scripts/evaluate_baseline.py

"""Dependency-free nearest-centroid baselines for the reach-intent benchmark."""

from __future__ import annotations

import argparse
import csv
import gzip
import json
import math
from collections import defaultdict
from pathlib import Path

CHECKPOINTS = (0.25, 0.50, 1.00)


def read_rows(path: Path):
    opener = gzip.open if path.suffix == ".gz" else open
    with opener(path, "rt", encoding="utf-8", newline="") as handle:
        yield from csv.DictReader(handle)


def vector(row, initial):
    values = []
    for side in ("Right", "Left"):
        for axis in ("X", "Y", "Z"):
            hand = float(row[f"{side}Hand-{axis}"])
            shoulder = float(row[f"{side}Shoulder-{axis}"])
            start_hand = float(initial[f"{side}Hand-{axis}"])
            values.extend((hand - shoulder, hand - start_hand))
    shoulder_width = math.sqrt(
        sum(
            (float(row[f"RightShoulder-{axis}"]) - float(row[f"LeftShoulder-{axis}"])) ** 2
            for axis in ("X", "Y", "Z")
        )
    )
    scale = max(shoulder_width, 1.0)
    return tuple(value / scale for value in values)


def load_examples(
    data_dir: Path,
    checkpoint: float,
    exclude_inferred: bool = False,
    exclude_qc_outliers: bool = True,
):
    trials = {
        row["trial_id"]: row
        for row in read_rows(data_dir / "reach_trials.csv.gz")
        if row["status"] == "reached"
        and not (exclude_inferred and row["start_inferred"].lower() == "true")
        and not (exclude_qc_outliers and row["qc_outlier"].lower() == "true")
    }
    first, selected = {}, {}
    for row in read_rows(data_dir / "reach_frames.csv.gz"):
        trial_id = row["trial_id"]
        if trial_id not in trials:
            continue
        first.setdefault(trial_id, row)
        progress = float(row["progress"])
        if progress <= checkpoint:
            selected[trial_id] = row
    examples = []
    for trial_id, row in selected.items():
        metadata = trials[trial_id]
        examples.append(
            {
                **metadata,
                "label": int(metadata["target_label"]),
                "fold": int(metadata["fold"]),
                "visit": int(metadata["visit_index"]),
                "x": vector(row, first[trial_id]),
            }
        )
    return examples


def centroid(rows):
    return tuple(sum(row["x"][i] for row in rows) / len(rows) for i in range(len(rows[0]["x"])))


def prototypes(rows):
    by_label = defaultdict(list)
    for row in rows:
        by_label[row["label"]].append(row)
    return {label: centroid(items) for label, items in by_label.items()}


def predict(x, centers):
    return min(centers, key=lambda label: sum((a - b) ** 2 for a, b in zip(x, centers[label])))


def metrics(pairs):
    if not pairs:
        return {"n": 0, "accuracy": None, "macro_recall": None, "by_group": {}}
    recalls, by_group = [], defaultdict(list)
    for label in range(10):
        subset = [(truth, pred) for truth, pred, _ in pairs if truth == label]
        if subset:
            recalls.append(sum(truth == pred for truth, pred in subset) / len(subset))
    for truth, pred, group in pairs:
        by_group[group].append(truth == pred)
    return {
        "n": len(pairs),
        "accuracy": round(sum(truth == pred for truth, pred, _ in pairs) / len(pairs), 4),
        "macro_recall": round(sum(recalls) / len(recalls), 4),
        "by_group": {
            group: round(sum(values) / len(values), 4) for group, values in sorted(by_group.items())
        },
    }


def generic(examples):
    pairs = []
    for fold in range(5):
        train = [row for row in examples if row["fold"] != fold]
        test = [row for row in examples if row["fold"] == fold]
        centers = prototypes(train)
        pairs.extend((row["label"], predict(row["x"], centers), row["group"]) for row in test)
    return metrics(pairs)


def personalized(examples, shots, prior_weight=5):
    """Compare generic, personal-only, and prior-weighted adaptation fairly."""
    generic_pairs, personal_pairs, adapted_pairs = [], [], []
    for fold in range(5):
        generic_centers = prototypes([row for row in examples if row["fold"] != fold])
        people = defaultdict(list)
        for row in examples:
            if row["fold"] == fold:
                people[row["participant_id"]].append(row)
        for rows in people.values():
            ordered = sorted(
                rows, key=lambda row: (row["visit"], row["session_id"], row["trial_id"])
            )
            by_label = defaultdict(list)
            for row in ordered:
                by_label[row["label"]].append(row)
            calibration_by_label = {
                label: items[:shots] for label, items in by_label.items() if items[:shots]
            }
            test = [row for items in by_label.values() for row in items[shots:]]
            personal_centers = {
                label: centroid(items) for label, items in calibration_by_label.items()
            }
            adapted_centers = dict(generic_centers)
            for label, personal_center in personal_centers.items():
                n_personal = len(calibration_by_label[label])
                adapted_centers[label] = tuple(
                    (prior_weight * generic_value + n_personal * personal_value)
                    / (prior_weight + n_personal)
                    for generic_value, personal_value in zip(
                        generic_centers[label], personal_center
                    )
                )
            for row in test:
                item = (row["label"], row["group"])
                generic_pairs.append((item[0], predict(row["x"], generic_centers), item[1]))
                personal_pairs.append((item[0], predict(row["x"], personal_centers), item[1]))
                adapted_pairs.append((item[0], predict(row["x"], adapted_centers), item[1]))
    generic_metrics = metrics(generic_pairs)
    personal_metrics = metrics(personal_pairs)
    adapted_metrics = metrics(adapted_pairs)
    gain = None
    if adapted_metrics["accuracy"] is not None and generic_metrics["accuracy"] is not None:
        gain = round(adapted_metrics["accuracy"] - generic_metrics["accuracy"], 4)
    return {
        "generic_on_same_test": generic_metrics,
        "personal_only": personal_metrics,
        "adapted": adapted_metrics,
        "adapted_accuracy_gain": gain,
        "generic_prior_weight": prior_weight,
    }


def cross_visit(examples):
    pairs = []
    people = defaultdict(list)
    for row in examples:
        people[row["participant_id"]].append(row)
    for rows in people.values():
        calibration = [row for row in rows if row["visit"] == 0]
        test = [row for row in rows if row["visit"] > 0]
        centers = prototypes(calibration)
        pairs.extend((row["label"], predict(row["x"], centers), row["group"]) for row in test)
    return metrics(pairs)


def main():
    parser = argparse.ArgumentParser()
    parser.add_argument("--data-dir", type=Path, default=Path("data"))
    parser.add_argument("--output", type=Path)
    args = parser.parse_args()
    result = {}
    for checkpoint in CHECKPOINTS:
        result[str(checkpoint)] = {}
        for slice_name, exclude_inferred, exclude_qc_outliers in (
            ("paper_qc", False, True),
            ("paper_qc_explicit_start_only", True, True),
            ("all_exact_pairs", False, False),
        ):
            examples = load_examples(
                args.data_dir,
                checkpoint,
                exclude_inferred=exclude_inferred,
                exclude_qc_outliers=exclude_qc_outliers,
            )
            result[str(checkpoint)][slice_name] = {
                "generic_5_fold": generic(examples),
                "personalized_1_shot": personalized(examples, 1),
                "personalized_5_shot": personalized(examples, 5),
                "cross_visit": cross_visit(examples),
            }
    rendered = json.dumps(result, indent=2, sort_keys=True) + "\n"
    if args.output:
        args.output.write_text(rendered, encoding="utf-8")
    print(rendered, end="")


if __name__ == "__main__":
    main()