#!/usr/bin/env python
"""Visualize PushT progress hierarchy in the Poincare ball.

Example:
    python debug/visualize_pusht_poincare_hierarchy.py \
      --policy /data_nvme/user/zliu681/le-wm-main/lewm_cache/pusht/hyperbolic_pusht_stable_trial2/lewm_hyperbolic_pusht_stable_epoch_10_state.ckpt \
      --num-trajectories 8 \
      --window 80
"""

from __future__ import annotations

import argparse
import json
import sys
from pathlib import Path

import h5py
import matplotlib.pyplot as plt
import numpy as np
import torch
import torch.nn.functional as F
from omegaconf import OmegaConf, open_dict

REPO_ROOT = Path(__file__).resolve().parents[1]
if str(REPO_ROOT) not in sys.path:
    sys.path.insert(0, str(REPO_ROOT))

import stable_worldmodel as swm  # noqa: E402
from train_hyperbolic import (  # noqa: E402
    build_hyperbolic_world_model,
    ensure_hyperbolic_defaults,
)
from utils import get_img_preprocessor  # noqa: E402


def parse_args() -> argparse.Namespace:
    parser = argparse.ArgumentParser(
        description="Draw goal-conditioned PushT Poincare progress hierarchy.",
    )
    parser.add_argument(
        "--policy",
        required=True,
        help="Path to a hyperbolic *_state.ckpt, *_weights.ckpt, *_object.ckpt, or run directory.",
    )
    parser.add_argument(
        "--config",
        default=None,
        help="Optional config.yaml path. By default, use config.yaml beside the checkpoint.",
    )
    parser.add_argument(
        "--dataset",
        default=None,
        help="Optional h5 dataset path. By default, resolve cfg.data.dataset.name under lewm_cache.",
    )
    parser.add_argument("--pixel-key", default="pixels")
    parser.add_argument("--num-trajectories", type=int, default=8)
    parser.add_argument(
        "--candidate-episodes",
        type=int,
        default=48,
        help="Number of episodes to scan before selecting representative windows.",
    )
    parser.add_argument(
        "--windows-per-episode",
        type=int,
        default=4,
        help="Only used with --window-mode scan.",
    )
    parser.add_argument("--window", type=int, default=80)
    parser.add_argument("--stride", type=int, default=2)
    parser.add_argument("--seed", type=int, default=0)
    parser.add_argument(
        "--window-mode",
        choices=("scan", "tail", "random"),
        default="scan",
        help=(
            "scan searches several subwindows per episode; tail uses the final window; "
            "random samples one window inside each episode."
        ),
    )
    parser.add_argument(
        "--selection",
        choices=("radius_corr", "radius_gain", "random"),
        default="radius_corr",
        help="How to select final displayed windows from candidates.",
    )
    parser.add_argument(
        "--projection",
        choices=("goal_aligned", "global_goal_pca"),
        default="goal_aligned",
        help=(
            "goal_aligned maps each hindsight goal to +x independently; "
            "global_goal_pca uses the first goal direction and one global orthogonal PCA axis."
        ),
    )
    parser.add_argument("--device", default="auto")
    parser.add_argument(
        "--output-dir",
        default=None,
        help="Default: lewm_cache/debug/pusht_poincare_hierarchy/<checkpoint_stem>",
    )
    parser.add_argument("--dpi", type=int, default=220)
    parser.add_argument("--plot-3d", action="store_true")
    return parser.parse_args()


def resolve_device(device: str) -> torch.device:
    if device == "auto":
        return torch.device("cuda" if torch.cuda.is_available() else "cpu")
    return torch.device(device)


def resolve_policy_path(policy: str) -> Path:
    path = Path(policy)
    if path.is_dir():
        candidates = sorted(path.glob("*_state.ckpt"))
        candidates += sorted(path.glob("*_weights.ckpt"))
        candidates += sorted(path.glob("*.ckpt"))
        if not candidates:
            raise FileNotFoundError(f"No checkpoint found under policy directory: {path}")
        return candidates[-1]

    if path.name.endswith("_object.ckpt"):
        state_path = path.with_name(path.name.replace("_object.ckpt", "_state.ckpt"))
        if state_path.exists():
            return state_path
        weights_path = path.with_name(path.name.replace("_object.ckpt", "_weights.ckpt"))
        if weights_path.exists():
            return weights_path

    return path


def resolve_config_path(policy_path: Path, config_arg: str | None) -> Path:
    if config_arg is not None:
        config_path = Path(config_arg)
    else:
        config_path = policy_path.parent / "config.yaml"
    if not config_path.exists():
        raise FileNotFoundError(
            f"Could not find config.yaml at {config_path}. Pass --config explicitly."
        )
    return config_path


def resolve_dataset_path(cfg, dataset_arg: str | None) -> Path:
    if dataset_arg:
        dataset_path = Path(dataset_arg)
        if dataset_path.exists():
            return dataset_path
        raise FileNotFoundError(f"Dataset path does not exist: {dataset_path}")

    dataset_name = str(cfg.data.dataset.name).replace("\\", "/")
    cache_dir = Path(swm.data.utils.get_cache_dir())
    candidates = [
        cache_dir / f"{dataset_name}.h5",
        cache_dir / dataset_name,
    ]
    for candidate in candidates:
        if candidate.exists():
            return candidate
    raise FileNotFoundError(
        "Could not resolve dataset from cfg.data.dataset.name="
        f"{dataset_name!r}. Tried: {', '.join(str(c) for c in candidates)}"
    )


def resolve_output_dir(policy_path: Path, output_dir: str | None) -> Path:
    if output_dir:
        return Path(output_dir)
    cache_dir = Path(swm.data.utils.get_cache_dir())
    return cache_dir / "debug" / "pusht_poincare_hierarchy" / policy_path.stem


def infer_action_dim(h5_file: h5py.File) -> int:
    if "action" not in h5_file:
        raise KeyError("Expected action key in dataset to infer action_dim.")
    action_shape = h5_file["action"].shape
    if len(action_shape) < 2:
        raise ValueError(f"Unexpected action shape: {action_shape}")
    return int(action_shape[-1])


def load_model(policy_path: Path, cfg, action_dim: int, device: torch.device):
    ensure_hyperbolic_defaults(cfg)
    with open_dict(cfg):
        cfg.wm.action_dim = int(action_dim)

    model = build_hyperbolic_world_model(cfg, action_dim=int(action_dim))
    checkpoint = torch.load(policy_path, map_location="cpu", weights_only=False)

    if hasattr(checkpoint, "state_dict"):
        state = checkpoint.state_dict()
    elif isinstance(checkpoint, dict) and "model_state_dict" in checkpoint:
        state = checkpoint["model_state_dict"]
    elif isinstance(checkpoint, dict) and "state_dict" in checkpoint:
        state = checkpoint["state_dict"]
    elif isinstance(checkpoint, dict) and all(torch.is_tensor(v) for v in checkpoint.values()):
        state = checkpoint
    else:
        raise TypeError(
            "Unsupported checkpoint format. Prefer a portable *_state.ckpt checkpoint."
        )

    stripped = {}
    for key, value in state.items():
        if key.startswith("model."):
            stripped[key[len("model.") :]] = value
        else:
            stripped[key] = value

    missing, unexpected = model.load_state_dict(stripped, strict=False)
    print(
        f"[poincare] loaded {policy_path} | "
        f"missing={len(missing)} unexpected={len(unexpected)}",
        flush=True,
    )
    if missing:
        print(f"[poincare] first missing keys: {missing[:8]}", flush=True)
    if unexpected:
        print(f"[poincare] first unexpected keys: {unexpected[:8]}", flush=True)

    return model.to(device).eval()


def dataset_length(h5_file: h5py.File, pixel_key: str) -> int:
    if pixel_key in h5_file:
        return int(h5_file[pixel_key].shape[0])
    for key in h5_file.keys():
        value = h5_file[key]
        if isinstance(value, h5py.Dataset) and len(value.shape) > 0:
            return int(value.shape[0])
    raise ValueError("Could not infer dataset length.")


def episode_bounds(h5_file: h5py.File, pixel_key: str) -> list[tuple[int, int]]:
    total = dataset_length(h5_file, pixel_key)

    if "ep_offset" in h5_file and "ep_len" in h5_file:
        starts = np.asarray(h5_file["ep_offset"][:], dtype=np.int64).reshape(-1)
        lengths = np.asarray(h5_file["ep_len"][:], dtype=np.int64).reshape(-1)
        if starts.shape == lengths.shape:
            ends = starts + lengths
            bounds = [
                (int(start), int(end))
                for start, end in zip(starts, ends)
                if 0 <= int(start) < int(end) <= total
            ]
            if bounds:
                return bounds

    for key in ("episode_ends", "episode_end", "ends"):
        if key in h5_file:
            ends = np.asarray(h5_file[key][:], dtype=np.int64)
            starts = np.concatenate([[0], ends[:-1]])
            return [(int(s), int(e)) for s, e in zip(starts, ends) if int(e) > int(s)]

    if "episode_idx" in h5_file:
        episode_idx = np.asarray(h5_file["episode_idx"][:], dtype=np.int64).reshape(-1)
        if episode_idx.shape[0] == total:
            change_points = np.flatnonzero(episode_idx[1:] != episode_idx[:-1]) + 1
            ends = np.concatenate([change_points, [total]]).astype(np.int64)
            starts = np.concatenate([[0], ends[:-1]])
            bounds = [
                (int(start), int(end))
                for start, end in zip(starts, ends)
                if int(end) > int(start)
            ]
            if bounds:
                return bounds

    if "step_idx" in h5_file:
        step_idx = np.asarray(h5_file["step_idx"][:], dtype=np.int64).reshape(-1)
        if step_idx.shape[0] == total:
            starts = np.flatnonzero(step_idx == 0).astype(np.int64)
            if starts.size:
                ends = np.concatenate([starts[1:], [total]]).astype(np.int64)
                bounds = [
                    (int(start), int(end))
                    for start, end in zip(starts, ends)
                    if int(end) > int(start)
                ]
                if bounds:
                    return bounds

    done = np.zeros(total, dtype=bool)
    found_done = False
    for key in ("terminals", "terminal", "timeouts", "timeout", "dones", "done"):
        if key in h5_file:
            value = np.asarray(h5_file[key][:], dtype=bool).reshape(-1)
            if value.shape[0] == total:
                done |= value
                found_done = True

    if found_done:
        ends = (np.flatnonzero(done) + 1).astype(np.int64)
        if len(ends) == 0 or int(ends[-1]) != total:
            ends = np.concatenate([ends, [total]])
        starts = np.concatenate([[0], ends[:-1]])
        return [(int(s), int(e)) for s, e in zip(starts, ends) if int(e) > int(s)]

    return [(0, total)]


def choose_candidate_windows(
    bounds: list[tuple[int, int]],
    *,
    num_trajectories: int,
    candidate_episodes: int,
    windows_per_episode: int,
    window: int,
    stride: int,
    mode: str,
    rng: np.random.Generator,
) -> list[tuple[int, int, int, int]]:
    min_len = max(2, int(window))
    valid = [(s, e) for s, e in bounds if e - s >= min_len]
    if not valid:
        raise ValueError(
            f"No episode is long enough for window={window}. "
            f"Longest episode length={max((e - s for s, e in bounds), default=0)}"
        )

    sample_count = num_trajectories if mode != "scan" else max(num_trajectories, candidate_episodes)
    order = rng.permutation(len(valid))[: min(sample_count, len(valid))]
    windows = []
    for local_idx in order:
        ep_start, ep_end = valid[int(local_idx)]
        max_start = ep_end - window
        if mode == "scan":
            if windows_per_episode <= 1:
                starts = [max_start]
            else:
                starts = np.linspace(
                    ep_start,
                    max_start,
                    num=max(1, int(windows_per_episode)),
                ).round().astype(np.int64)
                starts = list(dict.fromkeys(int(s) for s in starts))
        elif mode == "tail":
            starts = [max_start]
        else:
            starts = [int(rng.integers(ep_start, max_start + 1))]

        for start in starts:
            start = int(max(ep_start, min(start, max_start)))
            end = start + window
            rows = np.arange(start, end, max(1, int(stride)), dtype=np.int64)
            if rows[-1] != end - 1:
                rows = np.concatenate([rows, [end - 1]])
            windows.append((ep_start, ep_end, int(rows[0]), int(rows[-1])))

    unique = []
    seen = set()
    for item in windows:
        if item not in seen:
            seen.add(item)
            unique.append(item)
    return unique


def score_poincare_window(poincare: np.ndarray) -> dict[str, float]:
    progress = np.linspace(0.0, 1.0, poincare.shape[0], dtype=np.float64)
    radius = np.linalg.norm(poincare, axis=1)
    if radius.size < 2 or np.std(radius) < 1e-8:
        corr = float("nan")
    else:
        corr = float(np.corrcoef(progress, radius)[0, 1])

    early = radius[progress <= 0.25]
    late = radius[progress >= 0.75]
    early_mean = float(np.mean(early)) if early.size else float("nan")
    late_mean = float(np.mean(late)) if late.size else float("nan")
    return {
        "radius_corr": corr,
        "radius_gain": late_mean - early_mean,
        "early_radius": early_mean,
        "late_radius": late_mean,
        "radius_min": float(np.min(radius)),
        "radius_max": float(np.max(radius)),
        "radius_spread": float(np.max(radius) - np.min(radius)),
        "goal_radius": float(np.linalg.norm(poincare[-1])),
    }


def select_candidate_indices(
    candidate_scores: list[dict[str, float]],
    *,
    selection: str,
    num_trajectories: int,
    rng: np.random.Generator,
) -> list[int]:
    if selection == "random":
        order = rng.permutation(len(candidate_scores))
        return [int(i) for i in order[:num_trajectories]]

    def finite(value: float, fallback: float = -1e9) -> float:
        return float(value) if np.isfinite(value) else fallback

    if selection == "radius_gain":
        key = lambda i: (
            finite(candidate_scores[i]["radius_gain"]),
            finite(candidate_scores[i]["radius_corr"]),
            finite(candidate_scores[i]["radius_spread"]),
        )
    else:
        key = lambda i: (
            finite(candidate_scores[i]["radius_corr"]),
            finite(candidate_scores[i]["radius_gain"]),
            finite(candidate_scores[i]["radius_spread"]),
        )

    ranked = sorted(range(len(candidate_scores)), key=key, reverse=True)
    return [int(i) for i in ranked[:num_trajectories]]


def write_candidate_summary(path: Path, rows: list[dict]) -> None:
    fields = [
        "candidate",
        "selected",
        "traj",
        "episode_start",
        "episode_end",
        "first_row",
        "last_row",
        "radius_corr",
        "radius_gain",
        "early_radius",
        "late_radius",
        "radius_min",
        "radius_max",
        "radius_spread",
        "goal_radius",
    ]
    with path.open("w", newline="") as handle:
        handle.write(",".join(fields) + "\n")
        for row in rows:
            handle.write(",".join(str(row.get(field, "")) for field in fields) + "\n")


def pixel_tensor(raw: np.ndarray) -> torch.Tensor:
    x = torch.from_numpy(np.asarray(raw))
    if x.ndim != 4:
        raise ValueError(f"Expected pixels with 4 dims, got shape={tuple(x.shape)}")
    if x.shape[-1] in (1, 3):
        x = x.permute(0, 3, 1, 2)
    return x.contiguous()


def preprocess_pixels(raw_pixels: np.ndarray, cfg, pixel_key: str) -> torch.Tensor:
    pixels = pixel_tensor(raw_pixels)
    transform = get_img_preprocessor(
        source=pixel_key,
        target="pixels",
        img_size=int(cfg.img_size),
        resize=True,
    )
    try:
        return transform({pixel_key: pixels})["pixels"]
    except Exception as exc:
        print(
            "[poincare] get_img_preprocessor failed; using simple float resize fallback. "
            f"Reason: {exc}",
            flush=True,
        )
        pixels = pixels.float()
        if pixels.max() > 1.5:
            pixels = pixels / 255.0
        return F.interpolate(
            pixels,
            size=(int(cfg.img_size), int(cfg.img_size)),
            mode="bilinear",
            align_corners=False,
        )


def encoder_features(model, pixels: torch.Tensor) -> torch.Tensor:
    output = model.encoder(pixels)
    if torch.is_tensor(output):
        return output
    if hasattr(output, "last_hidden_state"):
        hidden = output.last_hidden_state
        if hidden.ndim == 3:
            return hidden[:, 0]
        return hidden
    if hasattr(output, "pooler_output") and output.pooler_output is not None:
        return output.pooler_output
    if isinstance(output, (tuple, list)) and output:
        first = output[0]
        if torch.is_tensor(first) and first.ndim == 3:
            return first[:, 0]
        return first
    raise TypeError(f"Unsupported encoder output type: {type(output)!r}")


@torch.no_grad()
def encode_poincare(
    model,
    raw_pixels: np.ndarray,
    cfg,
    pixel_key: str,
    device: torch.device,
    chunk_size: int = 32,
) -> np.ndarray:
    pixels = preprocess_pixels(raw_pixels, cfg, pixel_key)
    poincare_chunks = []
    for start in range(0, pixels.size(0), chunk_size):
        batch = pixels[start : start + chunk_size].to(device)
        features = encoder_features(model, batch)
        emb = model.projector(features)
        hyperbolic = model.to_hyperbolic(emb)
        if isinstance(hyperbolic, tuple):
            hyp = hyperbolic[-1]
        else:
            hyp = hyperbolic
        poincare = model.manifold.to_poincare(hyp)
        poincare_chunks.append(poincare.detach().cpu().float().numpy())
    return np.concatenate(poincare_chunks, axis=0)


def unit(v: np.ndarray, eps: float = 1e-8) -> np.ndarray:
    norm = float(np.linalg.norm(v))
    if norm < eps:
        out = np.zeros_like(v)
        out[0] = 1.0
        return out
    return v / norm


def first_principal_axis(x: np.ndarray, fallback: np.ndarray) -> np.ndarray:
    if x.shape[0] < 2 or np.allclose(x, 0.0):
        return fallback
    centered = x - x.mean(axis=0, keepdims=True)
    try:
        _, _, vh = np.linalg.svd(centered, full_matrices=False)
        return unit(vh[0])
    except np.linalg.LinAlgError:
        return fallback


def project_goal_aligned(p: np.ndarray) -> tuple[np.ndarray, float]:
    goal = p[-1]
    x_axis = unit(goal)
    x = p @ x_axis
    residual = p - x[:, None] * x_axis[None, :]
    fallback = np.zeros_like(x_axis)
    fallback[0] = 1.0
    if abs(float(np.dot(fallback, x_axis))) > 0.9 and fallback.size > 1:
        fallback = np.zeros_like(x_axis)
        fallback[1] = 1.0
    fallback = unit(fallback - np.dot(fallback, x_axis) * x_axis)
    y_axis = first_principal_axis(residual, fallback)
    y_axis = unit(y_axis - np.dot(y_axis, x_axis) * x_axis)
    y = p @ y_axis
    if y[-1] < 0:
        y = -y
    return np.stack([x, y], axis=1), float(np.linalg.norm(goal))


def project_global_goal_pca(all_p: list[np.ndarray]) -> tuple[list[np.ndarray], list[float]]:
    goals = np.stack([p[-1] for p in all_p], axis=0)
    x_axis = unit(goals.mean(axis=0))
    residuals = []
    for p in all_p:
        x = p @ x_axis
        residuals.append(p - x[:, None] * x_axis[None, :])
    y_axis = first_principal_axis(np.concatenate(residuals, axis=0), np.roll(x_axis, 1))
    y_axis = unit(y_axis - np.dot(y_axis, x_axis) * x_axis)

    coords = []
    goal_radii = []
    for p in all_p:
        coords.append(np.stack([p @ x_axis, p @ y_axis], axis=1))
        goal_radii.append(float(np.linalg.norm(p[-1])))
    return coords, goal_radii


def radius_metrics(records: list[dict]) -> dict:
    progress = np.asarray([row["progress"] for row in records], dtype=np.float64)
    radius = np.asarray([row["radius"] for row in records], dtype=np.float64)
    if progress.size < 2 or np.std(radius) < 1e-8:
        corr = float("nan")
    else:
        corr = float(np.corrcoef(progress, radius)[0, 1])

    early = radius[progress <= 0.25]
    mid = radius[(progress > 0.25) & (progress < 0.75)]
    late = radius[progress >= 0.75]
    return {
        "radius_progress_pearson": corr,
        "early_radius_mean": float(np.mean(early)) if early.size else float("nan"),
        "mid_radius_mean": float(np.mean(mid)) if mid.size else float("nan"),
        "late_radius_mean": float(np.mean(late)) if late.size else float("nan"),
        "num_points": int(progress.size),
    }


def write_csv(path: Path, records: list[dict]) -> None:
    fields = [
        "traj",
        "episode_start",
        "episode_end",
        "row",
        "local_t",
        "progress",
        "radius",
        "x",
        "y",
    ]
    with path.open("w", newline="") as handle:
        handle.write(",".join(fields) + "\n")
        for row in records:
            handle.write(",".join(str(row[field]) for field in fields) + "\n")


def plot_disk(ax, records_by_traj: list[list[dict]], goal_radii: list[float]) -> None:
    theta = np.linspace(0, 2 * np.pi, 400)
    ax.plot(np.cos(theta), np.sin(theta), color="0.25", lw=1.1)
    ax.axhline(0, color="0.85", lw=0.8)
    ax.axvline(0, color="0.85", lw=0.8)

    cmap = plt.get_cmap("viridis")
    for rows in records_by_traj:
        xy = np.asarray([[row["x"], row["y"]] for row in rows], dtype=np.float64)
        prog = np.asarray([row["progress"] for row in rows], dtype=np.float64)
        colors = cmap(prog)
        for i in range(len(xy) - 1):
            ax.plot(
                xy[i : i + 2, 0],
                xy[i : i + 2, 1],
                color=colors[i],
                alpha=0.55,
                lw=1.5,
            )
        ax.scatter(xy[:, 0], xy[:, 1], c=prog, cmap="viridis", s=14, alpha=0.85)
        if len(xy) > 3:
            for idx in np.linspace(1, len(xy) - 2, 3).astype(int):
                ax.annotate(
                    "",
                    xy=xy[idx + 1],
                    xytext=xy[idx],
                    arrowprops={
                        "arrowstyle": "->",
                        "color": colors[idx],
                        "lw": 1.0,
                        "alpha": 0.85,
                    },
                )

    goal_radius = float(np.mean(goal_radii)) if goal_radii else 0.0
    ax.scatter(
        [goal_radius],
        [0.0],
        marker="*",
        s=260,
        c="#ffd33d",
        edgecolors="black",
        linewidths=1.2,
        zorder=10,
        label="hindsight goal",
    )
    ax.set_aspect("equal")
    ax.set_xlim(-1.03, 1.03)
    ax.set_ylim(-1.03, 1.03)
    ax.set_xlabel("goal direction")
    ax.set_ylabel("orthogonal progress direction")
    ax.set_title("Goal-aligned Poincare disk")
    ax.legend(loc="lower right", frameon=False, fontsize=8)


def plot_radius(ax, records_by_traj: list[list[dict]]) -> None:
    all_progress = []
    all_radius = []
    for rows in records_by_traj:
        progress = np.asarray([row["progress"] for row in rows], dtype=np.float64)
        radius = np.asarray([row["radius"] for row in rows], dtype=np.float64)
        all_progress.append(progress)
        all_radius.append(radius)
        ax.plot(progress, radius, color="0.65", alpha=0.55, lw=1.0)

    grid = np.linspace(0.0, 1.0, 100)
    interp = []
    for progress, radius in zip(all_progress, all_radius):
        interp.append(np.interp(grid, progress, radius))
    if interp:
        stack = np.stack(interp, axis=0)
        mean = stack.mean(axis=0)
        std = stack.std(axis=0)
        ax.plot(grid, mean, color="#d9485f", lw=2.2, label="mean")
        ax.fill_between(grid, mean - std, mean + std, color="#d9485f", alpha=0.16)

    ax.set_xlabel("normalized trajectory progress")
    ax.set_ylabel("full Poincare radius")
    ax.set_title("Radius should increase with progress")
    ax.set_ylim(0.0, 1.03)
    ax.grid(True, alpha=0.25)
    ax.legend(frameon=False, fontsize=8)


def plot_stage_boxes(ax, records: list[dict]) -> None:
    stages = [[], [], []]
    for row in records:
        progress = float(row["progress"])
        if progress <= 0.25:
            stages[0].append(float(row["radius"]))
        elif progress < 0.75:
            stages[1].append(float(row["radius"]))
        else:
            stages[2].append(float(row["radius"]))
    ax.boxplot(
        stages,
        labels=["early", "middle", "late"],
        patch_artist=True,
        boxprops={"facecolor": "#d6eef7", "edgecolor": "0.35"},
        medianprops={"color": "#d9485f", "linewidth": 1.6},
    )
    ax.set_ylabel("full Poincare radius")
    ax.set_title("Radial hierarchy by stage")
    ax.set_ylim(0.0, 1.03)
    ax.grid(axis="y", alpha=0.25)


def plot_3d_ball(path: Path, records_by_traj: list[list[dict]], dpi: int) -> None:
    from mpl_toolkits.mplot3d import Axes3D  # noqa: F401

    fig = plt.figure(figsize=(6.5, 6.0))
    ax = fig.add_subplot(111, projection="3d")
    u = np.linspace(0, 2 * np.pi, 50)
    v = np.linspace(0, np.pi, 25)
    x = np.outer(np.cos(u), np.sin(v))
    y = np.outer(np.sin(u), np.sin(v))
    z = np.outer(np.ones_like(u), np.cos(v))
    ax.plot_wireframe(x, y, z, color="0.85", linewidth=0.4, alpha=0.45)

    cmap = plt.get_cmap("viridis")
    for rows in records_by_traj:
        xy = np.asarray([[row["x"], row["y"]] for row in rows], dtype=np.float64)
        radius = np.asarray([row["radius"] for row in rows], dtype=np.float64)
        progress = np.asarray([row["progress"] for row in rows], dtype=np.float64)
        z_coord = np.sqrt(np.maximum(radius**2 - np.sum(xy**2, axis=1), 0.0))
        ax.plot(xy[:, 0], xy[:, 1], z_coord, color="0.2", alpha=0.35, lw=1.0)
        ax.scatter(xy[:, 0], xy[:, 1], z_coord, c=progress, cmap="viridis", s=14)

    ax.set_xlim(-1.0, 1.0)
    ax.set_ylim(-1.0, 1.0)
    ax.set_zlim(0.0, 1.0)
    ax.set_xlabel("goal direction")
    ax.set_ylabel("orthogonal direction")
    ax.set_zlabel("remaining radius")
    ax.set_title("Poincare ball view")
    fig.tight_layout()
    fig.savefig(path, dpi=dpi)
    plt.close(fig)


def main() -> None:
    args = parse_args()
    rng = np.random.default_rng(args.seed)
    device = resolve_device(args.device)

    policy_path = resolve_policy_path(args.policy)
    config_path = resolve_config_path(policy_path, args.config)
    cfg = OmegaConf.load(config_path)
    dataset_path = resolve_dataset_path(cfg, args.dataset)
    output_dir = resolve_output_dir(policy_path, args.output_dir)
    output_dir.mkdir(parents=True, exist_ok=True)

    with h5py.File(dataset_path, "r") as h5_file:
        pixel_key = args.pixel_key
        if pixel_key not in h5_file:
            pixel_candidates = [key for key in h5_file.keys() if str(key).startswith("pixels")]
            if not pixel_candidates:
                raise KeyError(f"Pixel key {pixel_key!r} not found and no pixels* key exists.")
            pixel_key = pixel_candidates[0]
            print(f"[poincare] using pixel key {pixel_key!r}", flush=True)

        action_dim = infer_action_dim(h5_file)
        model = load_model(policy_path, cfg, action_dim=action_dim, device=device)

        bounds = episode_bounds(h5_file, pixel_key)
        candidate_windows = choose_candidate_windows(
            bounds,
            num_trajectories=int(args.num_trajectories),
            candidate_episodes=int(args.candidate_episodes),
            windows_per_episode=int(args.windows_per_episode),
            window=int(args.window),
            stride=int(args.stride),
            mode=str(args.window_mode),
            rng=rng,
        )

        candidate_poincare = []
        candidate_rows = []
        candidate_meta = []
        candidate_scores = []
        for candidate_idx, (ep_start, ep_end, first_row, last_row) in enumerate(candidate_windows):
            rows = np.arange(first_row, last_row + 1, max(1, int(args.stride)), dtype=np.int64)
            if rows[-1] != last_row:
                rows = np.concatenate([rows, [last_row]])
            raw_pixels = h5_file[pixel_key][rows]
            poincare = encode_poincare(model, raw_pixels, cfg, pixel_key, device)
            score = score_poincare_window(poincare)
            candidate_poincare.append(poincare)
            candidate_rows.append(rows)
            candidate_meta.append((candidate_idx, ep_start, ep_end))
            candidate_scores.append(score)
            print(
                f"[poincare] encoded candidate={candidate_idx} episode=({ep_start},{ep_end}) "
                f"rows=({int(rows[0])},{int(rows[-1])}) points={len(rows)} "
                f"corr={score['radius_corr']:.3f} gain={score['radius_gain']:.3f}",
                flush=True,
            )

    selected_indices = select_candidate_indices(
        candidate_scores,
        selection=str(args.selection),
        num_trajectories=min(int(args.num_trajectories), len(candidate_scores)),
        rng=rng,
    )
    selected_set = set(selected_indices)
    candidate_summary_rows = []
    selected_rank = {candidate_idx: rank for rank, candidate_idx in enumerate(selected_indices)}
    for candidate_idx, ((_, ep_start, ep_end), rows, score) in enumerate(
        zip(candidate_meta, candidate_rows, candidate_scores)
    ):
        candidate_summary_rows.append(
            {
                "candidate": int(candidate_idx),
                "selected": int(candidate_idx in selected_set),
                "traj": selected_rank.get(candidate_idx, ""),
                "episode_start": int(ep_start),
                "episode_end": int(ep_end),
                "first_row": int(rows[0]),
                "last_row": int(rows[-1]),
                **score,
            }
        )
    write_candidate_summary(output_dir / "candidate_window_scores.csv", candidate_summary_rows)

    all_poincare = [candidate_poincare[i] for i in selected_indices]
    row_arrays = [candidate_rows[i] for i in selected_indices]
    meta = [
        (display_idx, candidate_meta[candidate_idx][1], candidate_meta[candidate_idx][2])
        for display_idx, candidate_idx in enumerate(selected_indices)
    ]
    print(
        "[poincare] selected candidates: "
        + ", ".join(
            f"{idx}(corr={candidate_scores[idx]['radius_corr']:.3f}, "
            f"gain={candidate_scores[idx]['radius_gain']:.3f})"
            for idx in selected_indices
        ),
        flush=True,
    )

    if args.projection == "goal_aligned":
        coords = []
        goal_radii = []
        for poincare in all_poincare:
            projected, goal_radius = project_goal_aligned(poincare)
            coords.append(projected)
            goal_radii.append(goal_radius)
    else:
        coords, goal_radii = project_global_goal_pca(all_poincare)

    records = []
    records_by_traj = []
    for (traj_idx, ep_start, ep_end), rows, poincare, xy in zip(
        meta, row_arrays, all_poincare, coords
    ):
        progress = np.linspace(0.0, 1.0, len(rows), dtype=np.float64)
        radius = np.linalg.norm(poincare, axis=1)
        traj_records = []
        for local_t, (row, prog, rad, point) in enumerate(zip(rows, progress, radius, xy)):
            record = {
                "traj": int(traj_idx),
                "episode_start": int(ep_start),
                "episode_end": int(ep_end),
                "row": int(row),
                "local_t": int(local_t),
                "progress": float(prog),
                "radius": float(rad),
                "x": float(point[0]),
                "y": float(point[1]),
            }
            traj_records.append(record)
            records.append(record)
        records_by_traj.append(traj_records)

    metrics = radius_metrics(records)
    metrics.update(
        {
            "policy": str(policy_path),
            "config": str(config_path),
            "dataset": str(dataset_path),
            "pixel_key": str(args.pixel_key),
            "projection": str(args.projection),
            "selection": str(args.selection),
            "window_mode": str(args.window_mode),
            "num_candidates": int(len(candidate_scores)),
            "num_trajectories": len(records_by_traj),
            "window": int(args.window),
            "stride": int(args.stride),
            "goal_radius_mean": float(np.mean(goal_radii)) if goal_radii else float("nan"),
            "goal_radius_std": float(np.std(goal_radii)) if goal_radii else float("nan"),
        }
    )

    write_csv(output_dir / "poincare_progress_points.csv", records)
    with (output_dir / "poincare_progress_metrics.json").open("w") as handle:
        json.dump(metrics, handle, indent=2)

    fig, axes = plt.subplots(1, 3, figsize=(15.2, 4.8), constrained_layout=True)
    plot_disk(axes[0], records_by_traj, goal_radii)
    plot_radius(axes[1], records_by_traj)
    plot_stage_boxes(axes[2], records)
    fig.suptitle("PushT goal-conditioned progress hierarchy in the Poincare ball")

    figure_path = output_dir / "pusht_poincare_progress_hierarchy.png"
    fig.savefig(figure_path, dpi=int(args.dpi))
    fig.savefig(output_dir / "pusht_poincare_progress_hierarchy.pdf")
    plt.close(fig)

    if bool(args.plot_3d):
        plot_3d_ball(output_dir / "pusht_poincare_progress_hierarchy_3d.png", records_by_traj, int(args.dpi))

    print(f"[poincare] wrote {figure_path}", flush=True)
    print(f"[poincare] metrics: {json.dumps(metrics, indent=2)}", flush=True)


if __name__ == "__main__":
    main()