diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 83e8df6..e551ebc 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -23,14 +23,18 @@ jobs: cache-dependency-glob: | **/pyproject.toml **/uv.lock - - name: Install from uv.lock (dev extras) - run: uv sync --locked --python 3.11 --extra dev + - name: Install from uv.lock (dev + docs extras) + run: uv sync --locked --python 3.11 --extra dev --extra docs - name: Ruff (lint) run: uv run ruff check . - name: Ruff (format check) run: uv run ruff format --check . - name: Mypy (strict) run: uv run mypy + # Gated here because docs.yml's build job is not in ci-ok's needs list: + # a dead link that fails the strict docs build must not be mergeable. + - name: Docs build (strict) + run: uv run mkdocs build --strict test: name: test (${{ matrix.os }}, py${{ matrix.python-version }}) diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml new file mode 100644 index 0000000..d25b33d --- /dev/null +++ b/.github/workflows/docs.yml @@ -0,0 +1,73 @@ +name: Docs + +on: + push: + branches: [main] + pull_request: + workflow_dispatch: + +# Allow the deploy job to publish to GitHub Pages. +permissions: + contents: read + pages: write + id-token: write + +concurrency: + group: pages + cancel-in-progress: false + +jobs: + build: + name: build docs + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + with: + fetch-depth: 0 # hatch-vcs needs full history/tags for versioning + - name: Install uv + uses: astral-sh/setup-uv@v5 + with: + enable-cache: true + cache-dependency-glob: | + **/pyproject.toml + **/uv.lock + - name: Install from uv.lock (docs extras) + run: uv sync --locked --python 3.12 --extra docs + - name: Build site (strict) + run: uv run mkdocs build --strict + - name: Upload Pages artifact + uses: actions/upload-pages-artifact@v3 + with: + path: site + + deploy: + name: deploy to GitHub Pages + # Only deploy from the default branch; PRs just build. + if: github.ref == 'refs/heads/main' + needs: build + runs-on: ubuntu-latest + environment: + name: github-pages + url: ${{ steps.deployment.outputs.page_url || steps.retry1.outputs.page_url || steps.retry2.outputs.page_url }} + steps: + # The Pages API intermittently rejects deployments with a transient + # "Deployment failed, try again later" — retry twice with backoff. + - name: Deploy + id: deployment + continue-on-error: true + uses: actions/deploy-pages@v4 + - name: Wait before retry + if: steps.deployment.outcome == 'failure' + run: sleep 30 + - name: Deploy (retry 1) + id: retry1 + if: steps.deployment.outcome == 'failure' + continue-on-error: true + uses: actions/deploy-pages@v4 + - name: Wait before second retry + if: steps.deployment.outcome == 'failure' && steps.retry1.outcome == 'failure' + run: sleep 60 + - name: Deploy (retry 2) + id: retry2 + if: steps.deployment.outcome == 'failure' && steps.retry1.outcome == 'failure' + uses: actions/deploy-pages@v4 diff --git a/CLAUDE.md b/CLAUDE.md index fc55e3f..3b1ecda 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -34,7 +34,16 @@ success probability **P̂[Yᵢ=1]**. Instances are AI-authored drafts task-instance/distribution model (read before changing the task set, the distributions, or the 5×5 defaults). - `reference/` — read-only local copy of the methodology PDFs (gitignored). -- `README.md` — the task table + how to run on the mock and on YAM/MolmoAct2. +- `README.md` — the task table (goal/bimanual/category) + how to run on the + mock and on YAM/MolmoAct2. The full "Varies over" task detail lives on the + docs site, not here. +- `docs/` + `mkdocs.yml` — the docs site + (https://robocurve.github.io/kitchenbench/, mkdocs-material, deployed from + main by `.github/workflows/docs.yml`; Pages source is "GitHub Actions"). + `docs/index.md` holds the full task table including the "Varies over" + column; `tests/test_docs_table.py` is its drift guard against `specs.py`. + The strict docs build runs inside ci.yml's quality job (so it gates merges + via `ci-ok`) as well as in docs.yml. Docs deps are the `docs` extra. ## Working here (important gotchas) diff --git a/README.md b/README.md index 6c52c00..b2eb804 100644 --- a/README.md +++ b/README.md @@ -9,6 +9,7 @@ Built on [Inspect Robots](https://github.com/robocurve/inspect-robots) · part o ![Status: alpha](https://img.shields.io/badge/status-alpha-blue) [![CI](https://github.com/robocurve/kitchenbench/actions/workflows/ci.yml/badge.svg)](https://github.com/robocurve/kitchenbench/actions/workflows/ci.yml) +[![Docs](https://img.shields.io/badge/docs-task%20reference-indigo)](https://robocurve.github.io/kitchenbench/) [![License: MIT](https://img.shields.io/badge/license-MIT-green)](LICENSE) [![Coverage](https://img.shields.io/badge/coverage-100%25-brightgreen)](https://github.com/robocurve/kitchenbench/actions/workflows/ci.yml) [![Built on Inspect Robots](https://img.shields.io/badge/built%20on-Inspect%20Robots-indigo)](https://github.com/robocurve/inspect-robots) @@ -31,27 +32,24 @@ MolmoAct2). ## The tasks -| Task (`--task`) | Goal | Varies over | Bimanual | Category | -|---|---|---|:--:|---| -| `kitchenbench/place_cutlery` | place the {cutlery} on the {dishware} | {cutlery}: spoon, fork, knife · {dishware}: plate, bowl, napkin · placement, approach angle, clutter | | pick-place | -| `kitchenbench/stack` | stack the cups / bowls / plates | stacked item: cups, bowls, plates · count: 2 to 5 · sizes, spacing, placement jitter | | stacking | -| `kitchenbench/place_in_rack` | place the {dishware} into the dish rack | {dishware}: plate, bowl, cup · slot, rack pose, approach tilt, slot width, friction | | insertion | -| `kitchenbench/pour_pasta` | pour the dry pasta into the {vessel} | {vessel}: bowl, cup, pot · fill amount, pour height and angle, placement | ✅ | granular | -| `kitchenbench/open_container` | open the {container} | {container}: jar, bottle, food container · lid torque, cap turns, tilt, size | ✅ | articulated | -| `kitchenbench/fold_cloth` | fold the {cloth} | {cloth}: dish towel, napkin, cloth · size, fold count, crumple, rotation | ✅ | deformable | -| `kitchenbench/seal_container` | seal the {container} with its lid | {container}: food container, pot, jar · lid offset and yaw, press force, thread turns, fit clearance | ✅ | mating | -| `kitchenbench/handoff` | hand off the {item} from one arm to the other | {item}: utensil, cup, produce item · handoff height and position, fill level, fragility, tool length | ✅ | coordination | -| `kitchenbench/sort_cutlery` | sort the cutlery into the correct tray compartments | spoons, forks, knives · piece count: 3 to 10 · pile spread and overlap, tray pose | | classification | -| `kitchenbench/scoop_pasta` | scoop about {fill_target_g} g of the {pasta} with the {tool} and transfer it to the container | {pasta}: penne, rigatoni · {tool}: spoon, measuring cup · {fill_target_g}: 20 to 160 · pile depth, container distance | ✅ | granular+tool | - -The "Varies over" column is the union over the task's 5 instances. Each -`{placeholder}` lists every value the goal sentence can name (an individual -instance samples from a subset of them and fixes the rest in its goal text); -the trailing items summarize the remaining setup variables (placement jitter, -sizes, forces, and the like) the instances also sample, without listing every -one. The full per-instance distributions live in -[`specs.py`](src/kitchenbench/specs.py), and `tests/test_readme_table.py` -keeps this table in sync with them. +| Task (`--task`) | Goal | Bimanual | Category | +|---|---|:--:|---| +| `kitchenbench/place_cutlery` | place the {cutlery} on the {dishware} | | pick-place | +| `kitchenbench/stack` | stack the cups / bowls / plates | | stacking | +| `kitchenbench/place_in_rack` | place the {dishware} into the dish rack | | insertion | +| `kitchenbench/pour_pasta` | pour the dry pasta into the {vessel} | ✅ | granular | +| `kitchenbench/open_container` | open the {container} | ✅ | articulated | +| `kitchenbench/fold_cloth` | fold the {cloth} | ✅ | deformable | +| `kitchenbench/seal_container` | seal the {container} with its lid | ✅ | mating | +| `kitchenbench/handoff` | hand off the {item} from one arm to the other | ✅ | coordination | +| `kitchenbench/sort_cutlery` | sort the cutlery into the correct tray compartments | | classification | +| `kitchenbench/scoop_pasta` | scoop about {fill_target_g} g of the {pasta} with the {tool} and transfer it to the container | ✅ | granular+tool | + +> [!NOTE] +> Every value each task varies over (the objects a `{placeholder}` can name, +> counts, forces, placement jitter) is documented in the task reference on the +> [KitchenBench docs site](https://robocurve.github.io/kitchenbench/). The +> per-instance distributions live in [`specs.py`](src/kitchenbench/specs.py). ## Quick start diff --git a/docs/index.md b/docs/index.md new file mode 100644 index 0000000..e1b0a2c --- /dev/null +++ b/docs/index.md @@ -0,0 +1,47 @@ +# KitchenBench + +KitchenBench is 10 kitchen-manipulation tasks expressed as +[Inspect Robots](https://github.com/robocurve/inspect-robots) `Task`s. They are +embodiment-agnostic, so you run them against any compatible policy/embodiment +pair. The set emphasizes bimanual coordination: pouring, lid removal, folding, +part-mating, a pure two-arm handover, and tool-mediated scooping, alongside +classic pick-place / stacking / slotted insertion and a multi-instance sort. + +This page is the reference for what each task asks and everything it varies +over. For installation, the quick start, and running on real hardware or in +simulation, see the +[README on GitHub](https://github.com/robocurve/kitchenbench#readme). + +## The tasks + +| Task (`--task`) | Goal | Varies over | Bimanual | Category | +|---|---|---|:--:|---| +| `kitchenbench/place_cutlery` | place the {cutlery} on the {dishware} | {cutlery}: spoon, fork, knife · {dishware}: plate, bowl, napkin · placement, approach angle, clutter | | pick-place | +| `kitchenbench/stack` | stack the cups / bowls / plates | stacked item: cups, bowls, plates · count: 2 to 5 · sizes, spacing, placement jitter | | stacking | +| `kitchenbench/place_in_rack` | place the {dishware} into the dish rack | {dishware}: plate, bowl, cup · slot, rack pose, approach tilt, slot width, friction | | insertion | +| `kitchenbench/pour_pasta` | pour the dry pasta into the {vessel} | {vessel}: bowl, cup, pot · fill amount, pour height and angle, placement | ✅ | granular | +| `kitchenbench/open_container` | open the {container} | {container}: jar, bottle, food container · lid torque, cap turns, tilt, size | ✅ | articulated | +| `kitchenbench/fold_cloth` | fold the {cloth} | {cloth}: dish towel, napkin, cloth · size, fold count, crumple, rotation | ✅ | deformable | +| `kitchenbench/seal_container` | seal the {container} with its lid | {container}: food container, pot, jar · lid offset and yaw, press force, thread turns, fit clearance | ✅ | mating | +| `kitchenbench/handoff` | hand off the {item} from one arm to the other | {item}: utensil, cup, produce item · handoff height and position, fill level, fragility, tool length | ✅ | coordination | +| `kitchenbench/sort_cutlery` | sort the cutlery into the correct tray compartments | spoons, forks, knives · piece count: 3 to 10 · pile spread and overlap, tray pose | | classification | +| `kitchenbench/scoop_pasta` | scoop about {fill_target_g} g of the {pasta} with the {tool} and transfer it to the container | {pasta}: penne, rigatoni · {tool}: spoon, measuring cup · {fill_target_g}: 20 to 160 · pile depth, container distance | ✅ | granular+tool | + +The "Varies over" column is the union over the task's 5 instances. Each +`{placeholder}` lists every value the goal sentence can name (an individual +instance samples from a subset of them and fixes the rest in its goal text); +the trailing items summarize the remaining setup variables (placement jitter, +sizes, forces, and the like) the instances also sample, without listing every +one. The full per-instance distributions live in +[`specs.py`](https://github.com/robocurve/kitchenbench/blob/main/src/kitchenbench/specs.py), +and `tests/test_docs_table.py` keeps this table in sync with them. + +## Where things live + +- [GitHub repository](https://github.com/robocurve/kitchenbench): source, + quick start, hardware and simulation guides +- [PyPI package](https://pypi.org/project/kitchenbench/): `pip install kitchenbench` +- [WorldEvals](https://github.com/robocurve/worldevals): the benchmark + collection KitchenBench belongs to +- [Physical-automation methodology](https://github.com/jeqcho/physical-automation-methodology-docs): + the instance/realization model the tasks follow diff --git a/mkdocs.yml b/mkdocs.yml new file mode 100644 index 0000000..1f92592 --- /dev/null +++ b/mkdocs.yml @@ -0,0 +1,57 @@ +site_name: KitchenBench +site_description: >- + A bimanual kitchen-manipulation benchmark for VLA models, built on + Inspect Robots. +site_url: https://robocurve.github.io/kitchenbench/ +repo_url: https://github.com/robocurve/kitchenbench +repo_name: robocurve/kitchenbench +edit_uri: edit/main/docs/ +copyright: Copyright © KitchenBench contributors + +theme: + name: material + icon: + logo: material/silverware-fork-knife + repo: fontawesome/brands/github + palette: + - media: "(prefers-color-scheme: light)" + scheme: default + primary: indigo + accent: indigo + toggle: + icon: material/weather-night + name: Switch to dark mode + - media: "(prefers-color-scheme: dark)" + scheme: slate + primary: indigo + accent: indigo + toggle: + icon: material/weather-sunny + name: Switch to light mode + features: + - navigation.instant + - navigation.tracking + - navigation.top + - navigation.footer + - toc.follow + - search.suggest + - search.highlight + - content.code.copy + - content.action.edit + +markdown_extensions: + - admonition + - attr_list + - tables + - toc: + permalink: true + - pymdownx.highlight: + anchor_linenums: true + - pymdownx.inlinehilite + - pymdownx.superfences + +plugins: + - search + +nav: + - Home: index.md diff --git a/pyproject.toml b/pyproject.toml index 8a5f4e5..7cabd71 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -29,9 +29,16 @@ dev = [ "mypy>=1.11", "pre-commit>=3.5", ] +docs = [ + # <2: MkDocs 2.0 removes the plugin/theming systems with no migration path + # (see the Material team's 2026-02 notice); a lock upgrade must not pull it. + "mkdocs>=1.6,<2", + "mkdocs-material>=9.5", +] [project.urls] Homepage = "https://github.com/robocurve/kitchenbench" +Documentation = "https://robocurve.github.io/kitchenbench/" Collection = "https://github.com/robocurve/worldevals" Framework = "https://github.com/robocurve/inspect-robots" diff --git a/tests/test_readme_table.py b/tests/test_docs_table.py similarity index 54% rename from tests/test_readme_table.py rename to tests/test_docs_table.py index e72b246..2c78cac 100644 --- a/tests/test_readme_table.py +++ b/tests/test_docs_table.py @@ -1,9 +1,10 @@ -"""The README task table must stay in sync with the specs. +"""The docs-site task table must stay in sync with the specs. -The table's "Varies over" column shows, for every goal placeholder, the -concrete values the specs sample (the union over the task's 5 instances). -This guard keeps the table honest when instances are revised: every -categorical value a language var can take must appear in that task's row. +The table's "Varies over" column (docs/index.md, the docs home page) shows, +for every goal placeholder, the concrete values the specs sample (the union +over the task's 5 instances). This guard keeps the table honest when +instances are revised: every categorical value a language var can take must +appear in that task's row. """ from pathlib import Path @@ -13,13 +14,13 @@ from kitchenbench import SPEC_BY_KEY from kitchenbench.distributions import Categorical -README = Path(__file__).parent.parent / "README.md" +DOCS_HOME = Path(__file__).parent.parent / "docs" / "index.md" def _table_row(key: str) -> str: rows = [ line - for line in README.read_text().splitlines() + for line in DOCS_HOME.read_text().splitlines() if line.startswith(f"| `kitchenbench/{key}`") ] assert len(rows) == 1, f"expected exactly one task-table row for {key}" @@ -27,7 +28,7 @@ def _table_row(key: str) -> str: @pytest.mark.parametrize("key", SPEC_BY_KEY) -def test_readme_row_names_every_language_var_value(key: str) -> None: +def test_docs_row_names_every_language_var_value(key: str) -> None: row = _table_row(key) for inst in SPEC_BY_KEY[key].instances: for var in inst.language_vars: @@ -36,6 +37,6 @@ def test_readme_row_names_every_language_var_value(key: str) -> None: continue for value in dist.values: assert str(value) in row, ( - 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