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stouchinglhh
Claude
sync processor from GitLab c697b6e: 版本 1.19.4 / 前端 1.12.4 —— 服务端 i18n(首屏不再闪英文)、推理模块并入模型页、前端抽出 shared/、缓存键改用前端号
bb59211 | """action 有效性 —— 监督信号是否真的存在、是否可用。 | |
| 为什么重要 | |
| ---------- | |
| **action 是 ACT 的监督信号**（``L1(预测, action)``）。没有它就算不出 loss。 | |
| 而它是**派生**出来的，不是采出来的，所以有四种失效方式： | |
| ① 工作流没跑 / 跑失败 → action 还是采集端的**全零占位** | |
| ★ 最阴险：有列、有 7 维、能加载，全是 0 —— 不报任何错 | |
| ② 整集派生失败（位姿样本不足）→ 列根本不写 → 导出时缺失 | |
| ★ 训练直接 KeyError（2026-09-11 踩过） | |
| ③ 部分帧派生失败 → 那些帧的 action 是 null | |
| ④ 派生成功但数值离群 → 归一化统计量被撑大（交给 umi.slam_continuity 解释） | |
| 严重度 | |
| ------ | |
| ① ② 判 **FAIL** —— 没有监督信号，这一集对训练毫无价值。 | |
| ③ 判 **WARN** —— 部分帧缺失，剩余帧仍可训练。 | |
| 关于"全零" | |
| ---------- | |
| 采集端在 UMI 硬件上写的就是全零（硬件不录 action），所以**必须区分** | |
| "还没派生"和"派生了但动作真的是零"。判据是**整列方差**： | |
| 派生的 action 即使动作很小，帧间也会有变化；全零占位则方差严格为 0。 | |
| """ | |
| from __future__ import annotations | |
| from app.processing.cleaning.checks import ( | |
| CheckContext, CleaningCheck, register_check, | |
| Finding, PASS, WARN, FAIL, | |
| ) | |
| class UmiActionPresentCheck(CleaningCheck): | |
| slug = "umi.action_present" | |
| label = "Action Validity" | |
| version = "1.0" | |
| description = "Missing supervision signal, all-zero placeholder, or frames never derived" | |
| requires_channels = ("action",) | |
| # 属于哪些设备卡片 —— 前端设置面板按它分 tab | |
| device_cards = ("gripper_device",) | |
| default_params = { | |
| "min_coverage": 0.95, # 有 action 的帧占比下限 | |
| "zero_epsilon": 1e-9, # 判定"全零"的容差 | |
| } | |
| default_severity = FAIL | |
| def run(self, ctx: CheckContext) -> list[Finding]: | |
| findings: list[Finding] = [] | |
| min_coverage = float(self.param(ctx, "min_coverage", 0.95)) | |
| epsilon = float(self.param(ctx, "zero_epsilon", 1e-9)) | |
| for stream in ctx.streams_of("action"): | |
| rows = int(stream.rows or 0) | |
| if not rows: | |
| # 列存在但一行都没有 —— 与"列不存在"同义 | |
| findings.append(self.finding( | |
| ctx, FAIL, stream=stream.key, | |
| message="the action column has no data at all (derivation failed for the whole episode)", | |
| metrics={"rows": 0}, | |
| )) | |
| continue | |
| values = stream.series.get("action") or () | |
| usable = [item for item in values if item] | |
| coverage = len(usable) / rows if rows else 0.0 | |
| # 整列方差 —— 区分"全零占位"和"动作真的很小" | |
| flat: list[float] = [] | |
| for item in usable[:5000]: # 抽样即可，全零占位必然处处为零 | |
| try: | |
| flat.extend(float(value) for value in item) | |
| except (TypeError, ValueError): | |
| continue | |
| spread = (max(flat) - min(flat)) if flat else 0.0 | |
| all_zero = spread <= epsilon | |
| metrics = { | |
| "rows": rows, | |
| "usable": len(usable), | |
| "coverage": round(coverage, 4), | |
| "value_spread": spread, | |
| } | |
| if all_zero and usable: | |
| findings.append(self.finding( | |
| ctx, FAIL, stream=stream.key, | |
| message="action is all zeros - likely still the recorder placeholder (workflow never ran, or derivation failed)", | |
| metrics=metrics, | |
| )) | |
| continue | |
| if not usable: | |
| findings.append(self.finding( | |
| ctx, FAIL, stream=stream.key, | |
| message="the action column exists but every value is empty (derivation produced no frames)", | |
| metrics=metrics, | |
| )) | |
| continue | |
| if coverage < min_coverage: | |
| findings.append(self.finding( | |
| ctx, WARN, stream=stream.key, | |
| message=f"only {len(usable)}/{rows} frames have action" | |
| f"（{coverage:.1%}），其余帧无监督信号", | |
| metrics=metrics, | |
| )) | |
| continue | |
| findings.append(self.finding(ctx, PASS, stream=stream.key, | |
| metrics=metrics)) | |
| return findings | |