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legop3
2026-09-28 12:42:31 -04:00
parent 01354c56e6
commit bdc3eb640d
13 changed files with 374 additions and 120 deletions
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server/src/services/roverLearningService/training.js
+9 -8
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@@ -6,7 +6,7 @@ const { spawn } = require('node:child_process');
const { randomInt } = require('node:crypto');
const { listRecordings } = require('./storage');
function createTrainer({ root, config, logger }) {
function createTrainer({ root, config, actionThreshold, logger }) {
const leases = new Set();
const trainingRoot = path.join(root, 'training');
let ledger = {};
@@ -57,11 +57,10 @@ function createTrainer({ root, config, logger }) {
for (const id of Object.keys(ledger)) if (!present.has(id)) delete ledger[id];
const eligible = [];
for (const recording of recordings) {
if (activeIds.has(recording.id) || ledger[recording.id]?.rejected
|| (ledger[recording.id]?.rounds || 0) >= config.roundsPerSession) continue;
if (activeIds.has(recording.id) || ledger[recording.id]?.rejected) continue;
try {
const metadata = JSON.parse(await fs.readFile(path.join(recording.directory, 'session.json'), 'utf8'));
if (!metadata.endedAt || metadata.error || metadata.droppedEvents || metadata.reason === 'interrupted') continue;
if (metadata.bufferOnly || !metadata.endedAt || metadata.error || metadata.droppedEvents || metadata.reason === 'interrupted') continue;
eligible.push(recording.id);
} catch (error) {
ledger[recording.id] = { rejected: `Unreadable session metadata: ${error.message}` };
@@ -76,15 +75,15 @@ function createTrainer({ root, config, logger }) {
const selected = eligible.slice(0, 4);
nextRun = Date.now() + config.intervalSeconds * 1000;
if (!selected.length) {
state = { ...state, status: 'waiting' };
state = { ...state, status: 'waiting', reason: 'Waiting for completed usable human recordings' };
await saveLedger();
return;
}
const jobPath = path.join(trainingRoot, 'job.json');
await fs.writeFile(jobPath, JSON.stringify({ root, config, sessions: selected }));
await fs.writeFile(jobPath, JSON.stringify({ root, config, actionThreshold, sessions: selected }));
if (stopped) return;
selected.forEach((id) => leases.add(id));
state = { ...state, status: 'training', sessions: selected };
state = { ...state, status: 'training', reason: null, sessions: selected };
state.startedAt = Date.now();
child = spawn(config.python, [path.join(__dirname, 'workers/train.py'), '--job', jobPath], {
stdio: ['ignore', 'pipe', 'pipe'],
@@ -138,7 +137,9 @@ function createTrainer({ root, config, logger }) {
}
state = { ...state, status: stopped ? 'stopped' : 'waiting', steps: result.steps ?? state.steps,
completedAt: Date.now(), elapsedSeconds: result.elapsedSeconds ?? null, error: null,
examples: result.examples ?? state.examples, loss: result.loss ?? null, reason: result.reason ?? null };
examples: result.examples ?? state.examples, loss: result.loss ?? null,
publication: result.publication ?? state.publication, evaluation: result.evaluation ?? state.evaluation,
reason: result.reason ?? 'Waiting for the next scheduled training job' };
await saveLedger();
logger.info('Training job completed', { ...state, model: result.published?.name || null });
}