robot-data-diff 0.1.0__tar.gz → 0.2.0__tar.gz

robot_data_diff-0.2.0/LICENSE

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robot_data_diff-0.2.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: robot-data-diff
+Version: 0.2.0
+Summary: Episode-aware diff for LeRobot robot-training datasets: what changed in the data since the last good run?
+Author: Japheth790
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/Japheth790/robot-data-diff
+Project-URL: Issues, https://github.com/Japheth790/robot-data-diff/issues
+Keywords: lerobot,robotics,dataset,diff,imitation-learning,huggingface
+Classifier: Development Status :: 3 - Alpha
+Classifier: Environment :: Console
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Topic :: Utilities
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: pyarrow>=12
+Requires-Dist: pandas>=2
+Requires-Dist: numpy>=1.24
+Requires-Dist: huggingface_hub>=0.20
+Provides-Extra: dev
+Requires-Dist: pytest>=7; extra == "dev"
+Requires-Dist: ruff>=0.5; extra == "dev"
+Dynamic: license-file
+
+# robot-data-diff
+
+[![CI](https://github.com/Japheth790/robot-data-diff/actions/workflows/ci.yml/badge.svg)](https://github.com/Japheth790/robot-data-diff/actions/workflows/ci.yml)
+[![PyPI](https://img.shields.io/pypi/v/robot-data-diff)](https://pypi.org/project/robot-data-diff/)
+[![License](https://img.shields.io/badge/license-Apache--2.0-blue)](LICENSE)
+
+**You retrained the policy and it got worse. `robot-data-diff` tells you what
+changed in the LeRobot dataset since the last good run, episode by episode.**
+
+CPU-only, pure Python, no GPU, no account, and it never downloads videos.
+
+```bash
+pip install robot-data-diff
+robot-data-diff diff lerobot/pusht@v2.1 lerobot/pusht@v3.0
+```
+
+```text
+========================================================================
+robot-data-diff  —  episode-aware dataset diff
+========================================================================
+A: lerobot/pusht@v2.1   (v2.1, 206 episodes, 10 fps)
+B: lerobot/pusht@v3.0   (v3.0, 206 episodes, 10 fps)
+
+Episodes: 206 -> 206 (+0 added, -0 removed, ~0 changed, =206 unchanged)
+
+No changed episodes (same index + identical stats).
+
+TASK INVENTORY (episodes per task: A -> B):
+    Push the T-shaped block onto the T-shaped target.                206 ->   206
+
+DATASET-LEVEL CHANGES:
+  ! codebase_version: v2.1 -> v3.0
+
+Schema: identical feature sets.
+
+QUALITY SUMMARY (heuristic, CPU-only):
+  mean idle-frame ratio: 0.0309 -> 0.0309 (+0.0000)
+  total action spikes:   25 -> 25 (+0)
+========================================================================
+```
+
+That's the real output: converting pusht from v2.1 to v3.0 changed the
+format, not the data. When episodes *do* change, you get per-episode deltas
+like this (from [`demo/diff-demo-output.txt`](demo/diff-demo-output.txt)):
+
+```text
+Episodes: 206 -> 201 (+1 added, -6 removed, ~5 changed, =195 unchanged)
+  added:   [206]
+  removed: [200, 201, 202, 203, 204, 205]
+
+CHANGED EPISODES (5):
+  [ep 0] length 161 -> 161 (+0 frames)
+           d(action_min)  [+46.5000, +35.5000]
+           d(action_max)  [+187.5000, +224.5000]
+           d(action_mean) [+104.5031, +144.1553]
+           d(action_std)  [+44.1925, +48.3483]
+           d(idle_ratio)  +0.0000
+           d(spikes)      +0
+```
+
+## Install
+
+```bash
+pip install robot-data-diff
+```
+
+Python 3.10+. Dependencies: `pyarrow`, `pandas`, `numpy`, `huggingface_hub`.
+
+## Usage
+
+```bash
+# two local dataset directories
+robot-data-diff diff ./my_dataset_v1 ./my_dataset_v2
+
+# Hugging Face ids, optionally pinned to a revision (branch, tag or commit)
+robot-data-diff diff lerobot/pusht ./my_local_copy
+robot-data-diff diff lerobot/pusht@main lerobot/pusht@<commit-sha>
+
+# link the diff to a policy checkpoint and write an HTML report
+robot-data-diff diff v1 v2 --checkpoint ckpt-42 --html report.html
+
+# metadata only: skips (and doesn't download) data/; fastest
+robot-data-diff diff v1 v2 --no-quality
+```
+
+Each side is a local path or a Hugging Face dataset id (`org/repo`,
+`org/repo@revision`, or `hf://org/repo@revision`).
+
+| Option | What it does |
+|---|---|
+| `--format text\|json\|markdown` | what to print on stdout (default `text`) |
+| `--html OUT` / `--json OUT` | also write an HTML report / the JSON result to a file |
+| `--checkpoint LABEL` | record which policy checkpoint this diff belongs to |
+| `--no-quality` | skip the idle/spike heuristics and never read `data/` |
+| `--verify-stats` | recompute per-episode length and min/max/mean/std from `data/` and flag stale metadata |
+| `--match-by index\|content` | pair episodes by index (default) or by a hash of their frames, which reports reordered episodes as *moved* |
+| `--episodes 0-50,99` | only diff these episode indices |
+| `--task "pick cube"` | only diff episodes whose task (in A or B) contains the text; repeatable |
+| `--max-show N` | truncate long episode lists with "... and K more" |
+| `--fail-on RULES` | exit 1 when a rule hits (see [Use in CI](#use-in-ci)) |
+| `--cache-dir DIR` | where to keep Hugging Face downloads |
+| `--verbose` | show full tracebacks on errors |
+
+## What the report shows
+
+- **Episode inventory:** counts, plus episodes added / removed / changed (and
+  moved, with `--match-by content`)
+- **Per-episode deltas** for changed episodes: frame count, task strings,
+  and per-dimension min/max/mean/std deltas for *every* numeric feature
+  that changed (`action`, `observation.state`, rewards, ...), plus
+  idle-ratio and spike-count deltas
+- **Task inventory:** episodes per task, old → new
+- **Dataset-level changes:** `fps`, `robot_type`, `codebase_version`
+- **Schema drift:** features added / removed / changed dtype or shape
+- **Stale metadata** (with `--verify-stats`): metadata stats that disagree
+  with the frames in `data/`
+- **Quality summary:** mean idle-frame ratio and total action spikes,
+  old → new (lightweight CPU heuristics, not a full validator)
+
+The HTML report ([example](demo/diff-demo-report.html)) is one
+self-contained file: summary cards, a sortable changed-episodes table,
+colour-coded deltas, an episode-length histogram for A vs B, and dark mode.
+
+## How "changed" is detected
+
+An episode is **changed** when the same episode exists on both sides but
+its fingerprint differs. The fingerprint is:
+
+- length (frame count) and the sorted task strings
+- min / max / mean / std of every feature in the per-episode stats
+  (`meta/episodes/` in v3.0, `meta/episodes_stats.jsonl` in v2.1),
+  rounded to 6 decimals so float noise isn't reported
+- idle ratio and spike count computed from `action` in `data/` (unless
+  `--no-quality`)
+
+Some things are deliberately left out:
+
+- LeRobot's bookkeeping columns (`index`, `frame_index`, `timestamp`,
+  `episode_index`, `task_index`). Their stats only describe where an
+  episode sits in the dataset; removing episode 3 shifts the global
+  `index` of every later episode without changing their data.
+- Features that exist on only one side. A feature added to the whole
+  dataset is schema drift, not 2,000 changed episodes.
+
+By default "the same episode" means the same `episode_index`. With
+`--match-by content`, episodes are first paired by a SHA-1 of their raw
+`action` + `observation.state` frames, so data that was only reindexed is
+reported as `moved: 12 -> 40`. Episodes that weren't matched by content are
+then paired by index (edited in place → changed), and anything left over
+is added or removed.
+
+Per-episode stats come from the dataset's metadata. If someone edited
+`data/` without regenerating the metadata, run with `--verify-stats` to
+catch it.
+
+## Use in CI
+
+`--fail-on` turns the diff into a gate. Exit codes: **0** OK, **1** a rule
+hit, **2** error (bad path, not a LeRobot dataset, bad rule, ...).
+
+```bash
+robot-data-diff diff my-org/teleop-data@main my-org/teleop-data@candidate \
+    --fail-on "schema,fps,removed,changed>5%,idle-increase>0.05"
+```
+
+| Rule | Fails when |
+|---|---|
+| `schema` | any feature added, removed, or changed dtype/shape |
+| `fps`, `robot_type`, `codebase_version` | that field of `meta/info.json` changed |
+| `dataset` | any of the three above changed |
+| `tasks` | the number of episodes per task changed |
+| `stale` | `--verify-stats` found metadata that disagrees with `data/` |
+| `added`, `removed`, `changed`, `moved` | the count is > 0; or use `>N`, `>=N`, `>N%` (percent of A's episodes) |
+| `idle-increase>X` | mean idle-frame ratio rose by more than X |
+| `spikes-increase>N` | total action spikes rose by more than N |
+
+Each hit is printed to stderr as `fail-on: changed>5%: 12 changed = 6.0% of
+200 episodes in A`, and recorded under `"fail_on"` in the JSON output.
+
+A GitHub Actions job that gates a dataset revision and writes the diff to
+the job summary:
+
+```yaml
+name: dataset-diff
+on: workflow_dispatch
+
+jobs:
+  diff:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+      - run: pip install robot-data-diff
+      - name: Diff dataset revisions
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}   # only needed for private datasets
+        run: |
+          robot-data-diff diff my-org/teleop-data@main my-org/teleop-data@candidate \
+            --format markdown --max-show 50 --json diff.json \
+            --fail-on "schema,fps,removed,changed>5%" >> "$GITHUB_STEP_SUMMARY"
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: dataset-diff
+          path: diff.json
+```
+
+`--format markdown` output can also be pasted straight into a PR comment or
+a Hugging Face discussion.
+
+## Use from Python
+
+```python
+import robot_data_diff as rdd
+
+a = rdd.load_dataset("lerobot/pusht@v2.1")
+b = rdd.load_dataset("lerobot/pusht@v3.0", verify_stats=True)
+result = rdd.diff_datasets(a, b, checkpoint="ckpt-42")
+
+print(rdd.render_text(result))
+print(len(result.changed), "changed episodes")
+for d in result.changed:
+    print(d.index, d.d_length, d.feature_deltas.get("action"))
+
+data = result.to_dict()          # JSON-ready, "schema_version": 1
+html = rdd.render_html(result)   # or rdd.render_markdown(result)
+```
+
+`load_dataset(ref, cache_dir=None, with_quality=True, verify_stats=False,
+content_hash=False)` returns a `DatasetView`. `diff_datasets(a, b,
+checkpoint=None, match_by="index")` returns a `DiffResult`; pass
+`match_by="content"` with both views loaded using `content_hash=True`.
+Loader errors raise `DatasetError` (a `ValueError`). The JSON layout is
+documented in [docs/json-schema.md](docs/json-schema.md).
+
+## Supported formats
+
+- **LeRobot v3.0**: `meta/info.json`, `meta/episodes/chunk-*/file-*.parquet`,
+  `data/chunk-*/file-*.parquet`.
+- **LeRobot v2.1** (and v2.0): `meta/info.json`, `meta/episodes.jsonl`,
+  `meta/episodes_stats.jsonl`, `data/chunk-*/episode_*.parquet`.
+
+Both formats are tested with synthetic fixtures in CI, and against the real
+`lerobot/pusht@v2.1` and `@v3.0` releases in the network tests
+(`pytest -m network`). You can diff across formats, e.g. to check that a
+v2.1 → v3.0 conversion didn't change any data.
+
+RLDS, Zarr, HDF5 and rosbag are out of scope (LeRobot only).
+
+## FAQ
+
+**Why aren't videos downloaded?** Every number in the report comes from
+`meta/` and the parquet files in `data/`. Videos are usually most of a
+dataset's size, and decoding them would need a GPU or a lot of CPU time.
+Per-episode image/video stats (when LeRobot recorded them in the metadata)
+are still compared.
+
+**How does caching work?** Without `--cache-dir`, downloads go to the
+standard Hugging Face cache (`~/.cache/huggingface/hub`) and are reused on
+the next run. With `--cache-dir DIR`, each `repo@revision` gets its own
+subfolder, so two revisions never mix files. `--no-quality` downloads only
+`meta/**`; a later full run fetches `data/**` on top.
+
+**Private or gated datasets?** Log in with `huggingface-cli login` or set
+`HF_TOKEN`; `huggingface_hub` picks it up.
+
+**How fast is it?** On a synthetic 5,000-episode × 100-frame dataset
+(`benchmarks/bench_load.py`), loading one side takes about 0.4 s for v3.0
+and 3.5 s for v2.1 (one file per episode), or about 0.25 s for either with
+`--no-quality`.
+
+**My proxy's `no_proxy` breaks Hugging Face downloads.** Some proxy setups
+put IPv6 entries in `no_proxy` that `httpx` can't parse. Set
+`RDD_STRIP_NO_PROXY=1` and the tool drops `no_proxy`/`NO_PROXY` for its own
+process.
+
+## Honest limits
+
+- This is a **diff**, not a validator: it tells you *what changed* between
+  revisions, not whether your data is good.
+- Change detection uses per-episode summary stats. Two episodes with the
+  same length, tasks, and min/max/mean/std for every feature are
+  "unchanged" even if individual frames differ. `--match-by content` hashes
+  the raw `action` and `observation.state` frames, but only uses the hash
+  for pairing.
+- The idle/spike heuristics are deliberately simple; treat them as a
+  prompt to look, not a verdict.
+
+## Reproduce the demo
+
+```bash
+# a local copy of pusht v3.0 (meta + data only; `hf` ships with huggingface_hub >= 0.34)
+hf download lerobot/pusht --repo-type dataset \
+    --include "meta/*" --include "data/*" --local-dir testdata/pusht
+python demo/make_modified_fixture.py             # builds testdata/pusht_v2
+robot-data-diff diff testdata/pusht testdata/pusht_v2 \
+    --checkpoint ckpt-42 --html demo/diff-demo-report.html
+```
+
+## Related work
+
+- [openbot-data](https://github.com/openbotai/openbot-data) (MIT) is a
+  broader robot-data toolkit whose `openbot-data diff` compares two
+  *snapshot files* (`snapshot` first, then `diff`, with `--fail-on breaking`
+  for CI). robot-data-diff is narrower on purpose: it diffs two dataset
+  revisions *directly* (local dirs or Hugging Face ids, no snapshot step),
+  episode by episode, with per-episode stat deltas.
+
+## Contributing
+
+Bug reports and PRs are welcome; see [CONTRIBUTING.md](CONTRIBUTING.md) and
+[CHANGELOG.md](CHANGELOG.md).
+
+## License
+
+Apache-2.0