Remove provenance directory
Browse filesRemove provenance files and stale README references. Videos, task indexes, annotations, and frozen data splits are unchanged.
- README.md +1 -2
- provenance/evomind-state-20261102/export_order.py +0 -346
- provenance/evomind-state-20261102/prepare_personal_state.py +0 -130
- provenance/evomind-state-20261102/provenance.json +0 -0
- provenance/evomind-state-20261102/publication.json +0 -9
- provenance/evomind-state-20261102/review-approved.json +0 -58
- provenance/evomind-state-20261102/run_state_export.py +0 -51
- provenance/evomind-state-20261102/source-manifest.json +0 -100
- provenance/evomind-state-20261102/state_20261102.json +0 -100
- provenance/evomind-state-20261102/test_export_order.py +0 -180
- provenance/evomind-state-20261102/tests.log +0 -19
- provenance/evomind-state-20261102/validation.json +0 -44
README.md
CHANGED
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@@ -44,5 +44,4 @@ The test-tube task combines three valid batches (11 + 3 + 35 trajectories).
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All 558 videos are frame-exact H.264 stream-copy cuts. Full decoding confirmed frame counts,
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timestamps and equality of decoded YUV pixels to the original source cuts. Eight conversion
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tests passed.
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[`provenance/evomind-state-20261102/`](provenance/evomind-state-20261102/).
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All 558 videos are frame-exact H.264 stream-copy cuts. Full decoding confirmed frame counts,
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timestamps and equality of decoded YUV pixels to the original source cuts. Eight conversion
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+
tests passed.
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provenance/evomind-state-20261102/export_order.py
DELETED
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@@ -1,346 +0,0 @@
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| 1 |
-
#!/usr/bin/env python3
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"""Export explicitly selected LeRobot v3 recordings to ProPriMem, offline."""
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-
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import argparse
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from fractions import Fraction
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import hashlib
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import json
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import math
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from pathlib import Path
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import re
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import statistics
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import subprocess
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-
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CAMERAS = {
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"main_view": "observation.images.right_environment_1",
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| 17 |
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"left_view": "observation.images.left_wrist",
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"right_view": "observation.images.right_wrist",
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}
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-
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-
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def sha256(path):
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h = hashlib.sha256()
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with Path(path).open("rb") as f:
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for block in iter(lambda: f.read(8 * 1024**2), b""):
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h.update(block)
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return h.hexdigest()
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-
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def write_json(path, value):
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path.write_text(json.dumps(value, ensure_ascii=False, indent=2) + "\n", encoding="utf-8")
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def child(root, relative):
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path = (root / relative).resolve()
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if not path.is_relative_to(root.resolve()) or path == root.resolve():
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raise ValueError(f"Path outside source root: {relative}")
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return path
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-
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| 41 |
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def load_plan(manifest, source_root):
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import pyarrow.parquet as pq
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suite = manifest.get("suite", "Order")
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if suite not in {"Order", "State"}:
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raise ValueError("Expected Order or State suite")
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prefix = "O" if suite == "Order" else "S"
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plan, ids, sources_seen = [], set(), set()
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for task in manifest["tasks"]:
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| 50 |
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if not re.fullmatch(prefix + r"\d{2,}", task["task_id"]) or not re.fullmatch(r"[a-z0-9_]+", task["task_slug"]):
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raise ValueError(f"Invalid {suite} task ID/slug")
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if task["task_id"] in ids:
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raise ValueError("Duplicate task ID")
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ids.add(task["task_id"])
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episodes, snapshots = [], {}
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for source in task["sources"]:
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name = source["dataset"]
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if name in sources_seen:
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raise ValueError(f"Duplicate source dataset: {name}")
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sources_seen.add(name)
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root = child(source_root, name)
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info_path = root / "meta/info.json"
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info = json.loads(info_path.read_text())
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if info["codebase_version"] != "v3.0" or info["total_episodes"] != source["episodes"]:
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raise ValueError(f"Source version/count changed: {name}")
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if info["total_episodes"] <= 0 or info["fps"] <= 0:
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raise ValueError(f"Empty/invalid source: {name}")
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if any(info["features"].get(camera, {}).get("dtype") != "video" for camera in CAMERAS.values()):
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raise ValueError(f"Missing configured three-view cameras: {name}")
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meta_files = [info_path] + sorted((root / "meta/episodes").rglob("*.parquet"))
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rows = [row for p in meta_files[1:] for row in pq.read_table(p).to_pylist()]
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rows.sort(key=lambda row: row["episode_index"])
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if [r["episode_index"] for r in rows] != list(range(source["episodes"])):
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raise ValueError(f"Noncontiguous or unfinished episode metadata: {name}")
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if sum(r["length"] for r in rows) != info["total_frames"]:
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raise ValueError(f"Source frame total mismatch: {name}")
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excluded = source.get("exclude_episodes", [])
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| 78 |
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if len(set(excluded)) != len(excluded) or not set(excluded).issubset(range(source["episodes"])):
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| 79 |
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raise ValueError(f"Invalid explicit episode exclusions: {name}")
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| 80 |
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snapshots.update({str(p): sha256(p) for p in meta_files})
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for row in rows:
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if row["episode_index"] in excluded:
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continue
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instructions = row["tasks"]
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if len(instructions) != 1 or not instructions[0].strip() or row["length"] <= 0:
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| 86 |
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raise ValueError(f"Expected one nonempty instruction per episode: {name}")
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views = {}
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for view, camera in CAMERAS.items():
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prefix = f"videos/{camera}"
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start = row[prefix + "/from_timestamp"] * info["fps"]
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end = row[prefix + "/to_timestamp"] * info["fps"]
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if abs(start - round(start)) > 0.01 or abs(end - start - row["length"]) > 0.01:
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raise ValueError(f"Non-frame-aligned range: {name}, {row['episode_index']}, {view}")
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| 94 |
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relative = info["video_path"].format(
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video_key=camera, chunk_index=row[prefix + "/chunk_index"],
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| 96 |
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file_index=row[prefix + "/file_index"])
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| 97 |
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path = child(root, relative)
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| 98 |
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if not path.is_file():
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| 99 |
-
raise ValueError(f"Missing video: {path}")
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| 100 |
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views[view] = dict(path=path, source_path=f"{name}/{relative}", start=round(start))
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episodes.append(dict(source_dataset=name, source_episode=row["episode_index"],
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instruction=instructions[0], frames=row["length"],
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fps=info["fps"], views=views))
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| 104 |
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median = statistics.median(e["frames"] / e["fps"] for e in episodes)
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| 105 |
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warnings = [dict(dataset=e["source_dataset"], episode=e["source_episode"],
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duration_s=e["frames"] / e["fps"], reason="less than 60% of task median; review only")
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| 107 |
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for e in episodes if e["frames"] / e["fps"] < median * 0.6]
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| 108 |
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plan.append(dict(task=task, episodes=episodes, snapshots=snapshots, warnings=warnings))
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return plan
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| 112 |
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def try_remux(source, target, start, count, fps):
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| 113 |
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"""Accept stream-copy cuts only after a complete frame/pixel comparison."""
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import av
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rate = Fraction(fps).limit_denominator()
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with av.open(str(source)) as inp:
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video = inp.streams.video[0]
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| 119 |
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if video.codec_context.name != "h264" or video.average_rate != rate:
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return None
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origin = (video.start_time or 0) * video.time_base
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inp.seek(int((origin + Fraction(start, 1) / rate) / video.time_base), stream=video, backward=True)
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expected, n = hashlib.sha256(), 0
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for frame in inp.decode(video=0):
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if frame.pts is None:
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return None
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position = (frame.pts * frame.time_base - origin) * rate
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index = round(position)
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if index < start:
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continue
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if index >= start + count:
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break
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if abs(position - index) > .01 or index != start + n:
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return None
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expected.update(frame.to_ndarray(format="yuv420p").tobytes())
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n += 1
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if n != count:
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return None
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result = subprocess.run(["ffmpeg", "-v", "error", "-nostdin", "-y", "-ss", str(float(start / rate)),
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"-i", str(source), "-frames:v", str(count), "-map", "0:v:0", "-an",
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"-c:v", "copy", "-movflags", "+faststart", str(target)], capture_output=True)
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matched, digest, n = result.returncode == 0, hashlib.sha256(), 0
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if matched:
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try:
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with av.open(str(target)) as inp:
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matched = inp.streams.video[0].average_rate == rate
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| 147 |
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for frame in inp.decode(video=0):
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| 148 |
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if frame.pts is None or abs(frame.pts * frame.time_base - n / rate) > Fraction(1, 10000):
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| 149 |
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matched = False
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digest.update(frame.to_ndarray(format="yuv420p").tobytes())
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n += 1
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except av.FFmpegError:
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matched = False
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if matched and n == count and digest.digest() == expected.digest():
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return dict(video_size_bytes=target.stat().st_size, video_sha256=sha256(target),
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decoded_yuv_sha256=digest.hexdigest(), video_processing="frame_exact_lossless_h264_remux")
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target.unlink(missing_ok=True)
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return None
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-
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| 161 |
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def export_clip(source, target, start, count, fps, preset="ultrafast", remux_first=False):
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"""Decode from the preceding keyframe, cut exact frames, encode losslessly."""
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import av
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if remux_first:
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result = try_remux(source, target, start, count, fps)
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if result is not None:
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return result
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rate = Fraction(fps).limit_denominator()
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digest, written = hashlib.sha256(), 0
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with av.open(str(source)) as inp, av.open(str(target), "w") as out:
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video = inp.streams.video[0]
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if video.average_rate != rate or video.codec_context.pix_fmt != "yuv420p":
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| 174 |
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raise ValueError(f"Expected CFR yuv420p source at {fps} FPS: {source}")
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| 175 |
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origin = (video.start_time or 0) * video.time_base
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stream = out.add_stream("libx264", rate=rate, options={"crf": "0", "preset": preset})
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stream.width, stream.height = video.width, video.height
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stream.pix_fmt = "yuv420p"
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stream.codec_context.thread_count = 2
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stream.time_base = 1 / rate
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inp.seek(int((origin + Fraction(start, 1) / rate) / video.time_base), stream=video, backward=True)
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| 182 |
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for frame in inp.decode(video=0):
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| 183 |
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if frame.pts is None:
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| 184 |
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raise ValueError("Source frame has no PTS")
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| 185 |
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position = (frame.pts * frame.time_base - origin) * rate
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| 186 |
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index = round(position)
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| 187 |
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if abs(position - index) > 0.01:
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| 188 |
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raise ValueError("Nonuniform source video timestamps")
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| 189 |
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if index < start:
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| 190 |
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continue
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| 191 |
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if index >= start + count:
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break
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| 193 |
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if index != start + written:
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| 194 |
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raise ValueError(f"Missing/duplicate source frame: {source}, {index}")
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| 195 |
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digest.update(frame.to_ndarray(format="yuv420p").tobytes())
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| 196 |
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frame.pts, frame.time_base = written, 1 / rate
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| 197 |
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for packet in stream.encode(frame):
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| 198 |
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out.mux(packet)
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| 199 |
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written += 1
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| 200 |
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for packet in stream.encode():
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| 201 |
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out.mux(packet)
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| 202 |
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if written != count:
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| 203 |
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raise ValueError(f"Truncated source clip: {source}, wanted {count}, got {written}")
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| 204 |
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check, decoded = hashlib.sha256(), 0
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| 205 |
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with av.open(str(target)) as inp:
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| 206 |
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for frame in inp.decode(video=0):
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| 207 |
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if frame.pts is None or abs(frame.pts * frame.time_base - decoded / rate) > Fraction(1, 10000):
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| 208 |
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raise ValueError(f"Output timestamp mismatch: {target}")
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| 209 |
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check.update(frame.to_ndarray(format="yuv420p").tobytes())
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| 210 |
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decoded += 1
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| 211 |
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if decoded != count or check.digest() != digest.digest():
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| 212 |
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raise ValueError(f"Output frame count/pixel mismatch: {target}")
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| 213 |
-
return dict(video_size_bytes=target.stat().st_size, video_sha256=sha256(target),
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| 214 |
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decoded_yuv_sha256=check.hexdigest(), video_processing="frame_exact_lossless_h264")
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| 215 |
-
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| 216 |
-
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| 217 |
-
def convert(plan, manifest, output, limit=None):
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| 218 |
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suite = manifest.get("suite", "Order")
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| 219 |
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output.mkdir(parents=True, exist_ok=False)
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| 220 |
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write_json(output / "export-status.json", {"status": "incomplete"})
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| 221 |
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write_json(output / "source-manifest.json", manifest)
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| 222 |
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hashes, stats, mapping, split_tasks = {}, [], [], []
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| 223 |
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for item in plan:
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| 224 |
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task = item["task"]
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| 225 |
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folder = f"{task['task_id'][1:]}-{task['task_slug']}"
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| 226 |
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target = output / suite / folder
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| 227 |
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target.mkdir(parents=True)
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| 228 |
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(target / "annotations").mkdir()
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| 229 |
-
episodes = item["episodes"][:limit] if limit else item["episodes"]
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| 230 |
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rows = []
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| 231 |
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for index, episode in enumerate(episodes):
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| 232 |
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views = {}
|
| 233 |
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for view, source in episode["views"].items():
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| 234 |
-
path = target / "videos" / view / f"episode_{index:06d}.mp4"
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| 235 |
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path.parent.mkdir(parents=True, exist_ok=True)
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| 236 |
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raw = source["path"]
|
| 237 |
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if raw not in hashes:
|
| 238 |
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hashes[raw] = (sha256(raw), raw.stat())
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| 239 |
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details = export_clip(raw, path, source["start"], episode["frames"], episode["fps"],
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| 240 |
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preset=manifest.get("video_preset", "ultrafast"),
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| 241 |
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remux_first=manifest.get("video_remux_first", False))
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| 242 |
-
views[view] = dict(camera=CAMERAS[view], video_path=path.relative_to(target).as_posix(),
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| 243 |
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source_path=source["source_path"], source_sha256=hashes[raw][0],
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| 244 |
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**{k: v for k, v in details.items() if k != "decoded_yuv_sha256"})
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| 245 |
-
mapping.append(dict(sample_id=f"evomind_{task['task_id']}_episode_{index:06d}",
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| 246 |
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source_dataset=episode["source_dataset"], source_episode=episode["source_episode"],
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| 247 |
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view=view, source_start_frame=source["start"], frames=episode["frames"], **details))
|
| 248 |
-
main = views["main_view"]
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| 249 |
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row = dict(sample_id=f"evomind_{task['task_id']}_episode_{index:06d}",
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| 250 |
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task_id=task["task_id"], task_name=task["task_name"], task_slug=task["task_slug"],
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| 251 |
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domain="real-world", episode_index=index, video_path=main["video_path"],
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| 252 |
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annotation_path=None, has_annotation=False, task_prompt=None,
|
| 253 |
-
source_instruction=episode["instruction"], fps=episode["fps"], total_frames=episode["frames"],
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| 254 |
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num_stages=None, annotation_sha256=None, video_size_bytes=main["video_size_bytes"],
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| 255 |
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video_sha256=main["video_sha256"], source_path=main["source_path"],
|
| 256 |
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source_total_frames=episode["frames"], source_sha256=main["source_sha256"],
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| 257 |
-
video_processing=main["video_processing"], source_repo=None, source_revision=None,
|
| 258 |
-
video_views=views, suite=suite, source_dataset="EvoMind-PiperX",
|
| 259 |
-
source_sample_id=f"{episode['source_dataset']}/episode_{episode['source_episode']:06d}",
|
| 260 |
-
source_dataset_video_path=main["source_path"], collection_task_id=task["collection_task_id"],
|
| 261 |
-
collection_task_name=task["collection_task_name"], collection_task_slug=task["task_slug"],
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| 262 |
-
source_collection="EvoMind", source_dataset_url=None,
|
| 263 |
-
source_task_id=task["collection_task_id"], source_task_name=episode["instruction"],
|
| 264 |
-
source_task_url=None, name_evidence="recorded_lerobot_episode_instruction", source_file_url=None)
|
| 265 |
-
rows.append(row)
|
| 266 |
-
print(f"{task['task_id']} episode {index + 1}/{len(episodes)} verified", flush=True)
|
| 267 |
-
for path, digest in item["snapshots"].items():
|
| 268 |
-
if sha256(path) != digest:
|
| 269 |
-
raise ValueError(f"Source metadata changed during export: {path}")
|
| 270 |
-
summary = dict(task_id=task["task_id"], task_name=task["task_name"], path=".",
|
| 271 |
-
task_slug=task["task_slug"], suite=suite, domain="real-world",
|
| 272 |
-
domain_counts={"real-world": len(rows)}, source_dataset="EvoMind-PiperX",
|
| 273 |
-
source_repositories=[], source_revisions=[], source_collection="EvoMind",
|
| 274 |
-
collection_task_id=task["collection_task_id"], collection_task_names=[task["collection_task_name"]],
|
| 275 |
-
trajectory_count=len(rows), annotated_trajectory_count=0, unannotated_trajectory_count=len(rows),
|
| 276 |
-
view_trajectory_counts={view: len(rows) for view in CAMERAS},
|
| 277 |
-
video_file_count=len(rows) * 3, annotation_file_count=0, trajectory_index="metadata.jsonl",
|
| 278 |
-
classification_basis=f"User classified these recordings as {suite} tasks.",
|
| 279 |
-
format_reference={"repository": manifest["format_reference"], "revision": manifest["format_revision"]},
|
| 280 |
-
source_datasets=[source["dataset"] for source in task["sources"]],
|
| 281 |
-
annotation_status="No stage labels collected; pending annotation.")
|
| 282 |
-
write_json(target / "metadata.json", summary)
|
| 283 |
-
index_path = target / "metadata.jsonl"
|
| 284 |
-
index_path.write_text("".join(json.dumps(r, ensure_ascii=False) + "\n" for r in rows), encoding="utf-8")
|
| 285 |
-
validation_count = math.ceil(len(rows) * 0.2)
|
| 286 |
-
sample_ids = [row["sample_id"] for row in rows]
|
| 287 |
-
split_tasks.append(dict(suite=suite, task_id=task["task_id"], task_name=task["task_name"],
|
| 288 |
-
task_path=f"{suite}/{folder}", trajectory_index=f"{suite}/{folder}/metadata.jsonl",
|
| 289 |
-
trajectory_index_sha256=sha256(index_path),
|
| 290 |
-
train=sample_ids[:-validation_count], val=sample_ids[-validation_count:]))
|
| 291 |
-
stats.append(dict(task_id=task["task_id"], directory=f"{suite}/{folder}", episodes=len(rows),
|
| 292 |
-
frames=sum(e["frames"] for e in episodes), warnings=item["warnings"]))
|
| 293 |
-
for path, (digest, before) in hashes.items():
|
| 294 |
-
after = path.stat()
|
| 295 |
-
if (after.st_size, after.st_mtime_ns) != (before.st_size, before.st_mtime_ns):
|
| 296 |
-
raise ValueError(f"Source video changed during export: {path}")
|
| 297 |
-
write_json(output / "provenance.json", dict(tool_sha256=sha256(__file__), trajectories=mapping,
|
| 298 |
-
source_metadata_sha256={p: h for t in plan for p, h in t["snapshots"].items()}))
|
| 299 |
-
write_json(output / "manifest.additions.json", dict(
|
| 300 |
-
schema_version=1, partial=bool(limit), base_revision=manifest["format_revision"],
|
| 301 |
-
note="New tasks only; merge explicitly into the HF manifest without changing existing frozen splits.",
|
| 302 |
-
split_policy={"unit": "trajectory", "val_fraction": 0.2,
|
| 303 |
-
"selection": "last ceil(n * 0.2) trajectories are val; preceding trajectories are train",
|
| 304 |
-
"include_unannotated": True, "path_base": "manifest directory", "frozen": True},
|
| 305 |
-
tasks=split_tasks))
|
| 306 |
-
report = dict(status="passed", partial=bool(limit), tasks=stats,
|
| 307 |
-
episodes=sum(t["episodes"] for t in stats), videos=sum(t["episodes"] * 3 for t in stats),
|
| 308 |
-
checks="Full output decode; frame counts, timestamps and decoded YUV equality to source cuts; source metadata hashes.")
|
| 309 |
-
write_json(output / "export-status.json", report)
|
| 310 |
-
(output / suite / "README.md").write_text(
|
| 311 |
-
f"# {suite} — EvoMind recordings\n\nUnannotated real robot recordings. "
|
| 312 |
-
"Each task has metadata.json and metadata.jsonl with task-relative paths. "
|
| 313 |
-
"main_view is the environment camera; left_view/right_view are wrist cameras. "
|
| 314 |
-
"Stage annotations have not been collected. See ../export-status.json and ../provenance.json.\n\n"
|
| 315 |
-
+ "\n".join(f"- [{t['task_id']}]({t['directory'].split('/', 1)[1]}/): {t['episodes']} trajectories" for t in stats) + "\n")
|
| 316 |
-
return report
|
| 317 |
-
|
| 318 |
-
|
| 319 |
-
def main():
|
| 320 |
-
p = argparse.ArgumentParser(description=__doc__)
|
| 321 |
-
p.add_argument("--manifest", type=Path, default=Path(__file__).with_name("order_20261031.json"))
|
| 322 |
-
p.add_argument("--source-root", type=Path, required=True)
|
| 323 |
-
p.add_argument("--output", type=Path)
|
| 324 |
-
p.add_argument("--plan", action="store_true", help="Validate metadata and report short clips without writing output")
|
| 325 |
-
p.add_argument("--limit-per-task", type=int, help="Export a partial smoke test, never a complete release")
|
| 326 |
-
args = p.parse_args()
|
| 327 |
-
if args.limit_per_task is not None and args.limit_per_task < 1:
|
| 328 |
-
p.error("--limit-per-task must be positive")
|
| 329 |
-
if not args.plan and args.output is None:
|
| 330 |
-
p.error("--output is required unless --plan is set")
|
| 331 |
-
manifest = json.loads(args.manifest.read_text())
|
| 332 |
-
plan = load_plan(manifest, args.source_root.resolve())
|
| 333 |
-
if args.plan:
|
| 334 |
-
report = dict(episodes=sum(len(t["episodes"]) for t in plan), tasks=[
|
| 335 |
-
dict(task_id=t["task"]["task_id"], name=t["task"]["collection_task_name"],
|
| 336 |
-
episodes=len(t["episodes"]), warnings=t["warnings"]) for t in plan])
|
| 337 |
-
else:
|
| 338 |
-
output = args.output.resolve()
|
| 339 |
-
if output.is_relative_to(args.source_root.resolve()) or args.source_root.resolve().is_relative_to(output):
|
| 340 |
-
p.error("Output must be separate from the source data tree")
|
| 341 |
-
report = convert(plan, manifest, output, args.limit_per_task)
|
| 342 |
-
print(json.dumps(report, ensure_ascii=False, indent=2))
|
| 343 |
-
|
| 344 |
-
|
| 345 |
-
if __name__ == "__main__":
|
| 346 |
-
main()
|
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|
|
provenance/evomind-state-20261102/prepare_personal_state.py
DELETED
|
@@ -1,130 +0,0 @@
|
|
| 1 |
-
"""Prepare a standalone personal State dataset from the validated release."""
|
| 2 |
-
import copy
|
| 3 |
-
from datetime import datetime, timezone, timedelta
|
| 4 |
-
import hashlib
|
| 5 |
-
import json
|
| 6 |
-
import os
|
| 7 |
-
from pathlib import Path
|
| 8 |
-
import shutil
|
| 9 |
-
|
| 10 |
-
SOURCE = Path('/home/zhaobo/work/codex_active_vision/proprimem_state_export_20261102_v001')
|
| 11 |
-
ROOT = Path('/home/zhaobo/work/codex_active_vision/proprimem_state_personal_20261103_v001')
|
| 12 |
-
REPO = 'syding9/ProPriMem-State'
|
| 13 |
-
|
| 14 |
-
|
| 15 |
-
def read(path):
|
| 16 |
-
return json.loads(path.read_text())
|
| 17 |
-
|
| 18 |
-
|
| 19 |
-
def write(path, value):
|
| 20 |
-
path.write_text(json.dumps(value, ensure_ascii=False, indent=2) + '\n')
|
| 21 |
-
|
| 22 |
-
|
| 23 |
-
def copy_file(source, target):
|
| 24 |
-
if Path(source).suffix == '.mp4':
|
| 25 |
-
os.link(source, target)
|
| 26 |
-
else:
|
| 27 |
-
shutil.copy2(source, target)
|
| 28 |
-
return target
|
| 29 |
-
|
| 30 |
-
|
| 31 |
-
if __name__ == '__main__':
|
| 32 |
-
report = read(SOURCE / 'full/export-status.json')
|
| 33 |
-
assert report['status'] == 'passed' and not report['partial']
|
| 34 |
-
assert report['episodes'] == 186 and report['videos'] == 558
|
| 35 |
-
ROOT.mkdir(exist_ok=False)
|
| 36 |
-
full = ROOT / 'full'
|
| 37 |
-
full.mkdir()
|
| 38 |
-
(ROOT / 'tools').mkdir()
|
| 39 |
-
shutil.copytree(SOURCE / 'full/State', full / 'State', copy_function=copy_file)
|
| 40 |
-
shutil.copytree(SOURCE / 'full/provenance', full / 'provenance')
|
| 41 |
-
evidence = full / 'provenance/evomind-state-20261102'
|
| 42 |
-
# This script replaces the organization-specific publication preparation.
|
| 43 |
-
(evidence / 'prepare_state_pr.py').unlink()
|
| 44 |
-
for name in ['source-manifest.json', 'export-status.json', 'provenance.json', 'manifest.additions.json']:
|
| 45 |
-
shutil.copy2(SOURCE / 'full' / name, full / name)
|
| 46 |
-
old = read(SOURCE / 'full/manifest.json')
|
| 47 |
-
tasks = [t for t in old['tasks'] if t['task_id'] in {'S11', 'S12', 'S13', 'S14', 'S15'}]
|
| 48 |
-
assert len(tasks) == 5
|
| 49 |
-
manifest = dict(schema_version=old['schema_version'], split_policy=copy.deepcopy(old['split_policy']),
|
| 50 |
-
dataset_version='1.0.0', split_version='1.0.0',
|
| 51 |
-
created_at=datetime.now(timezone(timedelta(hours=8))).isoformat(),
|
| 52 |
-
summary={'State': {'tasks': 5, 'train': 148, 'val': 38}},
|
| 53 |
-
totals={'tasks': 5, 'trajectories': 186, 'train': 148, 'val': 38}, tasks=tasks,
|
| 54 |
-
source_format_reference=read(full / 'source-manifest.json')['format_reference'])
|
| 55 |
-
write(full / 'manifest.json', manifest)
|
| 56 |
-
rows = []
|
| 57 |
-
for task in tasks:
|
| 58 |
-
index = full / task['trajectory_index']
|
| 59 |
-
assert hashlib.sha256(index.read_bytes()).hexdigest() == task['trajectory_index_sha256']
|
| 60 |
-
data = [json.loads(line) for line in index.read_text().splitlines()]
|
| 61 |
-
assert [r['sample_id'] for r in data] == task['train'] + task['val']
|
| 62 |
-
assert task['suite'] == 'State' and not task['task_name'].startswith('State:')
|
| 63 |
-
rows.append(f"| {task['task_id']} | [{task['task_name']}]({task['task_path']}/) | {len(data)} |")
|
| 64 |
-
for row in data:
|
| 65 |
-
assert not row['has_annotation'] and row['annotation_path'] is None
|
| 66 |
-
for view in row['video_views'].values():
|
| 67 |
-
path = index.parent / view['video_path']
|
| 68 |
-
original = SOURCE / 'full' / path.relative_to(full)
|
| 69 |
-
assert path.stat().st_ino == original.stat().st_ino
|
| 70 |
-
assert path.stat().st_size == view['video_size_bytes']
|
| 71 |
-
table = '| ID | Task | Trajectories |\n|---|---|---:|\n' + '\n'.join(rows)
|
| 72 |
-
readme = '''---
|
| 73 |
-
pretty_name: ProPriMem-State
|
| 74 |
-
tags:
|
| 75 |
-
- robotics
|
| 76 |
-
- memory
|
| 77 |
-
- state
|
| 78 |
-
---
|
| 79 |
-
# ProPriMem-State
|
| 80 |
-
|
| 81 |
-
5 real-robot State tasks · 186 trajectories · 558 videos.
|
| 82 |
-
|
| 83 |
-
Recorded using a bimanual PiperX setup on 2026-10-31 and 2026-11-02. Each trajectory contains
|
| 84 |
-
an environment camera (`main_view`) and two wrist cameras (`left_view`, `right_view`), at
|
| 85 |
-
1280×720 and 30 FPS. This dataset follows the task-directory and index format of
|
| 86 |
-
[MINT-SJTU/ProPriMem](https://huggingface.co/datasets/MINT-SJTU/ProPriMem).
|
| 87 |
-
|
| 88 |
-
TABLE
|
| 89 |
-
|
| 90 |
-
## Format and splits
|
| 91 |
-
|
| 92 |
-
Each task in `State/` contains `metadata.json`, `metadata.jsonl` and `videos/`.
|
| 93 |
-
Paths within a trajectory index are relative to its task directory. Task identifiers S11–S15
|
| 94 |
-
are retained for compatibility with the prepared ProPriMem State addition; this standalone
|
| 95 |
-
repository contains only these five tasks.
|
| 96 |
-
|
| 97 |
-
Dataset v1.0.0 · Split v1.0.0 · **148 train / 38 val**. Explicit trajectory assignments in
|
| 98 |
-
[manifest.json](manifest.json) are frozen; all views of a trajectory share its split.
|
| 99 |
-
|
| 100 |
-
These recordings are **unannotated**: `has_annotation=false`; stage boundaries and task-success
|
| 101 |
-
labels are not inferred. Recorded instructions remain in `source_instruction`. Task names do
|
| 102 |
-
not have a `State:` prefix. Raw robot state/action Parquet files are not included.
|
| 103 |
-
|
| 104 |
-
## Selection and validation
|
| 105 |
-
|
| 106 |
-
Six user-reviewed abnormal piggy-bank episodes are excluded: batch `20261031_153227` #3, #15,
|
| 107 |
-
#16; batch `20261031_161309` #18, #19, #20. The original raw recordings are retained separately.
|
| 108 |
-
The test-tube task combines three valid batches (11 + 3 + 35 trajectories).
|
| 109 |
-
|
| 110 |
-
All 558 videos are frame-exact H.264 stream-copy cuts. Full decoding confirmed frame counts,
|
| 111 |
-
timestamps and equality of decoded YUV pixels to the original source cuts. Eight conversion
|
| 112 |
-
tests passed. Source selection, mappings and validation records are under
|
| 113 |
-
[`provenance/evomind-state-20261102/`](provenance/evomind-state-20261102/).
|
| 114 |
-
'''.replace('TABLE', table)
|
| 115 |
-
(full / 'README.md').write_text(readme)
|
| 116 |
-
state_table = table.replace('](State/', '](')
|
| 117 |
-
(full / 'State/README.md').write_text('# State\n\n5 tasks · 186 trajectories.\n\n' + state_table + '\n')
|
| 118 |
-
write(evidence / 'publication.json', dict(repository=REPO, dataset_version='1.0.0',
|
| 119 |
-
trajectories=186, videos=558, train=148, val=38, original_raw_data_retained=True))
|
| 120 |
-
shutil.copy2(__file__, evidence / Path(__file__).name)
|
| 121 |
-
files = sorted(p for p in full.rglob('*') if p.is_file() and
|
| 122 |
-
(p.relative_to(full).parts[0] in ['State', 'provenance'] or
|
| 123 |
-
p.relative_to(full).as_posix() in ['README.md', 'manifest.json']))
|
| 124 |
-
assert sum(p.suffix == '.mp4' for p in files) == 558
|
| 125 |
-
receipt = dict(repository=REPO, private=True, files=len(files), videos=558, trajectories=186,
|
| 126 |
-
bytes=sum(p.stat().st_size for p in files),
|
| 127 |
-
paths=[p.relative_to(full).as_posix() for p in files],
|
| 128 |
-
totals=manifest['totals'], splits_preserved=True)
|
| 129 |
-
write(ROOT / 'preparation.json', receipt)
|
| 130 |
-
print(json.dumps({k:v for k,v in receipt.items() if k != 'paths'}, indent=2), flush=True)
|
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|
provenance/evomind-state-20261102/provenance.json
DELETED
|
The diff for this file is too large to render.
See raw diff
|
|
|
provenance/evomind-state-20261102/publication.json
DELETED
|
@@ -1,9 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"repository": "syding9/ProPriMem-State",
|
| 3 |
-
"dataset_version": "1.0.0",
|
| 4 |
-
"trajectories": 186,
|
| 5 |
-
"videos": 558,
|
| 6 |
-
"train": 148,
|
| 7 |
-
"val": 38,
|
| 8 |
-
"original_raw_data_retained": true
|
| 9 |
-
}
|
|
|
|
|
|
|
|
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|
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|
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|
|
provenance/evomind-state-20261102/review-approved.json
DELETED
|
@@ -1,58 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"original_count": 192,
|
| 3 |
-
"recommended_exclusions": [
|
| 4 |
-
{
|
| 5 |
-
"dataset": "State: 存钱罐里放3个硬币_40dcb735_20261031_153227",
|
| 6 |
-
"episode": 3,
|
| 7 |
-
"duration_s": 16.0,
|
| 8 |
-
"recommendation": "建议排除(尚未删除)",
|
| 9 |
-
"review_reason": "0.5 秒间隔画面显示始终在硬币堆附近抓取,未见向存钱罐投币;16 秒,任务中位数约 30.3 秒。",
|
| 10 |
-
"export_decision": "exclude"
|
| 11 |
-
},
|
| 12 |
-
{
|
| 13 |
-
"dataset": "State: 存钱罐里放3个硬币_40dcb735_20261031_153227",
|
| 14 |
-
"episode": 15,
|
| 15 |
-
"duration_s": 119.46666666666667,
|
| 16 |
-
"recommendation": "建议排除(尚未删除)",
|
| 17 |
-
"review_reason": "约 120 秒,抽帧以空等/收尾调整为主;两侧夹爪动作值全程恒定,未见执行三次投币。",
|
| 18 |
-
"export_decision": "exclude"
|
| 19 |
-
},
|
| 20 |
-
{
|
| 21 |
-
"dataset": "State: 存钱罐里放3个硬币_40dcb735_20261031_153227",
|
| 22 |
-
"episode": 16,
|
| 23 |
-
"duration_s": 119.53333333333333,
|
| 24 |
-
"recommendation": "建议排除(尚未删除)",
|
| 25 |
-
"review_reason": "约 120 秒,抽帧以空等/收尾调整为主;两侧夹爪动作值全程恒定,未见执行三次投币。",
|
| 26 |
-
"export_decision": "exclude"
|
| 27 |
-
},
|
| 28 |
-
{
|
| 29 |
-
"dataset": "State: 存钱罐里放3个硬币_40dcb735_20261031_161309",
|
| 30 |
-
"episode": 18,
|
| 31 |
-
"duration_s": 119.46666666666667,
|
| 32 |
-
"recommendation": "建议排除(尚未删除)",
|
| 33 |
-
"review_reason": "约 120 秒,抽帧以空等/收尾调整为主;两侧夹爪动作值全程恒定,未见执行三次投币。",
|
| 34 |
-
"export_decision": "exclude"
|
| 35 |
-
},
|
| 36 |
-
{
|
| 37 |
-
"dataset": "State: 存钱罐里放3个硬币_40dcb735_20261031_161309",
|
| 38 |
-
"episode": 19,
|
| 39 |
-
"duration_s": 119.53333333333333,
|
| 40 |
-
"recommendation": "建议排除(尚未删除)",
|
| 41 |
-
"review_reason": "约 120 秒,抽帧以空等/收尾调整为主;两侧夹爪动作值全程恒定,未见执行三次投币。",
|
| 42 |
-
"export_decision": "exclude"
|
| 43 |
-
},
|
| 44 |
-
{
|
| 45 |
-
"dataset": "State: 存钱罐里放3个硬币_40dcb735_20261031_161309",
|
| 46 |
-
"episode": 20,
|
| 47 |
-
"duration_s": 119.56666666666666,
|
| 48 |
-
"recommendation": "建议排除(尚未删除)",
|
| 49 |
-
"review_reason": "约 120 秒,抽帧以空等/收尾调整为主;两侧夹爪动作值全程恒定,未见执行三次投币。",
|
| 50 |
-
"export_decision": "exclude"
|
| 51 |
-
}
|
| 52 |
-
],
|
| 53 |
-
"remaining_if_approved": 186,
|
| 54 |
-
"raw_data_modified": false,
|
| 55 |
-
"uploaded": false,
|
| 56 |
-
"approved_by_user_on": "2026-11-02",
|
| 57 |
-
"selection_status": "approved_and_excluded_from_export"
|
| 58 |
-
}
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
provenance/evomind-state-20261102/run_state_export.py
DELETED
|
@@ -1,51 +0,0 @@
|
|
| 1 |
-
"""Convert the approved five State tasks in parallel and assemble one release."""
|
| 2 |
-
from concurrent.futures import ProcessPoolExecutor
|
| 3 |
-
import json
|
| 4 |
-
from pathlib import Path
|
| 5 |
-
import shutil
|
| 6 |
-
|
| 7 |
-
import export_order as exporter
|
| 8 |
-
|
| 9 |
-
ROOT = Path(__file__).resolve().parent.parent
|
| 10 |
-
RAW = Path('/home/zhaobo/work/codex_active_vision/memory_depend_collection_20261030_v001/data')
|
| 11 |
-
MANIFEST = json.loads((ROOT / 'tools/state_20261102.json').read_text())
|
| 12 |
-
|
| 13 |
-
|
| 14 |
-
def run(task):
|
| 15 |
-
manifest = dict(MANIFEST, tasks=[task])
|
| 16 |
-
out = ROOT / 'parts' / task['task_id']
|
| 17 |
-
status = out / 'export-status.json'
|
| 18 |
-
if status.exists() and json.loads(status.read_text()).get('status') == 'passed':
|
| 19 |
-
return out
|
| 20 |
-
plan = exporter.load_plan(manifest, RAW)
|
| 21 |
-
result = exporter.convert(plan, manifest, out)
|
| 22 |
-
print('FINISHED', task['task_id'], result['episodes'], flush=True)
|
| 23 |
-
return out
|
| 24 |
-
|
| 25 |
-
|
| 26 |
-
if __name__ == '__main__':
|
| 27 |
-
with ProcessPoolExecutor(max_workers=4) as pool:
|
| 28 |
-
parts = list(pool.map(run, MANIFEST['tasks']))
|
| 29 |
-
full = ROOT / 'full'
|
| 30 |
-
full.mkdir()
|
| 31 |
-
(full / 'State').mkdir()
|
| 32 |
-
reports = [json.loads((p / 'export-status.json').read_text()) for p in parts]
|
| 33 |
-
assert all(p['status'] == 'passed' and not p['partial'] for p in reports)
|
| 34 |
-
for part in parts:
|
| 35 |
-
for folder in (part / 'State').iterdir():
|
| 36 |
-
if folder.is_dir():
|
| 37 |
-
shutil.move(str(folder), full / 'State' / folder.name)
|
| 38 |
-
provenance = [json.loads((p / 'provenance.json').read_text()) for p in parts]
|
| 39 |
-
assert len({p['tool_sha256'] for p in provenance}) == 1
|
| 40 |
-
exporter.write_json(full / 'source-manifest.json', MANIFEST)
|
| 41 |
-
exporter.write_json(full / 'provenance.json', dict(tool_sha256=provenance[0]['tool_sha256'],
|
| 42 |
-
trajectories=[r for p in provenance for r in p['trajectories']],
|
| 43 |
-
source_metadata_sha256={k:v for p in provenance for k,v in p['source_metadata_sha256'].items()}))
|
| 44 |
-
additions = [json.loads((p / 'manifest.additions.json').read_text()) for p in parts]
|
| 45 |
-
exporter.write_json(full / 'manifest.additions.json', dict(additions[0], tasks=[t for p in additions for t in p['tasks']]))
|
| 46 |
-
report = dict(status='passed', partial=False, tasks=[t for p in reports for t in p['tasks']],
|
| 47 |
-
episodes=sum(p['episodes'] for p in reports), videos=sum(p['videos'] for p in reports),
|
| 48 |
-
checks=reports[0]['checks'])
|
| 49 |
-
assert report['episodes'] == 186 and report['videos'] == 558
|
| 50 |
-
exporter.write_json(full / 'export-status.json', report)
|
| 51 |
-
print('FULL DONE', report['episodes'], report['videos'], flush=True)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
provenance/evomind-state-20261102/source-manifest.json
DELETED
|
@@ -1,100 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"format_reference": "MINT-SJTU/ProPriMem",
|
| 3 |
-
"format_revision": "9afafe07bba3714ee86bde12834f6033e9685ac8",
|
| 4 |
-
"suite": "State",
|
| 5 |
-
"video_preset": "medium",
|
| 6 |
-
"tasks": [
|
| 7 |
-
{
|
| 8 |
-
"task_id": "S11",
|
| 9 |
-
"task_slug": "put_three_coins_into_piggy_bank",
|
| 10 |
-
"task_name": "Put three coins into a piggy bank",
|
| 11 |
-
"collection_task_id": "40dcb735-6a97-4e74-b19e-9d1133bfb7c0",
|
| 12 |
-
"collection_task_name": "存钱罐里放3个硬币",
|
| 13 |
-
"sources": [
|
| 14 |
-
{
|
| 15 |
-
"dataset": "State: 存钱罐里放3个硬币_40dcb735_20261031_153227",
|
| 16 |
-
"episodes": 17,
|
| 17 |
-
"exclude_episodes": [
|
| 18 |
-
3,
|
| 19 |
-
15,
|
| 20 |
-
16
|
| 21 |
-
]
|
| 22 |
-
},
|
| 23 |
-
{
|
| 24 |
-
"dataset": "State: 存钱罐里放3个硬币_40dcb735_20261031_161309",
|
| 25 |
-
"episodes": 21,
|
| 26 |
-
"exclude_episodes": [
|
| 27 |
-
18,
|
| 28 |
-
19,
|
| 29 |
-
20
|
| 30 |
-
]
|
| 31 |
-
}
|
| 32 |
-
]
|
| 33 |
-
},
|
| 34 |
-
{
|
| 35 |
-
"task_id": "S12",
|
| 36 |
-
"task_slug": "inspect_four_objects_and_return",
|
| 37 |
-
"task_name": "Inspect four objects and return them",
|
| 38 |
-
"collection_task_id": "c140db97-8fc7-46b2-9624-7b6ee5b92956",
|
| 39 |
-
"collection_task_name": "检测4个物品并放回原位",
|
| 40 |
-
"sources": [
|
| 41 |
-
{
|
| 42 |
-
"dataset": "State-检测-4-个物品并放回原位_c140db97_20261102_153040",
|
| 43 |
-
"episodes": 35
|
| 44 |
-
}
|
| 45 |
-
]
|
| 46 |
-
},
|
| 47 |
-
{
|
| 48 |
-
"task_id": "S13",
|
| 49 |
-
"task_slug": "inspect_three_drawers",
|
| 50 |
-
"task_name": "Inspect three drawers",
|
| 51 |
-
"collection_task_id": "d0d3e517-daaf-44b7-aa97-554622c46ed0",
|
| 52 |
-
"collection_task_name": "巡检抽屉",
|
| 53 |
-
"sources": [
|
| 54 |
-
{
|
| 55 |
-
"dataset": "State-巡检抽屉_d0d3e517_20261102_164828",
|
| 56 |
-
"episodes": 35
|
| 57 |
-
}
|
| 58 |
-
]
|
| 59 |
-
},
|
| 60 |
-
{
|
| 61 |
-
"task_id": "S14",
|
| 62 |
-
"task_slug": "weigh_four_objects_and_return",
|
| 63 |
-
"task_name": "Weigh four objects and return them",
|
| 64 |
-
"collection_task_id": "58fcd50b-3cc0-44a7-84e5-3f19e495f592",
|
| 65 |
-
"collection_task_name": "称重归位",
|
| 66 |
-
"sources": [
|
| 67 |
-
{
|
| 68 |
-
"dataset": "State-称重归位_58fcd50b_20261102_171751",
|
| 69 |
-
"episodes": 35
|
| 70 |
-
}
|
| 71 |
-
]
|
| 72 |
-
},
|
| 73 |
-
{
|
| 74 |
-
"task_id": "S15",
|
| 75 |
-
"task_slug": "inspect_three_test_tubes",
|
| 76 |
-
"task_name": "Inspect three test tubes",
|
| 77 |
-
"collection_task_id": "1b7e5920-8114-4da2-9377-a94c23eca638",
|
| 78 |
-
"collection_task_name": "试管架",
|
| 79 |
-
"sources": [
|
| 80 |
-
{
|
| 81 |
-
"dataset": "State-试管架_1b7e5920_20261102_190333",
|
| 82 |
-
"episodes": 11
|
| 83 |
-
},
|
| 84 |
-
{
|
| 85 |
-
"dataset": "State-试管架_1b7e5920_20261102_191341",
|
| 86 |
-
"episodes": 3
|
| 87 |
-
},
|
| 88 |
-
{
|
| 89 |
-
"dataset": "State-试管架_1b7e5920_20261102_204939",
|
| 90 |
-
"episodes": 35
|
| 91 |
-
}
|
| 92 |
-
]
|
| 93 |
-
}
|
| 94 |
-
],
|
| 95 |
-
"selection_note": "User-approved exclusions: six reviewed piggy-bank episodes; all other selected saved episodes retained. Raw data unchanged.",
|
| 96 |
-
"reviewed_source_episodes": 192,
|
| 97 |
-
"excluded_episodes": 6,
|
| 98 |
-
"expected_episodes": 186,
|
| 99 |
-
"video_remux_first": true
|
| 100 |
-
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
provenance/evomind-state-20261102/state_20261102.json
DELETED
|
@@ -1,100 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"format_reference": "MINT-SJTU/ProPriMem",
|
| 3 |
-
"format_revision": "9afafe07bba3714ee86bde12834f6033e9685ac8",
|
| 4 |
-
"suite": "State",
|
| 5 |
-
"video_preset": "medium",
|
| 6 |
-
"tasks": [
|
| 7 |
-
{
|
| 8 |
-
"task_id": "S11",
|
| 9 |
-
"task_slug": "put_three_coins_into_piggy_bank",
|
| 10 |
-
"task_name": "Put three coins into a piggy bank",
|
| 11 |
-
"collection_task_id": "40dcb735-6a97-4e74-b19e-9d1133bfb7c0",
|
| 12 |
-
"collection_task_name": "存钱罐里放3个硬币",
|
| 13 |
-
"sources": [
|
| 14 |
-
{
|
| 15 |
-
"dataset": "State: 存钱罐里放3个硬币_40dcb735_20261031_153227",
|
| 16 |
-
"episodes": 17,
|
| 17 |
-
"exclude_episodes": [
|
| 18 |
-
3,
|
| 19 |
-
15,
|
| 20 |
-
16
|
| 21 |
-
]
|
| 22 |
-
},
|
| 23 |
-
{
|
| 24 |
-
"dataset": "State: 存钱罐里放3个硬币_40dcb735_20261031_161309",
|
| 25 |
-
"episodes": 21,
|
| 26 |
-
"exclude_episodes": [
|
| 27 |
-
18,
|
| 28 |
-
19,
|
| 29 |
-
20
|
| 30 |
-
]
|
| 31 |
-
}
|
| 32 |
-
]
|
| 33 |
-
},
|
| 34 |
-
{
|
| 35 |
-
"task_id": "S12",
|
| 36 |
-
"task_slug": "inspect_four_objects_and_return",
|
| 37 |
-
"task_name": "Inspect four objects and return them",
|
| 38 |
-
"collection_task_id": "c140db97-8fc7-46b2-9624-7b6ee5b92956",
|
| 39 |
-
"collection_task_name": "检测4个物品并放回原位",
|
| 40 |
-
"sources": [
|
| 41 |
-
{
|
| 42 |
-
"dataset": "State-检测-4-个物品并放回原位_c140db97_20261102_153040",
|
| 43 |
-
"episodes": 35
|
| 44 |
-
}
|
| 45 |
-
]
|
| 46 |
-
},
|
| 47 |
-
{
|
| 48 |
-
"task_id": "S13",
|
| 49 |
-
"task_slug": "inspect_three_drawers",
|
| 50 |
-
"task_name": "Inspect three drawers",
|
| 51 |
-
"collection_task_id": "d0d3e517-daaf-44b7-aa97-554622c46ed0",
|
| 52 |
-
"collection_task_name": "巡检抽屉",
|
| 53 |
-
"sources": [
|
| 54 |
-
{
|
| 55 |
-
"dataset": "State-巡检抽屉_d0d3e517_20261102_164828",
|
| 56 |
-
"episodes": 35
|
| 57 |
-
}
|
| 58 |
-
]
|
| 59 |
-
},
|
| 60 |
-
{
|
| 61 |
-
"task_id": "S14",
|
| 62 |
-
"task_slug": "weigh_four_objects_and_return",
|
| 63 |
-
"task_name": "Weigh four objects and return them",
|
| 64 |
-
"collection_task_id": "58fcd50b-3cc0-44a7-84e5-3f19e495f592",
|
| 65 |
-
"collection_task_name": "称重归位",
|
| 66 |
-
"sources": [
|
| 67 |
-
{
|
| 68 |
-
"dataset": "State-称重归位_58fcd50b_20261102_171751",
|
| 69 |
-
"episodes": 35
|
| 70 |
-
}
|
| 71 |
-
]
|
| 72 |
-
},
|
| 73 |
-
{
|
| 74 |
-
"task_id": "S15",
|
| 75 |
-
"task_slug": "inspect_three_test_tubes",
|
| 76 |
-
"task_name": "Inspect three test tubes",
|
| 77 |
-
"collection_task_id": "1b7e5920-8114-4da2-9377-a94c23eca638",
|
| 78 |
-
"collection_task_name": "试管架",
|
| 79 |
-
"sources": [
|
| 80 |
-
{
|
| 81 |
-
"dataset": "State-试管架_1b7e5920_20261102_190333",
|
| 82 |
-
"episodes": 11
|
| 83 |
-
},
|
| 84 |
-
{
|
| 85 |
-
"dataset": "State-试管架_1b7e5920_20261102_191341",
|
| 86 |
-
"episodes": 3
|
| 87 |
-
},
|
| 88 |
-
{
|
| 89 |
-
"dataset": "State-试管架_1b7e5920_20261102_204939",
|
| 90 |
-
"episodes": 35
|
| 91 |
-
}
|
| 92 |
-
]
|
| 93 |
-
}
|
| 94 |
-
],
|
| 95 |
-
"selection_note": "User-approved exclusions: six reviewed piggy-bank episodes; all other selected saved episodes retained. Raw data unchanged.",
|
| 96 |
-
"reviewed_source_episodes": 192,
|
| 97 |
-
"excluded_episodes": 6,
|
| 98 |
-
"expected_episodes": 186,
|
| 99 |
-
"video_remux_first": true
|
| 100 |
-
}
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
provenance/evomind-state-20261102/test_export_order.py
DELETED
|
@@ -1,180 +0,0 @@
|
|
| 1 |
-
import copy
|
| 2 |
-
from fractions import Fraction
|
| 3 |
-
import hashlib
|
| 4 |
-
import json
|
| 5 |
-
from pathlib import Path
|
| 6 |
-
import tempfile
|
| 7 |
-
import unittest
|
| 8 |
-
|
| 9 |
-
import av
|
| 10 |
-
import numpy as np
|
| 11 |
-
import pyarrow as pa
|
| 12 |
-
import pyarrow.parquet as pq
|
| 13 |
-
|
| 14 |
-
import export_order as exporter
|
| 15 |
-
|
| 16 |
-
|
| 17 |
-
class ExportTests(unittest.TestCase):
|
| 18 |
-
def setUp(self):
|
| 19 |
-
self.tmp = tempfile.TemporaryDirectory()
|
| 20 |
-
self.addCleanup(self.tmp.cleanup)
|
| 21 |
-
self.root = Path(self.tmp.name)
|
| 22 |
-
self.source = self.root / "raw"
|
| 23 |
-
dataset = self.source / "recording"
|
| 24 |
-
(dataset / "meta/episodes/chunk-000").mkdir(parents=True)
|
| 25 |
-
self.info = dict(codebase_version="v3.0", total_episodes=2, total_frames=20, fps=30,
|
| 26 |
-
features={c: {"dtype": "video"} for c in exporter.CAMERAS.values()},
|
| 27 |
-
video_path="videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4")
|
| 28 |
-
self.manifest = dict(format_reference="MINT-SJTU/ProPriMem", format_revision="test", tasks=[
|
| 29 |
-
dict(task_id="O08", task_slug="test_sequence", task_name="Test sequence",
|
| 30 |
-
collection_task_id="local-id", collection_task_name="测试", sources=[
|
| 31 |
-
dict(dataset="recording", episodes=2)])])
|
| 32 |
-
rows = []
|
| 33 |
-
for i, (start, length) in enumerate([(0, 7), (7, 13)]):
|
| 34 |
-
row = dict(episode_index=i, length=length, tasks=["Press one, then three"])
|
| 35 |
-
for camera in exporter.CAMERAS.values():
|
| 36 |
-
prefix = f"videos/{camera}"
|
| 37 |
-
row.update({prefix + "/chunk_index": 0, prefix + "/file_index": 0,
|
| 38 |
-
prefix + "/from_timestamp": start / 30,
|
| 39 |
-
prefix + "/to_timestamp": (start + length) / 30})
|
| 40 |
-
rows.append(row)
|
| 41 |
-
exporter.write_json(dataset / "meta/info.json", self.info)
|
| 42 |
-
pq.write_table(pa.Table.from_pylist(rows), dataset / "meta/episodes/chunk-000/file-000.parquet")
|
| 43 |
-
for camera in exporter.CAMERAS.values():
|
| 44 |
-
path = dataset / f"videos/{camera}/chunk-000/file-000.mp4"
|
| 45 |
-
path.parent.mkdir(parents=True)
|
| 46 |
-
with av.open(str(path), "w") as out:
|
| 47 |
-
stream = out.add_stream("libx264", rate=30, options={"g": "12", "crf": "0"})
|
| 48 |
-
stream.width, stream.height, stream.pix_fmt = 32, 24, "yuv420p"
|
| 49 |
-
for i in range(20):
|
| 50 |
-
pixels = np.full((24, 32, 3), (i * 11) % 256, dtype=np.uint8)
|
| 51 |
-
frame = av.VideoFrame.from_ndarray(pixels, format="rgb24")
|
| 52 |
-
frame.pts, frame.time_base = i, Fraction(1, 30)
|
| 53 |
-
for packet in stream.encode(frame):
|
| 54 |
-
out.mux(packet)
|
| 55 |
-
for packet in stream.encode():
|
| 56 |
-
out.mux(packet)
|
| 57 |
-
|
| 58 |
-
def test_exact_mid_gop_cut_and_unannotated_schema(self):
|
| 59 |
-
plan = exporter.load_plan(self.manifest, self.source)
|
| 60 |
-
output = self.root / "export"
|
| 61 |
-
report = exporter.convert(plan, self.manifest, output)
|
| 62 |
-
self.assertEqual((report["episodes"], report["videos"]), (2, 6))
|
| 63 |
-
task = output / "Order/08-test_sequence"
|
| 64 |
-
rows = [json.loads(line) for line in (task / "metadata.jsonl").read_text().splitlines()]
|
| 65 |
-
self.assertEqual([r["total_frames"] for r in rows], [7, 13])
|
| 66 |
-
for row in rows:
|
| 67 |
-
self.assertFalse(row["has_annotation"])
|
| 68 |
-
self.assertIsNone(row["annotation_path"])
|
| 69 |
-
self.assertIsNone(row["task_prompt"])
|
| 70 |
-
self.assertEqual(row["source_instruction"], "Press one, then three")
|
| 71 |
-
self.assertEqual(row["suite"], "Order")
|
| 72 |
-
for view in row["video_views"].values():
|
| 73 |
-
path = task / view["video_path"]
|
| 74 |
-
self.assertEqual(exporter.sha256(path), view["video_sha256"])
|
| 75 |
-
# Independent pixel check of a non-keyframe-aligned second episode.
|
| 76 |
-
source = self.source / "recording/videos/observation.images.left_wrist/chunk-000/file-000.mp4"
|
| 77 |
-
def pixels(path):
|
| 78 |
-
with av.open(str(path)) as inp:
|
| 79 |
-
return [hashlib.sha256(f.to_ndarray(format="yuv420p").tobytes()).hexdigest()
|
| 80 |
-
for f in inp.decode(video=0)]
|
| 81 |
-
self.assertEqual(pixels(source)[7:], pixels(task / rows[1]["video_views"]["left_view"]["video_path"]))
|
| 82 |
-
self.assertEqual(list((task / "annotations").iterdir()), [])
|
| 83 |
-
additions = json.loads((output / "manifest.additions.json").read_text())
|
| 84 |
-
split = additions["tasks"][0]
|
| 85 |
-
self.assertEqual(split["train"], [rows[0]["sample_id"]])
|
| 86 |
-
self.assertEqual(split["val"], [rows[1]["sample_id"]])
|
| 87 |
-
self.assertEqual(split["trajectory_index_sha256"], exporter.sha256(task / "metadata.jsonl"))
|
| 88 |
-
with self.assertRaises(FileExistsError):
|
| 89 |
-
exporter.convert(plan, self.manifest, output)
|
| 90 |
-
|
| 91 |
-
def test_changed_count_and_duplicate_sources_rejected(self):
|
| 92 |
-
manifest = copy.deepcopy(self.manifest)
|
| 93 |
-
manifest["tasks"][0]["sources"][0]["episodes"] = 3
|
| 94 |
-
with self.assertRaisesRegex(ValueError, "count changed"):
|
| 95 |
-
exporter.load_plan(manifest, self.source)
|
| 96 |
-
manifest = copy.deepcopy(self.manifest)
|
| 97 |
-
manifest["tasks"][0]["sources"] *= 2
|
| 98 |
-
with self.assertRaisesRegex(ValueError, "Duplicate source"):
|
| 99 |
-
exporter.load_plan(manifest, self.source)
|
| 100 |
-
|
| 101 |
-
def test_state_exclusions_keep_source_ids_and_reindex_outputs(self):
|
| 102 |
-
manifest = copy.deepcopy(self.manifest)
|
| 103 |
-
manifest.update(suite="State", video_preset="medium")
|
| 104 |
-
manifest["tasks"][0]["task_id"] = "S11"
|
| 105 |
-
manifest["tasks"][0]["sources"][0]["exclude_episodes"] = [0]
|
| 106 |
-
plan = exporter.load_plan(manifest, self.source)
|
| 107 |
-
self.assertEqual([e["source_episode"] for e in plan[0]["episodes"]], [1])
|
| 108 |
-
output = self.root / "state"
|
| 109 |
-
report = exporter.convert(plan, manifest, output)
|
| 110 |
-
self.assertEqual(report["episodes"], 1)
|
| 111 |
-
task = output / "State/11-test_sequence"
|
| 112 |
-
row = json.loads((task / "metadata.jsonl").read_text())
|
| 113 |
-
self.assertEqual(row["suite"], "State")
|
| 114 |
-
self.assertEqual(row["episode_index"], 0)
|
| 115 |
-
self.assertEqual(row["source_sample_id"], "recording/episode_000001")
|
| 116 |
-
self.assertFalse((output / "Order").exists())
|
| 117 |
-
split = json.loads((output / "manifest.additions.json").read_text())["tasks"][0]
|
| 118 |
-
self.assertEqual(split["task_path"], "State/11-test_sequence")
|
| 119 |
-
self.assertEqual(split["val"], [row["sample_id"]])
|
| 120 |
-
|
| 121 |
-
def test_wrong_suite_id_and_invalid_exclusions_rejected(self):
|
| 122 |
-
manifest = copy.deepcopy(self.manifest)
|
| 123 |
-
manifest["suite"] = "State"
|
| 124 |
-
with self.assertRaisesRegex(ValueError, "Invalid State"):
|
| 125 |
-
exporter.load_plan(manifest, self.source)
|
| 126 |
-
manifest["tasks"][0]["task_id"] = "S11"
|
| 127 |
-
for excluded in ([2], [0, 0]):
|
| 128 |
-
manifest["tasks"][0]["sources"][0]["exclude_episodes"] = excluded
|
| 129 |
-
with self.assertRaisesRegex(ValueError, "Invalid explicit episode exclusions"):
|
| 130 |
-
exporter.load_plan(manifest, self.source)
|
| 131 |
-
|
| 132 |
-
def test_optional_remux_still_requires_exact_pixels_and_frame_count(self):
|
| 133 |
-
source = self.source / "recording/videos/observation.images.left_wrist/chunk-000/file-000.mp4"
|
| 134 |
-
target = self.root / "remux.mp4"
|
| 135 |
-
details = exporter.export_clip(source, target, 7, 13, 30, remux_first=True)
|
| 136 |
-
with av.open(str(source)) as inp:
|
| 137 |
-
expected = [hashlib.sha256(f.to_ndarray(format="yuv420p").tobytes()).hexdigest()
|
| 138 |
-
for f in inp.decode(video=0)][7:]
|
| 139 |
-
with av.open(str(target)) as inp:
|
| 140 |
-
actual = [hashlib.sha256(f.to_ndarray(format="yuv420p").tobytes()).hexdigest()
|
| 141 |
-
for f in inp.decode(video=0)]
|
| 142 |
-
self.assertEqual(actual, expected)
|
| 143 |
-
self.assertEqual(details["video_sha256"], exporter.sha256(target))
|
| 144 |
-
|
| 145 |
-
def test_truncated_video_does_not_publish_metadata(self):
|
| 146 |
-
plan = exporter.load_plan(self.manifest, self.source)
|
| 147 |
-
plan[0]["episodes"][1]["frames"] = 14
|
| 148 |
-
output = self.root / "bad-export"
|
| 149 |
-
with self.assertRaisesRegex(ValueError, "Truncated source"):
|
| 150 |
-
exporter.convert(plan, self.manifest, output)
|
| 151 |
-
self.assertEqual(json.loads((output / "export-status.json").read_text())["status"], "incomplete")
|
| 152 |
-
self.assertFalse((output / "Order/08-test_sequence/metadata.jsonl").exists())
|
| 153 |
-
|
| 154 |
-
def test_paths_cannot_escape_raw_root(self):
|
| 155 |
-
with self.assertRaises(ValueError):
|
| 156 |
-
exporter.child(self.source, "../outside")
|
| 157 |
-
|
| 158 |
-
def test_second_shard_uses_its_own_timestamp_origin(self):
|
| 159 |
-
import shutil
|
| 160 |
-
|
| 161 |
-
dataset = self.source / "recording"
|
| 162 |
-
path = dataset / "meta/episodes/chunk-000/file-000.parquet"
|
| 163 |
-
rows = pq.read_table(path).to_pylist()
|
| 164 |
-
for camera in exporter.CAMERAS.values():
|
| 165 |
-
source = dataset / f"videos/{camera}/chunk-000/file-000.mp4"
|
| 166 |
-
shutil.copyfile(source, source.with_name("file-001.mp4"))
|
| 167 |
-
prefix = f"videos/{camera}"
|
| 168 |
-
rows[1][prefix + "/file_index"] = 1
|
| 169 |
-
rows[1][prefix + "/from_timestamp"] = 0.0
|
| 170 |
-
rows[1][prefix + "/to_timestamp"] = 13 / 30
|
| 171 |
-
pq.write_table(pa.Table.from_pylist(rows), path)
|
| 172 |
-
plan = exporter.load_plan(self.manifest, self.source)
|
| 173 |
-
output = self.root / "shard-export"
|
| 174 |
-
exporter.convert(plan, self.manifest, output)
|
| 175 |
-
records = json.loads((output / "provenance.json").read_text())["trajectories"]
|
| 176 |
-
self.assertTrue(all(r["source_start_frame"] == 0 for r in records[3:]))
|
| 177 |
-
|
| 178 |
-
|
| 179 |
-
if __name__ == "__main__":
|
| 180 |
-
unittest.main()
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|
provenance/evomind-state-20261102/tests.log
DELETED
|
@@ -1,19 +0,0 @@
|
|
| 1 |
-
test_changed_count_and_duplicate_sources_rejected (test_export_order.ExportTests.test_changed_count_and_duplicate_sources_rejected) ... ok
|
| 2 |
-
test_exact_mid_gop_cut_and_unannotated_schema (test_export_order.ExportTests.test_exact_mid_gop_cut_and_unannotated_schema) ... O08 episode 1/2 verified
|
| 3 |
-
O08 episode 2/2 verified
|
| 4 |
-
ok
|
| 5 |
-
test_optional_remux_still_requires_exact_pixels_and_frame_count (test_export_order.ExportTests.test_optional_remux_still_requires_exact_pixels_and_frame_count) ... ok
|
| 6 |
-
test_paths_cannot_escape_raw_root (test_export_order.ExportTests.test_paths_cannot_escape_raw_root) ... ok
|
| 7 |
-
test_second_shard_uses_its_own_timestamp_origin (test_export_order.ExportTests.test_second_shard_uses_its_own_timestamp_origin) ... O08 episode 1/2 verified
|
| 8 |
-
O08 episode 2/2 verified
|
| 9 |
-
ok
|
| 10 |
-
test_state_exclusions_keep_source_ids_and_reindex_outputs (test_export_order.ExportTests.test_state_exclusions_keep_source_ids_and_reindex_outputs) ... S11 episode 1/1 verified
|
| 11 |
-
ok
|
| 12 |
-
test_truncated_video_does_not_publish_metadata (test_export_order.ExportTests.test_truncated_video_does_not_publish_metadata) ... O08 episode 1/2 verified
|
| 13 |
-
ok
|
| 14 |
-
test_wrong_suite_id_and_invalid_exclusions_rejected (test_export_order.ExportTests.test_wrong_suite_id_and_invalid_exclusions_rejected) ... ok
|
| 15 |
-
|
| 16 |
-
----------------------------------------------------------------------
|
| 17 |
-
Ran 8 tests in 0.259s
|
| 18 |
-
|
| 19 |
-
OK
|
|
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|
|
provenance/evomind-state-20261102/validation.json
DELETED
|
@@ -1,44 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"status": "passed",
|
| 3 |
-
"partial": false,
|
| 4 |
-
"tasks": [
|
| 5 |
-
{
|
| 6 |
-
"task_id": "S11",
|
| 7 |
-
"directory": "State/11-put_three_coins_into_piggy_bank",
|
| 8 |
-
"episodes": 32,
|
| 9 |
-
"frames": 28951,
|
| 10 |
-
"warnings": []
|
| 11 |
-
},
|
| 12 |
-
{
|
| 13 |
-
"task_id": "S12",
|
| 14 |
-
"directory": "State/12-inspect_four_objects_and_return",
|
| 15 |
-
"episodes": 35,
|
| 16 |
-
"frames": 31753,
|
| 17 |
-
"warnings": []
|
| 18 |
-
},
|
| 19 |
-
{
|
| 20 |
-
"task_id": "S13",
|
| 21 |
-
"directory": "State/13-inspect_three_drawers",
|
| 22 |
-
"episodes": 35,
|
| 23 |
-
"frames": 34646,
|
| 24 |
-
"warnings": []
|
| 25 |
-
},
|
| 26 |
-
{
|
| 27 |
-
"task_id": "S14",
|
| 28 |
-
"directory": "State/14-weigh_four_objects_and_return",
|
| 29 |
-
"episodes": 35,
|
| 30 |
-
"frames": 50435,
|
| 31 |
-
"warnings": []
|
| 32 |
-
},
|
| 33 |
-
{
|
| 34 |
-
"task_id": "S15",
|
| 35 |
-
"directory": "State/15-inspect_three_test_tubes",
|
| 36 |
-
"episodes": 49,
|
| 37 |
-
"frames": 43629,
|
| 38 |
-
"warnings": []
|
| 39 |
-
}
|
| 40 |
-
],
|
| 41 |
-
"episodes": 186,
|
| 42 |
-
"videos": 558,
|
| 43 |
-
"checks": "Full output decode; frame counts, timestamps and decoded YUV equality to source cuts; source metadata hashes."
|
| 44 |
-
}
|
|
|
|
|
|
|
|
|
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|
|
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