diff --git a/.gitattributes b/.gitattributes index 4135de8f..fb601c49 100644 --- a/.gitattributes +++ b/.gitattributes @@ -1,2 +1,3 @@ *.memmap filter=lfs diff=lfs merge=lfs -text *.stl filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text diff --git a/docker/lerobot-gpu/Dockerfile b/docker/lerobot-gpu/Dockerfile index a2823dc2..9889114a 100644 --- 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 \ diff --git a/lerobot/__init__.py b/lerobot/__init__.py index e188bc52..e0234f29 100644 --- 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", ], } diff --git a/lerobot/common/datasets/lerobot_dataset.py b/lerobot/common/datasets/lerobot_dataset.py index 21d09879..6a3204f4 100644 --- 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): 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 232fd055..7074bcba 100644 --- 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", 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 4efadc9e..601170d7 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 @@ -17,6 +17,7 @@ Contains utilities to process raw data format of HDF5 files like in: https://github.com/tonyzhaozh/act """ +import gc import re import shutil from pathlib import Path @@ -146,6 +147,8 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug): id_from += num_frames + gc.collect() + # process first episode only if debug: break diff --git a/lerobot/scripts/push_dataset_to_hub.py b/lerobot/scripts/push_dataset_to_hub.py index 16d890a7..9f964846 100644 --- 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 \ @@ -237,6 +233,9 @@ 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: + 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( diff --git a/poetry.lock b/poetry.lock index e0b27f15..26ca867e 100644 --- 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. 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b/tests/scripts/save_dataset_to_safetensors.py index 554efe75..4aa8131f 100644 --- a/tests/scripts/save_dataset_to_safetensors.py +++ b/tests/scripts/save_dataset_to_safetensors.py @@ -81,11 +81,5 @@ def save_dataset_to_safetensors(output_dir, repo_id="lerobot/pusht"): if __name__ == "__main__": - available_datasets = [ - "lerobot/pusht", - "lerobot/xarm_lift_medium", - "lerobot/aloha_sim_insertion_human", - # "lerobot/umi_cup_in_the_wild", - ] for dataset in available_datasets: save_dataset_to_safetensors("tests/data/save_dataset_to_safetensors", repo_id=dataset)