Support graph-YAML environments in typed YAML Experiments

[alexmillane]

Summary

Run graph-YAML environments with experiment_runner.py.

Detailed description

• Before: Typed YAML Experiments could only select registered environment names, so graph-spec YAML environments (e.g. the robolab tasks) were reachable only through the legacy JSON format.
• Now: An environment.type ending in .yaml/.yml now routes through the same LegacyGraphEnvironmentCfg compatibility path the JSON frontend uses.
• osmo/submit_arena_experiment.py embeds the experiment in the OSMO yaml by re-serializing it.

[alexmillane]

Self review 1

[alexmillane]

Self review 2

[alexmillane]

self review 3

[cvolkcvolk]

/review

[arena-review-bot]

🤖 Isaac Lab-Arena Review Bot

Summary

This routes an environment.type ending in .yaml/.yml through the existing LegacyGraphEnvironmentCfg compatibility path so graph-spec YAML environments can run from typed YAML Experiments (and embed into OSMO submissions). The refactor is clean and well-tested — the builder config now crosses the boundary typed instead of round-tripping through the argparse namespace, and the load/serialize round-trip is covered. A few points below are worth a look before merge.

Findings

🟡 enable_cameras stored twice (typed_experiment_loader.py:254) — kept as the typed field and inside per_run_overrides. Cameras are spawned from CLI tokens built off per_run_overrides, but a Hydra override of the typed enable_cameras field wouldn't reach those tokens, so AppLauncher would enable cameras while the env is built without them — silently. Suggest deriving the CLI value from the typed field.

🟡 Run names swapped (robolab_2_tasks_pi0.yaml:13) — banana_on_plate_pi0 selects banana_in_bowl.yaml and vice-versa; both files exist, so each Run runs the other task.

🟡 Literal → str widening (gr00t_remote_closedloop_policy.py:57) — drops the enforced chunk/synced_batch set into a docstring. If this was to get the field through OmegaConf, a str-based Enum round-trips and keeps the constraint.

🔵 Stale header comment (robolab_2_tasks_pi0.yaml:6) — mentions running the GR00T policy / a GR00T server, but both Runs use the pi0 policy.

Test Coverage

Good — load, serialize-and-reload round-trip, the pre-startup camera assertion, the OSMO embed handoff, and the legacy JSON path are all covered. These are pure-config paths, so no SimulationApp inner/outer tests are needed.

Verdict

Minor fixes needed

[greptile-apps]

Greptile Summary

The PR allows typed Experiment YAML files to select graph-spec YAML environments, preserves those environments through serialization and OSMO embedding, and executes them through the legacy graph-construction adapter.

• Adds structured graph path and per-Run override storage.
• Routes graph YAML environments through typed loading, execution, and serialization.
• Adds loader, execution-adapter, and OSMO workflow coverage.
• Adds a two-task Robolab Pi0 experiment configuration.

Confidence Score: 4/5

The swapped Robolab graph paths should be corrected before merging because both new runs currently execute and report results for the opposite task.

The graph-YAML loading path is coherently connected through execution and serialization, but the newly added example maps each named Run to the other task’s graph, producing incorrectly attributed evaluations.

Files Needing Attention: isaaclab_arena_environments/robolab/experiment_configs/robolab_2_tasks_pi0.yaml

Important Files Changed

Filename	Overview
isaaclab_arena/hydra/typed_experiment_loader.py	Detects YAML graph selectors and stores their path and environment overrides in the compatibility config.
isaaclab_arena/evaluation/legacy_graph_environment_cli.py	Reconstructs graph override arguments while passing the typed builder configuration directly to ArenaEnvBuilder.
isaaclab_arena/hydra/typed_experiment_serializer.py	Serializes graph compatibility configs back into reloadable typed Experiment environment sections.
isaaclab_arena/evaluation/run_execution.py	Passes the complete typed environment-builder configuration into graph environment construction.
isaaclab_arena_environments/robolab/experiment_configs/robolab_2_tasks_pi0.yaml	Adds two Pi0 Robolab runs, but their graph-spec paths are swapped relative to their Run names.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  A[Typed Experiment YAML] --> B{environment.type ends in YAML?}
  B -- No --> C[Registered typed environment config]
  B -- Yes --> D[LegacyGraphEnvironmentCfg]
  D --> E[Reconstruct graph CLI overrides]
  E --> F[Load graph spec]
  C --> G[ArenaEnvBuilder]
  F --> G
  G --> H[Experiment rollout]
  D --> I[Serialize effective Experiment]
  I --> J[OSMO embedded Experiment YAML]

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_{Reviews (1): Last reviewed commit: "Remvoe yaml tag." | Re-trigger Greptile}