diff --git a/README.md b/README.md index ef9c420741c60de943d0109816400aa62464d96a..05cded35cc33904434de5a3648524f1b16ae6df9 100644 --- a/README.md +++ b/README.md @@ -25,6 +25,10 @@ configs: data_files: - split: train path: processed/mode1_v1/motherboard/**/episode_*.pt + - config_name: motherboard_segments + data_files: + - split: train + path: processed/mode2_v1/motherboard/**/episode_*.segment_*.pt - config_name: all data_files: - split: train @@ -86,6 +90,15 @@ See [`tasks.json`](tasks.json) for the machine-readable registry (per-date `acti Every flagged interval is in [`bad_frames.json`](bad_frames.json) keyed by `episode/episode_*` with TRIMMED-pt frame indices. A richer per-event view (with cross-modal motion + OT-gap + angular-velocity stats) lives in [`freeze_intervals.json`](freeze_intervals.json). Skip-list usage is shown below and in [`docs/quality.md`](docs/quality.md). Long start-of-episode OT-uninitialized prefixes (the dominant problem in the raw recordings) have already been trimmed from the published `.pt` files — see [`docs/caveats.md`](docs/caveats.md). +## Two schemas: mode1_v1 vs mode2_v1 + +The same recordings are shipped two ways depending on what your code wants to do: + +- **`processed/mode1_v1///episode_*.pt`** — one file per recording. Includes bad intervals (LED flicker, pose teleport, OT track loss) inside; downstream code is expected to filter them out using `bad_frames.json`. This is what the example `ReactWindowDataset` consumes. +- **`processed/mode2_v1///episode_*.segment_*.pt`** — same recordings, but **pre-sliced into contiguous clean segments at every bad-frames boundary**. No `bad_frames.json` lookup needed; the data is clean by construction. Index lookup via [`segments.json`](segments.json). Each segment's `_contact_meta.source_h5_frame_range` maps it back to the original recording. The example `ReactSegmentDataset` ([`examples/react_segment_dataset.py`](examples/react_segment_dataset.py)) consumes these. + +Both schemas have identical content (same source recordings, same frame data); only the file boundaries differ. `mode2_v1` produces 73 segments from 27 source episodes; **104.7 min total** (vs. mode1_v1's 105.7 min — the 1-min delta is the bad frames cut at segment boundaries). + ## Quick start ```python diff --git a/examples/demo_react_segment.py b/examples/demo_react_segment.py new file mode 100644 index 0000000000000000000000000000000000000000..c73dcce490fab3b8850512e4b0b1727fd679a57a --- /dev/null +++ b/examples/demo_react_segment.py @@ -0,0 +1,222 @@ +"""End-to-end usage example for `ReactSegmentDataset` (the mode2_v1 schema). + +Run against a local checkout of the React HF dataset: + + python examples/demo_react_segment.py \\ + --segments_root processed/mode2_v1/motherboard \\ + --tasks_json tasks.json \\ + --n_samples 4 \\ + --out_dir /tmp/react_segment_demo_out + +What this does +-------------- +1. Builds `ReactSegmentDataset` — same window-enumeration / filtering API + as `ReactWindowDataset` but operates over pre-sliced clean segments + (no `bad_frames.json` lookup; data is clean by construction). +2. Prints how many contact-rich windows were sampled + how many were + rejected by the contact / motion filters. +3. Renders a static PNG grid of `--n_samples` random windows. +4. For each picked window also writes an H.264 MP4 clip + (`sample_window_NN.mp4`) so you can visually inspect motion. + +Self-contained: numpy + torch + Pillow + cv2 (ffmpeg if available, falls +back to cv2.VideoWriter otherwise). +""" +import argparse +import shutil +import subprocess +import sys +from pathlib import Path + +import cv2 +import numpy as np +import torch +from PIL import Image + +sys.path.insert(0, str(Path(__file__).parent)) +from react_segment_dataset import ReactSegmentDataset + + +def _to_hwc(t): + return t.permute(1, 2, 0).numpy() if t.ndim == 3 else t.numpy() + + +def _view_to_rgb(view_chw_uint8): + return view_chw_uint8.permute(1, 2, 0).numpy()[..., ::-1].copy() + + +def make_static_grid(ds, sample_indices, out_path: Path, *, + n_cols: int = 6, cell_scale: int = 3) -> None: + rows = [] + for idx in sample_indices: + s = ds[idx] + T = s["view"].shape[0] + pick = np.linspace(0, T - 1, n_cols).astype(int) + cells = [] + for t in pick: + view = _view_to_rgb(s["view"][t]).astype(np.uint8) + tac_L = _to_hwc(s["tactile_left"][t]).astype(np.uint8) + tac_R = _to_hwc(s["tactile_right"][t]).astype(np.uint8) + triplet = np.concatenate([view, tac_L, tac_R], axis=1) + triplet = cv2.resize( + triplet, + (triplet.shape[1] * cell_scale, triplet.shape[0] * cell_scale), + interpolation=cv2.INTER_NEAREST, + ) + cells.append(triplet) + rows.append(np.concatenate(cells, axis=1)) + + H_row = rows[0].shape[0] + W_row = rows[0].shape[1] + label_h = 88 + pad_y = 16 + canvas_h = 60 + len(rows) * (H_row + label_h + pad_y) + canvas = np.full((canvas_h, W_row + 20, 3), 245, np.uint8) + cv2.putText(canvas, f"ReactSegmentDataset — {n_cols} evenly-spaced frames per sample (time runs left → right)", + (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (50, 50, 50), 2, cv2.LINE_AA) + + cell_w = W_row // n_cols + for r, idx in enumerate(sample_indices): + s = ds[idx] + y0 = 60 + r * (H_row + label_h + pad_y) + dur_s = float(s["timestamps"][-1] - s["timestamps"][0]) + mL = float(s["tactile_left_mixed"].max()) + mR = float(s["tactile_right_mixed"].max()) + h5a = s.get("h5_frame_start", "—") + cv2.putText( + canvas, + (f"sample #{idx} · {s['source_episode']}/seg{int(s['source_segment_idx']):02d} · " + f"H5 frame {h5a} · ({dur_s:.2f}s) · active: {','.join(s['active_sensors'])} · " + f"peak mixed L={mL:.2f} R={mR:.2f}"), + (10, y0 + 24), cv2.FONT_HERSHEY_SIMPLEX, 0.55, (40, 40, 40), 1, cv2.LINE_AA, + ) + T = s["view"].shape[0] + pick = np.linspace(0, T - 1, n_cols).astype(int) + for c, t in enumerate(pick): + cv2.putText(canvas, f"t = {int(t)}", + (10 + c * cell_w + 8, y0 + 56), + cv2.FONT_HERSHEY_SIMPLEX, 0.45, (90, 90, 90), 1, cv2.LINE_AA) + cv2.putText(canvas, "view | tactile_left | tactile_right", + (10, y0 + 76), cv2.FONT_HERSHEY_SIMPLEX, 0.42, (130, 130, 130), 1, cv2.LINE_AA) + canvas[y0 + label_h:y0 + label_h + H_row, 10:10 + W_row] = rows[r] + + out_path.parent.mkdir(parents=True, exist_ok=True) + Image.fromarray(canvas).save(out_path) + print(f" grid -> {out_path} ({out_path.stat().st_size / 1024:.1f} KB)") + + +def _write_mp4_h264(frames_rgb, out_path: Path, fps: float = 15.0) -> None: + H, W = frames_rgb[0].shape[:2] + out_path.parent.mkdir(parents=True, exist_ok=True) + if shutil.which("ffmpeg") is not None: + cmd = ["ffmpeg", "-y", "-hide_banner", "-loglevel", "error", + "-f", "rawvideo", "-pix_fmt", "rgb24", + "-s", f"{W}x{H}", "-r", f"{fps:.3f}", + "-i", "-", + "-c:v", "libx264", "-pix_fmt", "yuv420p", + "-preset", "medium", "-crf", "20", + "-movflags", "+faststart", + "-an", str(out_path)] + proc = subprocess.Popen(cmd, stdin=subprocess.PIPE) + for f in frames_rgb: + assert f.shape == (H, W, 3) and f.dtype == np.uint8 + proc.stdin.write(f.tobytes()) + proc.stdin.close() + if proc.wait() != 0: + raise RuntimeError("ffmpeg failed") + return + vw = cv2.VideoWriter(str(out_path), + cv2.VideoWriter_fourcc(*"mp4v"), fps, (W, H)) + for f in frames_rgb: + vw.write(cv2.cvtColor(f, cv2.COLOR_RGB2BGR)) + vw.release() + + +def make_window_mp4(ds, sample_idx: int, out_path: Path, + *, scale: int = 3, fps: float = 15.0) -> None: + s = ds[sample_idx] + T = s["view"].shape[0] + h5a = s.get("h5_frame_start", "—") + frames = [] + for t in range(T): + view = _view_to_rgb(s["view"][t]).astype(np.uint8) + tac_L = _to_hwc(s["tactile_left"][t]).astype(np.uint8) + tac_R = _to_hwc(s["tactile_right"][t]).astype(np.uint8) + triplet = np.concatenate([view, tac_L, tac_R], axis=1) + triplet = cv2.resize(triplet, + (triplet.shape[1] * scale, triplet.shape[0] * scale), + interpolation=cv2.INTER_NEAREST) + H, W, _ = triplet.shape + header = np.full((28, W, 3), 235, np.uint8) + cv2.putText( + header, + f"#{sample_idx} {s['source_episode']}/seg{int(s['source_segment_idx']):02d} " + f"H5 frame {h5a}+{t} ({t+1}/{T}) view | tactile_L | tactile_R", + (8, 19), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (40, 40, 40), 1, cv2.LINE_AA, + ) + frames.append(np.concatenate([header, triplet], axis=0)) + _write_mp4_h264(frames, out_path, fps=fps) + print(f" mp4 -> {out_path.name} ({out_path.stat().st_size / 1024:.1f} KB)") + + +def main(): + ap = argparse.ArgumentParser() + ap.add_argument("--segments_root", required=True, + help="processed/mode2_v1/motherboard") + ap.add_argument("--tasks_json", default="tasks.json") + ap.add_argument("--n_samples", type=int, default=4) + ap.add_argument("--out_dir", default="/tmp/react_segment_demo_out") + ap.add_argument("--window_length", type=int, default=16) + ap.add_argument("--seed", type=int, default=42) + ap.add_argument("--mp4_fps", type=float, default=15.0) + ap.add_argument("--no_mp4", action="store_true") + ap.add_argument("--no_motion_filter", action="store_true") + args = ap.parse_args() + + print("=== Building dataset (segments are clean by construction) ===") + ds = ReactSegmentDataset( + segments_root = args.segments_root, + tasks_json_path= args.tasks_json, + window_length = args.window_length, + stride = 1, + window_step = max(1, args.window_length // 2), + contact_metric = "mixed", + tactile_threshold = 0.4, + min_contact_fraction = 0.5, + which_sensors = "both", + respect_active_sensors= True, + require_motion = not args.no_motion_filter, + min_motion_mps = 0.01, + min_motion_fraction = 0.25, + which_sensors_must_move = "all_active", + ) + + if len(ds) == 0: + print("No windows passed the filters. Lower thresholds or disable a filter.") + return + + rng = np.random.default_rng(args.seed) + pick = rng.choice(len(ds), min(args.n_samples, len(ds)), replace=False) + + print(f"\n=== One sample's structure (#{int(pick[0])}) ===") + s0 = ds[int(pick[0])] + for k, v in s0.items(): + if isinstance(v, torch.Tensor): + print(f" {k:30s} {tuple(v.shape)} {v.dtype}") + else: + print(f" {k:30s} {v!r}") + + out_dir = Path(args.out_dir) + print(f"\n=== Static grid of {len(pick)} random windows ===") + make_static_grid(ds, pick, out_dir / "sample_grid.png") + + if not args.no_mp4: + print(f"\n=== Per-window MP4 clips ({len(pick)} files, H.264) ===") + for i, idx in enumerate(pick): + make_window_mp4(ds, int(idx), + out_dir / f"sample_window_{i:02d}.mp4", + fps=args.mp4_fps) + + +if __name__ == "__main__": + main() diff --git a/examples/react_segment_dataset.py b/examples/react_segment_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..89861003add0db00719ad89f00ef3d25eb6a559e --- /dev/null +++ b/examples/react_segment_dataset.py @@ -0,0 +1,373 @@ +"""React: short-horizon contact-rich window dataset over pre-sliced segments. + +This is the `mode2_v1/` companion to `react_window_dataset.py`. The +difference is purely architectural: + +- `ReactWindowDataset` operates on `processed/mode1_v1///episode_*.pt`, + which include bad intervals (LED flicker, pose teleports, OT track loss), + and uses `bad_frames.json` to skip windows that overlap a flagged span. + +- `ReactSegmentDataset` (this file) operates on + `processed/mode2_v1///episode_*.segment_*.pt`, where every + `.pt` is already a contiguous clean span. No `bad_frames.json` lookup is + needed; the data is *constructively* clean. + +Filters that remain (these are about what kind of window you want, not +whether the data is good): + + 1. `respect_active_sensors` — ignore inactive sensors per `tasks.json` + 2. `min_contact_fraction` — drop windows below the contact threshold + 3. `require_motion` — drop "operator paused" windows + +The per-segment `_contact_meta.source_h5_frame_range` lets you map any +window back to its position in the original H5 recording, e.g. for +inspection in `twm.visualize` or for cross-referencing with the original +H5 archive. + +Usage +----- +```python +from react_segment_dataset import ReactSegmentDataset +from torch.utils.data import DataLoader + +ds = ReactSegmentDataset( + segments_root = "processed/mode2_v1/motherboard", + tasks_json_path= "tasks.json", + window_length = 16, + stride = 1, + window_step = 8, + # contact filter + contact_metric = "mixed", + tactile_threshold = 0.4, + min_contact_fraction = 0.5, + which_sensors = "both", + # motion filter (recommended for dynamics learning) + require_motion = True, + min_motion_mps = 0.01, + min_motion_fraction = 0.25, + which_sensors_must_move = "all_active", +) +loader = DataLoader(ds, batch_size=8, shuffle=True, num_workers=2) +``` + +Each sample is the same dict as `ReactWindowDataset`, plus the segment +provenance (`source_episode`, `source_segment_idx`, `source_h5_frame_range`). +""" +from __future__ import annotations + +import json +from pathlib import Path +from typing import Iterable + +import numpy as np +import torch +from torch.utils.data import Dataset + +CONTACT_METRICS = ("intensity", "area", "mixed") + + +def _per_frame_speed_mps(pose7: np.ndarray, fps: float = 30.0) -> np.ndarray: + if pose7.shape[0] < 2: + return np.zeros(pose7.shape[0], dtype=np.float64) + d = np.linalg.norm(np.diff(pose7[:, :3], axis=0), axis=1) * fps + out = np.empty(pose7.shape[0], dtype=np.float64) + out[0] = d[0] + out[1:] = d + return out + + +class ReactSegmentDataset(Dataset): + """Per-window dataset over the pre-sliced React segments. + + Parameters + ---------- + segments_root : path + Directory containing `//episode_*.segment_*.pt` + (searched recursively). e.g. `processed/mode2_v1/motherboard`. + tasks_json_path : optional path + Path to `tasks.json`. Used for the `respect_active_sensors` mode. + + window_length, stride, window_step : window enumeration + contact_metric, tactile_threshold, min_contact_fraction, which_sensors : + contact filter parameters + respect_active_sensors : bool, default True + require_motion, min_motion_mps, min_motion_fraction, + which_sensors_must_move : motion filter parameters + + tasks, dates : optional iterables of str + Restrict to specific task / date strings. + + fps : float, default 30 + """ + + def __init__( + self, + segments_root: str | Path, + tasks_json_path: str | Path | None = None, + *, + window_length: int = 16, + stride: int = 1, + window_step: int | None = None, + contact_metric: str = "mixed", + tactile_threshold: float = 0.4, + min_contact_fraction: float = 0.5, + which_sensors: str = "both", + tasks: Iterable[str] | None = None, + dates: Iterable[str] | None = None, + respect_active_sensors: bool = True, + require_motion: bool = False, + min_motion_mps: float = 0.01, + min_motion_fraction: float = 0.25, + which_sensors_must_move: str = "all_active", + fps: float = 30.0, + ): + if contact_metric not in CONTACT_METRICS: + raise ValueError(f"contact_metric must be one of {CONTACT_METRICS}") + if which_sensors not in ("any", "both", "left", "right"): + raise ValueError("which_sensors must be 'any' | 'both' | 'left' | 'right'") + if which_sensors_must_move not in ("any", "all_active"): + raise ValueError("which_sensors_must_move must be 'any' | 'all_active'") + if window_length < 1 or stride < 1: + raise ValueError("window_length and stride must be ≥ 1") + + self.segments_root = Path(segments_root) + self.window_length = int(window_length) + self.stride = int(stride) + self.window_step = int(window_step) if window_step is not None else max(1, window_length // 2) + self.contact_metric = contact_metric + self.tactile_threshold = float(tactile_threshold) + self.min_contact_fraction = float(min_contact_fraction) + self.which_sensors = which_sensors + self.respect_active_sensors = bool(respect_active_sensors) + self.require_motion = bool(require_motion) + self.min_motion_mps = float(min_motion_mps) + self.min_motion_fraction = float(min_motion_fraction) + self.which_sensors_must_move = which_sensors_must_move + self.fps = float(fps) + + # Per-date active-sensor info + self.per_date = {} + if tasks_json_path is not None and Path(tasks_json_path).is_file(): + tj = json.loads(Path(tasks_json_path).read_text()) + for tk, td in tj.get("tasks", {}).items(): + for d, info in td.get("per_date_notes", {}).items(): + self.per_date[d] = info + + # Discover segments + pt_files = sorted(self.segments_root.rglob("episode_*.segment_*.pt")) + if not pt_files: + raise RuntimeError(f"No segment .pt files under {self.segments_root}") + tasks_set = set(tasks) if tasks is not None else None + dates_set = set(dates) if dates is not None else None + + self.segments: list[dict] = [] # cached .pt dicts + self.segment_paths: list[Path] = [] + self.segment_meta: list[dict] = [] # source_episode, segment_idx, etc. + self.segment_active: list[list[str]] = [] + self.windows: list[tuple[int, int]] = [] # (seg_idx, t_start) + + span = (self.window_length - 1) * self.stride + 1 + + n_total_candidates = 0 + n_drop_contact = 0 + n_drop_motion = 0 + + for pt in pt_files: + rel = pt.relative_to(self.segments_root) + # rel.parts == (, , "episode_NNN.segment_MM.pt") OR (, ...) + if len(rel.parts) == 3: + task, date, _ = rel.parts + elif len(rel.parts) == 2: + task, date = None, rel.parts[0] + else: + task, date = None, None + if tasks_set is not None and task not in tasks_set: + continue + if dates_set is not None and date not in dates_set: + continue + + d = torch.load(pt, weights_only=False, map_location="cpu") + meta = d.get("_contact_meta", {}) + src_ep = meta.get("source_episode") or rel.stem.split(".")[0] + seg_idx = int(meta.get("source_segment_idx", 0)) + active = ["left", "right"] + if self.respect_active_sensors and date in self.per_date: + active = list(self.per_date[date].get("active_sensors", active)) + + mL = d[f"tactile_left_{self.contact_metric}"].numpy() + mR = d[f"tactile_right_{self.contact_metric}"].numpy() + T = mL.shape[0] + if T < span: + continue # segment too short to host any window + + # Contact predicate + cL = mL > self.tactile_threshold + cR = mR > self.tactile_threshold + if "left" not in active: cL[:] = False + if "right" not in active: cR[:] = False + req = self.which_sensors + if req == "any": contact_frame = cL | cR + elif req == "both": contact_frame = cL & cR + elif req == "left": contact_frame = cL + else: contact_frame = cR + + # Per-frame motion mask + if self.require_motion: + speed_L = _per_frame_speed_mps(d["sensor_left_pose"].numpy(), self.fps) + speed_R = _per_frame_speed_mps(d["sensor_right_pose"].numpy(), self.fps) + moving_L = speed_L >= self.min_motion_mps + moving_R = speed_R >= self.min_motion_mps + else: + moving_L = moving_R = None + + seg_id = len(self.segments) + self.segments.append(d) + self.segment_paths.append(pt) + self.segment_meta.append({ + "source_episode": src_ep, + "source_segment_idx": seg_idx, + "source_h5_frame_range": meta.get("source_h5_frame_range"), + "source_pt_frame_range": meta.get("source_pt_frame_range"), + }) + self.segment_active.append(active) + + kept = 0 + for t_start in range(0, T - span + 1, self.window_step): + n_total_candidates += 1 + t_end = t_start + span - 1 + frame_idx = np.arange(t_start, t_start + span, self.stride) + if contact_frame[frame_idx].mean() < self.min_contact_fraction: + n_drop_contact += 1 + continue + if self.require_motion: + passed = [] + for side, mov in [("left", moving_L), ("right", moving_R)]: + if side not in active: + continue + passed.append(mov[frame_idx].mean() >= self.min_motion_fraction) + if self.which_sensors_must_move == "all_active": + ok = bool(passed) and all(passed) + else: + ok = any(passed) + if not ok: + n_drop_motion += 1 + continue + self.windows.append((seg_id, t_start)) + kept += 1 + # Compact per-segment print so noisy episodes don't drown the summary + if kept > 0 or T >= span: + print(f"[ReactSegmentDataset] {src_ep}/seg{seg_idx:02d} " + f"T={T:>5d} kept={kept:>3d} windows") + + self.stats = { + "n_source_episodes": len({m["source_episode"] for m in self.segment_meta}), + "n_segments_loaded": len(self.segments), + "n_candidates": n_total_candidates, + "n_dropped_contact": n_drop_contact, + "n_dropped_motion": n_drop_motion, + "n_contact_rich_windows": len(self.windows), + "window_length": self.window_length, + "stride": self.stride, + "window_step": self.window_step, + "min_contact_fraction": self.min_contact_fraction, + "tactile_threshold": self.tactile_threshold, + "contact_metric": self.contact_metric, + "which_sensors": self.which_sensors, + "require_motion": self.require_motion, + "min_motion_mps": self.min_motion_mps, + "min_motion_fraction": self.min_motion_fraction, + "which_sensors_must_move":self.which_sensors_must_move, + } + pct = 100.0 * len(self.windows) / max(1, n_total_candidates) + print() + print(f"[ReactSegmentDataset] =================================") + print(f"[ReactSegmentDataset] Contact-rich windows sampled: {len(self.windows):,}") + print(f"[ReactSegmentDataset] ({pct:.1f}% of {n_total_candidates:,} sliding-window candidates)") + print(f"[ReactSegmentDataset] =================================") + print(f"[ReactSegmentDataset] From {self.stats['n_segments_loaded']} segments across " + f"{self.stats['n_source_episodes']} source episodes.") + print(f"[ReactSegmentDataset] Window spec: length={self.window_length}, " + f"stride={self.stride}, step={self.window_step} " + f"(≈{self.window_length / self.fps:.2f}s @ {self.fps:.0f} fps)") + print(f"[ReactSegmentDataset] Rejected by filter:") + print(f"[ReactSegmentDataset] contact (< {self.min_contact_fraction:.0%} of frames in tactile contact): {n_drop_contact:,}") + print(f"[ReactSegmentDataset] motion ({'enabled' if self.require_motion else 'disabled'}): {n_drop_motion:,}") + print(f"[ReactSegmentDataset] (No bad_frames filter — segments are already clean by construction.)") + + def __len__(self) -> int: + return len(self.windows) + + def __getitem__(self, idx: int) -> dict: + seg_id, t_start = self.windows[idx] + seg = self.segments[seg_id] + meta = self.segment_meta[seg_id] + frame_idx = torch.arange(t_start, t_start + self.window_length * self.stride, self.stride) + sample = { + "view": seg["view"][frame_idx], + "tactile_left": seg["tactile_left"][frame_idx], + "tactile_right": seg["tactile_right"][frame_idx], + "sensor_left_pose": seg["sensor_left_pose"][frame_idx], + "sensor_right_pose": seg["sensor_right_pose"][frame_idx], + "timestamps": seg["timestamps"][frame_idx], + "tactile_left_intensity": seg["tactile_left_intensity"][frame_idx], + "tactile_right_intensity": seg["tactile_right_intensity"][frame_idx], + "tactile_left_mixed": seg["tactile_left_mixed"][frame_idx], + "tactile_right_mixed": seg["tactile_right_mixed"][frame_idx], + } + sample["segment_path"] = str(self.segment_paths[seg_id]) + sample["source_episode"] = meta["source_episode"] + sample["source_segment_idx"] = int(meta["source_segment_idx"]) + sample["source_h5_frame_range"]= meta["source_h5_frame_range"] + sample["frame_start"] = int(t_start) + sample["frame_end"] = int(frame_idx[-1].item()) + sample["active_sensors"] = list(self.segment_active[seg_id]) + # H5 frame index of the first frame in this window (useful for cross-ref) + h5_range = meta["source_h5_frame_range"] + if h5_range is not None: + sample["h5_frame_start"] = int(h5_range[0]) + int(t_start) + sample["h5_frame_end"] = int(h5_range[0]) + int(frame_idx[-1].item()) + return sample + + +if __name__ == "__main__": + import argparse + ap = argparse.ArgumentParser() + ap.add_argument("--segments_root", required=True, + help="processed/mode2_v1/motherboard (relative to dataset root)") + ap.add_argument("--tasks_json", default="tasks.json") + ap.add_argument("--window_length", type=int, default=16) + ap.add_argument("--stride", type=int, default=1) + ap.add_argument("--window_step", type=int, default=None) + ap.add_argument("--tactile_threshold", type=float, default=0.4) + ap.add_argument("--min_contact_fraction", type=float, default=0.5) + ap.add_argument("--contact_metric", default="mixed", choices=CONTACT_METRICS) + ap.add_argument("--which_sensors", default="both", choices=["any", "both", "left", "right"]) + ap.add_argument("--require_motion", action="store_true") + ap.add_argument("--min_motion_mps", type=float, default=0.01) + ap.add_argument("--min_motion_fraction", type=float, default=0.25) + ap.add_argument("--which_sensors_must_move", default="all_active", + choices=["any", "all_active"]) + args = ap.parse_args() + ds = ReactSegmentDataset( + segments_root=args.segments_root, + tasks_json_path=args.tasks_json, + window_length=args.window_length, + stride=args.stride, + window_step=args.window_step, + contact_metric=args.contact_metric, + tactile_threshold=args.tactile_threshold, + min_contact_fraction=args.min_contact_fraction, + which_sensors=args.which_sensors, + require_motion=args.require_motion, + min_motion_mps=args.min_motion_mps, + min_motion_fraction=args.min_motion_fraction, + which_sensors_must_move=args.which_sensors_must_move, + ) + print(f"\nlen(ds) = {len(ds)}") + if len(ds): + sample = ds[0] + for k, v in sample.items(): + if isinstance(v, torch.Tensor): + print(f" {k:30s} {tuple(v.shape)} {v.dtype}") + else: + print(f" {k:30s} {v!r}") diff --git a/processed/mode2_v1/motherboard/2026-05-10/episode_000.segment_00.pt b/processed/mode2_v1/motherboard/2026-05-10/episode_000.segment_00.pt new file mode 100644 index 0000000000000000000000000000000000000000..fbba20d6e557efbe9786967403ab973d3ab1208a --- /dev/null +++ b/processed/mode2_v1/motherboard/2026-05-10/episode_000.segment_00.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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"mode2_v1/motherboard/2026-05-11/episode_017.segment_00.pt", + "source_episode": "2026-05-11/episode_017", + "source_segment_idx": 0, + "n_frames": 14511, + "duration_s": 483.7, + "source_pt_frame_range": [ + 0, + 14510 + ], + "source_h5_frame_range": [ + 19228, + 33738 + ], + "contact_pct_left": 84.57, + "contact_pct_right": 80.1, + "mean_speed_left_mps": 0.0565, + "mean_speed_right_mps": 0.0581, + "file_size_mb": 2042.02, + "active_sensors": [ + "left", + "right" + ] + } + ] +} \ No newline at end of file diff --git a/tasks.json b/tasks.json index 5c5313a19364f878a789e95473f7416dfd26293f..4022dcfa66af13af080c196396706fc8a94d9cbe 100644 --- a/tasks.json +++ b/tasks.json @@ -38,5 +38,12 @@ } }, "schema_version": "mode1_v1", - "layout": "processed/mode1_v1///episode_*.{pt,contact.json}" + "layout": "processed/mode1_v1///episode_*.{pt,contact.json} (raw with bad intervals) OR processed/mode2_v1///episode_*.segment_*.pt (pre-sliced clean segments; see segments.json)", + "mode2_v1": { + "description": "Same recordings as mode1_v1 but sliced at every bad-frames boundary into contiguous clean segments. Use with examples/react_segment_dataset.py.", + "n_segments": 73, + "total_frames": 188442, + "total_duration_min": 104.69, + "manifest": "segments.json" + } } \ No newline at end of file