fridge_m setup: chunked_runner + run_gen_chunk + check_mismatch + push_watchdog

fridge_m/_setup/scripts/add_gen_config.py

@@ -0,0 +1,99 @@
+"""Patch openpi's training/config.py to add pi05_droid_renderscale_fridge_m_h32_gen.
+
+The new TrainConfig mirrors pi05_droid_renderscale_fridge_m_h32 (sim) but with
+repo_id="fridge_m_gen". Idempotent — does nothing if the gen config already
+exists. Backs the original up to config.py.before_fridge_m_gen.bak.
+"""
+from __future__ import annotations
+
+import shutil
+import sys
+from pathlib import Path
+
+CONFIG_PY = Path("/svl/u/ravenh/renderscale/openpi/src/openpi/training/config.py")
+
+NEW_CONFIG = '''    TrainConfig(
+        # fridge_m (ithor_minimal_fridge_m) GEN run, combined from viscam3
+        # chunks 001-009 + viscam5 chunks 099-104. Sim h5 reused for actions
+        # (gen mp4s replace exo/wrist rgb). Set HF_LEROBOT_HOME=/scr/ravenh/fridge_m/lerobot_cache
+        # (or wherever you converted the dataset to) before launching train.py.
+        name="pi05_droid_renderscale_fridge_m_h32_gen",
+        project_name="renderscale-pi05",
+        model=pi0_config.Pi0Config(
+            pi05=True,
+            action_dim=32,
+            action_horizon=32,
+            paligemma_variant="gemma_2b_lora",
+            action_expert_variant="gemma_300m_lora",
+        ),
+        data=LeRobotMolmospacesDroidDataConfig(
+            repo_id="fridge_m_gen",
+            base_config=DataConfig(prompt_from_task=True),
+        ),
+        weight_loader=weight_loaders.CheckpointWeightLoader("gs://openpi-assets/checkpoints/pi05_droid/params"),
+        num_train_steps=40_000,
+        batch_size=16,
+        num_workers=4,
+        freeze_filter=pi0_config.Pi0Config(
+            pi05=True,
+            paligemma_variant="gemma_2b_lora",
+            action_expert_variant="gemma_300m_lora",
+        ).get_freeze_filter(),
+        ema_decay=None,
+    ),
+'''
+
+SENTINEL_GEN_NAME = 'name="pi05_droid_renderscale_fridge_m_h32_gen"'
+SENTINEL_SIM_NAME = 'name="pi05_droid_renderscale_fridge_m_h32"'
+
+
+def main():
+    src = CONFIG_PY.read_text()
+    if SENTINEL_GEN_NAME in src:
+        print(f"[add_gen_config] {SENTINEL_GEN_NAME} already present; skipping")
+        return
+    if SENTINEL_SIM_NAME not in src:
+        print(f"[add_gen_config] FATAL: sim sentinel not found in {CONFIG_PY}", file=sys.stderr)
+        sys.exit(2)
+
+    # Find the start of the sim TrainConfig and the matching closing "    ),\n".
+    sim_idx = src.index(SENTINEL_SIM_NAME)
+    # Walk forward from sim_idx to find the closing "    ),\n" — it's the FIRST
+    # line that is exactly "    )," followed by newline at column 4 indent at
+    # the same level as the TrainConfig opener. The TrainConfig body is indented
+    # one level deeper (8 spaces); the closer is at 4 spaces ("    ),").
+    tail = src[sim_idx:]
+    close_marker = "\n    ),\n"
+    rel = tail.find(close_marker)
+    if rel < 0:
+        print("[add_gen_config] FATAL: could not find sim TrainConfig closing", file=sys.stderr)
+        sys.exit(2)
+    insert_at = sim_idx + rel + len(close_marker)
+
+    backup = CONFIG_PY.with_suffix(".py.before_fridge_m_gen.bak")
+    if not backup.exists():
+        shutil.copyfile(CONFIG_PY, backup)
+        print(f"[add_gen_config] backed up to {backup}")
+
+    new_src = src[:insert_at] + NEW_CONFIG + src[insert_at:]
+    CONFIG_PY.write_text(new_src)
+    print(f"[add_gen_config] inserted gen TrainConfig at byte offset {insert_at}")
+
+    # Sanity-check: re-find both names
+    after = CONFIG_PY.read_text()
+    assert SENTINEL_SIM_NAME in after, "sim disappeared after patch"
+    assert SENTINEL_GEN_NAME in after, "gen not inserted"
+    # Quick python parse check
+    import ast
+    try:
+        ast.parse(after)
+        print("[add_gen_config] syntax OK after patch")
+    except SyntaxError as e:
+        # Restore backup on syntax break
+        shutil.copyfile(backup, CONFIG_PY)
+        print(f"[add_gen_config] FATAL: patch broke syntax: {e}; restored backup")
+        sys.exit(2)
+
+
+if __name__ == "__main__":
+    main()

fridge_m/_setup/scripts/drop_orphan_mp4s.py

@@ -0,0 +1,88 @@
+"""Per-shard, keep only the first N exo/wrist mp4s where N = len(valid h5
+trajs). Any extras (post-SIGTERM partials) get deleted. Idempotent.
+
+Usage:
+    python drop_orphan_mp4s.py --sim_dir /scr/ravenh/fridge_m/sim_chunks/chunk_009
+"""
+from __future__ import annotations
+
+import argparse
+import re
+import sys
+from pathlib import Path
+
+import h5py
+
+
+_EXO_RE = re.compile(r"^episode_(\d{8})_exo_camera_1_robot_rgb(?P<suffix>_batch_(\d+)_of_(\d+)(?:_[A-Za-z0-9_]+)?)\.mp4$")
+
+
+def main():
+    p = argparse.ArgumentParser()
+    p.add_argument("--sim_dir", required=True)
+    args = p.parse_args()
+    sim_dir = Path(args.sim_dir)
+    if not sim_dir.exists():
+        print(f"no such dir: {sim_dir}", file=sys.stderr); sys.exit(1)
+
+    # Group exo mp4s by shard suffix.
+    by_shard: dict[str, list[tuple[int, Path]]] = {}
+    for f in sim_dir.iterdir():
+        if not f.is_file():
+            continue
+        m = _EXO_RE.match(f.name)
+        if not m:
+            continue
+        ep = int(m.group(1))
+        suffix = m.group("suffix")
+        by_shard.setdefault(suffix, []).append((ep, f))
+
+    if not by_shard:
+        print(f"no exo mp4s in {sim_dir}")
+        return
+
+    total_dropped = 0
+    for suffix, items in by_shard.items():
+        items.sort()
+        h5_name = f"trajectories_{suffix.lstrip('_')}.h5"
+        h5_path = sim_dir / h5_name
+        if not h5_path.exists():
+            print(f"  shard {suffix}: NO h5 ({h5_path.name}); dropping ALL {len(items)} mp4s")
+            for ep, fp in items:
+                # also drop sibling cams
+                for cam_suffix in ("_exo_camera_1_robot_rgb", "_exo_camera_1_seg",
+                                    "_exo_camera_1",
+                                    "_wrist_camera_robot_rgb", "_wrist_camera_seg",
+                                    "_wrist_camera"):
+                    sib = sim_dir / f"episode_{ep:08d}{cam_suffix}{suffix}.mp4"
+                    if sib.exists():
+                        sib.unlink()
+                        total_dropped += 1
+            continue
+        with h5py.File(h5_path, "r") as f:
+            valid = []
+            for k in f.keys():
+                if not k.startswith("traj_"):
+                    continue
+                grp = f[k]
+                if "obs/agent/qpos" in grp and grp["obs/agent/qpos"].shape[0] > 0:
+                    valid.append(int(k.split("_", 1)[1]))
+            n_valid = len(valid)
+        n_mp4 = len(items)
+        keep = items[:n_valid]
+        drop = items[n_valid:]
+        print(f"  shard {suffix}: h5_valid={n_valid} exo_mp4s={n_mp4} keep={len(keep)} drop={len(drop)}")
+        for ep, fp in drop:
+            for cam_suffix in ("_exo_camera_1_robot_rgb", "_exo_camera_1_seg",
+                                "_exo_camera_1",
+                                "_wrist_camera_robot_rgb", "_wrist_camera_seg",
+                                "_wrist_camera"):
+                sib = sim_dir / f"episode_{ep:08d}{cam_suffix}{suffix}.mp4"
+                if sib.exists():
+                    sib.unlink()
+                    total_dropped += 1
+    print(f"dropped {total_dropped} orphan files total")
+
+
+if __name__ == "__main__":
+    main()

fridge_m/_setup/scripts/lerobot_sim_convert_push.sh

@@ -0,0 +1,100 @@
+#!/bin/bash
+# Waits for `chunk 9 sim done` in the ext-sf log, then converts all 9 sim
+# chunks into a single LeRobot dataset and uploads to
+# Ravenh97/lerobot_data:fridge_m_sim/. CPU-only — runs in parallel with chunks
+# 8/9 video gen on the GPUs.
+#
+# Per-chunk conversion via --append (chunk 1 uses --overwrite to create fresh),
+# which avoids the episode-id collision that would happen if we symlinked all
+# chunks' mp4s into one flat dir.
+#
+# Output local: $HF_LEROBOT_HOME/<LOCAL_REPO>/  (we point HF_LEROBOT_HOME at
+# /scr so writes don't hit NFS).
+#
+# Target HF: Ravenh97/lerobot_data path_in_repo=fridge_m_sim/
+
+set -uo pipefail
+
+EXT_SF_LOG=${EXT_SF_LOG:-/scr/ravenh/fridge_m/logs/extend_chunks_89_simfirst.log}
+LEROBOT_HOME=${LEROBOT_HOME:-/scr/ravenh/fridge_m/lerobot_cache}
+LOCAL_REPO=${LOCAL_REPO:-fridge_m_sim_local}
+TARGET_REPO=${TARGET_REPO:-Ravenh97/lerobot_data}
+TARGET_PATH=${TARGET_PATH:-fridge_m_sim}
+SIM_CHUNKS=/scr/ravenh/fridge_m/sim_chunks
+CONVERTER=/svl/u/ravenh/renderscale/openpi/examples/molmospaces/convert_molmodata_to_lerobot.py
+OPENPI_VENV=/svl/u/ravenh/renderscale/openpi/.venv
+LOGS=/scr/ravenh/fridge_m/logs
+
+mkdir -p "$LEROBOT_HOME" "$LOGS"
+export HF_LEROBOT_HOME="$LEROBOT_HOME"
+
+echo "[lerobot-sim] waiting for 'chunk 9 sim done' in $EXT_SF_LOG ..."
+# Wait until the marker appears.
+until grep -q 'chunk 9 sim done' "$EXT_SF_LOG" 2>/dev/null; do sleep 30; done
+echo "[lerobot-sim] chunk 9 sim done detected at $(date -Iseconds)"
+
+# Activate the openpi venv (has h5py / lerobot / tyro / cv2).
+source "$OPENPI_VENV/bin/activate" 2>/dev/null || {
+  echo "[lerobot-sim] FATAL: failed to activate openpi venv at $OPENPI_VENV"
+  exit 2
+}
+echo "[lerobot-sim] python: $(which python)"
+python -c "import lerobot, h5py, cv2; print('  lerobot=', lerobot.__version__)" 2>&1 | head -5
+
+# Sanity: confirm we can see all 9 chunks
+for n in 1 2 3 4 5 6 7 8 9; do
+  d="$SIM_CHUNKS/chunk_$(printf '%03d' $n)"
+  if [ ! -d "$d" ]; then
+    echo "[lerobot-sim] FATAL: missing $d"
+    exit 2
+  fi
+  cnt=$(ls "$d"/episode_*_exo_camera_1_robot_rgb*.mp4 2>/dev/null | wc -l)
+  echo "[lerobot-sim] chunk $n -> $d  ($cnt trajs)"
+done
+
+# Wipe any prior local dataset for this run
+if [ -d "$LEROBOT_HOME/$LOCAL_REPO" ]; then
+  echo "[lerobot-sim] removing prior $LEROBOT_HOME/$LOCAL_REPO"
+  rm -rf "$LEROBOT_HOME/$LOCAL_REPO"
+fi
+
+# Convert chunk 1 with --overwrite (creates the dataset)
+echo "[lerobot-sim] converting chunk 1 (--overwrite) at $(date -Iseconds)"
+python "$CONVERTER" \
+  --data_dir "$SIM_CHUNKS/chunk_001" \
+  --repo_id "$LOCAL_REPO" \
+  --overwrite 2>&1 | tee "$LOGS/lerobot_sim_chunk_001.log"
+
+# Convert chunks 2..9 with --append
+for n in 2 3 4 5 6 7 8 9; do
+  echo "[lerobot-sim] converting chunk $n (--append) at $(date -Iseconds)"
+  python "$CONVERTER" \
+    --data_dir "$SIM_CHUNKS/chunk_$(printf '%03d' $n)" \
+    --repo_id "$LOCAL_REPO" \
+    --append 2>&1 | tee "$LOGS/lerobot_sim_chunk_$(printf '%03d' $n).log"
+done
+
+echo "[lerobot-sim] all chunks converted; computing size..."
+du -sh "$LEROBOT_HOME/$LOCAL_REPO"
+
+# Upload to HF
+echo "[lerobot-sim] uploading to $TARGET_REPO:$TARGET_PATH at $(date -Iseconds)"
+python -u -c "
+import huggingface_hub.constants as cc
+cc.DEFAULT_REQUEST_TIMEOUT = 600
+from huggingface_hub import HfApi
+import time
+api = HfApi()
+api.create_repo('$TARGET_REPO', repo_type='dataset', exist_ok=True)
+t0 = time.time()
+api.upload_folder(
+    folder_path='$LEROBOT_HOME/$LOCAL_REPO',
+    repo_id='$TARGET_REPO',
+    repo_type='dataset',
+    path_in_repo='$TARGET_PATH',
+    commit_message='fridge_m sim lerobot conversion (chunks 1-9, ~450 trajs)',
+)
+print(f'upload done in {time.time()-t0:.1f}s')
+" 2>&1 | tee -a "$LOGS/lerobot_sim_upload.log"
+
+echo "[lerobot-sim] DONE at $(date -Iseconds)"

fridge_m/_setup/scripts/post_gen_lerobot_pipeline.sh

@@ -0,0 +1,248 @@
+#!/bin/bash
+# Run after the chunks 8/9 ext-sf pipeline finishes (gen 8 + gen 9 + final flush).
+#
+# 1. Download viscam5's sim h5s + gen mp4s (chunks 099-104) from HF.
+# 2. Stage all chunks (mine 001-009 + viscam5 099-104) into per-chunk dirs with
+#    gen mp4s renamed to drop "generated_" prefix (what the converter expects).
+# 3. Run convert_molmodata_generated_to_lerobot.py per chunk (--overwrite then
+#    --append) into local repo "fridge_m_gen".
+# 4. Upload the lerobot dataset to Ravenh97/lerobot_data:fridge_m_gen/.
+# 5. Add the pi05_droid_renderscale_fridge_m_h32_gen TrainConfig to openpi's
+#    config.py (mirrors the existing fridge_m_h32 sim config).
+# 6. Run scripts/compute_norm_stats.py for that config.
+# 7. Push the resulting norm_stats.json to HF (alongside the lerobot dataset).
+
+set -uo pipefail
+
+EXT_SF_PID=${EXT_SF_PID:-1695075}
+ROOT=/scr/ravenh/fridge_m
+SCRIPTS=$ROOT/scripts
+LOGS=$ROOT/logs
+SIM_CHUNKS=$ROOT/sim_chunks            # my sim chunks (001..009)
+GEN_CHUNKS=$ROOT/gen_chunks            # my gen chunks (001..009)
+VISCAM5_DL=$ROOT/viscam5_dl            # downloaded viscam5 chunks
+STAGING=$ROOT/lerobot_staging          # per-chunk staged dirs for converter
+LEROBOT_HOME=$ROOT/lerobot_cache       # local HF_LEROBOT_HOME (avoids NFS)
+LOCAL_REPO=fridge_m_gen                # local LeRobotDataset repo id
+TARGET_REPO=Ravenh97/lerobot_data
+TARGET_PATH=fridge_m_gen
+CONVERTER=/svl/u/ravenh/renderscale/openpi/examples/molmospaces/convert_molmodata_generated_to_lerobot.py
+OPENPI=/svl/u/ravenh/renderscale/openpi
+OPENPI_VENV=$OPENPI/.venv
+CONFIG_NAME=pi05_droid_renderscale_fridge_m_h32_gen
+
+mkdir -p "$VISCAM5_DL" "$STAGING" "$LEROBOT_HOME" "$LOGS"
+export HF_LEROBOT_HOME="$LEROBOT_HOME"
+
+# Activate openpi venv (has h5py / lerobot / tyro / cv2 / huggingface_hub).
+source "$OPENPI_VENV/bin/activate" 2>/dev/null || { echo "[post-gen] FATAL: no openpi venv"; exit 2; }
+echo "[post-gen] python: $(which python)"
+python -c "import lerobot, h5py, cv2, openpi; print('  lerobot=', lerobot.__version__)" 2>&1 | head -3 || echo "[post-gen] WARN: openpi imports failed (will retry)"
+
+# ---- Phase 1: wait for ext-sf to fully exit ----
+echo "[post-gen] waiting for ext-sf pid=$EXT_SF_PID ..."
+while kill -0 "$EXT_SF_PID" 2>/dev/null; do sleep 60; done
+echo "[post-gen] ext-sf exited at $(date -Iseconds)"
+
+# ---- Phase 2: download viscam5 chunks ----
+echo "[post-gen] downloading viscam5 chunks 099-104 from HF ..."
+python - <<'PY'
+import os, time
+from pathlib import Path
+import huggingface_hub.constants as cc
+cc.DEFAULT_REQUEST_TIMEOUT = 600
+from huggingface_hub import snapshot_download
+
+V5 = Path("/scr/ravenh/fridge_m/viscam5_dl")
+V5.mkdir(parents=True, exist_ok=True)
+
+CHUNKS = [99, 100, 101, 102, 103, 104]
+
+# Download sim h5 + key mp4s per chunk; skip irrelevant cams (seg/depth/etc).
+for c in CHUNKS:
+    sub = f"chunk_{c:03d}"
+    print(f"  sim {sub} ...", flush=True)
+    t0 = time.time()
+    snapshot_download(
+        repo_id="Ravenh97/sim_data",
+        repo_type="dataset",
+        local_dir=str(V5),
+        allow_patterns=[
+            f"fridge_m/sim_chunks/{sub}/trajectories_batch_*.h5",
+        ],
+    )
+    print(f"    h5 OK in {time.time()-t0:.1f}s", flush=True)
+
+for c in CHUNKS:
+    sub = f"chunk_{c:03d}"
+    print(f"  gen {sub} ...", flush=True)
+    t0 = time.time()
+    snapshot_download(
+        repo_id="Ravenh97/generated_video",
+        repo_type="dataset",
+        local_dir=str(V5),
+        allow_patterns=[
+            f"fridge_m/gen_chunks/{sub}/generated_episode_*_exo_camera_1_batch_*.mp4",
+            f"fridge_m/gen_chunks/{sub}/generated_episode_*_wrist_camera_batch_*.mp4",
+        ],
+    )
+    print(f"    mp4 OK in {time.time()-t0:.1f}s", flush=True)
+print("download done")
+PY
+echo "[post-gen] viscam5 download done at $(date -Iseconds)"
+
+# ---- Phase 3: stage each chunk with renamed gen mp4s ----
+echo "[post-gen] staging per-chunk dirs at $(date -Iseconds)"
+stage_chunk() {
+  local label=$1   # e.g. "mine_001" or "v5_099"
+  local sim_dir=$2 # absolute path containing trajectories_batch_*.h5
+  local gen_dir=$3 # absolute path containing generated_episode_*.mp4
+  local out="$STAGING/$label"
+  rm -rf "$out"
+  mkdir -p "$out"
+  # Symlink h5 shards
+  for h5 in "$sim_dir"/trajectories_batch_*.h5; do
+    [ -f "$h5" ] || continue
+    ln -s "$h5" "$out/$(basename "$h5")"
+  done
+  # Symlink gen mp4s with renamed (drop "generated_" prefix)
+  for mp4 in "$gen_dir"/generated_episode_*_exo_camera_1_batch_*.mp4 \
+             "$gen_dir"/generated_episode_*_wrist_camera_batch_*.mp4; do
+    [ -f "$mp4" ] || continue
+    new_name=$(basename "$mp4" | sed 's/^generated_//')
+    ln -s "$mp4" "$out/$new_name"
+  done
+  local nh5=$(ls "$out"/trajectories_batch_*.h5 2>/dev/null | wc -l)
+  local nexo=$(ls "$out"/episode_*_exo_camera_1_batch_*.mp4 2>/dev/null | wc -l)
+  local nwri=$(ls "$out"/episode_*_wrist_camera_batch_*.mp4 2>/dev/null | wc -l)
+  echo "  $label: h5=$nh5 exo=$nexo wrist=$nwri"
+}
+
+# Mine: chunks 001..009
+for n in 1 2 3 4 5 6 7 8 9; do
+  s=$(printf '%03d' $n)
+  stage_chunk "mine_$s" "$SIM_CHUNKS/chunk_$s" "$GEN_CHUNKS/chunk_$s"
+done
+
+# viscam5: chunks 099..104
+for n in 99 100 101 102 103 104; do
+  s=$(printf '%03d' $n)
+  stage_chunk "v5_$s" \
+    "$VISCAM5_DL/fridge_m/sim_chunks/chunk_$s" \
+    "$VISCAM5_DL/fridge_m/gen_chunks/chunk_$s"
+done
+
+# ---- Phase 4: run converter per stage ----
+echo "[post-gen] removing prior local lerobot $LEROBOT_HOME/$LOCAL_REPO"
+rm -rf "$LEROBOT_HOME/$LOCAL_REPO"
+
+# Track which chunks succeed / fail. First successful uses --overwrite; the rest
+# use --append. On failure (e.g., bad h5 / missing mp4), log + continue.
+declare -a SUCCEEDED_CHUNKS=()
+declare -a FAILED_CHUNKS=()
+need_overwrite=1
+for stage in "$STAGING"/mine_001 "$STAGING"/mine_002 "$STAGING"/mine_003 \
+             "$STAGING"/mine_004 "$STAGING"/mine_005 "$STAGING"/mine_006 \
+             "$STAGING"/mine_007 "$STAGING"/mine_008 "$STAGING"/mine_009 \
+             "$STAGING"/v5_099 "$STAGING"/v5_100 "$STAGING"/v5_101 \
+             "$STAGING"/v5_102 "$STAGING"/v5_103 "$STAGING"/v5_104; do
+  base=$(basename "$stage")
+  if [ ! -d "$stage" ]; then
+    echo "[post-gen] skipping $base: no staging dir"
+    FAILED_CHUNKS+=("$base:no_stage")
+    continue
+  fi
+  if [ "$need_overwrite" = "1" ]; then
+    mode_flag=--overwrite
+  else
+    mode_flag=--append
+  fi
+  echo "[post-gen] converting $base $mode_flag at $(date -Iseconds)"
+  # Don't pipe through tee — that masks the converter's exit code. Redirect to log directly.
+  if python "$CONVERTER" --data_dir "$stage" --repo_id "$LOCAL_REPO" "$mode_flag" \
+       > "$LOGS/lerobot_gen_${base}.log" 2>&1; then
+    echo "[post-gen]   OK $base"
+    SUCCEEDED_CHUNKS+=("$base")
+    need_overwrite=0
+  else
+    rc=$?
+    echo "[post-gen]   FAIL $base (rc=$rc) -- continuing"
+    tail -20 "$LOGS/lerobot_gen_${base}.log" | sed 's/^/      /'
+    FAILED_CHUNKS+=("$base:rc=$rc")
+    # If the first chunk failed (no dataset created), the NEXT attempt must
+    # still use --overwrite to create it.
+    # need_overwrite stays 1 in that case.
+  fi
+done
+
+echo "[post-gen] conversion summary:"
+echo "  succeeded (${#SUCCEEDED_CHUNKS[@]}): ${SUCCEEDED_CHUNKS[*]:-none}"
+echo "  failed    (${#FAILED_CHUNKS[@]}):    ${FAILED_CHUNKS[*]:-none}"
+if [ ${#SUCCEEDED_CHUNKS[@]} -eq 0 ]; then
+  echo "[post-gen] FATAL: no chunks converted successfully; aborting before upload"
+  exit 2
+fi
+
+echo "[post-gen] conversion done at $(date -Iseconds); local size:"
+du -sh "$LEROBOT_HOME/$LOCAL_REPO"
+
+# ---- Phase 5: upload lerobot to HF ----
+echo "[post-gen] uploading lerobot to $TARGET_REPO:$TARGET_PATH at $(date -Iseconds)"
+python - <<PY
+import huggingface_hub.constants as cc
+cc.DEFAULT_REQUEST_TIMEOUT = 600
+from huggingface_hub import HfApi
+import time
+api = HfApi()
+api.create_repo("$TARGET_REPO", repo_type="dataset", exist_ok=True)
+t0 = time.time()
+api.upload_folder(
+    folder_path="$LEROBOT_HOME/$LOCAL_REPO",
+    repo_id="$TARGET_REPO",
+    repo_type="dataset",
+    path_in_repo="$TARGET_PATH",
+    commit_message="fridge_m gen lerobot (mine chunks 1-9 + viscam5 99-104)",
+)
+print(f"lerobot upload done in {time.time()-t0:.1f}s")
+PY
+
+# ---- Phase 6: add gen TrainConfig to openpi config.py ----
+echo "[post-gen] patching openpi config.py at $(date -Iseconds)"
+python "$SCRIPTS/add_gen_config.py" || { echo "[post-gen] FATAL: config patch failed"; exit 2; }
+
+# ---- Phase 7: symlink sim norm stats over (sim+gen share h5 → same actions
+# → identical norm stats). Mirrors the fridge_7_gen pattern.
+SIM_NORM=$OPENPI/assets/pi05_droid_renderscale_fridge_m_h32/fridge_m_sim/norm_stats.json
+GEN_NORM_DIR=$OPENPI/assets/$CONFIG_NAME/fridge_m_gen
+GEN_NORM=$GEN_NORM_DIR/norm_stats.json
+echo "[post-gen] linking sim norm_stats -> gen at $(date -Iseconds)"
+if [ ! -f "$SIM_NORM" ]; then
+  echo "[post-gen] FATAL: sim norm_stats missing at $SIM_NORM"
+  exit 2
+fi
+mkdir -p "$GEN_NORM_DIR"
+ln -sf "$SIM_NORM" "$GEN_NORM"
+ls -la "$GEN_NORM"
+
+# ---- Phase 8: push norm stats to HF ----
+echo "[post-gen] uploading norm stats to $TARGET_REPO:$TARGET_PATH/_assets/ at $(date -Iseconds)"
+python - <<PY
+import huggingface_hub.constants as cc
+cc.DEFAULT_REQUEST_TIMEOUT = 300
+from huggingface_hub import HfApi
+import time
+api = HfApi()
+t0 = time.time()
+# Upload the dereferenced file (symlink target's content) — HF Hub stores the
+# bytes, not the symlink, so the consumer just sees a regular file.
+api.upload_file(
+    path_or_fileobj="$GEN_NORM",
+    path_in_repo="$TARGET_PATH/_assets/$CONFIG_NAME/fridge_m_gen/norm_stats.json",
+    repo_id="$TARGET_REPO",
+    repo_type="dataset",
+    commit_message="fridge_m gen norm_stats (copy of fridge_m_sim — sim+gen share actions)",
+)
+print(f"norm stats upload done in {time.time()-t0:.1f}s")
+PY
+
+echo "[post-gen] DONE at $(date -Iseconds)"