WIP
Add hf-transfer, num_workers 8 gc collect, rmtree save_to_disk False Track .safetensors in git lfs run save_dataset_to_safetensors on all datasets Update datasets Update download_raw
This commit is contained in:
Remi Cadene
parent
4d7d41cdee
commit
1d9433b411
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@ -1,2 +1,3 @@
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*.memmap filter=lfs diff=lfs merge=lfs -text
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*.stl filter=lfs diff=lfs merge=lfs -text
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*.safetensors filter=lfs diff=lfs merge=lfs -text
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@ -8,7 +8,7 @@ ARG DEBIAN_FRONTEND=noninteractive
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RUN apt-get update && apt-get install -y --no-install-recommends \
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build-essential cmake \
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git git-lfs openssh-client \
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nano vim \
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nano vim ffmpeg \
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htop atop nvtop \
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sed gawk grep curl wget \
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tcpdump sysstat screen \
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@ -61,13 +61,21 @@ available_datasets_per_env = {
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"lerobot/aloha_sim_insertion_scripted",
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"lerobot/aloha_sim_transfer_cube_human",
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"lerobot/aloha_sim_transfer_cube_scripted",
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"lerobot/aloha_sim_insertion_human_image",
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"lerobot/aloha_sim_insertion_scripted_image",
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"lerobot/aloha_sim_transfer_cube_human_image",
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"lerobot/aloha_sim_transfer_cube_scripted_image",
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],
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"pusht": ["lerobot/pusht"],
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"pusht": ["lerobot/pusht", "lerobot/pusht_image"],
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"xarm": [
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"lerobot/xarm_lift_medium",
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"lerobot/xarm_lift_medium_replay",
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"lerobot/xarm_push_medium",
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"lerobot/xarm_push_medium_replay",
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"lerobot/xarm_lift_medium_image",
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"lerobot/xarm_lift_medium_replay_image",
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"lerobot/xarm_push_medium_image",
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"lerobot/xarm_push_medium_replay_image",
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],
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}
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@ -30,7 +30,7 @@ from lerobot.common.datasets.utils import (
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from lerobot.common.datasets.video_utils import VideoFrame, load_from_videos
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DATA_DIR = Path(os.environ["DATA_DIR"]) if "DATA_DIR" in os.environ else None
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CODEBASE_VERSION = "v1.3"
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CODEBASE_VERSION = "v1.4"
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class LeRobotDataset(torch.utils.data.Dataset):
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@ -24,17 +24,16 @@ import shutil
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from pathlib import Path
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import tqdm
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ALOHA_RAW_URLS_DIR = "lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls"
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from huggingface_hub import snapshot_download
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def download_raw(raw_dir, dataset_id):
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if "pusht" in dataset_id:
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if "aloha" in dataset_id or "image" in dataset_id:
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download_hub(raw_dir, dataset_id)
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elif "pusht" in dataset_id:
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download_pusht(raw_dir)
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elif "xarm" in dataset_id:
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download_xarm(raw_dir)
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elif "aloha" in dataset_id:
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download_aloha(raw_dir, dataset_id)
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elif "umi" in dataset_id:
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download_umi(raw_dir)
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else:
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@ -103,37 +102,13 @@ def download_xarm(raw_dir: Path):
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zip_path.unlink()
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def download_aloha(raw_dir: Path, dataset_id: str):
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import gdown
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subset_id = dataset_id.replace("aloha_", "")
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urls_path = Path(ALOHA_RAW_URLS_DIR) / f"{subset_id}.txt"
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assert urls_path.exists(), f"{subset_id}.txt not found in '{ALOHA_RAW_URLS_DIR}' directory."
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with open(urls_path) as f:
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# strip lines and ignore empty lines
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urls = [url.strip() for url in f if url.strip()]
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# sanity check
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for url in urls:
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assert (
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"drive.google.com/drive/folders" in url or "drive.google.com/file" in url
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), f"Wrong url provided '{url}' in file '{urls_path}'."
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def download_hub(raw_dir: Path, dataset_id: str):
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raw_dir = Path(raw_dir)
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raw_dir.mkdir(parents=True, exist_ok=True)
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logging.info(f"Start downloading from google drive for {dataset_id}")
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for url in urls:
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if "drive.google.com/drive/folders" in url:
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# when a folder url is given, download up to 50 files from the folder
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gdown.download_folder(url, output=str(raw_dir), remaining_ok=True)
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elif "drive.google.com/file" in url:
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# because of the 50 files limit per folder, we download the remaining files (file by file)
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gdown.download(url, output=str(raw_dir), fuzzy=True)
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logging.info(f"End downloading from google drive for {dataset_id}")
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logging.info(f"Start downloading from huggingface.co/cadene for {dataset_id}")
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snapshot_download(f"cadene/{dataset_id}_raw", repo_type="dataset", local_dir=raw_dir)
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logging.info(f"Finish downloading from huggingface.co/cadene for {dataset_id}")
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def download_umi(raw_dir: Path):
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@ -148,21 +123,30 @@ def download_umi(raw_dir: Path):
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if __name__ == "__main__":
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data_dir = Path("data")
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dataset_ids = [
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"pusht_image",
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"xarm_lift_medium_image",
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"xarm_lift_medium_replay_image",
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"xarm_push_medium_image",
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"xarm_push_medium_replay_image",
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"aloha_sim_insertion_human_image",
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"aloha_sim_insertion_scripted_image",
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"aloha_sim_transfer_cube_human_image",
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"aloha_sim_transfer_cube_scripted_image",
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"pusht",
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"xarm_lift_medium",
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"xarm_lift_medium_replay",
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"xarm_push_medium",
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"xarm_push_medium_replay",
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"aloha_sim_insertion_human",
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"aloha_sim_insertion_scripted",
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"aloha_sim_transfer_cube_human",
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"aloha_sim_transfer_cube_scripted",
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"aloha_mobile_cabinet",
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"aloha_mobile_chair",
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"aloha_mobile_elevator",
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"aloha_mobile_shrimp",
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"aloha_mobile_wash_pan",
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"aloha_mobile_wipe_wine",
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"aloha_sim_insertion_human",
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"aloha_sim_insertion_scripted",
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"aloha_sim_transfer_cube_human",
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"aloha_sim_transfer_cube_scripted",
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"aloha_static_battery",
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"aloha_static_candy",
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"aloha_static_coffee",
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@ -17,6 +17,7 @@
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Contains utilities to process raw data format of HDF5 files like in: https://github.com/tonyzhaozh/act
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"""
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import gc
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import re
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import shutil
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from pathlib import Path
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@ -146,6 +147,8 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
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id_from += num_frames
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gc.collect()
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# process first episode only
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if debug:
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break
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@ -25,7 +25,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
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--dataset-id pusht \
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--raw-format pusht_zarr \
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--community-id lerobot \
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--revision v1.2 \
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--dry-run 1 \
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--save-to-disk 1 \
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--save-tests-to-disk 0 \
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@ -36,7 +35,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
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--dataset-id xarm_lift_medium \
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--raw-format xarm_pkl \
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--community-id lerobot \
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--revision v1.2 \
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--dry-run 1 \
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--save-to-disk 1 \
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--save-tests-to-disk 0 \
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@ -47,7 +45,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
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--dataset-id aloha_sim_insertion_scripted \
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--raw-format aloha_hdf5 \
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--community-id lerobot \
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--revision v1.2 \
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--dry-run 1 \
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--save-to-disk 1 \
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--save-tests-to-disk 0 \
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@ -58,7 +55,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
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--dataset-id umi_cup_in_the_wild \
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--raw-format umi_zarr \
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--community-id lerobot \
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--revision v1.2 \
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--dry-run 1 \
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--save-to-disk 1 \
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--save-tests-to-disk 0 \
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@ -237,6 +233,9 @@ def push_dataset_to_hub(
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fname = f"{key}_episode_{episode_index:06d}.mp4"
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shutil.copy(videos_dir / fname, tests_videos_dir / fname)
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if not save_to_disk:
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shutil.rmtree(out_dir)
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def main():
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parser = argparse.ArgumentParser()
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@ -314,7 +313,7 @@ def main():
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parser.add_argument(
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"--num-workers",
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type=int,
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default=16,
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default=8,
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help="Number of processes of Dataloader for computing the dataset statistics.",
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)
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parser.add_argument(
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@ -1,4 +1,4 @@
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# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
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# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand.
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[[package]]
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name = "absl-py"
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@ -1177,6 +1177,78 @@ files = [
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[package.dependencies]
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numpy = ">=1.17.3"
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[[package]]
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name = "hf-transfer"
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version = "0.1.6"
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description = ""
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optional = false
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python-versions = ">=3.7"
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files = [
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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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"
|
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requests = "*"
|
||||
|
|
@ -4175,4 +4248,4 @@ xarm = ["gym-xarm"]
|
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[metadata]
|
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lock-version = "2.0"
|
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python-versions = ">=3.10,<3.13"
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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"
|
||||
huggingface-hub = {extras = ["hf-transfer"], version = "^0.23.0"}
|
||||
gymnasium = ">=0.29.1"
|
||||
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|
||||
gym-pusht = { version = ">=0.1.3", optional = true}
|
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|
|
|
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Reference in New Issue