fix: Add translation function for non-sequential episode indices

When episodes are removed from a LeRobotDataset, the remaining
episode indices are no longer sequential, which causes indexing errors
in get_episode_data(). This happens because episode_data_index tensors
are always indexed sequentially, while the episode indices can be
arbitrary. This commit introduces a helper function to make the
conversion.

lerobot/common/datasets/utils.py

@@ -811,3 +811,33 @@ def validate_episode_buffer(episode_buffer: dict, total_episodes: int, features:
             f"In episode_buffer not in features: {buffer_keys - set(features)}"
             f"In features not in episode_buffer: {set(features) - buffer_keys}"
         )
+
+
+def translate_episode_index_to_position(episode_dicts: dict[dict], episode_index: int) -> int:
+    """
+    Translates an actual episode index to its position in the sequential episode_data_index tensors.
+
+    When episodes are removed from a dataset, the remaining episode indices may no longer be sequential
+    (e.g., they could be [0, 3, 7, 10]). However, the dataset's episode_data_index tensors are always
+    indexed sequentially from 0 to len(episodes)-1. This function provides the mapping between these
+    two indexing schemes.
+
+    Example:
+        If a dataset originally had episodes [0, 1, 2, 3, 4] but episodes 1 and 3 were removed,
+        the remaining episodes would be [0, 2, 4]. In this case:
+        - Episode index 0 would be at position 0
+        - Episode index 2 would be at position 1
+        - Episode index 4 would be at position 2
+
+        So translate_episode_index_to_position(episode_dicts, 4) would return 2.
+
+    Args:
+        episode_dicts (dict[dict]): Dictionary of episode dictionaries or list of episode indices
+        episode_index (int): The actual episode index to translate
+
+    Returns:
+        int: The position of the episode in the episode_data_index tensors
+    """
+    episode_to_position = {ep_idx: i for i, ep_idx in enumerate(episode_dicts)}
+    position = episode_to_position[episode_index]
+    return position

lerobot/common/datasets/v21/convert_stats.py

@@ -19,7 +19,7 @@ from tqdm import tqdm
 
 from lerobot.common.datasets.compute_stats import aggregate_stats, get_feature_stats, sample_indices
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.common.datasets.utils import write_episode_stats
+from lerobot.common.datasets.utils import translate_episode_index_to_position, write_episode_stats
 
 
 def sample_episode_video_frames(dataset: LeRobotDataset, episode_index: int, ft_key: str) -> np.ndarray:
@@ -31,8 +31,9 @@ def sample_episode_video_frames(dataset: LeRobotDataset, episode_index: int, ft_
 
 
 def convert_episode_stats(dataset: LeRobotDataset, ep_idx: int):
-    ep_start_idx = dataset.episode_data_index["from"][ep_idx]
+    index_position = translate_episode_index_to_position(dataset.meta.episodes, ep_idx)
-    ep_end_idx = dataset.episode_data_index["to"][ep_idx]
+    ep_start_idx = dataset.episode_data_index["from"][index_position]
+    ep_end_idx = dataset.episode_data_index["to"][index_position]
     ep_data = dataset.hf_dataset.select(range(ep_start_idx, ep_end_idx))
 
     ep_stats = {}

lerobot/scripts/visualize_dataset.py

@@ -75,12 +75,14 @@ import torch.utils.data
 import tqdm
 
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.common.datasets.utils import translate_episode_index_to_position
 
 
 class EpisodeSampler(torch.utils.data.Sampler):
     def __init__(self, dataset: LeRobotDataset, episode_index: int):
-        from_idx = dataset.episode_data_index["from"][episode_index].item()
+        index_position = translate_episode_index_to_position(dataset.meta.episodes, episode_index)
-        to_idx = dataset.episode_data_index["to"][episode_index].item()
+        from_idx = dataset.episode_data_index["from"][index_position].item()
+        to_idx = dataset.episode_data_index["to"][index_position].item()
         self.frame_ids = range(from_idx, to_idx)
 
     def __iter__(self) -> Iterator:

lerobot/scripts/visualize_dataset_html.py

@@ -69,7 +69,7 @@ from flask import Flask, redirect, render_template, request, url_for
 
 from lerobot import available_datasets
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.common.datasets.utils import IterableNamespace
+from lerobot.common.datasets.utils import IterableNamespace, translate_episode_index_to_position
 from lerobot.common.utils.utils import init_logging
 
 
@@ -207,7 +207,9 @@ def run_server(
 
         if episodes is None:
             episodes = list(
-                range(dataset.num_episodes if isinstance(dataset, LeRobotDataset) else dataset.total_episodes)
+                dataset.meta.episodes
+                if isinstance(dataset, LeRobotDataset)
+                else range(dataset.total_episodes)
             )
 
         return render_template(
@@ -268,8 +270,9 @@ def get_episode_data(dataset: LeRobotDataset | IterableNamespace, episode_index)
     selected_columns.insert(0, "timestamp")
 
     if isinstance(dataset, LeRobotDataset):
-        from_idx = dataset.episode_data_index["from"][episode_index]
+        index_position = translate_episode_index_to_position(dataset.meta.episodes, episode_index)
-        to_idx = dataset.episode_data_index["to"][episode_index]
+        from_idx = dataset.episode_data_index["from"][index_position]
+        to_idx = dataset.episode_data_index["to"][index_position]
         data = (
             dataset.hf_dataset.select(range(from_idx, to_idx))
             .select_columns(selected_columns)
@@ -305,7 +308,8 @@ def get_episode_data(dataset: LeRobotDataset | IterableNamespace, episode_index)
 
 def get_episode_video_paths(dataset: LeRobotDataset, ep_index: int) -> list[str]:
     # get first frame of episode (hack to get video_path of the episode)
-    first_frame_idx = dataset.episode_data_index["from"][ep_index].item()
+    index_position = translate_episode_index_to_position(dataset.meta.episodes, ep_index)
+    first_frame_idx = dataset.episode_data_index["from"][index_position].item()
     return [
         dataset.hf_dataset.select_columns(key)[first_frame_idx][key]["path"]
         for key in dataset.meta.video_keys
@@ -318,7 +322,8 @@ def get_episode_language_instruction(dataset: LeRobotDataset, ep_index: int) ->
         return None
 
     # get first frame index
-    first_frame_idx = dataset.episode_data_index["from"][ep_index].item()
+    index_position = translate_episode_index_to_position(dataset.meta.episodes, ep_index)
+    first_frame_idx = dataset.episode_data_index["from"][index_position].item()
 
     language_instruction = dataset.hf_dataset[first_frame_idx]["language_instruction"]
     # TODO (michel-aractingi) hack to get the sentence, some strings in openx are badly stored