update_task_index.py

#!/usr/bin/env python3
"""
Script to update task_index in parquet files based on caption annotations.

This script:
1. Reads all caption files from the captions/ directory
2. Extracts unique captions and assigns them task_index values
3. Updates the tasks.jsonl file with the new tasks
4. Updates all parquet files to set the correct task_index based on frame_index
5. Adds subtask_end_frame_index column to indicate the end frame of each subtask
"""

import json
import os
from pathlib import Path
from collections import defaultdict

try:
    import pyarrow.parquet as pq
    import pyarrow as pa
except ImportError:
    print("Error: pyarrow is not installed. Please install it with: pip install pyarrow")
    print("Or activate the appropriate conda environment.")
    exit(1)


def load_all_captions(captions_dir):
    """Load all caption files and return a mapping of episode_index -> segments."""
    captions_dir = Path(captions_dir)
    episode_captions = {}
    
    # Get all caption files
    caption_files = sorted(captions_dir.glob("episode_*.json"))
    
    for caption_file in caption_files:
        # Extract episode index from filename
        episode_idx = int(caption_file.stem.replace("episode_", ""))
        
        # Load caption data
        with open(caption_file, 'r') as f:
            segments = json.load(f)
        
        episode_captions[episode_idx] = segments
        print(f"Loaded {len(segments)} segments from {caption_file.name}")
    
    return episode_captions


def extract_unique_tasks(episode_captions):
    """Extract all unique captions and create task_index mapping."""
    unique_captions = set()
    
    for episode_idx, segments in episode_captions.items():
        for segment in segments:
            unique_captions.add(segment['caption'])
    
    # Sort captions for consistent ordering
    sorted_captions = sorted(unique_captions)
    
    # Create mapping: caption -> task_index
    caption_to_task_index = {caption: idx for idx, caption in enumerate(sorted_captions)}
    
    print(f"\nFound {len(sorted_captions)} unique tasks:")
    for caption, idx in caption_to_task_index.items():
        print(f"  {idx}: {caption}")
    
    return caption_to_task_index, sorted_captions


def update_tasks_file(tasks_file, tasks):
    """Update the tasks.jsonl file with new tasks."""
    tasks_file = Path(tasks_file)
    
    # Backup original file
    backup_file = tasks_file.with_suffix('.jsonl.backup')
    if tasks_file.exists():
        import shutil
        shutil.copy(tasks_file, backup_file)
        print(f"\nBacked up original tasks.jsonl to {backup_file}")
    
    # Write new tasks
    with open(tasks_file, 'w') as f:
        for task_index, task in enumerate(tasks):
            task_entry = {"task_index": task_index, "task": task}
            f.write(json.dumps(task_entry) + '\n')
    
    print(f"Updated {tasks_file} with {len(tasks)} tasks")


def get_task_index_for_frame(frame_index, segments, caption_to_task_index):
    """Given a frame_index, find which segment it belongs to and return the task_index."""
    for segment in segments:
        if segment['start_frame'] <= frame_index < segment['end_frame']:
            return caption_to_task_index[segment['caption']]
    
    # If frame is beyond all segments, use the last segment's task
    if segments and frame_index >= segments[-1]['end_frame']:
        return caption_to_task_index[segments[-1]['caption']]
    
    # If frame is before all segments (shouldn't happen), use the first segment's task
    if segments and frame_index < segments[0]['start_frame']:
        return caption_to_task_index[segments[0]['caption']]
    
    return None


def get_subtask_end_frame_for_frame(frame_index, segments):
    """Given a frame_index, find which segment it belongs to and return the end_frame of that subtask."""
    for segment in segments:
        if segment['start_frame'] <= frame_index < segment['end_frame']:
            return segment['end_frame']
    
    # If frame is beyond all segments, use the last segment's end_frame
    if segments and frame_index >= segments[-1]['end_frame']:
        return segments[-1]['end_frame']
    
    # If frame is before all segments (shouldn't happen), use the first segment's end_frame
    if segments and frame_index < segments[0]['start_frame']:
        return segments[0]['end_frame']
    
    return None


def update_parquet_file(parquet_file, episode_idx, episode_captions, caption_to_task_index):
    """Update task_index and add subtask_end_frame_index in a single parquet file."""
    # Read the parquet file
    table = pq.read_table(parquet_file)
    
    # Convert to dictionary for easier manipulation
    data = {col: table.column(col).to_pylist() for col in table.column_names}
    
    # Get the segments for this episode
    if episode_idx not in episode_captions:
        print(f"Warning: No caption data for episode {episode_idx}")
        return False
    
    segments = episode_captions[episode_idx]
    
    # Update task_index and compute subtask_end_frame_index for each row based on frame_index
    new_task_indices = []
    new_subtask_end_frames = []
    
    for frame_idx in data['frame_index']:
        # Get task_index
        task_idx = get_task_index_for_frame(frame_idx, segments, caption_to_task_index)
        if task_idx is None:
            print(f"Warning: Could not determine task_index for frame {frame_idx} in episode {episode_idx}")
            task_idx = 0  # Default to 0 if we can't determine
        new_task_indices.append(task_idx)
        
        # Get subtask_end_frame_index
        subtask_end_frame = get_subtask_end_frame_for_frame(frame_idx, segments)
        if subtask_end_frame is None:
            print(f"Warning: Could not determine subtask_end_frame_index for frame {frame_idx} in episode {episode_idx}")
            subtask_end_frame = frame_idx  # Default to current frame if we can't determine
        new_subtask_end_frames.append(subtask_end_frame)
    
    # Replace task_index column
    data['task_index'] = new_task_indices
    
    # Add or update subtask_end_frame_index column
    data['subtask_end_frame_index'] = new_subtask_end_frames
    
    # Create new table with updated data (preserve column order, add new column at the end if it didn't exist)
    column_names = list(table.column_names)
    if 'subtask_end_frame_index' not in column_names:
        column_names.append('subtask_end_frame_index')
    
    arrays = [pa.array(data[col]) for col in column_names]
    new_table = pa.Table.from_arrays(arrays, names=column_names)
    
    # Write back to parquet file
    pq.write_table(new_table, parquet_file)
    
    return True


def update_all_parquet_files(data_dir, episode_captions, caption_to_task_index):
    """Update task_index and add subtask_end_frame_index in all parquet files."""
    data_dir = Path(data_dir)
    
    # Find all parquet files
    parquet_files = sorted(data_dir.rglob("episode_*.parquet"))
    
    print(f"\nUpdating {len(parquet_files)} parquet files...")
    
    for i, parquet_file in enumerate(parquet_files):
        # Extract episode index from filename
        episode_idx = int(parquet_file.stem.replace("episode_", ""))
        
        print(f"Processing {i+1}/{len(parquet_files)}: {parquet_file.name}...", end=' ')
        
        success = update_parquet_file(parquet_file, episode_idx, episode_captions, caption_to_task_index)
        
        if success:
            print("✓")
        else:
            print("✗")
    
    print("\nAll parquet files updated!")


def update_info_file(info_file, num_tasks):
    """Update meta/info.json: ensure subtask_end_frame_index feature exists and total_tasks is correct."""
    info_file = Path(info_file)
    if not info_file.exists():
        print(f"Warning: {info_file} does not exist, skipping info.json update")
        return

    # Backup original file
    backup_file = info_file.with_suffix('.json.backup')
    import shutil
    shutil.copy(info_file, backup_file)
    print(f"Backed up original info.json to {backup_file}")

    with open(info_file, 'r') as f:
        info = json.load(f)

    # Update total_tasks
    info['total_tasks'] = num_tasks

    # Ensure features.subtask_end_frame_index is declared
    features = info.setdefault('features', {})
    features['subtask_end_frame_index'] = {
        "dtype": "int64",
        "shape": [1],
        "names": None,
    }

    with open(info_file, 'w') as f:
        json.dump(info, f, indent=4)

    print(f"Updated {info_file} (total_tasks={num_tasks}, added subtask_end_frame_index feature)")


def main(dataset_path):
    dataset_path = Path(dataset_path)

    captions_dir = dataset_path / "captions"
    tasks_file = dataset_path / "meta" / "tasks.jsonl"
    info_file = dataset_path / "meta" / "info.json"
    data_dir = dataset_path / "data"

    print("=" * 80)
    print(f"Task Index Update Script — {dataset_path}")
    print("=" * 80)

    # Step 1: Load all captions
    print("\nStep 1: Loading caption files...")
    episode_captions = load_all_captions(captions_dir)

    # Step 2: Extract unique tasks
    print("\nStep 2: Extracting unique tasks...")
    caption_to_task_index, unique_tasks = extract_unique_tasks(episode_captions)

    # Step 3: Update tasks.jsonl
    print("\nStep 3: Updating tasks.jsonl...")
    update_tasks_file(tasks_file, unique_tasks)

    # Step 4: Update all parquet files
    print("\nStep 4: Updating parquet files...")
    update_all_parquet_files(data_dir, episode_captions, caption_to_task_index)

    # Step 5: Update info.json
    print("\nStep 5: Updating info.json...")
    update_info_file(info_file, len(unique_tasks))

    print("\n" + "=" * 80)
    print("Task index update completed successfully!")
    print("=" * 80)


if __name__ == "__main__":
    import sys
    if len(sys.argv) != 2:
        print("Usage: python update_task_index.py <dataset_path>")
        print("Example: python update_task_index.py /nobackup/zy_zhang/data/coffee_make_vla/r1lite-20260422-lerobot_trimmed")
        sys.exit(1)
    main(sys.argv[1])