloth, fluids, macro particles"]],
'np_vram_canvas': ["Vram usage", ["Empty scene, with 1 Fetch, fluids", "Empty scene, with 1 Fetch, cloth", "Empty scene, with 1 Fetch, macro particles", "Empty scene, with 1 Fetch, cloth, fluids, macro particles"]],
'scene_total_canvas': ["Total frame time", ["Rs_int, with 1 Fetch robot", "house_single_floor, with 1 Fetch robot", "grocery_store_cafe, with 1 Fetch robot", "Pomaria_0_garden, with 1 Fetch robot"]],
'scene_loading_canvas': ["Loading time", ["Rs_int, with 1 Fetch robot", "house_single_floor, with 1 Fetch robot", "grocery_store_cafe, with 1 Fetch robot", "Pomaria_0_garden, with 1 Fetch robot"]],
'scene_omni_canvas': ["Omni step time", ["Rs_int, with 1 Fetch robot", "house_single_floor, with 1 Fetch robot", "grocery_store_cafe, with 1 Fetch robot", "Pomaria_0_garden, with 1 Fetch robot"]],
'scene_og_canvas': ["Non-omni step time", ["Rs_int, with 1 Fetch robot", "house_single_floor, with 1 Fetch robot", "grocery_store_cafe, with 1 Fetch robot", "Pomaria_0_garden, with 1 Fetch robot"]],
'scene_mem_canvas': ["Memory usage", ["Rs_int, with 1 Fetch robot", "house_single_floor, with 1 Fetch robot", "grocery_store_cafe, with 1 Fetch robot", "Pomaria_0_garden, with 1 Fetch robot"]],
'scene_vram_canvas': ["Vram usage", ["Rs_int, with 1 Fetch robot", "house_single_floor, with 1 Fetch robot", "grocery_store_cafe, with 1 Fetch robot", "Pomaria_0_garden, with 1 Fetch robot"]],
'scene_total_canvas': ["FPS", ["Ihlen_0_int, with 1 Fetch", "Pomaria_0_garden, with 1 Fetch", "house_single_floor, with 1 Fetch", "grocery_store_cafe, with 1 Fetch"]],
'scene_loading_canvas': ["Loading time", ["Ihlen_0_int, with 1 Fetch", "Pomaria_0_garden, with 1 Fetch", "house_single_floor, with 1 Fetch", "grocery_store_cafe, with 1 Fetch"]],
'scene_omni_canvas': ["Omni step time", ["Ihlen_0_int, with 1 Fetch", "Pomaria_0_garden, with 1 Fetch", "house_single_floor, with 1 Fetch", "grocery_store_cafe, with 1 Fetch"]],
'scene_og_canvas': ["Non-omni step time", ["Ihlen_0_int, with 1 Fetch", "Pomaria_0_garden, with 1 Fetch", "house_single_floor, with 1 Fetch", "grocery_store_cafe, with 1 Fetch"]],
'scene_mem_canvas': ["Memory usage", ["Ihlen_0_int, with 1 Fetch", "Pomaria_0_garden, with 1 Fetch", "house_single_floor, with 1 Fetch", "grocery_store_cafe, with 1 Fetch"]],
'scene_vram_canvas': ["Vram usage", ["Ihlen_0_int, with 1 Fetch", "Pomaria_0_garden, with 1 Fetch", "house_single_floor, with 1 Fetch", "grocery_store_cafe, with 1 Fetch"]],
}

2
scripts/profiling.sh
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@ -8,7 +8,7 @@ python tests/benchmark/profiling.py -g -s Rs_int -r 1 # for robotics resea
python tests/benchmark/profiling.py -g -s Rs_int -r 3 # for multi-agent research
# 2nd batch: compare different scenes
python tests/benchmark/profiling.py -r 1 -s Rs_int
python tests/benchmark/profiling.py -r 1 -s Ihlen_0_int
python tests/benchmark/profiling.py -r 1 -s Pomaria_0_garden
python tests/benchmark/profiling.py -r 1 -s house_single_floor
python tests/benchmark/profiling.py -r 1 -s grocery_store_cafe

17
tests/benchmark/profiling.py
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@ -21,7 +21,7 @@ parser.add_argument("-w", "--fluids", action='store_true')
parser.add_argument("-g", "--gpu_denamics", action='store_true')
parser.add_argument("-p", "--macro_particle_system", action='store_true')
PROFILING_FIELDS = ["Total frame time", "Omni step time", "Non-omni step time", "Memory usage", "Vram usage"]
PROFILING_FIELDS = ["FPS", "Omni step time", "Non-omni step time", "Memory usage", "Vram usage"]
NUM_CLOTH = 5
NUM_SLICE_OBJECT = 3
@ -31,6 +31,7 @@ SCENE_OFFSET = {
"Pomaria_0_garden": [0.3, 0],
"grocery_store_cafe": [-3.5, 3.5],
"house_single_floor": [-3, -1],
"Ihlen_0_int": [-1, 2]
}
@ -40,7 +41,7 @@ def main():
gm.ENABLE_HQ_RENDERING = args.fluids
gm.ENABLE_OBJECT_STATES = True
gm.ENABLE_TRANSITION_RULES = True
gm.ENABLE_FLATCACHE = True
gm.ENABLE_FLATCACHE = not args.cloth
gm.USE_GPU_DYNAMICS = args.gpu_denamics
cfg = {
@ -160,12 +161,12 @@ def main():
})
results = np.array(results)
for i, title in enumerate(PROFILING_FIELDS):
output.append({
"name": field,
"unit": "time (ms)" if 'time' in title else "GB",
"value": np.mean(results[:, i]),
"extra": [title, title]
})
unit = "time (ms)" if 'time' in title else "GB"
value = np.mean(results[:, i])
if title == "FPS":
value = 1000 / value
unit = "fps"
output.append({"name": field, "unit": unit, "value": value, "extra": [title, title]})
ret = []
if os.path.exists("output.json"):