feat(arena): add deterministic headless RL environments

2026-08-19 01:10:30 -07:00
parent 79793faed2
commit 747744fa6c
23 changed files with 2387 additions and 1 deletions
@@ -0,0 +1,75 @@
+#!/usr/bin/env node
+
+import assert from "node:assert/strict";
+import { createHash } from "node:crypto";
+import { readFile } from "node:fs/promises";
+import { fileURLToPath } from "node:url";
+import { ARENA_SOURCE_HASHES } from "../src/arena/sourceHashes.ts";
+
+const root = fileURLToPath(new URL("../", import.meta.url));
+const sharedEnvironment = [
+  "src/arena/base.ts",
+  "src/arena/checksum.ts",
+  "src/arena/random.ts",
+  "src/arena/scenarios.ts",
+  "src/arena/types.ts",
+];
+
+const sourceSets = {
+  "drive-101-v1": {
+    environment: [...sharedEnvironment, "src/arena/drive101.ts"],
+    simulator: [
+      "src/transport/california.ts",
+      "src/transport/types.ts",
+      "src/transport/vehicleController.ts",
+      "src/transport/vehicleSim.ts",
+    ],
+  },
+  "office-nav-v1": {
+    environment: [...sharedEnvironment, "src/arena/officeNav.ts"],
+    simulator: [
+      "src/interiors/plan.ts",
+      "src/interiors/types.ts",
+      "src/interiors/walker.ts",
+      "src/offices/frontier-valley.ts",
+    ],
+  },
+  "crow-nav-v1": {
+    environment: [...sharedEnvironment, "src/arena/crowNav.ts"],
+    simulator: ["src/actors/controller.ts"],
+  },
+  "california-flight-v1": {
+    environment: [...sharedEnvironment, "src/arena/californiaFlight.ts"],
+    simulator: ["src/aircraft/controller.ts"],
+  },
+};
+
+async function digest(paths) {
+  const hash = createHash("sha256");
+  for (const relative of [...paths].sort()) {
+    hash.update(relative);
+    hash.update("\0");
+    hash.update(await readFile(new URL(`../${relative}`, import.meta.url)));
+    hash.update("\0");
+  }
+  return `sha256:${hash.digest("hex")}`;
+}
+
+let failed = false;
+for (const [envId, sets] of Object.entries(sourceSets)) {
+  const actual = {
+    environment: await digest(sets.environment),
+    simulator: await digest(sets.simulator),
+  };
+  const expected = ARENA_SOURCE_HASHES[envId];
+  try {
+    assert.deepEqual(actual, expected);
+    console.log(`arena source hashes: ${envId} ok`);
+  } catch {
+    failed = true;
+    console.error(`arena source hashes: ${envId} mismatch`);
+    console.error(JSON.stringify(actual, null, 2));
+  }
+}
+
+if (failed) process.exitCode = 1;