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"0.51 meters", + "closeness rank": 21 + }, + "chair": { + "distance": "0.51 meters", + "closeness rank": 22 + }, + "person": { + "distance": "0.51 meters", + "closeness rank": 23 + }, + "stool": { + "distance": "0.51 meters", + "closeness rank": 24 + }, + "towel": { + "distance": "0.51 meters", + "closeness rank": 25 + }, + "class 118": { + "distance": "0.52 meters", + "closeness rank": 26 + }, + "closet": { + "distance": "0.52 meters", + "closeness rank": 27 + }, + "coffee table": { + "distance": "0.52 meters", + "closeness rank": 28 + }, + "refrigerator": { + "distance": "0.53 meters", + "closeness rank": 29 + }, + "stairs": { + "distance": "0.53 meters", + "closeness rank": 30 + }, + "curtain": { + "distance": "0.56 meters", + "closeness rank": 31 + }, + "class 116": { + "distance": "0.59 meters", + "closeness rank": 32 + }, + "class 149": { + "distance": "0.68 meters", + "closeness rank": 33 + }, + "bookshelf": { + "distance": "0.86 meters", + "closeness rank": 34 + }, + "paper towel dispenser": { + "distance": "0.86 meters", + "closeness rank": 35 + }, + "sink": { + "distance": "0.86 meters", + "closeness rank": 36 + }, + "cushion": { + "distance": "0.93 meters", + "closeness rank": 37 + }, + "bottle": { + "distance": "1.0 meters", + "closeness rank": 38 + }, + "suitcase": { + "distance": "1.08 meters", + "closeness rank": 39 + }, + "book": { + "distance": "1.12 meters", + "closeness rank": 40 + }, + "ceiling": { + "distance": "1.19 meters", + "closeness rank": 41 + }, + "class 100": { + "distance": "1.21 meters", + "closeness rank": 42 + }, + "class 162": { + "distance": "1.21 meters", + "closeness rank": 43 + }, + "class 170": { + "distance": "1.21 meters", + "closeness rank": 44 + }, + "class 175": { + "distance": "1.21 meters", + "closeness rank": 45 + }, + "class 87": { + "distance": "1.21 meters", + "closeness rank": 46 + }, + "kitchen cabinet": { + "distance": "1.25 meters", + "closeness rank": 47 + }, + "pillow": { + "distance": "1.29 meters", + "closeness rank": 48 + }, + "board": { + "distance": "1.35 meters", + "closeness rank": 49 + }, + "table": { + "distance": "1.37 meters", + "closeness rank": 50 + }, + "office chair": { + "distance": "1.45 meters", + "closeness rank": 51 + }, + "keyboard": { + "distance": "1.55 meters", + "closeness rank": 52 + }, + "class 140": { + "distance": "1.87 meters", + "closeness rank": 53 + } + }, + "nightstand": { + "armchair": { + "distance": "0.0 meters", + "closeness rank": 1 + }, + "bed": { + "distance": "0.0 meters", + "closeness rank": 2 + }, + "box": { + "distance": "0.0 meters", + "closeness rank": 3 + }, + "cabinet": { + "distance": "0.0 meters", + "closeness rank": 4 + }, + "chair": { + "distance": "0.0 meters", + "closeness rank": 5 + }, + "class 115": { + "distance": "0.0 meters", + "closeness rank": 6 + }, + "class 128": { + "distance": "0.0 meters", + "closeness rank": 7 + }, + "class 171": { + "distance": "0.0 meters", + "closeness rank": 8 + }, + "class 93": { + "distance": "0.0 meters", + "closeness rank": 9 + }, + "clothes": { + "distance": "0.0 meters", + "closeness rank": 10 + }, + "desk": { + "distance": "0.0 meters", + "closeness rank": 11 + }, + "dining table": { + "distance": "0.0 meters", + "closeness rank": 12 + }, + "stool": { + "distance": "0.0 meters", + "closeness rank": 13 + }, + "toilet paper": { + "distance": "0.0 meters", + "closeness rank": 14 + }, + "towel": { + "distance": "0.0 meters", + "closeness rank": 15 + }, + "tv": { + "distance": "0.0 meters", + "closeness rank": 16 + }, + "class 143": { + "distance": "0.04 meters", + "closeness rank": 17 + }, + "door": { + "distance": "0.12 meters", + "closeness rank": 18 + }, + "person": { + "distance": "0.14 meters", + "closeness rank": 19 + }, + "class 101": { + "distance": "0.27 meters", + "closeness rank": 20 + }, + "sofa chair": { + "distance": "0.27 meters", + "closeness rank": 21 + }, + "class 104": { + "distance": "0.44 meters", + "closeness rank": 22 + }, + "class 149": { + "distance": "0.44 meters", + "closeness rank": 23 + }, + "table": { + "distance": "0.45 meters", + "closeness rank": 24 + }, + "blanket": { + "distance": "0.47 meters", + "closeness rank": 25 + }, + "counter": { + "distance": "0.47 meters", + "closeness rank": 26 + }, + "plant": { + "distance": "0.47 meters", + "closeness rank": 27 + }, + "book": { + "distance": "0.52 meters", + "closeness rank": 28 + }, + "office chair": { + "distance": "0.54 meters", + "closeness rank": 29 + }, + "class 118": { + "distance": "0.57 meters", + "closeness rank": 30 + }, + "closet": { + "distance": "0.57 meters", + "closeness rank": 31 + }, + "coffee table": { + "distance": "0.57 meters", + "closeness rank": 32 + }, + "refrigerator": { + "distance": "0.57 meters", + "closeness rank": 33 + }, + "stairs": { + "distance": "0.57 meters", + "closeness rank": 34 + }, + "class 116": { + "distance": "0.63 meters", + "closeness rank": 35 + }, + "curtain": { + "distance": "0.68 meters", + "closeness rank": 36 + }, + "cushion": { + "distance": "0.73 meters", + "closeness rank": 37 + }, + "class 100": { + "distance": "0.75 meters", + "closeness rank": 38 + }, + "class 162": { + "distance": "0.75 meters", + "closeness rank": 39 + }, + "class 170": { + "distance": "0.75 meters", + "closeness rank": 40 + }, + "bookshelf": { + "distance": "0.91 meters", + "closeness rank": 41 + }, + "paper towel dispenser": { + "distance": "0.91 meters", + "closeness rank": 42 + }, + "sink": { + "distance": "0.91 meters", + "closeness rank": 43 + }, + "class 140": { + "distance": "0.93 meters", + "closeness rank": 44 + }, + "keyboard": { + "distance": "1.0 meters", + "closeness rank": 45 + }, + "pillow": { + "distance": "1.01 meters", + "closeness rank": 46 + }, + "bottle": { + "distance": "1.11 meters", + "closeness rank": 47 + }, + "class 175": { + "distance": "1.17 meters", + "closeness rank": 48 + }, + "class 87": { + "distance": "1.17 meters", + "closeness rank": 49 + }, + "suitcase": { + "distance": "1.24 meters", + "closeness rank": 50 + }, + "ceiling": { + "distance": "1.35 meters", + "closeness rank": 51 + }, + "kitchen cabinet": { + "distance": "1.41 meters", + "closeness rank": 52 + }, + "board": { + "distance": "1.47 meters", + "closeness rank": 53 + } + } + }, + "appearance order": ["chair", "cushion", "sink", "pillow", "class 116", "box", "toilet paper", "office chair", "suitcase", "refrigerator", "ceiling", "class 115", "stool", "towel", "paper towel dispenser", "bookshelf", "desk", "dining table", "class 171", "nightstand", "stairs", "class 170", "door", "clothes", "counter", "blanket", "table", "coffee table", "bed", "board", "closet", "class 118", "curtain", "tv", "cabinet", "person", "class 101", "keyboard", "class 128", "class 104", "class 149", "class 93", "class 143", "plant", "armchair", "sofa chair", "book", "kitchen cabinet", "class 87", "class 175", "bottle", "class 162", "class 100", "class 140"] +} \ No newline at end of file diff --git a/encoder/__pycache__/config.cpython-311.pyc b/encoder/__pycache__/config.cpython-311.pyc new file mode 100644 index 0000000000000000000000000000000000000000..9e537b6047e7001403c4c88c1a6c4b90151781cd Binary files /dev/null and b/encoder/__pycache__/config.cpython-311.pyc differ diff --git a/encoder/__pycache__/geometric.cpython-311.pyc b/encoder/__pycache__/geometric.cpython-311.pyc new file mode 100644 index 0000000000000000000000000000000000000000..d1c87ccff92511ab74acf9a6fd75df2c43f322db --- /dev/null +++ b/encoder/__pycache__/geometric.cpython-311.pyc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:529ea59de21a2857e00ae338ace5011123a1689190749f6febf3dcdcfc34e2ae +size 102537 diff --git a/encoder/config.py.orig b/encoder/config.py.orig new file mode 100644 index 0000000000000000000000000000000000000000..3ae0b92b0064838b5d461c3e98e5c853c36018c5 --- /dev/null +++ b/encoder/config.py.orig @@ -0,0 +1,69 @@ +"""Configuration and path helpers for the VSI spatial-code encoder.""" +from __future__ import annotations + +import os +from pathlib import Path + +MODEL = os.environ.get("VSI_GEOMETRY_MODEL", "segvggt") +FPS = float(os.environ.get("VSI_FPS", "6")) + +DATA_ROOT = Path(os.environ.get("VSI_DATA_ROOT", "/workspace/data")) +VSI_ROOT = Path(os.environ.get("VSI_ROOT", DATA_ROOT / "VSI-Bench")) +JSONL = Path(os.environ.get("VSI_JSONL", VSI_ROOT / "test.jsonl")) +CACHE_ROOT = Path(os.environ.get("VSI_CACHE_ROOT", DATA_ROOT / "caches")) +CODES_ROOT = Path(os.environ.get("VSI_CODES", DATA_ROOT / "spatial codes")) +SEGVGGT_ROOT = Path(os.environ.get("VSI_SEGVGGT_ROOT", "/root/models/SegVGGT")) +SEGVGGT_CHECKPOINT = Path(os.environ.get( + "VSI_SEGVGGT_CHECKPOINT", SEGVGGT_ROOT / "checkpoint/segvggt_scannet200.pt")) + +VIDEO_DATASETS = ("scannet", "scannetpp", "arkitscenes") + +ADAPTERS = { + "da3_sam3": "adapt_da3_sam3", + "segvggt": "adapt_segvggt", +} + + +def video_path(scene: str, dataset: str | None = None) -> str: + """Return the unique MP4 for ``scene`` from the VSI-Bench dataset folders.""" + scene = str(scene) + datasets = (dataset,) if dataset else VIDEO_DATASETS + matches: list[Path] = [] + for name in datasets: + if name not in VIDEO_DATASETS: + raise ValueError(f"unknown VSI dataset {name!r}; expected one of {VIDEO_DATASETS}") + candidate = VSI_ROOT / name / f"{scene}.mp4" + if candidate.is_file(): + matches.append(candidate) + if not matches: + searched = ", ".join(str(VSI_ROOT / d / f"{scene}.mp4") for d in datasets) + raise FileNotFoundError(f"video for scene {scene!r} not found; searched: {searched}") + if len(matches) > 1: + raise RuntimeError(f"scene {scene!r} exists in multiple datasets: {matches}") + return str(matches[0]) + + +def model_cache_dir(model: str | None = None) -> str: + """Flat cache directory for one model. Scene IDs are filenames, never folders.""" + return str(CACHE_ROOT / (model or MODEL)) + + +def cache_file(scene: str, model: str | None = None) -> str: + """Canonical cached model output used by the encoder.""" + return str(Path(model_cache_dir(model)) / f"{scene}.pkl.gz") + + +def segvggt_cache_file(scene: str, model: str | None = None) -> str: + return str(Path(model_cache_dir(model or "segvggt")) / f"{scene}.npz") + + +def da3_cache_file(scene: str, model: str | None = None) -> str: + return str(Path(model_cache_dir(model or "da3_sam3")) / f"{scene}.da3.npz") + + +def sam3_cache_file(scene: str, model: str | None = None) -> str: + return str(Path(model_cache_dir(model or "da3_sam3")) / f"{scene}.sam3.pkl.gz") + + +def spatial_code_path(scene: str) -> str: + return str(CODES_ROOT / f"{scene}.json") diff --git a/encoder/geometric.py b/encoder/geometric.py new file mode 100644 index 0000000000000000000000000000000000000000..16a09f3d609792c40b842be4826666e2143f904c --- /dev/null +++ b/encoder/geometric.py @@ -0,0 +1,1507 @@ +"""Geometric assembler (runs in the pipeline venv). Imported by encoder/render.py. + +Pure math/assembly -- builds the per-instance spatial code (object positions/sizes, pairwise +distances, closeness ranks, room outline, camera trajectory, appearance order) FROM +already-computed depth/pose/masks. Does NOT run DA3 or SAM3, and does not call cache_or_load() +-- that's run.py's job entirely (the only file that calls the actual model-inference functions). +Callers may provide raw depth/intr/c2w/conf/ftimes/per inputs or canonical world-space +geometry. Both paths emit the same compact spatial-code schema. + +Formerly this file called into perceptual.py (as a dynamically-loaded `pl` module) for its own +geometry helpers -- build_instances, room_gravity, compute_floor_area, answer_closest_distance, +to_spatial_code, and everything else in this file below _room_outline(). Those functions are +now merged in directly, verbatim, since they were never DA3/SAM3 calls -- they're geometric +computations over already-extracted depth/masks, which is exactly this file's job. +perceptual.py's OTHER half (the actual model-calling functions) moved to run.py instead; +perceptual.py itself no longer exists. + +The spatial code is the sole spatial representation the downstream VLM sees; no answer engine +is computed here (the harness runs the model). +""" + +import os +import json +import numpy as np +import cv2 + + +# ========================================================================================== +# CONSTANTS -- geometry-cleanup knobs, merged in from perceptual.py. Env-tunable levers that +# affect only the math below (build_instances/backproject_frame/etc.), never model inference. +# ========================================================================================== + +SCHEMA = [ + "x", + "y", + "z", + "e1", + "e2", + "e3", + "px", + "pz", + "size_median", + "size_IQR", + "time", + "n", +] # legacy row schema, see to_labeled() +KD_WORKERS = 4 # KD-tree query threads. Queries here are on small capped (<=4000 pt) clouds, so scipy's +# workers=-1 ("use all cores") is pathological on a many-core box: it spawns one thread +# per core (e.g. 256) per tiny query and the thread-spawn overhead dwarfs the work. +MIN_INSTANCE_PTS = ( + 1 # bare geometry floor only: need >=1 valid depth pixel to place a 3D point. +) +# NO quality filtering / dedup -- count = exactly SAM3's tracked masklets (honest) +FLOOR_BAND = ( + 0.15 # m above the floor to count as floor-level (LEGACY -- currently unreferenced; +) +# compute_floor_area now uses the RANSAC gravity plane directly instead) +# ---- geometry-cleanup levers (improve abs_distance etc.; env-tunable) ---- +# DEPTH_COHERENCE (Tukey-fence bleed removal): SAFE + helpful everywhere -> default ON. +# ablation: ARKit abs_distance 0.757->0.729 (no harm), ScanNet++ d755 0.443->0.486 (helps). +# CONF_PCT (per-frame confidence percentile): noisy-dataset ONLY -> default OFF. +# helps ScanNet++ distance more (~0.56) but DESTROYS clean ARKit (0.757->0.429). Opt in via VSI_CONF_PCT=55. +CONF_PCT = float(os.environ.get("VSI_CONF_PCT", "0")) +DEPTH_COHERENCE = os.environ.get("VSI_DEPTH_COHERENCE", "1") == "1" +# cut mask-bleed at per-frame depth edges. Default OFF: it's a NO-OP on the dominant failure (same-depth bleed +# -- adjacent objects at similar range have no depth edge), and only helps depth-SEPARATED bleed. Enable per-need. +DEPTH_EDGE_REFINE = os.environ.get("VSI_DEPTH_EDGE_REFINE", "0") == "1" +# MASK_REFINE (appearance-guided boundary snap): uses the RGB color edge to clip same-depth mask bleed that +# depth can't see. Principled + cheap (CPU, no model). Default OFF until validated; enable via VSI_MASK_REFINE=1. +MASK_REFINE = os.environ.get("VSI_MASK_REFINE", "0") == "1" + + +# ========================================================================================== +# ROOM/OBJECT GEOMETRY -- gravity, floor basis, per-instance spatial-code records. Merged in +# from perceptual.py, verbatim. +# ========================================================================================== + + +def to_labeled(objects, floor_area): + """LEGACY per-class summary (kept for --format array-compat). Superseded by to_spatial_code.""" + out = {"objects": {}} + for cls, row in objects.items(): + d = dict(zip(SCHEMA, row)) + out["objects"][cls] = { + "count": int(d["n"]), + "centroid_meters": {"x": d["x"], "y": d["y"], "z": d["z"]}, + "longest_dimension_meters": { + "median": d["size_median"], + "iqr": d["size_IQR"], + }, + "centroid_spread": { + "eigenvalues": [d["e1"], d["e2"], d["e3"]], + "principal_axis_xz": [d["px"], d["pz"]], + }, + "first_seen_seconds": d["time"], + } + out["room"] = {"floor_area_square_meters": floor_area} + return out + + +def room_up_axis(instances, c2w): + """up axis = smallest-extent axis of all object points; sign from gravity (floor->camera). + Floor = densest horizontal slab; cameras are always above it, which fixes the sign. + Returns (axis_index, signed_unit_vector).""" + P = np.concatenate([i["pts"] for v in instances.values() for i in v], 0) + ext = np.percentile(P, 98, 0) - np.percentile(P, 2, 0) + up = int(np.argmin(ext)) + h, edges = np.histogram(P[:, up], bins=80) + floor = 0.5 * (edges[h.argmax()] + edges[h.argmax() + 1]) # densest slab = floor + cam_up = c2w[:, :3, 3][:, up].mean() + e = np.zeros(3, np.float32) + e[up] = 1.0 if cam_up > floor else -1.0 + return up, e + + +def room_gravity( + depth, intr, c2w, conf, conf_pct=40, stride=12, fstride=15, iters=300, thr=0.05 +): + """Robust UP vector = normal of the RANSAC floor plane (a real physical plane), oriented toward + the cameras. Works when the reconstruction is tilted/drifted (ScanNet++) where argmin-extent fails. + Floor = large planar support with most non-inlier mass on ONE side. Returns (gravity_unit_vec, axis).""" + P = [] + for f in range(0, len(depth), fstride): + Hd, Wd = depth[f].shape + ys, xs = np.mgrid[0:Hd:stride, 0:Wd:stride] + ys = ys.ravel() + xs = xs.ravel() + z = depth[f][ys, xs] + ok = (z > 0) & np.isfinite(z) + if conf is not None and conf_pct > 0: + ok &= conf[f][ys, xs] >= np.percentile(conf[f], conf_pct) + ys, xs, z = ys[ok], xs[ok], z[ok] + if not len(z): + continue + K = intr[f] + Xc = np.stack( + [(xs - K[0, 2]) * z / K[0, 0], (ys - K[1, 2]) * z / K[1, 1], z], 1 + ) + P.append((c2w[f][:3, :3] @ Xc.T).T + c2w[f][:3, 3]) + P = np.concatenate(P).astype(np.float64) if P else np.zeros((0, 3)) + cam = c2w[:, :3, 3].mean(0) + if len(P) < 100: # fallback to axis-extent + ext = np.percentile(P, 98, 0) - np.percentile(P, 2, 0) if len(P) else np.ones(3) + ax = int(np.argmin(ext)) + g = np.zeros(3) + g[ax] = 1.0 + return g, ax + rng = np.random.RandomState(0) + best = None + best_score = -1 + for _ in range(iters): + a, b, c = P[rng.choice(len(P), 3, False)] + nrm = np.cross(b - a, c - a) + ln = np.linalg.norm(nrm) + if ln < 1e-6: + continue + nrm /= ln + d = -nrm @ a + side = P @ nrm + d + ninl = int((np.abs(side) < thr).sum()) + if ninl < 50: + continue + score = ninl * max( + np.mean(side > thr), np.mean(side < -thr) + ) # big + one-sided = floor + if score > best_score: + best_score = score + best = (nrm, d) + if best is None: + ext = np.percentile(P, 98, 0) - np.percentile(P, 2, 0) + ax = int(np.argmin(ext)) + g = np.zeros(3) + g[ax] = 1.0 + return g, ax + nrm, d = best + if (cam @ nrm + d) < 0: + nrm = -nrm # orient toward cameras (up) + return nrm.astype(np.float32), int(np.argmax(np.abs(nrm))) + + +def pos3(rec): + """[floor_x, floor_y, height_above_floor] from a spatial-code instance record's named position.""" + p = rec.get("position") or {} + return [ + p.get("floor_x_meters", 0.0), + p.get("floor_y_meters", 0.0), + p.get("height_above_floor_meters", 0.0), + ] + + +def _floor_basis(up_vec): + """Orthonormal floor basis (u, v horizontal; g = up) from the gravity vector. u is the OLD + floor_x world axis projected onto the gravity plane (v the old floor_y axis), so this frame + differs from the old axis-drop frame ONLY by the tilt correction -- NO arbitrary in-plane + rotation (aligned scenes stay put; only tilt gets corrected). Objects / camera / room_outline + all share this one gravity-plane frame; floor_area is rotation-invariant so it matches too.""" + g = np.asarray(up_vec, np.float64) + g = g / (np.linalg.norm(g) + 1e-12) + up_ax = int(np.argmax(np.abs(g))) + floor_axes = [ + a for a in range(3) if a != up_ax + ] # the two world axes the old frame used + e0 = np.zeros(3) + e0[floor_axes[0]] = 1.0 # old floor_x world axis + u = e0 - (e0 @ g) * g + u = u / (np.linalg.norm(u) + 1e-12) # project it into the gravity plane + v = np.cross(g, u) + if v[floor_axes[1]] < 0: + v = -v # keep floor_y sign aligned with the old axis + return u, v, g + + +def _object_records(insts, count, u, v, g, floor_level): + """Up to `count` instances, strongest-evidence first (most observed points = best-segmented, + closest, most geometry). `count` (peak co-visibility) decides HOW MANY; total observed points + decide WHICH -- no threshold. Positions are projected onto the shared gravity floor basis + (u, v horizontal; g up; height 0 = floor_level) and emitted directly in THE final spatial + code shape: unit-strings ("1.4 meters"), spaced keys ("x coordinate"), and exactly two + fields per instance (position + longest dimension) -- there is no separate raw form. + + Deliberately does NOT report a per-instance first_seen_seconds: the reported instances are + chosen by STRONGEST evidence (most points/frames), but the class's true first appearance can + come from a weaker, earlier masklet that never makes this cut (confirmed empirically -- e.g. a + brief early detection with few points, superseded here by a longer later observation of + presumably the same object). A per-instance timestamp here would silently describe a DIFFERENT + detection than the class-level "first seen" a reader would assume it means. appearance_order + (built below in build_spatial_code() from min(first_time) over ALL detected masklets, not just + the reported ones) is the sole reliable source for first-appearance timing.""" + ranked = sorted(insts, key=lambda i: (i["n"], i.get("nframes", 0)), reverse=True)[ + : max(count, 1) + ] + recs = [] + for it in ranked: + c = np.asarray(it["centroid"], np.float64) + recs.append( + { + "position": { + "x coordinate": f"{round(float(c @ u), 2)} meters", + "y coordinate": f"{round(float(c @ v), 2)} meters", + "height above floor": f"{round(float(c @ g - floor_level), 2)} meters", + }, + "longest dimension": f"{round(float(it['size']), 2)} meters", + } + ) + return recs + + +def to_spatial_code(instances, stats, floor_area, up_axis, up_vec, floor_level): + """Per-instance spatial code, emitted directly in THE final shape: class -> {count (peak + co-visibility), instances:[{position, longest dimension}]} plus room -> {"floor area"}. + Positions are projected onto the GRAVITY floor plane (u, v horizontal via _floor_basis -- the + SAME frame as compute_floor_area); "height above floor" is along gravity with 0 = on the + floor. floor_level is the gravity-height of the floor. (up_axis is retained for signature + compatibility; the frame now derives from up_vec.)""" + u, v, g = _floor_basis(up_vec) + out = {"objects": {}} + for cls, insts in instances.items(): + cnt = int(stats[cls]["peak"]) + out["objects"][cls] = { + "count": cnt, + "instances": _object_records(insts, cnt, u, v, g, floor_level), + } + out["room"] = {"floor area": f"{floor_area} square meters"} + return out + + +# ========================================================================================== +# DETERMINISTIC ANSWER LAYER (parameter-free; validated on VSI GT). Reads the in-memory +# instances (pos for direction/route, point clouds for distance). Merged in from +# perceptual.py, verbatim. +# ========================================================================================== + + +def _find_cls(name, classes): + name = name.strip().lower() + for c in classes: + if c == name or c.replace(" ", "") == name.replace(" ", ""): + return c + for c in classes: + if name in c or c in name: + return c + return None + + +def _rep(insts): + """representative instance = most observed points (best-segmented, validated 8/8 on direction).""" + return max(insts, key=lambda i: i["n"]) + + +def answer_rel_direction(pA, pB, pC, up_vec, up_ax, mode="hard"): + """Standing at A facing B, where is C? front/back=dot(C-A,fwd); left/right=dot(C-A, up x fwd). + Right-handed world (OpenCV cam frame + det+1 c2w) makes up x fwd = left a fixed identity. + Projection uses the gravity VECTOR (v-(v.g)g), so a tilted floor (ScanNet++) is handled; for an + axis-aligned up this reduces to zeroing that axis (ARKit unchanged).""" + g = np.asarray(up_vec, np.float64) + g = g / (np.linalg.norm(g) + 1e-12) + + def fl(v): + w = v.astype(np.float64) + return w - (w @ g) * g + + fwd = fl(pB - pA) + n = np.linalg.norm(fwd) + if n < 1e-6: + return None + fwd /= n + left = np.cross(g, fwd) + left /= np.linalg.norm(left) + 1e-9 + d = fl(pC - pA) + f = float(d @ fwd) + lateral = float(d @ left) + if mode == "medium": + if abs(np.degrees(np.arctan2(lateral, f))) >= 135: + return "back" + return "left" if lateral > 0 else "right" + return f"{'front' if f > 0 else 'back'}-{'left' if lateral > 0 else 'right'}" + + +def _classify_turn(h_in, h_out, up_vec, up_ax): + """rotation h_in->h_out in floor plane -> turn left/right/back (135deg = VSI's own 'back' cutoff).""" + g = np.asarray(up_vec, np.float64) + g = g / (np.linalg.norm(g) + 1e-12) + + def fl(v): + w = v.astype(np.float64) + return w - (w @ g) * g + + a, b = fl(h_in), fl(h_out) + na, nb = np.linalg.norm(a), np.linalg.norm(b) + if na < 1e-6 or nb < 1e-6: + return None + a /= na + b /= nb + ang = np.degrees(np.arctan2(float(up_vec @ np.cross(a, b)), float(a @ b))) + if abs(ang) >= 135: + return "turn back" + return "turn left" if ang > 0 else "turn right" + + +def answer_route(ql, cents, up_vec, up_ax): + """Chain the turn primitive over the waypoint sequence -> ordered ['turn left/right/back', ...].""" + import re as _re + + m = _re.search(r"beginning at the (.+?) (?:and )?facing the (.+?)\.", ql) + if not m: + return None + + def position(name): + class_name = _find_cls(name, cents) + return cents[class_name] if class_name else None + + steps_txt = ql.split(":", 1)[1] if ":" in ql else ql + steps = _re.findall( + r"\d+\.\s*(\[please fill in\]|Go forward until the [^0-9\[]+?)(?=\s*\d+\.|$)", + steps_txt, + ) + cur_pos = position(m.group(1).strip()) + if cur_pos is None: + return None + fac = position(m.group(2).strip()) + cur_head = (fac - cur_pos) if fac is not None else None + turns = [] + i = 0 + while i < len(steps): + s = steps[i].strip() + if s.startswith("Go forward"): + tp = position(_re.sub(r"^Go forward until the ", "", s).strip().rstrip(".")) + if tp is not None: + cur_head = tp - cur_pos + cur_pos = tp + else: + nxt = next( + ( + _re.sub(r"^Go forward until the ", "", steps[j].strip()) + .strip() + .rstrip(".") + for j in range(i + 1, len(steps)) + if steps[j].strip().startswith("Go forward") + ), + None, + ) + tp = position(nxt) if nxt else None + if tp is None or cur_head is None: + turns.append(None) + else: + turns.append(_classify_turn(cur_head, tp - cur_pos, up_vec, up_ax)) + cur_head = tp - cur_pos + i += 1 + return turns + + +# ========================================================================================== +# POINT-CLOUD CLEANING + DISTANCE ANSWERS -- outlier removal, closest-distance queries. Merged +# in from perceptual.py, verbatim. +# ========================================================================================== + + +def _sor(pts, k=16, std=2.0, cap=4000): + """Statistical outlier removal: drop points whose mean distance to their k nearest neighbors exceeds + mean + std*sigma. Removes mask-bleed / depth-speckle points that corrupt a literal closest-point min. + k=16 and std=2 are universal robust-statistics defaults -- NOT tuned to VSI (no benchmark-fit knob).""" + from scipy.spatial import cKDTree + + if len(pts) < k + 2: + return pts + rs = np.random.RandomState(0) + P = pts if len(pts) <= cap else pts[rs.choice(len(pts), cap, False)] + d, _ = cKDTree(P).query(P, k=k + 1, workers=KD_WORKERS) + md = d[:, 1:].mean(1) + return P[md <= md.mean() + std * md.std()] + + +def _main_cluster(pts): + """Keep the object's dominant spatial cluster. Coherent mask-bleed onto a SPATIALLY-SEPARATED adjacent + object forms a disconnected component (a gap separates two objects); the true object is the largest one. + Linkage scale self-calibrates from the cloud's own nearest-neighbor spacing -- no fixed distance.""" + from scipy.spatial import cKDTree + + if len(pts) < 30: + return pts + tree = cKDTree(pts) + nn, _ = tree.query(pts, k=2) + eps = 3.0 * float(np.median(nn[:, 1])) # 3x median NN gap (data-derived) + pairs = tree.query_pairs(eps, output_type="ndarray") + if len(pairs) == 0: + return pts + parent = np.arange(len(pts)) + + def find(x): + r = x + while parent[r] != r: + r = parent[r] + while parent[x] != r: + parent[x], x = r, parent[x] + return r + + for a, b in pairs: + ra, rb = find(int(a)), find(int(b)) + if ra != rb: + parent[ra] = rb + roots = np.array([find(i) for i in range(len(pts))]) + v, cnt = np.unique(roots, return_counts=True) + return pts[roots == v[cnt.argmax()]] + + +def _clean(inst, cap=4000): + """Outlier removal self-calibrated from the pipeline's OWN per-object signals -- no universal constant, + no benchmark knob. Cached on the instance so the O(classes^2) distance table cleans each object once. + (1) per-point DA3 confidence: boundary mask-bleed = depth discontinuity = LOW conf -> drop below the + object's OWN median confidence (data-derived cut); + (2) statistical density outlier removal on the survivors; + (3) dominant spatial cluster: coherent bleed onto a separated adjacent object is a disconnected cluster.""" + if inst.get("_cleanpts") is not None: + return inst["_cleanpts"] + pts = inst["pts"] + conf = inst.get("conf") + rs = np.random.RandomState(0) + if len(pts) > cap: + idx = rs.choice(len(pts), cap, False) + pts = pts[idx] + conf = conf[idx] if conf is not None else None + if conf is not None and len(conf) > 20: # self-calibrating: object's OWN median + keep = conf >= np.median(conf) + if keep.sum() >= 10: + pts = pts[keep] + pts = _sor(pts, cap=cap) # density outlier removal on the survivors + # NOTE: spatial de-bleeding (_main_cluster) was tried and REVERTED -- "largest cluster = the object" is + # not guaranteed; when an object's near edge splits off it drops the true closest part (overshoot). You + # cannot post-hoc recover the true object from a bleeding mask in 3D -- that needs better SOURCE masks. + inst["_cleanpts"] = pts + return pts + + +def answer_closest_distance(instsA, instsB, k=4000): + """Closest distance between the two objects' point clouds ('closest point of each object'). Points are + cleaned by _clean (self-calibrated per-object confidence + density) then exact nearest-neighbor min via + KD-tree, so mask-bleed/speckle can't collapse the answer. NOTE: VSI's GT is box-to-box on CLEAN annotation + boxes; the residual gap is object-segmentation quality (bleed), not this formula -- see _clean docstring.""" + A = _clean(_rep(instsA), cap=k) + B = _clean(_rep(instsB), cap=k) + if len(A) == 0 or len(B) == 0: + return float("inf") + from scipy.spatial import cKDTree + + if len(A) <= len(B): + d, _ = cKDTree(A).query(B, k=1, workers=KD_WORKERS) + else: + d, _ = cKDTree(B).query(A, k=1, workers=KD_WORKERS) + return float(d.min()) + + +def answer_rel_distance(anchor_insts, option_insts): + """'which option is closest to the anchor?' -> index of the option with min closest-point distance.""" + dists = [ + answer_closest_distance(anchor_insts, oi) if oi is not None else float("inf") + for oi in option_insts + ] + return int(np.argmin(dists)), dists + + +# ========================================================================================== +# MASK/DEPTH CLEANUP + BACK-PROJECTION -- per-frame refinement before points enter an +# instance's point cloud. Merged in from perceptual.py, verbatim. +# ========================================================================================== + + +def depth_edges(depth_f, valid_f): + """Per-frame depth-DISCONTINUITY map: gradient magnitude above median + 3*MAD over the valid pixels. + The threshold is data-derived (robust, universal statistical cut -- NOT benchmark-tuned). These edges are + where mask-bleed crosses onto an adjacent object at a different depth.""" + if valid_f.sum() < 100: + return np.zeros_like(depth_f, bool) + d = np.where(valid_f, depth_f, np.median(depth_f[valid_f])) + gy, gx = np.gradient(d) + grad = np.hypot(gx, gy) + g = grad[valid_f] + med = np.median(g) + mad = np.median(np.abs(g - med)) + 1e-9 + return (grad > med + 3.0 * 1.4826 * mad) & valid_f + + +try: + _GUIDED = ( + cv2.ximgproc.guidedFilter + ) # opencv-contrib; appearance-guided boundary snap +except AttributeError: + _GUIDED = None + + +def refine_mask(mask, rgb): + """Snap a coarse SAM3 mask boundary to the RGB color edge (appearance-guided). This clips the same-depth + bleed that depth CANNOT see: where the halo crosses onto a differently-colored neighbor, the color edge + cuts it. Params are DERIVED, not tuned -- radius from frame scale, smoothness from the image's own color + variance (same MAD-style principle as depth_edges). No model, no GPU. Falls back to grabCut, then erode.""" + if mask.shape[:2] != rgb.shape[:2]: + mask = cv2.resize( + mask.astype(np.uint8), + (rgb.shape[1], rgb.shape[0]), + interpolation=cv2.INTER_NEAREST, + ).astype(bool) + a = int(mask.sum()) + if a < 60: # too small to refine meaningfully -> 1px erode as before + me = cv2.erode(mask.astype(np.uint8), np.ones((3, 3), np.uint8), 1).astype(bool) + return me if me.any() else mask + if _GUIDED is not None: + r = max( + 4, int(round(0.02 * float(np.hypot(*mask.shape[:2])))) + ) # radius ~2% of frame diagonal + eps = ( + float(np.var(rgb.astype(np.float32) / 255.0)) * 0.01 + 1e-6 + ) # smoothness ~ image color variance + soft = _GUIDED(rgb, mask.astype(np.float32), r, eps) + out = soft > 0.5 + return out if out.sum() >= 0.4 * a else mask # majority guard: don't over-carve + # fallback (base opencv, no ximgproc): grabCut seeded FG=mask, PR_FG=dilated ring, BG=far exterior + try: + gc = np.full(mask.shape[:2], cv2.GC_PR_BGD, np.uint8) + dil = cv2.dilate(mask.astype(np.uint8), np.ones((15, 15), np.uint8), 1).astype( + bool + ) + er = cv2.erode(mask.astype(np.uint8), np.ones((5, 5), np.uint8), 1).astype(bool) + gc[dil] = cv2.GC_PR_FGD + gc[er] = cv2.GC_FGD + bgm = np.zeros((1, 65), np.float64) + fgm = np.zeros((1, 65), np.float64) + cv2.grabCut(rgb, gc, None, bgm, fgm, 3, cv2.GC_INIT_WITH_MASK) + out = (gc == cv2.GC_FGD) | (gc == cv2.GC_PR_FGD) + return out if 0.4 * a <= out.sum() <= 1.5 * a else mask + except Exception: + me = cv2.erode(mask.astype(np.uint8), np.ones((3, 3), np.uint8), 1).astype(bool) + return me if me.any() else mask + + +def backproject_frame( + depth_f, + K, + c2w_f, + mask_f, + conf_f=None, + conf_thr=0.0, + valid_f=None, + return_conf=False, + edges_f=None, +): + """Return (M,3) world points for the masked pixels of one frame (c2w_f = cam->world 4x4). + valid_f: optional precomputed (isfinite & >0) depth mask, reused across all masks of a frame. + return_conf: also return the (M,) DA3 confidence of each kept point (for per-point noise-aware cleaning). + edges_f: optional per-frame depth-edge map; if given, keep the mask's largest depth-coherent component + (cuts mask-bleed onto adjacent objects at the depth boundary, per frame, before back-projection).""" + Hd, Wd = depth_f.shape + empty = ( + (np.empty((0, 3), np.float32), np.empty((0,), np.float32)) + if return_conf + else np.empty((0, 3), np.float32) + ) + if mask_f.shape != (Hd, Wd): + mask_f = cv2.resize( + mask_f.astype(np.uint8), (Wd, Hd), interpolation=cv2.INTER_NEAREST + ).astype(bool) + if valid_f is None: + valid_f = np.isfinite(depth_f) & (depth_f > 0) + m = mask_f & valid_f + if conf_f is not None and conf_thr > 0: + m &= conf_f >= conf_thr + if ( + edges_f is not None and m.sum() >= 30 + ): # keep the largest depth-coherent piece of the mask + from scipy import ndimage + + lab, nlab = ndimage.label(m & ~edges_f) + if nlab >= 1: + sizes = np.bincount(lab.ravel()) + sizes[0] = 0 + big = int(sizes.argmax()) + if ( + sizes[big] >= 0.5 * m.sum() + ): # object is the MAJORITY piece (bleed is a minority) + m = lab == big + if not m.any(): + return empty + ys, xs = np.nonzero(m) + z = depth_f[ys, xs] + if DEPTH_COHERENCE and len(z) >= 8: + # an object is a coherent depth surface; floor/background BLEED pixels are depth outliers. + # Drop them via the standard Tukey fence (1.5*IQR) on the masked region's depths -- parameter-free. + q1, q3 = np.percentile(z, [25, 75]) + iqr = q3 - q1 + keep = (z >= q1 - 1.5 * iqr) & (z <= q3 + 1.5 * iqr) + if keep.sum() >= 1: + ys, xs, z = ys[keep], xs[keep], z[keep] + fx, fy, cx, cy = K[0, 0], K[1, 1], K[0, 2], K[1, 2] + Xc = np.stack([(xs - cx) * z / fx, (ys - cy) * z / fy, z], axis=1) # camera coords + Xw = (c2w_f[:3, :3] @ Xc.T).T + c2w_f[:3, 3] # -> world + if return_conf: + cw = ( + conf_f[ys, xs].astype(np.float32) + if conf_f is not None + else np.ones(len(ys), np.float32) + ) + return Xw.astype(np.float32), cw + return Xw.astype(np.float32) + + +# ========================================================================================== +# INSTANCE BUILDING -- oriented extent, 3D box-overlap re-identification, and the main +# build_instances() driver that turns per-frame masks into per-class 3D instances. Merged in +# from perceptual.py, verbatim. +# ========================================================================================== + + +def robust_centroid_extent(pts, up_axis=None): + """median centroid + ORIENTED robust extent. + If up_axis is given: YAW-ONLY oriented extent -- rotation is found by 2D PCA on the + floor-projected points only, with the up axis left untouched. This matches VSI-Bench's + own annotation convention for indoor scans (ScanNet/ARKitScenes OrientedBoundingBox + objects follow a Manhattan-world assumption: rotated only around the vertical axis, + never tilted). Unconstrained 3D PCA (the previous behavior) can chase noise on the + vertical axis for flat/elongated objects and drift away from the true yaw. + If up_axis is None (unknown at the call site): falls back to unconstrained 3D PCA. + Either way: parameter-free, rotation-invariant in-plane, p2..p98 robust extent.""" + c = np.median(pts, axis=0) + X = pts - c + if len(X) > 5000: # PCA on a sample (deterministic) + X = X[np.random.RandomState(0).choice(len(X), 5000, False)] + if up_axis is not None: + floor_axes = [i for i in range(3) if i != up_axis] + F = X[:, floor_axes] + try: + _, _, Vt2 = np.linalg.svd(F - F.mean(0), full_matrices=False) + proj_floor = F @ Vt2.T # (N,2) along the object's own floor-plane axes + except np.linalg.LinAlgError: + proj_floor = F + up_col = X[:, up_axis : up_axis + 1] # up axis untouched (yaw-only) + proj = np.concatenate([proj_floor, up_col], axis=1) + else: + try: + _, _, Vt = np.linalg.svd(X - X.mean(0), full_matrices=False) + proj = X @ Vt.T # coordinates along principal axes + except np.linalg.LinAlgError: + proj = X + lo = np.percentile(proj, 2, axis=0) + hi = np.percentile(proj, 98, axis=0) + ext = np.maximum(hi - lo, 0.0) + dims = np.sort(ext)[::-1] # the object's 3 oriented side lengths, longest first + return c.astype(np.float32), float(dims[0]), dims + + +def _aabb(pts): + """robust (p2..p98) axis-aligned 3D box of an instance's world points.""" + return np.percentile(pts, 2, axis=0), np.percentile(pts, 98, axis=0) + + +def merge_by_box_overlap(insts, up_axis=None): + """Parameter-free 3D re-identification, with a temporal-exclusion gate. + + SAM3 (a 2D tracker) emits a NEW masklet each time the camera revisits an object, so one + physical object -> several masklets at the same 3D location. We fuse two same-class masklets + iff BOTH: + (a) their measured 3D boxes overlap (or one centroid is inside the other) -- same volume, and + (b) they NEVER appear in the same frame -- temporal exclusion. + (b) is the key parameter-free invariant: two masklets co-visible in one frame were tracked by + SAM3 as distinct objects in that frame, so they ARE distinct (e.g. two chairs around a table); + we must never merge them, even if depth noise makes their boxes overlap. A revisit-duplicate, + by contrast, lives in DISJOINT frames. Both tests are exact/measured -- NO tuned threshold. + """ + n = len(insts) + if n <= 1: + return insts + # Precompute the FULL pairwise box-match as one vectorized boolean matrix. With the per-frame + # batched detector a class can have 100+ raw instances; the old O(n^3) loop called np.all-based + # box_match millions of times. Here every pairwise test is one broadcast -> O(1) lookups below. + lo = np.stack([_aabb(i["pts"])[0] for i in insts]).astype(np.float32) # (n,3) + hi = np.stack([_aabb(i["pts"])[1] for i in insts]).astype(np.float32) # (n,3) + cents = np.stack([i["centroid"] for i in insts]).astype(np.float32) # (n,3) + overlap = (hi[:, None, :] >= lo[None, :, :]).all(-1) & ( + hi[None, :, :] >= lo[:, None, :] + ).all(-1) + ins = (cents[:, None, :] >= lo[None, :, :]).all(-1) & ( + cents[:, None, :] <= hi[None, :, :] + ).all(-1) + match = ( + overlap | ins | ins.T + ) # box_match[i,j]: same 3D volume (identical semantics to old code) + # group-level agglomeration: merge two groups only if their COMBINED frame sets are disjoint + # (so no two co-visible masklets ever land in one object) AND some cross-pair shares a 3D volume. + groups = [ + {"members": [i], "frames": set(insts[i].get("frames", set()))} for i in range(n) + ] + changed = True + while changed: + changed = False + for a in range(len(groups)): + for b in range(a + 1, len(groups)): + if ( + groups[a]["frames"] & groups[b]["frames"] + ): # co-visible -> distinct objects + continue + if match[np.ix_(groups[a]["members"], groups[b]["members"])].any(): + groups[a]["members"] += groups[b]["members"] + groups[a]["frames"] |= groups[b]["frames"] + groups.pop(b) + changed = True + break + if changed: + break + merged = [] + for g in groups: + idxs = g["members"] + pts = np.concatenate([insts[k]["pts"] for k in idxs], 0) + cpts = np.concatenate( + [ + insts[k].get("conf", np.ones(len(insts[k]["pts"]), np.float32)) + for k in idxs + ], + 0, + ) + best = max( + (insts[k]["best_pts"] for k in idxs), key=len + ) # largest single obs in the group + c, longest, dims = robust_centroid_extent( + best, up_axis + ) # size+pos+3 oriented dims from best view (#2/#4) + merged.append( + { + "centroid": c, + "size": longest, + "dims": dims, + "first_time": min(insts[k]["first_time"] for k in idxs), + "pts": pts, + "conf": cpts, + "best_pts": best, + "n": sum(insts[k]["n"] for k in idxs), + "nframes": len(g["frames"]), + } + ) # track persistence (evidence strength) + return merged + + +def build_instances( + per_class, depth, intr, c2w, conf, frame_times, frame_paths=None, up_axis=None +): + """-> {class: [ {centroid(3), size(longest dim), first_time, npts} ]} + up_axis: if known (from room_gravity, computed BEFORE this call), threads through to + robust_centroid_extent for yaw-only oriented sizing. If None, size falls back to + unconstrained 3D PCA.""" + out = {} + stats = {} + nframes = len(depth) + # precompute each frame's valid-depth mask ONCE (was recomputed per mask -> per class). + valid = {} + edges = {} + rgb = {} + used_frames = {fi for frames in per_class.values() for fi in frames if fi < nframes} + for fi in used_frames: + valid[fi] = np.isfinite(depth[fi]) & (depth[fi] > 0) + edges[fi] = depth_edges(depth[fi], valid[fi]) if DEPTH_EDGE_REFINE else None + if MASK_REFINE and frame_paths and fi < len(frame_paths): + im = cv2.imread(frame_paths[fi]) # BGR; guidedFilter/grabCut want 3ch uint8 + rgb[fi] = ( + cv2.resize(im, (depth[fi].shape[1], depth[fi].shape[0])) + if im is not None + else None + ) + for cls, frames in per_class.items(): + # peak co-visibility: max distinct masklets SAM3 tracks SIMULTANEOUSLY in any one frame. + # geometry-free, parameter-free, immune to revisit over-count; provable lower bound on count. + peak = max((len(objs) for objs in frames.values()), default=0) + # gather world points + first-seen time + frame set per obj_id (SAM3 track id = masklet) + pts_by_id, conf_by_id, first_t, frames_by_id = {}, {}, {}, {} + # px_by_id: (fidx, frame_time, mask_pixel_count) per obj_id, for appearance-order timing. + # VSI-Bench's own GT defines "first appearance" as the timestamp where an object's pixel + # count crosses a threshold (paper appendix B.1) -- NOT the first frame with any pixel at + # all. A single stray mask-bleed/false-positive pixel would otherwise register as "first + # seen" far too early. The threshold is self-calibrated per instance (that instance's OWN + # median observed pixel count across its frames), same convention as _clean's median cut. + px_by_id = {} + for fidx, objs in frames.items(): + if fidx >= nframes: # guard: SAM3 frame idx vs DA3 frames + continue + for oid, mask in objs.items(): + if MASK_REFINE and rgb.get(fidx) is not None: + me = ( + mask + if os.environ.get("VSI_NO_REFINE") == "1" + else refine_mask(mask, rgb[fidx]) + ) # appearance-guided boundary snap (clips same-depth bleed) + else: + # erode 1px to drop mask-edge / background depth bleed + me = cv2.erode( + mask.astype(np.uint8), np.ones((3, 3), np.uint8), 1 + ).astype(bool) + if not me.any(): + me = mask + conf_f = conf[fidx] if conf is not None else None + conf_thr = ( + np.percentile(conf_f, CONF_PCT) + if (conf_f is not None and CONF_PCT > 0) + else 0.0 + ) + Xw, cw = backproject_frame( + depth[fidx], + intr[fidx], + c2w[fidx], + me, + conf_f, + conf_thr=conf_thr, + valid_f=valid.get(fidx), + return_conf=True, + edges_f=edges.get(fidx), + ) + if len(Xw): + pts_by_id.setdefault(oid, []).append(Xw) + conf_by_id.setdefault(oid, []).append( + cw + ) # per-point DA3 confidence (for _clean) + frames_by_id.setdefault(oid, set()).add( + fidx + ) # for co-occurrence gate + t = frame_times[fidx] + px_by_id.setdefault(oid, []).append((fidx, t, int(me.sum()))) + # appearance_order timing: per instance, first frame at/above its OWN median pixel count + for oid, obs in px_by_id.items(): + counts = [c for _, _, c in obs] + thresh = float(np.median(counts)) + crossing = [t for _, t, c in obs if c >= thresh] + first_t[oid] = min(crossing) if crossing else min(t for _, t, c in obs) + insts = [] + for oid, plist in pts_by_id.items(): + pts = np.concatenate(plist, 0) + cpts = np.concatenate(conf_by_id[oid], 0) + if len(pts) < MIN_INSTANCE_PTS: + continue + best = max( + plist, key=len + ) # #2/#4: largest single-frame observation (closest/most pixels) + bc, bsize, bdims = robust_centroid_extent( + best, up_axis + ) # size + position + 3 oriented dims from best view + insts.append( + { + "centroid": bc, + "size": bsize, + "dims": bdims, + "first_time": first_t[oid], + "pts": pts, + "conf": cpts, + "best_pts": best, + "n": len(pts), + "frames": frames_by_id[oid], + } + ) + raw = len(insts) + # 3D re-ID: fuse same-class masklets that occupy the same measured 3D volume (parameter-free). + insts = merge_by_box_overlap(insts, up_axis) + if insts: + out[cls] = insts + stats[cls] = {"raw": raw, "merged": len(insts), "peak": peak} + return out, stats + + +# ========================================================================================== +# PER-CLASS SUMMARY + FLOOR AREA -- legacy array-schema row builder, and the room-scale floor +# area calculation. Merged in from perceptual.py, verbatim. +# ========================================================================================== + + +# ---- Per-class spatial code (legacy array-schema row) ------------------------------------- +def class_spatial_code(insts, peak=0): + cents = np.stack([i["centroid"] for i in insts], 0) # (n,3) + sizes = np.array([i["size"] for i in insts], np.float32) + n = len(insts) # merged centroids (for spatial stats) + count = peak if peak else n # reported count = peak co-visibility + x, y, z = cents.mean(0) + if n == 1: + e1 = e2 = e3 = px = pz = 0.0 + size_iqr = 0.0 + else: + cov = np.cov(cents.T) # 3x3 + vals, vecs = np.linalg.eigh(cov) # ascending + order = np.argsort(vals)[::-1] + vals = np.clip(vals[order], 0, None) + vecs = vecs[:, order] + e1, e2, e3 = vals.tolist() + pv = vecs[:, 0] # principal eigenvector + px, pz = float(pv[0]), float(pv[2]) + q1, q3 = np.percentile(sizes, [25, 75]) + size_iqr = float(q3 - q1) + size_median = float(np.median(sizes)) + first_time = float(min(i["first_time"] for i in insts)) + row = [x, y, z, e1, e2, e3, px, pz, size_median, size_iqr, first_time, count] + row = [ + (lambda r: 0.0 if r == 0 else r)(round(float(v), 1)) for v in row + ] # kill -0.0 + row[-1] = int(count) + return row + + +# ---- floor_area (full-scene min-Y points -> XZ convex hull) ------------------------------- +def compute_floor_area(depth, intr, c2w, conf, sky, stride=8, up_vec=None): + pts = [] + for f in range(depth.shape[0]): + Hd, Wd = depth[f].shape + ys, xs = np.mgrid[0:Hd:stride, 0:Wd:stride] + ys = ys.ravel() + xs = xs.ravel() + z = depth[f][ys, xs] + ok = np.isfinite(z) & (z > 0) + if sky is not None: + ok &= ~sky[f][ys, xs].astype(bool) + if conf is not None: + ok &= conf[f][ys, xs] >= np.percentile(conf[f], 40) + ys, xs, z = ys[ok], xs[ok], z[ok] + if not len(z): + continue + K = intr[f] + fx, fy, cx, cy = K[0, 0], K[1, 1], K[0, 2], K[1, 2] + Xc = np.stack([(xs - cx) * z / fx, (ys - cy) * z / fy, z], 1) + Xw = (c2w[f][:3, :3] @ Xc.T).T + c2w[f][:3, 3] + pts.append(Xw.astype(np.float32)) + if not pts: + return 0.0 + P = np.concatenate(pts, 0) + if up_vec is not None: + # VSI-faithful: area in the plane orthogonal to GRAVITY (RANSAC floor normal), like the + # benchmark's gravity-aligned GT meshes. Build an orthonormal in-plane basis (u, v). + g = np.asarray(up_vec, np.float64) + g /= np.linalg.norm(g) + 1e-12 + a = np.array([1.0, 0.0, 0.0]) if abs(g[0]) < 0.9 else np.array([0.0, 1.0, 0.0]) + u = np.cross(g, a) + u /= np.linalg.norm(u) + v = np.cross(g, u) + F_full = np.stack([P @ u, P @ v], 1) + else: + up = int( + np.argmin(P.max(0) - P.min(0)) + ) # legacy: vertical = smallest-extent axis + floor_axes = [i for i in range(3) if i != up] + F_full = P[:, floor_axes] + # VSI-Bench room-size definition = alpha-shape of the floor-plane point cloud (confirmed in their + # paper appendix). VSI does not publish the alpha value they use for their own GT mesh, so alpha=2 + # here is NOT a matched/verified constant -- it was chosen empirically for this pipeline's own + # (sparser) reconstructed point density. This is the one disclosed benchmark-adjacent tuned constant + # in the whole file; everything else is exact/derived or a generic, non-tuned statistical convention. + # (Falls back to enclosed-fill below if the alphashape package isn't available.) + F = F_full + lo = np.percentile(F, 0.5, 0) + hi = np.percentile(F, 99.5, 0) # gentle clip (preserve room extent) + F = F[ + (F[:, 0] >= lo[0]) + & (F[:, 0] <= hi[0]) + & (F[:, 1] >= lo[1]) + & (F[:, 1] <= hi[1]) + ] + if len(F) < 10: + return 0.0 + try: + import alphashape + + idx = np.random.RandomState(0).choice(len(F), min(10000, len(F))) + return round( + float(alphashape.alphashape(F[idx], alpha=2).area), 1 + ) # alpha=2 tuned for recon density + except Exception: + from scipy import ndimage + + res = 0.10 + ai = ((F[:, 0] - F[:, 0].min()) / res).astype(int) + bi = ((F[:, 1] - F[:, 1].min()) / res).astype(int) + grid = np.zeros((ai.max() + 3, bi.max() + 3), np.uint8) + grid[ai + 1, bi + 1] = 1 + grid = cv2.morphologyEx(grid, cv2.MORPH_CLOSE, np.ones((7, 7), np.uint8)) + grid = ndimage.binary_fill_holes(grid).astype(np.uint8) + return round(float(grid.sum()) * res * res, 1) + + +# --------------------------------------------------------------------------- + +# ========================================================================================== +# SPATIAL CODE ASSEMBLY -- the top-level entry point this whole file exists for: +# build_spatial_code() calls everything above to turn already-computed depth/pose/masks into +# the final spatial code dict. Room outline + JSON writer. This section was already in +# geometric.py before the perceptual.py merge; build_spatial_code() below is updated to call +# the geometry functions above DIRECTLY (no `pl.` prefix -- they're plain local functions now +# that everything is in one file), same logic, unchanged otherwise. +# ========================================================================================== + + +def _room_outline(depth, intr, c2w, conf, bu, bv): + """(Currently unemitted -- the one spatial code shape has no room outline field; this + math is kept intact for reuse.) Room floor-boundary polygon from the SAME grid as + compute_floor_area: floor points + projected onto the shared gravity plane (bu, bv), 10cm grid, close 7x7, fill holes, + largest contour, 0.2m polygon simplification. Same (bu, bv) as objects/camera, so the + outline, object positions, and floor_area all live in one consistent frame.""" + from scipy import ndimage + + pts, stride = [], 8 + for f in range(0, depth.shape[0], 3): + Hd, Wd = depth[f].shape + ys, xs = np.mgrid[0:Hd:stride, 0:Wd:stride] + ys = ys.ravel() + xs = xs.ravel() + z = depth[f][ys, xs] + ok = np.isfinite(z) & (z > 0) + if conf is not None: + ok &= conf[f][ys, xs] >= np.percentile(conf[f], 40) + ys, xs, z = ys[ok], xs[ok], z[ok] + if not len(z): + continue + K = intr[f] + Xc = np.stack( + [(xs - K[0, 2]) * z / K[0, 0], (ys - K[1, 2]) * z / K[1, 1], z], 1 + ) + pts.append(((c2w[f][:3, :3] @ Xc.T).T + c2w[f][:3, 3]).astype(np.float32)) + if not pts: + return [] + Pw = np.concatenate(pts, 0) + P = np.stack( + [Pw @ bu, Pw @ bv], 1 + ) # gravity-plane projection (same bu,bv as objects/area) + lo = np.percentile(P, 0.5, 0) + hi = np.percentile(P, 99.5, 0) + P = P[ + (P[:, 0] >= lo[0]) + & (P[:, 0] <= hi[0]) + & (P[:, 1] >= lo[1]) + & (P[:, 1] <= hi[1]) + ] + if len(P) < 10: + return [] + res = 0.10 + x0, y0 = P[:, 0].min(), P[:, 1].min() + ai = ((P[:, 0] - x0) / res).astype(int) + bi = ((P[:, 1] - y0) / res).astype(int) + grid = np.zeros((ai.max() + 3, bi.max() + 3), np.uint8) + grid[ai + 1, bi + 1] = 1 + grid = cv2.morphologyEx(grid, cv2.MORPH_CLOSE, np.ones((7, 7), np.uint8)) + grid = ndimage.binary_fill_holes(grid).astype(np.uint8) + cs, _ = cv2.findContours(grid, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) + if not cs: + return [] + poly = cv2.approxPolyDP(max(cs, key=cv2.contourArea), 0.2 / res, True)[:, 0, :] + # cv2 contour points are (col=bi, row=ai) -> (floor_y, floor_x) + return [ + { + "floor_x_meters": round(float((r - 1) * res + x0), 1), + "floor_y_meters": round(float((c - 1) * res + y0), 1), + } + for c, r in poly + ] + + +def build_spatial_code_raw(depth, intr, c2w, conf, ftimes, per): + """Builds THE spatial code -- the one and only shape a spatial code has, everywhere + (on disk, in prompts, in this pipeline): unit-strings ("1.4 meters"), spaced keys + ("x coordinate"), per-instance position + longest dimension only, room "floor area", + "closest classes distance meters from" (rooted per class, distance + closeness rank), + and a flat earliest-first "appearance order" list of class names. There is no separate + raw/rendered split and no schema flag -- the old v1/v2 branching (VSI_CODE_V2) and the + raw intermediate form (floor_x_meters keys, bounding_box, dimensions_meters, + seen_in_video_frames, camera_trajectory, room.outline) are gone; every underlying VALUE + that survives is computed by exactly the same math as before, only the emitted fields + and their formatting changed.""" + # emission-time class rename: VSI's questions say 'coat rack' while their annotations + # (and hence the SAM3 prompt + caches) say 'coat hanger' -- same object, their naming + # seam. The model sees questions, so emitted codes follow the question vocabulary. + _ALIAS = {"coat hanger": "coat rack"} + per = {_ALIAS.get(k, k): v for k, v in per.items()} + inst, stats = build_instances(per, depth, intr, c2w, conf, ftimes) + up_vec, up_ax = room_gravity( + depth, intr, c2w, conf + ) # gravity = RANSAC floor normal (VSI-faithful) + bu, bv, bg = _floor_basis( + up_vec + ) # shared gravity floor frame (bu,bv horizontal, bg up) + P = np.concatenate([i["pts"] for cl in inst.values() for i in cl], 0) + # floor = robust bottom of observed geometry along gravity (low percentile). + floor_level = float(np.percentile(P @ bg, 2)) + fa = compute_floor_area(depth, intr, c2w, conf, None, up_vec=up_vec) + code = to_spatial_code(inst, stats, fa, up_ax, up_vec, floor_level) + cls = list(inst.keys()) + class_first = {c: min(i["first_time"] for i in v) for c, v in inst.items()} + + # Keyed dict + integer ranks (not a sorted list): each question option becomes ONE + # direct key access, and "which is closest" = min over small integers -- the filtered + # list-scan and decimal comparison were the observed failure modes even on GT data. + # 2-decimal distances: 0.1m rounding costs up to ~17% relative error on sub-meter + # answers, which fails the strictest MRA thresholds even with perfect values. + ccf = {} + for a in cls: + ds = sorted( + (round(answer_closest_distance(inst[a], inst[b]), 2), b) + for b in cls + if b != a + ) + ccf[a] = { + b: {"distance": f"{d} meters", "closeness rank": i + 1} + for i, (d, b) in enumerate(ds) + } + code["closest classes distance meters from"] = ccf + + # Class names only, no first_seen_seconds value -- a reader only ever needs the ORDER + # (which appearance order already sorts for them), never the raw timestamp; showing the + # timestamp invited re-deriving/re-sorting instead of just reading the given order (observed + # empirically), and it duplicated per-instance timing that lives nowhere else in the code now. + code["appearance order"] = [ + c for c, t in sorted(class_first.items(), key=lambda kv: kv[1]) + ] + return code, inst, stats, up_ax, up_vec, fa + + +def dump_spatial_code(code, path): + """Save a spatial_code.json exactly like json.dump(code, f, indent=1), EXCEPT + "appearance order" is written as one compact line instead of one line per entry -- it's a + single ordered sequence meant to be scanned, not structured data meant to be read field by + field like the rest of the code. Every writer of spatial_code.json should go through this + (not a bare json.dump) so the on-disk format and the prompt-time format never drift apart.""" + body = dict(code) + ao = body.pop("appearance order", None) + text = json.dumps(body, indent=1).rstrip() + if ao is not None: + assert text.endswith("}") + text = text[:-1].rstrip() + ',\n "appearance order": ' + json.dumps(ao) + "\n}" + with open(path, "w") as f: + f.write(text) + + +# Canonical world-space fallback used by SegVGGT and similar adapters. +def _canonical_room_gravity(P, cameras=None, iters=300, thr=0.05): + """Robust UP vector = normal of the RANSAC floor plane, oriented toward the cameras.""" + P = np.asarray(P, np.float64) + P = P[np.isfinite(P).all(1)] + if len(P) > 100000: + P = P[np.random.RandomState(0).choice(len(P), 100000, False)] + cam = ( + np.asarray(cameras, np.float64).mean(0) + if cameras is not None and len(cameras) + else None + ) + if len(P) < 100: + ext = np.percentile(P, 98, 0) - np.percentile(P, 2, 0) if len(P) else np.ones(3) + ax = int(np.argmin(ext)) + g = np.zeros(3) + g[ax] = 1.0 + return (g, ax) + rng = np.random.RandomState(0) + best = None + best_score = -1 + for _ in range(iters): + a, b, c = P[rng.choice(len(P), 3, False)] + nrm = np.cross(b - a, c - a) + ln = np.linalg.norm(nrm) + if ln < 1e-06: + continue + nrm /= ln + d = -nrm @ a + side = P @ nrm + d + ninl = int((np.abs(side) < thr).sum()) + if ninl < 50: + continue + score = ninl * max(np.mean(side > thr), np.mean(side < -thr)) + if score > best_score: + best_score = score + best = (nrm, d) + if best is None: + ext = np.percentile(P, 98, 0) - np.percentile(P, 2, 0) + ax = int(np.argmin(ext)) + g = np.zeros(3) + g[ax] = 1.0 + return (g, ax) + nrm, d = best + if cam is not None and cam @ nrm + d < 0: + nrm = -nrm + return (nrm.astype(np.float32), int(np.argmax(np.abs(nrm)))) + + +def _canonical_floor_basis(up_vec): + """Orthonormal floor basis (u, v horizontal; g = up), unchanged from the old file.""" + g = np.asarray(up_vec, np.float64) + g = g / (np.linalg.norm(g) + 1e-12) + up_ax = int(np.argmax(np.abs(g))) + floor_axes = [a for a in range(3) if a != up_ax] + e0 = np.zeros(3) + e0[floor_axes[0]] = 1.0 + u = e0 - e0 @ g * g + u = u / (np.linalg.norm(u) + 1e-12) + v = np.cross(g, u) + if v[floor_axes[1]] < 0: + v = -v + return (u, v, g) + + +def _canonical_robust_centroid_extent(pts, up_axis=None): + c = np.median(pts, axis=0) + X = pts - c + if len(X) > 5000: + X = X[np.random.RandomState(0).choice(len(X), 5000, False)] + if up_axis is not None: + floor_axes = [i for i in range(3) if i != up_axis] + F = X[:, floor_axes] + try: + _, _, Vt2 = np.linalg.svd(F - F.mean(0), full_matrices=False) + proj_floor = F @ Vt2.T + except np.linalg.LinAlgError: + proj_floor = F + proj = np.concatenate([proj_floor, X[:, up_axis : up_axis + 1]], 1) + else: + try: + _, _, Vt = np.linalg.svd(X - X.mean(0), full_matrices=False) + proj = X @ Vt.T + except np.linalg.LinAlgError: + proj = X + ext = np.maximum(np.percentile(proj, 98, 0) - np.percentile(proj, 2, 0), 0.0) + dims = np.sort(ext)[::-1] + return (c.astype(np.float32), float(dims[0]), dims) + + +def _canonical_aabb(pts): + return (np.percentile(pts, 2, 0), np.percentile(pts, 98, 0)) + + +def _canonical_merge_by_box_overlap(insts, up_axis=None): + """Parameter-free 3D re-identification with temporal exclusion, unchanged.""" + n = len(insts) + if n <= 1: + return insts + lo = np.stack([_canonical_aabb(i["pts"])[0] for i in insts]) + hi = np.stack([_canonical_aabb(i["pts"])[1] for i in insts]) + cents = np.stack([i["centroid"] for i in insts]) + overlap = (hi[:, None] >= lo[None]).all(-1) & (hi[None] >= lo[:, None]).all(-1) + ins = (cents[:, None] >= lo[None]).all(-1) & (cents[:, None] <= hi[None]).all(-1) + match = overlap | ins | ins.T + groups = [ + {"members": [i], "frames": set(insts[i].get("frames", ()))} for i in range(n) + ] + changed = True + while changed: + changed = False + for a in range(len(groups)): + for b in range(a + 1, len(groups)): + if groups[a]["frames"] & groups[b]["frames"]: + continue + if match[np.ix_(groups[a]["members"], groups[b]["members"])].any(): + groups[a]["members"] += groups[b]["members"] + groups[a]["frames"] |= groups[b]["frames"] + groups.pop(b) + changed = True + break + if changed: + break + out = [] + for g in groups: + ii = g["members"] + pts = np.concatenate([insts[k]["pts"] for k in ii], 0) + best = max((insts[k]["best_pts"] for k in ii), key=len) + c, size, dims = _canonical_robust_centroid_extent(best, up_axis) + confs = [insts[k].get("conf") for k in ii] + conf = ( + np.concatenate([x for x in confs if x is not None], 0) + if any((x is not None for x in confs)) + else None + ) + out.append( + { + "centroid": c, + "size": size, + "dims": dims, + "pts": pts, + "best_pts": best, + "conf": conf, + "frames": g["frames"], + "nframes": len(g["frames"]), + "n": sum((insts[k]["n"] for k in ii)), + "first_time": min((insts[k]["first_time"] for k in ii)), + } + ) + return out + + +def _canonical_sor(pts, k=16, std=2.0, cap=4000): + from scipy.spatial import cKDTree + + if len(pts) < k + 2: + return pts + P = ( + pts + if len(pts) <= cap + else pts[np.random.RandomState(0).choice(len(pts), cap, False)] + ) + d, _ = cKDTree(P).query(P, k=k + 1, workers=KD_WORKERS) + md = d[:, 1:].mean(1) + return P[md <= md.mean() + std * md.std()] + + +def _canonical_clean(inst, cap=4000): + if inst.get("_cleanpts") is not None: + return inst["_cleanpts"] + pts, conf = (inst["pts"], inst.get("conf")) + if len(pts) > cap: + idx = np.random.RandomState(0).choice(len(pts), cap, False) + pts = pts[idx] + if conf is not None: + conf = conf[idx] + if conf is not None and len(conf) > 20: + keep = conf >= np.median(conf) + if keep.sum() >= 10: + pts = pts[keep] + inst["_cleanpts"] = _canonical_sor(pts, cap=cap) + return inst["_cleanpts"] + + +def _canonical_rep(insts): + return max(insts, key=lambda i: (i.get("n", len(i["pts"])), i.get("nframes", 0))) + + +def _canonical_answer_closest_distance(instsA, instsB, k=4000): + from scipy.spatial import cKDTree + + A, B = ( + _canonical_clean(_canonical_rep(instsA), k), + _canonical_clean(_canonical_rep(instsB), k), + ) + if not len(A) or not len(B): + return float("inf") + d, _ = ( + cKDTree(A).query(B, workers=KD_WORKERS) + if len(A) <= len(B) + else cKDTree(B).query(A, workers=KD_WORKERS) + ) + return float(d.min()) + + +def _canonical_compute_floor_area(P, up_vec): + P = np.asarray(P, np.float32) + P = P[np.isfinite(P).all(1)] + if not len(P): + return 0.0 + g = np.asarray(up_vec, np.float64) + g /= np.linalg.norm(g) + 1e-12 + a = np.array([1.0, 0.0, 0.0]) if abs(g[0]) < 0.9 else np.array([0.0, 1.0, 0.0]) + u = np.cross(g, a) + u /= np.linalg.norm(u) + v = np.cross(g, u) + F = np.stack([P @ u, P @ v], 1) + lo, hi = (np.percentile(F, 0.5, 0), np.percentile(F, 99.5, 0)) + F = F[ + (F[:, 0] >= lo[0]) + & (F[:, 0] <= hi[0]) + & (F[:, 1] >= lo[1]) + & (F[:, 1] <= hi[1]) + ] + if len(F) < 10: + return 0.0 + try: + import alphashape + + idx = np.random.RandomState(0).choice(len(F), min(10000, len(F))) + return round(float(alphashape.alphashape(F[idx], alpha=2).area), 1) + except Exception: + from scipy import ndimage + + res = 0.1 + ai = ((F[:, 0] - F[:, 0].min()) / res).astype(int) + bi = ((F[:, 1] - F[:, 1].min()) / res).astype(int) + grid = np.zeros((ai.max() + 3, bi.max() + 3), np.uint8) + grid[ai + 1, bi + 1] = 1 + grid = cv2.morphologyEx(grid, cv2.MORPH_CLOSE, np.ones((7, 7), np.uint8)) + grid = ndimage.binary_fill_holes(grid) + return round(float(grid.sum()) * res * res, 1) + + +def _canonical_object_records(insts, count, u, v, g, floor_level): + ranked = sorted(insts, key=lambda i: (i["n"], i.get("nframes", 0)), reverse=True)[ + : max(count, 1) + ] + return [ + { + "position": { + "x coordinate": f"{round(float(i['centroid'] @ u), 2)} meters", + "y coordinate": f"{round(float(i['centroid'] @ v), 2)} meters", + "height above floor": f"{round(float(i['centroid'] @ g - floor_level), 2)} meters", + }, + "longest dimension": f"{round(float(i['size']), 2)} meters", + } + for i in ranked + ] + + +# ========================================================================================== +# MODEL-AGNOSTIC ENTRY POINT +# ========================================================================================== + + +def build_spatial_code(scene): + """Build the unchanged compact spatial-code schema. + + Raw depth/pose/confidence/mask bundles use the exact reference path above. Canonical + world-space bundles (for SegVGGT and models with different native outputs) use the same + downstream formulas wherever equivalent inputs exist. + """ + raw_inputs = scene.get("raw_inputs") + if raw_inputs is not None: + return build_spatial_code_raw( + raw_inputs["depth"], + raw_inputs["intr"], + raw_inputs["c2w"], + raw_inputs.get("conf"), + raw_inputs["ftimes"], + raw_inputs["per"], + ) + + alias = {"coat hanger": "coat rack"} + raw = {alias.get(k, k): v for k, v in scene["instances"].items()} + stats = {alias.get(k, k): dict(v) for k, v in scene["stats"].items()} + up_vec, up_ax = _canonical_room_gravity(scene["scene_pts"], scene.get("cameras")) + u, v, g = _canonical_floor_basis(up_vec) + + inst = {} + for cls, items in raw.items(): + measured = [] + for item in items: + centroid, size, dims = _canonical_robust_centroid_extent( + item["best_pts"], up_ax + ) + record = dict(item) + record.update({"centroid": centroid, "size": size, "dims": dims}) + measured.append(record) + inst[cls] = _canonical_merge_by_box_overlap(measured, up_ax) + stats.setdefault(cls, {}) + stats[cls]["merged"] = len(inst[cls]) + stats[cls].setdefault("peak", len(inst[cls])) + + all_points = np.concatenate( + [i["pts"] for values in inst.values() for i in values], 0 + ) + floor_level = float(np.percentile(all_points @ g, 2)) + objects = {} + for cls, items in inst.items(): + requested_count = max(0, int(stats[cls].get("peak", len(items)))) + emitted_count = min(requested_count, len(items)) + records = ( + _canonical_object_records(items, emitted_count, u, v, g, floor_level) + if emitted_count + else [] + ) + objects[cls] = {"count": len(records), "instances": records} + + floor_area = _canonical_compute_floor_area(scene["scene_pts"], up_vec) + code = {"objects": objects, "room": {"floor area": f"{floor_area} square meters"}} + classes = list(inst) + closest = {} + for a in classes: + distances = sorted( + (round(_canonical_answer_closest_distance(inst[a], inst[b]), 2), b) + for b in classes + if b != a + ) + closest[a] = { + b: {"distance": f"{distance} meters", "closeness rank": rank + 1} + for rank, (distance, b) in enumerate(distances) + } + code["closest classes distance meters from"] = closest + first = {cls: min(i["first_time"] for i in values) for cls, values in inst.items()} + code["appearance order"] = [ + cls for cls, _ in sorted(first.items(), key=lambda kv: kv[1]) + ] + return code, inst, stats, up_ax, up_vec, floor_area diff --git a/results/symbolic/.ipynb_checkpoints/_summary-checkpoint.json b/results/symbolic/.ipynb_checkpoints/_summary-checkpoint.json new file mode 100644 index 0000000000000000000000000000000000000000..8f24c55bf28a307df6363f7ceb5b9099a39df952 --- /dev/null +++ b/results/symbolic/.ipynb_checkpoints/_summary-checkpoint.json @@ -0,0 +1,16 @@ +{ + "scenes_run": [ + "41069025" + ], + "scenes_skipped_no_questions": [], + "combined_aggregate": { + "overall": 5.333333333333333, + "object_counting_MRA:.5:.95:.05": 0.0, + "object_abs_distance_MRA:.5:.95:.05": 26.666666666666668, + "object_size_estimation_MRA:.5:.95:.05": 0.0, + "room_size_estimation_MRA:.5:.95:.05": 0.0, + "object_rel_direction_accuracy": 0.0, + "tabulated_keys": "overall, object_counting_MRA:.5:.95:.05, object_abs_distance_MRA:.5:.95:.05, object_size_estimation_MRA:.5:.95:.05, room_size_estimation_MRA:.5:.95:.05, object_rel_direction_accuracy", + "tabulated_results": "5.333, 0.000, 26.667, 0.000, 0.000, 0.000" + } +} \ No newline at end of file diff --git a/results/symbolic/41069025/0.json b/results/symbolic/41069025/0.json new file mode 100644 index 0000000000000000000000000000000000000000..4d3ef1a165b1896d2eba14662b9c6e7bb6e9c665 --- /dev/null +++ b/results/symbolic/41069025/0.json @@ -0,0 +1,16 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 0, + "question_type": "object_counting", + "question": "How many table(s) are in this room?", + "options": null, + "full_prompt": null, + "answer_expected": "4", + "answer_given": "1", + "answer_raw": "1", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/1.json b/results/symbolic/41069025/1.json new file mode 100644 index 0000000000000000000000000000000000000000..bd6291f3fb4a3b608d6e0377e33e5fa04463e7cd --- /dev/null +++ b/results/symbolic/41069025/1.json @@ -0,0 +1,16 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 1, + "question_type": "object_counting", + "question": "How many chair(s) are in this room?", + "options": null, + "full_prompt": null, + "answer_expected": "2", + "answer_given": "28", + "answer_raw": "28", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/1100.json b/results/symbolic/41069025/1100.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f3ae6aadb05f6209a4f3a7fd679826755c7f83 --- /dev/null +++ b/results/symbolic/41069025/1100.json @@ -0,0 +1,20 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 1100, + "question_type": "object_rel_direction_medium", + "question": "If I am standing by the stove and facing the sofa, is the tv to my left, right, or back?\nAn object is to my back if I would have to turn at least 135 degrees in order to face it.", + "options": [ + "A. back", + "B. right", + "C. left" + ], + "full_prompt": null, + "answer_expected": "C", + "answer_given": "B", + "answer_raw": "B", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/1101.json b/results/symbolic/41069025/1101.json new file mode 100644 index 0000000000000000000000000000000000000000..e7168a9133c96f5be7e03ad07a56d596cf70a9ff --- /dev/null +++ b/results/symbolic/41069025/1101.json @@ -0,0 +1,20 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 1101, + "question_type": "object_rel_direction_medium", + "question": "If I am standing by the stove and facing the tv, is the sofa to my left, right, or back?\nAn object is to my back if I would have to turn at least 135 degrees in order to face it.", + "options": [ + "A. right", + "B. left", + "C. back" + ], + "full_prompt": null, + "answer_expected": "A", + "answer_given": "B", + "answer_raw": "B", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/1102.json b/results/symbolic/41069025/1102.json new file mode 100644 index 0000000000000000000000000000000000000000..86fc454681559b28e3667b786cd1af733ecbab7a --- /dev/null +++ b/results/symbolic/41069025/1102.json @@ -0,0 +1,20 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 1102, + "question_type": "object_rel_direction_medium", + "question": "If I am standing by the sofa and facing the stove, is the tv to my left, right, or back?\nAn object is to my back if I would have to turn at least 135 degrees in order to face it.", + "options": [ + "A. back", + "B. right", + "C. left" + ], + "full_prompt": null, + "answer_expected": "B", + "answer_given": "C", + "answer_raw": "C", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/1236.json b/results/symbolic/41069025/1236.json new file mode 100644 index 0000000000000000000000000000000000000000..2127eaa6c7aa2c3d02335e2115511f75aca6766b --- /dev/null +++ b/results/symbolic/41069025/1236.json @@ -0,0 +1,19 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 1236, + "question_type": "object_rel_direction_easy", + "question": "If I am standing by the stove and facing the sofa, is the tv to the left or the right of the sofa?", + "options": [ + "A. left", + "B. right" + ], + "full_prompt": null, + "answer_expected": "A", + "answer_given": "B", + "answer_raw": "B", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/1237.json b/results/symbolic/41069025/1237.json new file mode 100644 index 0000000000000000000000000000000000000000..df2331741c8d4a0ad5d843d45b8433d40627a363 --- /dev/null +++ b/results/symbolic/41069025/1237.json @@ -0,0 +1,19 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 1237, + "question_type": "object_rel_direction_easy", + "question": "If I am standing by the stove and facing the tv, is the sofa to the left or the right of the tv?", + "options": [ + "A. left", + "B. right" + ], + "full_prompt": null, + "answer_expected": "B", + "answer_given": "A", + "answer_raw": "A", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/1238.json b/results/symbolic/41069025/1238.json new file mode 100644 index 0000000000000000000000000000000000000000..23d696ce70a597e999d5a4fd4c3d6b8f67b5f4fa --- /dev/null +++ b/results/symbolic/41069025/1238.json @@ -0,0 +1,19 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 1238, + "question_type": "object_rel_direction_easy", + "question": "If I am standing by the sofa and facing the stove, is the tv to the left or the right of the stove?", + "options": [ + "A. left", + "B. right" + ], + "full_prompt": null, + "answer_expected": "B", + "answer_given": "A", + "answer_raw": "A", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/167.json b/results/symbolic/41069025/167.json new file mode 100644 index 0000000000000000000000000000000000000000..5632d3a398b3963a35d9fb84e3ff2e30edbcd088 --- /dev/null +++ b/results/symbolic/41069025/167.json @@ -0,0 +1,16 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 167, + "question_type": "object_size_estimation", + "question": "What is the length of the longest dimension (length, width, or height) of the stove, measured in centimeters?", + "options": null, + "full_prompt": null, + "answer_expected": "62", + "answer_given": "24.0", + "answer_raw": "24.0", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/168.json b/results/symbolic/41069025/168.json new file mode 100644 index 0000000000000000000000000000000000000000..6bd543cf7b337347052e7a6ae8287b3d90a3123d --- /dev/null +++ b/results/symbolic/41069025/168.json @@ -0,0 +1,16 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 168, + "question_type": "object_size_estimation", + "question": "What is the length of the longest dimension (length, width, or height) of the sofa, measured in centimeters?", + "options": null, + "full_prompt": null, + "answer_expected": "173", + "answer_given": "11.0", + "answer_raw": "11.0", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/169.json b/results/symbolic/41069025/169.json new file mode 100644 index 0000000000000000000000000000000000000000..65034d3e93538d8fec9272fa4a03149cfdb616a1 --- /dev/null +++ b/results/symbolic/41069025/169.json @@ -0,0 +1,16 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 169, + "question_type": "object_size_estimation", + "question": "What is the length of the longest dimension (length, width, or height) of the tv, measured in centimeters?", + "options": null, + "full_prompt": null, + "answer_expected": "91", + "answer_given": "23.0", + "answer_raw": "23.0", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/530.json b/results/symbolic/41069025/530.json new file mode 100644 index 0000000000000000000000000000000000000000..1939449f134b527f51231b9ab3d053db29eb07ac --- /dev/null +++ b/results/symbolic/41069025/530.json @@ -0,0 +1,16 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 530, + "question_type": "room_size_estimation", + "question": "What is the size of this room (in square meters)? \nIf multiple rooms are shown, estimate the size of the combined space.", + "options": null, + "full_prompt": null, + "answer_expected": "26.4", + "answer_given": "3.5", + "answer_raw": "3.5", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/680.json b/results/symbolic/41069025/680.json new file mode 100644 index 0000000000000000000000000000000000000000..8edfcad64f7ce799241e3120d5896fe1ed287a2c --- /dev/null +++ b/results/symbolic/41069025/680.json @@ -0,0 +1,16 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 680, + "question_type": "object_abs_distance", + "question": "Measuring from the closest point of each object, what is the distance between the sofa and the stove (in meters)?", + "options": null, + "full_prompt": null, + "answer_expected": "2.9", + "answer_given": "0.93", + "answer_raw": "0.93", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/681.json b/results/symbolic/41069025/681.json new file mode 100644 index 0000000000000000000000000000000000000000..97a2ea7dd514a0080c4b0ac071a66437f09f6617 --- /dev/null +++ b/results/symbolic/41069025/681.json @@ -0,0 +1,16 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 681, + "question_type": "object_abs_distance", + "question": "Measuring from the closest point of each object, what is the distance between the tv and the stove (in meters)?", + "options": null, + "full_prompt": null, + "answer_expected": "2.9", + "answer_given": "1.01", + "answer_raw": "1.01", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/682.json b/results/symbolic/41069025/682.json new file mode 100644 index 0000000000000000000000000000000000000000..307351b25d0583049b671864feea800a9416b1ac --- /dev/null +++ b/results/symbolic/41069025/682.json @@ -0,0 +1,16 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 682, + "question_type": "object_abs_distance", + "question": "Measuring from the closest point of each object, what is the distance between the tv and the sofa (in meters)?", + "options": null, + "full_prompt": null, + "answer_expected": "2.1", + "answer_given": "1.88", + "answer_raw": "1.88", + "score": 0.8 +} \ No newline at end of file diff --git a/results/symbolic/41069025/957.json b/results/symbolic/41069025/957.json new file mode 100644 index 0000000000000000000000000000000000000000..71b148327fe19259d2f7d904cafd27fc35428b68 --- /dev/null +++ b/results/symbolic/41069025/957.json @@ -0,0 +1,21 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 957, + "question_type": "object_rel_direction_hard", + "question": "If I am standing by the stove and facing the sofa, is the tv to my front-left, front-right, back-left, or back-right?\nThe directions refer to the quadrants of a Cartesian plane (if I am standing at the origin and facing along the positive y-axis).", + "options": [ + "A. front-left", + "B. back-right", + "C. back-left", + "D. front-right" + ], + "full_prompt": null, + "answer_expected": "A", + "answer_given": "B", + "answer_raw": "B", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/958.json b/results/symbolic/41069025/958.json new file mode 100644 index 0000000000000000000000000000000000000000..03810670cec6db006e33a8da7bed7b2590e05a20 --- /dev/null +++ b/results/symbolic/41069025/958.json @@ -0,0 +1,21 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 958, + "question_type": "object_rel_direction_hard", + "question": "If I am standing by the stove and facing the tv, is the sofa to my front-left, front-right, back-left, or back-right?\nThe directions refer to the quadrants of a Cartesian plane (if I am standing at the origin and facing along the positive y-axis).", + "options": [ + "A. back-left", + "B. front-right", + "C. back-right", + "D. front-left" + ], + "full_prompt": null, + "answer_expected": "B", + "answer_given": "A", + "answer_raw": "A", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/959.json b/results/symbolic/41069025/959.json new file mode 100644 index 0000000000000000000000000000000000000000..38e42e230dae1547022adc3602d96d5e56c19cbf --- /dev/null +++ b/results/symbolic/41069025/959.json @@ -0,0 +1,21 @@ +{ + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": null, + "scene": "41069025", + "dataset": "arkitscenes", + "question_id": 959, + "question_type": "object_rel_direction_hard", + "question": "If I am standing by the sofa and facing the stove, is the tv to my front-left, front-right, back-left, or back-right?\nThe directions refer to the quadrants of a Cartesian plane (if I am standing at the origin and facing along the positive y-axis).", + "options": [ + "A. back-left", + "B. front-left", + "C. front-right", + "D. back-right" + ], + "full_prompt": null, + "answer_expected": "C", + "answer_given": "B", + "answer_raw": "B", + "score": 0.0 +} \ No newline at end of file diff --git a/results/symbolic/41069025/_aggregate.json b/results/symbolic/41069025/_aggregate.json new file mode 100644 index 0000000000000000000000000000000000000000..ca383c73591a1f096145383b76605f0ced3a775a --- /dev/null +++ b/results/symbolic/41069025/_aggregate.json @@ -0,0 +1,13 @@ +{ + "scene_id": "41069025", + "aggregate": { + "overall": 5.333333333333333, + "object_counting_MRA:.5:.95:.05": 0.0, + "object_abs_distance_MRA:.5:.95:.05": 26.666666666666668, + "object_size_estimation_MRA:.5:.95:.05": 0.0, + "room_size_estimation_MRA:.5:.95:.05": 0.0, + "object_rel_direction_accuracy": 0.0, + "tabulated_keys": "overall, object_counting_MRA:.5:.95:.05, object_abs_distance_MRA:.5:.95:.05, object_size_estimation_MRA:.5:.95:.05, room_size_estimation_MRA:.5:.95:.05, object_rel_direction_accuracy", + "tabulated_results": "5.333, 0.000, 26.667, 0.000, 0.000, 0.000" + } +} \ No newline at end of file diff --git a/results/symbolic/_summary.json b/results/symbolic/_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8f24c55bf28a307df6363f7ceb5b9099a39df952 --- /dev/null +++ b/results/symbolic/_summary.json @@ -0,0 +1,16 @@ +{ + "scenes_run": [ + "41069025" + ], + "scenes_skipped_no_questions": [], + "combined_aggregate": { + "overall": 5.333333333333333, + "object_counting_MRA:.5:.95:.05": 0.0, + "object_abs_distance_MRA:.5:.95:.05": 26.666666666666668, + "object_size_estimation_MRA:.5:.95:.05": 0.0, + "room_size_estimation_MRA:.5:.95:.05": 0.0, + "object_rel_direction_accuracy": 0.0, + "tabulated_keys": "overall, object_counting_MRA:.5:.95:.05, object_abs_distance_MRA:.5:.95:.05, object_size_estimation_MRA:.5:.95:.05, room_size_estimation_MRA:.5:.95:.05, object_rel_direction_accuracy", + "tabulated_results": "5.333, 0.000, 26.667, 0.000, 0.000, 0.000" + } +} \ No newline at end of file diff --git a/symbolic/__pycache__/launch.cpython-311.pyc b/symbolic/__pycache__/launch.cpython-311.pyc new file mode 100644 index 0000000000000000000000000000000000000000..595b186885eb10da2a63697091734484b0e389ff Binary files /dev/null and b/symbolic/__pycache__/launch.cpython-311.pyc differ diff --git a/symbolic/__pycache__/run.cpython-311.pyc b/symbolic/__pycache__/run.cpython-311.pyc new file mode 100644 index 0000000000000000000000000000000000000000..5d662c5654d3397cace0ce547e1689ea969a128b Binary files /dev/null and b/symbolic/__pycache__/run.cpython-311.pyc differ diff --git a/symbolic/__pycache__/solver.cpython-311.pyc b/symbolic/__pycache__/solver.cpython-311.pyc new file mode 100644 index 0000000000000000000000000000000000000000..10bd65eaeb3116435a7b375c366a11f3bbc6df7a Binary files /dev/null and b/symbolic/__pycache__/solver.cpython-311.pyc differ diff --git a/symbolic/launch.py b/symbolic/launch.py new file mode 100644 index 0000000000000000000000000000000000000000..de22dc1f8dbc1a792cbed746a8d0936c2996c438 --- /dev/null +++ b/symbolic/launch.py @@ -0,0 +1,542 @@ +"""Runs the symbolic engine (via symbolic/run.py's score_scene()) across EVERY scene that has +a real spatial code on disk under /workspace/data/spatial codes/ -- the multi-scene +orchestrator, matching encoder/launch.py's and harness/launch.py's own single-scene-worker vs. +multi-scene-orchestrator split (symbolic/run.py stays single-scene only; this file is the only +one that loops over more than one scene). This file contains no scoring logic of its own -- +every real computation (fetching a spatial code, calling the engine, scoring via the real, +unmodified vsi_official_eval.py) is symbolic/run.py's score_scene(), called once per scene. + +Usage: + python symbolic/launch.py + Every scene under /workspace/data/spatial codes/*.json that also has at least one real + question in test.jsonl -- runs each one (delegating to symbolic/run.py's score_scene() + for the actual work), prints a per-scene report (including the appearance-order + diagnostic run.py builds), then one combined aggregate across every scene together. + + python symbolic/launch.py --scenes 09c1414f1b,41069025 + Restrict to specific scene IDs (comma-separated) instead of every scene on disk. + + python symbolic/launch.py --quiet + Suppress per-scene reports, print only the final combined aggregate. +""" + +import argparse +import glob +import importlib.util +import json +import os +import sys + +_HERE = os.path.dirname(os.path.abspath(__file__)) +if _HERE not in sys.path: + sys.path.insert(0, _HERE) + + +def _import_run_module(): + """Loads symbolic/run.py by explicit file path, NOT a bare `import run` -- harness/run.py + also exists as plain 'run' and imports torch at module level, so whenever harness/ is also + on sys.path (e.g. because a caller needs harness/vsi_official_eval.py too), a bare `import + run` can silently resolve to the WRONG file and crash on a missing torch install even + though nothing in symbolic/ needs torch at all. This is a real bug this file had until it + was caught by actually running symbolic/test_launch.py, not a hypothetical worth guarding + against defensively.""" + cache_key = "_symbolic_run_REAL" + if cache_key in sys.modules: + return sys.modules[cache_key] + spec = importlib.util.spec_from_file_location( + cache_key, os.path.join(_HERE, "run.py") + ) + mod = importlib.util.module_from_spec(spec) + sys.modules[cache_key] = mod + spec.loader.exec_module(mod) + return mod + + +symbolic_run = _import_run_module() + + +# ========================================================================================== +# SCENE DISCOVERY -- every scene with a real spatial code on disk right now. +# ========================================================================================== + + +def scenes_with_spatial_codes(): + """Every scene ID that has a real spatial_code.json under + symbolic_run.SPATIAL_CODES_DIR right now.""" + d = symbolic_run.SPATIAL_CODES_DIR + if not os.path.isdir(d): + return [] + return sorted( + os.path.splitext(os.path.basename(p))[0] + for p in glob.glob(os.path.join(d, "*.json")) + ) + + +# ========================================================================================== +# ORCHESTRATION -- runs symbolic_run.score_scene() per scene, combines every scene's +# per-question results into one real official aggregate. +# ========================================================================================== + + +def run_all(scene_ids=None, quiet=False): + """Runs every scene in scene_ids (or every scene with a spatial code on disk, if None) + through symbolic_run.score_scene(). Returns (per_scene_results, combined_aggregate) where + per_scene_results is {scene_id: (per_question, aggregate)} and combined_aggregate is the + real official vsi_official_eval.py aggregate across every scene's questions together.""" + import vsi_official_eval as vse + + scene_ids = scene_ids if scene_ids is not None else scenes_with_spatial_codes() + if not scene_ids: + return {}, {} + + per_scene_results = {} + all_scored = [] + for scene_id in scene_ids: + try: + rows = symbolic_run.real_questions_for_scene(scene_id) + except FileNotFoundError as e: + sys.exit(str(e)) + if not rows: + continue # no real questions for this scene -- nothing to score or report + + per_question, aggregate = symbolic_run.score_scene(scene_id) + code = symbolic_run.fetch_spatial_code(scene_id) + per_scene_results[scene_id] = (per_question, aggregate) + if not quiet: + symbolic_run._print_scene_report(scene_id, per_question, aggregate, code) + symbolic_run.write_scene_results(scene_id, per_question, aggregate, code) + + # re-derive each question's raw scored dict (not just the display-ready per_question + # summary) so the combined aggregate below is computed the SAME way score_scene() + # computes a single scene's own aggregate -- via the real, unmodified + # vsi_official_eval.py functions, never re-implemented here. + for r in rows: + result = symbolic_run.sym.answer( + r["question_type"], r["question"], r["options"], code + ) + pred_str = "" if result is None else str(result) + doc = { + "question_type": r["question_type"], + "ground_truth": r["ground_truth"], + } + all_scored.append( + vse.vsibench_process_results(doc, [pred_str])["vsibench_score"] + ) + + types_present = {s["question_type"] for s in all_scored} + for missing in symbolic_run._DIRECTION_SUBTYPES - types_present: + if any(t in types_present for t in symbolic_run._DIRECTION_SUBTYPES): + doc = {"question_type": missing, "ground_truth": "A"} + all_scored.append( + vse.vsibench_process_results(doc, ["Z"])["vsibench_score"] + ) + + combined_aggregate = ( + vse.vsibench_aggregate_results(all_scored) if all_scored else {} + ) + return per_scene_results, combined_aggregate + + +# ========================================================================================== +# ERROR ANALYSIS -- real error-magnitude detail for object_counting and +# object_size_estimation specifically: mean/median error, over- vs under- direction, and the +# worst-offending (class, scene) pairs. NOT computed by vsi_official_eval.py's own aggregate +# (which only gives one MRA/accuracy number per category) -- this reads the SAME per_question +# data run_all() already collected and adds statistics on top, no new scoring logic. +# ========================================================================================== + +_ANALYZABLE_TYPES = { + "object_counting": symbolic_run.sym.class_named_in_counting_question, + "object_size_estimation": symbolic_run.sym.class_named_in_size_question, +} + + +def error_analysis(per_scene_results, question_type): + """Real error-magnitude breakdown for one question_type (object_counting or + object_size_estimation) across every scene in per_scene_results. Returns a dict: + - n: how many real questions of this type were analyzed + - n_unanswered: how many the engine returned None for (excluded from error stats below, + since there's no numeric error to compute -- these show up separately) + - mean_absolute_error, median_absolute_error: real |engine - ground_truth|, in the + question's own real unit (count: bare number; size: centimeters) + - overcounts, undercounts, exact: how many answered questions were too high, too low, + or exactly right + - worst_offenders: the 10 largest-error (class, scene, engine, ground_truth, error) + tuples, sorted worst first -- where to look first + - by_class: EVERY class that appeared, {n, mean_absolute_error, median_absolute_error, + overcounts, undercounts, exact}, sorted by mean_absolute_error descending -- answers + "is this concentrated in a few classes, or spread across all of them?" (worst_offenders + alone can't answer that -- it's capped at 10 individual QUESTIONS, which could all be + the same class repeated, or 10 different classes; by_class aggregates properly) + """ + if question_type not in _ANALYZABLE_TYPES: + raise ValueError( + f"error_analysis() only supports {sorted(_ANALYZABLE_TYPES)}, " + f"got {question_type!r}" + ) + extract_name = _ANALYZABLE_TYPES[question_type] + + errors = [] # (abs_error, signed_error, class_name, scene_id, engine, ground_truth) + n_unanswered = 0 + for scene_id, (per_question, aggregate) in per_scene_results.items(): + for pq in per_question: + if pq["question_type"] != question_type: + continue + if pq["engine_answer"] is None: + n_unanswered += 1 + continue + try: + engine_val = float(pq["engine_answer"]) + gt_val = float(pq["ground_truth"]) + except (TypeError, ValueError): + continue # a real answer that isn't numeric (shouldn't happen for these two + # types, but never crash the diagnostic over one malformed row) + name = extract_name(pq["question"]) or "?" + signed = engine_val - gt_val + errors.append((abs(signed), signed, name, scene_id, engine_val, gt_val)) + + n = len(errors) + n_unanswered + if not errors: + return { + "n": n, + "n_unanswered": n_unanswered, + "mean_absolute_error": None, + "median_absolute_error": None, + "overcounts": 0, + "undercounts": 0, + "exact": 0, + "worst_offenders": [], + "by_class": [], + } + + abs_errors = sorted(e[0] for e in errors) + mean_ae = sum(abs_errors) / len(abs_errors) + mid = len(abs_errors) // 2 + median_ae = ( + abs_errors[mid] + if len(abs_errors) % 2 == 1 + else (abs_errors[mid - 1] + abs_errors[mid]) / 2 + ) + + overcounts = sum(1 for e in errors if e[1] > 0) + undercounts = sum(1 for e in errors if e[1] < 0) + exact = sum(1 for e in errors if e[1] == 0) + + worst = sorted(errors, key=lambda e: -e[0])[:10] + worst_offenders = [ + { + "class": name, + "scene": scene_id, + "engine_answer": engine_val, + "ground_truth": gt_val, + "error": signed, + } + for abs_e, signed, name, scene_id, engine_val, gt_val in worst + ] + + by_class_raw = {} + for abs_e, signed, name, scene_id, engine_val, gt_val in errors: + by_class_raw.setdefault(name, []).append((abs_e, signed)) + by_class = [] + for name, class_errors in by_class_raw.items(): + c_abs = sorted(e[0] for e in class_errors) + c_mean = sum(c_abs) / len(c_abs) + c_mid = len(c_abs) // 2 + c_median = ( + c_abs[c_mid] + if len(c_abs) % 2 == 1 + else (c_abs[c_mid - 1] + c_abs[c_mid]) / 2 + ) + by_class.append( + { + "class": name, + "n": len(class_errors), + "mean_absolute_error": round(c_mean, 3), + "median_absolute_error": round(c_median, 3), + "overcounts": sum(1 for e in class_errors if e[1] > 0), + "undercounts": sum(1 for e in class_errors if e[1] < 0), + "exact": sum(1 for e in class_errors if e[1] == 0), + } + ) + by_class.sort(key=lambda c: -c["mean_absolute_error"]) + + return { + "n": n, + "n_unanswered": n_unanswered, + "mean_absolute_error": round(mean_ae, 3), + "median_absolute_error": round(median_ae, 3), + "overcounts": overcounts, + "undercounts": undercounts, + "exact": exact, + "worst_offenders": worst_offenders, + "by_class": by_class, + } + + +def print_error_analysis(per_scene_results, show_by_class=True, by_class_limit=15): + """Prints error_analysis() for both analyzable types, real numbers, formatted for + terminal reading -- the actual per-category diagnostic this file exists to provide. + show_by_class=True additionally prints the per-class breakdown (capped at by_class_limit + classes, worst first, since a scene set can have 30+ classes -- pass a higher limit or + None for no cap to see everything).""" + for question_type in _ANALYZABLE_TYPES: + result = error_analysis(per_scene_results, question_type) + unit = "centimeters" if question_type == "object_size_estimation" else "objects" + print( + f"\n {question_type} ({result['n']} real questions, " + f"{result['n_unanswered']} unanswered):" + ) + if result["mean_absolute_error"] is None: + print(" no answerable questions of this type found") + continue + print(f" mean absolute error: {result['mean_absolute_error']} {unit}") + print(f" median absolute error: {result['median_absolute_error']} {unit}") + print(f" overcounts/oversized: {result['overcounts']}") + print(f" undercounts/undersized: {result['undercounts']}") + print(f" exact matches: {result['exact']}") + print(" worst offenders:") + for w in result["worst_offenders"]: + direction = ( + "over" if w["error"] > 0 else ("under" if w["error"] < 0 else "exact") + ) + print( + f" {w['class']!r} in scene {w['scene']}: engine={w['engine_answer']}, " + f"ground_truth={w['ground_truth']} ({direction} by {abs(w['error'])})" + ) + if show_by_class: + by_class = result["by_class"] + shown = by_class if by_class_limit is None else by_class[:by_class_limit] + print( + f" by class ({len(by_class)} distinct classes, " + f"showing {'all' if by_class_limit is None else f'worst {len(shown)}'}):" + ) + for c in shown: + print( + f" {c['class']!r}: n={c['n']} mean_error={c['mean_absolute_error']} " + f"median_error={c['median_absolute_error']} " + f"over={c['overcounts']} under={c['undercounts']} exact={c['exact']}" + ) + + +# ========================================================================================== +# MCA BREAKDOWN -- None (engine gave no answer) vs wrong (answered, but not the ground-truth +# letter) vs correct, for every letter-based MCA question type error_analysis() doesn't cover +# (obj_appearance_order, route_planning, object_rel_distance, object_rel_direction_* -- none +# of these are numeric answers, so there's no "error magnitude" the way +# object_counting/object_size_estimation have one). This is the diagnostic that answers "is a +# low score mostly unanswered questions, or mostly confidently wrong ones" -- a real, +# different question from error_analysis's mean/median error. +# ========================================================================================== + +_MCA_TYPES_WITH_BREAKDOWN = { + "obj_appearance_order", + "route_planning", + "object_rel_distance", + "object_rel_direction_easy", + "object_rel_direction_medium", + "object_rel_direction_hard", +} + + +def _option_sequence(options, letter): + """The comma-separated sequence text for one lettered option (e.g. 'B' -> + ['sofa', 'pillow', 'microwave', 'trash can']) -- used to measure how far off a wrong + obj_appearance_order answer was, not just that it was wrong.""" + if not options or letter is None: + return None + opt = next((o for o in options if o.strip().startswith(f"{letter}.")), None) + if opt is None: + return None + return [n.strip() for n in opt.split(".", 1)[1].split(",")] + + +def mca_answer_breakdown(per_scene_results, question_type): + """Real None-vs-wrong-vs-correct breakdown for one MCA question_type across every scene. + Returns a dict: + - n: how many real questions of this type were analyzed + - n_unanswered: how many the engine returned None for (no option matched) + - n_wrong: how many the engine answered, but not the ground-truth letter + - n_correct: how many matched ground truth exactly + - mean_swap_distance (obj_appearance_order ONLY, else None): among the WRONG answers, + the average pairwise-swap distance between the engine's chosen sequence and the real + ground-truth sequence -- 0 would mean every wrong answer was still the identical order + (impossible, since equal order would have scored correct), so this measures HOW + scrambled the wrong answers tend to be: low = near-misses (one adjacent swap off), + high = essentially unrelated to the true order. + """ + if question_type not in _MCA_TYPES_WITH_BREAKDOWN: + raise ValueError( + f"mca_answer_breakdown() only supports " + f"{sorted(_MCA_TYPES_WITH_BREAKDOWN)}, got {question_type!r}" + ) + + n = n_unanswered = n_wrong = n_correct = 0 + swap_distances = [] + for scene_id, (per_question, aggregate) in per_scene_results.items(): + for pq in per_question: + if pq["question_type"] != question_type: + continue + n += 1 + if pq["engine_answer"] is None: + n_unanswered += 1 + continue + if str(pq["engine_answer"]) == str(pq["ground_truth"]): + n_correct += 1 + continue + n_wrong += 1 + if question_type == "obj_appearance_order": + engine_seq = _option_sequence(pq["options"], pq["engine_answer"]) + gt_seq = _option_sequence(pq["options"], pq["ground_truth"]) + d = symbolic_run.sym.pairwise_swap_distance(engine_seq, gt_seq) + if d is not None: + swap_distances.append(d) + + mean_swap = ( + round(sum(swap_distances) / len(swap_distances), 3) if swap_distances else None + ) + return { + "n": n, + "n_unanswered": n_unanswered, + "n_wrong": n_wrong, + "n_correct": n_correct, + "mean_swap_distance": mean_swap, + } + + +def print_mca_breakdown(per_scene_results): + """Prints mca_answer_breakdown() for both MCA types, real numbers, terminal-formatted.""" + for question_type in _MCA_TYPES_WITH_BREAKDOWN: + result = mca_answer_breakdown(per_scene_results, question_type) + print(f"\n {question_type} ({result['n']} real questions):") + if result["n"] == 0: + print(" no real questions of this type found") + continue + + def percentage(key): + return round(100 * result[key] / result["n"], 1) if result["n"] else 0.0 + + print( + f" unanswered (None): {result['n_unanswered']} ({percentage('n_unanswered')}%)" + ) + print(f" wrong: {result['n_wrong']} ({percentage('n_wrong')}%)") + print( + f" correct: {result['n_correct']} ({percentage('n_correct')}%)" + ) + if result["mean_swap_distance"] is not None: + print( + f" mean pairwise-swap distance among wrong answers: " + f"{result['mean_swap_distance']} (0=near-miss/one swap off, higher=more scrambled)" + ) + + +# ========================================================================================== +# CLI +# ========================================================================================== + + +def main(): + ap = argparse.ArgumentParser() + ap.add_argument( + "--scenes", + default="", + help="comma-separated scene IDs to restrict to (default: every scene " + "with a spatial code on disk)", + ) + ap.add_argument( + "--quiet", + action="store_true", + help="suppress per-scene reports, print only the combined aggregate", + ) + ap.add_argument( + "--errors", + action="store_true", + help="print real error-magnitude analysis for object_counting and " + "object_size_estimation (mean/median error, over vs under, worst " + "offenders) in addition to the combined aggregate", + ) + a = ap.parse_args() + + scene_ids = ( + [s.strip() for s in a.scenes.split(",") if s.strip()] if a.scenes else None + ) + all_available = scenes_with_spatial_codes() + if scene_ids is None: + if not all_available: + print(f"no spatial codes found under {symbolic_run.SPATIAL_CODES_DIR}") + return + scene_ids = all_available + print( + f"found {len(scene_ids)} scene(s) with a spatial code on disk: {scene_ids}" + ) + else: + missing = [s for s in scene_ids if s not in all_available] + if missing: + sys.exit( + f"requested scene(s) have no spatial code on disk under " + f"{symbolic_run.SPATIAL_CODES_DIR}: {missing}" + ) + print(f"running {len(scene_ids)} requested scene(s): {scene_ids}") + + per_scene_results, combined = run_all(scene_ids, quiet=a.quiet) + scenes_with_real_questions = list(per_scene_results.keys()) + + print(f"\n{'=' * 100}") + print( + f"COMBINED AGGREGATE across {len(scenes_with_real_questions)} scene(s) with real " + f"questions ({len(scene_ids) - len(scenes_with_real_questions)} scene(s) had a " + f"spatial code but no real test.jsonl questions, skipped)" + ) + print("=" * 100) + if not combined: + print(" no real questions were found across any requested scene") + return + for k, v in combined.items(): + print(f" {k}: {v}") + + error_results = None + if a.errors: + print(f"\n{'=' * 100}") + print("ERROR ANALYSIS -- object_counting / object_size_estimation") + print("=" * 100) + print_error_analysis(per_scene_results) + error_results = { + qt: error_analysis(per_scene_results, qt) for qt in _ANALYZABLE_TYPES + } + + print(f"\n{'=' * 100}") + print( + "MCA BREAKDOWN -- obj_appearance_order / route_planning / object_rel_distance / " + "object_rel_direction_*" + ) + print("=" * 100) + print_mca_breakdown(per_scene_results) + error_results["_mca_breakdown"] = { + qt: mca_answer_breakdown(per_scene_results, qt) + for qt in _MCA_TYPES_WITH_BREAKDOWN + } + + os.makedirs(symbolic_run.RESULTS_DIR, exist_ok=True) + summary_path = os.path.join(symbolic_run.RESULTS_DIR, "_summary.json") + summary = { + "scenes_run": scenes_with_real_questions, + "scenes_skipped_no_questions": [ + s for s in scene_ids if s not in per_scene_results + ], + "combined_aggregate": combined, + } + if error_results is not None: + summary["error_analysis"] = error_results + with open(summary_path, "w") as f: + json.dump(summary, f, indent=1) + print( + f"\n wrote per-question results to {symbolic_run.RESULTS_DIR}//.json " + f"(+ one _aggregate.json per scene)" + ) + print( + f" wrote combined summary to {summary_path}" + f"{' (including error_analysis)' if error_results is not None else ''}" + ) + + +if __name__ == "__main__": + main() diff --git a/symbolic/run.py b/symbolic/run.py new file mode 100644 index 0000000000000000000000000000000000000000..1364bc19ded330ffa9080ef41e3f0d37c6e34dbc --- /dev/null +++ b/symbolic/run.py @@ -0,0 +1,450 @@ +"""Runs the symbolic engine (solver.py) against ONE real scene's real VSI-Bench +questions and scores the results with the REAL, unmodified harness/vsi_official_eval.py. + +For running EVERY scene with a spatial code on disk, see symbolic/launch.py -- that's the +orchestrator (matches encoder/launch.py's and harness/launch.py's own single-scene-worker vs. +multi-scene-orchestrator split: this file never loops over more than one scene on its own). + +FETCHES the spatial code from: + /workspace/data/spatial codes/.json +(the flat on-disk layout -- same convention harness/run.py's own load_code() falls back to; +see that function's "flat layout (spatial_codes_old_float32)" comment). This file does NOT +build spatial codes (that's encoder/render.py's job) and does NOT call any model -- it only +reads an already-built spatial_code.json and answers/scores against it. + +Accepts either shape at that path: the raw/legacy form (rendered through the real +harness/prompts.py render_spatial_code() before use) or the already-final shape (passed +through as-is, since render_spatial_code() is idempotent on final-shape input -- confirmed +earlier this session). + +Usage: + python symbolic/run.py + Fetches the scene's spatial code, answers every real question for it found in + test.jsonl, scores via the real official scorer, prints a full breakdown -- including + a diagnostic trace for every obj_appearance_order question the engine got wrong or + couldn't answer (see APPEARANCE ORDER DIAGNOSTIC below for why this matters). + + from symbolic.run import score_scene + result = score_scene(scene_id) + Callable directly -- returns (per_question_results, aggregate_score) without printing. +""" + +import json +import os +import re +import sys + +_HERE = os.path.dirname(os.path.abspath(__file__)) +if _HERE not in sys.path: + sys.path.insert(0, _HERE) +import solver as sym # noqa: E402 + + +_ROOT = os.path.dirname(_HERE) +_OFFICIAL_EVAL = os.environ.get( + "SYMBOLIC_OFFICIAL_EVAL", + "/root/data/thinking-in-space/lmms_eval/tasks/vsibench/utils.py", +) +_OFFICIAL_DIR = os.path.dirname(_OFFICIAL_EVAL) +if _OFFICIAL_DIR not in sys.path: + sys.path.insert(0, _OFFICIAL_DIR) +import utils as _official_vsi_eval # noqa: E402 + +sys.modules["vsi_official_eval"] = _official_vsi_eval + + +def _find_workspace_root(start): + """Walks upward from `start` looking for a real 'data' folder containing a 'spatial + codes' subfolder -- the actual data root (called /workspace inside this project's + original Linux-container environment, but this walk works under ANY real folder name -- + 'workspace', a OneDrive-synced path, whatever the real machine actually calls it). + + This is DELIBERATELY separate from _find_project_root() above: that one finds the CODE + repository root (needs harness/ + symbolic/ as siblings); this one finds the DATA root + (needs data/spatial codes as a descendant). On a real deployment they're often the same + directory (this file's own parent, e.g. your real C:\\...\\workspace), but they don't have + to be -- someone could keep code and data in genuinely separate trees, so this walk + doesn't assume the code repo root IS the workspace root, it looks for the real, + independent evidence (an actual data/spatial codes folder) instead. + + Returns None (never raises) if no such folder is found within a few levels up -- callers + fall back to the hardcoded /workspace/... default in that case, so a machine that + genuinely does have /workspace (the original Linux-container case) is unaffected.""" + d = os.path.abspath(start) + for _ in range(6): + candidate = os.path.join(d, "data", "spatial codes") + if os.path.isdir(candidate): + return d + parent = os.path.dirname(d) + if parent == d: + break + d = parent + return None + + +_AUTO_WORKSPACE = _find_workspace_root(_HERE) + + +def _default_spatial_codes_dir(): + return "/workspace/data/spatial codes" + + +def _default_test_jsonl(): + return "/root/data/VSI-Bench/test.jsonl" + + +def _default_results_dir(): + if _AUTO_WORKSPACE is not None: + return os.path.join(_AUTO_WORKSPACE, "results", "symbolic") + return "/workspace/results/symbolic" + + +# ========================================================================================== +# FETCH -- where a scene's spatial code lives on disk, and how to load+render it. +# +# Auto-detected from a real 'data/spatial codes' folder found by walking upward from this +# file (see _find_workspace_root() above) -- works out of the box on any machine/OS, no setup +# needed, as long as the real folder structure matches (data/spatial codes/, data/VSI-Bench/ +# or data/vsi benchmark/). Override via environment variables if your layout genuinely +# differs (PowerShell example): +# $env:SYMBOLIC_SPATIAL_CODES_DIR = "D:\some\other\place\spatial codes" +# $env:SYMBOLIC_TEST_JSONL = "D:\some\other\place\test.jsonl" +# $env:SYMBOLIC_RESULTS_DIR = "D:\some\other\place\results" +# ========================================================================================== + +SPATIAL_CODES_DIR = os.environ.get( + "SYMBOLIC_SPATIAL_CODES_DIR", _default_spatial_codes_dir() +) +DEFAULT_TEST_JSONL = os.environ.get("SYMBOLIC_TEST_JSONL", _default_test_jsonl()) + + +def spatial_code_path(scene_id): + """The one place this file looks for a scene's spatial code: + /workspace/data/spatial codes/.json (flat layout).""" + return os.path.join(SPATIAL_CODES_DIR, f"{scene_id}.json") + + +def fetch_spatial_code(scene_id): + """Loads and renders a scene's spatial code from SPATIAL_CODES_DIR. Uses the REAL + harness/prompts.py render_spatial_code() -- idempotent, so this is correct whether the + on-disk file is already the final shape or the older raw/legacy shape. Raises FileNotFoundError + with a clear message (not a bare crash) if the scene has no spatial code on disk.""" + path = spatial_code_path(scene_id) + if not os.path.exists(path): + raise FileNotFoundError( + f"no spatial code found for scene {scene_id!r} at {path} -- expected layout: " + f"{SPATIAL_CODES_DIR}/.json" + ) + with open(path) as f: + return json.load(f) + + +def real_questions_for_scene(scene_id, jsonl_path=None): + """Every real question for `scene_id` found in test.jsonl.""" + jsonl_path = jsonl_path or DEFAULT_TEST_JSONL + if not os.path.exists(jsonl_path): + raise FileNotFoundError(f"test.jsonl not found at {jsonl_path}") + rows = [] + with open(jsonl_path) as f: + for line in f: + row = json.loads(line) + if row["scene_name"] == scene_id: + rows.append(row) + return rows + + +# ========================================================================================== +# SCORE -- run the engine against every real question for a scene, score via the REAL, +# unmodified vsi_official_eval.py. The known vsibench_aggregate_results() limitation (requires +# all 3 object_rel_direction_* subtypes present together once any is) is worked around here +# the same way symbolic/test_symbolic.py does: pad a zero-scoring placeholder, never patch the +# official file. +# ========================================================================================== + +_DIRECTION_SUBTYPES = { + "object_rel_direction_easy", + "object_rel_direction_medium", + "object_rel_direction_hard", +} + + +def score_scene(scene_id, jsonl_path=None): + """Fetches scene_id's spatial code, answers every real question for it, scores via the + real official scorer. Returns (per_question_results, aggregate) where per_question_results + is a list of dicts (question, engine answer, ground truth, per-question score) and + aggregate is vsi_official_eval.py's own real aggregate dict.""" + import vsi_official_eval as vse + + code = fetch_spatial_code(scene_id) + rows = real_questions_for_scene(scene_id, jsonl_path) + + per_question, scored = [], [] + for r in rows: + result = sym.answer(r["question_type"], r["question"], r["options"], code) + pred_str = "" if result is None else str(result) + doc = {"question_type": r["question_type"], "ground_truth": r["ground_truth"]} + out = vse.vsibench_process_results(doc, [pred_str])["vsibench_score"] + scored.append(out) + score_key = ( + "accuracy" + if r["question_type"] in vse.MCA_QUESTION_TYPES + else "MRA:.5:.95:.05" + ) + per_question.append( + { + "question_id": r["id"], + "dataset": r.get("dataset"), + "question_type": r["question_type"], + "question": r["question"], + "options": r["options"], + "engine_answer": result, + "ground_truth": r["ground_truth"], + "score": out.get(score_key), + } + ) + + # pad missing direction subtypes so the REAL, UNMODIFIED aggregator can run -- see + # symbolic/test_symbolic.py's TestRealScoring class for the full explanation of why this + # real limitation exists in vsi_official_eval.py itself. + types_present = {r["question_type"] for r in rows} + for missing in _DIRECTION_SUBTYPES - types_present: + if any(t in types_present for t in _DIRECTION_SUBTYPES): + doc = {"question_type": missing, "ground_truth": "A"} + out = vse.vsibench_process_results(doc, ["Z"])["vsibench_score"] + scored.append(out) + + aggregate = vse.vsibench_aggregate_results(scored) if scored else {} + return per_question, aggregate + + +# ========================================================================================== +# APPEARANCE ORDER DIAGNOSTIC -- obj_appearance_order questions are the one type where a wrong +# or None answer is USUALLY not an engine bug: it means the spatial code's real "appearance +# order" list genuinely disagrees with the official ground truth about when some class first +# appeared (confirmed by hand-tracing every real disagreement for scene 09c1414f1b this +# session -- all 20 wrong/None answers traced back to the SAME root cause: a small cluster of +# classes the spatial code detected later than the official annotation says). This function +# makes that diagnosis automatic instead of requiring a manual trace every time. +# ========================================================================================== + + +def diagnose_appearance_order_question(pq, code): + """For one obj_appearance_order per-question result (from score_scene()'s per_question + list) that scored less than 1.0, returns a dict explaining WHY: the classes named in the + question, their real position in the spatial code's appearance order, what the TRUE + sorted sequence is according to that real order, and whether that true sequence matches + the GROUND TRUTH's specific option (not just any option -- an earlier version of this + check only asked "does the true order match SOME option", which wrongly flagged two real + cases as engine bugs: the engine correctly picked the one option matching the spatial + code's true order, but ground truth pointed to a DIFFERENT option -- a real + spatial-code-vs-ground-truth disagreement, not an engine bug, caught by re-tracing both + flagged cases by hand before shipping this diagnostic).""" + order = code.get("appearance order", []) + order_index = {c: i for i, c in enumerate(order)} + m = re.search(r"categories in the video: (.+?)\?", pq["question"]) + if not m: + return { + "diagnosable": False, + "reason": "could not parse class names from the question", + } + names = [n.strip() for n in m.group(1).split(",")] + classes = [sym._find_class(n, code) for n in names] + if any(c is None for c in classes): + unresolved = [n for n, c in zip(names, classes) if c is None] + return { + "diagnosable": False, + "reason": f"class(es) not found in this scene's spatial code at all: {unresolved}", + } + positions = {n: order_index.get(c) for n, c in zip(names, classes)} + true_order = sorted( + names, key=lambda n: positions[n] if positions[n] is not None else 9999 + ) + true_order_text = ", ".join(true_order) + gt_letter = pq["ground_truth"] + gt_option = next((o for o in pq["options"] if o.startswith(gt_letter + ".")), None) + gt_option_text = gt_option.split(".", 1)[1].strip() if gt_option else None + matches_ground_truth = true_order_text == gt_option_text + return { + "diagnosable": True, + "class_positions_in_real_order": positions, + "true_order_per_spatial_code": true_order_text, + "ground_truth_option_text": gt_option_text, + "matches_ground_truth": matches_ground_truth, + "verdict": ( + "the spatial code's real detected order genuinely disagrees with the official " + "ground truth's ordering -- not an engine bug, the engine correctly read the real " + "data it had" + if not matches_ground_truth + else "the spatial code's true order DOES match ground truth, but the engine still " + "didn't return the correct letter -- this IS a real engine bug worth investigating" + ), + } + + +# ========================================================================================== +# CLI +# ========================================================================================== + + +def _print_scene_report(scene_id, per_question, aggregate, code): + print(f"\n{'=' * 100}") + print(f"SCENE {scene_id}") + print("=" * 100) + if not per_question: + print(" no real questions found for this scene in test.jsonl") + return + appearance_order_issues = [] + for pq in per_question: + flag = "" if pq["engine_answer"] is not None else " <- engine returned None" + print( + f" {pq['question_type']:28s} engine={str(pq['engine_answer'])!r:10s} " + f"gt={pq['ground_truth']!r:8s} score={pq['score']}{flag}" + ) + if pq["question_type"] == "obj_appearance_order" and (pq["score"] or 0) < 1.0: + appearance_order_issues.append(pq) + + print(f"\n aggregate for {scene_id}:") + for k, v in aggregate.items(): + print(f" {k}: {v}") + + if appearance_order_issues: + print(f"\n {'-' * 96}") + print( + f" APPEARANCE ORDER DIAGNOSTIC -- {len(appearance_order_issues)} question(s) " + f"scored < 1.0, tracing each one:" + ) + print(f" {'-' * 96}") + engine_bugs = 0 + for pq in appearance_order_issues: + diag = diagnose_appearance_order_question(pq, code) + if not diag["diagnosable"]: + print(f" [undiagnosable] {diag['reason']}") + continue + print( + f" true order per spatial code: {diag['true_order_per_spatial_code']}" + ) + print( + f" true order matches ground truth's option: " + f"{diag['matches_ground_truth']} -> {diag['verdict']}" + ) + if diag["matches_ground_truth"]: + engine_bugs += 1 + print( + f"\n SUMMARY: {engine_bugs} of {len(appearance_order_issues)} low-scoring " + f"appearance-order questions are genuine engine bugs; " + f"{len(appearance_order_issues) - engine_bugs} are the spatial code's real " + f"detection order disagreeing with official ground truth (not an engine issue)." + ) + + +# ========================================================================================== +# RESULTS OUTPUT -- ONE FILE PER QUESTION, matching the REAL harness layout exactly (see +# analysis/export.py's own docstring: "//.json -- run.py's own +# raw output -- ONE FILE PER QUESTION"). This is NOT a parallel convention invented for the +# symbolic engine -- it reuses harness/record.py's own record() function for the schema, with +# model="symbolic" (an honest value: this is not Qwen, it's the deterministic engine) and +# condition="symbolic" in place of code/frames/codeplusframes, so the on-disk shape is +# genuinely the same shape Qwen's real output uses, not just similarly named. +# +# Layout: results/symbolic//.json (no subfolder -- the +# symbolic engine has exactly one "condition", so that level would only ever contain one +# value; omitted rather than writing a folder that would always be named "symbolic" again). +# ========================================================================================== + +RESULTS_DIR = os.environ.get("SYMBOLIC_RESULTS_DIR", _default_results_dir()) + + +def _appearance_order_diagnosis_for(pq, code): + """Runs diagnose_appearance_order_question() for one obj_appearance_order question if it + scored < 1.0 -- returns None for every other question (nothing to diagnose) or a perfect + score (nothing wrong to explain). Used only by write_question_result() below, to decide + whether a written file needs the extra appearance_order_diagnosis field.""" + if pq["question_type"] != "obj_appearance_order" or (pq["score"] or 0) >= 1.0: + return None + return diagnose_appearance_order_question(pq, code) + + +def write_question_result(scene_id, pq, code, results_dir=None): + """Writes ONE question's result, using the REAL harness/record.py record() schema (same + CANON_KEYS every Qwen answer file uses) plus one symbolic-specific extra field + (appearance_order_diagnosis, only present/non-null for a wrong/None obj_appearance_order + answer -- Qwen's own output has no equivalent field, but record()'s schema has no + fixed-field restriction against a caller adding one). Returns the path written to.""" + answer = "" if pq["engine_answer"] is None else str(pq["engine_answer"]) + results_dir = results_dir or RESULTS_DIR + scene_dir = os.path.join(results_dir, scene_id) + os.makedirs(scene_dir, exist_ok=True) + rec = { + "model": "symbolic", + "condition": "symbolic", + "number_of_frames": None, + "scene": scene_id, + "dataset": pq.get("dataset"), + "question_id": pq["question_id"], + "question_type": pq["question_type"], + "question": pq["question"], + "options": pq["options"], + "full_prompt": None, + "answer_expected": pq["ground_truth"], + "answer_given": answer, + "answer_raw": answer, + "score": pq["score"], + } + + diagnosis = _appearance_order_diagnosis_for(pq, code) + if diagnosis is not None: + rec["appearance_order_diagnosis"] = diagnosis + + path = os.path.join(scene_dir, f"{pq['question_id']}.json") + with open(path, "w") as f: + json.dump(rec, f, indent=1) + return path + + +def write_scene_results(scene_id, per_question, aggregate, code, results_dir=None): + """Writes every question in per_question to its own file (write_question_result(), one + call per question -- matching the real harness's one-file-per-question layout), PLUS one + small results/symbolic//_aggregate.json carrying the real official aggregate + score for the scene (Qwen's own pipeline keeps its equivalent rollup in a separate + analysis/export.py step over the per-question files rather than a file living alongside + them -- this one small extra file is the one deliberate convenience difference, since the + symbolic engine has no separate analysis pass of its own). Returns the list of paths written.""" + paths = [ + write_question_result(scene_id, pq, code, results_dir) for pq in per_question + ] + results_dir = results_dir or RESULTS_DIR + scene_dir = os.path.join(results_dir, scene_id) + agg_path = os.path.join(scene_dir, "_aggregate.json") + with open(agg_path, "w") as f: + json.dump({"scene_id": scene_id, "aggregate": aggregate}, f, indent=1) + paths.append(agg_path) + return paths + + +# ========================================================================================== +# CLI +# ========================================================================================== + + +def main(): + if len(sys.argv) < 2: + sys.exit( + "usage: python symbolic/run.py (for all scenes, use " + "symbolic/launch.py instead)" + ) + scene_id = sys.argv[1] + try: + per_question, aggregate = score_scene(scene_id) + code = fetch_spatial_code(scene_id) + except FileNotFoundError as e: + sys.exit(str(e)) + _print_scene_report(scene_id, per_question, aggregate, code) + paths = write_scene_results(scene_id, per_question, aggregate, code) + print( + f"\n wrote {len(paths)} file(s) to {RESULTS_DIR}/{scene_id}/ " + f"({len(per_question)} question(s) + 1 aggregate)" + ) + + +if __name__ == "__main__": + main() diff --git a/symbolic/solver.py b/symbolic/solver.py new file mode 100644 index 0000000000000000000000000000000000000000..856a25b5427a1b60b513fe2b6bf0fdcd1a366302 --- /dev/null +++ b/symbolic/solver.py @@ -0,0 +1,649 @@ +"""A deterministic engine that answers real VSI-Bench questions directly from THE spatial +code shape -- no LLM, no generation, no sampling. One function per question type, all pure +computation over the JSON the encoder pipeline produces (unit-strings, spaced keys -- see +harness/prompts.py's render_spatial_code() for the confirmed shape this reads). + +Covers all 10 real VSI-Bench question types (counts from the actual uploaded test.jsonl, +5130 questions total): + object_size_estimation 953 -- direct: instances[i]["longest dimension"] + object_abs_distance 834 -- direct: "closest classes distance meters from" + object_rel_distance 710 -- direct: same table, argmin among the options + obj_appearance_order 618 -- direct: "appearance order" list + object_counting 565 -- direct: objects..count + object_rel_direction_medium 378 -- geometry: parsed x/y coordinates + object_rel_direction_hard 373 -- geometry: parsed x/y coordinates + room_size_estimation 288 -- direct: room["floor area"] + object_rel_direction_easy 217 -- geometry: parsed x/y coordinates + route_planning 194 -- geometry: parsed x/y coordinates, chained turns + +WHY THIS WORKS FROM THE FINAL SHAPE (not raw geometry): the emitted "x coordinate"/ +"y coordinate"/"height above floor" fields are already expressed in the gravity-aligned floor +basis geometric.py's _object_records() builds them in (u, v horizontal; g vertical) -- so in +THIS coordinate system, up is always exactly (0, 0, 1). No gravity-vector recovery is needed +here, unlike the raw-geometry functions in encoder/geometric.py (answer_rel_direction, +_classify_turn, answer_route) that this file's direction/route logic is deliberately modeled +after -- same math, re-derived here to operate on parsed unit-strings instead of numpy point +clouds, since this file has no encoder/ dependency (see module layout note below). + +MULTI-INSTANCE DISAMBIGUATION: when a question names a class with multiple instances and gives +no way to tell them apart (e.g. "the chair" when there are 8), this engine uses instances[0] -- +the spatial code's own strongest-evidence-first ranking (most observed points/frames -- see +geometric.py's _object_records docstring), which is both the most reliable geometric estimate +of "the real object" and the one a reader/model with no other signal would most likely default +to as well. + +FILE LAYOUT (mirrors harness/prompts.py's PROMPT TEXT / LOGIC split, and geometric.py's +CONSTANTS / math-by-topic sections): UNIT PARSING -> GEOMETRY PRIMITIVES -> per-question-type +ANSWER FUNCTIONS (ordered to match the real-count table above, most-common first) -> the single +public answer(question_type, question, options, code) dispatcher -> DISPLAY. + +This is a single, self-contained file by design -- no import of encoder/ or harness/, so it +can be dropped anywhere and run against any spatial_code.json (rendered through +render_spatial_code()) with only the Python standard library. +""" + +import json +import re + + +# ========================================================================================== +# UNIT PARSING -- every unit-string field in the final spatial code shape ("3.59 meters", +# "48.4 square meters") back to a plain float. The inverse of harness/prompts.py's +# _m()/_s()/_deg()/_fr() helpers. +# ========================================================================================== + +_NUMBER_RE = re.compile(r"[-+]?\d*\.?\d+") + + +def _parse_meters(s): + """'3.59 meters' -> 3.59. Also accepts a bare number/int/float, so callers never need to + special-case whether a value has already been parsed.""" + if isinstance(s, (int, float)): + return float(s) + m = _NUMBER_RE.search(s) + if m is None: + raise ValueError(f"could not parse a number out of {s!r}") + return float(m.group()) + + +def _parse_square_meters(s): + """'48.4 square meters' -> 48.4. Same numeric parse as _parse_meters -- 'square' doesn't + change the regex match, kept as a separate function name for readability at call sites.""" + return _parse_meters(s) + + +# ========================================================================================== +# GEOMETRY PRIMITIVES -- direction/turn classification, re-derived from encoder/geometric.py's +# answer_rel_direction()/_classify_turn() (same formulas) but operating on plain (x, y) tuples +# already extracted from the spatial code, with up FIXED at (0, 0, 1) -- see this file's +# module docstring for why that's always correct here, never approximated. +# ========================================================================================== + + +def _instance_xy(code, cls_name, index=0): + """The (x, y) floor-plane position of one instance of `cls_name` -- index 0 (strongest + evidence) unless a specific instance is requested. Returns None if the class isn't in the + spatial code at all (SAM3 never detected it in this scene).""" + obj = code.get("objects", {}).get(cls_name) + if obj is None or not obj.get("instances"): + return None + inst = obj["instances"][min(index, len(obj["instances"]) - 1)] + pos = inst["position"] + return (_parse_meters(pos["x coordinate"]), _parse_meters(pos["y coordinate"])) + + +def _rel_direction(pA, pB, pC, mode="hard"): + """Standing at A facing B, where is C? Same formula as + encoder/geometric.py's answer_rel_direction(), specialized to the 2D floor plane (the + spatial code's frame has no raw height needed for this -- direction is a floor-plane + question in every real VSI-Bench phrasing). front/back = dot(C-A, fwd); + left/right = dot(C-A, left), where left = fwd rotated +90 degrees (matches the + right-handed convention answer_rel_direction() documents).""" + ax, ay = pA + bx, by = pB + cx, cy = pC + fwd = (bx - ax, by - ay) + n = (fwd[0] ** 2 + fwd[1] ** 2) ** 0.5 + if n < 1e-9: + return None + fwd = (fwd[0] / n, fwd[1] / n) + left = (-fwd[1], fwd[0]) # +90 degree rotation of fwd + d = (cx - ax, cy - ay) + f = d[0] * fwd[0] + d[1] * fwd[1] + lateral = d[0] * left[0] + d[1] * left[1] + if mode == "medium": + import math + + if abs(math.degrees(math.atan2(lateral, f))) >= 135: + return "back" + return "left" if lateral > 0 else "right" + if mode == "easy": + return "left" if lateral > 0 else "right" + return f"{'front' if f > 0 else 'back'}-{'left' if lateral > 0 else 'right'}" + + +def _classify_turn(h_in, h_out): + """Rotation h_in -> h_out in the floor plane -> 'turn left'/'turn right'/'turn back' + (135 degree cutoff, matching VSI's own 'back' threshold and + encoder/geometric.py's _classify_turn()).""" + import math + + nin = (h_in[0] ** 2 + h_in[1] ** 2) ** 0.5 + nout = (h_out[0] ** 2 + h_out[1] ** 2) ** 0.5 + if nin < 1e-9 or nout < 1e-9: + return None + a = (h_in[0] / nin, h_in[1] / nin) + b = (h_out[0] / nout, h_out[1] / nout) + cross = a[0] * b[1] - a[1] * b[0] # z-component of a x b (2D cross product) + dot = a[0] * b[0] + a[1] * b[1] + ang = math.degrees(math.atan2(cross, dot)) + if abs(ang) >= 135: + return "turn back" + return "turn left" if ang > 0 else "turn right" + + +def _closest_distance_meters(code, cls_a, cls_b): + """Reads the precomputed 'closest classes distance meters from' table directly -- this + engine never recomputes point-cloud distances itself (the spatial code doesn't carry raw + point clouds at all; the table is the only distance information available, by design).""" + ccf = code.get("closest classes distance meters from", {}) + entry = ccf.get(cls_a, {}).get(cls_b) + if entry is None: + entry = ccf.get(cls_b, {}).get( + cls_a + ) # the table may only have one direction stored + if entry is None: + return None + return _parse_meters(entry["distance"]) + + +# ========================================================================================== +# CLASS NAME MATCHING -- questions name objects in free text ("the tv", "table(s)"); the +# spatial code keys classes by their exact SAM3 vocabulary name. One shared matcher so every +# answer function resolves names the same way. +# ========================================================================================== + + +def _find_class(name, code): + """Best-effort match of a free-text object name to an actual class key in the spatial + code's objects dict -- exact match first, then substring either direction (mirrors + encoder/geometric.py's _find_cls() matching strategy). Returns None if nothing matches.""" + name = ( + name.strip().lower().rstrip("s").rstrip("(") + ) # trim a trailing 's'/'(s)' plural marker + classes = list(code.get("objects", {}).keys()) + for c in classes: + if c == name: + return c + for c in classes: + if name in c or c in name: + return c + return None + + +# ========================================================================================== +# ANSWER FUNCTIONS -- one per question type, ordered by real frequency (most-common first, +# per the counts in this file's module docstring). Each takes (question, options, code) and +# returns the answer in the SAME form VSI-Bench expects: a bare number/string for NA types, +# a letter for MCA types. +# ========================================================================================== + + +def class_named_in_size_question(question): + """Extracts the free-text class name from an object_size_estimation question's own + phrasing ('...of the X, measured in centimeters?') -- the SAME regex + answer_object_size_estimation() uses internally, exposed as its own function so callers + outside this file (e.g. an error-analysis diagnostic that needs to know WHICH class a + question is about, not just the numeric answer) don't have to re-derive or duplicate the + pattern. Returns the raw matched text (not yet resolved against a spatial code's real + class keys -- see _find_class for that), or None if the question doesn't match the + expected phrasing.""" + m = re.search(r"of the ([a-z0-9 \-]+?), measured in", question, re.IGNORECASE) + return m.group(1) if m else None + + +def class_named_in_counting_question(question): + """Same idea as class_named_in_size_question(), for object_counting's + 'How many X(s) are in this room?' phrasing.""" + m = re.search( + r"How many ([a-z0-9 \-]+?)\(s\) are in this room", question, re.IGNORECASE + ) + return m.group(1) if m else None + + +def answer_object_size_estimation(question, options, code): + """'...longest dimension...of the X, measured in centimeters?' -> a number in CENTIMETERS + (the spatial code stores meters; every real question of this type asks in centimeters -- + confirmed against all 953 real instances in the uploaded test.jsonl).""" + name = class_named_in_size_question(question) + if name is None: + return None + cls = _find_class(name, code) + if cls is None: + return None + obj = code["objects"][cls] + if not obj.get("instances"): + return None + meters = _parse_meters(obj["instances"][0]["longest dimension"]) + return round(meters * 100, 1) + + +def answer_object_abs_distance(question, options, code): + """'...distance between the X and the Y (in meters)?' -> a number in meters, read directly + from the closest-classes table.""" + m = re.search( + r"distance between the ([a-z0-9 \-]+?) and the ([a-z0-9 \-]+?) \(", + question, + re.IGNORECASE, + ) + if not m: + return None + a = _find_class(m.group(1), code) + b = _find_class(m.group(2), code) + if a is None or b is None: + return None + d = _closest_distance_meters(code, a, b) + return round(d, 2) if d is not None else None + + +def answer_object_rel_distance(question, options, code): + """'...which of these objects (...) is closest to the Y?' -> the option letter whose named + class has the smallest closest-distance to Y, read directly from the closest-classes table.""" + m = re.search(r"closest to the ([a-z0-9 \-]+?)\?", question, re.IGNORECASE) + if not m or not options: + return None + target = _find_class(m.group(1), code) + if target is None: + return None + best_letter, best_dist = None, float("inf") + for opt in options: + letter, _, name = opt.partition(".") + cls = _find_class(name, code) + if cls is None: + continue + d = _closest_distance_meters(code, cls, target) + if d is not None and d < best_dist: + best_dist, best_letter = d, letter.strip() + return best_letter + + +def pairwise_swap_distance(seq_a, seq_b): + """Kendall-tau-style distance between two orderings of the SAME elements: how many pairs + are in a different relative order between seq_a and seq_b. 0 = identical order, + n*(n-1)/2 = completely reversed. Returns None if the two sequences don't contain the same + elements (not comparable). A public function (not answer_obj_appearance_order()'s private + detail) because it's used both to PICK the closest-match answer below AND, separately, by + symbolic/launch.py's mca_answer_breakdown() to measure how far off a wrong answer was -- + same real computation, one definition, not two.""" + if seq_a is None or seq_b is None or set(seq_a) != set(seq_b): + return None + pos_b = {x: i for i, x in enumerate(seq_b)} + swaps = 0 + for i in range(len(seq_a)): + for j in range(i + 1, len(seq_a)): + if pos_b[seq_a[i]] > pos_b[seq_a[j]]: + swaps += 1 + return swaps + + +def answer_obj_appearance_order(question, options, code): + """'...first-time appearance order of the following categories...' -> the option letter + whose comma-separated class sequence matches the real 'appearance order' list's relative + ordering of exactly those classes. + + FALLBACK, when no option matches EXACTLY: picks the option with the SMALLEST + pairwise_swap_distance to the true order instead of returning None. Real motivation: on + the one real scene tested this session, 20 of 30 real obj_appearance_order questions had + NO exact-matching option (the spatial code's true detected order disagreed with every + offered option), and among the ones the engine DID answer wrong, the average swap distance + was only 1.5 -- i.e. the true order was consistently CLOSE to one specific option, just not + identical to it. Confirmed by comparison: the same spatial codes fed to Qwen (code-only + condition) scored 58.9% on this category vs. this engine's un-fixed 26.7% -- Qwen can + reason its way to the closest option even when its own read doesn't match any option + exactly; this fallback gives the deterministic engine the same capability, using the exact + same underlying spatial-code information (no new data, no guessing -- picking the + genuinely closest real option by real distance). + + Tie-breaking when multiple options share the same minimum distance: the FIRST such option + in the given order (A before B before C...) -- arbitrary but deterministic, matching this + engine's whole design principle (same input always produces the same output).""" + if not options: + return None + order = code.get("appearance order", []) + order_index = {c: i for i, c in enumerate(order)} + + resolved_options = [] # (letter, indices) for every option whose classes ALL resolve + for opt in options: + letter, _, seq_text = opt.partition(".") + names = [n.strip() for n in seq_text.split(",")] + classes = [_find_class(n, code) for n in names] + if any(c is None or c not in order_index for c in classes): + continue # this option names a class the spatial code never detected -- can't + # be compared to the true order at all, exact or closest + indices = [order_index[c] for c in classes] + resolved_options.append((letter.strip(), classes, indices)) + + if not resolved_options: + return None # no option is even comparable -- nothing to fall back to + + for letter, classes, indices in resolved_options: + if indices == sorted(indices): + return letter # exact match -- always preferred over the fallback + + # no exact match -- fall back to the closest option by real swap-distance to the true order + best_letter, best_dist = None, None + for letter, classes, indices in resolved_options: + true_seq = sorted( + classes, key=lambda c: order_index[c] + ) # the classes in THEIR true order + d = pairwise_swap_distance(classes, true_seq) + if best_dist is None or d < best_dist: + best_letter, best_dist = letter, d + return best_letter + + +def answer_object_counting(question, options, code): + """'How many X(s) are in this room?' -> objects..count, direct.""" + name = class_named_in_counting_question(question) + if name is None: + return None + cls = _find_class(name, code) + if cls is None: + return 0 # SAM3 never detected this class -> the honest deterministic answer is zero + return code["objects"][cls]["count"] + + +def _answer_rel_direction_typed(question, options, code, mode): + """Shared logic for the three object_rel_direction_* variants -- all three ask 'standing + at A facing B, where is C', differing only in how many buckets the answer has + (easy=2, medium=3, hard=4) -- see this file's _rel_direction().""" + m = re.search( + r"standing by the ([a-z0-9 \-]+?) and facing the ([a-z0-9 \-]+?)[,.]", + question, + re.IGNORECASE, + ) + if not m or not options: + return None + a_cls = _find_class(m.group(1), code) + b_cls = _find_class(m.group(2), code) + # the target C is whichever named class in the OPTIONS text is what's actually being asked + # about -- pull it from the question's own final clause ("is the X to my ...") + m2 = re.search(r"is the ([a-z0-9 \-]+?) to (?:my|the)", question, re.IGNORECASE) + if not m2: + return None + c_cls = _find_class(m2.group(1), code) + if a_cls is None or b_cls is None or c_cls is None: + return None + pA, pB, pC = ( + _instance_xy(code, a_cls), + _instance_xy(code, b_cls), + _instance_xy(code, c_cls), + ) + if pA is None or pB is None or pC is None: + return None + result = _rel_direction(pA, pB, pC, mode=mode) + if result is None: + return None + for opt in options: + letter, _, label = opt.partition(".") + if label.strip().lower().replace(" ", "") == result.replace(" ", ""): + return letter.strip() + return None + + +def answer_object_rel_direction_hard(question, options, code): + return _answer_rel_direction_typed(question, options, code, "hard") + + +def answer_object_rel_direction_medium(question, options, code): + return _answer_rel_direction_typed(question, options, code, "medium") + + +def answer_object_rel_direction_easy(question, options, code): + return _answer_rel_direction_typed(question, options, code, "easy") + + +def answer_room_size_estimation(question, options, code): + """'What is the size of this room (in square meters)?' -> room["floor area"], direct.""" + fa = code.get("room", {}).get("floor area") + if fa is None: + return None + return round(_parse_square_meters(fa), 1) + + +def answer_route_planning(question, options, code): + """'beginning at the X facing Y ... 1. Go forward until the Z 2. [please fill in] ...' -> + the option letter whose comma-separated turn sequence matches the chained turn + classification, re-derived from encoder/geometric.py's answer_route()/_classify_turn() + but reading parsed (x, y) positions from the spatial code instead of raw point clouds.""" + if not options: + return None + m = re.search(r"beginning at the (.+?) (?:and )?facing the (.+?)\.", question) + if not m: + return None + start_cls = _find_class(m.group(1).strip(), code) + face_cls = _find_class(m.group(2).strip(), code) + if start_cls is None: + return None + cur_pos = _instance_xy(code, start_cls) + if cur_pos is None: + return None + face_pos = _instance_xy(code, face_cls) if face_cls else None + cur_head = None + if face_pos is not None: + cur_head = (face_pos[0] - cur_pos[0], face_pos[1] - cur_pos[1]) + + steps_text = question.split(":", 1)[1] if ":" in question else question + steps = re.findall( + r"\d+\.\s*(\[please fill in\]|Go forward until the [^0-9\[]+?)(?=\s*\d+\.|$)", + steps_text, + ) + turns = [] + for i, s in enumerate(steps): + s = s.strip() + if s.startswith("Go forward"): + target_name = re.sub(r"^Go forward until the ", "", s).strip().rstrip(".") + target_cls = _find_class(target_name, code) + target_pos = _instance_xy(code, target_cls) if target_cls else None + if target_pos is not None: + cur_head = (target_pos[0] - cur_pos[0], target_pos[1] - cur_pos[1]) + cur_pos = target_pos + else: + # [please fill in] -- find the NEXT "Go forward" step AFTER THIS ONE'S OWN LOOP + # POSITION (i, not steps.index(s) -- the '[please fill in]' text is IDENTICAL + # across every occurrence, so .index() would always find the FIRST one, silently + # looking ahead from the wrong position whenever a route has more than one + # [please fill in] step, which every real VSI-Bench route_planning question does) + # to know the upcoming waypoint. + nxt_pos = None + for later in steps[i + 1 :]: + later = later.strip() + if later.startswith("Go forward"): + nxt_name = ( + re.sub(r"^Go forward until the ", "", later).strip().rstrip(".") + ) + nxt_cls = _find_class(nxt_name, code) + nxt_pos = _instance_xy(code, nxt_cls) if nxt_cls else None + break + if nxt_pos is None or cur_head is None: + turns.append(None) + else: + new_head = (nxt_pos[0] - cur_pos[0], nxt_pos[1] - cur_pos[1]) + turns.append(_classify_turn(cur_head, new_head)) + cur_head = new_head + if not turns or any(t is None for t in turns): + return None + turns_text = ", ".join(t.title() for t in turns) # "turn left" -> "Turn Left" + for opt in options: + letter, _, label = opt.partition(".") + if label.strip().lower() == turns_text.lower(): + return letter.strip() + return None + + +# ========================================================================================== +# DISPATCH -- the one public entry point. Maps a real VSI-Bench question_type string to its +# answer function above; unknown/unhandled types return None rather than raising, so a caller +# scoring a whole dataset can treat None as "engine could not answer" and move on. +# ========================================================================================== + +_ANSWER_FUNCTIONS = { + "object_size_estimation": answer_object_size_estimation, + "object_abs_distance": answer_object_abs_distance, + "object_rel_distance": answer_object_rel_distance, + "obj_appearance_order": answer_obj_appearance_order, + "object_counting": answer_object_counting, + "object_rel_direction_medium": answer_object_rel_direction_medium, + "object_rel_direction_hard": answer_object_rel_direction_hard, + "room_size_estimation": answer_room_size_estimation, + "object_rel_direction_easy": answer_object_rel_direction_easy, + "route_planning": answer_route_planning, +} + + +def answer(question_type, question, options, code): + """The single public entry point: given a real VSI-Bench question_type, question text, + options (None for NA types, a list of 'A. ...' strings for MCA types), and a rendered + spatial code (harness/prompts.py's render_spatial_code() output, or an already-final-shape + on-disk spatial_code.json), returns the deterministic answer -- a number for NA types, a + letter for MCA types -- or None if this engine could not compute one (missing class, + unparseable question text, etc.).""" + fn = _ANSWER_FUNCTIONS.get(question_type) + if fn is None: + return None + return fn(question, options, code) + + +# ========================================================================================== +# DISPLAY -- run this file directly to see the engine answer real questions from a real +# spatial code, one per question type, printed to the terminal. +# ========================================================================================== + + +def _demo_questions(): + """One demo question per type, built against classes genuinely present in the demo + spatial code (bed/sofa/tv/table/chair -- confirmed against the real uploaded scene). This + demonstrates the engine's mechanics on real data; it is NOT a scoring run against real + ground truth (this scene's own uploaded spatial_code.json doesn't carry official VSI-Bench + question/ground_truth pairs alongside it) -- see symbolic/test_symbolic.py for real + accuracy checks against actual test.jsonl rows.""" + order = json.load(open("/tmp/final_spatial_code.json")).get("appearance order", []) + subset = [c for c in ["bed", "chair", "table", "tv"] if c in order] + subset_sorted = sorted(subset, key=lambda c: order.index(c)) + ao_correct = ", ".join(subset_sorted) + + return [ + ("object_counting", "How many table(s) are in this room?", None), + ( + "object_size_estimation", + "What is the length of the longest dimension (length, width, or height) of the sofa, " + "measured in centimeters?", + None, + ), + ( + "room_size_estimation", + "What is the size of this room (in square meters)? \nIf multiple rooms are shown, " + "estimate the size of the combined space.", + None, + ), + ( + "object_abs_distance", + "Measuring from the closest point of each object, what is the distance between the " + "sofa and the tv (in meters)?", + None, + ), + ( + "object_rel_distance", + "Measuring from the closest point of each object, which of these objects (chair, " + "table, tv, bed) is the closest to the sofa?", + ["A. chair", "B. table", "C. tv", "D. bed"], + ), + ( + "obj_appearance_order", + "What will be the first-time appearance order of the following categories in the " + "video: bed, chair, table, tv?", + [ + f"A. {ao_correct}", + "B. bed, chair, table, tv", + "C. tv, table, chair, bed", + "D. chair, bed, tv, table", + ], + ), + ( + "object_rel_direction_hard", + "If I am standing by the bed and facing the sofa, is the tv to my front-left, " + "front-right, back-left, or back-right?\nThe directions refer to the quadrants of a " + "Cartesian plane (if I am standing at the origin and facing along the positive " + "y-axis).", + ["A. front-left", "B. back-right", "C. back-left", "D. front-right"], + ), + ( + "object_rel_direction_medium", + "If I am standing by the bed and facing the sofa, is the tv to my left, right, or " + "back?\nAn object is to my back if I would have to turn around to see it.", + ["A. back", "B. right", "C. left"], + ), + ( + "object_rel_direction_easy", + "If I am standing by the bed and facing the sofa, is the tv to the left or the right " + "of the sofa?", + ["A. left", "B. right"], + ), + ( + "route_planning", + "You are a robot beginning at the bed facing the sofa. You want to navigate to the " + "tv. You will perform the following actions (Note: for each [please fill in], choose " + "either 'turn back,' 'turn left,' or 'turn right.'): 1. Go forward until the sofa " + "2. [please fill in] 3. Go forward until the table 4. [please fill in] 5. Go forward " + "until the tv. You have reached the final destination.", + [ + "A. Turn Back, Turn Left", + "B. Turn Left, Turn Left", + "C. Turn Right, Turn Back", + "D. Turn Right, Turn Right", + ], + ), + ] + + +def main(): + print("=" * 78) + print("SYMBOLIC ENGINE -- deterministic VSI-Bench answering from the spatial code") + print("=" * 78) + + # /mnt/user-data/uploads/ is read-only -- if a rendered (final-shape) copy has been + # prepared at a writable path, prefer that; otherwise fall back to the uploaded file as-is + # (which may still be in the final shape already, or may be the raw/legacy shape -- see the + # check below either way). + import os + + candidates = [ + "/tmp/final_spatial_code.json", + "/mnt/user-data/uploads/spatial_code.json", + ] + path = next((p for p in candidates if os.path.exists(p)), None) + if path is None: + print( + f"\nNo spatial_code.json found at any of {candidates} -- nothing to demo against." + ) + return + code = json.load(open(path)) + if "closest classes distance meters from" not in code: + print( + f"\n{path} is not in the final spatial code shape (no " + f"'closest classes distance meters from' key) -- render it first via " + f"encoder/render.py or harness/prompts.py's render_spatial_code()." + ) + return + + for qtype, question, options in _demo_questions(): + result = answer(qtype, question, options, code) + print(f"\n{qtype}:") + print(f" question: {question[:100]}") + if options: + print(f" options: {options}") + print(f" engine answer: {result!r}") + + +if __name__ == "__main__": + main() diff --git a/tests/encoder_tests/__init__.py b/tests/encoder_tests/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/tests/encoder_tests/__pycache__/test_config.cpython-311.pyc b/tests/encoder_tests/__pycache__/test_config.cpython-311.pyc new file mode 100644 index 0000000000000000000000000000000000000000..875c0d2c53b8d2ef17e26b774870d1aa33502f34 Binary files /dev/null and b/tests/encoder_tests/__pycache__/test_config.cpython-311.pyc differ diff --git a/tests/encoder_tests/test_schema.py b/tests/encoder_tests/test_schema.py new file mode 100644 index 0000000000000000000000000000000000000000..f8ecbe0c33d8321edd3a59d950c9f8f388d941c3 --- /dev/null +++ b/tests/encoder_tests/test_schema.py @@ -0,0 +1,91 @@ +import json +import re + +import numpy as np + +import geometric + + +METERS = re.compile(r"^-?\d+(?:\.\d+)? meters$") +SQUARE_METERS = re.compile(r"^\d+(?:\.\d+)? square meters$") + + +def _instance(x, y, z, size, first_time=0.0): + pts = np.array( + [ + [x - size / 2, y, z], + [x + size / 2, y, z], + [x, y - size / 2, z], + [x, y + size / 2, z], + ], + dtype=np.float32, + ) + return { + "pts": pts, + "best_pts": pts, + "n": len(pts), + "nframes": 1, + "first_time": first_time, + "frames": {0}, + } + + +def _scene(): + chair = _instance(0.0, 0.0, 0.5, 0.8, first_time=0.0) + table = _instance(1.0, 0.0, 0.7, 1.2, first_time=1.0) + scene_pts = np.concatenate([chair["pts"], table["pts"]], axis=0) + # Add enough floor samples for floor-area computation to remain valid. + floor = np.array( + [[x, y, 0.0] for x in np.linspace(-1, 2, 5) for y in np.linspace(-1, 1, 5)], + dtype=np.float32, + ) + return { + "instances": {"chair": [chair], "table": [table]}, + "stats": { + "chair": {"peak": 1}, + # Deliberately too large: output must clamp count to emitted records. + "table": {"peak": 3}, + }, + "scene_pts": np.concatenate([scene_pts, floor], axis=0), + "cameras": None, + } + + +def test_spatial_code_matches_reference_schema(): + code, *_ = geometric.build_spatial_code(_scene()) + + assert list(code) == [ + "objects", + "room", + "closest classes distance meters from", + "appearance order", + ] + assert code["appearance order"] == ["chair", "table"] + assert SQUARE_METERS.match(code["room"]["floor area"]) + + for class_name, class_data in code["objects"].items(): + assert set(class_data) == {"count", "instances"} + assert class_data["count"] == len(class_data["instances"]) + for instance in class_data["instances"]: + assert set(instance) == {"position", "longest dimension"} + assert set(instance["position"]) == { + "x coordinate", + "y coordinate", + "height above floor", + } + assert all(METERS.match(value) for value in instance["position"].values()) + assert METERS.match(instance["longest dimension"]) + + assert code["objects"]["table"]["count"] == 1 + chair_to_table = code["closest classes distance meters from"]["chair"]["table"] + assert set(chair_to_table) == {"distance", "closeness rank"} + assert METERS.match(chair_to_table["distance"]) + assert chair_to_table["closeness rank"] == 1 + + +def test_dumped_json_preserves_schema(tmp_path): + code, *_ = geometric.build_spatial_code(_scene()) + path = tmp_path / "scene.json" + geometric.dump_spatial_code(code, path) + loaded = json.loads(path.read_text()) + assert loaded == code diff --git a/tests/symbolic_tests/__init__.py b/tests/symbolic_tests/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git 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0000000000000000000000000000000000000000..7f5eff853598b522b0261578cca006435e78adf2 Binary files /dev/null and b/tests/symbolic_tests/__pycache__/test_run.cpython-311.pyc differ diff --git a/tests/symbolic_tests/__pycache__/test_solver.cpython-311-pytest-9.1.1.pyc b/tests/symbolic_tests/__pycache__/test_solver.cpython-311-pytest-9.1.1.pyc new file mode 100644 index 0000000000000000000000000000000000000000..80ca9d93a19f010328ffe48b1a89ffb650ebe2e4 Binary files /dev/null and b/tests/symbolic_tests/__pycache__/test_solver.cpython-311-pytest-9.1.1.pyc differ diff --git a/tests/symbolic_tests/conftest.py b/tests/symbolic_tests/conftest.py new file mode 100644 index 0000000000000000000000000000000000000000..2ed7393df51cb5eceb1fa5b8375511f9c0da1cec --- /dev/null +++ b/tests/symbolic_tests/conftest.py @@ -0,0 +1,76 @@ +"""Shared import setup and fixtures for symbolic unit tests.""" + +import importlib.util +from pathlib import Path +from types import ModuleType +import sys + +import pytest + +ROOT = Path(__file__).resolve().parents[2] +SYMBOLIC_ROOT = ROOT / "symbolic" +ENCODER_ROOT = ROOT / "encoder" + +# Load symbolic's orchestrator by its explicit path, mirroring the production launcher's own +# collision-safe loading of run.py. Publish test-only aliases instead of global run/launch. +if str(SYMBOLIC_ROOT) not in sys.path: + sys.path.insert(0, str(SYMBOLIC_ROOT)) +sys.modules.setdefault("utils", ModuleType("utils")) + +launch_spec = importlib.util.spec_from_file_location( + "symbolic_launch_tests", SYMBOLIC_ROOT / "launch.py" +) +symbolic_launch = importlib.util.module_from_spec(launch_spec) +sys.modules["symbolic_launch_tests"] = symbolic_launch +launch_spec.loader.exec_module(symbolic_launch) +sys.modules["symbolic_run_tests"] = symbolic_launch.symbolic_run +sys.modules["symbolic_solver_tests"] = symbolic_launch.symbolic_run.sym + +# Leave encoder's source root first so collecting both suites in one process remains stable. +if str(SYMBOLIC_ROOT) in sys.path: + sys.path.remove(str(SYMBOLIC_ROOT)) +if str(ENCODER_ROOT) not in sys.path: + sys.path.insert(0, str(ENCODER_ROOT)) + + +@pytest.fixture +def spatial_code(): + def object_record(x, y, size="1.0 meters", count=1): + return { + "count": count, + "instances": [ + { + "position": { + "x coordinate": f"{x} meters", + "y coordinate": f"{y} meters", + "height above floor": "0.5 meters", + }, + "longest dimension": size, + } + ], + } + + return { + "objects": { + "chair": object_record(0, 0, "0.8 meters", count=2), + "table": object_record(0, 1, "1.2 meters"), + "lamp": object_record(-1, 1, "0.4 meters"), + "sofa": object_record(1, 1, "2.0 meters"), + }, + "room": {"floor area": "12.5 square meters"}, + "appearance order": ["chair", "table", "lamp", "sofa"], + "closest classes distance meters from": { + "chair": { + "table": {"distance": "1.0 meters", "closeness rank": 1}, + "lamp": {"distance": "1.4 meters", "closeness rank": 2}, + "sofa": {"distance": "1.5 meters", "closeness rank": 3}, + }, + "table": { + "chair": {"distance": "1.0 meters", "closeness rank": 1}, + "lamp": {"distance": "0.8 meters", "closeness rank": 2}, + "sofa": {"distance": "0.9 meters", "closeness rank": 3}, + }, + "lamp": {"table": {"distance": "0.8 meters", "closeness rank": 1}}, + "sofa": {"table": {"distance": "0.9 meters", "closeness rank": 1}}, + }, + } diff --git a/tests/symbolic_tests/test_launch.py b/tests/symbolic_tests/test_launch.py new file mode 100644 index 0000000000000000000000000000000000000000..9cbe4f7b66377441eacc062323584f810f834447 --- /dev/null +++ b/tests/symbolic_tests/test_launch.py @@ -0,0 +1,61 @@ +import json + +import pytest + +import symbolic_launch_tests as launch + + +def _question(question_type, answer, ground_truth, question, options=None): + return { + "question_type": question_type, + "engine_answer": answer, + "ground_truth": ground_truth, + "question": question, + "options": options, + } + + +def test_scenes_with_spatial_codes_returns_sorted_stems(tmp_path, monkeypatch): + monkeypatch.setattr(launch.symbolic_run, "SPATIAL_CODES_DIR", str(tmp_path)) + for name in ("scene2.json", "scene1.json"): + (tmp_path / name).write_text(json.dumps({})) + assert launch.scenes_with_spatial_codes() == ["scene1", "scene2"] + + +def test_error_analysis_summarizes_numeric_errors(): + questions = [ + _question("object_counting", 3, "2", "How many chair(s) are in this room?"), + _question("object_counting", 1, "2", "How many table(s) are in this room?"), + _question("object_counting", None, "1", "How many lamp(s) are in this room?"), + ] + result = launch.error_analysis({"scene1": (questions, {})}, "object_counting") + assert result["n"] == 3 + assert result["n_unanswered"] == 1 + assert result["mean_absolute_error"] == 1.0 + assert result["overcounts"] == 1 + assert result["undercounts"] == 1 + assert [item["class"] for item in result["by_class"]] == ["chair", "table"] + + +def test_error_analysis_rejects_non_numeric_question_type(): + with pytest.raises(ValueError, match="only supports"): + launch.error_analysis({}, "route_planning") + + +def test_mca_answer_breakdown_distinguishes_outcomes(): + options = ["A. chair, table, lamp", "B. table, chair, lamp"] + questions = [ + _question("obj_appearance_order", "A", "A", "question", options), + _question("obj_appearance_order", "B", "A", "question", options), + _question("obj_appearance_order", None, "A", "question", options), + ] + result = launch.mca_answer_breakdown( + {"scene1": (questions, {})}, "obj_appearance_order" + ) + assert result == { + "n": 3, + "n_unanswered": 1, + "n_wrong": 1, + "n_correct": 1, + "mean_swap_distance": 1.0, + } diff --git a/tests/symbolic_tests/test_run.py b/tests/symbolic_tests/test_run.py new file mode 100644 index 0000000000000000000000000000000000000000..9c6619e32871f1a1925d654523c0d9f8527c111e --- /dev/null +++ b/tests/symbolic_tests/test_run.py @@ -0,0 +1,63 @@ +import json + +import pytest + +import symbolic_run_tests as symbolic_run + + +def test_find_workspace_root_uses_spatial_codes_folder(tmp_path): + start = tmp_path / "project" / "symbolic" + (tmp_path / "project" / "data" / "spatial codes").mkdir(parents=True) + start.mkdir() + assert symbolic_run._find_workspace_root(start) == str(tmp_path / "project") + + +def test_fetch_spatial_code_reads_flat_json(tmp_path, monkeypatch, spatial_code): + monkeypatch.setattr(symbolic_run, "SPATIAL_CODES_DIR", str(tmp_path)) + (tmp_path / "scene1.json").write_text(json.dumps(spatial_code)) + assert symbolic_run.spatial_code_path("scene1") == str(tmp_path / "scene1.json") + assert symbolic_run.fetch_spatial_code("scene1") == spatial_code + + +def test_fetch_spatial_code_reports_missing_file(tmp_path, monkeypatch): + monkeypatch.setattr(symbolic_run, "SPATIAL_CODES_DIR", str(tmp_path)) + with pytest.raises(FileNotFoundError, match="no spatial code found"): + symbolic_run.fetch_spatial_code("missing") + + +def test_real_questions_for_scene_filters_jsonl(tmp_path): + path = tmp_path / "test.jsonl" + rows = [ + {"scene_name": "scene1", "id": "q1"}, + {"scene_name": "scene2", "id": "q2"}, + {"scene_name": "scene1", "id": "q3"}, + ] + path.write_text("\n".join(json.dumps(row) for row in rows)) + assert [ + row["id"] for row in symbolic_run.real_questions_for_scene("scene1", path) + ] == [ + "q1", + "q3", + ] + + +def test_write_scene_results_uses_one_file_per_question(tmp_path, spatial_code): + question = { + "question_id": "q1", + "dataset": "scannet", + "question_type": "object_counting", + "question": "How many chair(s) are in this room?", + "options": None, + "engine_answer": 2, + "ground_truth": "2", + "score": 1.0, + } + paths = symbolic_run.write_scene_results( + "scene1", [question], {"accuracy": 1.0}, spatial_code, tmp_path + ) + record = json.loads((tmp_path / "scene1" / "q1.json").read_text()) + aggregate = json.loads((tmp_path / "scene1" / "_aggregate.json").read_text()) + assert len(paths) == 2 + assert record["answer_given"] == "2" + assert record["model"] == "symbolic" + assert aggregate == {"scene_id": "scene1", "aggregate": {"accuracy": 1.0}} diff --git a/tests/symbolic_tests/test_solver.py b/tests/symbolic_tests/test_solver.py new file mode 100644 index 0000000000000000000000000000000000000000..5892756d9dfb892621b9937c295ca16026e0d7e7 --- /dev/null +++ b/tests/symbolic_tests/test_solver.py @@ -0,0 +1,121 @@ +import pytest + +import symbolic_solver_tests as solver + + +def test_unit_parsers_accept_strings_and_numbers(): + assert solver._parse_meters("-1.25 meters") == -1.25 + assert solver._parse_square_meters("12.5 square meters") == 12.5 + assert solver._parse_meters(3) == 3.0 + with pytest.raises(ValueError, match="could not parse"): + solver._parse_meters("unknown") + + +def test_direct_numeric_answers(spatial_code): + assert ( + solver.answer( + "object_counting", "How many chair(s) are in this room?", None, spatial_code + ) + == 2 + ) + assert ( + solver.answer( + "object_size_estimation", + "What is the longest dimension of the table, measured in centimeters?", + None, + spatial_code, + ) + == 120.0 + ) + assert ( + solver.answer( + "room_size_estimation", "What is the size of this room?", None, spatial_code + ) + == 12.5 + ) + assert ( + solver.answer( + "object_abs_distance", + "What is the distance between the chair and the table (in meters)?", + None, + spatial_code, + ) + == 1.0 + ) + + +def test_multiple_choice_distance_and_order_answers(spatial_code): + assert ( + solver.answer( + "object_rel_distance", + "Which of these objects is closest to the table?", + ["A. sofa", "B. lamp", "C. chair"], + spatial_code, + ) + == "B" + ) + assert ( + solver.answer( + "obj_appearance_order", + "What is the first-time appearance order of the categories?", + ["A. table, chair, lamp", "B. chair, table, lamp"], + spatial_code, + ) + == "B" + ) + + +def test_direction_answers_use_floor_coordinates(spatial_code): + question = ( + "If I am standing by the chair and facing the table, is the lamp to my left?" + ) + assert ( + solver.answer( + "object_rel_direction_hard", + question, + ["A. front-left", "B. front-right", "C. back-left", "D. back-right"], + spatial_code, + ) + == "A" + ) + assert ( + solver.answer( + "object_rel_direction_easy", + question, + ["A. left", "B. right"], + spatial_code, + ) + == "A" + ) + + +def test_route_planning_chains_turns(spatial_code): + question = ( + "You are a robot beginning at the chair facing the table. Actions: " + "1. Go forward until the table 2. [please fill in] " + "3. Go forward until the lamp." + ) + assert ( + solver.answer( + "route_planning", + question, + ["A. Turn Left", "B. Turn Right", "C. Turn Back"], + spatial_code, + ) + == "A" + ) + + +def test_dispatch_returns_none_for_unknown_or_missing_data(spatial_code): + assert solver.answer("unknown", "question", None, spatial_code) is None + assert ( + solver.answer( + "object_counting", + "How many cabinet(s) are in this room?", + None, + spatial_code, + ) + == 0 + ) + assert solver.pairwise_swap_distance(["a", "b", "c"], ["b", "a", "c"]) == 1 + assert solver.pairwise_swap_distance(["a"], ["b"]) is None