"""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())