Upload prep_lerobot.py with huggingface_hub

prep_lerobot.py

@@ -33,16 +33,59 @@ sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
 import transform_batch as tb  # noqa: E402  (reuse _episode_range/_ensure/REPO/PREFIX)
 
 
+def _verdict(m: dict, th: dict) -> str:
+    """Re-grade one clip's metrics with the user's thresholds (mirror of the console re-grade)."""
+    rank = {"PASS": 0, "WARN": 1, "FAIL": 2, "?": 0}
+    ik = max(float(m.get("ik_R_cm", 0) or 0), float(m.get("ik_L_cm", 0) or 0))
+    ori = max(float(m.get("ori_R_deg", 0) or 0), float(m.get("ori_L_deg", 0) or 0))
+    track = "FAIL" if ik >= th["ik_fail"] else "WARN" if ik >= th["ik_warn"] else "PASS"
+    ori_g = "FAIL" if ori >= th["ori_fail"] else "WARN" if ori >= th["ori_warn"] else "PASS"
+    arms = "PASS" if m.get("collision") == "clean" else {"allow": "PASS", "warn": "WARN", "fail": "FAIL"}.get(th["arms"], "PASS")
+    mraw = m.get("qa_motion") or m.get("qa") or "PASS"
+    arm_m = th["motion"]
+    motion = "PASS" if arm_m == "off" else ("FAIL" if (arm_m == "strict" and mraw in ("WARN", "FAIL")) else mraw)
+    return max([track, ori_g, arms, motion], key=lambda v: rank.get(v, 0))
+
+
+def _excluded_ids(report_path: str, th: dict) -> set:
+    """clip_ids ('<cat>#<ep>') the user's thresholds flag as FAIL — skipped from the dataset."""
+    try:
+        rep = json.loads(Path(report_path).read_text())
+    except Exception:
+        return set()
+    out = set()
+    for c in rep.get("clips", []):
+        if c.get("status") == "done" and _verdict(c.get("metrics") or {}, th) == "FAIL":
+            out.add(c.get("clip_id"))
+    return out
+
+
 def main():
     ap = argparse.ArgumentParser()
     ap.add_argument("--flat", required=True, help="/workspace/transform/retargeted")
     ap.add_argument("--cache", required=True, help="/workspace/ego_cache")
     ap.add_argument("--retgt-out", default="/workspace/retargeted")
+    # Exclude-enforcement: if --exclude, drop clips the user's thresholds flag as FAIL (read from
+    # the retarget report). Off by default — we never auto-drop unless the user opts in.
+    ap.add_argument("--report", default="", help="/workspace/report.json (for --exclude)")
+    ap.add_argument("--exclude", type=int, default=0, help="1 = drop FAIL-flagged clips")
+    ap.add_argument("--ik-warn", type=float, default=3.0)
+    ap.add_argument("--ik-fail", type=float, default=6.0)
+    ap.add_argument("--ori-warn", type=float, default=15.0)
+    ap.add_argument("--ori-fail", type=float, default=30.0)
+    ap.add_argument("--arms", default="allow")
+    ap.add_argument("--motion", default="off")
     a = ap.parse_args()
 
     cache = Path(a.cache)
     ego_root = cache / tb.REPO.replace("/", "__")   # to_lerobot EGO = this (<cat>/videos + meta)
-    done, vids, skipped = 0, 0, 0
+    done, vids, skipped, excluded = 0, 0, 0, 0
+
+    th = {"ik_warn": a.ik_warn, "ik_fail": a.ik_fail, "ori_warn": a.ori_warn,
+          "ori_fail": a.ori_fail, "arms": a.arms, "motion": a.motion}
+    exclude_set = _excluded_ids(a.report, th) if (a.exclude and a.report) else set()
+    if exclude_set:
+        print(f"[exclude] user opted to drop {len(exclude_set)} FAIL-flagged clips", file=sys.stderr)
 
     # Pass 1 — resolve each retargeted clip to (cat, ep, chunk, file) and symlink it into the
     # category layout. Cheap (local hdf5 attrs + cached meta parquets), so keep it sequential.
@@ -52,6 +95,9 @@ def main():
             with h5py.File(hp, "r") as h:
                 cat = str(h.attrs["task"])
                 ep = int(str(h.attrs["clip"]).split("-")[1])
+            if f"{cat}#{ep}" in exclude_set:   # user opted to drop this FAIL-flagged clip
+                excluded += 1
+                continue
             r = tb._episode_range(cache, cat, ep)
             ci, fi = r["data/chunk_index"], r["data/file_index"]
             fyy = f"file-{fi:03d}"
@@ -90,7 +136,7 @@ def main():
     with ThreadPoolExecutor(max_workers=min(24, max(1, len(uniq)))) as ex:
         vids = sum(1 for ok in ex.map(_dlvid, uniq) if ok)
 
-    print(json.dumps({"clips": done, "videos": vids, "skipped": skipped,
+    print(json.dumps({"clips": done, "videos": vids, "skipped": skipped, "excluded": excluded,
                       "retgt": a.retgt_out, "ego": str(ego_root)}))