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e37c13d f91b300 e37c13d f91b300 e37c13d f91b300 e37c13d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 | """Command-line entry point.
python -m react_preprocess build --task pushT [--date D] [--with-depth]
python -m react_preprocess audit --root /path/to/data/pushT
python -m react_preprocess backfill-flags --root /path/to/data/pushT
python -m react_preprocess verify-flags --root /path/to/data/pushT
"""
from __future__ import annotations
import argparse
import json
import sys
from pathlib import Path
from . import backfill, curation
from .config import H5_ROOTS, STAGE_ROOT
from .h5io import discover
from .pipeline import build_episode
def cmd_build(args) -> int:
root = H5_ROOTS[args.task]
paths = discover(args.task, root, args.date, args.episodes)
if not paths:
print(f"no source recordings under {root}", file=sys.stderr)
return 1
print(f"[build] {args.task}: {len(paths)} episodes -> {STAGE_ROOT}", flush=True)
failures = 0
for p in paths:
report = build_episode(p, args.task, force=args.force,
with_depth=args.with_depth,
encode_video=not args.meta_only)
print(f" {report}", flush=True)
failures += report.status == "FAIL"
print(f"[build] done ({failures} failed)")
return 1 if failures else 0
def _resolve_roots(args) -> list[Path]:
if args.root:
return [Path(args.root)]
return [STAGE_ROOT / t for t in (H5_ROOTS if not args.task else [args.task])]
def cmd_audit(args) -> int:
for root in _resolve_roots(args):
reports = backfill.process_tree(root, dry_run=True)
if not reports:
print(f"[audit] {root}: no parquet found")
continue
summary = backfill.aggregate(reports)
print(f"[audit] {root}")
print(f" episodes={summary['episodes']} rows={summary['rows']}")
print(f" unique tactile frames = {summary['unique_tactile']} "
f"({summary['duplicate_ratio']*100:.1f}% duplicated)")
print(f" effective tactile rate = {summary['effective_fps']:.1f} fps "
f"(rows written at 30 fps)")
print(f" longest frozen run = {summary['max_repeat_run']} frames "
f"({summary['max_repeat_run']/30:.2f} s)")
if args.json:
Path(args.json).write_text(json.dumps(
{"summary": summary, "episodes": reports}, indent=2))
print(f" wrote {args.json}")
return 0
def cmd_backfill(args) -> int:
for root in _resolve_roots(args):
reports = backfill.process_tree(root, dry_run=args.dry_run)
if not reports:
print(f"[backfill] {root}: no parquet found")
continue
summary = backfill.aggregate(reports)
verb = "would update" if args.dry_run else "updated"
print(f"[backfill] {verb} {len(reports)} parquet under {root}")
print(f" duplicate ratio {summary['duplicate_ratio']*100:.1f}% "
f"-> effective {summary['effective_fps']:.1f} fps")
return 0
def cmd_verify(args) -> int:
"""Check the recovered flags.
Against source H5 this is exact. Against the published MP4s it can only be
approximate, because H.264 is lossy: a duplicated source frame does not
decode back to identical pixels.
"""
task = args.task or "pushT"
root = Path(args.root) if args.root else STAGE_ROOT / task
pqs = sorted(root.rglob("meta/**/episode_*.parquet"))[: args.limit_episodes]
if not pqs:
print(f"no parquet under {root}", file=sys.stderr)
return 1
bad = 0
for pq_path in pqs:
date, ep = pq_path.parent.name, pq_path.stem
if args.against == "h5":
h5 = H5_ROOTS[task] / date / f"{ep}.h5"
if not h5.exists():
print(f" {ep}: source H5 missing, skipped")
continue
search = range(args.shift_min, args.shift_max + 1) if args.shift is None else None
res = backfill.verify_against_h5(pq_path, h5, args.side, args.frames,
shift=args.shift, search=search)
ok = res["mismatches"] == 0
bad += not ok
how = "detected" if res["shift_detected"] else "given"
print(f" {ep}: {'OK ' if ok else 'MISMATCH'} "
f"n={res['compared']} mismatches={res['mismatches']} "
f"tactile_shift={res['shift']:+d} ({how}) "
f"unique proxy/source = {res['proxy_unique']}/{res['source_unique']}")
else:
video = root / "videos" / date / ep / f"tactile_{args.side}.mp4"
if not video.exists():
print(f" {ep}: no video, skipped")
continue
res = backfill.verify_against_video(pq_path, video, args.frames, args.tol)
ok = res["mismatches"] == 0
bad += not ok
print(f" {ep}: {'OK ' if ok else 'MISMATCH'} "
f"n={res['compared']} mismatches={res['mismatches']} "
f"unique proxy/video = {res['proxy_unique']}/{res['video_unique']} "
f"MAD dup<={res['mad_duplicate_max']:.2f} new>={res['mad_new_min']:.2f}")
print(f"[verify] against {args.against}: {len(pqs)} episodes, {bad} mismatching")
return 1 if bad else 0
def cmd_curate(args) -> int:
"""Rebuild bad_frames.json / segments.json / episodes.jsonl for a task."""
for task in ([args.task] if args.task else sorted(H5_ROOTS)):
try:
s = curation.build_task(task, STAGE_ROOT, write=not args.dry_run)
except FileNotFoundError as exc:
print(f"[curate] {task}: {exc}", file=sys.stderr)
continue
verb = "would write" if args.dry_run else "wrote"
print(f"[curate] {task}: {s['episodes']} episodes, {s['segments']} segments, "
f"{s['total_frames']:,} frames, {s['bad_frames']} bad "
f"({s['bad_fraction']*100:.2f}%), clean {s['clean_frames']:,} "
f"({s['clean_minutes']:.1f} min) — {verb}")
return 0
def main(argv=None) -> int:
ap = argparse.ArgumentParser(prog="react_preprocess")
sub = ap.add_subparsers(dest="cmd", required=True)
b = sub.add_parser("build", help="source H5 -> published release")
b.add_argument("--task", required=True, choices=sorted(H5_ROOTS))
b.add_argument("--date")
b.add_argument("--episodes", nargs="*")
b.add_argument("--force", action="store_true")
b.add_argument("--with-depth", action="store_true")
b.add_argument("--meta-only", action="store_true",
help="recompute parquet without re-encoding video")
b.set_defaults(func=cmd_build)
a = sub.add_parser("audit", help="report tactile duplication")
a.add_argument("--root")
a.add_argument("--task", choices=sorted(H5_ROOTS))
a.add_argument("--json")
a.set_defaults(func=cmd_audit)
f = sub.add_parser("backfill-flags", help="add tactile_*_is_new to parquet")
f.add_argument("--root")
f.add_argument("--task", choices=sorted(H5_ROOTS))
f.add_argument("--dry-run", action="store_true")
f.set_defaults(func=cmd_backfill)
c = sub.add_parser("curate", help="rebuild bad_frames/segments/episodes indices")
c.add_argument("--task", choices=sorted(H5_ROOTS))
c.add_argument("--dry-run", action="store_true")
c.set_defaults(func=cmd_curate)
v = sub.add_parser("verify-flags", help="check flags against ground truth")
v.add_argument("--root")
v.add_argument("--task", choices=sorted(H5_ROOTS))
v.add_argument("--against", choices=("h5", "video"), default="h5",
help="h5 = exact (source pixels); video = approximate (lossy)")
v.add_argument("--side", choices=("left", "right"), default="left")
v.add_argument("--frames", type=int, default=600)
v.add_argument("--tol", type=float, default=1.0,
help="mean-abs-diff threshold when checking against video")
v.add_argument("--shift", type=int, default=None,
help="known baked-in tactile shift; omit to auto-detect")
v.add_argument("--shift-min", type=int, default=0)
v.add_argument("--shift-max", type=int, default=20)
v.add_argument("--limit-episodes", type=int, default=2)
v.set_defaults(func=cmd_verify)
args = ap.parse_args(argv)
return args.func(args)
if __name__ == "__main__":
raise SystemExit(main())
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