update with examples

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text

app.py

@@ -32,6 +32,81 @@ from datasets import load_dataset as load_dataset_hf, get_dataset_config_names
 
 logger = logging.getLogger(__name__)
 
+# Example media: directory for bundled examples
+_EXAMPLES_DIR = Path(__file__).resolve().parent / "examples"
+
+def _progress_examples():
+    """Progress tab examples from examples/progress/*.mp4 (video path, task)."""
+    tasks = [
+        "Pick up the red block",
+        "Open the drawer",
+        "Place the object in the bin",
+        "Complete the task",
+    ]
+    out = []
+    progress_dir = _EXAMPLES_DIR / "progress"
+    local_videos = sorted(progress_dir.glob("*.mp4")) if progress_dir.exists() else []
+    for i, task in enumerate(tasks):
+        if i < len(local_videos):
+            out.append([str(local_videos[i]), task])
+    return out
+
+def _preference_examples():
+    """Preference examples from examples/preference: blue/green trash bin pair + subopt vs successful pairs."""
+    out = []
+    pref_dir = _EXAMPLES_DIR / "preference"
+    if not pref_dir.exists():
+        return []
+
+    by_stem = {}  # stem (no .mp4) -> full path
+    for p in pref_dir.glob("*.mp4"):
+        stem = p.stem
+        by_stem[stem] = str(p)
+
+    # 1) Explicit pair: open_blue_trash_bin + open_green_trash_bin
+    if "open_blue_trash_bin" in by_stem and "open_green_trash_bin" in by_stem:
+        out.append([
+            by_stem["open_blue_trash_bin"],
+            by_stem["open_green_trash_bin"],
+            "Open blue trash bin",
+        ])
+
+    # 2) Subopt vs successful: group by base (strip _subopt, _successful, _successful;, _failure)
+    def get_base(stem: str) -> Optional[str]:
+        if stem.endswith("_successful;"):
+            return stem.replace("_successful;", "")
+        for suffix in ("_subopt", "_suboptimal", "_successful", "_success", "_failure"):
+            if stem.endswith(suffix):
+                return stem[: -len(suffix)]
+        return None
+
+    base_to_files = {}  # base -> {"subopt": path, "successful": path}
+    for stem, path in by_stem.items():
+        if stem in ("open_blue_trash_bin", "open_green_trash_bin"):
+            continue
+        base = get_base(stem)
+        if not base:
+            continue
+        if base not in base_to_files:
+            base_to_files[base] = {}
+        if "_subopt" in stem:
+            base_to_files[base]["subopt"] = path
+        elif "_successful" in stem or "_success" in stem:
+            base_to_files[base]["successful"] = path
+
+    pref_tasks = {
+        "bread_in_oven": "Put bread in oven",
+        "open_red_drawer": "Open the red drawer",
+        "put_blue_cup_sink": "Put the blue cup in the sink",
+    }
+    for base in sorted(base_to_files.keys()):
+        d = base_to_files[base]
+        if "subopt" in d and "successful" in d:
+            task = pref_tasks.get(base, base.replace("_", " ").title())
+            out.append([d["subopt"], d["successful"], task])
+
+    return out
+
 # Predefined dataset names (same as visualizer)
 PREDEFINED_DATASETS = [
     "abraranwar/agibotworld_alpha_rfm",
@@ -68,10 +143,13 @@ PREDEFINED_DATASETS = [
     "jesbu1/usc_koch_p_ranking_rfm",
 ]
 
+# Default eval server URL (official Robometer demo)
+DEFAULT_SERVER_URL = "https://robometer.a.pinggy.link"
+
 # Global server state
 _server_state = {
-    "server_url": None,
-    "base_url": "https://robometer.a.pinggy.link",  # Default: Pinggy tunnel or use http://HOST for port scan
+    "server_url": DEFAULT_SERVER_URL,
+    "base_url": DEFAULT_SERVER_URL,
 }
 
 
@@ -536,13 +614,18 @@ def process_two_videos(
             predictions = outputs_preference.get("predictions", [])
             prediction_probs = outputs_preference.get("prediction_probs", [])
 
-            result_text = f"**Preference Prediction:**\n"
             if prediction_probs and len(prediction_probs) > 0:
                 prob = prediction_probs[0]
-                result_text += f"- Probability (A preferred): {prob:.3f}\n"
-                result_text += f"- Interpretation: {'Video A is preferred' if prob > 0.5 else 'Video B is preferred'}\n"
+                preferred = "A" if prob > 0.5 else "B"
+                result_text = (
+                    'For task <span style="color: #2563eb; font-weight: 600;">'
+                    f"{task_text}"
+                    '</span>, Video <span style="color: #16a34a; font-weight: 700;">'
+                    f"{preferred}"
+                    "</span> is more preferred."
+                )
             else:
-                result_text += "Could not extract preference prediction from server response.\n"
+                result_text = "Could not extract preference prediction from server response."
 
         elif prediction_type == "progress":
             # Create ProgressSamples for both videos
@@ -605,132 +688,50 @@ with demo:
         """
     )
 
-    # Hidden state to store server URL and model mapping (define before use)
-    server_url_state = gr.State(value=None)
-    model_url_mapping_state = gr.State(value={})  # Maps model_name -> server_url
-
-    # Function definitions for event handlers
-    def discover_and_select_models(base_url: str):
-        """Discover models and update dropdown."""
-        if not base_url:
-            return (
-                gr.update(choices=[], value=None),
-                gr.update(value="Please provide a base URL", visible=True),
-                gr.update(value="", visible=True),
-                None,
-                {},  # Empty mapping
-            )
-
-        _server_state["base_url"] = base_url
-        models = discover_available_models(base_url, port_range=(8000, 8010))
-
-        if not models:
-            return (
-                gr.update(choices=[], value=None),
-                gr.update(value="❌ No models found on ports 8000-8010. Make sure servers are running.", visible=True),
-                gr.update(value="", visible=True),
-                None,
-                {},  # Empty mapping
-            )
-
-        # Format choices: show model_name in dropdown
-        # Store mapping of model_name to URL in state
-        choices = []
-        url_map = {}
-        for url, name in models:
-            choices.append(name)
-            url_map[name] = url
-
-        # Auto-select first model
-        selected_choice = choices[0] if choices else None
-        selected_url = url_map.get(selected_choice) if selected_choice else None
-
-        # Get model info for selected model
-        model_info_text = get_model_info_for_url(selected_url) if selected_url else ""
-        status_text = f"✅ Found {len(models)} model(s). Auto-selected first model."
-
-        _server_state["server_url"] = selected_url
-
-        return (
-            gr.update(choices=choices, value=selected_choice),
-            gr.update(value=status_text, visible=True),
-            gr.update(value=model_info_text, visible=True),
-            selected_url,
-            url_map,  # Return mapping for state
-        )
-
-    def on_model_selected(model_choice: str, url_mapping: dict):
-        """Handle model selection change."""
-        if not model_choice:
-            return (
-                gr.update(value="No model selected", visible=True),
-                gr.update(value="", visible=True),
-                None,
-            )
+    # Hidden state: fixed official server URL (no model selection in UI)
+    server_url_state = gr.State(value=DEFAULT_SERVER_URL)
 
-        # Get URL from mapping
-        server_url = url_mapping.get(model_choice) if url_mapping else None
-
-        if not server_url:
-            return (
-                gr.update(
-                    value="Could not find server URL for selected model. Please rediscover models.", visible=True
-                ),
-                gr.update(value="", visible=True),
-                None,
-            )
-
-        # Get model info
-        model_info_text = get_model_info_for_url(server_url) or ""
-        status, health_data, _ = check_server_health(server_url)
-
-        _server_state["server_url"] = server_url
-
-        return (
-            gr.update(value=status, visible=True),
-            gr.update(value=model_info_text, visible=True),
-            server_url,
-        )
-
-    # Use Gradio's built-in Sidebar component (collapsible by default)
+    # Sidebar: Robometer branding and official links (no model selection)
     with gr.Sidebar():
-        gr.Markdown("### 🔧 Model Configuration")
-
-        base_url_input = gr.Textbox(
-            label="Base Server URL",
-            placeholder="https://robometer.a.pinggy.link or http://40.119.56.66",
-            value="https://robometer.a.pinggy.link",
-            interactive=True,
-            info="Full URL (e.g. Pinggy tunnel) or host; discovery tries URL as-is first, then ports 8000-8010",
+        gr.Markdown("## Robometer")
+        gr.Markdown(
+            "**Official project** · [robometer.github.io](https://robometer.github.io/)"
         )
-
-        discover_btn = gr.Button("🔍 Discover Models", variant="primary", size="lg")
-
-        model_dropdown = gr.Dropdown(
-            label="Select Model",
-            choices=[],
-            value=None,
-            interactive=True,
-            info="Click Discover to find the eval server (single URL or ports 8000-8010)",
-        )
-
-        server_status = gr.Markdown("Click 'Discover Models' to find available models")
-
         gr.Markdown("---")
-        gr.Markdown("### 📋 Model Information")
-        model_info_display = gr.Markdown("")
-
-        # Event handlers for sidebar
-        discover_btn.click(
-            fn=discover_and_select_models,
-            inputs=[base_url_input],
-            outputs=[model_dropdown, server_status, model_info_display, server_url_state, model_url_mapping_state],
-        )
-
-        model_dropdown.change(
-            fn=on_model_selected,
-            inputs=[model_dropdown, model_url_mapping_state],
-            outputs=[server_status, model_info_display, server_url_state],
+        gr.Markdown("### Links")
+        gr.HTML(
+            """
+            <div style="display: flex; flex-wrap: wrap; gap: 0.5rem;">
+                <a href="https://robometer.github.io/" target="_blank" rel="noopener"
+                   title="Project page"
+                   style="display: inline-flex; align-items: center; gap: 0.35rem; padding: 0.25rem 0.65rem;
+                          border-radius: 999px; border: 1px solid #e0e0e0; font-size: 0.9rem;
+                          text-decoration: none;">
+                    <span>🌐</span><span>Project</span>
+                </a>
+                <a href="https://github.com/robometer" target="_blank" rel="noopener"
+                   title="GitHub"
+                   style="display: inline-flex; align-items: center; gap: 0.35rem; padding: 0.25rem 0.65rem;
+                          border-radius: 999px; border: 1px solid #e0e0e0; font-size: 0.9rem;
+                          text-decoration: none;">
+                    <span>📂</span><span>Code</span>
+                </a>
+                <a href="https://huggingface.co/datasets/rewardfm/rbm-1m" target="_blank" rel="noopener"
+                   title="RBM-1M Dataset"
+                   style="display: inline-flex; align-items: center; gap: 0.35rem; padding: 0.25rem 0.65rem;
+                          border-radius: 999px; border: 1px solid #e0e0e0; font-size: 0.9rem;
+                          text-decoration: none;">
+                    <span>📊</span><span>Dataset</span>
+                </a>
+                <a href="https://huggingface.co/aliangdw/Robometer-4B" target="_blank" rel="noopener"
+                   title="Model weights on Hugging Face"
+                   style="display: inline-flex; align-items: center; gap: 0.35rem; padding: 0.25rem 0.65rem;
+                          border-radius: 999px; border: 1px solid #e0e0e0; font-size: 0.9rem;
+                          text-decoration: none;">
+                    <span>💾</span><span>Weights</span>
+                </a>
+            </div>
+            """
         )
 
     # Main content area with tabs
@@ -748,7 +749,7 @@ with demo:
                         label="FPS (Frames Per Second)",
                         minimum=0.1,
                         maximum=10.0,
-                        value=1.0,
+                        value=3.0,
                         step=0.1,
                         info="Frames per second to extract from video (higher = more frames)",
                     )
@@ -788,8 +789,15 @@ with demo:
                         use_dataset_video_btn = gr.Button("Use Selected Video", variant="secondary")
 
                 with gr.Column():
-                    progress_plot = gr.Image(label="Progress & Success Prediction", height=400)
+                    progress_plot = gr.Image(label="Progress & Success Prediction", height=320)
                     info_output = gr.Markdown("")
+                    gr.Markdown("---")
+                    gr.Markdown("**Examples**")
+                    gr.Examples(
+                        examples=_progress_examples(),
+                        inputs=[single_video_input, task_text_input],
+                        label="Click an example to load video and task",
+                    )
 
             # State variables for dataset
             current_dataset_single = gr.State(None)
@@ -1009,7 +1017,7 @@ with demo:
                 api_name="process_single_video",
             )
 
-        with gr.Tab("Preference Analysis"):
+        with gr.Tab("Preference Prediction"):
             # Full-width row: two videos side by side
             with gr.Row():
                 video_a_input = gr.Video(label="Video A", height=320)
@@ -1022,6 +1030,14 @@ with demo:
             )
             analyze_dual_btn = gr.Button("Compute Preference", variant="primary")
 
+            gr.Markdown("---")
+            gr.Markdown("**Examples**")
+            gr.Examples(
+                examples=_preference_examples(),
+                inputs=[video_a_input, video_b_input, task_text_dual],
+                label="Click an example to load Video A, Video B, and task",
+            )
+
             gr.Markdown("---")
             gr.Markdown("**OR Select from Dataset**")
             gr.Markdown("---")

examples/preference/bread_in_oven_subopt.mp4

@@ -0,0 +1,3 @@
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+oid sha256:812ededdd848bc34de1bd3f1290ccfa0571296111c5950102460e3b012d2170d
+size 60689

examples/preference/bread_in_oven_successful;.mp4

@@ -0,0 +1,3 @@
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+oid sha256:f87ebb21d5466eb589df6ed7584cd37f224b87f01fefdf5a6167fd95c6be05b2
+size 60959

examples/preference/open_blue_trash_bin.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c85ce7afb40f4cc825707e6ea09ca07fe6d88255173acfda1c1cbdd19493c41
+size 30564

examples/preference/open_green_trash_bin.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f8e6c2a52cd7f96f23733827a160934ed5f94c2bd6fcec9ebb89dd01aa5389d
+size 38631

examples/preference/open_red_drawer_failure.mp4

@@ -0,0 +1,3 @@
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+oid sha256:d80a21a6406626f5ff017cd575ff1ab9ab3b61e5d3bf999d786d1f8c49f4ee58
+size 111948

examples/preference/open_red_drawer_subopt.mp4

@@ -0,0 +1,3 @@
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+oid sha256:86004b33f041e89e71faff0f368416edb4d573c91172076f3c0b5686786da59f
+size 96750

examples/preference/open_red_drawer_successful.mp4

@@ -0,0 +1,3 @@
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+oid sha256:cd5583193692d6de7c7bb938f6c9edf83b26face351f37e6998760d773ec009a
+size 108547

examples/preference/put_blue_cup_sink_subopt.mp4

@@ -0,0 +1,3 @@
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+oid sha256:bfa6d82902330d547d91e0736ad2482f7e7ae3ef1d5182fd0c51382df8bc90a7
+size 63872

examples/preference/put_blue_cup_sink_successful.mp4

@@ -0,0 +1,3 @@
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+oid sha256:f0db1144cfd2231dd98d958007ff4837674ded785e054655f641f8e6c1494c0f
+size 55591

examples/progress/open_red_drawer_wrist.mp4

@@ -0,0 +1,3 @@
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+oid sha256:cd5583193692d6de7c7bb938f6c9edf83b26face351f37e6998760d773ec009a
+size 108547

examples/progress/push_green_block_in_green_bowl.mp4

@@ -0,0 +1,3 @@
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+oid sha256:b0b98ea35e0618b966a088cc80c70dcc0bc3ee3b013ccf4c891fca1f3fc51086
+size 52731

examples/progress/put_apple_in_tray.mp4

@@ -0,0 +1,3 @@
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+oid sha256:75bf4fecf558406fe281e8e708a85eedb6b8efb3c999f03bc6eb7e72fc76170e
+size 133180

examples/progress/put_marker_in_cup_fail.mp4

@@ -0,0 +1,3 @@
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