"""Aggregate experiment-2 results (3 seeds) -> table + figures. Run on box or locally with --root.
results/<P>2_<arm>[_s<seed>]_020000_rep<N>[_native]/eval_info.json"""
import json, glob, re, sys, os, argparse, numpy as np
ap = argparse.ArgumentParser(); ap.add_argument("--root", default="/workspace/isr"); ap.add_argument("--out", default=None); a = ap.parse_args()
R = a.root; P = "aloha_transfer_cube2"; OUT = a.out or f"{R}/results"; os.makedirs(f"{OUT}/figures", exist_ok=True)
ARMS = [("raw", "raw (100 %)", 1.0), ("uni3", "uniform 3× (34 %)", 0.335), ("isr", "ISR d3.5° λ0.0004 (32 %)", 0.321)]
rows = {}
for f in glob.glob(f"{R}/results/{P}_*/eval_info.json"):
    m = re.match(rf"{P}_(.+?)(?:_s(\d+))?_(\d{{6}})_rep(\d)(_native)?$", f.split("/")[-2])
    if not m: continue
    arm, seed, rep, nat = m.group(1), m.group(2) or "1000", int(m.group(4)), bool(m.group(5))
    mode = "native" if nat else "rate-matched"; rows.setdefault(arm, {}).setdefault(mode, {})[seed] = json.load(open(f))["overall"]["pc_success"]
def cell(arm, mode):
    v = list(rows.get(arm, {}).get(mode, {}).values()); return (np.mean(v), np.std(v), len(v)) if v else (np.nan, np.nan, 0)
md = "# Experiment 2 — ALOHA transfer-cube (50 human demos), ACT 20k steps, 3 seeds, 200 rollouts per cell\n\n| arm | kept | native SR % (mean ± sd, n) | rate-matched SR % (mean ± sd, n) | per-seed native | per-seed rate-matched |\n|---|---|---|---|---|---|\n"
for arm, lab, kept in ARMS:
    n = cell(arm, "native"); r = cell(arm, "rate-matched"); ps = lambda mode: " / ".join(f"{v:.0f}" for _, v in sorted(rows.get(arm, {}).get(mode, {}).items()))
    md += f"| {lab} | {kept:.2f} | **{n[0]:.1f}** ± {n[1]:.1f} ({n[2]}) | **{r[0]:.1f}** ± {r[1]:.1f} ({r[2]}) | {ps('native')} | {ps('rate-matched')} |\n"
md += "\nraw has no rate-matched variant (hold=1 is native). Rate-matched hold: 3 for uni3 and isr. 95 % CI of a 3-seed mean ≈ ±(sd·1.15); n=200 per rollout cell → ±7 pt per cell.\n"
open(f"{OUT}/exp2_table.md", "w").write(md); json.dump(rows, open(f"{OUT}/exp2_results.json", "w"), indent=1); print(md)
try:
    import matplotlib; matplotlib.use("Agg"); import matplotlib.pyplot as plt
    BG, INK, INK2, GRID = "#fcfcfb", "#0b0b0b", "#52514e", "#e6e5e1"; C = {"native": "#eb6834", "rate-matched": "#2a78d6"}
    fig, ax = plt.subplots(figsize=(10, 4.8), facecolor=BG); ax.set_facecolor(BG); x = np.arange(len(ARMS)); w = 0.36
    for j, mode in enumerate(["native", "rate-matched"]):
        for i, (arm, lab, kept) in enumerate(ARMS):
            m, sd, n = cell(arm, mode)
            if n == 0: continue
            xi = x[i] + (j - 0.5) * (w + 0.02); ax.bar(xi, m, w, color=C[mode], label=mode if mode not in ax.get_legend_handles_labels()[1] else None, linewidth=0)
            vals = list(rows[arm][mode].values()); ax.scatter([xi] * len(vals), vals, s=22, color=BG, edgecolor=INK, zorder=3, linewidth=0.8); ax.text(xi, m + 2, f"{m:.0f}", ha="center", fontsize=9, color=INK)
    ax.set_xticks(x); ax.set_xticklabels([lab.replace(" (", "\n(") for _, lab, _ in ARMS], color=INK2, fontsize=9); ax.set_ylabel("success rate (%)  ·  200 rollouts × 3 seeds", color=INK2); ax.set_ylim(0, 80)
    ax.grid(axis="y", color=GRID, lw=0.6); ax.set_axisbelow(True); [ax.spines[s].set_visible(False) for s in ("top", "right")]; ax.tick_params(colors=INK2); ax.legend(frameon=False, fontsize=9)
    ax.set_title("ALOHA transfer-cube, ACT: mean of 3 seeds (dots = seeds)", loc="left", fontsize=11, color=INK); fig.tight_layout(); fig.savefig(f"{OUT}/figures/exp2_results_bars.png", dpi=160)
    fig, ax = plt.subplots(figsize=(7, 4.5), facecolor=BG); ax.set_facecolor(BG)
    for arm, lab, kept in ARMS:
        for mode, mk in [("rate-matched", "o"), ("native", "^")]:
            m, sd, n = cell(arm, mode)
            if n == 0 or (arm == "raw" and mode == "rate-matched"): continue
            ax.errorbar(kept, m, yerr=sd, fmt=mk, color=C[mode], ms=8, capsize=3, label=mode if arm == "uni3" else None); ax.annotate(f"{arm} ({mode[:3]})", (kept, m), xytext=(9, -3 if mode == "native" else 4), textcoords="offset points", fontsize=8, color=INK2)
    ax.set_xlabel("fraction of frames kept", color=INK2); ax.set_ylabel("success rate (%)", color=INK2); ax.set_xlim(0.25, 1.08); ax.set_ylim(0, 80); ax.grid(color=GRID, lw=0.6); ax.set_axisbelow(True)
    [ax.spines[s].set_visible(False) for s in ("top", "right")]; ax.tick_params(colors=INK2); ax.legend(frameon=False, fontsize=9, loc="lower right"); ax.set_title("Success vs frame budget (mean ± sd over 3 seeds)", loc="left", fontsize=11, color=INK)
    fig.tight_layout(); fig.savefig(f"{OUT}/figures/exp2_sr_vs_kept.png", dpi=160); print("figs ok")
except Exception as e: print("fig skipped:", e)