robometer/scripts/run_episode.py

"""Run Robometer on one episode and publish only derived artifacts.

This script is intended for a bounded Hugging Face Job. The source dataset is
never opened for writing; all uploads target the duplicated dataset repository.
"""

from __future__ import annotations

import logging
import os
import subprocess
import sys
from pathlib import Path

from huggingface_hub import HfApi

import lerobot.rewards.robometer.compute_rabc_weights as robometer_compute


DATASET_REPO_ID = os.getenv(
    "ROBOMETER_DATASET_REPO_ID",
    "justintiensmith/Ordering_Constrained_Black_Bin_Sequencing_Robometer",
)
REWARD_MODEL_ID = os.getenv("ROBOMETER_MODEL_ID", "lerobot/Robometer-4B")
EPISODE = int(os.getenv("ROBOMETER_EPISODE", "0"))
CAMERA_KEY = os.getenv("ROBOMETER_CAMERA_KEY", "observation.images.middle")
BATCH_SIZE = int(os.getenv("ROBOMETER_BATCH_SIZE", "4"))
OUTPUT_ROOT = Path(
    os.getenv(
        "ROBOMETER_OUTPUT_DIR",
        "/vol/dissolve/justin/outputs/robometer_black_bin_episode_000",
    )
)
PROGRESS_PATH = OUTPUT_ROOT / "robometer_progress.parquet"
VIDEO_DIR = OUTPUT_ROOT / "videos"


def main() -> None:
    logging.basicConfig(
        level=logging.INFO,
        format="%(asctime)s %(levelname)s %(message)s",
    )

    if EPISODE != 0:
        raise ValueError(
            "This optimized runner currently supports episode 0 only because the in-tree "
            "Robometer helper uses global dataset indices."
        )

    OUTPUT_ROOT.mkdir(parents=True, exist_ok=True)
    VIDEO_DIR.mkdir(parents=True, exist_ok=True)

    # The in-tree helper normally constructs LeRobotDataset without an episode
    # filter. Restricting it here prevents the job from downloading unrelated
    # videos. Episode 0 starts at dataset index 0, so its local/global indices
    # are identical after filtering.
    original_dataset_class = robometer_compute.LeRobotDataset

    def episode_dataset(repo_id: str, download_videos: bool = True):
        return original_dataset_class(
            repo_id,
            episodes=[EPISODE],
            download_videos=download_videos,
        )

    robometer_compute.LeRobotDataset = episode_dataset
    try:
        progress_path = robometer_compute.compute_robometer_progress(
            dataset_repo_id=DATASET_REPO_ID,
            reward_model_path=REWARD_MODEL_ID,
            output_path=str(PROGRESS_PATH),
            device="cuda",
            batch_size=BATCH_SIZE,
            num_subsampled_frames=4,
            episodes=[EPISODE],
            image_key=CAMERA_KEY,
        )
    finally:
        robometer_compute.LeRobotDataset = original_dataset_class

    api = HfApi()
    api.upload_file(
        path_or_fileobj=str(progress_path),
        path_in_repo="robometer/episode_000/progress.parquet",
        repo_id=DATASET_REPO_ID,
        repo_type="dataset",
        commit_message="Add Robometer progress for episode 0",
    )

    lerobot_repo = Path(
        os.getenv(
            "LEROBOT_REPO",
            str(Path(robometer_compute.__file__).resolve().parents[4]),
        )
    )
    overlay_script = lerobot_repo / "examples/dataset/create_progress_videos.py"
    if not overlay_script.exists():
        raise FileNotFoundError(
            f"Could not find the LeRobot overlay script at {overlay_script}. "
            "Set LEROBOT_REPO to the LeRobot source checkout."
        )

    subprocess.run(
        [
            sys.executable,
            str(overlay_script),
            "--repo-id",
            DATASET_REPO_ID,
            "--episode",
            str(EPISODE),
            "--camera-key",
            CAMERA_KEY,
            "--progress-file",
            str(progress_path),
            "--output-dir",
            str(VIDEO_DIR),
        ],
        check=True,
    )

    video_path = VIDEO_DIR / (
        "justintiensmith_Ordering_Constrained_Black_Bin_Sequencing_Robometer_"
        "ep0_progress.mp4"
    )
    if not video_path.exists():
        raise FileNotFoundError(f"Expected rendered video was not created: {video_path}")

    api.upload_file(
        path_or_fileobj=str(video_path),
        path_in_repo="robometer/episode_000/middle_progress.mp4",
        repo_id=DATASET_REPO_ID,
        repo_type="dataset",
        commit_message="Add Robometer visualization for episode 0",
    )
    print(f"PROGRESS_ARTIFACT={progress_path}")
    print(f"VIDEO_ARTIFACT={video_path}")


if __name__ == "__main__":
    main()