Remove reset_episode_index

lerobot/common/datasets/utils.py

@@ -423,31 +423,6 @@ def calculate_episode_data_index(hf_dataset: datasets.Dataset) -> Dict[str, torc
     return episode_data_index
 
 
-# TODO(aliberts): remove
-def reset_episode_index(hf_dataset: datasets.Dataset) -> datasets.Dataset:
-    """Reset the `episode_index` of the provided HuggingFace Dataset.
-
-    `episode_data_index` (and related functionality such as `load_previous_and_future_frames`) requires the
-    `episode_index` to be sorted, continuous (1,1,1 and not 1,2,1) and start at 0.
-
-    This brings the `episode_index` to the required format.
-    """
-    if len(hf_dataset) == 0:
-        return hf_dataset
-    unique_episode_idxs = torch.stack(hf_dataset["episode_index"]).unique().tolist()
-    episode_idx_to_reset_idx_mapping = {
-        ep_id: reset_ep_id for reset_ep_id, ep_id in enumerate(unique_episode_idxs)
-    }
-
-    def modify_ep_idx_func(example):
-        example["episode_index"] = episode_idx_to_reset_idx_mapping[example["episode_index"].item()]
-        return example
-
-    hf_dataset = hf_dataset.map(modify_ep_idx_func)
-
-    return hf_dataset
-
-
 def cycle(iterable):
     """The equivalent of itertools.cycle, but safe for Pytorch dataloaders.
 

tests/test_utils.py

@@ -10,7 +10,6 @@ from datasets import Dataset
 from lerobot.common.datasets.utils import (
     calculate_episode_data_index,
     hf_transform_to_torch,
-    reset_episode_index,
 )
 from lerobot.common.utils.utils import (
     get_global_random_state,
@@ -73,20 +72,6 @@ def test_calculate_episode_data_index():
     assert torch.equal(episode_data_index["to"], torch.tensor([2, 3, 6]))
 
 
-def test_reset_episode_index():
-    dataset = Dataset.from_dict(
-        {
-            "timestamp": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6],
-            "index": [0, 1, 2, 3, 4, 5],
-            "episode_index": [10, 10, 11, 12, 12, 12],
-        },
-    )
-    dataset.set_transform(hf_transform_to_torch)
-    correct_episode_index = [0, 0, 1, 2, 2, 2]
-    dataset = reset_episode_index(dataset)
-    assert dataset["episode_index"] == correct_episode_index
-
-
 def test_init_hydra_config_empty():
     test_file = f"/tmp/test_init_hydra_config_empty_{uuid4().hex}.yaml"
     with open(test_file, "w") as f: