short_metaworld_loader.py

#!/usr/bin/env python3
"""
Short-MetaWorld Dataset Loader
Loads the dataset with proper structure preservation and task prompts.
"""

import os
import pickle
import json
import glob
from pathlib import Path
from PIL import Image
import torch
import torchvision.transforms as T
from torch.utils.data import Dataset

class ShortMetaWorldDataset(Dataset):
    """
    Short-MetaWorld dataset loader that preserves the original structure.
    
    Args:
        data_root (str): Path to the dataset root directory
        task_list (list): List of tasks to load (default: all available tasks)
        image_size (int): Target image size for transforms (default: 224)
        transform (callable): Optional custom transform
        load_prompts (bool): Whether to load task prompts (default: True)
    """
    
    def __init__(self, data_root, task_list=None, image_size=224, transform=None, load_prompts=True):
        self.data_root = Path(data_root)
        self.image_size = image_size
        
        # Load task prompts
        self.prompts = {}
        if load_prompts:
            prompt_file = self.data_root / "mt50_task_prompts.json"
            if prompt_file.exists():
                with open(prompt_file, 'r') as f:
                    self.prompts = json.load(f)
                print(f"📖 Loaded {len(self.prompts)} task prompts")
            else:
                print("⚠️ Task prompts not found, using fallback prompts")
        
        # Set up paths
        self.img_root = self.data_root / "short-MetaWorld" / "short-MetaWorld" / "img_only"
        self.data_pkl_root = self.data_root / "short-MetaWorld" / "r3m-processed" / "r3m_MT10_20"
        
        # Discover available tasks
        available_tasks = []
        if self.data_pkl_root.exists():
            for pkl_file in self.data_pkl_root.glob("*.pkl"):
                task_name = pkl_file.stem
                if (self.img_root / task_name).exists():
                    available_tasks.append(task_name)
        
        # Filter tasks if task_list provided
        if task_list is not None:
            self.tasks = [task for task in task_list if task in available_tasks]
        else:
            self.tasks = available_tasks
        
        print(f"📊 Loading {len(self.tasks)} tasks: {self.tasks}")
        
        # Default transform
        if transform is None:
            self.transform = T.Compose([
                T.Resize((image_size, image_size)),
                T.ToTensor(),
            ])
        else:
            self.transform = transform
        
        # Load all trajectories
        self.trajectories = self._load_trajectories()
        print(f"✅ Loaded {len(self.trajectories)} trajectory steps")
    
    def _load_trajectories(self):
        """Load all trajectory data"""
        all_trajectories = []
        
        for task in self.tasks:
            # Load pickle data
            pkl_path = self.data_pkl_root / f"{task}.pkl"
            if not pkl_path.exists():
                print(f"⚠️ Pickle file not found: {pkl_path}")
                continue
                
            with open(pkl_path, "rb") as f:
                data = pickle.load(f)
            
            # Get image directories
            task_img_dir = self.img_root / task
            if not task_img_dir.exists():
                print(f"⚠️ Image directory not found: {task_img_dir}")
                continue
            
            # Process each trajectory
            traj_dirs = sorted(task_img_dir.glob("*"), key=lambda x: int(x.name))
            
            for traj_idx, traj_dir in enumerate(traj_dirs):
                if traj_idx >= len(data['actions']):
                    continue
                
                # Get image paths
                img_paths = sorted(traj_dir.glob("*.jpg"), 
                                 key=lambda x: int(x.stem))
                
                num_steps = len(data['actions'][traj_idx])
                num_images = len(img_paths)
                
                # Use minimum length to handle mismatched data
                min_steps = min(num_images, num_steps)
                if min_steps < 1:
                    continue
                
                # Create trajectory entries
                for step_idx in range(min_steps):
                    trajectory_entry = {
                        'task_name': task,
                        'trajectory_id': traj_idx,
                        'step_id': step_idx,
                        'image_path': str(img_paths[step_idx]),
                        'state': data['state'][traj_idx][step_idx][:7],  # First 7 dims
                        'action': data['actions'][traj_idx][step_idx],
                        'prompt': self._get_prompt(task)
                    }
                    all_trajectories.append(trajectory_entry)
        
        return all_trajectories
    
    def _get_prompt(self, task_name):
        """Get prompt for a task"""
        if task_name in self.prompts:
            # Use simple prompt by default
            return self.prompts[task_name].get('simple', f"Perform the task: {task_name.replace('-', ' ')}")
        else:
            return f"Perform the task: {task_name.replace('-', ' ')}"
    
    def get_task_info(self, task_name):
        """Get comprehensive task information"""
        if task_name in self.prompts:
            return self.prompts[task_name]
        return {"simple": f"Perform the task: {task_name.replace('-', ' ')}"}
    
    def get_available_tasks(self):
        """Get list of available tasks"""
        return self.tasks.copy()
    
    def get_dataset_stats(self):
        """Get dataset statistics"""
        task_counts = {}
        for traj in self.trajectories:
            task = traj['task_name']
            task_counts[task] = task_counts.get(task, 0) + 1
        
        return {
            'total_steps': len(self.trajectories),
            'num_tasks': len(self.tasks),
            'task_step_counts': task_counts,
            'tasks': self.tasks
        }
    
    def __len__(self):
        return len(self.trajectories)
    
    def __getitem__(self, idx):
        """Get a single trajectory step"""
        traj = self.trajectories[idx]
        
        # Load and transform image
        image = Image.open(traj['image_path']).convert("RGB")
        image_tensor = self.transform(image)
        
        # Convert to tensors
        state = torch.tensor(traj['state'], dtype=torch.float32)
        action = torch.tensor(traj['action'], dtype=torch.float32)
        
        return {
            'image': image_tensor,
            'state': state,
            'action': action,
            'prompt': traj['prompt'],
            'task_name': traj['task_name'],
            'trajectory_id': traj['trajectory_id'],
            'step_id': traj['step_id']
        }

# Example usage functions
def load_short_metaworld(data_root, tasks=None, image_size=224):
    """
    Convenience function to load the dataset.
    
    Args:
        data_root (str): Path to dataset root
        tasks (list): List of tasks to load (None for all)
        image_size (int): Image size for transforms
    
    Returns:
        ShortMetaWorldDataset: The loaded dataset
    """
    return ShortMetaWorldDataset(
        data_root=data_root,
        task_list=tasks,
        image_size=image_size
    )

def get_mt10_tasks():
    """Get the MT10 task list"""
    return [
        "reach-v2", "push-v2", "pick-place-v2", "door-open-v2", "drawer-open-v2",
        "drawer-close-v2", "button-press-topdown-v2", "button-press-v2", 
        "button-press-wall-v2", "button-press-topdown-wall-v2"
    ]

def demo_usage():
    """Demonstrate how to use the dataset"""
    print("📖 Short-MetaWorld Dataset Usage Example")
    print("=" * 50)
    
    # Load dataset
    dataset = load_short_metaworld("./", tasks=get_mt10_tasks())
    
    # Print stats
    stats = dataset.get_dataset_stats()
    print(f"📊 Dataset Statistics:")
    print(f"   Total steps: {stats['total_steps']}")
    print(f"   Number of tasks: {stats['num_tasks']}")
    print(f"   Available tasks: {stats['tasks']}")
    
    # Get a sample
    if len(dataset) > 0:
        sample = dataset[0]
        print(f"\n📋 Sample data:")
        print(f"   Image shape: {sample['image'].shape}")
        print(f"   State shape: {sample['state'].shape}")
        print(f"   Action shape: {sample['action'].shape}")
        print(f"   Task: {sample['task_name']}")
        print(f"   Prompt: {sample['prompt']}")

if __name__ == "__main__":
    demo_usage()