examples/realtime_env_graph_eval_loop.py

#!/usr/bin/env python3
"""Example: build the full online GWAM final graph during evaluation.

This is a template, not a benchmark script. It requires a working local RoboCasa
installation and simulator assets. For the full final graph it also requires the
same Phase-2 visual stack used locally: SAM2.1 Hiera-B+ checkpoint and CLIP.
The HF dataset does not redistribute RoboCasa/MuJoCo assets; SAM2/CLIP checkpoints are bundled under models/ with upstream licenses.
"""
from __future__ import annotations

import argparse
import json
from pathlib import Path
import sys

import numpy as np

# Allow running this file directly from the HF package checkout:
#   python examples/realtime_env_graph_eval_loop.py ...
PACKAGE_ROOT = Path(__file__).resolve().parents[1]
if str(PACKAGE_ROOT) not in sys.path:
    sys.path.insert(0, str(PACKAGE_ROOT))

from realtime.gwam_realtime_env_graph import (  # noqa: E402
    RealtimeGWAMGraphExtractor,
    Sam2ClipRealtimeFeatureBackend,
    save_realtime_graph_snapshot,
)


class FakeVisualBackend:
    """Small deterministic backend for CI/docs smoke only; not for real metrics."""

    def image_embedding(self, rgb_frame):
        return np.asarray(rgb_frame, dtype=np.float32)

    def pool_mask(self, image_embedding, mask):
        if not mask.any():
            return None
        seed = float(image_embedding[mask].mean()) if image_embedding.ndim == 3 else float(mask.mean())
        vec = np.linspace(0.0, 1.0, 256, dtype=np.float32) + seed / 255.0
        vec /= np.linalg.norm(vec).clip(min=1e-6)
        return vec.astype(np.float16)

    def type_clip32(self, nodes):
        arr = np.zeros((256, 32), dtype=np.float32)
        for i in range(min(len(nodes), 256)):
            arr[i, i % 32] = 1.0
        return arr, {"model": "fake-docs-ci-only", "projection_seed": 20260702}


def make_env(task: str, robots: str):
    import robocasa  # noqa: F401 registers RoboCasa environments
    import robosuite

    return robosuite.make(
        task,
        robots=robots,
        has_renderer=False,
        has_offscreen_renderer=True,
        use_object_obs=True,
        use_camera_obs=True,
        camera_names=["robot0_agentview_right", "robot0_agentview_left", "robot0_eye_in_hand"],
        camera_heights=256,
        camera_widths=256,
        camera_depths=False,
        reward_shaping=False,
        ignore_done=True,
    )


def zero_action(env) -> np.ndarray:
    if hasattr(env, "action_spec"):
        spec = env.action_spec
        if isinstance(spec, tuple) and len(spec) == 2:
            low, _high = spec
            return np.zeros_like(low, dtype=np.float32)
    if hasattr(env, "action_dim"):
        return np.zeros(int(env.action_dim), dtype=np.float32)
    raise RuntimeError("cannot infer action dimension; replace zero_action() with your policy action")


def make_visual_backend(name: str, device: str | None, sam2_root: Path | None, sam2_checkpoint: Path | None, clip_checkpoint: Path | None):
    if name == "sam2":
        return Sam2ClipRealtimeFeatureBackend(
            device=device,
            sam2_root=sam2_root,
            sam2_checkpoint=sam2_checkpoint,
            clip_checkpoint=clip_checkpoint,
        )
    if name == "fake":
        return FakeVisualBackend()
    raise ValueError(f"unknown visual backend: {name}")


def summarize_graph(t: int, snapshot: dict) -> dict:
    graph = snapshot["gnn_graph"]
    visual = snapshot.get("visual_features_sparse") or {}
    rgb_frames = snapshot.get("rgb_frames") or {}
    rgb_cameras = list(snapshot.get("rgb_frame_cameras") or [])
    rgb_shapes = {str(k): list(np.asarray(v).shape) for k, v in sorted(rgb_frames.items())}
    return {
        "t": t,
        "N_real": int(graph["metadata"]["N_real"]),
        "D_node": int(graph["x"].shape[1]),
        "E": int(graph["edge_index"].shape[1]),
        "D_edge": int(graph["edge_attr"].shape[1]) if graph["edge_attr"].ndim == 2 else 0,
        "first_slots": graph["slot_ids"][:8].astype(int).tolist(),
        "final_graph": bool(graph["metadata"].get("include_visual")),
        "visual_features_written": int((visual.get("summary") or {}).get("features_written", 0)),
        "invalid_visible_pairs": int((visual.get("summary") or {}).get("invalid_visible_pairs", 0)),
        "rgb_view_count": len(rgb_frames),
        "rgb_cameras": rgb_cameras,
        "rgb_shapes": rgb_shapes,
        "rgb_aligned_with_view_ids": bool(len(rgb_frames) == len(rgb_cameras) == 3),
    }


def main() -> int:
    ap = argparse.ArgumentParser()
    ap.add_argument("--task", default="OpenDrawer", help="RoboCasa/robosuite environment name")
    ap.add_argument("--robots", default="PandaOmron", help="RoboCasa robot name; source GWAM_Data episodes use PandaOmron")
    ap.add_argument("--steps", type=int, default=3)
    ap.add_argument("--visual-backend", choices=["sam2", "fake"], default="sam2", help="Use sam2 for real final graphs; fake is CI/docs smoke only")
    ap.add_argument("--device", default=None, help="Torch device for SAM2/CLIP, e.g. cuda or cpu")
    ap.add_argument("--sam2-root", type=Path, default=None, help="Optional local sam2 repo path. Needed when SAM2 is editable-installed from source; package weights are used by default when present.")
    ap.add_argument("--sam2-checkpoint", type=Path, default=None, help="Optional SAM2 checkpoint path; defaults to package models/sam2/checkpoints/sam2.1_hiera_base_plus.pt when present")
    ap.add_argument("--clip-checkpoint", type=Path, default=None, help="Optional CLIP ViT-B/32 checkpoint path; defaults to package models/clip/ViT-B-32.pt when present")
    ap.add_argument("--phase1-only-debug", action="store_true", help="Debug only: skip SAM2/CLIP and return 33-D Phase-1 graph instead of final 342-D graph")
    ap.add_argument("--save-dir", type=Path, default=None, help="Optional directory for debug graph snapshots")
    ap.add_argument("--json-output", type=Path, default=None, help="Optional clean JSON summary path; useful because some simulators print warnings to stdout")
    args = ap.parse_args()

    env = make_env(args.task, args.robots)
    try:
        env.reset()
        extractor = RealtimeGWAMGraphExtractor(env)
        visual_backend = None if args.phase1_only_debug else make_visual_backend(
            args.visual_backend,
            args.device,
            args.sam2_root,
            args.sam2_checkpoint,
            args.clip_checkpoint,
        )
        summaries = []
        for t in range(args.steps):
            if args.phase1_only_debug:
                snapshot = extractor.extract_current_graph(include_masks=args.save_dir is not None)
            else:
                snapshot = extractor.extract_final_graph(visual_backend=visual_backend, include_masks=args.save_dir is not None)
            summaries.append(summarize_graph(t, snapshot))
            if args.save_dir is not None:
                save_realtime_graph_snapshot(snapshot, args.save_dir / f"step_{t:06d}")
            action = zero_action(env)
            _obs, _reward, done, _info = env.step(action)
            if done:
                break
        result = {
            "task": args.task,
            "robots": args.robots,
            "steps": len(summaries),
            "phase1_only_debug": bool(args.phase1_only_debug),
            "visual_backend": args.visual_backend if not args.phase1_only_debug else None,
            "summaries": summaries,
        }
        text = json.dumps(result, indent=2)
        if args.json_output is not None:
            args.json_output.parent.mkdir(parents=True, exist_ok=True)
            args.json_output.write_text(text + "\n")
        print(text)
    finally:
        try:
            env.close()
        except Exception:
            pass
    return 0


if __name__ == "__main__":
    raise SystemExit(main())