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Pepijn
fc075762a9
LIBERO-plus builds task.language by space-joining the perturbation-variant
filename, so every non-_language_ variant inherits a trailing blob like
"view 0 0 100 0 0 initstate 0 noise 45" or "add 16". That shows up in the
dashboard video labels and no longer matches the base instruction stored
in the training dataset.
Strip those tokens in extract_task_descriptions.py with an end-anchored
regex over the {view,initstate,noise,add,tb,table,light,level}(+digits)
vocabulary. The anchor preserves mid-sentence literal uses of those words
(e.g. "from table center and place it on the plate") — only the trailing
metadata chain is removed. _language_ variants carry real BDDL-sourced
text and are left untouched.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
107 lines
3.9 KiB
Python
107 lines
3.9 KiB
Python
#!/usr/bin/env python3
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Extract natural-language task descriptions for a benchmark suite.
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Runs inside the benchmark Docker container (where the env library is installed)
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immediately after lerobot-eval, writing a JSON file that parse_eval_metrics.py
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picks up and embeds in metrics.json.
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Output format: {"<suite>_<task_idx>": "<nl instruction>", ...}
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Usage:
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python scripts/ci/extract_task_descriptions.py \\
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--env libero --task libero_spatial \\
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--output /tmp/eval-artifacts/task_descriptions.json
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"""
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from __future__ import annotations
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import argparse
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import json
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import re
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import sys
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from pathlib import Path
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# LIBERO-plus derives task.language by space-joining the perturbation-variant
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# filename (grab_language_from_filename in libero/libero/benchmark/__init__.py),
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# so non-_language_ variants inherit a trailing metadata blob like
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# "view 0 0 100 0 0 initstate 0 noise 45" or "add 16". Strip those tokens so
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# the description matches the base instruction used in the training dataset.
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_LIBERO_PERTURBATION_TAIL_RE = re.compile(
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r"(?:\s(?:view|initstate|noise|add|tb|table|light|level)(?:\s\d+)+)+$"
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)
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def _strip_libero_perturbation_tail(instruction: str) -> str:
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return _LIBERO_PERTURBATION_TAIL_RE.sub("", instruction).strip()
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def _libero_descriptions(task_suite: str) -> dict[str, str]:
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from libero.libero import benchmark # type: ignore[import-untyped]
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suite_dict = benchmark.get_benchmark_dict()
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if task_suite not in suite_dict:
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print(
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f"[extract_task_descriptions] Unknown LIBERO suite '{task_suite}'. "
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f"Available: {list(suite_dict.keys())}",
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file=sys.stderr,
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)
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return {}
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suite = suite_dict[task_suite]()
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return {
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f"{task_suite}_{i}": _strip_libero_perturbation_tail(suite.get_task(i).language)
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for i in range(suite.n_tasks)
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}
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def _metaworld_descriptions(task_name: str) -> dict[str, str]:
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# MetaWorld tasks don't expose a separate NL description attribute;
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# use a cleaned version of the task name as the description.
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label = task_name.removeprefix("metaworld-").replace("-", " ").strip()
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return {f"{task_name}_0": label}
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def main() -> int:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--env", required=True, help="Environment family (libero, metaworld, ...)")
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parser.add_argument("--task", required=True, help="Task/suite name (e.g. libero_spatial)")
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parser.add_argument("--output", required=True, help="Path to write task_descriptions.json")
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args = parser.parse_args()
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descriptions: dict[str, str] = {}
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try:
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if args.env == "libero":
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descriptions = _libero_descriptions(args.task)
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elif args.env == "metaworld":
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descriptions = _metaworld_descriptions(args.task)
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else:
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print(
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f"[extract_task_descriptions] No description extractor for env '{args.env}'.",
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file=sys.stderr,
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)
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except Exception as exc:
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print(f"[extract_task_descriptions] Warning: {exc}", file=sys.stderr)
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out_path = Path(args.output)
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out_path.parent.mkdir(parents=True, exist_ok=True)
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out_path.write_text(json.dumps(descriptions, indent=2))
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print(f"[extract_task_descriptions] {len(descriptions)} descriptions → {out_path}")
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return 0
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if __name__ == "__main__":
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sys.exit(main())
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