vlac/scripts/run_batch.py

#!/usr/bin/env python3
"""
VLAC prefix-robustness — full batch (sampling-path perturbation).

Experiment philosophy (same as Robometer / TopReward): the same physical
target frame should get roughly the same accumulated progress value no matter
how the frames leading up to it were sampled. Large spread across sampling
paths = not robust (Prefix Range > 20 pts).

VLAC is an InternVL2-8B pairwise critic: for an adjacent sampled-frame pair
[prev, cur] it emits the progress INCREMENT of cur vs prev; the increments are
accumulated along the sampled sequence into a 0-100 absolute value curve
(evo_vlac/utils/model_utils.py: get_trajectory_critic + critic_to_value_simple).
The value at a frame therefore depends on which intermediate frames were
sampled on the way there -- exactly the robustness axis under test.

For every episode we compress the source video with VLAC's own preprocessing
(5 fps, 448x448 -- the model-side fixed pipeline, NOT changed to 3 fps) into a
frame sequence `seq` of length N, take 4 target frames (1/4, 2/4, 3/4, end),
and for each of 5 sampling-path modes build a frame sequence that starts at 0,
ends at the target t, and only changes which intermediate frames are kept.
Each path is accumulated with the exact baseline critic call
(get_trajectory_critic, ref_num=0 zero-shot, skip=1); the value read is the
accumulated value at t (= last element of the value curve for that path).

Modes (5 paths to the same target t):
  dense_all   keep every frame in [0, t]                 (baseline, skip=1)
  stride2     every 2nd frame from 0 to t
  stride4     every 4th frame from 0 to t
  front_dense [0, t/2] dense, (t/2, t] stride4
  back_dense  [0, t/2) stride4, [t/2, t] dense

Output layout (resume-safe: a mode .json that already exists is skipped):
  <out-dir>/episode_results/<chunk>_<episode>/<mode>.json

Run (VLAC .venv, GPU 7):
  export VLAC_REPO=/home/vcj9002/jianshu/workspace/code_keliang/Current_Baseline/verify/VLAC
  export VLAC_MODEL=/home/vcj9002/jianshu/workspace/code_keliang/Current_Baseline/VLAC/models/VLAC-8b
  export PYTHONPATH=$VLAC_REPO
  /home/vcj9002/jianshu/workspace/code_keliang/Current_Baseline/VLAC/.venv/bin/python \
      run_batch.py --gpu 7
"""
from __future__ import annotations

import argparse
import json
import os
import sys
import tempfile
import time
import traceback
from pathlib import Path


def parse_args():
    p = argparse.ArgumentParser(description="VLAC prefix-robustness batch")
    p.add_argument("--videos-root",
                   default="/home/vcj9002/jianshu/workspace/code_keliang/Videos",
                   help="Dir containing chunk-*_filtered/ with episode_tasks.json")
    p.add_argument("--vlac-repo",
                   default=os.environ.get(
                       "VLAC_REPO",
                       "/home/vcj9002/jianshu/workspace/code_keliang/Current_Baseline/verify/VLAC"),
                   help="VLAC checkout that makes `evo_vlac` importable (has source .py)")
    p.add_argument("--bench-dir",
                   default="/home/vcj9002/jianshu/workspace/code_keliang/eval/vlac",
                   help="Dir with benchmark_progress_mark_vlac.py (reused compression)")
    p.add_argument("--model-path",
                   default=os.environ.get(
                       "VLAC_MODEL",
                       "/home/vcj9002/jianshu/workspace/code_keliang/Current_Baseline/VLAC/models/VLAC-8b"),
                   help="VLAC-8b (InternVL2-8B) weights dir")
    p.add_argument("--out-dir", default=None,
                   help="Default: <this file>/../results_full")
    p.add_argument("--camera", default="wrist_image_left",
                   help="wrist_image_left = same camera as the other baselines")
    p.add_argument("--compress-fps", type=int, default=5,
                   help="VLAC fixed preprocessing fps (do NOT change; model-side)")
    p.add_argument("--target-size", type=int, default=448,
                   help="VLAC fixed preprocessing square size (do NOT change)")
    p.add_argument("--batch-num", type=int, default=5,
                   help="Pairs scored per model batch (VLAC baseline default)")
    p.add_argument("--gpu", default=None,
                   help="GPU id -> CUDA_VISIBLE_DEVICES; model uses cuda:0 within it")
    p.add_argument("--limit", type=int, default=None,
                   help="Only process first N remaining episodes (smoke test)")
    return p.parse_args()


ARGS = parse_args()

# ── GPU choice must happen before torch / evo_vlac import ───────────────────
if "CUDA_VISIBLE_DEVICES" not in os.environ:
    if ARGS.gpu is not None:
        os.environ["CUDA_VISIBLE_DEVICES"] = str(ARGS.gpu)
    else:
        import subprocess
        try:
            out = subprocess.check_output(
                ["nvidia-smi", "--query-gpu=index,memory.used",
                 "--format=csv,noheader,nounits"], text=True)
            idx = min((l.split(",") for l in out.strip().splitlines()),
                      key=lambda x: int(x[1]))[0].strip()
        except Exception:
            idx = "0"
        os.environ["CUDA_VISIBLE_DEVICES"] = idx

VLAC_REPO = Path(ARGS.vlac_repo).resolve()
BENCH_DIR = Path(ARGS.bench_dir).resolve()
sys.path.insert(0, str(VLAC_REPO))
sys.path.insert(0, str(BENCH_DIR))
os.environ.setdefault("VLAC_REPO", str(VLAC_REPO))

import cv2  # noqa: E402

# Reuse the EXACT baseline compression (5 fps / 448, pyav) and the exact frame
# loader the baseline critic uses internally -- so `seq` matches the VLAC
# baseline frame-for-frame.
from benchmark_progress_mark_vlac import compress_video_with_pyav  # noqa: E402
from evo_vlac import GAC_model  # noqa: E402
from evo_vlac.utils.video_tool import images_get_from_video  # noqa: E402

# init_model hardcodes attn_impl='flash_attn' and VLAC-8b's config forces
# flash_attention_2. When flash_attn is not installed (e.g. this box runs
# torch 2.11+cu13, which has no prebuilt flash-attn wheel) we fall back to
# 'eager'. This is exactly the fallback InternVL itself picks when flash_attn
# is missing: modeling_internvl_chat.py sets llm_config.attn_implementation
# ='eager' and the vision tower uses naive attention (modeling_intern_vit.py).
# It is a numerical attention-kernel choice only; it changes neither the critic
# prompt, the pairwise scoring, nor the critic->value accumulation.
try:
    import flash_attn  # noqa: F401
    _HAS_FLASH = True
except Exception:
    _HAS_FLASH = False
if not _HAS_FLASH:
    import evo_vlac.utils.model_utils as _mu  # noqa: E402

    def _force_eager(_orig):
        def wrapped(*a, **k):
            k["attn_impl"] = "eager"
            return _orig(*a, **k)
        return wrapped

    _mu.get_model_tokenizer = _force_eager(_mu.get_model_tokenizer)
    print("[attn] flash_attn not installed -> loading with attn_impl='eager'")

MODEL_PATH = ARGS.model_path
VIDEOS_ROOT = Path(ARGS.videos_root)
CAMERA_DIR = f"observation.images.{ARGS.camera}"
TARGET_SIZE = (ARGS.target_size, ARGS.target_size)

OUT_DIR = (Path(ARGS.out_dir) if ARGS.out_dir
           else Path(__file__).resolve().parent.parent / "results_full")
EP_DIR = OUT_DIR / "episode_results"
EP_DIR.mkdir(parents=True, exist_ok=True)
ERR_PATH = OUT_DIR / "errors.log"

MODES = ["dense_all", "stride2", "stride4", "front_dense", "back_dense"]
REFERENCE_MODE = "dense_all"
FRACS = ["1/4", "2/4", "3/4", "end"]


# ── target frames + sampling paths ─────────────────────────────────────────

def checkpoints_of(pool_n: int) -> list[int]:
    """seq indices at 1/4, 2/4, 3/4, end (same convention as render/robometer)."""
    return [int((pool_n - 1) * k / 4) for k in (1, 2, 3, 4)]


def build_sequence(t: int, mode: str) -> list[int]:
    """Frame indices in [0, t] for `mode`; always starts at 0 and ends at t."""
    if t <= 0:
        return [0]
    if mode == "dense_all":
        idx = list(range(0, t + 1))
    elif mode == "stride2":
        idx = list(range(0, t + 1, 2))
    elif mode == "stride4":
        idx = list(range(0, t + 1, 4))
    elif mode == "front_dense":
        half = t // 2
        idx = list(range(0, half + 1)) + list(range(half, t + 1, 4))
    elif mode == "back_dense":
        half = t // 2
        idx = list(range(0, half + 1, 4)) + list(range(half, t + 1))
    else:
        raise ValueError(f"unknown mode: {mode}")
    idx = sorted(set(idx))
    if idx[0] != 0:
        idx = [0] + idx
    if idx[-1] != t:
        idx = idx + [t]
    return idx


# ── scoring ────────────────────────────────────────────────────────────────

def accumulate_path(critic, task, seq, idx, batch_num):
    """Run the baseline pairwise critic over the sampled frame subsequence and
    accumulate to a 0-100 value curve. Returns (critic_list, value_curve).

    Identical call to the VLAC baseline: ref_image_list=None -> ref_num=0
    (zero-shot), skip=1, frame_skip=True, think=False. get_trajectory_critic
    scores each adjacent pair [seq[idx[k-1]], seq[idx[k]]] and folds the
    increments via critic_to_value_simple."""
    subframes = [seq[i] for i in idx]
    if len(subframes) < 2:
        return [], [0.0]
    critic_list, value_curve = critic.get_trajectory_critic(
        task=task,
        image_list=subframes,
        ref_image_list=None,
        batch_num=batch_num,
        ref_num=0,
        think=False,
        skip=1,
        rich=False,
        reverse_eval=False,
        frame_skip=True,
    )
    critic_list = [float(c) for c in critic_list]
    value_curve = [float(v) for v in value_curve]
    return critic_list, value_curve


# ── episode enumeration ────────────────────────────────────────────────────

def list_episodes():
    eps = []
    for tasks_file in sorted(VIDEOS_ROOT.glob("chunk-*_filtered/episode_tasks.json")):
        meta = json.load(open(tasks_file))
        for e in meta["episodes"]:
            video = tasks_file.parent / CAMERA_DIR / e["episode"]
            if video.exists():
                eps.append({
                    "chunk": meta["chunk"],
                    "episode": e["episode"],
                    "task": " and ".join(e["tasks"]),
                    "video": video,
                })
    return eps


def episode_dir(ep) -> Path:
    stem = ep["episode"].replace(".mp4", "")
    return EP_DIR / f"{ep['chunk']}_{stem}"


def probe_native(video_path: Path):
    """(native_fps, total_raw_frames) of the source video."""
    cap = cv2.VideoCapture(str(video_path))
    fps = float(cap.get(cv2.CAP_PROP_FPS) or 0.0)
    nfr = int(cap.get(cv2.CAP_PROP_FRAME_COUNT) or 0)
    cap.release()
    return fps, nfr


def main():
    episodes = list_episodes()
    todo = [e for e in episodes
            if not all((episode_dir(e) / f"{m}.json").exists() for m in MODES)]
    if ARGS.limit:
        todo = todo[:ARGS.limit]
    print(f"GPU  : CUDA_VISIBLE_DEVICES={os.environ.get('CUDA_VISIBLE_DEVICES')}")
    print(f"Model: {MODEL_PATH}")
    print(f"Repo : {VLAC_REPO}")
    print(f"Out  : {EP_DIR}")
    print(f"Preproc: compress_fps={ARGS.compress_fps} size={TARGET_SIZE} "
          f"camera={ARGS.camera} batch_num={ARGS.batch_num}")
    print(f"Modes: {MODES}")
    print(f"Episodes: total={len(episodes)} todo={len(todo)}")
    if not todo:
        print("Nothing to do.")
        return

    critic = GAC_model(tag="critic")
    critic.init_model(model_path=str(MODEL_PATH), model_type="internvl2",
                      device_map="cuda:0")
    critic.temperature = 0.5
    critic.top_k = 1
    critic.set_config()
    critic.set_system_prompt()

    for i, ep in enumerate(todo, 1):
        ep_out = episode_dir(ep)
        ep_out.mkdir(parents=True, exist_ok=True)
        modes_todo = [m for m in MODES if not (ep_out / f"{m}.json").exists()]
        if not modes_todo:
            continue
        print(f"[{i}/{len(todo)}] {ep['chunk']}/{ep['episode']}", flush=True)
        try:
            native_fps, total_raw = probe_native(ep["video"])
            with tempfile.TemporaryDirectory() as td:
                comp_path, comp_fps, orig_idx = compress_video_with_pyav(
                    ep["video"], Path(td) / "input_fps5_448.mp4",
                    target_size=TARGET_SIZE, fps=ARGS.compress_fps)
                seq = images_get_from_video(str(comp_path))
            n = len(seq)
            orig_idx = list(orig_idx)[:n]
            cps = checkpoints_of(n)
            print(f"  seq={n} frames (raw={total_raw}, native_fps={native_fps:.2f}, "
                  f"comp_fps={comp_fps:.2f})", flush=True)

            for mode in modes_todo:
                mode_path = ep_out / f"{mode}.json"
                if mode_path.exists():
                    continue
                t0 = time.time()
                checkpoints = {}
                values = []
                for frac, t in zip(FRACS, cps):
                    idx = build_sequence(t, mode)
                    critic_list, value_curve = accumulate_path(
                        critic, ep["task"], seq, idx, ARGS.batch_num)
                    value = round(value_curve[-1], 4)
                    values.append(value)
                    checkpoints[frac] = {
                        "target_t": int(t),
                        "value": value,
                        "seq_indices": [int(k) for k in idx],
                        "orig_frames": [int(orig_idx[k]) if k < len(orig_idx) else -1
                                        for k in idx],
                        "critic_list": [round(c, 6) for c in critic_list],
                        "value_curve": [round(v, 4) for v in value_curve],
                    }
                payload = {
                    "model": "VLAC-8b",
                    "chunk": ep["chunk"], "episode": ep["episode"],
                    "task": ep["task"], "camera": ARGS.camera,
                    "mode": mode,
                    "compress_fps_arg": ARGS.compress_fps,
                    "compressed_fps": round(float(comp_fps), 4),
                    "target_size": list(TARGET_SIZE),
                    "native_fps": round(native_fps, 3),
                    "total_raw_frames": total_raw,
                    "pool_n": n,
                    "sampled_original_frame_indices": [int(x) for x in orig_idx],
                    "fracs": FRACS,
                    "target_frames": [int(t) for t in cps],
                    "values": values,
                    "checkpoints": checkpoints,
                }
                tmp = mode_path.with_suffix(".json.tmp")
                tmp.write_text(json.dumps(payload))
                tmp.rename(mode_path)   # atomic: resume never sees half a file
                print(f"  {mode}: 4 targets, values={values} "
                      f"in {time.time()-t0:.1f}s", flush=True)
        except Exception:
            with open(ERR_PATH, "a") as ef:
                ef.write(f"=== {ep['chunk']}/{ep['episode']} ===\n")
                ef.write(traceback.format_exc() + "\n")
            print(f"  ERROR (logged to {ERR_PATH.name}), continuing", flush=True)

    print("Done:", EP_DIR)


if __name__ == "__main__":
    main()