Run Benchmark

When to Use

• User wants to run a geniesim_benchmark task on their workstation (not the Challenge platform).
• User has an inference server already running somewhere reachable and provides its ip:port.
• User references any task config under source/geniesim_benchmark/src/geniesim_benchmark/config/.

Do not use for:

• Submitting jobs to the Challenge platform → challenge-submit-job.
• Verifying an inference server is healthy → use the check-inference skill.
• Adding a new benchmark task → add-benchmark-task.

Critical Patterns

1. Always collect three required inputs first:
   • Task config (basename, full path, or substring — the CLI resolves all three).
   • Inference IP.
   • Inference port.
2. The runtime needs omni_python / Isaac Sim on the host. Inside the Genie Sim Docker image (geniesim docker up → geniesim docker into), that's already the case. Outside the container the user needs Isaac Sim installed system-wide.
3. Working directory: anywhere under the repo root works — the CLI walks up to find scripts/ and uses find_spec to locate the benchmark package.
4. Confirm before launching. The task spawns a full simulator and typically holds a GPU; ask before kicking it off if there's any ambiguity.

Workflow

Step 1 — Collect inputs

If the user hasn't named a config, list candidates:

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geniesim benchmark categories      # show category counts
geniesim benchmark robots          # show robot counts
geniesim benchmark list --robot=<R> --category=<C>

Then ask via AskUserQuestion:

• Task config: free-text (use the basename — e.g. g2op_if_pick_block_color).
• Inference host as ip:port.

Step 2 — Probe inference (optional but recommended)

Before sinking minutes into Isaac Sim startup, sanity-check the server (uses the bundled corobot payload):

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geniesim benchmark check-inference --infer-host=<IP>:<PORT>

See the check-inference skill to override the payload.

Step 3 — Run the task

Inside the GUI container (geniesim docker into):

bashCopy code
geniesim benchmark run <CONFIG> --infer-host=<IP>:<PORT>

Example:

bashCopy code
geniesim benchmark run g2op_if_pick_block_color --infer-host=<IP>:<PORT>

Step 4 — Pass-through overrides (when asked)

geniesim benchmark run forwards any unknown --key=value to the benchmark's ParameterServer. Common ones:

Full schema: source/geniesim_benchmark/src/geniesim_benchmark/config/params.py.

Commands (copy-paste summary for the user)

bashCopy code
# Host — start the container (GUI by default; add --headless on remote/batch hosts)
cd /path/to/main
geniesim docker up

# Host — drop into a shell inside the running container
geniesim docker into
# inside container:
geniesim status                                       # verify the stack is healthy
geniesim benchmark check-inference --infer-host=<IP>:<PORT>
geniesim benchmark run <CONFIG> --infer-host=<IP>:<PORT>

Notes

• If geniesim isn't on $PATH (the launcher wasn't installed), substitute python3 -m geniesim_cli benchmark … — same args, same behaviour.
• <CONFIG> accepts the bare basename (g2op_if_pick_block_color), a full path, or a unique substring.
• For batch evaluations, prefer geniesim benchmark batch --category=… --robot=… over a shell loop — it forwards extras consistently and prints a per-config pass/fail summary.
• The new CLI replaces the older ad-hoc omni_python app/app.py --config … invocation. The new form normalizes interpreter selection, host shorthand, and config resolution.