| """Compose the side-by-side demo: one episode, three execution modes, the same mid-episode cube move. |
| |
| Reads the per-mode episode videos written by chunk_eval.py (--videos-per-condition 1) and the |
| episode records next to them, adds a header per panel, a time counter, a "cube moved" marker and |
| the outcome, and encodes an MP4 (and a GIF for the README) with the ffmpeg CLI. |
| |
| Usage: |
| python scripts/make_video.py --run outputs/video_1018 --seed 1018 --out results/video/seed1018_6cm |
| """ |
|
|
| import argparse |
| import json |
| import subprocess |
| from pathlib import Path |
|
|
| import av |
| import numpy as np |
| from PIL import Image, ImageDraw, ImageFont |
|
|
| PANELS = ( |
| ("full_d00_m6", "Full chunk", "2 s open loop"), |
| ("replan25_d00_m6", "Replan every 25 steps", "0.5 s"), |
| ("te_d00_m6", "Temporal ensembling", "every step, averaged"), |
| ) |
| FPS_IN, SLOWDOWN, HOLD_S = 50, 2, 2.0 |
| BAR, TEXT, TEXT_2, ACCENT = (26, 26, 25), (255, 255, 255), (195, 194, 183), (250, 178, 25) |
| FONT = "/System/Library/Fonts/Helvetica.ttc" |
|
|
|
|
| def font(size: int) -> ImageFont.FreeTypeFont: |
| return ImageFont.truetype(FONT, size) |
|
|
|
|
| def frames(path: Path) -> list[np.ndarray]: |
| with av.open(str(path)) as container: |
| return [f.to_ndarray(format="rgb24") for f in container.decode(video=0)] |
|
|
|
|
| def main() -> None: |
| parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter) |
| parser.add_argument("--run", type=Path, required=True) |
| parser.add_argument("--seed", type=int, required=True) |
| parser.add_argument("--title", default="ACT, our checkpoint (100k steps): the same episode, cube moved 6 cm") |
| parser.add_argument("--out", type=Path, required=True, help="output path without extension") |
| args = parser.parse_args() |
|
|
| panels = [] |
| for cond, name, detail in PANELS: |
| record = json.loads(next((args.run / cond).glob(f"seeds_{args.seed}-*.json")).read_text()) |
| episode = record["episodes"][0] |
| clip = frames(Path(record["video_paths"][0])) |
| success_step = episode["first_step_at_reward"].get("4") |
| outcome = f"SUCCESS: handover done at {success_step / FPS_IN:.1f} s" if episode["success"] else ( |
| "FAILED: never touched the cube" if not episode["first_step_at_reward"] else "FAILED") |
| panels.append({"name": name, "detail": detail, "frames": clip, "t_move": episode["t_move"], |
| "moved_cm": 100 * episode["moved_m"], "outcome": outcome, "success": episode["success"]}) |
|
|
| h, w = panels[0]["frames"][0].shape[:2] |
| n = max(len(p["frames"]) for p in panels) + int(HOLD_S * FPS_IN) |
| title_h, head_h, foot_h = 56, 64, 44 |
| size = (w * len(panels), title_h + head_h + h + foot_h) |
| args.out.parent.mkdir(parents=True, exist_ok=True) |
| mp4 = args.out.with_suffix(".mp4") |
| fps_out = FPS_IN / SLOWDOWN |
| enc = subprocess.Popen( |
| ["ffmpeg", "-loglevel", "error", "-y", "-f", "rawvideo", "-pix_fmt", "rgb24", "-s", f"{size[0]}x{size[1]}", |
| "-r", f"{fps_out:g}", "-i", "-", "-c:v", "libx264", "-pix_fmt", "yuv420p", "-crf", "20", str(mp4)], |
| stdin=subprocess.PIPE) |
| f_title, f_head, f_small, f_badge = font(26), font(24), font(18), font(22) |
| for i in range(n): |
| canvas = Image.new("RGB", size, BAR) |
| draw = ImageDraw.Draw(canvas) |
| draw.text((20, 14), args.title, font=f_title, fill=TEXT) |
| t = min(i, max(len(p["frames"]) for p in panels) - 1) / FPS_IN |
| draw.text((size[0] - 240, 18), f"t = {t:4.2f} s (0.5x speed)", font=f_small, fill=TEXT_2) |
| for j, p in enumerate(panels): |
| x0 = j * w |
| draw.text((x0 + 16, title_h + 8), p["name"], font=f_head, fill=TEXT) |
| draw.text((x0 + 16, title_h + 38), p["detail"], font=f_small, fill=TEXT_2) |
| frame = p["frames"][min(i, len(p["frames"]) - 1)] |
| canvas.paste(Image.fromarray(frame), (x0, title_h + head_h)) |
| if p["t_move"] is not None and p["t_move"] <= i < p["t_move"] + FPS_IN: |
| draw.rectangle([x0 + 12, title_h + head_h + 12, x0 + 262, title_h + head_h + 46], fill=BAR) |
| draw.text((x0 + 22, title_h + head_h + 17), f"cube moved {p['moved_cm']:.0f} cm", font=f_badge, fill=ACCENT) |
| ended = i >= len(p["frames"]) - 1 |
| if ended or i >= n - int(HOLD_S * FPS_IN): |
| draw.text((x0 + 16, title_h + head_h + h + 10), p["outcome"], font=f_badge, fill=TEXT) |
| enc.stdin.write(np.asarray(canvas).tobytes()) |
| enc.stdin.close() |
| enc.wait() |
| gif = args.out.with_suffix(".gif") |
| subprocess.run(["ffmpeg", "-loglevel", "error", "-y", "-i", str(mp4), "-vf", |
| "fps=12,scale=960:-1:flags=lanczos,split[a][b];[a]palettegen=max_colors=96[p];[b][p]paletteuse=dither=bayer", |
| str(gif)], check=True) |
| print(f"wrote {mp4} ({mp4.stat().st_size / 1e6:.1f} MB) and {gif} ({gif.stat().st_size / 1e6:.1f} MB), {n} frames") |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
