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handle failed annotations

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This commit is contained in:
Jade Choghari
2026-01-19 16:11:32 +00:00
parent d44f3a3bd9
commit 80417111d3
1 changed files with 83 additions and 20 deletions
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src/lerobot/policies/pi05_full/annotate/subtask_annotate.py
+83 -20
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@@ -333,12 +333,14 @@ class Qwen2VL(BaseVLM):
# Parse each response
all_skills = []
for response in responses:
for idx, response in enumerate(responses):
try:
skills = self._parse_skills_response(response.strip())
if not skills:
self.console.print(f"[yellow]Warning: No skills parsed from response for video {idx}[/yellow]")
all_skills.append(skills)
except Exception as e:
self.console.print(f"[yellow]Warning: Failed to parse response: {e}[/yellow]")
self.console.print(f"[yellow]Warning: Failed to parse response for video {idx}: {e}[/yellow]")
all_skills.append([])
return all_skills
@@ -487,12 +489,14 @@ class Qwen3VL(BaseVLM):
# Parse each response
all_skills = []
for response in responses:
for idx, response in enumerate(responses):
try:
skills = self._parse_skills_response(response.strip())
if not skills:
self.console.print(f"[yellow]Warning: No skills parsed from response for video {idx}[/yellow]")
all_skills.append(skills)
except Exception as e:
self.console.print(f"[yellow]Warning: Failed to parse response: {e}[/yellow]")
self.console.print(f"[yellow]Warning: Failed to parse response for video {idx}: {e}[/yellow]")
all_skills.append([])
return all_skills
@@ -690,10 +694,26 @@ class SkillAnnotator:
"""
episode_indices = episodes or list(range(dataset.meta.total_episodes))
annotations: dict[int, EpisodeSkills] = {}
failed_episodes: dict[int, str] = {} # Track failed episodes with error messages
# Get coarse task description if available
coarse_goal = self._get_coarse_goal(dataset)
# Filter out episodes that already have annotations if skip_existing is True
if skip_existing:
existing_annotations = load_skill_annotations(dataset.root)
if existing_annotations and "episodes" in existing_annotations:
existing_episode_indices = {int(idx) for idx in existing_annotations["episodes"].keys()}
original_count = len(episode_indices)
episode_indices = [ep for ep in episode_indices if ep not in existing_episode_indices]
skipped_count = original_count - len(episode_indices)
if skipped_count > 0:
self.console.print(f"[cyan]Skipping {skipped_count} episodes with existing annotations[/cyan]")
if not episode_indices:
self.console.print("[yellow]No episodes to annotate (all already annotated)[/yellow]")
return annotations
print(f"Annotating {len(episode_indices)} episodes in batches of {self.batch_size}...")
# Process episodes in batches
@@ -708,21 +728,9 @@ class SkillAnnotator:
dataset, batch_episodes, video_key, coarse_goal
)
for ep_idx, skills in batch_annotations.items():
annotations[ep_idx] = EpisodeSkills(
episode_index=ep_idx,
description=coarse_goal,
skills=skills,
)
self.console.print(
f"[green]✓ Episode {ep_idx}: {len(skills)} skills identified[/green]"
)
except Exception as e:
self.console.print(f"[red]✗ Batch failed: {e}. Falling back to single-episode processing...[/red]")
# Fallback: process episodes one by one
for ep_idx in batch_episodes:
try:
skills = self._annotate_episode(dataset, ep_idx, video_key, coarse_goal)
if ep_idx in batch_annotations and batch_annotations[ep_idx]:
skills = batch_annotations[ep_idx]
annotations[ep_idx] = EpisodeSkills(
episode_index=ep_idx,
description=coarse_goal,
@@ -731,8 +739,63 @@ class SkillAnnotator:
self.console.print(
f"[green]✓ Episode {ep_idx}: {len(skills)} skills identified[/green]"
)
except Exception as e:
self.console.print(f"[red]✗ Episode {ep_idx} failed: {e}[/red]")
else:
failed_episodes[ep_idx] = "Empty or missing skills from batch processing"
self.console.print(f"[yellow]⚠ Episode {ep_idx}: No skills extracted, will retry[/yellow]")
except Exception as e:
self.console.print(f"[red]✗ Batch failed: {e}. Falling back to single-episode processing...[/red]")
# Fallback: process episodes one by one
for ep_idx in batch_episodes:
try:
skills = self._annotate_episode(dataset, ep_idx, video_key, coarse_goal)
if skills:
annotations[ep_idx] = EpisodeSkills(
episode_index=ep_idx,
description=coarse_goal,
skills=skills,
)
self.console.print(
f"[green]✓ Episode {ep_idx}: {len(skills)} skills identified[/green]"
)
else:
failed_episodes[ep_idx] = "Empty skills list from single-episode processing"
self.console.print(f"[yellow]⚠ Episode {ep_idx}: No skills extracted, will retry[/yellow]")
except Exception as ep_error:
failed_episodes[ep_idx] = str(ep_error)
self.console.print(f"[yellow]⚠ Episode {ep_idx} failed: {ep_error}, will retry[/yellow]")
# Retry failed episodes one more time
if failed_episodes:
self.console.print(f"\n[cyan]Retrying {len(failed_episodes)} failed episodes...[/cyan]")
retry_count = 0
for ep_idx, error_msg in list(failed_episodes.items()):
self.console.print(f"[cyan]Retry attempt for episode {ep_idx} (previous error: {error_msg})[/cyan]")
try:
skills = self._annotate_episode(dataset, ep_idx, video_key, coarse_goal)
if skills:
annotations[ep_idx] = EpisodeSkills(
episode_index=ep_idx,
description=coarse_goal,
skills=skills,
)
self.console.print(
f"[green]✓ Episode {ep_idx} (retry): {len(skills)} skills identified[/green]"
)
del failed_episodes[ep_idx]
retry_count += 1
else:
self.console.print(f"[red]✗ Episode {ep_idx} (retry): Still no skills extracted[/red]")
except Exception as retry_error:
failed_episodes[ep_idx] = str(retry_error)
self.console.print(f"[red]✗ Episode {ep_idx} (retry) failed: {retry_error}[/red]")
if retry_count > 0:
self.console.print(f"[green]Successfully recovered {retry_count} episodes on retry[/green]")
if failed_episodes:
self.console.print(f"\n[red]⚠ Warning: {len(failed_episodes)} episodes still failed after retry:[/red]")
for ep_idx, error_msg in failed_episodes.items():
self.console.print(f" Episode {ep_idx}: {error_msg}")
return annotations