Fix aloha real-world datasets (#175)

2024-05-20 13:48:09 +02:00 · 2024-05-20 13:48:09 +02:00 · 01eae09ba6
parent 19dfb9144a
commit 01eae09ba6
595 changed files with 1699 additions and 754 deletions
--- a/.gitattributes
+++ b/.gitattributes
@ -1,2 +1,6 @@
 *.memmap filter=lfs diff=lfs merge=lfs -text
 *.stl filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.json filter=lfs diff=lfs merge=lfs -text
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@ -29,6 +29,8 @@ jobs:
      MUJOCO_GL: egl
    steps:
      - uses: actions/checkout@v4
+        with:
+          lfs: true  # Ensure LFS files are pulled

      - name: Install EGL
        run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
@ -65,6 +67,8 @@ jobs:
      MUJOCO_GL: egl
    steps:
      - uses: actions/checkout@v4
+        with:
+          lfs: true  # Ensure LFS files are pulled

      - name: Install poetry
        run: |
@ -97,6 +101,8 @@ jobs:
      MUJOCO_GL: egl
    steps:
      - uses: actions/checkout@v4
+        with:
+          lfs: true  # Ensure LFS files are pulled

      - name: Install EGL
        run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@ -195,6 +195,11 @@ Follow these steps to start contributing:
   git commit
   ```

+   Note, if you already commited some changes that have a wrong formatting, you can use:
+   ```bash
+   pre-commit run --all-files
+   ```
+
   Please write [good commit messages](https://chris.beams.io/posts/git-commit/).

   It is a good idea to sync your copy of the code with the original
--- a/README.md
+++ b/README.md
@ -197,11 +197,11 @@ To add a dataset to the hub, you need to login using a write-access token, which
 huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
 ```

-Then move your dataset folder in `data` directory (e.g. `data/aloha_ping_pong`), and push your dataset to the hub with:
+Then move your dataset folder in `data` directory (e.g. `data/aloha_static_pingpong_test`), and push your dataset to the hub with:
 ```bash
 python lerobot/scripts/push_dataset_to_hub.py \
 --data-dir data \
--dataset-id aloha_ping_ping \
+--dataset-id aloha_static_pingpong_test \
 --raw-format aloha_hdf5 \
 --community-id lerobot
 ```
--- a/docker/lerobot-gpu/Dockerfile
+++ b/docker/lerobot-gpu/Dockerfile
@ -8,7 +8,7 @@ ARG DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y --no-install-recommends \
    build-essential cmake \
    git git-lfs openssh-client \
-    nano vim \
+    nano vim ffmpeg \
    htop atop nvtop \
    sed gawk grep curl wget \
    tcpdump sysstat screen \
--- a/lerobot/init.py
+++ b/lerobot/init.py
@ -61,13 +61,21 @@ available_datasets_per_env = {
        "lerobot/aloha_sim_insertion_scripted",
        "lerobot/aloha_sim_transfer_cube_human",
        "lerobot/aloha_sim_transfer_cube_scripted",
+        "lerobot/aloha_sim_insertion_human_image",
+        "lerobot/aloha_sim_insertion_scripted_image",
+        "lerobot/aloha_sim_transfer_cube_human_image",
+        "lerobot/aloha_sim_transfer_cube_scripted_image",
    ],
-    "pusht": ["lerobot/pusht"],
+    "pusht": ["lerobot/pusht", "lerobot/pusht_image"],
    "xarm": [
        "lerobot/xarm_lift_medium",
        "lerobot/xarm_lift_medium_replay",
        "lerobot/xarm_push_medium",
        "lerobot/xarm_push_medium_replay",
+        "lerobot/xarm_lift_medium_image",
+        "lerobot/xarm_lift_medium_replay_image",
+        "lerobot/xarm_push_medium_image",
+        "lerobot/xarm_push_medium_replay_image",
    ],
 }

--- a/lerobot/common/datasets/lerobot_dataset.py
+++ b/lerobot/common/datasets/lerobot_dataset.py
@ -30,7 +30,7 @@ from lerobot.common.datasets.utils import (
 from lerobot.common.datasets.video_utils import VideoFrame, load_from_videos

 DATA_DIR = Path(os.environ["DATA_DIR"]) if "DATA_DIR" in os.environ else None
-CODEBASE_VERSION = "v1.3"
+CODEBASE_VERSION = "v1.4"


 class LeRobotDataset(torch.utils.data.Dataset):
--- a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py
+++ b/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py
@ -24,17 +24,16 @@ import shutil
 from pathlib import Path

 import tqdm
-
-ALOHA_RAW_URLS_DIR = "lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls"
+from huggingface_hub import snapshot_download


 def download_raw(raw_dir, dataset_id):
-    if "pusht" in dataset_id:
+    if "aloha" in dataset_id or "image" in dataset_id:
+        download_hub(raw_dir, dataset_id)
+    elif "pusht" in dataset_id:
        download_pusht(raw_dir)
    elif "xarm" in dataset_id:
        download_xarm(raw_dir)
-    elif "aloha" in dataset_id:
-        download_aloha(raw_dir, dataset_id)
    elif "umi" in dataset_id:
        download_umi(raw_dir)
    else:
@ -103,37 +102,13 @@ def download_xarm(raw_dir: Path):
    zip_path.unlink()


-def download_aloha(raw_dir: Path, dataset_id: str):
-    import gdown
-
-    subset_id = dataset_id.replace("aloha_", "")
-    urls_path = Path(ALOHA_RAW_URLS_DIR) / f"{subset_id}.txt"
-    assert urls_path.exists(), f"{subset_id}.txt not found in '{ALOHA_RAW_URLS_DIR}' directory."
-
-    with open(urls_path) as f:
-        # strip lines and ignore empty lines
-        urls = [url.strip() for url in f if url.strip()]
-
-    # sanity check
-    for url in urls:
-        assert (
-            "drive.google.com/drive/folders" in url or "drive.google.com/file" in url
-        ), f"Wrong url provided '{url}' in file '{urls_path}'."
-
+def download_hub(raw_dir: Path, dataset_id: str):
    raw_dir = Path(raw_dir)
    raw_dir.mkdir(parents=True, exist_ok=True)

-    logging.info(f"Start downloading from google drive for {dataset_id}")
-    for url in urls:
-        if "drive.google.com/drive/folders" in url:
-            # when a folder url is given, download up to 50 files from the folder
-            gdown.download_folder(url, output=str(raw_dir), remaining_ok=True)
-
-        elif "drive.google.com/file" in url:
-            # because of the 50 files limit per folder, we download the remaining files (file by file)
-            gdown.download(url, output=str(raw_dir), fuzzy=True)
-
-    logging.info(f"End downloading from google drive for {dataset_id}")
+    logging.info(f"Start downloading from huggingface.co/cadene for {dataset_id}")
+    snapshot_download(f"cadene/{dataset_id}_raw", repo_type="dataset", local_dir=raw_dir)
+    logging.info(f"Finish downloading from huggingface.co/cadene for {dataset_id}")


 def download_umi(raw_dir: Path):
@ -148,21 +123,30 @@ def download_umi(raw_dir: Path):
 if __name__ == "__main__":
    data_dir = Path("data")
    dataset_ids = [
+        "pusht_image",
+        "xarm_lift_medium_image",
+        "xarm_lift_medium_replay_image",
+        "xarm_push_medium_image",
+        "xarm_push_medium_replay_image",
+        "aloha_sim_insertion_human_image",
+        "aloha_sim_insertion_scripted_image",
+        "aloha_sim_transfer_cube_human_image",
+        "aloha_sim_transfer_cube_scripted_image",
        "pusht",
        "xarm_lift_medium",
        "xarm_lift_medium_replay",
        "xarm_push_medium",
        "xarm_push_medium_replay",
+        "aloha_sim_insertion_human",
+        "aloha_sim_insertion_scripted",
+        "aloha_sim_transfer_cube_human",
+        "aloha_sim_transfer_cube_scripted",
        "aloha_mobile_cabinet",
        "aloha_mobile_chair",
        "aloha_mobile_elevator",
        "aloha_mobile_shrimp",
        "aloha_mobile_wash_pan",
        "aloha_mobile_wipe_wine",
-        "aloha_sim_insertion_human",
-        "aloha_sim_insertion_scripted",
-        "aloha_sim_transfer_cube_human",
-        "aloha_sim_transfer_cube_scripted",
        "aloha_static_battery",
        "aloha_static_candy",
        "aloha_static_coffee",
--- a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py
+++ b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py
@ -17,7 +17,7 @@
 Contains utilities to process raw data format of HDF5 files like in: https://github.com/tonyzhaozh/act
 """

-import re
+import gc
 import shutil
 from pathlib import Path

@ -79,10 +79,8 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
    episode_data_index = {"from": [], "to": []}

    id_from = 0
-
-    for ep_path in tqdm.tqdm(hdf5_files, total=len(hdf5_files)):
+    for ep_idx, ep_path in tqdm.tqdm(enumerate(hdf5_files), total=len(hdf5_files)):
        with h5py.File(ep_path, "r") as ep:
-            ep_idx = int(re.search(r"episode_(\d+)", ep_path.name).group(1))
            num_frames = ep["/action"].shape[0]

            # last step of demonstration is considered done
@ -91,6 +89,10 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):

            state = torch.from_numpy(ep["/observations/qpos"][:])
            action = torch.from_numpy(ep["/action"][:])
+            if "/observations/qvel" in ep:
+                velocity = torch.from_numpy(ep["/observations/qvel"][:])
+            if "/observations/effort" in ep:
+                effort = torch.from_numpy(ep["/observations/effort"][:])

            ep_dict = {}

@ -131,6 +133,10 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
                    ep_dict[img_key] = [PILImage.fromarray(x) for x in imgs_array]

            ep_dict["observation.state"] = state
+            if "/observations/velocity" in ep:
+                ep_dict["observation.velocity"] = velocity
+            if "/observations/effort" in ep:
+                ep_dict["observation.effort"] = effort
            ep_dict["action"] = action
            ep_dict["episode_index"] = torch.tensor([ep_idx] * num_frames)
            ep_dict["frame_index"] = torch.arange(0, num_frames, 1)
@ -146,6 +152,8 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):

        id_from += num_frames

+        gc.collect()
+
        # process first episode only
        if debug:
            break
@ -167,6 +175,14 @@ def to_hf_dataset(data_dict, video) -> Dataset:
    features["observation.state"] = Sequence(
        length=data_dict["observation.state"].shape[1], feature=Value(dtype="float32", id=None)
    )
+    if "observation.velocity" in data_dict:
+        features["observation.velocity"] = Sequence(
+            length=data_dict["observation.velocity"].shape[1], feature=Value(dtype="float32", id=None)
+        )
+    if "observation.effort" in data_dict:
+        features["observation.effort"] = Sequence(
+            length=data_dict["observation.effort"].shape[1], feature=Value(dtype="float32", id=None)
+        )
    features["action"] = Sequence(
        length=data_dict["action"].shape[1], feature=Value(dtype="float32", id=None)
    )
--- a/lerobot/scripts/push_dataset_to_hub.py
+++ b/lerobot/scripts/push_dataset_to_hub.py
@ -25,7 +25,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
 --dataset-id pusht \
 --raw-format pusht_zarr \
 --community-id lerobot \
--revision v1.2 \
 --dry-run 1 \
 --save-to-disk 1 \
 --save-tests-to-disk 0 \
@ -36,7 +35,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
 --dataset-id xarm_lift_medium \
 --raw-format xarm_pkl \
 --community-id lerobot \
--revision v1.2 \
 --dry-run 1 \
 --save-to-disk 1 \
 --save-tests-to-disk 0 \
@ -47,7 +45,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
 --dataset-id aloha_sim_insertion_scripted \
 --raw-format aloha_hdf5 \
 --community-id lerobot \
--revision v1.2 \
 --dry-run 1 \
 --save-to-disk 1 \
 --save-tests-to-disk 0 \
@ -58,7 +55,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
 --dataset-id umi_cup_in_the_wild \
 --raw-format umi_zarr \
 --community-id lerobot \
--revision v1.2 \
 --dry-run 1 \
 --save-to-disk 1 \
 --save-tests-to-disk 0 \
@ -227,8 +223,7 @@ def push_dataset_to_hub(
        test_hf_dataset = test_hf_dataset.with_format(None)
        test_hf_dataset.save_to_disk(str(tests_out_dir / "train"))

-        # copy meta data to tests directory
-        shutil.copytree(meta_data_dir, tests_meta_data_dir)
+        save_meta_data(info, stats, episode_data_index, tests_meta_data_dir)

        # copy videos of first episode to tests directory
        episode_index = 0
@ -237,6 +232,10 @@ def push_dataset_to_hub(
            fname = f"{key}_episode_{episode_index:06d}.mp4"
            shutil.copy(videos_dir / fname, tests_videos_dir / fname)

+    if not save_to_disk and out_dir.exists():
+        # remove possible temporary files remaining in the output directory
+        shutil.rmtree(out_dir)
+

 def main():
    parser = argparse.ArgumentParser()
@ -314,7 +313,7 @@ def main():
    parser.add_argument(
        "--num-workers",
        type=int,
-        default=16,
+        default=8,
        help="Number of processes of Dataloader for computing the dataset statistics.",
    )
    parser.add_argument(
--- a/poetry.lock
+++ b/poetry.lock
@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand.

 [[package]]
 name = "absl-py"
@ -1177,6 +1177,78 @@ files = [
 [package.dependencies]
 numpy = ">=1.17.3"

+[[package]]
+name = "hf-transfer"
+version = "0.1.6"
+description = ""
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "hf_transfer-0.1.6-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:6fd3d61f9229d27def007e53540412507b74ac2fdb1a29985ae0b6a5137749a2"},
+    {file = "hf_transfer-0.1.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b043bb78df1225de043eb041de9d97783fcca14a0bdc1b1d560fc172fc21b648"},
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 [[package]]
 name = "huggingface-hub"
 version = "0.23.0"
@ -1191,6 +1263,7 @@ files = [
 [package.dependencies]
 filelock = "*"
 fsspec = ">=2023.5.0"
+hf-transfer = {version = ">=0.1.4", optional = true, markers = "extra == \"hf-transfer\""}
 packaging = ">=20.9"
 pyyaml = ">=5.1"
 requests = "*"
@ -4175,4 +4248,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "e3e3c306a5519e4f716a1ac086ad9b734efedcac077a0ec71e5bc16349a1e559"
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@ -43,7 +43,7 @@ opencv-python = ">=4.9.0"
 diffusers = "^0.27.2"
 torchvision = ">=0.18.0"
 h5py = ">=3.10.0"
-huggingface-hub = ">=0.21.4"
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 gymnasium = ">=0.29.1"
 cmake = ">=3.29.0.1"
 gym-pusht = { version = ">=0.1.3", optional = true}
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+oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
+size 33
--- a/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/stats.safetensors
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/stats.safetensors
--- a/tests/data/lerobot/aloha_sim_transfer_cube_human/train/data-00000-of-00001.arrow
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human/train/data-00000-of-00001.arrow
--- a/tests/data/lerobot/aloha_sim_transfer_cube_human/train/dataset_info.json
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human/train/dataset_info.json
@ -1,47 +1,3 @@
-{
-  "citation": "",
-  "description": "",
-  "features": {
-    "observation.images.top": {
-      "_type": "VideoFrame"
-    },
-    "observation.state": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 14,
-      "_type": "Sequence"
-    },
-    "action": {
-      "feature": {
-        "dtype": "float32",
-        "_type": "Value"
-      },
-      "length": 14,
-      "_type": "Sequence"
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "_type": "Value"
-    },
-    "timestamp": {
-      "dtype": "float32",
-      "_type": "Value"
-    },
-    "next.done": {
-      "dtype": "bool",
-      "_type": "Value"
-    },
-    "index": {
-      "dtype": "int64",
-      "_type": "Value"
-    }
-  },
-  "homepage": "",
-  "license": ""
-}
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f44d13de5d5a417263bbd4984942ed42ed3fa0633405aa14d9a969a45274944
+size 842
--- a/tests/data/lerobot/aloha_sim_transfer_cube_human/train/state.json
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human/train/state.json
@ -1,13 +1,3 @@
-{
-  "_data_files": [
-    {
-      "filename": "data-00000-of-00001.arrow"
-    }
-  ],
-  "_fingerprint": "243b01eb8a4b184e",
-  "_format_columns": null,
-  "_format_kwargs": {},
-  "_format_type": null,
-  "_output_all_columns": false,
-  "_split": null
-}
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ff72fd4f6f61309191a7f2829b73649d836c1ed10f00983093dc68599c92404
+size 247
--- a/tests/data/lerobot/aloha_sim_transfer_cube_human/videos/observation.images.top_episode_000000.mp4
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human/videos/observation.images.top_episode_000000.mp4
--- a/tests/data/lerobot/aloha_sim_transfer_cube_human_image/meta_data/episode_data_index.safetensors
+++ b/tests/data/lerobot/aloha_sim_transfer_cube_human_image/meta_data/episode_data_index.safetensors
@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4500f31e62f0928a837fa71783acacda0db516c7b00d0586a41ea5fd8fc5e772
+size 928
--- a/Show More
+++ b/Show More