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[viz tool] add policy pred column #529

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[viz tool] add policy pred column #529

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5 changes: 3 additions & 2 deletions lerobot/scripts/visualize_dataset_html.py
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,7 @@ def run_server(
port: str,
static_folder: Path,
template_folder: Path,
has_policy = False,
):
app = Flask(__name__, static_folder=static_folder.resolve(), template_folder=template_folder.resolve())
app.config["SEND_FILE_MAX_AGE_DEFAULT"] = 0 # specifying not to cache
Expand Down Expand Up @@ -130,7 +131,7 @@ def show_episode(dataset_namespace, dataset_name, episode_id):
dataset_info=dataset_info,
videos_info=videos_info,
ep_csv_url=ep_csv_url,
has_policy=False,
has_policy = has_policy,
)

app.run(host=host, port=port)
Expand Down Expand Up @@ -344,7 +345,7 @@ def visualize_dataset_html(
write_episode_data_csv(static_dir, ep_csv_fname, episode_index, dataset, policy=policy)

if serve:
run_server(dataset, episodes, host, port, static_dir, template_dir)
run_server(dataset, episodes, host, port, static_dir, template_dir, has_policy=policy is not None)


def main():
Expand Down
17 changes: 16 additions & 1 deletion lerobot/templates/visualize_dataset_template.html
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Original file line number Diff line number Diff line change
Expand Up @@ -229,7 +229,8 @@ <h1 class="text-xl font-bold mt-4 font-mono">
dygraph: null,
currentFrameData: null,
columnNames: ["state", "action", "pred action"],
nColumns: 2,
hasPolicy: {% if has_policy %}true{% else %}false{% endif %},
nColumns: {% if has_policy %}3{% else %}2{% endif %},
nStates: 0,
nActions: 0,
checked: [],
Expand Down Expand Up @@ -278,6 +279,9 @@ <h1 class="text-xl font-bold mt-4 font-mono">
const seriesNames = this.dygraph.getLabels().slice(1);
this.nStates = seriesNames.findIndex(item => item.startsWith('action_'));
this.nActions = seriesNames.length - this.nStates;
if(this.hasPolicy){
this.nActions = Math.floor(this.nActions / 2);
}
const colors = [];
const LIGHTNESS = [30, 65, 85]; // state_lightness, action_lightness, pred_action_lightness
// colors for "state" lines
Expand All @@ -290,6 +294,13 @@ <h1 class="text-xl font-bold mt-4 font-mono">
const color = `hsl(${hue}, 100%, ${LIGHTNESS[1]}%)`;
colors.push(color);
}
if(this.hasPolicy){
// colors for "action" lines
for (let hue = 0; hue < 360; hue += parseInt(360/this.nActions)) {
const color = `hsl(${hue}, 100%, ${LIGHTNESS[2]}%)`;
colors.push(color);
}
}
this.dygraph.updateOptions({ colors });
this.colors = colors;

Expand Down Expand Up @@ -327,6 +338,10 @@ <h1 class="text-xl font-bold mt-4 font-mono">
// row consists of [state value, action value]
row.push(rowIndex < this.nStates ? this.currentFrameData[stateValueIdx] : nullCell); // push "state value" to row
row.push(rowIndex < this.nActions ? this.currentFrameData[actionValueIdx] : nullCell); // push "action value" to row
if(this.hasPolicy){
const predActionValueIdx = stateValueIdx + this.nStates + this.nActions; // because this.currentFrameData = [state0, state1, ..., stateN, action0, action1, ..., actionN, pred_action1, ..., pred_actionN]
row.push(rowIndex < this.nActions ? this.currentFrameData[predActionValueIdx] : nullCell); // push "action value" to row
}
rowIndex += 1;
rows.push(row);
}
Expand Down