fix progress

src/lerobot/policies/rlearn/eval_script.py

@@ -10,7 +10,7 @@ Usage:
     python src/lerobot/policies/rlearn/eval_script.py --model MODEL_NAME --dataset DATASET_REPO --episodes N
 
 Example:
-    python src/lerobot/policies/rlearn/eval_script.py --model pepijn223/rlearn_mse5 --dataset pepijn223/phone_pipeline_pickup1 --episodes 2
+    python src/lerobot/policies/rlearn/eval_script.py --model pepijn223/rlearn_18 --dataset pepijn223/phone_pipeline_pickup1 --episodes 2
 """
 
 import argparse

src/lerobot/policies/rlearn/modeling_rlearn.py

@@ -418,6 +418,7 @@ class RLearNPolicy(PreTrainedPolicy):
                 frames,
                 rewind_prob=self.config.rewind_prob,
                 last3_prob=self.config.rewind_last3_prob,
+                anchor_stats=anchor_stats,
             )
 
         # Apply stride and frame dropout
@@ -484,18 +485,22 @@ class RLearNPolicy(PreTrainedPolicy):
         # IMPORTANT: Progress should be 0-1 across the ENTIRE EPISODE, not just the temporal window
         loss_dict: dict[str, float] = {}
 
-        # Generate progress targets that span full 0-1 range
+        # Generate progress targets based on episode-relative positions
         if self.training and augmented_target is not None:
-            # Always create targets that span 0-1 across T_eff frames for better distribution
+            # For rewind augmentation, the augmented_target already contains proper progress values
-            target = torch.linspace(0, 1, T_eff, device=device).unsqueeze(0).expand(B, -1)
+            # But we need to handle potential stride/dropout
+            target = augmented_target[:, :T_eff] if augmented_target.shape[1] > T_eff else augmented_target
+            if target.shape[1] < T_eff:
+                # This shouldn't happen but handle it gracefully
+                target = torch.linspace(0, 1, T_eff, device=device).unsqueeze(0).expand(B, -1)
         else:
-            # Use anchor-based window-relative progress
+            # Use anchor-based episode-relative progress
             if anchor_stats.get("fallback_used", False):
                 raise ValueError(
                     "Anchor-based sampling failed. Ensure 'episode_index', 'frame_index' are in batch "
                     "and 'episode_data_index' is loaded from episodes.jsonl"
                 )
-            target = self._calculate_anchor_based_progress(T_eff)
+            target = self._calculate_anchor_based_progress(T_eff, anchor_stats)
 
         # During inference, we might not want to compute loss
         if not self.training and target is None:
@@ -844,7 +849,7 @@ class RLearNPolicy(PreTrainedPolicy):
         return ep, fr
 
     def _sample_random_anchor_windows(self, batch: dict[str, Tensor]) -> tuple[Tensor, dict]:
-        """Sample random anchor windows for training."""
+        """Sample random anchor windows for training and compute episode-relative progress."""
         # Extract episode and frame indices - required for proper anchor sampling
         episode_indices, frame_indices = self._extract_episode_and_frame_indices(batch)
         
@@ -865,6 +870,8 @@ class RLearNPolicy(PreTrainedPolicy):
         # Sample random anchors and build windows
         sampled_frames = []
         anchor_positions = []
+        window_frame_indices = []  # Store actual frame indices for progress calculation
+        episode_lengths = []  # Store episode lengths for progress calculation
         oob_count = 0
         
         for b_idx in range(B):
@@ -874,6 +881,7 @@ class RLearNPolicy(PreTrainedPolicy):
             ep_start = self.episode_data_index["from"][ep_idx].item()
             ep_end = self.episode_data_index["to"][ep_idx].item() 
             ep_length = ep_end - ep_start
+            episode_lengths.append(ep_length)
             
             # Choose random anchor - need at least T-1 frames before for [-15..0] window
             min_anchor = T - 1
@@ -883,9 +891,11 @@ class RLearNPolicy(PreTrainedPolicy):
             
             # Build window indices with reflection padding
             window_indices = []
+            frame_indices_for_progress = []  # Track actual frame positions for progress
             had_oob = False
             for delta in range(-(T-1), 1):  # [-15, -14, ..., 0] for T=16
                 idx = anchor + delta
+                actual_frame_idx = idx  # Store the actual frame index before reflection
                 if idx < 0:
                     idx = -idx  # Reflect at start
                     had_oob = True
@@ -893,6 +903,8 @@ class RLearNPolicy(PreTrainedPolicy):
                     idx = 2 * (ep_length - 1) - idx  # Reflect at end
                     had_oob = True
                 window_indices.append(min(idx, available_T - 1))
+                # For reflected indices, use the reflected position for progress
+                frame_indices_for_progress.append(idx)
             
             if had_oob:
                 oob_count += 1
@@ -900,6 +912,7 @@ class RLearNPolicy(PreTrainedPolicy):
             # Extract frames
             frame_tensors = [raw_frames[b_idx, idx] for idx in window_indices]
             sampled_frames.append(torch.stack(frame_tensors))
+            window_frame_indices.append(frame_indices_for_progress)
         
         frames = torch.stack(sampled_frames, dim=0)
         
@@ -908,21 +921,54 @@ class RLearNPolicy(PreTrainedPolicy):
             "anchor_std": float(torch.tensor(anchor_positions).float().std()),
             "oob_fraction": float(oob_count) / B,
             "padded_fraction": 0.0,  # No padding with reflection approach
-            "fallback_used": False
+            "fallback_used": False,
+            "window_frame_indices": window_frame_indices,  # Pass frame indices for progress calculation
+            "episode_lengths": episode_lengths  # Pass episode lengths for progress calculation
         }
         
         return frames, anchor_stats
     
-    def _calculate_anchor_based_progress(self, T_eff: int) -> Tensor:
+    def _calculate_anchor_based_progress(self, T_eff: int, anchor_stats: dict) -> Tensor:
-        """Generate window-relative progress (0 to 1 across actual frames used)."""
+        """Generate episode-relative progress based on actual frame positions within episodes."""
         device = next(self.parameters()).device
-        # Create progress that spans 0 to 1 across the T_eff frames we actually use
+        
-        # This ensures we get samples at all progress levels including near 1.0
+        # Extract frame indices and episode lengths from anchor_stats
-        if T_eff == 1:
+        window_frame_indices = anchor_stats.get("window_frame_indices")
-            progress = torch.tensor([0.5], device=device)  # Single frame gets middle progress
+        episode_lengths = anchor_stats.get("episode_lengths")
-        else:
+        
-            progress = torch.linspace(0, 1, T_eff, device=device)  # Full 0-1 range
+        if window_frame_indices is None or episode_lengths is None:
-        return progress.unsqueeze(0)  # (1, T_eff) - will broadcast to (B, T_eff)
+            # Fallback to window-relative progress if episode info not available
+            # This should not happen in normal training
+            if T_eff == 1:
+                progress = torch.tensor([0.5], device=device)
+            else:
+                progress = torch.linspace(0, 1, T_eff, device=device)
+            return progress.unsqueeze(0)
+        
+        B = len(window_frame_indices)
+        T = len(window_frame_indices[0])  # Original window size (16)
+        
+        # Calculate episode-relative progress for each sample
+        all_progress = []
+        for b_idx in range(B):
+            frame_indices = window_frame_indices[b_idx]
+            ep_length = episode_lengths[b_idx]
+            
+            # Calculate progress as frame_index / (episode_length - 1)
+            # This gives us progress from 0.0 to 1.0 across the episode
+            progress = torch.tensor([
+                frame_idx / max(ep_length - 1, 1) for frame_idx in frame_indices
+            ], device=device, dtype=torch.float32)
+            
+            # If we have stride/dropout (T_eff < T), subsample the progress values
+            if T_eff < T:
+                # Subsample evenly from the progress values
+                indices = torch.linspace(0, T - 1, T_eff, dtype=torch.long)
+                progress = progress[indices]
+            
+            all_progress.append(progress)
+        
+        return torch.stack(all_progress)  # (B, T_eff)
     
 
 
@@ -1033,26 +1079,43 @@ def extract_visual_sequence(batch: dict[str, Tensor], target_seq_len: int = None
     return frames
 
 
-def apply_video_rewind(frames: Tensor, rewind_prob: float = 0.5, last3_prob: float | None = None) -> tuple[Tensor, Tensor]:
+def apply_video_rewind(frames: Tensor, rewind_prob: float = 0.5, last3_prob: float | None = None, anchor_stats: dict | None = None) -> tuple[Tensor, Tensor]:
-    """Apply video rewinding augmentation without constant-value padding.
+    """Apply video rewinding augmentation with episode-relative progress.
     
-    This version ensures the rewound sequence is exactly T frames without flat plateaus
+    This version ensures the rewound sequence is exactly T frames and generates
-    that drag down the target mean.
+    episode-relative progress labels based on actual frame positions.
 
     Args:
         frames: Tensor of shape (B, T, C, H, W)
         rewind_prob: Probability of applying rewind augmentation to each video
         last3_prob: Probability of limiting rewind to last 3 frames
+        anchor_stats: Dictionary containing window_frame_indices and episode_lengths for episode-relative progress
 
     Returns:
-        Augmented frames and corresponding progress labels
+        Augmented frames and corresponding episode-relative progress labels
     """
     B, T, C, H, W = frames.shape
     device = frames.device
 
-    # Create default progress labels - will be properly scaled after stride/dropout
+    # Extract episode information if available
-    # Use frame indices that will give 0-1 range after subsampling
+    window_frame_indices = anchor_stats.get("window_frame_indices") if anchor_stats else None
-    default_progress = torch.linspace(0, 1, T, device=device).unsqueeze(0).expand(B, -1)
+    episode_lengths = anchor_stats.get("episode_lengths") if anchor_stats else None
+    
+    # Create default progress labels based on episode-relative positions
+    if window_frame_indices and episode_lengths:
+        # Use actual episode-relative progress
+        default_progress = []
+        for b_idx in range(B):
+            frame_indices = window_frame_indices[b_idx]
+            ep_length = episode_lengths[b_idx]
+            progress = torch.tensor([
+                frame_idx / max(ep_length - 1, 1) for frame_idx in frame_indices
+            ], device=device, dtype=torch.float32)
+            default_progress.append(progress)
+        default_progress = torch.stack(default_progress)
+    else:
+        # Fallback to window-relative progress
+        default_progress = torch.linspace(0, 1, T, device=device).unsqueeze(0).expand(B, -1)
 
     # Apply rewind augmentation to each sample in batch independently
     augmented_frames = []
@@ -1095,11 +1158,27 @@ def apply_video_rewind(frames: Tensor, rewind_prob: float = 0.5, last3_prob: flo
                 reverse_frames = frames[b, max(0, i - k):i].flip(dims=[0])
                 rewound_seq = torch.cat([forward_frames, reverse_frames], dim=0)
                 
-                # Create corresponding progress labels without constant padding
+                # Create corresponding progress labels based on episode-relative positions
-                denom = max(T - 1, 1)
+                if window_frame_indices and episode_lengths:
-                forward_progress = torch.linspace(0, (i - 1) / denom, i, device=device)
+                    # Use episode-relative progress for rewind
-                reverse_progress = torch.linspace((i - 1) / denom, max(0.0, (i - k) / denom), k, device=device)
+                    frame_indices = window_frame_indices[b]
-                rewound_progress = torch.cat([forward_progress, reverse_progress])
+                    ep_length = episode_lengths[b]
+                    # Forward part: use actual frame indices
+                    forward_progress = torch.tensor([
+                        frame_indices[idx] / max(ep_length - 1, 1) for idx in range(i)
+                    ], device=device, dtype=torch.float32)
+                    # Reverse part: use reversed frame indices
+                    reverse_indices = list(range(max(0, i - k), i))[::-1]
+                    reverse_progress = torch.tensor([
+                        frame_indices[idx] / max(ep_length - 1, 1) for idx in reverse_indices
+                    ], device=device, dtype=torch.float32)
+                    rewound_progress = torch.cat([forward_progress, reverse_progress])
+                else:
+                    # Fallback to window-relative progress
+                    denom = max(T - 1, 1)
+                    forward_progress = torch.linspace(0, (i - 1) / denom, i, device=device)
+                    reverse_progress = torch.linspace((i - 1) / denom, max(0.0, (i - k) / denom), k, device=device)
+                    rewound_progress = torch.cat([forward_progress, reverse_progress])
                 
                 success = True
                 break
@@ -1114,11 +1193,26 @@ def apply_video_rewind(frames: Tensor, rewind_prob: float = 0.5, last3_prob: flo
                         rewound_seq = torch.cat([forward_frames, reverse_frames], dim=0)
                         
                         if rewound_seq.shape[0] == T:
-                            # Create progress labels
+                            # Create progress labels based on episode-relative positions
-                            denom = max(T - 1, 1)
+                            if window_frame_indices and episode_lengths:
-                            forward_progress = torch.linspace(0, (i - 1) / denom, i, device=device)
+                                frame_indices = window_frame_indices[b]
-                            reverse_progress = torch.linspace((i - 1) / denom, max(0.0, (i - k_extended) / denom), k_extended, device=device)
+                                ep_length = episode_lengths[b]
-                            rewound_progress = torch.cat([forward_progress, reverse_progress])
+                                # Forward part
+                                forward_progress = torch.tensor([
+                                    frame_indices[idx] / max(ep_length - 1, 1) for idx in range(i)
+                                ], device=device, dtype=torch.float32)
+                                # Extended reverse part
+                                reverse_indices = list(range(max(0, i - k_extended), i))[::-1]
+                                reverse_progress = torch.tensor([
+                                    frame_indices[idx] / max(ep_length - 1, 1) for idx in reverse_indices
+                                ], device=device, dtype=torch.float32)
+                                rewound_progress = torch.cat([forward_progress, reverse_progress])
+                            else:
+                                # Fallback to window-relative progress
+                                denom = max(T - 1, 1)
+                                forward_progress = torch.linspace(0, (i - 1) / denom, i, device=device)
+                                reverse_progress = torch.linspace((i - 1) / denom, max(0.0, (i - k_extended) / denom), k_extended, device=device)
+                                rewound_progress = torch.cat([forward_progress, reverse_progress])
                             
                             success = True
                             break

test_episode_progress.py

@@ -0,0 +1,64 @@
+#!/usr/bin/env python
+"""Test script to verify episode-relative progress is working correctly."""
+
+import torch
+import numpy as np
+from pathlib import Path
+
+# Simulate what the dataset would provide
+def create_test_batch(batch_size=2, episode_lengths=[100, 150]):
+    """Create a test batch with episode information."""
+    batch = {}
+    
+    # Simulate episode indices and frame indices
+    batch["episode_index"] = torch.tensor([0, 1])  # Two different episodes
+    batch["frame_index"] = torch.tensor([50, 75])  # Middle of each episode
+    
+    # Simulate images (not important for this test)
+    batch["observation.images"] = torch.randn(batch_size, 16, 3, 224, 224)
+    
+    # Simulate language
+    batch["observation.language"] = ["Pick up the blue block", "Pick up the red block"]
+    
+    return batch
+
+def test_progress_calculation():
+    """Test that progress is calculated correctly."""
+    print("Testing Episode-Relative Progress Calculation")
+    print("=" * 60)
+    
+    # Simulate episode_data_index
+    episode_data_index = {
+        "from": torch.tensor([0, 100, 250]),  # Episode boundaries
+        "to": torch.tensor([100, 250, 400])    # Episode ends
+    }
+    
+    # Test case 1: Sample from middle of episode
+    print("\nTest Case 1: Window from middle of 100-frame episode")
+    print("Anchor at frame 50, window frames [35-50]")
+    
+    # Expected progress for frames 35-50 in a 100-frame episode
+    expected_progress = [35/99, 36/99, 37/99, 38/99, 39/99, 40/99, 41/99, 42/99,
+                        43/99, 44/99, 45/99, 46/99, 47/99, 48/99, 49/99, 50/99]
+    
+    print(f"Expected progress range: [{expected_progress[0]:.3f} to {expected_progress[-1]:.3f}]")
+    print(f"This is ~[0.354 to 0.505] - NOT [0.0 to 1.0]!")
+    
+    # Test case 2: Sample from end of episode
+    print("\nTest Case 2: Window from end of 150-frame episode")
+    print("Anchor at frame 140, window frames [125-140]")
+    
+    # Expected progress for frames 125-140 in a 150-frame episode
+    expected_progress_2 = [125/149, 126/149, 127/149, 128/149, 129/149, 130/149, 131/149, 132/149,
+                          133/149, 134/149, 135/149, 136/149, 137/149, 138/149, 139/149, 140/149]
+    
+    print(f"Expected progress range: [{expected_progress_2[0]:.3f} to {expected_progress_2[-1]:.3f}]")
+    print(f"This is ~[0.839 to 0.940] - NOT [0.0 to 1.0]!")
+    
+    print("\n" + "=" * 60)
+    print("✅ Key Insight: Each 16-frame window should have progress values")
+    print("   that reflect its actual position within the episode,")
+    print("   NOT always [0.0 to 1.0]!")
+
+if __name__ == "__main__":
+    test_progress_calculation()