probe_hyperbolic_mse.py

#!/usr/bin/env python3
"""
Offline physical probing for HyperbolicJEPA checkpoints.

The world model is frozen. A linear/MLP probe is trained on top of one selected
representation and evaluated with raw MSE plus normalized MSE.

Example:
python probe_hyperbolic_mse.py \
  --policy /data_nvme/user/zliu681/le-wm-main/lewm_cache/ogbench/Experiment/hyperbolic_exp_antmaze/lewm_hyperbolic_epoch_100 \
  --dataset-name ogbench_antmaze_visual_h5/visual-antmaze-large-navigate-v0 \
  --target-keys observation \
  --representation tangent \
  --device auto \
  --num-samples 50000 \
  --epochs 20
"""

from __future__ import annotations

import argparse
import json
from pathlib import Path

import h5py
import numpy as np
import torch
import torch.nn.functional as F
from omegaconf import OmegaConf
from torch import nn
from torch.utils.data import DataLoader

from module import ARPredictor, Embedder, MLP, SIGReg
from probe_lewm_mse import (
    H5RowProbeDataset,
    cache_dir_from_args,
    collate_rows,
    load_targets_for_stats,
    make_probe,
    progress_iter,
    preprocess_pixels,
    resolve_h5_path,
)
from train_hyperbolic import (
    AdaptiveEntailmentConeLoss,
    HyperbolicJEPA,
    LorentzContrastiveLoss,
    LorentzManifold,
    build_hyperbolic_world_model,
    ensure_hyperbolic_defaults,
)
from utils import resolve_runtime_device


def parse_args():
    parser = argparse.ArgumentParser(description="Train a frozen HyperbolicJEPA physical probe.")
    parser.add_argument("--policy", type=str, required=True, help="Checkpoint prefix, checkpoint file, or run dir.")
    parser.add_argument("--dataset-name", type=str, required=True, help="H5 dataset name under STABLEWM_HOME, or full .h5 path.")
    parser.add_argument(
        "--target-keys",
        type=str,
        default="observation",
        help="Comma-separated H5 columns to predict, e.g. observation or qpos,qvel.",
    )
    parser.add_argument(
        "--representation",
        type=str,
        default="tangent",
        choices=("tangent", "lorentz", "euclidean"),
        help="Probe input: tangent=hyp_tangent, lorentz=hyp_emb, euclidean=pre-hyperbolic emb.",
    )
    parser.add_argument("--cache-dir", type=str, default="", help="Overrides stable_worldmodel cache dir lookup.")
    parser.add_argument("--device", type=str, default="auto")
    parser.add_argument("--img-size", type=int, default=224)
    parser.add_argument("--num-samples", type=int, default=50000)
    parser.add_argument("--batch-size", type=int, default=256)
    parser.add_argument("--epochs", type=int, default=20)
    parser.add_argument("--lr", type=float, default=1e-3)
    parser.add_argument("--weight-decay", type=float, default=1e-4)
    parser.add_argument("--hidden-dim", type=int, default=512, help="0 means linear probe.")
    parser.add_argument("--num-layers", type=int, default=2, help="Number of hidden layers when hidden_dim > 0.")
    parser.add_argument("--train-frac", type=float, default=0.8)
    parser.add_argument("--val-frac", type=float, default=0.1)
    parser.add_argument("--seed", type=int, default=3072)
    parser.add_argument("--num-workers", type=int, default=0)
    parser.add_argument("--strict", action=argparse.BooleanOptionalAction, default=True)
    parser.add_argument("--output", type=str, default="", help="Optional JSON metrics path.")
    return parser.parse_args()


def register_hyperbolic_checkpoint_aliases():
    import __main__ as main_mod

    objects = (
        HyperbolicJEPA,
        LorentzManifold,
        LorentzContrastiveLoss,
        AdaptiveEntailmentConeLoss,
        ARPredictor,
        Embedder,
        MLP,
        SIGReg,
    )
    for obj in objects:
        setattr(main_mod, obj.__name__, obj)

    if hasattr(torch.serialization, "add_safe_globals"):
        torch.serialization.add_safe_globals(list(objects))


def _add_prefix_candidates(candidates: list[Path], prefix: Path) -> None:
    text = str(prefix)
    for suffix in ("_state.ckpt", "_object.ckpt", "_weights.ckpt"):
        if text.endswith(suffix):
            _add_prefix_candidates(candidates, Path(text[: -len(suffix)]))
            return
    if text.endswith(".ckpt"):
        candidates.append(prefix)
        return

    candidates.append(Path(f"{text}_state.ckpt"))
    candidates.append(Path(f"{text}_object.ckpt"))
    candidates.append(Path(f"{text}_weights.ckpt"))


def policy_artifact_candidates(policy_name: str, cache_dir: Path) -> list[tuple[Path, Path]]:
    raw = Path(policy_name)
    candidates: list[Path] = []

    _add_prefix_candidates(candidates, raw)
    _add_prefix_candidates(candidates, cache_dir / raw)

    for item in (raw, cache_dir / raw):
        if item.is_file():
            candidates.append(item)
        if item.is_dir():
            candidates.extend(sorted(item.glob("*_state.ckpt")))
            candidates.extend(sorted(item.glob("*_object.ckpt")))
            weights = sorted(item.glob("*_weights.ckpt"))
            if len(weights) == 1:
                candidates.append(weights[0])
        parent = item.parent
        if parent.is_dir():
            weights = sorted(parent.glob("*_weights.ckpt"))
            if len(weights) == 1:
                candidates.append(weights[0])

    seen = set()
    resolved: list[tuple[Path, Path]] = []
    for candidate in candidates:
        candidate = Path(candidate)
        if candidate in seen or not candidate.is_file():
            continue
        seen.add(candidate)
        config_path = candidate.parent / "config.yaml"
        if config_path.is_file():
            resolved.append((candidate, config_path))

    if resolved:
        return resolved

    raise FileNotFoundError(
        f"Could not resolve checkpoint/config for policy '{policy_name}' under cache '{cache_dir}'."
    )


def infer_action_dim(h5_path: Path, train_cfg) -> int:
    cfg_value = getattr(train_cfg.wm, "action_dim", None)
    if cfg_value is not None:
        return int(cfg_value)

    with h5py.File(h5_path, "r") as h5:
        if "action" not in h5:
            raise KeyError(f"Cannot infer action_dim because '{h5_path}' has no action column.")
        shape = h5["action"].shape
    if len(shape) <= 1:
        return 1
    return int(np.prod(shape[1:], dtype=np.int64))


def _state_dict_from_checkpoint(checkpoint, checkpoint_path: Path):
    if isinstance(checkpoint, dict) and "state_dict" in checkpoint:
        state_dict = checkpoint["state_dict"]
    elif isinstance(checkpoint, dict):
        state_dict = checkpoint
    else:
        raise TypeError(
            f"Unsupported checkpoint type '{type(checkpoint).__name__}' for '{checkpoint_path}'."
        )

    if any(key.startswith("model.") for key in state_dict.keys()):
        state_dict = {
            key[len("model."):]: value
            for key, value in state_dict.items()
            if key.startswith("model.")
        }
    return state_dict


def load_hyperbolic_model(args, h5_path: Path, cache_dir: Path, device: str) -> nn.Module:
    register_hyperbolic_checkpoint_aliases()
    failures = []

    for checkpoint_path, config_path in policy_artifact_candidates(args.policy, cache_dir):
        print(f"[probe] trying checkpoint={checkpoint_path} config={config_path}", flush=True)
        train_cfg = OmegaConf.load(config_path)
        ensure_hyperbolic_defaults(train_cfg)
        action_dim = infer_action_dim(h5_path, train_cfg)
        model = build_hyperbolic_world_model(train_cfg, action_dim=action_dim)

        try:
            checkpoint = torch.load(checkpoint_path, map_location="cpu", weights_only=False)
            if isinstance(checkpoint, nn.Module):
                model = checkpoint
            else:
                state_dict = _state_dict_from_checkpoint(checkpoint, checkpoint_path)
                missing, unexpected = model.load_state_dict(state_dict, strict=bool(args.strict))
                print(
                    f"[probe] loaded state checkpoint strict={bool(args.strict)} "
                    f"missing={len(missing)} unexpected={len(unexpected)}",
                    flush=True,
                )
                if missing:
                    print(f"[probe] missing keys: {missing}", flush=True)
                if unexpected:
                    print(f"[probe] unexpected keys: {unexpected}", flush=True)
        except ModuleNotFoundError as exc:
            if exc.name == "torch_npu" or str(exc.name).startswith("torch_npu."):
                failures.append(f"{checkpoint_path}: requires torch_npu during object deserialization")
                print(
                    f"[probe] checkpoint {checkpoint_path} requires torch_npu; trying next candidate.",
                    flush=True,
                )
                continue
            raise
        except Exception as exc:
            failures.append(f"{checkpoint_path}: {type(exc).__name__}: {exc}")
            print(f"[probe] failed checkpoint {checkpoint_path}: {exc}", flush=True)
            continue

        if not hasattr(model, "encode") and hasattr(model, "model"):
            model = model.model
        if not hasattr(model, "encode"):
            raise TypeError(f"Loaded model does not expose encode(info): {type(model).__name__}")
        model = model.to(device).eval()
        model.requires_grad_(False)
        model.interpolate_pos_encoding = True
        return model

    failure_details = "\n".join(f"  - {failure}" for failure in failures)
    raise RuntimeError(f"Failed to load hyperbolic model. Tried:\n{failure_details}")


@torch.no_grad()
def encode_batch(
    model: nn.Module,
    pixels: torch.Tensor,
    img_size: int,
    device: str,
    representation: str,
) -> torch.Tensor:
    pixels = preprocess_pixels(pixels, img_size=img_size, device=device)
    output = model.encode({"pixels": pixels.unsqueeze(1)})
    if representation == "tangent":
        key = "hyp_tangent"
    elif representation == "lorentz":
        key = "hyp_emb"
    elif representation == "euclidean":
        key = "emb"
    else:
        raise ValueError(f"Unknown representation: {representation}")
    return output[key][:, -1].detach().float()


def evaluate_probe(model, probe, loader, mean, std, args, device: str) -> dict[str, float]:
    sq_error_sum = None
    norm_sq_error_sum = None
    pred_sum = None
    target_sum = None
    pred_sq_sum = None
    target_sq_sum = None
    pred_target_sum = None
    sample_count = 0
    with torch.no_grad():
        for pixels, target in loader:
            target = target.to(device, non_blocking=True)
            target = torch.nan_to_num(target, nan=0.0, posinf=0.0, neginf=0.0)
            emb = encode_batch(model, pixels, args.img_size, device, args.representation)
            pred_norm = probe(emb)
            target_norm = (target - mean) / std
            pred = pred_norm * std + mean

            sq_error = (pred - target).pow(2).sum(dim=0).detach()
            norm_sq_error = (pred_norm - target_norm).pow(2).sum(dim=0).detach()
            pred_batch_sum = pred.sum(dim=0).detach()
            target_batch_sum = target.sum(dim=0).detach()
            pred_batch_sq_sum = pred.pow(2).sum(dim=0).detach()
            target_batch_sq_sum = target.pow(2).sum(dim=0).detach()
            pred_target_batch_sum = (pred * target).sum(dim=0).detach()

            if sq_error_sum is None:
                sq_error_sum = torch.zeros_like(sq_error)
                norm_sq_error_sum = torch.zeros_like(norm_sq_error)
                pred_sum = torch.zeros_like(pred_batch_sum)
                target_sum = torch.zeros_like(target_batch_sum)
                pred_sq_sum = torch.zeros_like(pred_batch_sq_sum)
                target_sq_sum = torch.zeros_like(target_batch_sq_sum)
                pred_target_sum = torch.zeros_like(pred_target_batch_sum)

            sq_error_sum += sq_error
            norm_sq_error_sum += norm_sq_error
            pred_sum += pred_batch_sum
            target_sum += target_batch_sum
            pred_sq_sum += pred_batch_sq_sum
            target_sq_sum += target_batch_sq_sum
            pred_target_sum += pred_target_batch_sum
            sample_count += int(target.size(0))

    sample_count = max(1, sample_count)
    mse_per_dim = sq_error_sum / sample_count
    norm_mse_per_dim = norm_sq_error_sum / sample_count

    cov = pred_target_sum - pred_sum * target_sum / sample_count
    pred_var = pred_sq_sum - pred_sum.pow(2) / sample_count
    target_var = target_sq_sum - target_sum.pow(2) / sample_count
    denom = pred_var.clamp_min(0).sqrt() * target_var.clamp_min(0).sqrt()
    valid = denom > 1e-12
    if bool(valid.any().item()):
        pearson_per_dim = cov[valid] / denom[valid]
        pearson_r = pearson_per_dim.mean()
        pearson_r_std = pearson_per_dim.std(unbiased=False)
    else:
        pearson_r = torch.tensor(0.0, device=device)
        pearson_r_std = torch.tensor(0.0, device=device)

    return {
        "mse": float(mse_per_dim.mean().item()),
        "mse_std": float(mse_per_dim.std(unbiased=False).item()),
        "normalized_mse": float(norm_mse_per_dim.mean().item()),
        "normalized_mse_std": float(norm_mse_per_dim.std(unbiased=False).item()),
        "pearson_r": float(pearson_r.item()),
        "pearson_r_std": float(pearson_r_std.item()),
    }


def train_one_probe(
    *,
    probe_name: str,
    hidden_dim: int,
    num_layers: int,
    model,
    train_loader,
    val_loader,
    test_loader,
    target_dim: int,
    mean,
    std,
    args,
    device: str,
) -> dict:
    first_pixels, _ = next(iter(train_loader))
    first_emb = encode_batch(model, first_pixels, args.img_size, device, args.representation)
    probe = make_probe(
        input_dim=int(first_emb.shape[-1]),
        output_dim=target_dim,
        hidden_dim=hidden_dim,
        num_layers=num_layers,
    ).to(device)
    optimizer = torch.optim.AdamW(probe.parameters(), lr=args.lr, weight_decay=args.weight_decay)

    best_state = None
    best_val = float("inf")
    for epoch in range(1, args.epochs + 1):
        probe.train()
        train_loss = 0.0
        train_count = 0
        batch_iter = progress_iter(
            train_loader,
            desc=f"probe:{probe_name}:epoch{epoch:03d}",
            total=len(train_loader),
            leave=False,
        )
        for pixels, target in batch_iter:
            target = target.to(device, non_blocking=True)
            target = torch.nan_to_num(target, nan=0.0, posinf=0.0, neginf=0.0)
            with torch.no_grad():
                emb = encode_batch(model, pixels, args.img_size, device, args.representation)
            pred = probe(emb)
            target_norm = (target - mean) / std
            loss = F.mse_loss(pred, target_norm)

            optimizer.zero_grad(set_to_none=True)
            loss.backward()
            optimizer.step()

            train_loss += loss.item() * target.numel()
            train_count += target.numel()
            if hasattr(batch_iter, "set_postfix"):
                batch_iter.set_postfix(norm_mse=f"{train_loss / max(1, train_count):.4f}")

        probe.eval()
        val_metrics = evaluate_probe(model, probe, val_loader, mean, std, args, device)
        train_norm_mse = train_loss / max(1, train_count)
        print(
            f"[probe:{probe_name}] epoch={epoch:03d} train_norm_mse={train_norm_mse:.6f} "
            f"val_mse={val_metrics['mse']:.6f} val_r={val_metrics['pearson_r']:.6f}",
            flush=True,
        )
        if val_metrics["normalized_mse"] < best_val:
            best_val = val_metrics["normalized_mse"]
            best_state = {key: value.detach().cpu() for key, value in probe.state_dict().items()}

    if best_state is not None:
        probe.load_state_dict(best_state)
    probe.eval()
    return {
        "hidden_dim": int(hidden_dim),
        "num_layers": int(num_layers),
        "val": evaluate_probe(model, probe, val_loader, mean, std, args, device),
        "test": evaluate_probe(model, probe, test_loader, mean, std, args, device),
    }


def main():
    args = parse_args()
    cache_dir = cache_dir_from_args(args)
    h5_path = resolve_h5_path(args.dataset_name, cache_dir)
    target_keys = [key.strip() for key in args.target_keys.split(",") if key.strip()]

    with h5py.File(h5_path, "r") as h5:
        missing = [key for key in ["pixels", *target_keys] if key not in h5]
        if missing:
            raise KeyError(f"{h5_path} missing required keys: {missing}. Available: {list(h5.keys())}")
        row_count = min(int(h5["pixels"].shape[0]), *(int(h5[key].shape[0]) for key in target_keys))

    rng = np.random.default_rng(args.seed)
    sample_count = min(int(args.num_samples), row_count)
    indices = rng.choice(row_count, size=sample_count, replace=False)
    rng.shuffle(indices)

    n_train = int(sample_count * args.train_frac)
    n_val = int(sample_count * args.val_frac)
    n_train = max(1, min(n_train, sample_count))
    n_val = max(1, min(n_val, sample_count - n_train))
    train_idx = np.sort(indices[:n_train])
    val_idx = np.sort(indices[n_train : n_train + n_val])
    test_idx = np.sort(indices[n_train + n_val :])
    if len(test_idx) == 0:
        test_idx = val_idx

    train_targets = load_targets_for_stats(h5_path, train_idx, target_keys)
    target_mean_np = np.nanmean(train_targets, axis=0, keepdims=True).astype(np.float32)
    target_std_np = np.nanstd(train_targets, axis=0, keepdims=True).astype(np.float32)
    target_std_np = np.maximum(target_std_np, 1e-6)
    target_dim = int(train_targets.shape[1])

    device = resolve_runtime_device(args.device, allow_fallback=True)
    print(
        f"[probe] dataset={h5_path} rows={row_count} sampled={sample_count} "
        f"train={len(train_idx)} val={len(val_idx)} test={len(test_idx)} target_dim={target_dim}",
        flush=True,
    )
    print(
        f"[probe] target_keys={target_keys} representation={args.representation} device={device}",
        flush=True,
    )

    model = load_hyperbolic_model(args, h5_path, cache_dir, device)

    train_loader = DataLoader(
        H5RowProbeDataset(h5_path, train_idx, target_keys),
        batch_size=args.batch_size,
        shuffle=True,
        num_workers=args.num_workers,
        collate_fn=collate_rows,
        pin_memory=device.startswith("cuda"),
    )
    val_loader = DataLoader(
        H5RowProbeDataset(h5_path, val_idx, target_keys),
        batch_size=args.batch_size,
        shuffle=False,
        num_workers=args.num_workers,
        collate_fn=collate_rows,
        pin_memory=device.startswith("cuda"),
    )
    test_loader = DataLoader(
        H5RowProbeDataset(h5_path, test_idx, target_keys),
        batch_size=args.batch_size,
        shuffle=False,
        num_workers=args.num_workers,
        collate_fn=collate_rows,
        pin_memory=device.startswith("cuda"),
    )

    mean = torch.from_numpy(target_mean_np).to(device)
    std = torch.from_numpy(target_std_np).to(device)

    probe_results = {
        "linear": train_one_probe(
            probe_name="linear",
            hidden_dim=0,
            num_layers=0,
            model=model,
            train_loader=train_loader,
            val_loader=val_loader,
            test_loader=test_loader,
            target_dim=target_dim,
            mean=mean,
            std=std,
            args=args,
            device=device,
        ),
        "mlp": train_one_probe(
            probe_name="mlp",
            hidden_dim=int(args.hidden_dim),
            num_layers=int(args.num_layers),
            model=model,
            train_loader=train_loader,
            val_loader=val_loader,
            test_loader=test_loader,
            target_dim=target_dim,
            mean=mean,
            std=std,
            args=args,
            device=device,
        ),
    }

    metrics = {
        "policy": args.policy,
        "dataset": str(h5_path),
        "target_keys": target_keys,
        "representation": args.representation,
        "num_samples": sample_count,
        "train_samples": int(len(train_idx)),
        "val_samples": int(len(val_idx)),
        "test_samples": int(len(test_idx)),
        "probes": probe_results,
    }
    for probe_name, result in probe_results.items():
        test = result["test"]
        print(
            f"[probe:{probe_name}] test_mse={test['mse']:.6f} +/- {test['mse_std']:.6f} "
            f"test_r={test['pearson_r']:.6f}",
            flush=True,
        )
    print("[probe] final metrics:")
    print(json.dumps(metrics, indent=2, sort_keys=True))

    if args.output:
        output_path = Path(args.output)
        output_path.parent.mkdir(parents=True, exist_ok=True)
        output_path.write_text(json.dumps(metrics, indent=2, sort_keys=True))
        print(f"[probe] wrote {output_path}", flush=True)


if __name__ == "__main__":
    main()