| """One-shot migration: fix bimanual/humanoid multiview Ctrl-World layout. |
| |
| The bimanual/humanoid inference runs saved flat episode dirs like |
| `.../ctrlworld/episode_makovian_close_toolbox__000026/`, baking the |
| makovian/non_makovian category into the episode name. Per the |
| sampling-dataset-layout rule, `{category}` must be its own path segment: |
| `.../ctrlworld/makovian/episode_close_toolbox__000026/`. |
| |
| This moves existing output + input episode dirs into the correct |
| `{category}/episode_<name>` layout, deletes the stale top-level |
| `all_summary.json`, and regenerates a per-category `all_summary.json` from the |
| moved output `metrics.json` files. |
| |
| Usage: |
| python scripts/migrate_ctrlworld_multiview_layout.py # dry run |
| python scripts/migrate_ctrlworld_multiview_layout.py --apply # do it |
| """ |
|
|
| import argparse |
| import json |
| import shutil |
| from pathlib import Path |
|
|
| ROOT = Path("/pfss/mlde/workspaces/mlde_wsp_IAS_SAMMerge/VLA/doanh/video_world/video_gen_physics") |
| EMBODIMENTS = ["bimanual", "humanoid"] |
| IOS = ["output", "input"] |
|
|
|
|
| def split_category(name): |
| if name.startswith("non_makovian_"): |
| return "non_makovian", name[len("non_makovian_"):] |
| if name.startswith("makovian_"): |
| return "makovian", name[len("makovian_"):] |
| return None, name |
|
|
|
|
| def migrate_dir(base: Path, apply: bool): |
| """Move flat episode_<category>_<rest> dirs into <category>/episode_<rest>.""" |
| if not base.exists(): |
| print(f" [skip] {base} does not exist") |
| return 0 |
| moved = 0 |
| for child in sorted(base.iterdir()): |
| if not child.is_dir() or not child.name.startswith("episode_"): |
| continue |
| stem = child.name[len("episode_"):] |
| category, rest = split_category(stem) |
| if category is None: |
| print(f" [warn] no category prefix, leaving as-is: {child.name}") |
| continue |
| dst = base / category / f"episode_{rest}" |
| if dst.exists(): |
| print(f" [conflict] dst exists, skipping: {dst}") |
| continue |
| print(f" {child.name} -> {category}/episode_{rest}") |
| if apply: |
| dst.parent.mkdir(parents=True, exist_ok=True) |
| shutil.move(str(child), str(dst)) |
| moved += 1 |
| return moved |
|
|
|
|
| def regenerate_summaries(output_base: Path, apply: bool): |
| """Rebuild per-category all_summary.json from moved metrics.json files.""" |
| if not output_base.exists(): |
| return |
| for category_dir in sorted(output_base.iterdir()): |
| if not category_dir.is_dir() or category_dir.name not in ("makovian", "non_makovian"): |
| continue |
| metrics_list = [] |
| for ep_dir in sorted(category_dir.iterdir()): |
| mpath = ep_dir / "metrics.json" |
| if mpath.exists(): |
| with open(mpath) as f: |
| metrics_list.append(json.load(f)) |
| if not metrics_list: |
| continue |
| summary = { |
| "mean_psnr": sum(m["psnr"] for m in metrics_list) / len(metrics_list), |
| "mean_ssim": sum(m["ssim"] for m in metrics_list) / len(metrics_list), |
| "mean_lpips": sum(m["lpips"] for m in metrics_list) / len(metrics_list), |
| "num_episodes": len(metrics_list), |
| } |
| out = category_dir / "all_summary.json" |
| print(f" summary {out.relative_to(output_base)}: " |
| f"n={summary['num_episodes']} PSNR={summary['mean_psnr']:.3f}") |
| if apply: |
| with open(out, "w") as f: |
| json.dump(summary, f, indent=2) |
|
|
|
|
| def main(): |
| ap = argparse.ArgumentParser() |
| ap.add_argument("--apply", action="store_true", help="Actually move files (default: dry run).") |
| args = ap.parse_args() |
|
|
| mode = "APPLY" if args.apply else "DRY RUN" |
| print(f"=== Ctrl-World multiview layout migration [{mode}] ===\n") |
|
|
| for emb in EMBODIMENTS: |
| for io in IOS: |
| base = ROOT / "sampling_dataset" / "dense" / emb / io / "multiview" / "ctrlworld" |
| print(f"[{emb}/{io}] {base}") |
| n = migrate_dir(base, args.apply) |
| print(f" -> {n} dirs to move") |
|
|
| stale = base / "all_summary.json" |
| if stale.exists(): |
| print(f" [stale] removing top-level {stale.name} (regenerated per-category)") |
| if args.apply: |
| stale.unlink() |
| print() |
|
|
| print("=== Regenerating per-category summaries (output only) ===") |
| for emb in EMBODIMENTS: |
| output_base = ROOT / "sampling_dataset" / "dense" / emb / "output" / "multiview" / "ctrlworld" |
| print(f"[{emb}/output]") |
| regenerate_summaries(output_base, args.apply) |
| print() |
|
|
| if not args.apply: |
| print("Dry run complete. Re-run with --apply to perform the migration.") |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
