Command-line interface

The robolens CLI wraps the registry and eval.

robolens list

Show registered components (builtins + installed plugins):

robolens list                 # all kinds
robolens list policies        # just one kind
robolens list embodiments

robolens run

Resolve a task/policy/embodiment from the registry and run an eval. Pass constructor arguments with -T (task), -P (policy), and -E (embodiment) as key=value (parsed as bool/int/float/None/str):

robolens run --task cubepick-reach --policy scripted --embodiment cubepick
robolens run --task cubepick-reach -T num_scenes=10 --policy scripted -P chunk_size=8 \
             --embodiment cubepick --log-dir logs --seed 0

The exit code is 0 on a successful eval, 1 otherwise.

robolens inspect

Print a summary of a saved EvalLog:

robolens inspect logs/cubepick-reach_xxxx.json

task:        cubepick-reach
policy:      scripted
embodiment:  cubepick
status:      success
scenes:      5   trials: 5
metrics:
  success_at_end: 1
scenes:
  [success] scene-0: success_at_end=1
  ...

robolens --version

robolens --version