pretrain_v7.py

# /// script
# requires-python = ">=3.10"
# dependencies = [
#     "torch>=2.1",
#     "numpy",
#     "pandas",
#     "scikit-learn",
#     "huggingface-hub",
#     "trackio",
# ]
# ///
"""
Flight-JEPA v7 — past-track masked JEPA pretraining.

Adapted from Forecast-MAE (arxiv:2308.09882) and I-JEPA (arxiv:2301.08243):
mask contiguous blocks of *past-track* patches and train an encoder +
EMA target + predictor to reconstruct masked-patch latents from visible
context. Encoder weights then transfer to v6 fine-tuning.

Key differences from v6's JEPA aux:
- Pretraining-only objective (no forecasting head, no Δ conditioning).
- Masks past-track patches, not future segments.
- Trains on the same RKSIa data — this is small-scale demo, not OpenSky-scale.
- Output: a `pretrained_encoder.pt` checkpoint loadable by v6 fine-tune.

Decision criterion at fine-tune time:
- Significant FDE improvement at ≥30% past-track dropout (test-time).
- No regression at 0% dropout.
"""
from __future__ import annotations
import argparse
import copy
import json
import math
import os
import shutil
import time

import numpy as np
import pandas as pd
import torch
import torch.nn as nn
import torch.nn.functional as F
from torch.utils.data import Dataset, DataLoader

try:
    import trackio
    HAS_TRACKIO = True
except ImportError:
    HAS_TRACKIO = False


# ============================================================================
# DATA UTILITIES (inlined from train_v2_prod.py for self-contained job)
# ============================================================================

def load_atfm(dset_name, mode, path):
    variables = ["X", "Y", "Z"]
    data, labels = [], None
    for var in variables:
        df = pd.read_csv(os.path.join(path, f"{dset_name}_{mode}_{var}.tsv"),
                          sep="\t", header=None, na_values="NaN")
        if labels is None:
            labels = df.values[:, 0]
        data.append(df.values[:, 1:])
    return np.stack(data, axis=-1), labels.astype(int)


def compute_features(traj_xyz: np.ndarray) -> np.ndarray:
    if traj_xyz.shape[0] < 2:
        T = traj_xyz.shape[0]
        return np.concatenate([
            traj_xyz, np.zeros((T, 3), dtype=traj_xyz.dtype),
            np.zeros((T, 3), dtype=traj_xyz.dtype)
        ], axis=1)
    x, y, z = traj_xyz[:, 0], traj_xyz[:, 1], traj_xyz[:, 2]
    diff = np.diff(traj_xyz, axis=0)
    norms = np.maximum(np.linalg.norm(diff, axis=1, keepdims=True), 1e-8)
    u = diff / norms
    u = np.vstack([u, u[-1:]])
    r = np.sqrt(x ** 2 + y ** 2)
    theta = np.arctan2(y, x)
    return np.column_stack([
        traj_xyz, u,
        r[:, None], np.sin(theta)[:, None], np.cos(theta)[:, None]
    ]).astype(np.float32)


def ensure_data(airport: str, data_dir: str = "data"):
    target = os.path.join(data_dir, airport)
    if os.path.isdir(target) and any(f.endswith(".tsv") for f in os.listdir(target)):
        return target
    print(f"[data] downloading {airport} from HF ...")
    from huggingface_hub import snapshot_download
    snap = snapshot_download(
        "petchthwr/ATFMTraj",
        repo_type="dataset",
        allow_patterns=[f"{airport}/*"],
    )
    os.makedirs(data_dir, exist_ok=True)
    src = os.path.join(snap, airport)
    if not os.path.isdir(target):
        shutil.copytree(src, target)
    return target


# ============================================================================
# DATASET — full past-track windows (no Δ / target)
# ============================================================================

class PastTrackDataset(Dataset):
    """
    Yields fixed-length past-track windows for masked-prediction pretraining.

    Per __getitem__:
      - sample a random window of length past_len from a trajectory
      - return its 9-dim features padded to past_max
    """

    def __init__(self, airport, mode, data_dir,
                 past_max=256, past_min=128,
                 seed=0, epoch_multiplier=4):
        ensure_data(airport, data_dir)
        airport_dir = os.path.join(data_dir, airport)
        raw, labels = load_atfm(airport, mode, airport_dir)

        self.past_max = past_max
        self.past_min = past_min
        self.epoch_multiplier = epoch_multiplier
        self.rng_seed = seed

        lengths = np.array(
            [int(np.sum(~np.isnan(raw[i, :, 0]))) for i in range(raw.shape[0])],
            dtype=np.int64,
        )
        keep = lengths >= past_min + 1
        raw = raw[keep]
        lengths = lengths[keep]

        self.positions = []
        for i in range(raw.shape[0]):
            L = int(lengths[i])
            self.positions.append(np.nan_to_num(raw[i, :L], nan=0.0).astype(np.float32))
        del raw
        self.n_traj = len(self.positions)
        print(f"[data] {airport}/{mode}: {self.n_traj} trajectories")

    def __len__(self):
        return self.n_traj * self.epoch_multiplier

    def __getitem__(self, idx):
        traj_idx = idx % self.n_traj
        rng = np.random.default_rng(self.rng_seed + idx * 9173)
        positions = self.positions[traj_idx]
        L = positions.shape[0]
        past_len = min(self.past_max, L)
        start = int(rng.integers(0, max(1, L - past_len + 1)))
        window = positions[start:start + past_len]
        feats = compute_features(window)
        T = feats.shape[0]
        feat_pad = np.zeros((self.past_max, 9), dtype=np.float32)
        feat_pad[:T] = feats
        return {
            "features": torch.from_numpy(feat_pad),
            "length": torch.tensor(T, dtype=torch.long),
        }


# ============================================================================
# MODEL — encoder + EMA target + predictor (no decoder, no Δ)
# ============================================================================

class LearnablePosEnc(nn.Module):
    def __init__(self, max_len, d_model):
        super().__init__()
        self.pe = nn.Parameter(torch.randn(1, max_len, d_model) * 0.02)
    def forward(self, x):
        return x + self.pe[:, :x.size(1)]


class PatchTokenizer(nn.Module):
    def __init__(self, in_channels=9, d_model=256, patch_size=8, max_patches=64):
        super().__init__()
        self.patch_size = patch_size
        self.d_model = d_model
        self.embed = nn.Sequential(
            nn.Conv1d(in_channels, d_model // 2, 5, padding=2),
            nn.GELU(),
            nn.Conv1d(d_model // 2, d_model, 3, padding=1),
            nn.GELU(),
        )
        self.pos_enc = LearnablePosEnc(max_patches, d_model)
        self.norm = nn.LayerNorm(d_model)

    def forward(self, features, lengths):
        B, T, C = features.shape
        h = self.embed(features.transpose(1, 2))
        N = max(1, T // self.patch_size)
        h = h[:, :, :N * self.patch_size]
        h = h.reshape(B, self.d_model, N, self.patch_size).mean(-1)
        h = h.transpose(1, 2)
        h = self.norm(self.pos_enc(h))
        patch_lengths = (lengths.float() / self.patch_size).clamp(min=1).long()
        patch_lengths = patch_lengths.clamp(max=N)
        return h, patch_lengths


class CausalEncoder(nn.Module):
    def __init__(self, d_model=256, n_heads=8, n_layers=4, d_ff=1024, dropout=0.1):
        super().__init__()
        layer = nn.TransformerEncoderLayer(
            d_model=d_model, nhead=n_heads, dim_feedforward=d_ff,
            dropout=dropout, activation="gelu", batch_first=True,
            norm_first=True,
        )
        self.tf = nn.TransformerEncoder(layer, num_layers=n_layers)
        self.norm = nn.LayerNorm(d_model)

    def forward(self, x, key_padding_mask, attn_mask=None):
        N = x.size(1)
        if attn_mask is None:
            # Default: causal. For pretraining we may pass full bidirectional.
            attn_mask = torch.triu(
                torch.ones(N, N, dtype=torch.bool, device=x.device), diagonal=1
            )
        return self.norm(
            self.tf(x, mask=attn_mask, src_key_padding_mask=key_padding_mask)
        )


class JEPAPredictor(nn.Module):
    """Predict target patch latents from context patch latents.
    Adds a query token per masked position via positional embedding."""
    def __init__(self, d_model=256, pred_dim=128, max_patches=64, dropout=0.1):
        super().__init__()
        self.proj_in = nn.Linear(d_model, pred_dim)
        self.target_pe = nn.Parameter(torch.randn(1, max_patches, pred_dim) * 0.02)
        layer = nn.TransformerEncoderLayer(
            d_model=pred_dim, nhead=4, dim_feedforward=pred_dim * 2,
            dropout=dropout, activation="gelu", batch_first=True, norm_first=True,
        )
        self.tf = nn.TransformerEncoder(layer, num_layers=2)
        self.proj_out = nn.Linear(pred_dim, d_model)
        self.norm = nn.LayerNorm(d_model)

    def forward(self, ctx_latents, ctx_idx, tgt_idx):
        """
        ctx_latents: (B, N_ctx, d_model)
        ctx_idx: (B, N_ctx) original positions of context patches
        tgt_idx: (B, N_tgt) original positions of target patches
        returns: (B, N_tgt, d_model) predicted target latents
        """
        B = ctx_latents.size(0)
        d_pred = self.target_pe.size(-1)
        # Project context to pred_dim and add target positional embeddings
        ctx_p = self.proj_in(ctx_latents)  # (B, N_ctx, d_pred)
        # Gather target PEs at the masked positions
        tgt_pe = self.target_pe.expand(B, -1, -1)  # (B, max_patches, d_pred)
        tgt_idx_expanded = tgt_idx.unsqueeze(-1).expand(-1, -1, d_pred)
        tgt_q = torch.gather(tgt_pe, 1, tgt_idx_expanded)  # (B, N_tgt, d_pred)
        # Concatenate and run transformer
        h = torch.cat([ctx_p, tgt_q], dim=1)  # (B, N_ctx+N_tgt, d_pred)
        h = self.tf(h)
        # Take only the target-position outputs
        N_ctx = ctx_p.size(1)
        h_tgt = h[:, N_ctx:]
        return self.norm(self.proj_out(h_tgt))


def make_block_mask(B: int, N: int, mask_ratio: float, rng: np.random.Generator,
                     device, min_visible: int = 4):
    """
    Sample a contiguous block mask per batch element.
    Returns:
        ctx_idx: list of LongTensors (variable length per sample)
        tgt_idx: list of LongTensors
    For batched processing we'll right-pad and provide separate masks.
    """
    ctx_idxs = []
    tgt_idxs = []
    for _ in range(B):
        n_mask = max(1, int(round(N * mask_ratio)))
        n_mask = min(n_mask, N - min_visible)
        # Random contiguous block start
        if N - n_mask <= 0:
            start = 0
            n_mask = N - min_visible
        else:
            start = int(rng.integers(0, N - n_mask + 1))
        all_idx = np.arange(N)
        tgt_mask = (all_idx >= start) & (all_idx < start + n_mask)
        ctx_idxs.append(torch.tensor(all_idx[~tgt_mask], dtype=torch.long, device=device))
        tgt_idxs.append(torch.tensor(all_idx[tgt_mask], dtype=torch.long, device=device))
    return ctx_idxs, tgt_idxs


def gather_by_indices(x: torch.Tensor, idx_list: list[torch.Tensor], pad_value=0.0):
    """x: (B, N, D). idx_list: per-batch index tensors. Returns (B, N_max, D) padded
    plus a (B, N_max) mask of which entries are real."""
    B = x.size(0); D = x.size(-1)
    N_max = max((idx.numel() for idx in idx_list), default=1)
    out = torch.full((B, N_max, D), pad_value, device=x.device, dtype=x.dtype)
    mask = torch.zeros((B, N_max), dtype=torch.bool, device=x.device)
    for b in range(B):
        idx = idx_list[b]
        n = idx.numel()
        if n > 0:
            out[b, :n] = x[b, idx]
            mask[b, :n] = True
    return out, mask


def gather_indices_only(idx_list: list[torch.Tensor], device):
    """Pack a list of LongTensors into (B, N_max) padded with zeros."""
    B = len(idx_list)
    N_max = max((idx.numel() for idx in idx_list), default=1)
    out = torch.zeros((B, N_max), dtype=torch.long, device=device)
    mask = torch.zeros((B, N_max), dtype=torch.bool, device=device)
    for b in range(B):
        idx = idx_list[b]
        n = idx.numel()
        if n > 0:
            out[b, :n] = idx
            mask[b, :n] = True
    return out, mask


# ============================================================================
# PRETRAIN MODULE
# ============================================================================

class FlightJEPAPretrain(nn.Module):
    def __init__(self, cfg):
        super().__init__()
        self.cfg = cfg
        d = cfg.get("d_model", 256)
        h_ = cfg.get("n_heads", 8)
        n_l = cfg.get("n_layers", 4)
        d_ff = cfg.get("d_ff", 1024)
        dr = cfg.get("dropout", 0.1)
        ps = cfg.get("patch_size", 8)
        past_max = cfg.get("past_max", 256)
        max_patches = past_max // ps
        pred_dim = cfg.get("pred_dim", 128)
        self.ema_decay = cfg.get("ema_decay", 0.998)
        self.max_patches = max_patches

        self.tokenizer = PatchTokenizer(9, d, ps, max_patches)
        self.encoder = CausalEncoder(d, h_, n_l, d_ff, dr)
        self.predictor = JEPAPredictor(d, pred_dim, max_patches, dr)

        self.target_tokenizer = copy.deepcopy(self.tokenizer)
        self.target_encoder = copy.deepcopy(self.encoder)
        for p in self.target_tokenizer.parameters():
            p.requires_grad = False
        for p in self.target_encoder.parameters():
            p.requires_grad = False

    @torch.no_grad()
    def update_ema(self):
        m = self.ema_decay
        for online, target in [(self.tokenizer, self.target_tokenizer),
                                (self.encoder, self.target_encoder)]:
            for po, pt in zip(online.parameters(), target.parameters()):
                pt.data.mul_(m).add_(po.data, alpha=1.0 - m)

    def forward(self, features, lengths, mask_ratio: float, rng: np.random.Generator):
        """
        Mask a contiguous block of patches per sample. Encode visible context.
        Predict masked-patch latents. Compare to EMA target encoder over the
        full sequence at masked positions.

        Pretraining uses *bidirectional* attention (no causal mask) — at
        fine-tune time we restore the causal mask. This gives the encoder
        more signal during pretraining; the encoder's transformer layers are
        not architecturally causal, only the mask passed in changes the mode.
        """
        B = features.size(0)
        device = features.device

        # Tokenize for online (will be partially masked) and target (full).
        patches_full, patch_lens = self.tokenizer(features, lengths)
        N = patches_full.size(1)

        # Padding mask (token absent because past sequence shorter than N*patch).
        pad_mask = (torch.arange(N, device=device).unsqueeze(0)
                    >= patch_lens.unsqueeze(1))  # True where padded

        # Sample contiguous masks per sample (drawing only from valid patches).
        ctx_idx_list, tgt_idx_list = [], []
        for b in range(B):
            n_valid = int(patch_lens[b].item())
            if n_valid < 8:  # too short to mask meaningfully
                ctx_idx_list.append(torch.arange(n_valid, device=device))
                tgt_idx_list.append(torch.tensor([], dtype=torch.long, device=device))
                continue
            n_mask = max(2, int(round(n_valid * mask_ratio)))
            n_mask = min(n_mask, n_valid - 4)  # keep at least 4 visible
            start = int(rng.integers(0, n_valid - n_mask + 1))
            all_idx = torch.arange(n_valid, device=device)
            tgt_mask = (all_idx >= start) & (all_idx < start + n_mask)
            ctx_idx_list.append(all_idx[~tgt_mask])
            tgt_idx_list.append(all_idx[tgt_mask])

        # Skip if any batch element produced no targets (e.g., very short sequences)
        n_targets = sum(int(t.numel()) for t in tgt_idx_list)
        if n_targets == 0:
            return torch.tensor(0.0, device=device, requires_grad=True)

        # Pack context indices and gather context tokens. We pass through
        # the same encoder with a key_padding_mask that hides the masked
        # positions plus the original padding.
        # Easier: re-run encoder on a *new* tensor consisting only of context
        # tokens with bidirectional attention.
        N_ctx_max = max((idx.numel() for idx in ctx_idx_list), default=1)
        ctx_tokens = torch.zeros((B, N_ctx_max, patches_full.size(-1)),
                                  device=device, dtype=patches_full.dtype)
        ctx_kpm = torch.ones((B, N_ctx_max), dtype=torch.bool, device=device)  # True=pad
        for b in range(B):
            idx = ctx_idx_list[b]
            n = idx.numel()
            if n > 0:
                ctx_tokens[b, :n] = patches_full[b, idx]
                ctx_kpm[b, :n] = False

        # Bidirectional attention for pretraining (full mask).
        bi_mask = torch.zeros((N_ctx_max, N_ctx_max), dtype=torch.bool, device=device)
        ctx_encoded = self.encoder(ctx_tokens, key_padding_mask=ctx_kpm,
                                    attn_mask=bi_mask)

        # Build target-index packed tensors
        tgt_idx_packed, tgt_idx_mask = gather_indices_only(tgt_idx_list, device)
        # Build dummy "context indices in original layout" — we need to tell
        # the predictor where the context tokens live (their original patch
        # positions). Add positional info to ctx through a side embedding —
        # we can use the same target_pe table for context too.
        # Simpler: encode their original position as a query-like input by
        # *pre-adding* a positional token to ctx encoded representation.
        # The predictor only needs target PEs — context already carries pos
        # info via the patch tokenizer's pos_enc, so we don't need to add
        # context indices.

        # Predict target latents.
        pred = self.predictor(ctx_encoded, ctx_idx=None, tgt_idx=tgt_idx_packed)
        # Pad target predictions to N_tgt_max already done by gather_indices_only

        # Targets: run the EMA target encoder on the *full* sequence
        # (causal mask, like fine-tune time) and gather at target positions.
        with torch.no_grad():
            tgt_patches, _ = self.target_tokenizer(features, lengths)
            tgt_encoded = self.target_encoder(tgt_patches, key_padding_mask=pad_mask)
            tgt_latents, _ = gather_by_indices(tgt_encoded, tgt_idx_list)

        # L1 loss in latent space, masked over valid targets
        loss_per = F.l1_loss(pred, tgt_latents, reduction="none").mean(-1)  # (B, N_tgt_max)
        loss = (loss_per * tgt_idx_mask.float()).sum() / tgt_idx_mask.sum().clamp(min=1)
        return loss


# ============================================================================
# TRAIN LOOP
# ============================================================================

def device_pick(arg=None):
    if arg:
        return arg
    if torch.cuda.is_available():
        return "cuda"
    if torch.backends.mps.is_available():
        return "mps"
    return "cpu"


def train_one_epoch(model, loader, optimizer, device, mask_ratio_lo, mask_ratio_hi,
                     log_every=50, grad_clip=1.0, rng=None):
    model.train()
    sums = {"loss": 0.0, "n": 0}
    t0 = time.time()
    rng = rng or np.random.default_rng()
    n_batches = len(loader) if hasattr(loader, "__len__") else 0
    for bi, batch in enumerate(loader):
        feats = batch["features"].to(device)
        lens = batch["length"].to(device)
        mr = float(rng.uniform(mask_ratio_lo, mask_ratio_hi))
        loss = model(feats, lens, mask_ratio=mr, rng=rng)
        optimizer.zero_grad()
        loss.backward()
        torch.nn.utils.clip_grad_norm_(model.parameters(), grad_clip)
        optimizer.step()
        model.update_ema()
        bs = feats.size(0)
        sums["loss"] += loss.item() * bs
        sums["n"] += bs
        if (bi + 1) % log_every == 0 or bi == 0:
            dt = time.time() - t0
            print(f"  [batch {bi+1}/{n_batches}] {dt:.1f}s elapsed, "
                  f"mr={mr:.2f}, loss={loss.item():.4f}", flush=True)
    n = max(sums["n"], 1)
    return {"loss": sums["loss"] / n}


def main():
    p = argparse.ArgumentParser()
    p.add_argument("--airport", default="RKSIa")
    p.add_argument("--data-dir", default="data")
    p.add_argument("--tag", default="v7-pretrain")
    p.add_argument("--out-dir", default="runs")
    p.add_argument("--epochs", type=int, default=60)
    p.add_argument("--batch-size", type=int, default=64)
    p.add_argument("--lr", type=float, default=1.5e-4)
    p.add_argument("--weight-decay", type=float, default=1e-4)
    p.add_argument("--past-max", type=int, default=256)
    p.add_argument("--past-min", type=int, default=128)
    p.add_argument("--epoch-multiplier", type=int, default=2)
    p.add_argument("--ema-decay", type=float, default=0.998)
    p.add_argument("--d-model", type=int, default=256)
    p.add_argument("--n-layers", type=int, default=4)
    p.add_argument("--n-heads", type=int, default=8)
    p.add_argument("--patch-size", type=int, default=8)
    p.add_argument("--pred-dim", type=int, default=128)
    p.add_argument("--mask-ratio-lo", type=float, default=0.3)
    p.add_argument("--mask-ratio-hi", type=float, default=0.7)
    p.add_argument("--seed", type=int, default=0)
    p.add_argument("--num-workers", type=int, default=2)
    p.add_argument("--push-to-hub", action="store_true")
    p.add_argument("--hub-model-id", default=None)
    p.add_argument("--trackio-name", default=None)
    args = p.parse_args()

    torch.manual_seed(args.seed)
    np.random.seed(args.seed)
    rng = np.random.default_rng(args.seed)

    device = device_pick()
    print(f"[v7-pretrain] device={device} tag={args.tag}", flush=True)
    if device == "cuda":
        print(f"[v7-pretrain] cuda: {torch.cuda.get_device_name(0)} "
              f"vram={torch.cuda.get_device_properties(0).total_memory/1e9:.1f}GB",
              flush=True)
    if HAS_TRACKIO and args.trackio_name:
        trackio.init(project="flight-jepa-v7-pretrain",
                      name=args.trackio_name, config=vars(args))

    train_ds = PastTrackDataset(
        airport=args.airport, mode="TRAIN", data_dir=args.data_dir,
        past_max=args.past_max, past_min=args.past_min,
        seed=args.seed, epoch_multiplier=args.epoch_multiplier,
    )
    train_dl = DataLoader(train_ds, batch_size=args.batch_size, shuffle=True,
                           num_workers=args.num_workers, pin_memory=True,
                           drop_last=True)

    cfg = {
        "d_model": args.d_model, "n_heads": args.n_heads,
        "n_layers": args.n_layers, "d_ff": args.d_model * 4,
        "dropout": 0.1, "patch_size": args.patch_size,
        "past_max": args.past_max, "ema_decay": args.ema_decay,
        "pred_dim": args.pred_dim,
    }
    model = FlightJEPAPretrain(cfg).to(device)
    n_params = sum(p.numel() for p in model.parameters())
    print(f"[v7-pretrain] params={n_params/1e6:.2f}M")

    optimizer = torch.optim.AdamW(model.parameters(), lr=args.lr,
                                   weight_decay=args.weight_decay)
    scheduler = torch.optim.lr_scheduler.CosineAnnealingLR(optimizer, T_max=args.epochs)

    os.makedirs(args.out_dir, exist_ok=True)
    history = []
    for epoch in range(args.epochs):
        t0 = time.time()
        stats = train_one_epoch(
            model, train_dl, optimizer, device,
            mask_ratio_lo=args.mask_ratio_lo,
            mask_ratio_hi=args.mask_ratio_hi,
            rng=rng,
        )
        scheduler.step()
        elapsed = time.time() - t0
        print(f"[v7-pretrain] ep {epoch+1:03d} loss={stats['loss']:.4f} | {elapsed:.0f}s",
              flush=True)
        history.append({"epoch": epoch + 1, "loss": stats["loss"], "elapsed_s": elapsed})
        if HAS_TRACKIO and args.trackio_name:
            trackio.log({"pretrain/loss": stats["loss"]}, step=epoch + 1)

    out_path = os.path.join(args.out_dir, f"{args.tag}.pt")
    torch.save({
        "encoder_state_dict": model.encoder.state_dict(),
        "tokenizer_state_dict": model.tokenizer.state_dict(),
        "config": cfg, "args": vars(args),
        "history": history,
    }, out_path)
    print(f"[v7-pretrain] saved {out_path}")

    if args.push_to_hub and args.hub_model_id:
        try:
            from huggingface_hub import HfApi
            api = HfApi()
            api.create_repo(args.hub_model_id, exist_ok=True)
            api.upload_file(path_or_fileobj=out_path,
                             path_in_repo=f"{args.tag}.pt",
                             repo_id=args.hub_model_id)
            print(f"[v7-pretrain] uploaded to {args.hub_model_id}")
        except Exception as e:
            print(f"[v7-pretrain] hub upload failed: {e}")

    if HAS_TRACKIO and args.trackio_name:
        trackio.finish()


if __name__ == "__main__":
    main()