| """Export public replay assets; never publish raw run logs or local paths.""" |
| import json, shutil, subprocess |
| from pathlib import Path |
| from concurrent.futures import ThreadPoolExecutor |
| ROOT=Path(__file__).resolve().parents[2] |
| SRC=ROOT/'logs/combined-gpt55-160-20261005T074317Z' |
| OUT=Path(__file__).resolve().parent/'dist' |
| (OUT/'episodes').mkdir(exist_ok=True) |
| (OUT/'videos').mkdir(exist_ok=True) |
|
|
| def public_result(value): |
| from export_agent_records import redact |
| if isinstance(value, str): |
| return redact(value) |
| if isinstance(value, dict): |
| return {k: public_result(v) for k, v in value.items() if k != 'traceback'} |
| if isinstance(value, list): |
| return [public_result(v) for v in value] |
| return value |
|
|
|
|
| def export(row, source=SRC, prefix=""): |
|
|
| ident=prefix+f"{row['suite']}_task-{row['task']:02d}_seed-{row['seed']}" |
| src=source/row['suite']/f"task-{row['task']:02d}-seed-{row['seed']}" |
| states=json.loads((src/'states.json').read_text())['steps'] |
| stats=json.loads(next(src.glob('transcript*.json')).read_text()).get('stats',{}) |
| probe=json.loads(subprocess.check_output(['ffprobe','-v','error','-select_streams','v:0','-show_entries','stream=nb_frames,duration','-of','json',str(src/'episode.mp4')]))['streams'][0] |
| frames=int(probe['nb_frames']);cursor=0;actions=[] |
| for st in states[1:]: |
| c=st.get('command',{});v=st.get('result',{});a=c.get('action','unknown') |
| if v.get('error'): n=0 |
| elif a=='pi0_place': n=v['steps_used'] |
| elif a.startswith('pi0') and v.get('error') == "vla.predict: unknown RPC method: 'vla.predict'": n=0 |
| elif a.startswith('pi0'): n=v['chunks_used']*5 |
| elif a=='set_gripper': n=v['steps'] |
| else: |
| n=v['steps_used'];default={'move_to':80,'move_pose':150,'rotate_wrist':40,'rotate_pitch':40}.get(a) |
| if default and n<c.get('max_steps',default) and not (st.get('terminated') or st.get('truncated')): n-=1 |
| if not prefix and (row['suite'],row['task'],row['seed'],st['step_idx'])==('libero_10_task',4,1,23):n-=1 |
| actions.append({'step':st['step_idx'],'tool':a,'kind':'vla' if a.startswith('pi0') else 'primitive','start':cursor/20,'end':(cursor+n)/20,'command':c,'result':public_result(v),'terminated':bool(st.get('terminated'))}) |
| cursor+=n |
| |
| |
| |
| if prefix and cursor - frames == 1: |
| candidates = [i for i, action in enumerate(actions) |
| if action['tool'] == 'move_to' |
| and not action['terminated'] |
| and action['result']['steps_used'] == action['result']['max_steps'] |
| and action['result']['final_dist_m'] < action['command'].get('tol', .012)] |
| if len(candidates) == 1: |
| index = candidates[0] |
| actions[index]['end'] -= 1 / 20 |
| actions[index]['mappingNote'] = '最后一次循环是收敛检查，没有推进环境；用视频总帧数与唯一候选调用核对。' |
| for action in actions[index + 1:]: |
| action['start'] -= 1 / 20 |
| action['end'] -= 1 / 20 |
| cursor -= 1 |
| |
| if cursor != frames and actions[-1]['tool']=='set_gripper' and actions[-1]['terminated']: |
| excess=cursor-frames |
| assert 0 < excess < actions[-1]['command']['steps'] |
| actions[-1]['end']=frames/20 |
| cursor=frames |
| assert cursor==frames, (ident,cursor,frames) |
| item={'id':ident,'suite':row['suite'],'task':row['task'],'seed':row['seed'],'success':row['environment_success'],'instruction':states[0]['extras']['task_language'],'duration':float(probe['duration']),'gptRounds':stats.get('turns_used'),'vlaCalls':sum(a['kind']=='vla' for a in actions),'actionsCount':len(actions),'frames':frames,'mappedFrames':cursor,'aligned':frames==cursor,'video':f'videos/{ident}.mp4'} |
| (OUT/'episodes'/f'{ident}.json').write_text(json.dumps({**item,'actions':actions},ensure_ascii=False)) |
| shutil.copyfile(src/'episode.mp4',OUT/item['video']) |
| return item |
| if __name__ == '__main__': |
| with ThreadPoolExecutor(max_workers=8) as pool: rows=list(pool.map(export,json.loads((SRC/'summary.json').read_text())['results'])) |
| (OUT/'catalog.json').write_text(json.dumps(rows,ensure_ascii=False)) |
| print('Exported',len(rows),'episodes; aligned',sum(x['aligned'] for x in rows)) |
| print(json.dumps([{k:r[k] for k in ('id','frames','mappedFrames')} for r in rows if not r['aligned']],indent=2)) |
|
|
