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import argparse |
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import json |
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import sys |
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from pathlib import Path |
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PROJECT_ROOT = Path(__file__).resolve().parents[1] |
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if str(PROJECT_ROOT) not in sys.path: |
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sys.path.insert(0, str(PROJECT_ROOT)) |
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def main() -> None: |
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parser = argparse.ArgumentParser(description="Check LeRobot language embeddings coverage.") |
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parser.add_argument("--data_root", default="/hfm/data/pick_box") |
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args = parser.parse_args() |
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data_root = Path(args.data_root) |
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meta = data_root / "meta" |
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episodes_path = meta / "episodes.jsonl" |
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lang_map_path = meta / "lang_map.json" |
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embed_dir = meta / "lang_embeddings" |
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if not episodes_path.exists(): |
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raise FileNotFoundError(f"Missing {episodes_path}") |
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instructions = [] |
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with episodes_path.open() as f: |
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for line in f: |
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row = json.loads(line) |
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instructions.append(str(row.get("instruction", "") or "").strip()) |
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unique_instr = sorted(set(instructions)) |
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empty_instr = sum(1 for i in instructions if not i) |
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print("Unique instructions:", len(unique_instr)) |
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print("Empty instruction count:", empty_instr) |
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if not lang_map_path.exists(): |
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print("Missing lang_map.json -> embeddings likely not generated.") |
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return |
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lang_map = json.loads(lang_map_path.read_text()) |
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missing = [i for i in unique_instr if i not in lang_map] |
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print("lang_map entries:", len(lang_map)) |
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print("Missing instructions in lang_map:", len(missing)) |
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if embed_dir.exists(): |
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embed_files = list(embed_dir.glob("*.pt")) |
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print("Embedding files:", len(embed_files)) |
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else: |
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print("Missing lang_embeddings directory.") |
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if __name__ == "__main__": |
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main() |
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