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1bb6705 09fbe32 1bb6705 09fbe32 1bb6705 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 | from pathlib import Path
import argparse
import json
import os
import shutil
import subprocess
import sys
import time
from typing import Dict, List, Optional, Sequence
PROJECT_ROOT = Path(__file__).resolve().parents[1]
if str(PROJECT_ROOT) not in sys.path:
sys.path.insert(0, str(PROJECT_ROOT))
def _configure_thread_env() -> None:
defaults = {
"OMP_NUM_THREADS": "1",
"OPENBLAS_NUM_THREADS": "1",
"MKL_NUM_THREADS": "1",
"NUMEXPR_NUM_THREADS": "1",
"VECLIB_MAXIMUM_THREADS": "1",
"BLIS_NUM_THREADS": "1",
"MALLOC_ARENA_MAX": "2",
}
for key, value in defaults.items():
os.environ.setdefault(key, value)
def _configure_coppeliasim_env() -> None:
coppeliasim_root = os.environ.setdefault("COPPELIASIM_ROOT", "/workspace/coppelia_sim")
ld_library_path_parts = [
part for part in os.environ.get("LD_LIBRARY_PATH", "").split(":") if part
]
if coppeliasim_root not in ld_library_path_parts:
ld_library_path_parts.insert(0, coppeliasim_root)
os.environ["LD_LIBRARY_PATH"] = ":".join(ld_library_path_parts)
_configure_thread_env()
_configure_coppeliasim_env()
from rr_label_study.oven_study import _aggregate_summary, _episode_dirs
def _select_episode_indices(
total_episodes: int,
episode_offset: int,
max_episodes: Optional[int],
episode_indices: Optional[Sequence[int]],
) -> List[int]:
if episode_indices is not None:
selected: List[int] = []
seen = set()
for raw_index in episode_indices:
episode_index = int(raw_index)
if not (0 <= episode_index < total_episodes):
raise ValueError(
f"episode index {episode_index} outside available range 0..{total_episodes - 1}"
)
if episode_index in seen:
continue
selected.append(episode_index)
seen.add(episode_index)
return selected
remaining = max(0, total_episodes - episode_offset)
if max_episodes is not None:
remaining = min(remaining, max_episodes)
if remaining <= 0:
return []
return list(range(episode_offset, episode_offset + remaining))
def _is_complete_episode_dir(output_dir: Path, episode_name: str) -> bool:
required = [
output_dir.joinpath(f"{episode_name}.dense.csv"),
output_dir.joinpath(f"{episode_name}.keyframes.csv"),
output_dir.joinpath(f"{episode_name}.debug.jsonl"),
output_dir.joinpath(f"{episode_name}.metrics.json"),
output_dir.joinpath("summary.json"),
output_dir.joinpath("templates.json"),
output_dir.joinpath("templates.pkl"),
]
return all(path.exists() for path in required)
def _load_metrics(result_dir: Path, episode_names: Sequence[str]) -> List[Dict[str, object]]:
metrics: List[Dict[str, object]] = []
for episode_name in episode_names:
metrics_path = result_dir.joinpath(episode_name, f"{episode_name}.metrics.json")
if metrics_path.exists():
with metrics_path.open("r", encoding="utf-8") as handle:
metrics.append(json.load(handle))
return metrics
def _write_json(path: Path, payload: Dict[str, object]) -> None:
path.parent.mkdir(parents=True, exist_ok=True)
with path.open("w", encoding="utf-8") as handle:
json.dump(payload, handle, indent=2)
def _run_episode(
dataset_root: Path,
episode_dir: Path,
output_dir: Path,
checkpoint_stride: int,
num_workers: int,
base_display: int,
templates_json: Path,
stagger_seconds: float,
thread_count: int,
log_path: Path,
) -> int:
env = os.environ.copy()
thread_count_str = str(thread_count)
env["OMP_NUM_THREADS"] = thread_count_str
env["OPENBLAS_NUM_THREADS"] = thread_count_str
env["MKL_NUM_THREADS"] = thread_count_str
env["NUMEXPR_NUM_THREADS"] = thread_count_str
env["VECLIB_MAXIMUM_THREADS"] = thread_count_str
env["BLIS_NUM_THREADS"] = thread_count_str
env["MALLOC_ARENA_MAX"] = "2"
env["PYTHONUNBUFFERED"] = "1"
with log_path.open("w", encoding="utf-8") as log_handle:
process = subprocess.Popen(
[
sys.executable,
str(PROJECT_ROOT.joinpath("scripts", "recompute_oven_episode_parallel.py")),
"--dataset-root",
str(dataset_root),
"--episode-dir",
str(episode_dir),
"--output-dir",
str(output_dir),
"--checkpoint-stride",
str(checkpoint_stride),
"--num-workers",
str(num_workers),
"--base-display",
str(base_display),
"--templates-json",
str(templates_json),
"--stagger-seconds",
str(stagger_seconds),
],
stdout=log_handle,
stderr=subprocess.STDOUT,
cwd=str(PROJECT_ROOT),
env=env,
)
return process.wait()
def main() -> int:
parser = argparse.ArgumentParser()
parser.add_argument(
"--dataset-root",
default="/workspace/data/bimanual_take_tray_out_of_oven_train_128",
)
parser.add_argument("--result-dir", required=True)
parser.add_argument("--templates-json", required=True)
parser.add_argument("--episode-offset", type=int, default=0)
parser.add_argument("--max-episodes", type=int, default=100)
parser.add_argument("--episode-indices")
parser.add_argument("--checkpoint-stride", type=int, default=16)
parser.add_argument("--num-workers", type=int, default=24)
parser.add_argument("--base-display", type=int, default=900)
parser.add_argument("--stagger-seconds", type=float, default=0.15)
parser.add_argument("--thread-count", type=int, default=1)
parser.add_argument("--max-retries", type=int, default=2)
args = parser.parse_args()
dataset_root = Path(args.dataset_root)
result_dir = Path(args.result_dir)
result_dir.mkdir(parents=True, exist_ok=True)
templates_json = Path(args.templates_json)
if not templates_json.exists():
raise FileNotFoundError(f"missing templates json: {templates_json}")
all_episode_dirs = _episode_dirs(dataset_root)
explicit_episode_indices = None
if args.episode_indices:
explicit_episode_indices = [
int(chunk.strip()) for chunk in args.episode_indices.split(",") if chunk.strip()
]
selected_episode_indices = _select_episode_indices(
total_episodes=len(all_episode_dirs),
episode_offset=args.episode_offset,
max_episodes=args.max_episodes,
episode_indices=explicit_episode_indices,
)
selected_episode_names = [f"episode{index}" for index in selected_episode_indices]
manifest = {
"dataset_root": str(dataset_root.resolve()),
"result_dir": str(result_dir.resolve()),
"templates_json": str(templates_json.resolve()),
"episode_indices": selected_episode_indices,
"checkpoint_stride": args.checkpoint_stride,
"num_workers": args.num_workers,
"base_display": args.base_display,
"stagger_seconds": args.stagger_seconds,
"thread_count": args.thread_count,
"max_retries": args.max_retries,
"started_at_epoch": time.time(),
}
_write_json(result_dir.joinpath("run_manifest.json"), manifest)
progress_path = result_dir.joinpath("progress.json")
logs_dir = result_dir.joinpath("logs")
logs_dir.mkdir(parents=True, exist_ok=True)
completed: List[int] = []
failed: List[Dict[str, object]] = []
for episode_index in selected_episode_indices:
episode_name = f"episode{episode_index}"
episode_dir = all_episode_dirs[episode_index]
final_output_dir = result_dir.joinpath(episode_name)
if _is_complete_episode_dir(final_output_dir, episode_name):
completed.append(episode_index)
_write_json(
progress_path,
{
"current_episode": None,
"completed_episode_indices": completed,
"failed": failed,
"total_selected": len(selected_episode_indices),
"updated_at_epoch": time.time(),
},
)
continue
attempt_success = False
current_failure: Optional[Dict[str, object]] = None
for attempt_index in range(1, args.max_retries + 2):
temp_output_dir = result_dir.joinpath(f".{episode_name}.tmp")
if temp_output_dir.exists():
shutil.rmtree(temp_output_dir)
log_path = logs_dir.joinpath(f"{episode_name}.attempt{attempt_index:02d}.log")
_write_json(
progress_path,
{
"current_episode": episode_name,
"current_attempt": attempt_index,
"completed_episode_indices": completed,
"failed": failed,
"total_selected": len(selected_episode_indices),
"updated_at_epoch": time.time(),
},
)
return_code = _run_episode(
dataset_root=dataset_root,
episode_dir=episode_dir,
output_dir=temp_output_dir,
checkpoint_stride=args.checkpoint_stride,
num_workers=args.num_workers,
base_display=args.base_display,
templates_json=templates_json,
stagger_seconds=args.stagger_seconds,
thread_count=args.thread_count,
log_path=log_path,
)
if return_code == 0 and _is_complete_episode_dir(temp_output_dir, episode_name):
if final_output_dir.exists():
shutil.rmtree(final_output_dir)
temp_output_dir.rename(final_output_dir)
completed.append(episode_index)
attempt_success = True
current_failure = None
break
current_failure = {
"episode_index": episode_index,
"episode_name": episode_name,
"attempt": attempt_index,
"return_code": return_code,
"log_path": str(log_path),
"updated_at_epoch": time.time(),
}
if temp_output_dir.exists():
failed_dir = result_dir.joinpath("failed_attempts", f"{episode_name}.attempt{attempt_index:02d}")
failed_dir.parent.mkdir(parents=True, exist_ok=True)
if failed_dir.exists():
shutil.rmtree(failed_dir)
temp_output_dir.rename(failed_dir)
if not attempt_success:
failed.append(current_failure or {"episode_index": episode_index, "episode_name": episode_name})
_write_json(
progress_path,
{
"current_episode": None,
"completed_episode_indices": completed,
"failed": failed,
"total_selected": len(selected_episode_indices),
"updated_at_epoch": time.time(),
},
)
raise RuntimeError(f"failed to produce complete result for {episode_name}")
metrics = _load_metrics(result_dir, selected_episode_names)
if metrics:
_write_json(result_dir.joinpath("summary.json"), _aggregate_summary(metrics))
_write_json(
progress_path,
{
"current_episode": None,
"completed_episode_indices": completed,
"failed": failed,
"total_selected": len(selected_episode_indices),
"updated_at_epoch": time.time(),
},
)
metrics = _load_metrics(result_dir, selected_episode_names)
if metrics:
_write_json(result_dir.joinpath("summary.json"), _aggregate_summary(metrics))
_write_json(
progress_path,
{
"current_episode": None,
"completed_episode_indices": completed,
"failed": failed,
"total_selected": len(selected_episode_indices),
"finished_at_epoch": time.time(),
},
)
return 0
if __name__ == "__main__":
raise SystemExit(main())
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