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20c251e | 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 | from __future__ import annotations
import subprocess
import sys
from pathlib import Path
from dovla_cil.data.schema import (
CIL_VERSION,
ActionChunk,
CILRecord,
RewardInfo,
StructuredEffect,
make_record_id,
)
from dovla_cil.data.sharding import (
ShardReader,
ShardWriter,
iter_cil_records,
split_records_by_group,
write_cil_shards,
)
from dovla_cil.utils.io import iter_jsonl, read_json
def make_record(group_id: str, index: int, *, state_hash: str = "state-a") -> CILRecord:
action = ActionChunk(
action_id=f"action-{index}",
representation="delta_xy",
horizon=1,
values=[[float(index), 0.0]],
skill_type="push",
)
return CILRecord(
version=CIL_VERSION,
record_id=make_record_id(group_id, action.action_id, seed=0),
group_id=group_id,
state_hash=state_hash,
task_id="task-a",
scene_id=None,
instruction="reach",
instruction_family={"family": "toy"},
observation_ref=None,
observation_inline={"index": index},
action_chunk=action,
next_observation_ref=None,
next_observation_inline={"index": index + 1},
structured_effect=StructuredEffect(
object_pose_delta={"object": [1.0, 0.0, 0.0]},
moved_objects=["object"],
),
reward=RewardInfo(
progress=float(index),
success=index > 0,
terminal_success=index > 0,
dense_components={"progress": float(index)},
),
regret=None,
rank_within_group=None,
candidate_type="test",
failure=None,
)
def test_split_keeps_groups_together() -> None:
records = [make_record("a", 0), make_record("b", 1), make_record("a", 2)]
shards = split_records_by_group(records, max_records_per_shard=2)
locations: dict[str, int] = {}
for shard_index, shard in enumerate(shards):
for record in shard:
if record.group_id in locations:
assert locations[record.group_id] == shard_index
locations[record.group_id] = shard_index
def test_write_shards_roundtrip(tmp_path: Path) -> None:
records = [make_record("a", 0), make_record("a", 1), make_record("b", 2)]
manifest = write_cil_shards(records, output_dir=tmp_path, max_records_per_shard=2)
restored = []
for shard in manifest["shards"]:
restored.extend(iter_cil_records(tmp_path / str(shard["path"])))
assert manifest["num_records"] == 3
assert manifest["record_count"] == 3
assert (tmp_path / "metadata.json").exists()
assert (tmp_path / "manifest.json").exists()
assert (tmp_path / "group_index.jsonl").exists()
assert (tmp_path / "record_index.jsonl").exists()
assert restored == records
def test_shard_writer_and_reader_roundtrip(tmp_path: Path) -> None:
records = [
make_record("group-a", 0),
make_record("group-a", 1),
make_record("group-b", 2, state_hash="state-b"),
]
writer = ShardWriter(
tmp_path,
dataset_name="toy_dataset",
backend="toy",
k=2,
task_count=1,
seed=7,
shard_size=2,
)
for record in records:
writer.write(record)
metadata = writer.close()
reader = ShardReader(tmp_path)
restored = list(reader.iterate_records())
assert metadata["dataset_name"] == "toy_dataset"
assert metadata["backend"] == "toy"
assert metadata["num_records"] == 3
assert metadata["num_groups"] == 2
assert metadata["shards"][0]["path"] == "shards/shard_000000.jsonl"
assert restored == records
def test_group_index_is_correct_and_group_loads(tmp_path: Path) -> None:
records = [
make_record("group-a", 0),
make_record("group-a", 1),
make_record("group-b", 2, state_hash="state-b"),
]
write_cil_shards(records, output_dir=tmp_path, max_records_per_shard=2)
group_index = {row["group_id"]: row for row in iter_jsonl(tmp_path / "group_index.jsonl")}
group_a = group_index["group-a"]
assert group_a["shard_path"] == "shards/shard_000000.jsonl"
assert group_a["record_ids"] == [records[0].record_id, records[1].record_id]
assert group_a["task_id"] == "task-a"
assert group_a["state_hash"] == "state-a"
assert group_a["num_records"] == 2
assert group_a["max_reward"] == 1.0
assert group_a["success_count"] == 1
assert group_a["candidate_type_counts"] == {"test": 2}
reader = ShardReader(tmp_path / "metadata.json")
assert reader.load_group("group-a") == records[:2]
assert list(reader.iterate_groups())[1] == [records[2]]
def test_metadata_layout_and_record_index(tmp_path: Path) -> None:
records = [make_record("group-a", 0), make_record("group-a", 1)]
write_cil_shards(
records,
output_dir=tmp_path,
max_records_per_shard=10,
dataset_name="cil_toy",
backend="toy",
k=2,
task_count=1,
seed=3,
)
metadata = read_json(tmp_path / "metadata.json")
record_index = list(iter_jsonl(tmp_path / "record_index.jsonl"))
assert metadata["dataset_name"] == "cil_toy"
assert metadata["version"]
assert metadata["created_at"]
assert metadata["backend"] == "toy"
assert metadata["num_groups"] == 1
assert metadata["num_records"] == 2
assert metadata["k"] == 2
assert metadata["task_count"] == 1
assert metadata["seed"] == 3
assert metadata["schema_version"] == CIL_VERSION
assert record_index[0]["record_id"] == records[0].record_id
assert record_index[0]["shard_path"] == "shards/shard_000000.jsonl"
def test_inspect_script_prints_summary_and_ranking(tmp_path: Path) -> None:
records = [make_record("group-a", 0), make_record("group-a", 1)]
write_cil_shards(records, output_dir=tmp_path, max_records_per_shard=10)
result = subprocess.run(
[sys.executable, "scripts/inspect_shard.py", str(tmp_path), "--group-id", "group-a"],
check=True,
text=True,
capture_output=True,
)
assert "num_records: 2" in result.stdout
assert "sample_group: group-a" in result.stdout
assert "record_id\tcandidate_type\treward.progress\tsuccess\tregret\trank\tfailure.type" in result.stdout
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