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lerobot
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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 2024-05-11 00:12:04 +00:00
parent 4d7d41cdee
commit 1d9433b411
282 changed files with 782 additions and 54 deletions
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1
.gitattributes vendored
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@ -1,2 +1,3 @@
*.memmap filter=lfs diff=lfs merge=lfs -text *.memmap filter=lfs diff=lfs merge=lfs -text
*.stl filter=lfs diff=lfs merge=lfs -text *.stl filter=lfs diff=lfs merge=lfs -text
*.safetensors filter=lfs diff=lfs merge=lfs -text

2
docker/lerobot-gpu/Dockerfile
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@ -8,7 +8,7 @@ ARG DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \ RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential cmake \ build-essential cmake \
git git-lfs openssh-client \ git git-lfs openssh-client \
nano vim \ nano vim ffmpeg \
htop atop nvtop \ htop atop nvtop \
sed gawk grep curl wget \ sed gawk grep curl wget \
tcpdump sysstat screen \ tcpdump sysstat screen \

10
lerobot/__init__.py
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@ -61,13 +61,21 @@ available_datasets_per_env = {
"lerobot/aloha_sim_insertion_scripted", "lerobot/aloha_sim_insertion_scripted",
"lerobot/aloha_sim_transfer_cube_human", "lerobot/aloha_sim_transfer_cube_human",
"lerobot/aloha_sim_transfer_cube_scripted", "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": [ "xarm": [
"lerobot/xarm_lift_medium", "lerobot/xarm_lift_medium",
"lerobot/xarm_lift_medium_replay", "lerobot/xarm_lift_medium_replay",
"lerobot/xarm_push_medium", "lerobot/xarm_push_medium",
"lerobot/xarm_push_medium_replay", "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",
], ],
} }

2
lerobot/common/datasets/lerobot_dataset.py
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@ -30,7 +30,7 @@ from lerobot.common.datasets.utils import (
from lerobot.common.datasets.video_utils import VideoFrame, load_from_videos 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 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): class LeRobotDataset(torch.utils.data.Dataset):

58
lerobot/common/datasets/push_dataset_to_hub/_download_raw.py
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@ -24,17 +24,16 @@ import shutil
from pathlib import Path from pathlib import Path
import tqdm import tqdm
from huggingface_hub import snapshot_download
ALOHA_RAW_URLS_DIR = "lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls"
def download_raw(raw_dir, dataset_id): 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) download_pusht(raw_dir)
elif "xarm" in dataset_id: elif "xarm" in dataset_id:
download_xarm(raw_dir) download_xarm(raw_dir)
elif "aloha" in dataset_id:
download_aloha(raw_dir, dataset_id)
elif "umi" in dataset_id: elif "umi" in dataset_id:
download_umi(raw_dir) download_umi(raw_dir)
else: else:
@ -103,37 +102,13 @@ def download_xarm(raw_dir: Path):
zip_path.unlink() zip_path.unlink()
def download_aloha(raw_dir: Path, dataset_id: str): def download_hub(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}'."
raw_dir = Path(raw_dir) raw_dir = Path(raw_dir)
raw_dir.mkdir(parents=True, exist_ok=True) raw_dir.mkdir(parents=True, exist_ok=True)
logging.info(f"Start downloading from google drive for {dataset_id}") logging.info(f"Start downloading from huggingface.co/cadene for {dataset_id}")
for url in urls: snapshot_download(f"cadene/{dataset_id}_raw", repo_type="dataset", local_dir=raw_dir)
if "drive.google.com/drive/folders" in url: logging.info(f"Finish downloading from huggingface.co/cadene for {dataset_id}")
# 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}")
def download_umi(raw_dir: Path): def download_umi(raw_dir: Path):
@ -148,21 +123,30 @@ def download_umi(raw_dir: Path):
if __name__ == "__main__": if __name__ == "__main__":
data_dir = Path("data") data_dir = Path("data")
dataset_ids = [ 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", "pusht",
"xarm_lift_medium", "xarm_lift_medium",
"xarm_lift_medium_replay", "xarm_lift_medium_replay",
"xarm_push_medium", "xarm_push_medium",
"xarm_push_medium_replay", "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_cabinet",
"aloha_mobile_chair", "aloha_mobile_chair",
"aloha_mobile_elevator", "aloha_mobile_elevator",
"aloha_mobile_shrimp", "aloha_mobile_shrimp",
"aloha_mobile_wash_pan", "aloha_mobile_wash_pan",
"aloha_mobile_wipe_wine", "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_battery",
"aloha_static_candy", "aloha_static_candy",
"aloha_static_coffee", "aloha_static_coffee",

3
lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py
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@ -17,6 +17,7 @@
Contains utilities to process raw data format of HDF5 files like in: https://github.com/tonyzhaozh/act Contains utilities to process raw data format of HDF5 files like in: https://github.com/tonyzhaozh/act
""" """
import gc
import re import re
import shutil import shutil
from pathlib import Path from pathlib import Path
@ -146,6 +147,8 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
id_from += num_frames id_from += num_frames
gc.collect()
# process first episode only # process first episode only
if debug: if debug:
break break

9
lerobot/scripts/push_dataset_to_hub.py
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@ -25,7 +25,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
--dataset-id pusht \ --dataset-id pusht \
--raw-format pusht_zarr \ --raw-format pusht_zarr \
--community-id lerobot \ --community-id lerobot \
--revision v1.2 \
--dry-run 1 \ --dry-run 1 \
--save-to-disk 1 \ --save-to-disk 1 \
--save-tests-to-disk 0 \ --save-tests-to-disk 0 \
@ -36,7 +35,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
--dataset-id xarm_lift_medium \ --dataset-id xarm_lift_medium \
--raw-format xarm_pkl \ --raw-format xarm_pkl \
--community-id lerobot \ --community-id lerobot \
--revision v1.2 \
--dry-run 1 \ --dry-run 1 \
--save-to-disk 1 \ --save-to-disk 1 \
--save-tests-to-disk 0 \ --save-tests-to-disk 0 \
@ -47,7 +45,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
--dataset-id aloha_sim_insertion_scripted \ --dataset-id aloha_sim_insertion_scripted \
--raw-format aloha_hdf5 \ --raw-format aloha_hdf5 \
--community-id lerobot \ --community-id lerobot \
--revision v1.2 \
--dry-run 1 \ --dry-run 1 \
--save-to-disk 1 \ --save-to-disk 1 \
--save-tests-to-disk 0 \ --save-tests-to-disk 0 \
@ -58,7 +55,6 @@ python lerobot/scripts/push_dataset_to_hub.py \
--dataset-id umi_cup_in_the_wild \ --dataset-id umi_cup_in_the_wild \
--raw-format umi_zarr \ --raw-format umi_zarr \
--community-id lerobot \ --community-id lerobot \
--revision v1.2 \
--dry-run 1 \ --dry-run 1 \
--save-to-disk 1 \ --save-to-disk 1 \
--save-tests-to-disk 0 \ --save-tests-to-disk 0 \
@ -237,6 +233,9 @@ def push_dataset_to_hub(
fname = f"{key}_episode_{episode_index:06d}.mp4" fname = f"{key}_episode_{episode_index:06d}.mp4"
shutil.copy(videos_dir / fname, tests_videos_dir / fname) shutil.copy(videos_dir / fname, tests_videos_dir / fname)
if not save_to_disk:
shutil.rmtree(out_dir)
def main(): def main():
parser = argparse.ArgumentParser() parser = argparse.ArgumentParser()
@ -314,7 +313,7 @@ def main():
parser.add_argument( parser.add_argument(
"--num-workers", "--num-workers",
type=int, type=int,
default=16, default=8,
help="Number of processes of Dataloader for computing the dataset statistics.", help="Number of processes of Dataloader for computing the dataset statistics.",
) )
parser.add_argument( parser.add_argument(

77
poetry.lock generated
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@ -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]] [[package]]
name = "absl-py" name = "absl-py"
@ -1177,6 +1177,78 @@ files = [
[package.dependencies] [package.dependencies]
numpy = ">=1.17.3" numpy = ">=1.17.3"
[[package]]
name = "hf-transfer"
version = "0.1.6"
description = ""
optional = false
python-versions = ">=3.7"
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[package.dependencies] [package.dependencies]
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packaging = ">=20.9" packaging = ">=20.9"
pyyaml = ">=5.1" pyyaml = ">=5.1"
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