Evaluation Phase Usage

ml/env.py

@@ -100,7 +100,7 @@ class JackBotEnv(gym.Env):
         
         # Curriculum Initialization via Enum
         self.curriculum_phase = CurriculumPhase.STAND_ONLY
-        self.curriculum_episode_limit = 500  # 500 steps limit gives headroom for 400-step requirement
+        self.curriculum_episode_limit = 300  # 300 steps limit gives headroom for 400-step requirement
         
         # Gates required to unlock each target phase
         self.curriculum_stage_requirements = {

ml/evaluate.py

@@ -1,5 +1,5 @@
 """
-ml/evaluate.py - Evaluation routine for trained JackBot PPO policies.
+ml/evaluate.py - Curriculum-aware evaluation routine for trained JackBot PPO policies.
 """
 import argparse
 import json
@@ -15,7 +15,7 @@ def evaluate(
     use_gui: bool = True,
     robot_spacing: float = 0.5,
     start_pose: str = "init_deg",
-    random_command: bool = False,
+    random_command: bool = True,  # Default to True so curriculum commands are sampled
     save_json: Optional[str] = None,
 ) -> Dict[str, Any]:
     try:
@@ -31,7 +31,7 @@ def evaluate(
     # Force device="cpu" to prevent AMD ROCm/hipBLASLt matrix multiplication crashes
     model = PPO.load(model_path, device="cpu")
 
-    # Initialize standard environment (returns single array of shape (352,))
+    # Initialize environment with random commands enabled for curriculum progression
     env = JackBotEnv(
         use_gui=use_gui,
         random_command=random_command,
@@ -41,45 +41,68 @@ def evaluate(
 
     episode_rewards: List[float] = []
     episode_lengths: List[int] = []
+    episode_phases: List[str] = []
 
     for ep in range(episodes):
         obs, _ = env.reset()
-        terminated = False
+        done = False
         total_reward = 0.0
         steps = 0
 
-        print(f"\n--- Starting Evaluation Episode {ep + 1}/{episodes} ---")
+        initial_phase = env.curriculum_phase.name
+        print(f"\n--- Starting Evaluation Episode {ep + 1}/{episodes} [Phase: {initial_phase}] ---")
 
-        while not terminated:
+        while not done:
             action, _ = model.predict(obs, deterministic=True)
+            
+            # Store phase before step to detect live phase transitions
+            prev_phase = env.curriculum_phase
+            
             obs, reward, terminated, truncated, _ = env.step(action)
             
+            # Done on either physical failure (terminated) or phase step limit (truncated)
+            done = terminated or truncated
             total_reward += float(reward)
             steps += 1
 
+            # Log live phase transition if unlocked during this step
+            if env.curriculum_phase != prev_phase:
+                print(f"  └─ [Eval Milestone] Curriculum advanced to {env.curriculum_phase.name} at episode step {steps}!")
+
             if use_gui:
                 time.sleep(1.0 / 240.0)
 
+        status_str = "FAILED (Terminated)" if terminated else "COMPLETED (Truncated)"
+        final_phase = env.curriculum_phase.name
+        
         episode_rewards.append(total_reward)
         episode_lengths.append(steps)
-        print(f"Episode {ep + 1} Finished: Total Reward = {total_reward:.2f} | Steps = {steps}")
+        episode_phases.append(final_phase)
+
+        print(
+            f"Episode {ep + 1} Finished [{status_str}]: "
+            f"Phase = {final_phase} | Total Reward = {total_reward:.2f} | Steps = {steps}"
+        )
 
     env.close()
 
     metrics = {
         "model_path": str(model_path),
         "episodes_evaluated": episodes,
+        "final_curriculum_phase": env.curriculum_phase.name,
         "mean_reward": float(np.mean(episode_rewards)),
         "std_reward": float(np.std(episode_rewards)),
         "mean_episode_length": float(np.mean(episode_lengths)),
         "raw_rewards": episode_rewards,
+        "episode_phases": episode_phases,
     }
 
-    print("\n" + "=" * 50)
+    print("\n" + "=" * 60)
     print(f"EVALUATION COMPLETE ({episodes} Episodes)")
-    print(f"Mean Reward:         {metrics['mean_reward']:.2f} ± {metrics['std_reward']:.2f}")
-    print(f"Mean Episode Length: {metrics['mean_episode_length']:.1f} steps")
-    print("=" * 50)
+    print(f"Final Reached Phase:  {metrics['final_curriculum_phase']}")
+    print(f"Mean Reward:          {metrics['mean_reward']:.2f} ± {metrics['std_reward']:.2f}")
+    print(f"Mean Episode Length:  {metrics['mean_episode_length']:.1f} steps")
+    print("=" * 60)
 
     if save_json:
         out_path = Path(save_json)

ml/run_eval.py

@@ -1,7 +1,7 @@
-"""Run a trained policy in the PyBullet sim for quick inspection.
+"""Run a trained policy in the PyBullet sim with full curriculum progression.
 
 Usage:
-    python ml/run_eval.py --model ml/checkpoints/ppo_joint_command.zip --episodes 3 --gui
+    python ml/run_eval.py --model ml/checkpoints/ppo_joint_command.zip --episodes 5 --gui
 """
 
 import argparse
@@ -16,13 +16,14 @@ from ml.evaluate import evaluate
 
 
 def main():
-    parser = argparse.ArgumentParser(description="JackBot Policy Evaluator Wrapper")
+    parser = argparse.ArgumentParser(description="JackBot Curriculum Policy Evaluator Wrapper")
     parser.add_argument("--model", type=str, required=True, help="Path to the trained model file (.zip)")
-    parser.add_argument("--episodes", type=int, default=3, help="Number of evaluation episodes to run.")
+    parser.add_argument("--episodes", type=int, default=5, help="Number of evaluation episodes to run.")
     parser.add_argument("--gui", action="store_true", help="Show the PyBullet GUI during evaluation")
     parser.add_argument("--robot-spacing", type=float, default=0.5, help="Spacing between robots in meters")
     parser.add_argument("--start-pose", type=str, choices=["init_deg", "init90_deg"], default="init_deg", help="Initial robot pose at reset")
-    parser.add_argument("--random-command", action="store_true", help="Randomize command samples during evaluation")
+    parser.add_argument("--no-random-command", dest="random_command", action="store_false", help="Disable command sampling and lock to zero commands")
+    parser.set_defaults(random_command=True)
     parser.add_argument("--save-metrics", type=str, default=None, help="Optional path to save JSON metrics report")
     args = parser.parse_args()