From 0b21210d7212677c1680423d410850ca40cd6c9a Mon Sep 17 00:00:00 2001 From: Simon Alibert <75076266+aliberts@users.noreply.github.com> Date: Mon, 22 Jul 2024 20:08:59 +0200 Subject: [PATCH] Convert datasets to av1 encoding (#302) --- README.md | 4 +- benchmarks/video/run_video_benchmark.py | 8 +- lerobot/__init__.py | 4 + lerobot/common/datasets/lerobot_dataset.py | 5 +- .../push_dataset_to_hub/CODEBASE_VERSION.md | 11 +- .../push_dataset_to_hub/_download_raw.py | 105 +++++----- .../push_dataset_to_hub/_encode_datasets.py | 184 ++++++++++++++++++ .../push_dataset_to_hub/aloha_hdf5_format.py | 23 ++- .../push_dataset_to_hub/cam_png_format.py | 3 +- .../dora_parquet_format.py | 11 ++ .../push_dataset_to_hub/pusht_zarr_format.py | 15 +- .../push_dataset_to_hub/umi_zarr_format.py | 95 +++++---- .../datasets/push_dataset_to_hub/utils.py | 21 ++ .../push_dataset_to_hub/xarm_pkl_format.py | 23 ++- lerobot/common/datasets/video_utils.py | 24 +-- lerobot/scripts/control_robot.py | 4 +- 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tests/data/save_dataset_to_safetensors/lerobot/xarm_push_medium_replay_image/frame_24.safetensors diff --git a/README.md b/README.md index 518aaafc..e4d3f942 100644 --- a/README.md +++ b/README.md @@ -180,8 +180,10 @@ dataset attributes: │ ├ observation.images.cam_high: {'max': tensor with same number of dimensions (e.g. `(c, 1, 1)` for images, `(c,)` for states), etc.} │ ... ├ info: a dictionary of metadata on the dataset + │ ├ codebase_version (str): this is to keep track of the codebase version the dataset was created with │ ├ fps (float): frame per second the dataset is recorded/synchronized to - │ └ video (bool): indicates if frames are encoded in mp4 video files to save space or stored as png files + │ ├ video (bool): indicates if frames are encoded in mp4 video files to save space or stored as png files + │ └ encoding (dict): if video, this documents the main options that were used with ffmpeg to encode the videos ├ videos_dir (Path): where the mp4 videos or png images are stored/accessed └ camera_keys (list of string): the keys to access camera features in the item returned by the dataset (e.g. `["observation.images.cam_high", ...]`) ``` diff --git a/benchmarks/video/run_video_benchmark.py b/benchmarks/video/run_video_benchmark.py index ec67f552..46806c07 100644 --- a/benchmarks/video/run_video_benchmark.py +++ b/benchmarks/video/run_video_benchmark.py @@ -257,10 +257,10 @@ def benchmark_encoding_decoding( imgs_dir=imgs_dir, video_path=video_path, fps=fps, - video_codec=encoding_cfg["vcodec"], - pixel_format=encoding_cfg["pix_fmt"], - group_of_pictures_size=encoding_cfg.get("g"), - constant_rate_factor=encoding_cfg.get("crf"), + vcodec=encoding_cfg["vcodec"], + pix_fmt=encoding_cfg["pix_fmt"], + g=encoding_cfg.get("g"), + crf=encoding_cfg.get("crf"), # fast_decode=encoding_cfg.get("fastdecode"), overwrite=True, ) diff --git a/lerobot/__init__.py b/lerobot/__init__.py index 022f9cbe..8e06435c 100644 --- a/lerobot/__init__.py +++ b/lerobot/__init__.py @@ -125,6 +125,10 @@ available_real_world_datasets = [ "lerobot/aloha_static_vinh_cup_left", "lerobot/aloha_static_ziploc_slide", "lerobot/umi_cup_in_the_wild", + "lerobot/unitreeh1_fold_clothes", + "lerobot/unitreeh1_rearrange_objects", + "lerobot/unitreeh1_two_robot_greeting", + "lerobot/unitreeh1_warehouse", ] available_datasets = list( diff --git a/lerobot/common/datasets/lerobot_dataset.py b/lerobot/common/datasets/lerobot_dataset.py index 29800c5c..eb76f78d 100644 --- a/lerobot/common/datasets/lerobot_dataset.py +++ b/lerobot/common/datasets/lerobot_dataset.py @@ -35,9 +35,8 @@ from lerobot.common.datasets.utils import ( ) from lerobot.common.datasets.video_utils import VideoFrame, load_from_videos -# For maintainers, see lerobot/common/datasets/push_dataset_to_hub/codebase_version.md -CODEBASE_VERSION = "v1.5" - +# For maintainers, see lerobot/common/datasets/push_dataset_to_hub/CODEBASE_VERSION.md +CODEBASE_VERSION = "v1.6" DATA_DIR = Path(os.environ["DATA_DIR"]) if "DATA_DIR" in os.environ else None diff --git a/lerobot/common/datasets/push_dataset_to_hub/CODEBASE_VERSION.md b/lerobot/common/datasets/push_dataset_to_hub/CODEBASE_VERSION.md index 77948b02..8fcc8bbe 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/CODEBASE_VERSION.md +++ b/lerobot/common/datasets/push_dataset_to_hub/CODEBASE_VERSION.md @@ -10,7 +10,8 @@ For instance, [`lerobot/pusht`](https://huggingface.co/datasets/lerobot/pusht) h - [v1.2](https://huggingface.co/datasets/lerobot/pusht/tree/v1.2) - [v1.3](https://huggingface.co/datasets/lerobot/pusht/tree/v1.3) - [v1.4](https://huggingface.co/datasets/lerobot/pusht/tree/v1.4) -- [v1.5](https://huggingface.co/datasets/lerobot/pusht/tree/v1.5) <-- last version +- [v1.5](https://huggingface.co/datasets/lerobot/pusht/tree/v1.5) +- [v1.6](https://huggingface.co/datasets/lerobot/pusht/tree/v1.6) <-- last version - [main](https://huggingface.co/datasets/lerobot/pusht/tree/main) <-- points to the last version Starting with v1.6, every dataset pushed to the hub or saved locally also have this version number in their @@ -45,13 +46,11 @@ for repo_id in available_datasets: dataset_info = api.list_repo_refs(repo_id, repo_type="dataset") branches = [b.name for b in dataset_info.branches] if CODEBASE_VERSION in branches: - # First check if the newer version already exists. - print(f"Found existing branch for {repo_id}. Please contact a member of the core LeRobot team.") - print("Exiting early") - break + print(f"{repo_id} already @{CODEBASE_VERSION}, skipping.") + continue else: # Now create a branch named after the new version by branching out from "main" # which is expected to be the preceding version api.create_branch(repo_id, repo_type="dataset", branch=CODEBASE_VERSION, revision="main") - print(f"{repo_id} successfully updated") + print(f"{repo_id} successfully updated @{CODEBASE_VERSION}") ``` diff --git a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py b/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py index b630bbca..36474dd1 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py +++ b/lerobot/common/datasets/push_dataset_to_hub/_download_raw.py @@ -19,8 +19,8 @@ This file contains download scripts for raw datasets. Example of usage: ``` python lerobot/common/datasets/push_dataset_to_hub/_download_raw.py \ ---raw-dir data/cadene/pusht_raw \ ---repo-id cadene/pusht_raw +--raw-dir data/lerobot-raw/pusht_raw \ +--repo-id lerobot-raw/pusht_raw ``` """ @@ -31,63 +31,65 @@ from pathlib import Path from huggingface_hub import snapshot_download -AVAILABLE_RAW_REPO_IDS = [ - "lerobot-raw/aloha_mobile_cabinet_raw", - "lerobot-raw/aloha_mobile_chair_raw", - "lerobot-raw/aloha_mobile_elevator_raw", - "lerobot-raw/aloha_mobile_shrimp_raw", - "lerobot-raw/aloha_mobile_wash_pan_raw", - "lerobot-raw/aloha_mobile_wipe_wine_raw", - "lerobot-raw/aloha_sim_insertion_human_raw", - "lerobot-raw/aloha_sim_insertion_scripted_raw", - "lerobot-raw/aloha_sim_transfer_cube_human_raw", - "lerobot-raw/aloha_sim_transfer_cube_scripted_raw", - "lerobot-raw/aloha_static_battery_raw", - "lerobot-raw/aloha_static_candy_raw", - "lerobot-raw/aloha_static_coffee_new_raw", - "lerobot-raw/aloha_static_coffee_raw", - "lerobot-raw/aloha_static_cups_open_raw", - "lerobot-raw/aloha_static_fork_pick_up_raw", - "lerobot-raw/aloha_static_pingpong_test_raw", - "lerobot-raw/aloha_static_pro_pencil_raw", - "lerobot-raw/aloha_static_screw_driver_raw", - "lerobot-raw/aloha_static_tape_raw", - "lerobot-raw/aloha_static_thread_velcro_raw", - "lerobot-raw/aloha_static_towel_raw", - "lerobot-raw/aloha_static_vinh_cup_left_raw", - "lerobot-raw/aloha_static_vinh_cup_raw", - "lerobot-raw/aloha_static_ziploc_slide_raw", - "lerobot-raw/pusht_raw", - "lerobot-raw/umi_cup_in_the_wild_raw", - "lerobot-raw/unitreeh1_fold_clothes_raw", - "lerobot-raw/unitreeh1_rearrange_objects_raw", - "lerobot-raw/unitreeh1_two_robot_greeting_raw", - "lerobot-raw/unitreeh1_warehouse_raw", - "lerobot-raw/xarm_lift_medium_raw", - "lerobot-raw/xarm_lift_medium_replay_raw", - "lerobot-raw/xarm_push_medium_raw", - "lerobot-raw/xarm_push_medium_replay_raw", -] +from lerobot.common.datasets.push_dataset_to_hub.utils import check_repo_id + +# {raw_repo_id: raw_format} +AVAILABLE_RAW_REPO_IDS = { + "lerobot-raw/aloha_mobile_cabinet_raw": "aloha_hdf5", + "lerobot-raw/aloha_mobile_chair_raw": "aloha_hdf5", + "lerobot-raw/aloha_mobile_elevator_raw": "aloha_hdf5", + "lerobot-raw/aloha_mobile_shrimp_raw": "aloha_hdf5", + "lerobot-raw/aloha_mobile_wash_pan_raw": "aloha_hdf5", + "lerobot-raw/aloha_mobile_wipe_wine_raw": "aloha_hdf5", + "lerobot-raw/aloha_sim_insertion_human_raw": "aloha_hdf5", + "lerobot-raw/aloha_sim_insertion_scripted_raw": "aloha_hdf5", + "lerobot-raw/aloha_sim_transfer_cube_human_raw": "aloha_hdf5", + "lerobot-raw/aloha_sim_transfer_cube_scripted_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_battery_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_candy_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_coffee_new_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_coffee_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_cups_open_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_fork_pick_up_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_pingpong_test_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_pro_pencil_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_screw_driver_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_tape_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_thread_velcro_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_towel_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_vinh_cup_left_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_vinh_cup_raw": "aloha_hdf5", + "lerobot-raw/aloha_static_ziploc_slide_raw": "aloha_hdf5", + "lerobot-raw/pusht_raw": "pusht_zarr", + "lerobot-raw/umi_cup_in_the_wild_raw": "umi_zarr", + "lerobot-raw/unitreeh1_fold_clothes_raw": "aloha_hdf5", + "lerobot-raw/unitreeh1_rearrange_objects_raw": "aloha_hdf5", + "lerobot-raw/unitreeh1_two_robot_greeting_raw": "aloha_hdf5", + "lerobot-raw/unitreeh1_warehouse_raw": "aloha_hdf5", + "lerobot-raw/xarm_lift_medium_raw": "xarm_pkl", + "lerobot-raw/xarm_lift_medium_replay_raw": "xarm_pkl", + "lerobot-raw/xarm_push_medium_raw": "xarm_pkl", + "lerobot-raw/xarm_push_medium_replay_raw": "xarm_pkl", +} def download_raw(raw_dir: Path, repo_id: str): - # Check repo_id is well formated - if len(repo_id.split("/")) != 2: - raise ValueError( - f"`repo_id` is expected to contain a community or user id `/` the name of the dataset (e.g. 'lerobot/pusht'), but contains '{repo_id}'." - ) + check_repo_id(repo_id) user_id, dataset_id = repo_id.split("/") if not dataset_id.endswith("_raw"): warnings.warn( - f"`dataset_id` ({dataset_id}) doesn't end with '_raw' (e.g. 'lerobot/pusht_raw'). Following this naming convention by renaming your repository is advised, but not mandatory.", + f"""`dataset_id` ({dataset_id}) doesn't end with '_raw' (e.g. 'lerobot/pusht_raw'). Following this + naming convention by renaming your repository is advised, but not mandatory.""", stacklevel=1, ) # Send warning if raw_dir isn't well formated if raw_dir.parts[-2] != user_id or raw_dir.parts[-1] != dataset_id: warnings.warn( - f"`raw_dir` ({raw_dir}) doesn't contain a community or user id `/` the name of the dataset that match the `repo_id` (e.g. 'data/lerobot/pusht_raw'). Following this naming convention is advised, but not mandatory.", + f"""`raw_dir` ({raw_dir}) doesn't contain a community or user id `/` the name of the dataset that + match the `repo_id` (e.g. 'data/lerobot/pusht_raw'). Following this naming convention is advised, + but not mandatory.""", stacklevel=1, ) raw_dir.mkdir(parents=True, exist_ok=True) @@ -97,8 +99,9 @@ def download_raw(raw_dir: Path, repo_id: str): logging.info(f"Finish downloading from huggingface.co/{user_id} for {dataset_id}") -def download_all_raw_datasets(): - data_dir = Path("data") +def download_all_raw_datasets(data_dir: Path | None = None): + if data_dir is None: + data_dir = Path("data") for repo_id in AVAILABLE_RAW_REPO_IDS: raw_dir = data_dir / repo_id download_raw(raw_dir, repo_id) @@ -106,7 +109,8 @@ def download_all_raw_datasets(): def main(): parser = argparse.ArgumentParser( - description=f"A script to download raw datasets from Hugging Face hub to a local directory. Here is a non exhaustive list of available repositories to use in `--repo-id`: {AVAILABLE_RAW_REPO_IDS}", + description=f"""A script to download raw datasets from Hugging Face hub to a local directory. Here is a + non exhaustive list of available repositories to use in `--repo-id`: {AVAILABLE_RAW_REPO_IDS}""", ) parser.add_argument( @@ -119,7 +123,8 @@ def main(): "--repo-id", type=str, required=True, - help="Repositery identifier on Hugging Face: a community or a user name `/` the name of the dataset (e.g. `lerobot/pusht_raw`, `cadene/aloha_sim_insertion_human_raw`).", + help="""Repositery identifier on Hugging Face: a community or a user name `/` the name of + the dataset (e.g. `lerobot/pusht_raw`, `cadene/aloha_sim_insertion_human_raw`).""", ) args = parser.parse_args() download_raw(**vars(args)) diff --git a/lerobot/common/datasets/push_dataset_to_hub/_encode_datasets.py b/lerobot/common/datasets/push_dataset_to_hub/_encode_datasets.py new file mode 100644 index 00000000..184d79fb --- /dev/null +++ b/lerobot/common/datasets/push_dataset_to_hub/_encode_datasets.py @@ -0,0 +1,184 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +""" +Use this script to batch encode lerobot dataset from their raw format to LeRobotDataset and push their updated +version to the hub. Under the hood, this script reuses 'push_dataset_to_hub.py'. It assumes that you already +downloaded raw datasets, which you can do with the related '_download_raw.py' script. + +For instance, for codebase_version = 'v1.6', the following command was run, assuming raw datasets from +lerobot-raw were downloaded in 'raw/datasets/directory': +```bash +python lerobot/common/datasets/push_dataset_to_hub/_encode_datasets.py \ + --raw-dir raw/datasets/directory \ + --raw-repo-ids lerobot-raw \ + --local-dir push/datasets/directory \ + --tests-data-dir tests/data \ + --push-repo lerobot \ + --vcodec libsvtav1 \ + --pix-fmt yuv420p \ + --g 2 \ + --crf 30 +``` +""" + +import argparse +from pathlib import Path + +from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION +from lerobot.common.datasets.push_dataset_to_hub._download_raw import AVAILABLE_RAW_REPO_IDS +from lerobot.common.datasets.push_dataset_to_hub.utils import check_repo_id +from lerobot.scripts.push_dataset_to_hub import push_dataset_to_hub + + +def get_push_repo_id_from_raw(raw_repo_id: str, push_repo: str) -> str: + dataset_id_raw = raw_repo_id.split("/")[1] + dataset_id = dataset_id_raw.removesuffix("_raw") + return f"{push_repo}/{dataset_id}" + + +def encode_datasets( + raw_dir: Path, + raw_repo_ids: list[str], + push_repo: str, + vcodec: str, + pix_fmt: str, + g: int, + crf: int, + local_dir: Path | None = None, + tests_data_dir: Path | None = None, + raw_format: str | None = None, + dry_run: bool = False, +) -> None: + if len(raw_repo_ids) == 1 and raw_repo_ids[0].lower() == "lerobot-raw": + raw_repo_ids_format = AVAILABLE_RAW_REPO_IDS + else: + if raw_format is None: + raise ValueError(raw_format) + raw_repo_ids_format = {id_: raw_format for id_ in raw_repo_ids} + + for raw_repo_id, repo_raw_format in raw_repo_ids_format.items(): + check_repo_id(raw_repo_id) + dataset_repo_id_push = get_push_repo_id_from_raw(raw_repo_id, push_repo) + dataset_raw_dir = raw_dir / raw_repo_id + dataset_dir = local_dir / dataset_repo_id_push if local_dir is not None else None + encoding = { + "vcodec": vcodec, + "pix_fmt": pix_fmt, + "g": g, + "crf": crf, + } + + if not (dataset_raw_dir).is_dir(): + raise NotADirectoryError(dataset_raw_dir) + + if not dry_run: + push_dataset_to_hub( + dataset_raw_dir, + raw_format=repo_raw_format, + repo_id=dataset_repo_id_push, + local_dir=dataset_dir, + resume=True, + encoding=encoding, + tests_data_dir=tests_data_dir, + ) + else: + print( + f"DRY RUN: {dataset_raw_dir} --> {dataset_dir} --> {dataset_repo_id_push}@{CODEBASE_VERSION}" + ) + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument( + "--raw-dir", + type=Path, + default=Path("data"), + help="Directory where raw datasets are located.", + ) + parser.add_argument( + "--raw-repo-ids", + type=str, + nargs="*", + default=["lerobot-raw"], + help="""Raw dataset repo ids. if 'lerobot-raw', the keys from `AVAILABLE_RAW_REPO_IDS` will be + used and raw datasets will be fetched from the 'lerobot-raw/' repo and pushed with their + associated format. It is assumed that each dataset is located at `raw_dir / raw_repo_id` """, + ) + parser.add_argument( + "--raw-format", + type=str, + default=None, + help="""Raw format to use for the raw repo-ids. Must be specified if --raw-repo-ids is not + 'lerobot-raw'""", + ) + parser.add_argument( + "--local-dir", + type=Path, + default=None, + help="""When provided, writes the dataset converted to LeRobotDataset format in this directory + (e.g. `data/lerobot/aloha_mobile_chair`).""", + ) + parser.add_argument( + "--push-repo", + type=str, + default="lerobot", + help="Repo to upload datasets to", + ) + parser.add_argument( + "--vcodec", + type=str, + default="libsvtav1", + help="Codec to use for encoding videos", + ) + parser.add_argument( + "--pix-fmt", + type=str, + default="yuv420p", + help="Pixel formats (chroma subsampling) to be used for encoding", + ) + parser.add_argument( + "--g", + type=int, + default=2, + help="Group of pictures sizes to be used for encoding.", + ) + parser.add_argument( + "--crf", + type=int, + default=30, + help="Constant rate factors to be used for encoding.", + ) + parser.add_argument( + "--tests-data-dir", + type=Path, + default=None, + help=( + "When provided, save tests artifacts into the given directory " + "(e.g. `--tests-data-dir tests/data` will save to tests/data/{--repo-id})." + ), + ) + parser.add_argument( + "--dry-run", + type=int, + default=0, + help="If not set to 0, this script won't download or upload anything.", + ) + args = parser.parse_args() + encode_datasets(**vars(args)) + + +if __name__ == "__main__": + main() diff --git a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py index 24873ca2..52c4bba3 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py @@ -29,7 +29,11 @@ from datasets import Dataset, Features, Image, Sequence, Value from PIL import Image as PILImage from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION -from lerobot.common.datasets.push_dataset_to_hub.utils import concatenate_episodes, save_images_concurrently +from lerobot.common.datasets.push_dataset_to_hub.utils import ( + concatenate_episodes, + get_default_encoding, + save_images_concurrently, +) from lerobot.common.datasets.utils import ( calculate_episode_data_index, hf_transform_to_torch, @@ -72,7 +76,14 @@ def check_format(raw_dir) -> bool: assert c < h and c < w, f"Expect (h,w,c) image format but ({h=},{w=},{c=}) provided." -def load_from_raw(raw_dir: Path, videos_dir: Path, fps: int, video: bool, episodes: list[int] | None = None): +def load_from_raw( + raw_dir: Path, + videos_dir: Path, + fps: int, + video: bool, + episodes: list[int] | None = None, + encoding: dict | None = None, +): # only frames from simulation are uncompressed compressed_images = "sim" not in raw_dir.name @@ -123,7 +134,7 @@ def load_from_raw(raw_dir: Path, videos_dir: Path, fps: int, video: bool, episod # encode images to a mp4 video fname = f"{img_key}_episode_{ep_idx:06d}.mp4" video_path = videos_dir / fname - encode_video_frames(tmp_imgs_dir, video_path, fps) + encode_video_frames(tmp_imgs_dir, video_path, fps, **(encoding or {})) # clean temporary images directory shutil.rmtree(tmp_imgs_dir) @@ -200,6 +211,7 @@ def from_raw_to_lerobot_format( fps: int | None = None, video: bool = True, episodes: list[int] | None = None, + encoding: dict | None = None, ): # sanity check check_format(raw_dir) @@ -207,7 +219,7 @@ def from_raw_to_lerobot_format( if fps is None: fps = 50 - data_dict = load_from_raw(raw_dir, videos_dir, fps, video, episodes) + data_dict = load_from_raw(raw_dir, videos_dir, fps, video, episodes, encoding) hf_dataset = to_hf_dataset(data_dict, video) episode_data_index = calculate_episode_data_index(hf_dataset) info = { @@ -215,4 +227,7 @@ def from_raw_to_lerobot_format( "fps": fps, "video": video, } + if video: + info["encoding"] = get_default_encoding() + return hf_dataset, episode_data_index, info diff --git a/lerobot/common/datasets/push_dataset_to_hub/cam_png_format.py b/lerobot/common/datasets/push_dataset_to_hub/cam_png_format.py index 52eabd99..be20c92c 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/cam_png_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/cam_png_format.py @@ -81,8 +81,9 @@ def from_raw_to_lerobot_format( fps: int | None = None, video: bool = True, episodes: list[int] | None = None, + encoding: dict | None = None, ): - if video or episodes is not None: + if video or episodes or encoding is not None: # TODO(aliberts): support this raise NotImplementedError diff --git a/lerobot/common/datasets/push_dataset_to_hub/dora_parquet_format.py b/lerobot/common/datasets/push_dataset_to_hub/dora_parquet_format.py index 832f3af2..72be130e 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/dora_parquet_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/dora_parquet_format.py @@ -18,6 +18,7 @@ Contains utilities to process raw data format from dora-record """ import re +import warnings from pathlib import Path import pandas as pd @@ -199,6 +200,7 @@ def from_raw_to_lerobot_format( fps: int | None = None, video: bool = True, episodes: list[int] | None = None, + encoding: dict | None = None, ): # sanity check check_format(raw_dir) @@ -211,6 +213,12 @@ def from_raw_to_lerobot_format( if not video: raise NotImplementedError() + if encoding is not None: + warnings.warn( + "Video encoding is currently done outside of LeRobot for the dora_parquet format.", + stacklevel=1, + ) + data_df = load_from_raw(raw_dir, videos_dir, fps, episodes) hf_dataset = to_hf_dataset(data_df, video) episode_data_index = calculate_episode_data_index(hf_dataset) @@ -219,4 +227,7 @@ def from_raw_to_lerobot_format( "fps": fps, "video": video, } + if video: + info["encoding"] = "unknown" + return hf_dataset, episode_data_index, info diff --git a/lerobot/common/datasets/push_dataset_to_hub/pusht_zarr_format.py b/lerobot/common/datasets/push_dataset_to_hub/pusht_zarr_format.py index 54043eee..13d6c837 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/pusht_zarr_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/pusht_zarr_format.py @@ -26,7 +26,11 @@ from datasets import Dataset, Features, Image, Sequence, Value from PIL import Image as PILImage from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION -from lerobot.common.datasets.push_dataset_to_hub.utils import concatenate_episodes, save_images_concurrently +from lerobot.common.datasets.push_dataset_to_hub.utils import ( + concatenate_episodes, + get_default_encoding, + save_images_concurrently, +) from lerobot.common.datasets.utils import ( calculate_episode_data_index, hf_transform_to_torch, @@ -62,6 +66,7 @@ def load_from_raw( video: bool, episodes: list[int] | None = None, keypoints_instead_of_image: bool = False, + encoding: dict | None = None, ): try: import pymunk @@ -172,7 +177,7 @@ def load_from_raw( # encode images to a mp4 video fname = f"{img_key}_episode_{ep_idx:06d}.mp4" video_path = videos_dir / fname - encode_video_frames(tmp_imgs_dir, video_path, fps) + encode_video_frames(tmp_imgs_dir, video_path, fps, **(encoding or {})) # clean temporary images directory shutil.rmtree(tmp_imgs_dir) @@ -244,6 +249,7 @@ def from_raw_to_lerobot_format( fps: int | None = None, video: bool = True, episodes: list[int] | None = None, + encoding: dict | None = None, ): # Manually change this to True to use keypoints of the T instead of an image observation (but don't merge # with True). Also make sure to use video = 0 in the `push_dataset_to_hub.py` script. @@ -255,7 +261,7 @@ def from_raw_to_lerobot_format( if fps is None: fps = 10 - data_dict = load_from_raw(raw_dir, videos_dir, fps, video, episodes, keypoints_instead_of_image) + data_dict = load_from_raw(raw_dir, videos_dir, fps, video, episodes, keypoints_instead_of_image, encoding) hf_dataset = to_hf_dataset(data_dict, video, keypoints_instead_of_image) episode_data_index = calculate_episode_data_index(hf_dataset) info = { @@ -263,4 +269,7 @@ def from_raw_to_lerobot_format( "fps": fps, "video": video if not keypoints_instead_of_image else 0, } + if video: + info["encoding"] = get_default_encoding() + return hf_dataset, episode_data_index, info diff --git a/lerobot/common/datasets/push_dataset_to_hub/umi_zarr_format.py b/lerobot/common/datasets/push_dataset_to_hub/umi_zarr_format.py index f9ac849c..d724cf33 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/umi_zarr_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/umi_zarr_format.py @@ -27,7 +27,11 @@ from PIL import Image as PILImage from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION from lerobot.common.datasets.push_dataset_to_hub._umi_imagecodecs_numcodecs import register_codecs -from lerobot.common.datasets.push_dataset_to_hub.utils import concatenate_episodes, save_images_concurrently +from lerobot.common.datasets.push_dataset_to_hub.utils import ( + concatenate_episodes, + get_default_encoding, + save_images_concurrently, +) from lerobot.common.datasets.utils import ( calculate_episode_data_index, hf_transform_to_torch, @@ -60,7 +64,14 @@ def check_format(raw_dir) -> bool: assert all(nb_frames == zarr_data[dataset].shape[0] for dataset in required_datasets) -def load_from_raw(raw_dir: Path, videos_dir: Path, fps: int, video: bool, episodes: list[int] | None = None): +def load_from_raw( + raw_dir: Path, + videos_dir: Path, + fps: int, + video: bool, + episodes: list[int] | None = None, + encoding: dict | None = None, +): zarr_path = raw_dir / "cup_in_the_wild.zarr" zarr_data = zarr.open(zarr_path, mode="r") @@ -88,49 +99,61 @@ def load_from_raw(raw_dir: Path, videos_dir: Path, fps: int, video: bool, episod to_ids.append(to_idx) from_idx = to_idx + ep_dicts_dir = videos_dir / "ep_dicts" + ep_dicts_dir.mkdir(exist_ok=True, parents=True) ep_dicts = [] + ep_ids = episodes if episodes else range(num_episodes) for ep_idx, selected_ep_idx in tqdm.tqdm(enumerate(ep_ids)): - from_idx = from_ids[selected_ep_idx] - to_idx = to_ids[selected_ep_idx] - num_frames = to_idx - from_idx + ep_dict_path = ep_dicts_dir / f"{ep_idx}" + if not ep_dict_path.is_file(): + from_idx = from_ids[selected_ep_idx] + to_idx = to_ids[selected_ep_idx] + num_frames = to_idx - from_idx - # TODO(rcadene): save temporary images of the episode? + # TODO(rcadene): save temporary images of the episode? - state = states[from_idx:to_idx] + state = states[from_idx:to_idx] - ep_dict = {} + ep_dict = {} - # load 57MB of images in RAM (400x224x224x3 uint8) - imgs_array = zarr_data["data/camera0_rgb"][from_idx:to_idx] - img_key = "observation.image" - if video: - # save png images in temporary directory - tmp_imgs_dir = videos_dir / "tmp_images" - save_images_concurrently(imgs_array, tmp_imgs_dir) + # load 57MB of images in RAM (400x224x224x3 uint8) + imgs_array = zarr_data["data/camera0_rgb"][from_idx:to_idx] + img_key = "observation.image" + if video: + fname = f"{img_key}_episode_{ep_idx:06d}.mp4" + video_path = videos_dir / fname + if not video_path.is_file(): + # save png images in temporary directory + tmp_imgs_dir = videos_dir / "tmp_images" + save_images_concurrently(imgs_array, tmp_imgs_dir) - # encode images to a mp4 video - fname = f"{img_key}_episode_{ep_idx:06d}.mp4" - video_path = videos_dir / fname - encode_video_frames(tmp_imgs_dir, video_path, fps) + # encode images to a mp4 video + encode_video_frames(tmp_imgs_dir, video_path, fps, **(encoding or {})) - # clean temporary images directory - shutil.rmtree(tmp_imgs_dir) + # clean temporary images directory + shutil.rmtree(tmp_imgs_dir) - # store the reference to the video frame - ep_dict[img_key] = [{"path": f"videos/{fname}", "timestamp": i / fps} for i in range(num_frames)] + # store the reference to the video frame + ep_dict[img_key] = [ + {"path": f"videos/{fname}", "timestamp": i / fps} for i in range(num_frames) + ] + else: + ep_dict[img_key] = [PILImage.fromarray(x) for x in imgs_array] + + ep_dict["observation.state"] = state + ep_dict["episode_index"] = torch.tensor([ep_idx] * num_frames, dtype=torch.int64) + ep_dict["frame_index"] = torch.arange(0, num_frames, 1) + ep_dict["timestamp"] = torch.arange(0, num_frames, 1) / fps + ep_dict["episode_data_index_from"] = torch.tensor([from_idx] * num_frames) + ep_dict["episode_data_index_to"] = torch.tensor([from_idx + num_frames] * num_frames) + ep_dict["end_pose"] = end_pose[from_idx:to_idx] + ep_dict["start_pos"] = start_pos[from_idx:to_idx] + ep_dict["gripper_width"] = gripper_width[from_idx:to_idx] + torch.save(ep_dict, ep_dict_path) else: - ep_dict[img_key] = [PILImage.fromarray(x) for x in imgs_array] + ep_dict = torch.load(ep_dict_path) - ep_dict["observation.state"] = state - ep_dict["episode_index"] = torch.tensor([ep_idx] * num_frames, dtype=torch.int64) - ep_dict["frame_index"] = torch.arange(0, num_frames, 1) - ep_dict["timestamp"] = torch.arange(0, num_frames, 1) / fps - ep_dict["episode_data_index_from"] = torch.tensor([from_idx] * num_frames) - ep_dict["episode_data_index_to"] = torch.tensor([from_idx + num_frames] * num_frames) - ep_dict["end_pose"] = end_pose[from_idx:to_idx] - ep_dict["start_pos"] = start_pos[from_idx:to_idx] - ep_dict["gripper_width"] = gripper_width[from_idx:to_idx] ep_dicts.append(ep_dict) data_dict = concatenate_episodes(ep_dicts) @@ -183,6 +206,7 @@ def from_raw_to_lerobot_format( fps: int | None = None, video: bool = True, episodes: list[int] | None = None, + encoding: dict | None = None, ): # sanity check check_format(raw_dir) @@ -196,7 +220,7 @@ def from_raw_to_lerobot_format( "Generating UMI dataset without `video=True` creates ~150GB on disk and requires ~80GB in RAM." ) - data_dict = load_from_raw(raw_dir, videos_dir, fps, video, episodes) + data_dict = load_from_raw(raw_dir, videos_dir, fps, video, episodes, encoding) hf_dataset = to_hf_dataset(data_dict, video) episode_data_index = calculate_episode_data_index(hf_dataset) info = { @@ -204,4 +228,7 @@ def from_raw_to_lerobot_format( "fps": fps, "video": video, } + if video: + info["encoding"] = get_default_encoding() + return hf_dataset, episode_data_index, info diff --git a/lerobot/common/datasets/push_dataset_to_hub/utils.py b/lerobot/common/datasets/push_dataset_to_hub/utils.py index 4feb1dcf..97b54e45 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/utils.py +++ b/lerobot/common/datasets/push_dataset_to_hub/utils.py @@ -13,6 +13,7 @@ # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. +import inspect from concurrent.futures import ThreadPoolExecutor from pathlib import Path @@ -20,6 +21,8 @@ import numpy import PIL import torch +from lerobot.common.datasets.video_utils import encode_video_frames + def concatenate_episodes(ep_dicts): data_dict = {} @@ -51,3 +54,21 @@ def save_images_concurrently(imgs_array: numpy.array, out_dir: Path, max_workers num_images = len(imgs_array) with ThreadPoolExecutor(max_workers=max_workers) as executor: [executor.submit(save_image, imgs_array[i], i, out_dir) for i in range(num_images)] + + +def get_default_encoding() -> dict: + """Returns the default ffmpeg encoding parameters used by `encode_video_frames`.""" + signature = inspect.signature(encode_video_frames) + return { + k: v.default + for k, v in signature.parameters.items() + if v.default is not inspect.Parameter.empty and k in ["vcodec", "pix_fmt", "g", "crf"] + } + + +def check_repo_id(repo_id: str) -> None: + if len(repo_id.split("/")) != 2: + raise ValueError( + f"""`repo_id` is expected to contain a community or user id `/` the name of the dataset + (e.g. 'lerobot/pusht'), but contains '{repo_id}'.""" + ) diff --git a/lerobot/common/datasets/push_dataset_to_hub/xarm_pkl_format.py b/lerobot/common/datasets/push_dataset_to_hub/xarm_pkl_format.py index d6ffbea1..ad1cb560 100644 --- a/lerobot/common/datasets/push_dataset_to_hub/xarm_pkl_format.py +++ b/lerobot/common/datasets/push_dataset_to_hub/xarm_pkl_format.py @@ -26,7 +26,11 @@ from datasets import Dataset, Features, Image, Sequence, Value from PIL import Image as PILImage from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION -from lerobot.common.datasets.push_dataset_to_hub.utils import concatenate_episodes, save_images_concurrently +from lerobot.common.datasets.push_dataset_to_hub.utils import ( + concatenate_episodes, + get_default_encoding, + save_images_concurrently, +) from lerobot.common.datasets.utils import ( calculate_episode_data_index, hf_transform_to_torch, @@ -56,7 +60,14 @@ def check_format(raw_dir): assert all(len(nested_dict[subkey]) == expected_len for subkey in subkeys if subkey in nested_dict) -def load_from_raw(raw_dir: Path, videos_dir: Path, fps: int, video: bool, episodes: list[int] | None = None): +def load_from_raw( + raw_dir: Path, + videos_dir: Path, + fps: int, + video: bool, + episodes: list[int] | None = None, + encoding: dict | None = None, +): pkl_path = raw_dir / "buffer.pkl" with open(pkl_path, "rb") as f: @@ -105,7 +116,7 @@ def load_from_raw(raw_dir: Path, videos_dir: Path, fps: int, video: bool, episod # encode images to a mp4 video fname = f"{img_key}_episode_{ep_idx:06d}.mp4" video_path = videos_dir / fname - encode_video_frames(tmp_imgs_dir, video_path, fps) + encode_video_frames(tmp_imgs_dir, video_path, fps, **(encoding or {})) # clean temporary images directory shutil.rmtree(tmp_imgs_dir) @@ -167,6 +178,7 @@ def from_raw_to_lerobot_format( fps: int | None = None, video: bool = True, episodes: list[int] | None = None, + encoding: dict | None = None, ): # sanity check check_format(raw_dir) @@ -174,7 +186,7 @@ def from_raw_to_lerobot_format( if fps is None: fps = 15 - data_dict = load_from_raw(raw_dir, videos_dir, fps, video, episodes) + data_dict = load_from_raw(raw_dir, videos_dir, fps, video, episodes, encoding) hf_dataset = to_hf_dataset(data_dict, video) episode_data_index = calculate_episode_data_index(hf_dataset) info = { @@ -182,4 +194,7 @@ def from_raw_to_lerobot_format( "fps": fps, "video": video, } + if video: + info["encoding"] = get_default_encoding() + return hf_dataset, episode_data_index, info diff --git a/lerobot/common/datasets/video_utils.py b/lerobot/common/datasets/video_utils.py index bcc29481..d2cc5f83 100644 --- a/lerobot/common/datasets/video_utils.py +++ b/lerobot/common/datasets/video_utils.py @@ -166,10 +166,10 @@ def encode_video_frames( imgs_dir: Path, video_path: Path, fps: int, - video_codec: str = "libsvtav1", - pixel_format: str = "yuv420p", - group_of_pictures_size: int | None = 2, - constant_rate_factor: int | None = 30, + vcodec: str = "libsvtav1", + pix_fmt: str = "yuv420p", + g: int | None = 2, + crf: int | None = 30, fast_decode: int = 0, log_level: str | None = "error", overwrite: bool = False, @@ -183,20 +183,20 @@ def encode_video_frames( ("-f", "image2"), ("-r", str(fps)), ("-i", str(imgs_dir / "frame_%06d.png")), - ("-vcodec", video_codec), - ("-pix_fmt", pixel_format), + ("-vcodec", vcodec), + ("-pix_fmt", pix_fmt), ] ) - if group_of_pictures_size is not None: - ffmpeg_args["-g"] = str(group_of_pictures_size) + if g is not None: + ffmpeg_args["-g"] = str(g) - if constant_rate_factor is not None: - ffmpeg_args["-crf"] = str(constant_rate_factor) + if crf is not None: + ffmpeg_args["-crf"] = str(crf) if fast_decode: - key = "-svtav1-params" if video_codec == "libsvtav1" else "-tune" - value = f"fast-decode={fast_decode}" if video_codec == "libsvtav1" else "fastdecode" + key = "-svtav1-params" if vcodec == "libsvtav1" else "-tune" + value = f"fast-decode={fast_decode}" if vcodec == "libsvtav1" else "fastdecode" ffmpeg_args[key] = value if log_level is not None: diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py index 98d04d3f..078e3067 100644 --- a/lerobot/scripts/control_robot.py +++ b/lerobot/scripts/control_robot.py @@ -101,7 +101,7 @@ from termcolor import colored from lerobot.common.datasets.compute_stats import compute_stats from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset from lerobot.common.datasets.push_dataset_to_hub.aloha_hdf5_format import to_hf_dataset -from lerobot.common.datasets.push_dataset_to_hub.utils import concatenate_episodes +from lerobot.common.datasets.push_dataset_to_hub.utils import concatenate_episodes, get_default_encoding from lerobot.common.datasets.utils import calculate_episode_data_index from lerobot.common.datasets.video_utils import encode_video_frames from lerobot.common.policies.factory import make_policy @@ -479,6 +479,8 @@ def record_dataset( "fps": fps, "video": video, } + if video: + info["encoding"] = get_default_encoding() lerobot_dataset = LeRobotDataset.from_preloaded( repo_id=repo_id, diff --git a/lerobot/scripts/push_dataset_to_hub.py b/lerobot/scripts/push_dataset_to_hub.py index ce1a06f7..7969b61e 100644 --- a/lerobot/scripts/push_dataset_to_hub.py +++ b/lerobot/scripts/push_dataset_to_hub.py @@ -55,6 +55,7 @@ from safetensors.torch import save_file from lerobot.common.datasets.compute_stats import compute_stats from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset +from lerobot.common.datasets.push_dataset_to_hub.utils import check_repo_id from lerobot.common.datasets.utils import flatten_dict @@ -140,14 +141,12 @@ def push_dataset_to_hub( num_workers: int = 8, episodes: list[int] | None = None, force_override: bool = False, + resume: bool = False, cache_dir: Path = Path("/tmp"), tests_data_dir: Path | None = None, + encoding: dict | None = None, ): - # Check repo_id is well formated - if len(repo_id.split("/")) != 2: - raise ValueError( - f"`repo_id` is expected to contain a community or user id `/` the name of the dataset (e.g. 'lerobot/pusht'), but instead contains '{repo_id}'." - ) + check_repo_id(repo_id) user_id, dataset_id = repo_id.split("/") # Robustify when `raw_dir` is str instead of Path @@ -173,7 +172,7 @@ def push_dataset_to_hub( if local_dir.exists(): if force_override: shutil.rmtree(local_dir) - else: + elif not resume: raise ValueError(f"`local_dir` already exists ({local_dir}). Use `--force-override 1`.") meta_data_dir = local_dir / "meta_data" @@ -191,7 +190,7 @@ def push_dataset_to_hub( # convert dataset from original raw format to LeRobot format from_raw_to_lerobot_format = get_from_raw_to_lerobot_format_fn(raw_format) hf_dataset, episode_data_index, info = from_raw_to_lerobot_format( - raw_dir, videos_dir, fps, video, episodes + raw_dir, videos_dir, fps, video, episodes, encoding ) lerobot_dataset = LeRobotDataset.from_preloaded( @@ -315,6 +314,12 @@ def main(): default=0, help="When set to 1, removes provided output directory if it already exists. By default, raises a ValueError exception.", ) + parser.add_argument( + "--resume", + type=int, + default=0, + help="When set to 1, resumes a previous run.", + ) parser.add_argument( "--tests-data-dir", type=Path, diff --git a/poetry.lock b/poetry.lock index 51dd7385..ae500299 100644 --- a/poetry.lock +++ b/poetry.lock @@ -3212,23 +3212,6 @@ pytest = ">=4.6" [package.extras] testing = ["fields", "hunter", "process-tests", "pytest-xdist", "virtualenv"] -[[package]] -name = "pytest-mock" -version = "3.14.0" -description = "Thin-wrapper around the mock package for easier use with pytest" -optional = true -python-versions = ">=3.8" -files = [ - {file = "pytest-mock-3.14.0.tar.gz", hash = "sha256:2719255a1efeceadbc056d6bf3df3d1c5015530fb40cf347c0f9afac88410bd0"}, - {file = "pytest_mock-3.14.0-py3-none-any.whl", hash = "sha256:0b72c38033392a5f4621342fe11e9219ac11ec9d375f8e2a0c164539e0d70f6f"}, -] - -[package.dependencies] -pytest = ">=6.2.5" - -[package.extras] -dev = ["pre-commit", "pytest-asyncio", "tox"] - [[package]] name = "python-dateutil" version = "2.9.0.post0" @@ -4494,7 +4477,7 @@ dev = ["debugpy", "pre-commit"] dora = ["gym-dora"] koch = ["dynamixel-sdk", "pynput"] pusht = ["gym-pusht"] -test = ["pytest", "pytest-cov", "pytest-mock"] +test = ["pytest", "pytest-cov"] umi = ["imagecodecs"] video-benchmark = ["pandas", "scikit-image"] xarm = ["gym-xarm"] @@ -4502,4 +4485,4 @@ xarm = ["gym-xarm"] [metadata] lock-version = "2.0" python-versions = ">=3.10,<3.13" -content-hash = "882b44dada0890dd4e1c727d3363d95cbe1a4adf1d80aa5263080597d80be42c" +content-hash = "dfe9c6a54e0382156e62e7bd2c7aab1be6372da76d30c61b06d27232276638cb" diff --git a/pyproject.toml b/pyproject.toml index 706bcb7e..787984a0 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -62,7 +62,6 @@ rerun-sdk = ">=0.15.1" deepdiff = ">=7.0.1" scikit-image = {version = ">=0.23.2", optional = true} pandas = {version = ">=2.2.2", optional = true} -pytest-mock = {version = ">=3.14.0", optional = true} dynamixel-sdk = {version = ">=3.7.31", optional = true} pynput = {version = ">=1.7.7", optional = true} @@ -74,7 +73,7 @@ pusht = ["gym-pusht"] xarm = ["gym-xarm"] aloha = ["gym-aloha"] dev = ["pre-commit", "debugpy"] -test = ["pytest", "pytest-cov", "pytest-mock"] +test = ["pytest", "pytest-cov"] umi = ["imagecodecs"] video_benchmark = ["scikit-image", "pandas"] koch = ["dynamixel-sdk", "pynput"] @@ -110,7 +109,6 @@ exclude = [ [tool.ruff.lint] select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"] -ignore-init-module-imports = true [build-system] diff --git a/tests/data/lerobot/aloha_mobile_cabinet/meta_data/episode_data_index.safetensors b/tests/data/lerobot/aloha_mobile_cabinet/meta_data/episode_data_index.safetensors index 767dadb0..2a11302f 100644 --- a/tests/data/lerobot/aloha_mobile_cabinet/meta_data/episode_data_index.safetensors +++ b/tests/data/lerobot/aloha_mobile_cabinet/meta_data/episode_data_index.safetensors @@ -1,3 +1,3 @@ version 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sha256:071a6465638e35f31fb24eba1095546ee608fadf91d53b0aa87310fe3adbba35 +oid sha256:9ff50ee7b750022e17d867ff20307259da8d99a48fff440499e8ca9b4cf42a4a size 36312 diff --git a/tests/scripts/save_dataset_to_safetensors.py b/tests/scripts/save_dataset_to_safetensors.py index 4aa8131f..36707bd0 100644 --- a/tests/scripts/save_dataset_to_safetensors.py +++ b/tests/scripts/save_dataset_to_safetensors.py @@ -31,7 +31,6 @@ from pathlib import Path from safetensors.torch import save_file -from lerobot import available_datasets from lerobot.common.datasets.lerobot_dataset import LeRobotDataset @@ -81,5 +80,9 @@ def save_dataset_to_safetensors(output_dir, repo_id="lerobot/pusht"): if __name__ == "__main__": - for dataset in available_datasets: + for dataset in [ + "lerobot/pusht", + "lerobot/aloha_sim_insertion_human", + "lerobot/xarm_lift_medium", + ]: save_dataset_to_safetensors("tests/data/save_dataset_to_safetensors", repo_id=dataset) diff --git a/tests/scripts/save_policy_to_safetensors.py b/tests/scripts/save_policy_to_safetensors.py index 67308bb3..52c1c520 100644 --- a/tests/scripts/save_policy_to_safetensors.py +++ b/tests/scripts/save_policy_to_safetensors.py @@ -119,9 +119,10 @@ if __name__ == "__main__": # ], # "", # ), + # ("aloha", "act", ["policy.n_action_steps=10"], ""), # ("aloha", "act", ["policy.n_action_steps=1000", "policy.chunk_size=1000"], "_1000_steps"), - # ("dora_aloha_real", "act_real", ["policy.n_action_steps=10"]), - # ("dora_aloha_real", "act_real_no_state", ["policy.n_action_steps=10"]), + # ("dora_aloha_real", "act_real", ["policy.n_action_steps=10"], ""), + # ("dora_aloha_real", "act_real_no_state", ["policy.n_action_steps=10"], ""), ] if len(env_policies) == 0: raise RuntimeError("No policies were provided!") diff --git a/tests/test_push_dataset_to_hub.py b/tests/test_push_dataset_to_hub.py index df46e005..f6725f87 100644 --- a/tests/test_push_dataset_to_hub.py +++ b/tests/test_push_dataset_to_hub.py @@ -211,7 +211,7 @@ def _mock_download_raw_dora(raw_dir, num_frames=6, num_episodes=3, fps=30): fname = f"{cam_key}_episode_{ep_idx:06d}.mp4" video_path = raw_dir / "videos" / fname - encode_video_frames(tmp_imgs_dir, video_path, fps, video_codec="libx264") + encode_video_frames(tmp_imgs_dir, video_path, fps, vcodec="libx264") def _mock_download_raw(raw_dir, repo_id): @@ -229,23 +229,6 @@ def _mock_download_raw(raw_dir, repo_id): raise ValueError(repo_id) -def _mock_encode_video_frames(*args, **kwargs): - kwargs["video_codec"] = "libx264" - return encode_video_frames(*args, **kwargs) - - -def patch_encoder(raw_format, mocker): - format_module_map = { - "aloha_hdf5": "lerobot.common.datasets.push_dataset_to_hub.aloha_hdf5_format.encode_video_frames", - "pusht_zarr": "lerobot.common.datasets.push_dataset_to_hub.pusht_zarr_format.encode_video_frames", - "xarm_pkl": "lerobot.common.datasets.push_dataset_to_hub.xarm_pkl_format.encode_video_frames", - "umi_zarr": "lerobot.common.datasets.push_dataset_to_hub.umi_zarr_format.encode_video_frames", - } - - if raw_format in format_module_map: - mocker.patch(format_module_map[raw_format], side_effect=_mock_encode_video_frames) - - def test_push_dataset_to_hub_invalid_repo_id(tmpdir): with pytest.raises(ValueError): push_dataset_to_hub(Path(tmpdir), "raw_format", "invalid_repo_id") @@ -279,10 +262,7 @@ def test_push_dataset_to_hub_out_dir_force_override_false(tmpdir): ], ) @require_package_arg -def test_push_dataset_to_hub_format(required_packages, tmpdir, raw_format, repo_id, make_test_data, mocker): - # Patch `encode_video_frames` so that it uses 'libx264' instead of 'libsvtav1' for testing - patch_encoder(raw_format, mocker) - +def test_push_dataset_to_hub_format(required_packages, tmpdir, raw_format, repo_id, make_test_data): num_episodes = 3 tmpdir = Path(tmpdir) @@ -300,6 +280,7 @@ def test_push_dataset_to_hub_format(required_packages, tmpdir, raw_format, repo_ force_override=False, cache_dir=tmpdir / "cache", tests_data_dir=tmpdir / "tests/data" if make_test_data else None, + encoding={"vcodec": "libx264"}, ) # minimal generic tests on the local directory containing LeRobotDataset