diff --git a/docs/curation_pipeline.md b/docs/curation_pipeline.md index bc790439d56ccd92e71ffa7e56fb198561a43d24..81728680a22ab8be678bb4b9112b39cdf435ffd1 100644 --- a/docs/curation_pipeline.md +++ b/docs/curation_pipeline.md @@ -4,21 +4,23 @@ The procedure below is what runs between a fresh recording session and a HF push. Follow it in order; each stage produces a checkable artifact, so a bad stage doesn't silently propagate downstream. -Source files referenced. The first four live in the recording-machine -`MultimodalData/twm/` checkout. The last three are the curation scripts -produced for this dataset; they currently live in `/tmp/` (development -scratchpad) and should be moved into `MultimodalData/twm/twm/scripts/` so -they're versioned alongside the rest of the codebase. +Source files referenced. The first five live in the recording-machine +`MultimodalData/twm/` checkout. The rest are the curation scripts produced +for this dataset; they currently live in `/tmp/` (development scratchpad) +and should be moved into `MultimodalData/twm/twm/scripts/` so they're +versioned alongside the rest of the codebase. -| Script | Current location | Future home | +| Script | Current location | Notes | |---|---|---| -| `data_collection.py` | `MultimodalData/twm/` | (already in repo) | -| `compress_h5.py` | `MultimodalData/twm/` | (already in repo) | -| `visualize.py` | `MultimodalData/twm/` | (already in repo; projection overlay on by default, `--no_projection` to disable) | -| `twm.contact_index` | `MultimodalData/twm/twm/` | (already in repo) | -| `make_episode_gifs_v3.py` | `/tmp/` | `MultimodalData/twm/twm/scripts/` | -| `freeze_cut_report.py` | `/tmp/` | `MultimodalData/twm/twm/scripts/` | -| `inspect_short_freezes.py` | `/tmp/` | `MultimodalData/twm/twm/scripts/` | +| `viz.py` | `MultimodalData/twm/` | **Single source of truth for visualization.** Owns the 1280×480 panel builder (left → middle → right cam ordering), projection overlay, OptiTrack helpers, calibration loading, adaptive-shrink GIF encoder. Every other visualization script in the repo imports from here. | +| `data_collection.py` | `MultimodalData/twm/` | Recording loop. `make_preview` is now a re-export of `twm.viz.build_preview_panel`. | +| `compress_h5.py` | `MultimodalData/twm/` | BLOSC → GZIP+shuffle. | +| `visualize.py` | `MultimodalData/twm/` | Interactive replay viewer / MP4 export. Projection overlay on by default, `--no_projection` to disable. Delegates panel + overlay to `twm.viz`. | +| `twm.contact_index` | `MultimodalData/twm/twm/` | Tactile contact metrics → `.pt` files. | +| `make_episode_gifs_v3.py` | `/tmp/` | Per-episode HF preview GIFs (canonical viewer layout). | +| `freeze_diagnose.py` | `/tmp/` | Augmented freeze detector: cross-modal motion + frame-duplicate + OT-gap + rotation/translation teleport. Classifies each freeze into `pipeline_stall` / `ot_dropout` / `ot_teleport` / `real_still`. | +| `inspect_freezes_v3.py` | `/tmp/` | Helper layer used by `freeze_diagnose.py` — schedules clips per freeze event, renders them via `twm.viz`. | +| `freeze_cut_report.py` | `/tmp/` | Per-threshold tally of frozen-pose frames (no clip rendering). | The pipeline assumes the standard layout: @@ -173,35 +175,48 @@ episode, with a 3-frame buffer on each side. Per-frame OT velocity > 5 m/s → impossible motion → marker swap or brief solver glitch. Stored as `pose_teleports_L` / `pose_teleports_R`. -### 5C. OptiTrack freezes (long held poses) +### 5C. Pose freezes — disambiguated by cross-modal motion A sensor whose 7-vec pose is bitwise-identical across consecutive frames -for ≥ 1 s while that sensor is **active** for the date is treated as a -tracking loss. Threshold sweep at 1/2/5/10/30 s historically shows -near-identical totals (≈13 % of frames at any threshold ≥1 s), so 1 s is -the safe default. The cut intervals are written to `freeze_intervals.json` -and merged into `bad_frames.json`. - -Today the three detectors live in separate one-off scripts: +for ≥ 0.25 s **on an active sensor** is a freeze candidate. Each candidate +is then diagnosed by combining: +- max translation velocity in the OT stream within ±1 s +- max angular velocity in the same window (catches solver flips that the + old 5 m/s translation-only check missed) +- max OT timestamp gap during the interval +- per-stream consecutive-frame duplicate fraction (cam0/1/2 + affected GS) + +Each event is then labelled as `pipeline_stall` (≥ 30 % frame duplication +on any stream — recorder genuinely stuck), `ot_dropout` (OT timestamp gap +≥ 100 ms), `ot_teleport` (solver glitch — > 5 m/s translation or > 15 rad/s +angular), `real_still` (all signals quiet — operator paused), or `ambiguous`. + +Empirically across the bimanual set, **every freeze event in this dataset +classifies as `pipeline_stall`** — the GelSight stream duplicates 53–86 % +of its frames while RealSense keeps going. So the right cut is "drop any +window overlapping a pipeline_stall interval"; this is materially +different from a benign "operator at rest" interpretation. + +Current scripts: - intensity spikes + pose teleports: the original detector that produced - the current `bad_frames.json`. To re-run incrementally, regenerate the - whole file from all `.pt` files; the script is not yet packaged but - follows the formula above. -- pose freezes: `/tmp/freeze_cut_report.py` (per-episode + per-threshold - totals across the whole task). For the per-interval list used by the - dataloader, run the unmerged-intervals path in - `/tmp/inspect_short_freezes.py`. - -**To do — consolidation.** These three detectors should be merged into a -single `scripts/detect_failures.py` that: + the current `bad_frames.json` (translation-velocity only; **rotation + teleports are now caught in 5C via `freeze_diagnose.py`'s angular + velocity check** but should be folded into the main `bad_frames.json` + pipeline.) +- pose freezes: `/tmp/freeze_diagnose.py` (cross-modal classifier; + outputs per-event verdicts + per-class sample clips). Also see + `/tmp/freeze_cut_report.py` for per-threshold totals across the task. + +**To do — consolidation.** These detectors should be merged into a single +`scripts/detect_failures.py` that: 1. iterates `.pt` files under a `--pt_root`, -2. applies all three detectors, +2. applies all three detectors (with rotation-aware teleport check), 3. writes the union to `bad_frames.json` and a richer per-mode breakdown to `freeze_intervals.json` and `data_quality_breakdown.json`, 4. emits the per-episode `data_quality_report.csv`. -Until that exists, the procedure is: re-run each of the three current -scripts in turn and merge their outputs by hand into `bad_frames.json`. +Until that exists, the procedure is: re-run each current script in turn +and merge their outputs by hand into `bad_frames.json`. --- diff --git a/figures/dataloader_examples/sample_window.gif b/figures/dataloader_examples/sample_window.gif index 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