tools/make_cache_gt_belief.py

"""Phase D-experimental (C) — Cache extractor that FILLS assistant_text with
GT BELIEF descriptions instead of empty placeholders.

Original v3 cache extracts hidden states with assistant_text =
    <|BELIEF|> </|BELIEF|>\n × 8 frames     ← empty placeholders

This version fills each block with the GT description from
manifest's beliefs_per_frame field:
    <|BELIEF|> lead vehicle drifting </|BELIEF|>\n
    <|BELIEF|> side-street vehicle approaching </|BELIEF|>\n ...

Then range-pools the BELIEF span (now contains actual descriptive tokens)
to get features that ARE visually-informed (because text content varies
per-frame and reflects scene description).

Output schema matches make_cache_x_v2.py.

Usage:
    python tools/make_cache_gt_belief.py \
        --split train_9k_gtb \
        --manifest data/cot_corpus_v2/vlalert_x_perframe_v2_train.jsonl
"""
from __future__ import annotations

import argparse
import json
import logging
import sys
from pathlib import Path

ROOT = Path(__file__).resolve().parents[1]
sys.path.insert(0, str(ROOT))

# Conv3d→Linear patch
from tools import run_train_cot_belief_fast  # noqa: F401

import torch
from tqdm import tqdm
from transformers import AutoProcessor
from transformers.models.qwen3_vl import Qwen3VLForConditionalGeneration
from peft import PeftModel

from training.VLA.cot_belief_dataset import (
    BELIEF_OPEN, BELIEF_CLOSE, SYSTEM_PROMPT, USER_PROMPT
)
from training.VLA.frame_utils import sample_frames

logging.basicConfig(level=logging.INFO,
                     format="%(asctime)s %(levelname)s %(message)s")
logger = logging.getLogger("gtb_cache")

BELIEF_LAYERS = (20, 24, 28, 32)
POLICY_LAYER = 33


@torch.no_grad()
def extract_one(model, proc, frames, beliefs, device,
                  belief_layers=BELIEF_LAYERS, policy_layer=POLICY_LAYER):
    """Return (belief_feat [8, 10240], policy_feat [8, 2560], valid [8]).

    Uses the SAME extraction logic as make_cache_x_v2.py but with
    BELIEF placeholders FILLED with the per-frame GT descriptions.
    """
    assert len(beliefs) == 8, f"need 8 belief strings, got {len(beliefs)}"
    # Fill the placeholder with GT text per frame
    assistant_text = "\n".join(
        f"{BELIEF_OPEN} {b.strip()} {BELIEF_CLOSE}" for b in beliefs)
    user_content = [{"type": "image", "image": img} for img in frames]
    user_content.append({"type": "text", "text": USER_PROMPT})
    messages = [
        {"role": "system", "content": [{"type": "text", "text": SYSTEM_PROMPT}]},
        {"role": "user", "content": user_content},
        {"role": "assistant", "content": [{"type": "text", "text": assistant_text}]},
    ]
    text = proc.apply_chat_template(messages, tokenize=False,
                                      add_generation_prompt=False)
    inputs = proc(text=[text], images=[frames], return_tensors="pt",
                   padding=True, truncation=False, max_length=8192)
    inputs = {k: v.to(device) for k, v in inputs.items()}

    out = model(**inputs, output_hidden_states=True, return_dict=True)
    hs_tuple = out.hidden_states     # tuple of [1, T, D]
    ids = inputs["input_ids"][0]
    attn = inputs["attention_mask"][0].bool()

    open_id = proc.tokenizer.convert_tokens_to_ids(BELIEF_OPEN)
    close_id = proc.tokenizer.convert_tokens_to_ids(BELIEF_CLOSE)
    open_pos = ((ids == open_id) & attn).nonzero(as_tuple=False).flatten().tolist()
    close_pos = ((ids == close_id) & attn).nonzero(as_tuple=False).flatten().tolist()
    n_blocks = min(len(open_pos), len(close_pos), 8)

    D = hs_tuple[-1].shape[-1]
    belief_dim = D * len(belief_layers)
    belief_feat = torch.zeros(8, belief_dim, dtype=torch.float16, device=device)
    policy_feat = torch.zeros(8, D, dtype=torch.float16, device=device)
    valid = torch.zeros(8, dtype=torch.bool, device=device)

    for f, (o, c) in enumerate(zip(open_pos[:n_blocks], close_pos[:n_blocks])):
        if c <= o + 1:
            continue
        # Range pool over BELIEF span content (now ACTUALLY has descriptive text)
        parts = []
        for L in belief_layers:
            hs = hs_tuple[L][0, o+1:c]
            parts.append(hs.mean(dim=0))
        belief_feat[f] = torch.cat(parts, dim=-1).to(torch.float16)
        # POLICY at </BELIEF> closing token
        policy_feat[f] = hs_tuple[policy_layer][0, c].to(torch.float16)
        valid[f] = True
    return belief_feat.cpu(), policy_feat.cpu(), valid.cpu()


def main():
    ap = argparse.ArgumentParser(description=__doc__)
    ap.add_argument("--split", required=True)
    ap.add_argument("--manifest", type=Path, required=True)
    ap.add_argument("--ckpt", type=Path,
                    default=ROOT / "checkpoints/sft_x_v3/best")
    ap.add_argument("--base_model", type=Path,
                    default=ROOT / "models/Qwen3-VL-4B-Instruct")
    ap.add_argument("--tag", default="sft_x_v3")
    ap.add_argument("--out_dir", type=Path,
                    default=ROOT / "data/belief_cache_v3")
    ap.add_argument("--limit", type=int, default=0)
    ap.add_argument("--window",
                    choices=["legacy", "sil_wide", "obs_mid", "alr_narrow"],
                    default="legacy",
                    help="v4: pick which frame-index array to read from the "
                         "manifest ({window}_frame_indices). legacy uses the "
                         "original 'frame_indices' field (v3 behaviour).")
    args = ap.parse_args()
    args.out_dir.mkdir(parents=True, exist_ok=True)

    device = "cuda" if torch.cuda.is_available() else "cpu"
    logger.info(f"[load] ckpt={args.ckpt}")
    proc = AutoProcessor.from_pretrained(str(args.ckpt))
    base = Qwen3VLForConditionalGeneration.from_pretrained(
        str(args.base_model), dtype=torch.bfloat16, device_map={"": device},
        attn_implementation="sdpa")
    base.resize_token_embeddings(len(proc.tokenizer))
    model = PeftModel.from_pretrained(base, str(args.ckpt)).eval()

    logger.info(f"[load] manifest={args.manifest}  window={args.window}")
    fi_field = "frame_indices" if args.window == "legacy" \
        else f"{args.window.split('_')[0]}_frame_indices"
    logger.info(f"  reading frame indices from field: {fi_field}")
    records = []
    with args.manifest.open() as f:
        for ln in f:
            if not ln.strip(): continue
            obj = json.loads(ln)
            if not obj.get("beliefs_per_frame") or len(obj["beliefs_per_frame"]) != 8:
                continue
            if fi_field not in obj:
                continue
            records.append(obj)
    if args.limit > 0:
        records = records[:args.limit]
    N = len(records)
    logger.info(f"  N={N}  (with GT beliefs_per_frame + {fi_field})")

    belief_dim = 2560 * len(BELIEF_LAYERS)
    out_belief = torch.zeros(N, 8, belief_dim, dtype=torch.float16)
    out_policy = torch.zeros(N, 8, 2560, dtype=torch.float16)
    out_valid  = torch.zeros(N, 8, dtype=torch.bool)
    out_actions = torch.zeros(N, 8, dtype=torch.long)
    out_danger  = torch.zeros(N, 8, dtype=torch.float32)
    out_tta     = torch.zeros(N, 8, dtype=torch.float32)
    out_tick_action = torch.zeros(N, dtype=torch.long)
    out_tick_tta    = torch.full((N,), -1.0)
    # v4 additions
    out_prev_action = torch.full((N,), 3, dtype=torch.long)
    out_oracle_window = torch.zeros(N, dtype=torch.long)
    out_boundary = torch.zeros(N, dtype=torch.bool)
    out_category, out_source, out_video_id, out_ids = [], [], [], []
    action_map = {"SILENT": 0, "OBSERVE": 1, "ALERT": 2}
    failed = 0

    for i, r in enumerate(tqdm(records, desc="gtb_cache", ncols=80)):
        try:
            frames = sample_frames(Path(r["video_path"]),
                                     frame_indices=r[fi_field],
                                     resize_short=336)
        except Exception:
            failed += 1; continue
        bf, pf, v = extract_one(model, proc, frames,
                                  r["beliefs_per_frame"], device)
        out_belief[i] = bf
        out_policy[i] = pf
        out_valid[i] = v
        actions_pf = r.get("actions_per_frame", ["SILENT"]*8)
        out_actions[i] = torch.tensor(
            [action_map.get(a, 0) for a in actions_pf], dtype=torch.long)
        out_danger[i] = torch.tensor(r.get("danger_per_frame", [0.0]*8))
        out_tta[i] = torch.tensor(r.get("tta_per_frame", [-1.0]*8))
        out_tick_action[i] = action_map.get(r.get("tick_action", "SILENT"), 0)
        out_tick_tta[i] = float(r.get("tick_tta_raw", -1.0))
        # v4 fields (read if present, else default)
        out_prev_action[i] = int(r.get("prev_action", 3))
        out_oracle_window[i] = int(r.get("oracle_window", 1))
        out_boundary[i] = bool(r.get("boundary", False))
        out_category.append(r.get("category", ""))
        out_source.append(r.get("source", ""))
        out_video_id.append(r.get("video_id", ""))
        out_ids.append(r.get("id", r.get("video_id", "")))

    out_path = args.out_dir / f"{args.tag}__{args.split}.pt"
    cache = {
        "ids": out_ids,
        "belief_content": out_belief,
        "policy_position": out_policy,
        "valid_frames": out_valid,
        "actions_pf": out_actions,
        "danger_pf": out_danger,
        "tta_pf": out_tta,
        "tick_action": out_tick_action,
        "tick_tta_raw": out_tick_tta,
        "prev_action": out_prev_action,
        "oracle_window": out_oracle_window,
        "boundary": out_boundary,
        "window": args.window,
        "category": out_category,
        "source": out_source,
        "video_id": out_video_id,
        "schema": "vlalert_x_v4_gt_belief_fill",
        "belief_layers": list(BELIEF_LAYERS),
        "policy_layer": POLICY_LAYER,
        "ckpt": str(args.ckpt),
    }
    torch.save(cache, out_path)
    logger.info(f"[save] {out_path}  failed={failed}")


if __name__ == "__main__":
    main()