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20d0366 0bcd290 20d0366 0bcd290 20d0366 0bcd290 20d0366 0bcd290 20d0366 0bcd290 20d0366 0bcd290 20d0366 0bcd290 20d0366 0bcd290 20d0366 | 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 | import argparse
import json
from pathlib import Path
import sys
from typing import Optional
import pandas as pd
PROJECT_ROOT = Path(__file__).resolve().parents[1]
if str(PROJECT_ROOT) not in sys.path:
sys.path.insert(0, str(PROJECT_ROOT))
from rr_label_study.oven_study import ( # noqa: E402
MotionTemplates,
_aggregate_summary,
_annotate_phase_columns,
_episode_metrics_from_frames,
_interventional_validity,
_load_demo,
)
INTERVENTION_KEYS = [
"pre_ready_open_more_increases_pext",
"pre_ready_open_more_trials",
"pre_ready_hold_open_increases_pext",
"pre_ready_hold_open_trials",
"pre_ready_extract_success",
"pre_ready_extract_trials",
"pre_ready_wait_extract_success",
"pre_ready_wait_trials",
"post_ready_extract_success",
"post_ready_extract_trials",
"post_ready_open_more_low_gain",
"post_ready_open_more_trials",
"post_ready_hold_open_low_gain",
"post_ready_hold_open_trials",
]
def _load_templates(result_dir: Path) -> MotionTemplates:
with result_dir.joinpath("templates.json").open("r", encoding="utf-8") as handle:
payload = json.load(handle)
return MotionTemplates(**payload["templates"])
def _refresh_episode(
result_dir: Path,
episode_name: str,
dataset_root: Optional[Path],
checkpoint_stride: int,
) -> dict:
dense_path = result_dir / f"{episode_name}.dense.csv"
keyframes_path = result_dir / f"{episode_name}.keyframes.csv"
metrics_path = result_dir / f"{episode_name}.metrics.json"
dense_df = pd.read_csv(dense_path)
dense_df = _annotate_phase_columns(dense_df)
old_key_df = pd.read_csv(keyframes_path)
keyframe_indices = old_key_df["frame_index"].astype(int).tolist()
key_df = dense_df[dense_df["frame_index"].isin(keyframe_indices)].copy()
key_df = key_df.sort_values("frame_index").reset_index(drop=True)
key_df["keyframe_ordinal"] = range(len(key_df))
with metrics_path.open("r", encoding="utf-8") as handle:
old_metrics = json.load(handle)
if dataset_root is None:
interventions = {
key: float(old_metrics[key]) for key in INTERVENTION_KEYS if key in old_metrics
}
else:
episode_dir = dataset_root / "all_variations" / "episodes" / episode_name
demo = _load_demo(episode_dir)
templates = _load_templates(result_dir)
interventions = _interventional_validity(
demo=demo,
templates=templates,
frame_df=dense_df,
checkpoint_stride=checkpoint_stride,
)
metrics = _episode_metrics_from_frames(
frame_df=dense_df,
key_df=key_df,
episode_name=episode_name,
description=str(old_metrics.get("description", "")),
interventions=interventions,
)
dense_df.to_csv(dense_path, index=False)
key_df.to_csv(keyframes_path, index=False)
with metrics_path.open("w", encoding="utf-8") as handle:
json.dump(metrics, handle, indent=2)
return metrics
def main(argv=None) -> int:
parser = argparse.ArgumentParser()
parser.add_argument("--result-dir", required=True)
parser.add_argument("--dataset-root")
parser.add_argument("--checkpoint-stride", type=int, default=16)
parser.add_argument("--episodes", nargs="*")
args = parser.parse_args(argv)
result_dir = Path(args.result_dir)
dataset_root = Path(args.dataset_root) if args.dataset_root else None
episode_metrics = []
if args.episodes:
episode_names = args.episodes
else:
episode_names = sorted(
path.stem.replace(".metrics", "")
for path in result_dir.glob("episode*.metrics.json")
)
for episode_name in episode_names:
episode_metrics.append(
_refresh_episode(
result_dir=result_dir,
episode_name=episode_name,
dataset_root=dataset_root,
checkpoint_stride=args.checkpoint_stride,
)
)
summary = _aggregate_summary(episode_metrics)
with result_dir.joinpath("summary.json").open("w", encoding="utf-8") as handle:
json.dump(summary, handle, indent=2)
print(json.dumps(summary, indent=2))
return 0
if __name__ == "__main__":
raise SystemExit(main())
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