musohu_interface.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# MuSoHu Dataset Interfacing\n",
    "\n",
    "In this notebook we build a script to extract relevant data from the MuSoHu dataset and prepare it for downstream ingestion, synthetic data generation, training and instruction tuning."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Installing dependencies"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 119,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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      "Requirement already satisfied: executing in c:\\users\\dtoth\\anaconda3\\lib\\site-packages (from stack-data->ipython->bagpy) (0.8.3)\n",
      "Requirement already satisfied: asttokens in c:\\users\\dtoth\\anaconda3\\lib\\site-packages (from stack-data->ipython->bagpy) (2.0.5)\n",
      "Requirement already satisfied: pure-eval in c:\\users\\dtoth\\anaconda3\\lib\\site-packages (from stack-data->ipython->bagpy) (0.2.2)\n",
      "Requirement already satisfied: PyntCloud in c:\\users\\dtoth\\anaconda3\\lib\\site-packages (0.3.1)\n",
      "Requirement already satisfied: numpy in c:\\users\\dtoth\\anaconda3\\lib\\site-packages (from PyntCloud) (1.24.3)\n",
      "Requirement already satisfied: scipy>=1.6.0 in c:\\users\\dtoth\\anaconda3\\lib\\site-packages (from PyntCloud) (1.10.1)\n",
      "Requirement already satisfied: pandas in c:\\users\\dtoth\\anaconda3\\lib\\site-packages (from PyntCloud) (1.5.3)\n",
      "Requirement already satisfied: python-dateutil>=2.8.1 in c:\\users\\dtoth\\anaconda3\\lib\\site-packages (from pandas->PyntCloud) (2.8.2)\n",
      "Requirement already satisfied: pytz>=2020.1 in c:\\users\\dtoth\\anaconda3\\lib\\site-packages (from pandas->PyntCloud) (2022.7)\n",
      "Requirement already satisfied: six>=1.5 in c:\\users\\dtoth\\anaconda3\\lib\\site-packages (from python-dateutil>=2.8.1->pandas->PyntCloud) (1.16.0)\n"
     ]
    }
   ],
   "source": [
    "!pip install omegaconf bagpy tqdm\n",
    "!pip install PyntCloud"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Ingesting pickles generated by the bag file parser"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 192,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The autoreload extension is already loaded. To reload it, use:\n",
      "  %reload_ext autoreload\n"
     ]
    }
   ],
   "source": [
    "%load_ext autoreload\n",
    "%autoreload 2\n",
    "from dataloader import SocialNavDataset\n",
    "\n",
    "dataset = SocialNavDataset(root='./data/train/samples.pkl')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 193,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       " 'instructions': [[\"Go straight, and there's a staircase on your right if you need to go to the upper floors.\"],\n",
       "  [\"Go straight, and there's a staircase on your right if you need to go to the upper floors.\"],\n",
       "  [\"Go straight, and there's a staircase on your right if you need to go to the upper floors.\"],\n",
       "  [\"Go straight, and there's a staircase on your right if you need to go to the upper floors.\"],\n",
       "  [\"Go straight, and there's a staircase on your right if you need to go to the upper floors.\"],\n",
       "  ['Keep going straight, you will pass a staircase on your right, leading up.'],\n",
       "  ['Keep going straight, you will pass a staircase on your right, leading up.']]}"
      ]
     },
     "execution_count": 193,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "dataset.data"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 194,
   "metadata": {},
   "outputs": [],
   "source": [
    "dataset = SocialNavDataset(root='./data/train/samples.pkl')\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 201,
   "metadata": {},
   "outputs": [
    {
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       "           [-1.1253, -1.1253, -1.1253,  ...,  0.8354,  0.8179,  0.8179]],\n",
       "  \n",
       "          [[-0.2881, -0.2881, -0.2881,  ..., -0.1661, -0.1661, -0.1835],\n",
       "           [-0.3230, -0.3230, -0.3230,  ..., -0.1487, -0.1487, -0.1487],\n",
       "           [-0.2881, -0.2707, -0.2532,  ..., -0.1312, -0.1138, -0.0964],\n",
       "           ...,\n",
       "           [-0.9330, -0.9330, -0.9330,  ...,  1.0365,  1.0191,  0.9842],\n",
       "           [-0.9330, -0.9330, -0.9330,  ...,  1.0191,  1.0191,  0.9842],\n",
       "           [-0.9330, -0.9330, -0.9330,  ...,  1.0191,  1.0017,  1.0017]]]),\n",
       "  tensor([[[-0.5082, -0.5082, -0.5082,  ..., -0.5596, -0.5767, -0.5938],\n",
       "           [-0.5082, -0.5082, -0.5082,  ..., -0.5596, -0.5767, -0.5767],\n",
       "           [-0.5082, -0.5082, -0.5082,  ..., -0.5596, -0.5424, -0.5424],\n",
       "           ...,\n",
       "           [-1.8439, -1.8439, -1.8439,  ...,  0.6734,  0.6906,  0.6906],\n",
       "           [-1.8439, -1.8439, -1.8439,  ...,  0.6563,  0.6563,  0.6734],\n",
       "           [-1.8439, -1.8439, -1.8439,  ...,  0.6392,  0.6563,  0.6563]],\n",
       "  \n",
       "          [[-0.3901, -0.3901, -0.3901,  ..., -0.4601, -0.4776, -0.4951],\n",
       "           [-0.3901, -0.3901, -0.3901,  ..., -0.4601, -0.4776, -0.4776],\n",
       "           [-0.3901, -0.3901, -0.3901,  ..., -0.4601, -0.4426, -0.4426],\n",
       "           ...,\n",
       "           [-1.7556, -1.7556, -1.7556,  ...,  0.8179,  0.8354,  0.8354],\n",
       "           [-1.7556, -1.7556, -1.7556,  ...,  0.8004,  0.8004,  0.8179],\n",
       "           [-1.7556, -1.7556, -1.7556,  ...,  0.7829,  0.8004,  0.8004]],\n",
       "  \n",
       "          [[-0.2010, -0.2010, -0.2010,  ..., -0.1487, -0.1661, -0.1835],\n",
       "           [-0.2010, -0.2010, -0.2010,  ..., -0.1487, -0.1661, -0.1661],\n",
       "           [-0.2010, -0.2010, -0.2010,  ..., -0.1487, -0.1312, -0.1312],\n",
       "           ...,\n",
       "           [-1.5256, -1.5256, -1.5256,  ...,  1.0017,  1.0191,  1.0191],\n",
       "           [-1.5256, -1.5256, -1.5256,  ...,  0.9842,  0.9842,  1.0017],\n",
       "           [-1.5256, -1.5256, -1.5256,  ...,  0.9668,  0.9842,  0.9842]]]),\n",
       "  tensor([[[-0.5253, -0.5253, -0.5253,  ..., -0.6281, -0.5082, -0.4397],\n",
       "           [-0.7137, -0.7137, -0.7137,  ..., -0.5938, -0.4739, -0.4054],\n",
       "           [-0.7479, -0.7479, -0.7479,  ..., -0.5596, -0.4226, -0.3541],\n",
       "           ...,\n",
       "           [-0.2342, -0.1999, -0.6452,  ...,  0.7077,  0.6392,  0.5878],\n",
       "           [-0.3712, -0.9534, -1.5699,  ...,  0.6906,  0.6906,  0.6563],\n",
       "           [-1.3644, -1.7412, -1.9638,  ...,  0.6221,  0.6392,  0.6563]],\n",
       "  \n",
       "          [[-0.4776, -0.4776, -0.4776,  ..., -0.5301, -0.4076, -0.3375],\n",
       "           [-0.6702, -0.6702, -0.6702,  ..., -0.4776, -0.3550, -0.2850],\n",
       "           [-0.6527, -0.6527, -0.6527,  ..., -0.4251, -0.2850, -0.2150],\n",
       "           ...,\n",
       "           [-0.0749, -0.0399, -0.4951,  ...,  0.8529,  0.7829,  0.7304],\n",
       "           [-0.2150, -0.8102, -1.4405,  ...,  0.8354,  0.8354,  0.8004],\n",
       "           [-1.2304, -1.6155, -1.8431,  ...,  0.7654,  0.7829,  0.8004]],\n",
       "  \n",
       "          [[-0.3055, -0.3055, -0.3055,  ..., -0.2010, -0.0790, -0.0092],\n",
       "           [-0.4973, -0.4973, -0.4973,  ..., -0.1661, -0.0441,  0.0256],\n",
       "           [-0.4624, -0.4624, -0.4624,  ..., -0.1138,  0.0256,  0.0953],\n",
       "           ...,\n",
       "           [ 0.1302,  0.1651, -0.2881,  ...,  1.0365,  0.9668,  0.9145],\n",
       "           [-0.0092, -0.6018, -1.2293,  ...,  1.0191,  1.0191,  0.9842],\n",
       "           [-1.0201, -1.4036, -1.6302,  ...,  0.9494,  0.9668,  0.9842]]]),\n",
       "  tensor([[[-0.6965, -0.6965, -0.6965,  ..., -0.0972, -0.0801, -0.0458],\n",
       "           [-0.6965, -0.6965, -0.6965,  ..., -0.0458, -0.0287, -0.0116],\n",
       "           [-0.6965, -0.6965, -0.6965,  ..., -0.0287,  0.0056,  0.0227],\n",
       "           ...,\n",
       "           [-0.3541, -0.3369, -0.3198,  ..., -1.3130, -1.2788, -1.2617],\n",
       "           [-0.3369, -0.3198, -0.3027,  ..., -1.3473, -1.3302, -1.3130],\n",
       "           [-0.3198, -0.3027, -0.2856,  ..., -1.3815, -1.3987, -1.4158]],\n",
       "  \n",
       "          [[-0.5126, -0.5126, -0.5126,  ...,  0.0126,  0.0301,  0.0651],\n",
       "           [-0.5126, -0.5126, -0.5126,  ...,  0.0826,  0.1001,  0.1176],\n",
       "           [-0.5126, -0.5126, -0.5126,  ...,  0.1527,  0.1702,  0.1877],\n",
       "           ...,\n",
       "           [-0.1975, -0.1800, -0.1625,  ..., -1.2129, -1.1779, -1.1604],\n",
       "           [-0.1800, -0.1625, -0.1450,  ..., -1.2479, -1.2304, -1.2129],\n",
       "           [-0.1625, -0.1450, -0.1275,  ..., -1.2829, -1.3004, -1.3179]],\n",
       "  \n",
       "          [[-0.2358, -0.2358, -0.2358,  ...,  0.4962,  0.5311,  0.5659],\n",
       "           [-0.2358, -0.2358, -0.2358,  ...,  0.5485,  0.5834,  0.6182],\n",
       "           [-0.2358, -0.2358, -0.2358,  ...,  0.6182,  0.6531,  0.6705],\n",
       "           ...,\n",
       "           [ 0.0082,  0.0256,  0.0431,  ..., -0.9853, -0.9504, -0.9330],\n",
       "           [ 0.0256,  0.0431,  0.0605,  ..., -1.0201, -1.0027, -0.9853],\n",
       "           [ 0.0431,  0.0605,  0.0779,  ..., -1.0550, -1.0724, -1.0898]]]),\n",
       "  tensor([[[-0.4568, -0.4568, -0.4397,  ..., -0.0458, -0.0287, -0.0116],\n",
       "           [-0.4568, -0.4568, -0.4397,  ..., -0.0116,  0.0056,  0.0227],\n",
       "           [-0.4568, -0.4568, -0.4397,  ...,  0.0227,  0.0227,  0.0398],\n",
       "           ...,\n",
       "           [-0.9705, -1.1247, -1.3473,  ...,  0.6563,  0.6563,  0.6392],\n",
       "           [-1.2103, -1.4329, -1.6898,  ...,  0.6734,  0.6563,  0.6563],\n",
       "           [-1.6555, -1.7754, -1.8610,  ...,  0.6906,  0.6734,  0.6734]],\n",
       "  \n",
       "          [[-0.2500, -0.2500, -0.2325,  ...,  0.2402,  0.2577,  0.2752],\n",
       "           [-0.2500, -0.2500, -0.2325,  ...,  0.2927,  0.3102,  0.3277],\n",
       "           [-0.2500, -0.2500, -0.2325,  ...,  0.3627,  0.3627,  0.3803],\n",
       "           ...,\n",
       "           [-0.7227, -0.9153, -1.1604,  ...,  0.8004,  0.8004,  0.7829],\n",
       "           [-1.0203, -1.2479, -1.5105,  ...,  0.8179,  0.8004,  0.8004],\n",
       "           [-1.4755, -1.5980, -1.6856,  ...,  0.8354,  0.8179,  0.8179]],\n",
       "  \n",
       "          [[ 0.0431,  0.0431,  0.0605,  ...,  0.7402,  0.7751,  0.7925],\n",
       "           [ 0.0431,  0.0431,  0.0605,  ...,  0.8099,  0.8099,  0.8274],\n",
       "           [ 0.0431,  0.0431,  0.0605,  ...,  0.8622,  0.8622,  0.8797],\n",
       "           ...,\n",
       "           [-0.4450, -0.6367, -0.8633,  ...,  0.9842,  0.9842,  0.9668],\n",
       "           [-0.7238, -0.9504, -1.2119,  ...,  1.0017,  0.9842,  0.9842],\n",
       "           [-1.1770, -1.2990, -1.3861,  ...,  1.0191,  1.0017,  1.0017]]]),\n",
       "  tensor([[[-0.4739, -0.4739, -0.4568,  ...,  0.3138,  0.3309,  0.3652],\n",
       "           [-0.4739, -0.4568, -0.4568,  ...,  0.4166,  0.4166,  0.3994],\n",
       "           [-0.4739, -0.4568, -0.4568,  ...,  0.4166,  0.3823,  0.3652],\n",
       "           ...,\n",
       "           [-1.2617, -1.7925, -1.7925,  ...,  0.6049,  0.6392,  0.6734],\n",
       "           [-1.5699, -1.9124, -1.6042,  ...,  0.5707,  0.5878,  0.6221],\n",
       "           [-1.9809, -1.7925, -1.5014,  ...,  0.5536,  0.5536,  0.5364]],\n",
       "  \n",
       "          [[-0.2850, -0.2850, -0.2675,  ...,  0.5378,  0.5553,  0.5903],\n",
       "           [-0.2850, -0.2675, -0.2675,  ...,  0.6429,  0.6429,  0.6254],\n",
       "           [-0.2850, -0.2675, -0.2675,  ...,  0.6779,  0.6429,  0.6254],\n",
       "           ...,\n",
       "           [-1.0028, -1.5455, -1.5630,  ...,  0.7304,  0.7654,  0.8004],\n",
       "           [-1.2829, -1.6331, -1.3354,  ...,  0.6954,  0.7129,  0.7479],\n",
       "           [-1.7031, -1.5105, -1.2129,  ...,  0.6779,  0.6779,  0.6604]],\n",
       "  \n",
       "          [[ 0.0953,  0.0953,  0.1128,  ...,  1.1411,  1.1585,  1.1934],\n",
       "           [ 0.0953,  0.1128,  0.1128,  ...,  1.2457,  1.2457,  1.2108],\n",
       "           [ 0.0953,  0.1128,  0.1128,  ...,  1.2282,  1.1934,  1.1759],\n",
       "           ...,\n",
       "           [-0.7413, -1.2816, -1.2816,  ...,  0.9145,  0.9494,  0.9842],\n",
       "           [-1.0201, -1.3687, -1.0724,  ...,  0.8797,  0.8971,  0.9319],\n",
       "           [-1.4384, -1.2467, -0.9504,  ...,  0.8622,  0.8622,  0.8448]]]),\n",
       "  tensor([[[-0.4226, -0.4226, -0.4226,  ..., -0.4226, -0.4054, -0.3712],\n",
       "           [-0.4226, -0.4226, -0.4226,  ..., -0.3541, -0.5253, -0.6623],\n",
       "           [-0.4226, -0.4226, -0.4226,  ..., -0.6452, -0.6965, -0.6794],\n",
       "           ...,\n",
       "           [-1.5699, -1.5528, -1.5528,  ...,  0.6221,  0.6221,  0.6049],\n",
       "           [-1.5699, -1.5699, -1.5528,  ...,  0.6221,  0.6221,  0.5878],\n",
       "           [-1.5699, -1.5699, -1.5528,  ...,  0.6221,  0.6049,  0.5878]],\n",
       "  \n",
       "          [[-0.2150, -0.2150, -0.2150,  ..., -0.3200, -0.3200, -0.3200],\n",
       "           [-0.2150, -0.2150, -0.2150,  ..., -0.2675, -0.4426, -0.6001],\n",
       "           [-0.2150, -0.2150, -0.2150,  ..., -0.5476, -0.6001, -0.5826],\n",
       "           ...,\n",
       "           [-1.9307, -1.9132, -1.9132,  ...,  0.7479,  0.7479,  0.7304],\n",
       "           [-1.9307, -1.9307, -1.9132,  ...,  0.7479,  0.7479,  0.7129],\n",
       "           [-1.9307, -1.9307, -1.9132,  ...,  0.7479,  0.7304,  0.7129]],\n",
       "  \n",
       "          [[ 0.0779,  0.0779,  0.0779,  ..., -0.0790, -0.1138, -0.1138],\n",
       "           [ 0.0779,  0.0779,  0.0779,  ..., -0.0267, -0.2532, -0.4101],\n",
       "           [ 0.0779,  0.0779,  0.0779,  ..., -0.3404, -0.4101, -0.4275],\n",
       "           ...,\n",
       "           [-1.6824, -1.6650, -1.6650,  ...,  0.9319,  0.9319,  0.9145],\n",
       "           [-1.6824, -1.6824, -1.6650,  ...,  0.9319,  0.9319,  0.8971],\n",
       "           [-1.6824, -1.6824, -1.6650,  ...,  0.9319,  0.9145,  0.8971]]]),\n",
       "  tensor([[[-0.4054, -0.4054, -0.3883,  ..., -0.3198, -0.3198, -0.3198],\n",
       "           [-0.4054, -0.3883, -0.3883,  ..., -0.3198, -0.3198, -0.3198],\n",
       "           [-0.4054, -0.3883, -0.3883,  ..., -0.3198, -0.3198, -0.3198],\n",
       "           ...,\n",
       "           [-1.7240, -1.7412, -1.6898,  ...,  0.6221,  0.5878,  0.5878],\n",
       "           [-1.6727, -1.6384, -1.6384,  ...,  0.6563,  0.6221,  0.5878],\n",
       "           [-1.6384, -1.5870, -1.6213,  ...,  0.6906,  0.6563,  0.6221]],\n",
       "  \n",
       "          [[-0.0749, -0.0749, -0.0574,  ..., -0.1625, -0.1625, -0.1625],\n",
       "           [-0.0749, -0.0574, -0.0574,  ..., -0.1625, -0.1625, -0.1625],\n",
       "           [-0.0749, -0.0574, -0.0574,  ..., -0.1625, -0.1625, -0.1625],\n",
       "           ...,\n",
       "           [-1.9132, -1.8957, -1.8606,  ...,  0.7654,  0.7304,  0.7304],\n",
       "           [-1.8782, -1.8431, -1.8431,  ...,  0.8004,  0.7654,  0.7304],\n",
       "           [-1.8782, -1.8256, -1.8606,  ...,  0.8354,  0.8004,  0.7654]],\n",
       "  \n",
       "          [[ 0.3568,  0.3568,  0.3742,  ...,  0.0082,  0.0082,  0.0082],\n",
       "           [ 0.3568,  0.3742,  0.3742,  ...,  0.0082,  0.0082,  0.0082],\n",
       "           [ 0.3568,  0.3742,  0.3742,  ...,  0.0082,  0.0082,  0.0082],\n",
       "           ...,\n",
       "           [-1.6302, -1.6302, -1.5953,  ...,  0.9494,  0.9145,  0.9145],\n",
       "           [-1.6127, -1.5779, -1.5779,  ...,  0.9842,  0.9494,  0.9145],\n",
       "           [-1.6127, -1.5604, -1.5953,  ...,  1.0191,  0.9842,  0.9494]]]),\n",
       "  tensor([[[-0.3541, -0.3541, -0.3541,  ..., -0.2684, -0.2856, -0.3027],\n",
       "           [-0.3541, -0.3541, -0.3541,  ..., -0.2856, -0.3027, -0.2856],\n",
       "           [-0.3541, -0.3541, -0.3541,  ..., -0.3027, -0.3027, -0.2513],\n",
       "           ...,\n",
       "           [-2.0323, -2.0323, -2.0323,  ...,  0.7419,  0.7419,  0.7591],\n",
       "           [-2.0323, -2.0323, -2.0323,  ...,  0.7077,  0.7248,  0.7248],\n",
       "           [-2.0323, -2.0323, -2.0323,  ...,  0.6906,  0.6906,  0.6906]],\n",
       "  \n",
       "          [[ 0.0476,  0.0476,  0.0476,  ..., -0.1275, -0.1450, -0.1625],\n",
       "           [ 0.0476,  0.0476,  0.0476,  ..., -0.1450, -0.1625, -0.1450],\n",
       "           [ 0.0476,  0.0476,  0.0476,  ..., -0.1625, -0.1625, -0.1099],\n",
       "           ...,\n",
       "           [-1.9307, -1.9307, -1.9307,  ...,  0.8880,  0.8880,  0.9055],\n",
       "           [-1.9307, -1.9307, -1.9307,  ...,  0.8529,  0.8704,  0.8704],\n",
       "           [-1.9307, -1.9307, -1.9307,  ...,  0.8354,  0.8354,  0.8354]],\n",
       "  \n",
       "          [[ 0.5311,  0.5311,  0.5311,  ...,  0.1302,  0.1128,  0.0953],\n",
       "           [ 0.5311,  0.5311,  0.5311,  ...,  0.1128,  0.0953,  0.1128],\n",
       "           [ 0.5311,  0.5311,  0.5311,  ...,  0.0953,  0.0953,  0.1476],\n",
       "           ...,\n",
       "           [-1.6650, -1.6650, -1.6650,  ...,  1.0714,  1.0714,  1.0888],\n",
       "           [-1.6650, -1.6650, -1.6650,  ...,  1.0365,  1.0539,  1.0539],\n",
       "           [-1.6650, -1.6650, -1.6650,  ...,  1.0191,  1.0191,  1.0191]]]),\n",
       "  tensor([[[-0.3883, -0.3883, -0.3712,  ..., -0.3027, -0.3027, -0.3027],\n",
       "           [-0.3883, -0.3712, -0.3712,  ..., -0.3027, -0.3027, -0.3027],\n",
       "           [-0.3883, -0.3712, -0.3712,  ..., -0.3027, -0.3027, -0.3027],\n",
       "           ...,\n",
       "           [-2.0323, -2.0323, -2.0152,  ..., -1.8782, -1.8610, -1.8439],\n",
       "           [-2.0323, -2.0323, -2.0152,  ..., -1.8782, -1.8610, -1.8439],\n",
       "           [-2.0323, -2.0323, -2.0152,  ..., -1.8782, -1.8610, -1.8439]],\n",
       "  \n",
       "          [[-0.0049, -0.0049,  0.0126,  ..., -0.0924, -0.0924, -0.0924],\n",
       "           [-0.0049,  0.0126,  0.0126,  ..., -0.0924, -0.0924, -0.0924],\n",
       "           [-0.0049,  0.0126,  0.0126,  ..., -0.0924, -0.0924, -0.0924],\n",
       "           ...,\n",
       "           [-1.9307, -1.9307, -1.9132,  ..., -1.8256, -1.8081, -1.7906],\n",
       "           [-1.9307, -1.9307, -1.9132,  ..., -1.8256, -1.8081, -1.7906],\n",
       "           [-1.9307, -1.9307, -1.9132,  ..., -1.8256, -1.8081, -1.7906]],\n",
       "  \n",
       "          [[ 0.5485,  0.5485,  0.5659,  ...,  0.1999,  0.1999,  0.1999],\n",
       "           [ 0.5485,  0.5659,  0.5659,  ...,  0.1999,  0.1999,  0.1999],\n",
       "           [ 0.5485,  0.5659,  0.5659,  ...,  0.1999,  0.1999,  0.1999],\n",
       "           ...,\n",
       "           [-1.6650, -1.6650, -1.6476,  ..., -1.4036, -1.3861, -1.3687],\n",
       "           [-1.6650, -1.6650, -1.6476,  ..., -1.4036, -1.3861, -1.3687],\n",
       "           [-1.6650, -1.6650, -1.6476,  ..., -1.4036, -1.3861, -1.3687]]]),\n",
       "  tensor([[[-0.4911, -0.4911, -0.4911,  ..., -0.3541, -0.3541, -0.3541],\n",
       "           [-0.4911, -0.4911, -0.4911,  ..., -0.3541, -0.3541, -0.3541],\n",
       "           [-0.4911, -0.4911, -0.4911,  ..., -0.3541, -0.3541, -0.3541],\n",
       "           ...,\n",
       "           [-2.0152, -2.0152, -2.0152,  ..., -1.1418, -1.1418, -1.1418],\n",
       "           [-2.0152, -2.0152, -2.0152,  ..., -1.1418, -1.1418, -1.1418],\n",
       "           [-2.0152, -2.0152, -2.0152,  ..., -1.1418, -1.1418, -1.1418]],\n",
       "  \n",
       "          [[-0.2150, -0.2150, -0.2150,  ..., -0.1099, -0.1099, -0.1099],\n",
       "           [-0.2150, -0.2150, -0.2150,  ..., -0.1099, -0.1099, -0.1099],\n",
       "           [-0.2150, -0.2150, -0.2150,  ..., -0.1099, -0.1099, -0.1099],\n",
       "           ...,\n",
       "           [-1.9132, -1.9132, -1.9132,  ..., -1.0028, -1.0028, -1.0028],\n",
       "           [-1.9132, -1.9132, -1.9132,  ..., -1.0028, -1.0028, -1.0028],\n",
       "           [-1.9132, -1.9132, -1.9132,  ..., -1.0028, -1.0028, -1.0028]],\n",
       "  \n",
       "          [[ 0.2696,  0.2696,  0.2696,  ...,  0.2871,  0.2871,  0.2871],\n",
       "           [ 0.2696,  0.2696,  0.2696,  ...,  0.2871,  0.2871,  0.2871],\n",
       "           [ 0.2696,  0.2696,  0.2696,  ...,  0.2871,  0.2871,  0.2871],\n",
       "           ...,\n",
       "           [-1.6127, -1.6127, -1.6127,  ..., -0.7936, -0.7936, -0.7936],\n",
       "           [-1.6127, -1.6127, -1.6127,  ..., -0.7936, -0.7936, -0.7936],\n",
       "           [-1.6127, -1.6127, -1.6127,  ..., -0.7936, -0.7936, -0.7936]]]),\n",
       "  tensor([[[-0.6452, -0.6452, -0.6452,  ..., -0.2513, -0.2513, -0.2684],\n",
       "           [-0.6109, -0.6109, -0.6109,  ..., -0.2171, -0.2171, -0.2342],\n",
       "           [-0.5767, -0.5767, -0.5767,  ..., -0.2342, -0.2342, -0.2342],\n",
       "           ...,\n",
       "           [-1.1075, -1.1075, -1.1247,  ..., -1.1589, -1.1418, -1.1075],\n",
       "           [-1.1075, -1.1247, -1.1247,  ..., -1.1589, -1.1418, -1.1075],\n",
       "           [-1.1075, -1.1247, -1.1418,  ..., -1.1589, -1.1418, -1.1075]],\n",
       "  \n",
       "          [[-0.4601, -0.4601, -0.4601,  ..., -0.1450, -0.1450, -0.1625],\n",
       "           [-0.4251, -0.4251, -0.4251,  ..., -0.1099, -0.1099, -0.1275],\n",
       "           [-0.3901, -0.3901, -0.3901,  ..., -0.1275, -0.1275, -0.1275],\n",
       "           ...,\n",
       "           [-0.8102, -0.8102, -0.8277,  ..., -1.0553, -1.0378, -1.0028],\n",
       "           [-0.8102, -0.8277, -0.8277,  ..., -1.0553, -1.0378, -1.0028],\n",
       "           [-0.8102, -0.8277, -0.8452,  ..., -1.0553, -1.0378, -1.0028]],\n",
       "  \n",
       "          [[-0.0790, -0.0790, -0.0790,  ...,  0.2173,  0.2173,  0.1999],\n",
       "           [-0.0441, -0.0441, -0.0441,  ...,  0.2522,  0.2522,  0.2348],\n",
       "           [-0.0092, -0.0092, -0.0092,  ...,  0.2348,  0.2348,  0.2348],\n",
       "           ...,\n",
       "           [-0.2707, -0.2707, -0.2881,  ..., -0.7936, -0.7761, -0.7413],\n",
       "           [-0.2707, -0.2881, -0.2881,  ..., -0.7936, -0.7761, -0.7413],\n",
       "           [-0.2707, -0.2881, -0.3055,  ..., -0.7936, -0.7761, -0.7413]]]),\n",
       "  tensor([[[-0.9020, -0.9534, -1.0048,  ..., -0.2856, -0.3027, -0.3027],\n",
       "           [-0.9020, -0.9534, -1.0048,  ..., -0.2856, -0.2856, -0.3027],\n",
       "           [-0.9363, -0.9705, -1.0048,  ..., -0.2856, -0.2856, -0.3027],\n",
       "           ...,\n",
       "           [-1.7754, -1.7754, -1.7754,  ...,  0.5193,  0.5193,  0.4851],\n",
       "           [-1.7754, -1.7754, -1.7754,  ...,  0.4508,  0.4851,  0.5022],\n",
       "           [-1.7754, -1.7754, -1.7754,  ...,  0.3481,  0.3823,  0.4337]],\n",
       "  \n",
       "          [[-0.7402, -0.7927, -0.8452,  ..., -0.1275, -0.1450, -0.1450],\n",
       "           [-0.7402, -0.7927, -0.8452,  ..., -0.1275, -0.1275, -0.1450],\n",
       "           [-0.7402, -0.7927, -0.8452,  ..., -0.1275, -0.1275, -0.1450],\n",
       "           ...,\n",
       "           [-1.6506, -1.6506, -1.6506,  ...,  0.7304,  0.7304,  0.6954],\n",
       "           [-1.6506, -1.6506, -1.6506,  ...,  0.6604,  0.6954,  0.7129],\n",
       "           [-1.6506, -1.6506, -1.6506,  ...,  0.5553,  0.5903,  0.6429]],\n",
       "  \n",
       "          [[-0.2184, -0.2707, -0.3230,  ...,  0.3568,  0.3393,  0.3393],\n",
       "           [-0.2184, -0.2707, -0.3230,  ...,  0.3568,  0.3568,  0.3393],\n",
       "           [-0.1835, -0.2532, -0.3230,  ...,  0.3568,  0.3568,  0.3393],\n",
       "           ...,\n",
       "           [-1.0550, -1.0550, -1.0550,  ...,  1.1585,  1.1585,  1.1237],\n",
       "           [-1.0201, -1.0201, -1.0201,  ...,  1.0888,  1.1237,  1.1411],\n",
       "           [-1.0201, -1.0201, -1.0201,  ...,  0.9842,  1.0191,  1.0714]]]),\n",
       "  tensor([[[-1.7754, -1.7754, -1.7583,  ..., -0.2684, -0.2684, -0.2684],\n",
       "           [-1.7754, -1.7754, -1.7583,  ..., -0.2684, -0.3027, -0.3369],\n",
       "           [-1.7925, -1.7925, -1.7754,  ..., -0.2684, -0.3198, -0.3712],\n",
       "           ...,\n",
       "           [-1.5014, -1.4843, -1.4843,  ...,  0.5022,  0.3994,  0.2796],\n",
       "           [-1.5185, -1.5014, -1.4843,  ...,  0.5022,  0.3994,  0.2796],\n",
       "           [-1.5357, -1.5014, -1.5014,  ...,  0.5022,  0.3994,  0.2967]],\n",
       "  \n",
       "          [[-1.7906, -1.7906, -1.7731,  ..., -0.1450, -0.1450, -0.1450],\n",
       "           [-1.7906, -1.7906, -1.7731,  ..., -0.1450, -0.1800, -0.2150],\n",
       "           [-1.7731, -1.7731, -1.7556,  ..., -0.1450, -0.1975, -0.2500],\n",
       "           ...,\n",
       "           [-1.4230, -1.4055, -1.3880,  ...,  0.7129,  0.6078,  0.4853],\n",
       "           [-1.4230, -1.4055, -1.3880,  ...,  0.7129,  0.6078,  0.4853],\n",
       "           [-1.4405, -1.4055, -1.4055,  ...,  0.7129,  0.6078,  0.5028]],\n",
       "  \n",
       "          [[-1.5256, -1.5256, -1.5081,  ...,  0.2871,  0.2871,  0.2871],\n",
       "           [-1.5256, -1.5256, -1.5081,  ...,  0.2871,  0.2522,  0.2173],\n",
       "           [-1.5256, -1.5256, -1.5081,  ...,  0.2871,  0.2348,  0.1825],\n",
       "           ...,\n",
       "           [-0.9504, -0.9330, -0.9504,  ...,  1.1411,  1.0365,  0.9145],\n",
       "           [-0.9853, -0.9678, -0.9853,  ...,  1.1411,  1.0365,  0.9145],\n",
       "           [-1.0027, -1.0027, -1.0027,  ...,  1.1411,  1.0365,  0.9319]]]),\n",
       "  tensor([[[-0.5938, -0.5253, -0.5082,  ..., -0.3541, -0.3712, -0.4054],\n",
       "           [-0.5767, -0.5253, -0.4911,  ..., -0.3883, -0.4568, -0.5253],\n",
       "           [-0.6109, -0.5596, -0.5082,  ..., -0.4739, -0.5767, -0.6794],\n",
       "           ...,\n",
       "           [-0.3027, -0.2856, -0.2856,  ...,  0.5022,  0.4851,  0.4508],\n",
       "           [-0.3027, -0.2856, -0.2856,  ...,  0.5022,  0.4851,  0.4508],\n",
       "           [-0.3027, -0.3027, -0.2856,  ...,  0.5022,  0.4851,  0.4508]],\n",
       "  \n",
       "          [[-0.4951, -0.4251, -0.4076,  ..., -0.1975, -0.2150, -0.2500],\n",
       "           [-0.4776, -0.4251, -0.3901,  ..., -0.2325, -0.3025, -0.3725],\n",
       "           [-0.5126, -0.4601, -0.4076,  ..., -0.3200, -0.4251, -0.5301],\n",
       "           ...,\n",
       "           [-0.1450, -0.1275, -0.1275,  ...,  0.6604,  0.6429,  0.6078],\n",
       "           [-0.1450, -0.1275, -0.1275,  ...,  0.6604,  0.6429,  0.6078],\n",
       "           [-0.1450, -0.1450, -0.1275,  ...,  0.6604,  0.6429,  0.6078]],\n",
       "  \n",
       "          [[-0.3055, -0.2358, -0.2184,  ...,  0.2522,  0.2348,  0.1999],\n",
       "           [-0.2881, -0.2358, -0.2010,  ...,  0.2173,  0.1476,  0.0779],\n",
       "           [-0.3230, -0.2707, -0.2184,  ...,  0.1302,  0.0256, -0.0790],\n",
       "           ...,\n",
       "           [ 0.0605,  0.0779,  0.0779,  ...,  1.2457,  1.2282,  1.1934],\n",
       "           [ 0.0605,  0.0779,  0.0779,  ...,  1.2457,  1.2282,  1.1934],\n",
       "           [ 0.0605,  0.0605,  0.0779,  ...,  1.2457,  1.2282,  1.1934]]])],\n",
       " 'future_frames': [tensor([[[-0.7137, -0.6794, -0.6281,  ..., -0.6452, -0.6623, -0.6623],\n",
       "           [-0.7137, -0.6794, -0.6623,  ..., -0.6623, -0.6623, -0.6623],\n",
       "           [-0.6965, -0.7137, -0.7137,  ..., -0.6623, -0.6794, -0.6623],\n",
       "           ...,\n",
       "           [-0.2856, -0.2856, -0.2856,  ..., -1.1932, -1.2103, -1.2103],\n",
       "           [-0.3027, -0.3027, -0.3027,  ..., -1.1418, -1.1589, -1.1589],\n",
       "           [-0.3027, -0.3027, -0.3027,  ..., -1.1247, -1.1418, -1.1418]],\n",
       "  \n",
       "          [[-0.6176, -0.5826, -0.5301,  ..., -0.6001, -0.6176, -0.6352],\n",
       "           [-0.6176, -0.5826, -0.5651,  ..., -0.6176, -0.6176, -0.6352],\n",
       "           [-0.6001, -0.6176, -0.6176,  ..., -0.6176, -0.6352, -0.6527],\n",
       "           ...,\n",
       "           [-0.0399, -0.0399, -0.0399,  ..., -1.1253, -1.1429, -1.1429],\n",
       "           [-0.0574, -0.0574, -0.0574,  ..., -1.1078, -1.1253, -1.1253],\n",
       "           [-0.0574, -0.0574, -0.0574,  ..., -1.0903, -1.1078, -1.1078]],\n",
       "  \n",
       "          [[-0.2881, -0.2532, -0.2010,  ..., -0.3927, -0.4275, -0.4624],\n",
       "           [-0.2881, -0.2532, -0.2532,  ..., -0.3927, -0.4275, -0.4624],\n",
       "           [-0.2881, -0.3055, -0.3055,  ..., -0.3927, -0.4275, -0.4275],\n",
       "           ...,\n",
       "           [ 0.3219,  0.3219,  0.3219,  ..., -0.8458, -0.8633, -0.8633],\n",
       "           [ 0.3045,  0.3045,  0.3045,  ..., -0.8633, -0.8807, -0.8807],\n",
       "           [ 0.3045,  0.3045,  0.3045,  ..., -0.8458, -0.8633, -0.8633]]]),\n",
       "  tensor([[[-0.7479, -0.7308, -0.7137,  ..., -0.5596, -0.5767, -0.5938],\n",
       "           [-0.7479, -0.7308, -0.7137,  ..., -0.5767, -0.5767, -0.5938],\n",
       "           [-0.7479, -0.7308, -0.7137,  ..., -0.5767, -0.5938, -0.6109],\n",
       "           ...,\n",
       "           [-0.2342, -0.2342, -0.2342,  ...,  0.4166,  0.4166,  0.4337],\n",
       "           [-0.2513, -0.2342, -0.2342,  ...,  0.4337,  0.4337,  0.4337],\n",
       "           [-0.2513, -0.2513, -0.2342,  ...,  0.4166,  0.4166,  0.3994]],\n",
       "  \n",
       "          [[-0.6352, -0.6176, -0.6001,  ..., -0.4601, -0.4776, -0.4951],\n",
       "           [-0.6352, -0.6176, -0.6001,  ..., -0.4776, -0.4776, -0.4951],\n",
       "           [-0.6352, -0.6176, -0.6001,  ..., -0.4776, -0.4951, -0.5126],\n",
       "           ...,\n",
       "           [-0.0399, -0.0399, -0.0399,  ...,  0.5903,  0.5903,  0.6078],\n",
       "           [-0.0574, -0.0399, -0.0399,  ...,  0.6429,  0.6429,  0.6429],\n",
       "           [-0.0574, -0.0574, -0.0399,  ...,  0.6254,  0.6254,  0.6078]],\n",
       "  \n",
       "          [[-0.4101, -0.3927, -0.3753,  ..., -0.0964, -0.1312, -0.1661],\n",
       "           [-0.4101, -0.3927, -0.3753,  ..., -0.1138, -0.1312, -0.1661],\n",
       "           [-0.4101, -0.3927, -0.3753,  ..., -0.1312, -0.1661, -0.1835],\n",
       "           ...,\n",
       "           [ 0.3742,  0.3568,  0.2522,  ...,  1.0191,  1.0191,  1.0365],\n",
       "           [ 0.3742,  0.3393,  0.2522,  ...,  1.0539,  1.0539,  1.0539],\n",
       "           [ 0.3742,  0.3393,  0.2522,  ...,  1.0365,  1.0365,  1.0191]]]),\n",
       "  tensor([[[-0.7137, -0.7137, -0.6965,  ..., -0.6794, -0.6965, -0.7137],\n",
       "           [-0.7137, -0.7137, -0.6965,  ..., -0.6965, -0.6965, -0.7137],\n",
       "           [-0.7137, -0.7137, -0.7137,  ..., -0.6965, -0.7137, -0.7137],\n",
       "           ...,\n",
       "           [-0.3883, -0.4397, -0.4739,  ...,  0.4337,  0.4166,  0.3994],\n",
       "           [-0.4397, -0.4739, -0.4739,  ...,  0.4679,  0.4508,  0.4337],\n",
       "           [-0.5082, -0.4739, -0.4397,  ...,  0.5022,  0.5022,  0.4851]],\n",
       "  \n",
       "          [[-0.6001, -0.6001, -0.5826,  ..., -0.6001, -0.6176, -0.6352],\n",
       "           [-0.6001, -0.6001, -0.5826,  ..., -0.6176, -0.6176, -0.6352],\n",
       "           [-0.6001, -0.6001, -0.6001,  ..., -0.6176, -0.6352, -0.6352],\n",
       "           ...,\n",
       "           [-0.3200, -0.3725, -0.4076,  ...,  0.5728,  0.5553,  0.5378],\n",
       "           [-0.3725, -0.4076, -0.4076,  ...,  0.6078,  0.5903,  0.5728],\n",
       "           [-0.4426, -0.4076, -0.3725,  ...,  0.6429,  0.6429,  0.6254]],\n",
       "  \n",
       "          [[-0.4101, -0.4101, -0.3927,  ..., -0.3578, -0.3753, -0.3927],\n",
       "           [-0.4101, -0.4101, -0.3927,  ..., -0.3753, -0.3753, -0.3927],\n",
       "           [-0.4101, -0.4101, -0.4101,  ..., -0.3753, -0.3927, -0.3927],\n",
       "           ...,\n",
       "           [-0.4275, -0.4798, -0.5147,  ...,  0.9668,  0.9494,  0.9319],\n",
       "           [-0.4798, -0.5147, -0.5147,  ...,  1.0017,  0.9842,  0.9668],\n",
       "           [-0.5495, -0.5147, -0.4798,  ...,  1.0365,  1.0365,  1.0191]]]),\n",
       "  tensor([[[-0.6794, -0.6794, -0.6623,  ..., -0.6794, -0.6965, -0.7137],\n",
       "           [-0.6794, -0.6794, -0.6623,  ..., -0.6965, -0.6965, -0.7137],\n",
       "           [-0.6794, -0.6794, -0.6794,  ..., -0.6965, -0.7137, -0.7137],\n",
       "           ...,\n",
       "           [-0.4739, -0.5082, -0.5253,  ...,  0.2282, -0.6281, -1.3644],\n",
       "           [-0.4739, -0.5082, -0.5082,  ...,  0.4166,  0.3138, -0.4054],\n",
       "           [-0.4739, -0.5253, -0.4911,  ...,  0.4679,  0.4166,  0.3994]],\n",
       "  \n",
       "          [[-0.5651, -0.5651, -0.5476,  ..., -0.6001, -0.6176, -0.6352],\n",
       "           [-0.5651, -0.5651, -0.5476,  ..., -0.6176, -0.6176, -0.6352],\n",
       "           [-0.5651, -0.5651, -0.5651,  ..., -0.6176, -0.6352, -0.6352],\n",
       "           ...,\n",
       "           [-0.3375, -0.3725, -0.3901,  ...,  0.3627, -0.5126, -1.2654],\n",
       "           [-0.3375, -0.3725, -0.3725,  ...,  0.5553,  0.4503, -0.2850],\n",
       "           [-0.3375, -0.3901, -0.3550,  ...,  0.6078,  0.5553,  0.5378]],\n",
       "  \n",
       "          [[-0.3404, -0.3404, -0.3230,  ..., -0.3578, -0.3753, -0.3927],\n",
       "           [-0.3404, -0.3404, -0.3230,  ..., -0.3753, -0.3753, -0.3927],\n",
       "           [-0.3404, -0.3404, -0.3404,  ..., -0.3753, -0.3927, -0.3927],\n",
       "           ...,\n",
       "           [-0.3927, -0.4275, -0.4450,  ...,  0.6182, -0.2532, -1.0027],\n",
       "           [-0.3927, -0.4275, -0.4275,  ...,  0.8099,  0.7054, -0.0267],\n",
       "           [-0.3927, -0.4450, -0.4101,  ...,  0.8622,  0.8099,  0.7925]]]),\n",
       "  tensor([[[-0.9877, -0.9877, -0.9705,  ..., -0.2856, -0.6794, -0.8335],\n",
       "           [-0.9877, -0.9877, -0.9705,  ..., -0.2684, -0.6623, -0.8164],\n",
       "           [-0.9877, -0.9877, -0.9705,  ..., -0.2342, -0.6452, -0.7822],\n",
       "           ...,\n",
       "           [-0.5767, -0.5424, -0.5082,  ...,  0.5193,  0.4851,  0.4508],\n",
       "           [-0.4568, -0.4397, -0.4226,  ...,  0.5193,  0.4851,  0.4508],\n",
       "           [-0.3883, -0.3883, -0.3883,  ...,  0.4679,  0.4508,  0.4166]],\n",
       "  \n",
       "          [[-0.8978, -0.8978, -0.8803,  ..., -0.1625, -0.5651, -0.7052],\n",
       "           [-0.8978, -0.8978, -0.8803,  ..., -0.1450, -0.5476, -0.6877],\n",
       "           [-0.8978, -0.8978, -0.8803,  ..., -0.1275, -0.5301, -0.6527],\n",
       "           ...,\n",
       "           [-0.4426, -0.4076, -0.3725,  ...,  0.6779,  0.6429,  0.6078],\n",
       "           [-0.3200, -0.3025, -0.2850,  ...,  0.6779,  0.6429,  0.6078],\n",
       "           [-0.2500, -0.2500, -0.2500,  ...,  0.6254,  0.6078,  0.5728]],\n",
       "  \n",
       "          [[-0.3927, -0.3927, -0.3753,  ...,  0.2696, -0.0615, -0.1661],\n",
       "           [-0.3927, -0.3927, -0.3753,  ...,  0.2871, -0.0441, -0.1487],\n",
       "           [-0.3927, -0.3927, -0.3753,  ...,  0.3045, -0.0441, -0.1138],\n",
       "           ...,\n",
       "           [-0.3578, -0.3230, -0.2881,  ...,  0.9842,  0.9494,  0.9145],\n",
       "           [-0.2358, -0.2184, -0.2010,  ...,  0.9842,  0.9494,  0.9145],\n",
       "           [-0.1661, -0.1661, -0.1661,  ...,  0.9319,  0.9145,  0.8797]]]),\n",
       "  tensor([[[-0.9534, -0.9534, -0.9363,  ..., -0.2856, -0.2684, -0.2342],\n",
       "           [-0.9534, -0.9363, -0.9363,  ..., -0.1999, -0.1657, -0.1486],\n",
       "           [-0.9534, -0.9363, -0.9363,  ..., -0.1143, -0.0629, -0.0458],\n",
       "           ...,\n",
       "           [-0.3712, -0.3369, -0.2856,  ...,  0.4166,  0.4166,  0.3994],\n",
       "           [-0.3198, -0.2856, -0.2684,  ...,  0.4337,  0.4337,  0.4166],\n",
       "           [-0.2342, -0.2342, -0.2342,  ...,  0.3994,  0.3823,  0.3823]],\n",
       "  \n",
       "          [[-0.8102, -0.8102, -0.7927,  ..., -0.1625, -0.1450, -0.1099],\n",
       "           [-0.8102, -0.7927, -0.7927,  ..., -0.0749, -0.0399, -0.0224],\n",
       "           [-0.8102, -0.7927, -0.7927,  ...,  0.0126,  0.0651,  0.0826],\n",
       "           ...,\n",
       "           [-0.2150, -0.1800, -0.1275,  ...,  0.6078,  0.6078,  0.5903],\n",
       "           [-0.1625, -0.1275, -0.1099,  ...,  0.6429,  0.6429,  0.6254],\n",
       "           [-0.0749, -0.0749, -0.0749,  ...,  0.6078,  0.5903,  0.5903]],\n",
       "  \n",
       "          [[-0.3578, -0.3578, -0.3404,  ...,  0.0605,  0.0779,  0.1128],\n",
       "           [-0.3578, -0.3404, -0.3404,  ...,  0.1476,  0.1825,  0.1999],\n",
       "           [-0.3578, -0.3404, -0.3230,  ...,  0.2348,  0.2871,  0.3045],\n",
       "           ...,\n",
       "           [-0.0441, -0.0092,  0.0431,  ...,  0.9842,  0.9842,  0.9668],\n",
       "           [ 0.0082,  0.0431,  0.0605,  ...,  1.0191,  1.0191,  1.0017],\n",
       "           [ 0.0953,  0.0953,  0.0953,  ...,  0.9842,  0.9668,  0.9668]]]),\n",
       "  tensor([[[ 0.2453,  0.2624,  0.2796,  ...,  0.3309,  0.3652,  0.3823],\n",
       "           [ 0.2453,  0.2624,  0.2796,  ...,  0.3481,  0.3652,  0.3994],\n",
       "           [ 0.2453,  0.2624,  0.2796,  ...,  0.3652,  0.3823,  0.4166],\n",
       "           ...,\n",
       "           [-0.4568, -0.4397, -0.4397,  ..., -1.1418, -1.1418, -1.1418],\n",
       "           [-0.3369, -0.3198, -0.3027,  ..., -1.1932, -1.1932, -1.1932],\n",
       "           [-0.3369, -0.3198, -0.3027,  ..., -1.1760, -1.1932, -1.2103]],\n",
       "  \n",
       "          [[ 0.3627,  0.3803,  0.3978,  ...,  0.3277,  0.3627,  0.3803],\n",
       "           [ 0.3627,  0.3803,  0.3978,  ...,  0.3452,  0.3627,  0.3978],\n",
       "           [ 0.3627,  0.3803,  0.3978,  ...,  0.3627,  0.3803,  0.4153],\n",
       "           ...,\n",
       "           [-0.3025, -0.2850, -0.2850,  ..., -1.0378, -1.0378, -1.0378],\n",
       "           [-0.1800, -0.1625, -0.1450,  ..., -1.0903, -1.0903, -1.0903],\n",
       "           [-0.1800, -0.1625, -0.1450,  ..., -1.0728, -1.0903, -1.1078]],\n",
       "  \n",
       "          [[ 0.4962,  0.5136,  0.5311,  ...,  0.5136,  0.5485,  0.5659],\n",
       "           [ 0.4962,  0.5136,  0.5311,  ...,  0.5311,  0.5485,  0.5834],\n",
       "           [ 0.4962,  0.5136,  0.5311,  ...,  0.5485,  0.5659,  0.6008],\n",
       "           ...,\n",
       "           [-0.1312, -0.1138, -0.1138,  ..., -0.7761, -0.7761, -0.7761],\n",
       "           [-0.0092,  0.0082,  0.0256,  ..., -0.8284, -0.8284, -0.8284],\n",
       "           [-0.0092,  0.0082,  0.0256,  ..., -0.8110, -0.8284, -0.8458]]]),\n",
       "  tensor([[[-0.7822, -0.7650, -0.4911,  ...,  0.2282,  0.3309,  0.4337],\n",
       "           [-0.8164, -0.7822, -0.5767,  ...,  0.2453,  0.3309,  0.4166],\n",
       "           [-0.8507, -0.7650, -0.6794,  ...,  0.2967,  0.3481,  0.4166],\n",
       "           ...,\n",
       "           [-0.3027, -0.2684, -0.2513,  ...,  0.6049,  0.5536,  0.5022],\n",
       "           [-0.2856, -0.2684, -0.2342,  ...,  0.5536,  0.5364,  0.5193],\n",
       "           [-0.2856, -0.2513, -0.2171,  ...,  0.4851,  0.5364,  0.5364]],\n",
       "  \n",
       "          [[-0.6176, -0.6176, -0.3375,  ...,  0.1702,  0.2752,  0.3803],\n",
       "           [-0.6527, -0.6352, -0.4251,  ...,  0.1877,  0.2752,  0.3627],\n",
       "           [-0.6877, -0.6176, -0.5301,  ...,  0.2402,  0.2927,  0.3627],\n",
       "           ...,\n",
       "           [-0.1450, -0.1099, -0.0924,  ...,  0.7479,  0.6954,  0.6429],\n",
       "           [-0.1275, -0.1099, -0.0749,  ...,  0.6779,  0.6604,  0.6429],\n",
       "           [-0.1275, -0.0924, -0.0574,  ...,  0.6078,  0.6604,  0.6604]],\n",
       "  \n",
       "          [[-0.0790, -0.0964,  0.1128,  ...,  0.3568,  0.4614,  0.5659],\n",
       "           [-0.0964, -0.0964,  0.0256,  ...,  0.3742,  0.4614,  0.5485],\n",
       "           [-0.1312, -0.0790, -0.0615,  ...,  0.4265,  0.4788,  0.5485],\n",
       "           ...,\n",
       "           [ 0.0605,  0.0953,  0.1128,  ...,  1.0017,  0.9494,  0.8971],\n",
       "           [ 0.0779,  0.0953,  0.1302,  ...,  0.9668,  0.9668,  0.9494],\n",
       "           [ 0.0779,  0.1128,  0.1476,  ...,  0.9145,  0.9668,  0.9668]]])],\n",
       " 'instructions': ['Keep going straight, you will pass a staircase on your right, leading up.'],\n",
       " 'goal_direction': tensor([ 2.0083, -0.0537]),\n",
       " 'dt': tensor([0.6250])}"
      ]
     },
     "execution_count": 201,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "sample_0 = dataset.__getitem__(6)\n",
    "sample_0"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 100,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "{'dict1': {'images': ['data\\\\parsed\\\\ic\\\\GT\\\\Spring 2024\\\\Deep Learning for Robotics\\\\Project\\\\raw\\\\02172023_frontal_approach_4_0\\\\rgb\\\\0.jpg', 'data\\\\parsed\\\\ic\\\\GT\\\\Spring 2024\\\\Deep Learning for Robotics\\\\Project\\\\raw\\\\02172023_frontal_approach_4_0\\\\rgb\\\\10.jpg', 'data\\\\parsed\\\\ic\\\\GT\\\\Spring 2024\\\\Deep Learning for Robotics\\\\Project\\\\raw\\\\02172023_frontal_approach_4_0\\\\rgb\\\\20.jpg', 'data\\\\parsed\\\\ic\\\\GT\\\\Spring 2024\\\\Deep Learning for Robotics\\\\Project\\\\raw\\\\02172023_frontal_approach_4_0\\\\rgb\\\\30.jpg'], 'instructions': [\"Move forward and you'll see a sitting area to your right with red chairs.\", \"Go straight, and there's a staircase on your right if you need to go to the upper floors.\", 'Keep going straight, you will pass a staircase on your right, leading up.', \"Walk down the corridor, you'll see a meeting area to your right with tables and chairs.\"]}}\n",
      "Data has been saved to language_modality_frontal_4.pkl\n"
     ]
    }
   ],
   "source": [
    "# Pickle language_modality_frontal_4.txt\n",
    "import pickle\n",
    "\n",
    "def read_data(file_path):\n",
    "    # Initialize dictionary and temporary storage for images and instructions\n",
    "    data = {}\n",
    "    images = []\n",
    "    instructions = []\n",
    "    dict_count = 1\n",
    "    \n",
    "    with open(file_path, 'r') as file:\n",
    "        for line in file:\n",
    "            line = line.strip().replace('/t', '')  # Remove tabs and extra spaces\n",
    "            if line.endswith('.jpg'):  # Check if line is an image path\n",
    "                images.append(line.replace('\\\\\\\\', '\\\\'))  # Replace / with \\ in path\n",
    "                #print(line)\n",
    "            else:\n",
    "                if line:  # Make sure instruction is not empty\n",
    "                    instructions.append(line)\n",
    "            \n",
    "            # Check if we have collected 10 images or reached end of file\n",
    "            if len(images) == 10:\n",
    "                data[f'dict{dict_count}'] = {'images': images, 'instructions': instructions}\n",
    "                images = []  # Reset images list for the next batch\n",
    "                instructions = []  # Reset instructions list for the next batch\n",
    "                dict_count += 1\n",
    "\n",
    "    # Handle any remaining data if less than 10 images\n",
    "                \n",
    "    if images:\n",
    "        data[f'dict{dict_count}'] = {'images': images, 'instructions': instructions}\n",
    "    \n",
    "    return data\n",
    "\n",
    "# Replace 'your_file_path.txt' with the path to your text file\n",
    "file_path = 'language_modality_frontal_4.txt'\n",
    "organized_data = read_data(file_path)\n",
    "print(organized_data)\n",
    "\n",
    "# Save the organized data to a .pkl file\n",
    "pkl_path = 'language_modality_frontal_4.pkl'\n",
    "with open(pkl_path, 'wb') as handle:\n",
    "    pickle.dump(organized_data, handle)\n",
    "\n",
    "print(f\"Data has been saved to {pkl_path}\")\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 110,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[{'images': ['data\\\\parsed\\\\ic\\\\GT\\\\Spring 2024\\\\Deep Learning for Robotics\\\\Project\\\\raw\\\\02172023_frontal_approach_4_0\\\\rgb\\\\0.jpg', 'data\\\\parsed\\\\ic\\\\GT\\\\Spring 2024\\\\Deep Learning for Robotics\\\\Project\\\\raw\\\\02172023_frontal_approach_4_0\\\\rgb\\\\10.jpg', 'data\\\\parsed\\\\ic\\\\GT\\\\Spring 2024\\\\Deep Learning for Robotics\\\\Project\\\\raw\\\\02172023_frontal_approach_4_0\\\\rgb\\\\20.jpg', 'data\\\\parsed\\\\ic\\\\GT\\\\Spring 2024\\\\Deep Learning for Robotics\\\\Project\\\\raw\\\\02172023_frontal_approach_4_0\\\\rgb\\\\30.jpg'], 'instructions': [\"Move forward and you'll see a sitting area to your right with red chairs.\", \"Go straight, and there's a staircase on your right if you need to go to the upper floors.\", 'Keep going straight, you will pass a staircase on your right, leading up.', \"Walk down the corridor, you'll see a meeting area to your right with tables and chairs.\"]}]\n"
     ]
    }
   ],
   "source": [
    "# Unpickle compiled language modality\n",
    "import pickle\n",
    "language_dict = []\n",
    "with open('language_modality_frontal_4.pkl', 'rb') as f:\n",
    "    language_dict = list(pickle.load(f).values())\n",
    "\n",
    "# Print the contents of the unpickled data\n",
    "print(language_dict)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 116,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "TARGET DIGITS:  0\n",
      "CURRENT DIGITS:  0\n",
      "IMAGE MATCHES TARGET\n",
      "Instruction for 0.jpg:  Move forward and you'll see a sitting area to your right with red chairs.\n",
      "CURRENT DIGITS:  10\n",
      "CURRENT DIGITS:  20\n",
      "CURRENT DIGITS:  30\n"
     ]
    }
   ],
   "source": [
    "import os\n",
    "# Code to find an instruction given an image\n",
    "target_frame = 'data\\parsed\\\\ic\\\\GT\\\\Spring 2024\\\\Deep Learning for Robotics\\\\Project\\\\raw\\\\02172023_frontal_approach_4_0\\\\rgb\\\\0.jpg'\n",
    "target_frame = os.path.normpath(target_frame)\n",
    "\n",
    "# Extract the image number from the path. Easier than comparing 2 path strings\n",
    "# Split the path by '\\\\' to get the individual components\n",
    "path_components = target_frame.split('\\\\')\n",
    "\n",
    "# Get the filename component\n",
    "filename = path_components[-1]\n",
    "\n",
    "# Split the filename by '.' to separate the filename and extension\n",
    "filename_without_extension = filename.split('.')[0]\n",
    "\n",
    "# Extract the digits from the filename (For this test case should be 0 since it's 0.jpg)\n",
    "target_digits = ''.join(filter(str.isdigit, filename_without_extension))\n",
    "\n",
    "print(\"TARGET DIGITS: \",target_digits)\n",
    "\n",
    "for dict in language_dict:\n",
    "    images = dict.get('images', [])\n",
    "    instructions = dict.get('instructions', [])\n",
    "    for image, instruction in zip(images, instructions):\n",
    "        image = os.path.normpath(image)\n",
    "        path_components = image.split('\\\\')\n",
    "\n",
    "        # Get the filename component\n",
    "        filename = path_components[-1]\n",
    "\n",
    "        # Split the filename by '.' to separate the filename and extension\n",
    "        filename_without_extension = filename.split('.')[0]\n",
    "\n",
    "        # Extract the digits from the filename\n",
    "        current_digits = ''.join(filter(str.isdigit, filename_without_extension))\n",
    "\n",
    "        print(\"CURRENT DIGITS: \", current_digits)\n",
    "\n",
    "        if current_digits == target_digits:\n",
    "            print(\"IMAGE MATCHES TARGET\")\n",
    "            print(f\"Instruction for {target_digits}.jpg: \", instruction)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 118,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "{'past_positions': [array([[ 0.95763622, -0.19005594],\n",
      "       [ 1.13532803, -0.17450544],\n",
      "       [ 1.33603153, -0.15185802],\n",
      "       [ 1.56504049, -0.11961865],\n",
      "       [ 1.81913723, -0.08049139],\n",
      "       [ 2.10128839, -0.0345423 ],\n",
      "       [ 2.40127664,  0.01980859],\n",
      "       [ 2.72485713,  0.08153264],\n",
      "       [ 3.06664128,  0.14652076],\n",
      "       [ 3.42372672,  0.21460577],\n",
      "       [ 3.79323381,  0.28637545],\n",
      "       [ 4.17383326,  0.35971529],\n",
      "       [ 4.56093676,  0.43049252],\n",
      "       [ 4.95087143,  0.49925058],\n",
      "       [ 5.3387628 ,  0.56624847],\n",
      "       [ 5.72056844,  0.62947523]]), array([[ 1.13532803, -0.17450544],\n",
      "       [ 1.33603153, -0.15185802],\n",
      "       [ 1.56504049, -0.11961865],\n",
      "       [ 1.81913723, -0.08049139],\n",
      "       [ 2.10128839, -0.0345423 ],\n",
      "       [ 2.40127664,  0.01980859],\n",
      "       [ 2.72485713,  0.08153264],\n",
      "       [ 3.06664128,  0.14652076],\n",
      "       [ 3.42372672,  0.21460577],\n",
      "       [ 3.79323381,  0.28637545],\n",
      "       [ 4.17383326,  0.35971529],\n",
      "       [ 4.56093676,  0.43049252],\n",
      "       [ 4.95087143,  0.49925058],\n",
      "       [ 5.3387628 ,  0.56624847],\n",
      "       [ 5.72056844,  0.62947523],\n",
      "       [ 6.09022461,  0.68628351]]), array([[ 1.33603153, -0.15185802],\n",
      "       [ 1.56504049, -0.11961865],\n",
      "       [ 1.81913723, -0.08049139],\n",
      "       [ 2.10128839, -0.0345423 ],\n",
      "       [ 2.40127664,  0.01980859],\n",
      "       [ 2.72485713,  0.08153264],\n",
      "       [ 3.06664128,  0.14652076],\n",
      "       [ 3.42372672,  0.21460577],\n",
      "       [ 3.79323381,  0.28637545],\n",
      "       [ 4.17383326,  0.35971529],\n",
      "       [ 4.56093676,  0.43049252],\n",
      "       [ 4.95087143,  0.49925058],\n",
      "       [ 5.3387628 ,  0.56624847],\n",
      "       [ 5.72056844,  0.62947523],\n",
      "       [ 6.09022461,  0.68628351],\n",
      "       [ 6.4565067 ,  0.73575493]]), array([[ 1.56504049, -0.11961865],\n",
      "       [ 1.81913723, -0.08049139],\n",
      "       [ 2.10128839, -0.0345423 ],\n",
      "       [ 2.40127664,  0.01980859],\n",
      "       [ 2.72485713,  0.08153264],\n",
      "       [ 3.06664128,  0.14652076],\n",
      "       [ 3.42372672,  0.21460577],\n",
      "       [ 3.79323381,  0.28637545],\n",
      "       [ 4.17383326,  0.35971529],\n",
      "       [ 4.56093676,  0.43049252],\n",
      "       [ 4.95087143,  0.49925058],\n",
      "       [ 5.3387628 ,  0.56624847],\n",
      "       [ 5.72056844,  0.62947523],\n",
      "       [ 6.09022461,  0.68628351],\n",
      "       [ 6.4565067 ,  0.73575493],\n",
      "       [ 6.83535135,  0.77527132]]), array([[ 1.81913723, -0.08049139],\n",
      "       [ 2.10128839, -0.0345423 ],\n",
      "       [ 2.40127664,  0.01980859],\n",
      "       [ 2.72485713,  0.08153264],\n",
      "       [ 3.06664128,  0.14652076],\n",
      "       [ 3.42372672,  0.21460577],\n",
      "       [ 3.79323381,  0.28637545],\n",
      "       [ 4.17383326,  0.35971529],\n",
      "       [ 4.56093676,  0.43049252],\n",
      "       [ 4.95087143,  0.49925058],\n",
      "       [ 5.3387628 ,  0.56624847],\n",
      "       [ 5.72056844,  0.62947523],\n",
      "       [ 6.09022461,  0.68628351],\n",
      "       [ 6.4565067 ,  0.73575493],\n",
      "       [ 6.83535135,  0.77527132],\n",
      "       [ 7.22188797,  0.80483207]]), array([[ 2.10128839, -0.0345423 ],\n",
      "       [ 2.40127664,  0.01980859],\n",
      "       [ 2.72485713,  0.08153264],\n",
      "       [ 3.06664128,  0.14652076],\n",
      "       [ 3.42372672,  0.21460577],\n",
      "       [ 3.79323381,  0.28637545],\n",
      "       [ 4.17383326,  0.35971529],\n",
      "       [ 4.56093676,  0.43049252],\n",
      "       [ 4.95087143,  0.49925058],\n",
      "       [ 5.3387628 ,  0.56624847],\n",
      "       [ 5.72056844,  0.62947523],\n",
      "       [ 6.09022461,  0.68628351],\n",
      "       [ 6.4565067 ,  0.73575493],\n",
      "       [ 6.83535135,  0.77527132],\n",
      "       [ 7.22188797,  0.80483207],\n",
      "       [ 7.60825125,  0.82607062]]), array([[2.40127664, 0.01980859],\n",
      "       [2.72485713, 0.08153264],\n",
      "       [3.06664128, 0.14652076],\n",
      "       [3.42372672, 0.21460577],\n",
      "       [3.79323381, 0.28637545],\n",
      "       [4.17383326, 0.35971529],\n",
      "       [4.56093676, 0.43049252],\n",
      "       [4.95087143, 0.49925058],\n",
      "       [5.3387628 , 0.56624847],\n",
      "       [5.72056844, 0.62947523],\n",
      "       [6.09022461, 0.68628351],\n",
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     ]
    }
   ],
   "source": [
    "# After running parser_modified, see instructions for each observation window added. Instructions overlap due to the nature of the overlapping frames in each sample.\n",
    "import pickle\n",
    "\n",
    "with open('data/train/samples.pkl', 'rb') as f:\n",
    "    data = pickle.load(f)\n",
    "\n",
    "# Print the contents of the unpickled data\n",
    "print(data)"
   ]
  }
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