* perf(libero): skip the discarded scene rebuild on reset
LIBERO's OffScreenRenderEnv defaults to hard_reset=True, so every reset() frees
the MjSim, re-serialises the scene with model.get_xml(), recompiles it with
MjSim.from_xml_string(), constructs a fresh offscreen GL context and re-wires
every observable.
When init states are in use, LiberoEnv.reset() immediately calls
set_init_state(), which overwrites the whole sim state -- so all of that work is
discarded. This passes hard_reset=not init_states instead. Without init states
the randomisation reset() performs is the only thing placing the objects, so the
hard reset is kept.
Measured on an RTX 3060 Ti (EGL, robosuite 1.4.0, mujoco 3.2.7, 256x256 x2
cameras), through LiberoEnv.reset(), fresh env per arm:
suite hard soft saved
libero_spatial 1697 ms 233 ms 1464 ms
libero_object 1394 ms 172 ms 1222 ms
libero_goal 1177 ms 164 ms 1013 ms
libero_10 1528 ms 207 ms 1321 ms
Equivalence
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Immediately after set_init_state, qpos, qvel, ctrl and act are bit-identical
between the two paths on every suite tested.
After the 10 settle steps that reset() runs, 9 of 41 qpos entries differ:
robot0_joint1..7 (<= 2.4e-5 rad) and gripper0_finger_joint1/2 (<= 2.1e-4 rad).
No object joint differs on any suite. The drift is driven by the gripper
component of the settle action ([0,0,0,0,0,0,-1]); replacing it with zeros keeps
the two paths bit-identical for 12 further steps, and with num_steps_wait=0 there
is no divergence at all.
Wrist-camera pixels can differ by up to ~87/255, because a sub-millimetre finger
displacement crosses rasterisation boundaries at 256x256. The pixel metric badly
overstates the physical difference here; 2.1e-4 rad is 0.012 degrees.
So this is not bit-identical end to end, and reviewers should decide whether
0.012 degrees of gripper drift is acceptable for the benchmark. It does not
change object placement, which is what the fixed init states exist to control.
* refactor(env): config param libero + docs
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Co-authored-by: Dimitar Dimitrov <dvdimitrov13@gmail.com>
Steven Palma
2d8f5f314e