wangzixiang
/
lerobot
mirror of https://github.com/huggingface/lerobot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'main' into tutorial_act_pusht

This commit is contained in:
Alexander Soare 2024-05-20 14:44:57 +01:00 committed by GitHub
parent 45c6a67677 9b62c25f6c
commit b1660402a5
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
599 changed files with 1941 additions and 775 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
.gitattributes vendored
View File

@ -1,2 +1,6 @@
*.memmap filter=lfs diff=lfs merge=lfs -text
*.stl filter=lfs diff=lfs merge=lfs -text
*.safetensors filter=lfs diff=lfs merge=lfs -text
*.mp4 filter=lfs diff=lfs merge=lfs -text
*.arrow filter=lfs diff=lfs merge=lfs -text
*.json filter=lfs diff=lfs merge=lfs -text

6
.github/workflows/test.yml vendored
View File

@ -29,6 +29,8 @@ jobs:
MUJOCO_GL: egl
steps:
- uses: actions/checkout@v4
with:
lfs: true # Ensure LFS files are pulled
- name: Install EGL
run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev
@ -65,6 +67,8 @@ jobs:
MUJOCO_GL: egl
steps:
- uses: actions/checkout@v4
with:
lfs: true # Ensure LFS files are pulled
- name: Install poetry
run: |
@ -97,6 +101,8 @@ jobs:
MUJOCO_GL: egl
steps:
- uses: actions/checkout@v4
with:
lfs: true # Ensure LFS files are pulled
- name: Install EGL
run: sudo apt-get update && sudo apt-get install -y libegl1-mesa-dev

5
CONTRIBUTING.md
View File

@ -195,6 +195,11 @@ Follow these steps to start contributing:
git commit
```
Note, if you already commited some changes that have a wrong formatting, you can use:
```bash
pre-commit run --all-files
```
Please write [good commit messages](https://chris.beams.io/posts/git-commit/).
It is a good idea to sync your copy of the code with the original

4
README.md
View File

@ -198,11 +198,11 @@ To add a dataset to the hub, you need to login using a write-access token, which
huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
```
Then move your dataset folder in `data` directory (e.g. `data/aloha_ping_pong`), and push your dataset to the hub with:
Then move your dataset folder in `data` directory (e.g. `data/aloha_static_pingpong_test`), and push your dataset to the hub with:
```bash
python lerobot/scripts/push_dataset_to_hub.py \
--data-dir data \
--dataset-id aloha_ping_ping \
--dataset-id aloha_static_pingpong_test \
--raw-format aloha_hdf5 \
--community-id lerobot
```

2
docker/lerobot-gpu/Dockerfile
View File

@ -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 \

71
examples/4_calculate_validation_loss.py Normal file
View File

@ -0,0 +1,71 @@
"""This script demonstrates how to slice a dataset and calculate the loss on a subset of the data.
This technique can be useful for debugging and testing purposes, as well as identifying whether a policy
is learning effectively.
Furthermore, relying on validation loss to evaluate performance is generally not considered a good practice,
especially in the context of imitation learning. The most reliable approach is to evaluate the policy directly
on the target environment, whether that be in simulation or the real world.
"""
from pathlib import Path
import torch
from huggingface_hub import snapshot_download
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
device = torch.device("cuda")
# Download the diffusion policy for pusht environment
pretrained_policy_path = Path(snapshot_download("lerobot/diffusion_pusht"))
# OR uncomment the following to evaluate a policy from the local outputs/train folder.
# pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")
policy = DiffusionPolicy.from_pretrained(pretrained_policy_path)
policy.eval()
policy.to(device)
# Set up the dataset.
delta_timestamps = {
# Load the previous image and state at -0.1 seconds before current frame,
# then load current image and state corresponding to 0.0 second.
"observation.image": [-0.1, 0.0],
"observation.state": [-0.1, 0.0],
# Load the previous action (-0.1), the next action to be executed (0.0),
# and 14 future actions with a 0.1 seconds spacing. All these actions will be
# used to calculate the loss.
"action": [-0.1, 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4],
}
# Load the last 10 episodes of the dataset as a validation set.
# The `split` argument utilizes the `datasets` library's syntax for slicing datasets.
# For more information on the Slice API, please see:
# https://huggingface.co/docs/datasets/v2.19.0/loading#slice-splits
val_dataset = LeRobotDataset("lerobot/pusht", split="train[24342:]", delta_timestamps=delta_timestamps)
# Create dataloader for evaluation.
val_dataloader = torch.utils.data.DataLoader(
val_dataset,
num_workers=4,
batch_size=64,
shuffle=False,
pin_memory=device != torch.device("cpu"),
drop_last=False,
)
# Run validation loop.
loss_cumsum = 0
n_examples_evaluated = 0
for batch in val_dataloader:
batch = {k: v.to(device, non_blocking=True) for k, v in batch.items()}
output_dict = policy.forward(batch)
loss_cumsum += output_dict["loss"].item()
n_examples_evaluated += batch["index"].shape[0]
# Calculate the average loss over the validation set.
average_loss = loss_cumsum / n_examples_evaluated
print(f"Average loss on validation set: {average_loss:.4f}")

10
lerobot/__init__.py
View File

@ -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",
],
}

10
lerobot/common/datasets/lerobot_dataset.py
View File

@ -20,17 +20,19 @@ import datasets
import torch
from lerobot.common.datasets.utils import (
calculate_episode_data_index,
load_episode_data_index,
load_hf_dataset,
load_info,
load_previous_and_future_frames,
load_stats,
load_videos,
reset_episode_index,
)
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):
@ -54,7 +56,11 @@ class LeRobotDataset(torch.utils.data.Dataset):
# TODO(rcadene, aliberts): implement faster transfer
# https://huggingface.co/docs/huggingface_hub/en/guides/download#faster-downloads
self.hf_dataset = load_hf_dataset(repo_id, version, root, split)
self.episode_data_index = load_episode_data_index(repo_id, version, root)
if split == "train":
self.episode_data_index = load_episode_data_index(repo_id, version, root)
else:
self.episode_data_index = calculate_episode_data_index(self.hf_dataset)
self.hf_dataset = reset_episode_index(self.hf_dataset)
self.stats = load_stats(repo_id, version, root)
self.info = load_info(repo_id, version, root)
if self.video:

58
lerobot/common/datasets/push_dataset_to_hub/_download_raw.py
View File

@ -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",

24
lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py
View File

@ -17,7 +17,7 @@
Contains utilities to process raw data format of HDF5 files like in: https://github.com/tonyzhaozh/act
"""
import re
import gc
import shutil
from pathlib import Path
@ -79,10 +79,8 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
episode_data_index = {"from": [], "to": []}
id_from = 0
for ep_path in tqdm.tqdm(hdf5_files, total=len(hdf5_files)):
for ep_idx, ep_path in tqdm.tqdm(enumerate(hdf5_files), total=len(hdf5_files)):
with h5py.File(ep_path, "r") as ep:
ep_idx = int(re.search(r"episode_(\d+)", ep_path.name).group(1))
num_frames = ep["/action"].shape[0]
# last step of demonstration is considered done
@ -91,6 +89,10 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
state = torch.from_numpy(ep["/observations/qpos"][:])
action = torch.from_numpy(ep["/action"][:])
if "/observations/qvel" in ep:
velocity = torch.from_numpy(ep["/observations/qvel"][:])
if "/observations/effort" in ep:
effort = torch.from_numpy(ep["/observations/effort"][:])
ep_dict = {}
@ -131,6 +133,10 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
ep_dict[img_key] = [PILImage.fromarray(x) for x in imgs_array]
ep_dict["observation.state"] = state
if "/observations/velocity" in ep:
ep_dict["observation.velocity"] = velocity
if "/observations/effort" in ep:
ep_dict["observation.effort"] = effort
ep_dict["action"] = action
ep_dict["episode_index"] = torch.tensor([ep_idx] * num_frames)
ep_dict["frame_index"] = torch.arange(0, num_frames, 1)
@ -146,6 +152,8 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
id_from += num_frames
gc.collect()
# process first episode only
if debug:
break
@ -167,6 +175,14 @@ def to_hf_dataset(data_dict, video) -> Dataset:
features["observation.state"] = Sequence(
length=data_dict["observation.state"].shape[1], feature=Value(dtype="float32", id=None)
)
if "observation.velocity" in data_dict:
features["observation.velocity"] = Sequence(
length=data_dict["observation.velocity"].shape[1], feature=Value(dtype="float32", id=None)
)
if "observation.effort" in data_dict:
features["observation.effort"] = Sequence(
length=data_dict["observation.effort"].shape[1], feature=Value(dtype="float32", id=None)
)
features["action"] = Sequence(
length=data_dict["action"].shape[1], feature=Value(dtype="float32", id=None)
)

71
lerobot/common/datasets/utils.py
View File

@ -15,6 +15,7 @@
# limitations under the License.
import json
from pathlib import Path
from typing import Dict
import datasets
import torch
@ -245,6 +246,76 @@ def load_previous_and_future_frames(
return item
def calculate_episode_data_index(hf_dataset: datasets.Dataset) -> Dict[str, torch.Tensor]:
"""
Calculate episode data index for the provided HuggingFace Dataset. Relies on episode_index column of hf_dataset.
Parameters:
- hf_dataset (datasets.Dataset): A HuggingFace dataset containing the episode index.
Returns:
- episode_data_index: A dictionary containing the data index for each episode. The dictionary has two keys:
- "from": A tensor containing the starting index of each episode.
- "to": A tensor containing the ending index of each episode.
"""
episode_data_index = {"from": [], "to": []}
current_episode = None
"""
The episode_index is a list of integers, each representing the episode index of the corresponding example.
For instance, the following is a valid episode_index:
[0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 2]
Below, we iterate through the episode_index and populate the episode_data_index dictionary with the starting and
ending index of each episode. For the episode_index above, the episode_data_index dictionary will look like this:
{
"from": [0, 3, 7],
"to": [3, 7, 12]
}
"""
for idx, episode_idx in enumerate(hf_dataset["episode_index"]):
if episode_idx != current_episode:
# We encountered a new episode, so we append its starting location to the "from" list
episode_data_index["from"].append(idx)
# If this is not the first episode, we append the ending location of the previous episode to the "to" list
if current_episode is not None:
episode_data_index["to"].append(idx)
# Let's keep track of the current episode index
current_episode = episode_idx
else:
# We are still in the same episode, so there is nothing for us to do here
pass
# We have reached the end of the dataset, so we append the ending location of the last episode to the "to" list
episode_data_index["to"].append(idx + 1)
for k in ["from", "to"]:
episode_data_index[k] = torch.tensor(episode_data_index[k])
return episode_data_index
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.
"""
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.

13
lerobot/scripts/push_dataset_to_hub.py
View File

@ -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 \
@ -227,8 +223,7 @@ def push_dataset_to_hub(
test_hf_dataset = test_hf_dataset.with_format(None)
test_hf_dataset.save_to_disk(str(tests_out_dir / "train"))
# copy meta data to tests directory
shutil.copytree(meta_data_dir, tests_meta_data_dir)
save_meta_data(info, stats, episode_data_index, tests_meta_data_dir)
# copy videos of first episode to tests directory
episode_index = 0
@ -237,6 +232,10 @@ 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 and out_dir.exists():
# remove possible temporary files remaining in the output directory
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(

77
poetry.lock generated
View File

@ -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]]
name = "absl-py"
@ -1177,6 +1177,78 @@ files = [
[package.dependencies]
numpy = ">=1.17.3"
[[package]]
name = "hf-transfer"
version = "0.1.6"
description = ""
optional = false
python-versions = ">=3.7"
files = [
{file = "hf_transfer-0.1.6-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:6fd3d61f9229d27def007e53540412507b74ac2fdb1a29985ae0b6a5137749a2"},
{file = "hf_transfer-0.1.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b043bb78df1225de043eb041de9d97783fcca14a0bdc1b1d560fc172fc21b648"},
{file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7db60dd18eae4fa6ea157235fb82196cde5313995b396d1b591aad3b790a7f8f"},
{file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:30d31dbab9b5a558cce407b8728e39d87d7af1ef8745ddb90187e9ae0b9e1e90"},
{file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f6b368bddd757efc7af3126ba81f9ac8f9435e2cc00902cb3d64f2be28d8f719"},
{file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:aa2086d8aefaaa3e144e167324574882004c0cec49bf2d0638ec4b74732d8da0"},
{file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:45d8985a0940bfe1535cb4ca781f5c11e47c83798ef3373ee1f5d57bbe527a9c"},
{file = "hf_transfer-0.1.6-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2f42b89735f1cde22f2a795d1f0915741023235666be7de45879e533c7d6010c"},
{file = "hf_transfer-0.1.6-cp310-none-win32.whl", hash = "sha256:2d2c4c4613f3ad45b6ce6291e347b2d3ba1b86816635681436567e461cb3c961"},
{file = "hf_transfer-0.1.6-cp310-none-win_amd64.whl", hash = "sha256:78b0eed8d8dce60168a46e584b9742b816af127d7e410a713e12c31249195342"},
{file = "hf_transfer-0.1.6-cp311-cp311-macosx_10_12_x86_64.whl", hash = "sha256:f1d8c172153f9a6cdaecf137612c42796076f61f6bea1072c90ac2e17c1ab6fa"},
{file = "hf_transfer-0.1.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:2c601996351f90c514a75a0eeb02bf700b1ad1db2d946cbfe4b60b79e29f0b2f"},
{file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8e585c808405557d3f5488f385706abb696997bbae262ea04520757e30836d9d"},
{file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:ec51af1e8cf4268c268bd88932ade3d7ca895a3c661b42493503f02610ae906b"},
{file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d106fdf996332f6df3ed3fab6d6332df82e8c1fb4b20fd81a491ca4d2ab5616a"},
{file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e9c2ee9e9fde5a0319cc0e8ddfea10897482bc06d5709b10a238f1bc2ebcbc0b"},
{file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:f394ea32bc7802b061e549d3133efc523b4ae4fd19bf4b74b183ca6066eef94e"},
{file = "hf_transfer-0.1.6-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4282f09902114cd67fca98a1a1bad569a44521a8395fedf327e966714f68b977"},
{file = "hf_transfer-0.1.6-cp311-none-win32.whl", hash = "sha256:276dbf307d5ab6f1bcbf57b5918bfcf9c59d6848ccb28242349e1bb5985f983b"},
{file = "hf_transfer-0.1.6-cp311-none-win_amd64.whl", hash = "sha256:fa475175c51451186bea804471995fa8e7b2a48a61dcca55534911dc25955527"},
{file = "hf_transfer-0.1.6-cp312-cp312-macosx_10_12_x86_64.whl", hash = "sha256:23d157a67acfa00007799323a1c441b2bbacc7dee625b016b7946fe0e25e6c89"},
{file = "hf_transfer-0.1.6-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:6067342a2864b988f861cd2d31bd78eb1e84d153a3f6df38485b6696d9ad3013"},
{file = "hf_transfer-0.1.6-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:91cfcb3070e205b58fa8dc8bcb6a62ccc40913fcdb9cd1ff7c364c8e3aa85345"},
{file = "hf_transfer-0.1.6-cp312-cp312-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:eb76064ac5165d5eeaaf8d0903e8bf55477221ecc2a4a4d69f0baca065ab905b"},
{file = "hf_transfer-0.1.6-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9dabd3a177d83028f164984cf4dd859f77ec1e20c97a6f307ff8fcada0785ef1"},
{file = "hf_transfer-0.1.6-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:d0bf4254e44f64a26e0a5b73b5d7e8d91bb36870718fb4f8e126ec943ff4c805"},
{file = "hf_transfer-0.1.6-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:5d32c1b106f38f336ceb21531f4db9b57d777b9a33017dafdb6a5316388ebe50"},
{file = "hf_transfer-0.1.6-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ff05aba3c83921e5c7635ba9f07c693cc893350c447644824043aeac27b285f5"},
{file = "hf_transfer-0.1.6-cp312-none-win32.whl", hash = "sha256:051ef0c55607652cb5974f59638da035773254b9a07d7ee5b574fe062de4c9d1"},
{file = "hf_transfer-0.1.6-cp312-none-win_amd64.whl", hash = "sha256:716fb5c574fcbdd8092ce73f9b6c66f42e3544337490f77c60ec07df02bd081b"},
{file = "hf_transfer-0.1.6-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6c0c981134a55965e279cb7be778c1ccaf93f902fc9ebe31da4f30caf824cc4d"},
{file = "hf_transfer-0.1.6-cp37-cp37m-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:1ef1f145f04c5b573915bcb1eb5db4039c74f6b46fce73fc473c4287e613b623"},
{file = "hf_transfer-0.1.6-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d0a7609b004db3347dbb7796df45403eceb171238210d054d93897d6d84c63a4"},
{file = "hf_transfer-0.1.6-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:60f0864bf5996773dbd5f8ae4d1649041f773fe9d5769f4c0eeb5553100acef3"},
{file = "hf_transfer-0.1.6-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:5d01e55d630ffe70a4f5d0ed576a04c6a48d7c65ca9a7d18f2fca385f20685a9"},
{file = "hf_transfer-0.1.6-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d855946c5062b665190de15b2bdbd4c8eddfee35350bfb7564592e23d36fbbd3"},
{file = "hf_transfer-0.1.6-cp37-none-win32.whl", hash = "sha256:fd40b2409cfaf3e8aba20169ee09552f69140e029adeec261b988903ff0c8f6f"},
{file = "hf_transfer-0.1.6-cp37-none-win_amd64.whl", hash = "sha256:0e0eba49d46d3b5481919aea0794aec625fbc6ecdf13fe7e0e9f3fc5d5ad5971"},
{file = "hf_transfer-0.1.6-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7e669fecb29fc454449739f9f53ed9253197e7c19e6a6eaa0f08334207af4287"},
{file = "hf_transfer-0.1.6-cp38-cp38-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:89f701802892e5eb84f89f402686861f87dc227d6082b05f4e9d9b4e8015a3c3"},
{file = "hf_transfer-0.1.6-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b6f2b0c8b95b01409275d789a9b74d5f2e146346f985d384bf50ec727caf1ccc"},
{file = "hf_transfer-0.1.6-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:aa855a2fa262792a230f9efcdb5da6d431b747d1861d2a69fe7834b19aea077e"},
{file = "hf_transfer-0.1.6-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:4aa8ca349afb2f0713475426946261eb2035e4efb50ebd2c1d5ad04f395f4217"},
{file = "hf_transfer-0.1.6-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:01255f043996bc7d1bae62d8afc5033a90c7e36ce308b988eeb84afe0a69562f"},
{file = "hf_transfer-0.1.6-cp38-none-win32.whl", hash = "sha256:60b1db183e8a7540cd4f8b2160ff4de55f77cb0c3fc6a10be1e7c30eb1b2bdeb"},
{file = "hf_transfer-0.1.6-cp38-none-win_amd64.whl", hash = "sha256:fb8be3cba6aaa50ab2e9dffbd25c8eb2046785eeff642cf0cdd0dd9ae6be3539"},
{file = "hf_transfer-0.1.6-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d09af35e3e3f09b664e6429e9a0dc200f29c5bdfd88bdd9666de51183b1fe202"},
{file = "hf_transfer-0.1.6-cp39-cp39-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:a4505bd707cc14d85c800f961fad8ca76f804a8ad22fbb7b1a217d8d0c15e6a5"},
{file = "hf_transfer-0.1.6-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2c453fd8b0be9740faa23cecd1f28ee9ead7d900cefa64ff836960c503a744c9"},
{file = "hf_transfer-0.1.6-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:13cb8884e718a78c3b81a8cdec9c7ac196dd42961fce55c3ccff3dd783e5ad7a"},
{file = "hf_transfer-0.1.6-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:39cd39df171a2b5404de69c4e6cd14eee47f6fe91c1692f939bfb9e59a0110d8"},
{file = "hf_transfer-0.1.6-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8ff0629ee9f98df57a783599602eb498f9ec3619dc69348b12e4d9d754abf0e9"},
{file = "hf_transfer-0.1.6-cp39-none-win32.whl", hash = "sha256:164a6ce445eb0cc7c645f5b6e1042c003d33292520c90052b6325f30c98e4c5f"},
{file = "hf_transfer-0.1.6-cp39-none-win_amd64.whl", hash = "sha256:11b8b4b73bf455f13218c5f827698a30ae10998ca31b8264b51052868c7a9f11"},
{file = "hf_transfer-0.1.6-pp310-pypy310_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:16957ba057376a99ea361074ce1094f61b58e769defa6be2422ae59c0b6a6530"},
{file = "hf_transfer-0.1.6-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7db952112e3b8ee1a5cbf500d2443e9ce4fb893281c5310a3e31469898628005"},
{file = "hf_transfer-0.1.6-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d39d826a7344f5e39f438d62632acd00467aa54a083b66496f61ef67a9885a56"},
{file = "hf_transfer-0.1.6-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a4e2653fbfa92e7651db73d99b697c8684e7345c479bd6857da80bed6138abb2"},
{file = "hf_transfer-0.1.6-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:144277e6a86add10b90ec3b583253aec777130312256bfc8d5ade5377e253807"},
{file = "hf_transfer-0.1.6-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3bb53bcd16365313b2aa0dbdc28206f577d70770f31249cdabc387ac5841edcc"},
{file = "hf_transfer-0.1.6-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:990d73a5a68d8261980f146c51f4c5f9995314011cb225222021ad7c39f3af2d"},
{file = "hf_transfer-0.1.6-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:652406037029ab9b4097b4c5f29321bad5f64c2b46fbff142509d918aec87c29"},
{file = "hf_transfer-0.1.6.tar.gz", hash = "sha256:deb505a7d417d7055fd7b3549eadb91dfe782941261f3344025c486c16d1d2f9"},
]
[[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"
requests = "*"
@ -4175,4 +4248,4 @@ xarm = ["gym-xarm"]
[metadata]
lock-version = "2.0"
python-versions = ">=3.10,<3.13"
content-hash = "e3e3c306a5519e4f716a1ac086ad9b734efedcac077a0ec71e5bc16349a1e559"
content-hash = "e4834d67df32c8c617c259b0e59bb33ddaccde08fe940d771e74046cbffe3399"

2
pyproject.toml
View File

@ -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"
cmake = ">=3.29.0.1"
gym-pusht = { version = ">=0.1.3", optional = true}

3
tests/data/lerobot/aloha_mobile_cabinet/meta_data/episode_data_index.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:9f9347c8d9ac90ee44e6dd86f65043438168df6bbe4bab2d2b875e55ef7376ef
size 1488

3
tests/data/lerobot/aloha_mobile_cabinet/meta_data/info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
size 33

3
tests/data/lerobot/aloha_mobile_cabinet/meta_data/stats.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:02fc4ea25766269f65752a60b0594c43d799b0ae528cd773bf024b064b5aa329
size 4344

3
tests/data/lerobot/aloha_mobile_cabinet/train/data-00000-of-00001.arrow Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:55d7b1a06fe3e3051482752740074348bdb5fc98fb2e305b06d6203994117b27
size 592448

3
tests/data/lerobot/aloha_mobile_cabinet/train/dataset_info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
size 1166

3
tests/data/lerobot/aloha_mobile_cabinet/train/state.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:98329e4b40e9be0d63f7d36da9d86c44bbe7eeeb1b10d3ba973c923f3be70867
size 247

3
tests/data/lerobot/aloha_mobile_cabinet/videos/observation.images.cam_high_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:54e42cdfd016a0ced2ab1fe2966a8c15a2384e0dbe1a2fe87433a2d1b8209ac0
size 5220057

3
tests/data/lerobot/aloha_mobile_cabinet/videos/observation.images.cam_left_wrist_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:af1ded2a244cb47a96255b75f584a643edf6967e13bb5464b330ffdd9d7ad859
size 5284692

3
tests/data/lerobot/aloha_mobile_cabinet/videos/observation.images.cam_right_wrist_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:13d1bebabd79984fd6715971be758ef9a354495adea5e8d33f4e7904365e112b
size 5258380

3
tests/data/lerobot/aloha_mobile_chair/meta_data/episode_data_index.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:f33bc6810f0b91817a42610364cb49ed1b99660f058f0f9407e6f5920d0aee02
size 1008

3
tests/data/lerobot/aloha_mobile_chair/meta_data/info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
size 33

3
tests/data/lerobot/aloha_mobile_chair/meta_data/stats.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:7b58d6c89e936a781a307805ebecf0dd473fbc02d52a7094da62e54bffb9454a
size 4344

3
tests/data/lerobot/aloha_mobile_chair/train/data-00000-of-00001.arrow Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:a08be578285cbe2d35b78f150d464ff3e10604a9865398c976983e0d711774f9
size 788528

3
tests/data/lerobot/aloha_mobile_chair/train/dataset_info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
size 1166

3
tests/data/lerobot/aloha_mobile_chair/train/state.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:34e36233477c8aa0b0840314ddace072062d4f486d06546bbd6550832c370065
size 247

3
tests/data/lerobot/aloha_mobile_chair/videos/observation.images.cam_high_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:66e7349a4a82ca6042a7189608d01eb1cfa38d100d039b5445ae1a9e65d824ab
size 14470946

3
tests/data/lerobot/aloha_mobile_chair/videos/observation.images.cam_left_wrist_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:a2146f0c10c9f2611e57e617983aa4f91ad681b4fc50d91b992b97abd684f926
size 11662185

3
tests/data/lerobot/aloha_mobile_chair/videos/observation.images.cam_right_wrist_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:5affbaf1c48895ba3c626e0d8cf1309e5f4ec6bbaa135313096f52a22de66c05
size 11410342

3
tests/data/lerobot/aloha_mobile_elevator/meta_data/episode_data_index.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:6c2b195ca91b88fd16422128d386d2cabd808a1862c6d127e6bf2e83e1fe819a
size 448

3
tests/data/lerobot/aloha_mobile_elevator/meta_data/info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
size 33

3
tests/data/lerobot/aloha_mobile_elevator/meta_data/stats.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:b360b6b956d2adcb20589947c553348ef1eb6b70743c989dcbe95243d8592ce5
size 4344

3
tests/data/lerobot/aloha_mobile_elevator/train/data-00000-of-00001.arrow Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:3f5c3926b4d4da9271abefcdf6a8952bb1f13258a9c39fe0fd223f548dc89dcb
size 887728

3
tests/data/lerobot/aloha_mobile_elevator/train/dataset_info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
size 1166

3
tests/data/lerobot/aloha_mobile_elevator/train/state.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:4993b05fb026619eec5eb70db8cadaa041ba4ab92d38b4a387167ace03b1018b
size 247

3
tests/data/lerobot/aloha_mobile_elevator/videos/observation.images.cam_high_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:bd25d17ef5b7500386761b5e32920879bbdcafe0e17a8a8845628525d861e644
size 10231081

3
tests/data/lerobot/aloha_mobile_elevator/videos/observation.images.cam_left_wrist_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:5b557acbfeb0681c0a38e47263d945f6cd3a03461298d8b17209c81e3fd0aae8
size 9701371

3
tests/data/lerobot/aloha_mobile_elevator/videos/observation.images.cam_right_wrist_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:da8f3b4f9f965da63819652b2c042d4cf7e07d14631113ea072087d56370310e
size 10473741

3
tests/data/lerobot/aloha_mobile_shrimp/meta_data/episode_data_index.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:a053506017d8a78cfd307b2912eeafa1ac1485a280cf90913985fcc40120b5ec
size 416

3
tests/data/lerobot/aloha_mobile_shrimp/meta_data/info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
size 33

3
tests/data/lerobot/aloha_mobile_shrimp/meta_data/stats.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:d6d172d1bca02face22ceb4c21ea2b054cf3463025485dce64711b6f36b31f8a
size 4344

3
tests/data/lerobot/aloha_mobile_shrimp/train/data-00000-of-00001.arrow Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:7e5ce817a2c188041f57f8d4c465dab3b9c3e4e1aeb7a9fb270230d1b36df530
size 1477064

3
tests/data/lerobot/aloha_mobile_shrimp/train/dataset_info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
size 1166

3
tests/data/lerobot/aloha_mobile_shrimp/train/state.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:4eb2dc373e4ea7d474742590f9073d66a773f6ab94b9e73a8673df19f93fae6d
size 247

3
tests/data/lerobot/aloha_mobile_shrimp/videos/observation.images.cam_high_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:d2c55b146fabe78b18c8a28a7746ab56e1ee7a6918e9e3dad9bd196f97975895
size 26158915

3
tests/data/lerobot/aloha_mobile_shrimp/videos/observation.images.cam_left_wrist_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:71e1958d77f56843acf1ec48da4f04311a5836c87a0e77dbe26aa47c27c6347e
size 18786848

3
tests/data/lerobot/aloha_mobile_shrimp/videos/observation.images.cam_right_wrist_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:20780718399b5759ff9a3a79824986310524793066198e3b9a307222f11a93df
size 17769988

3
tests/data/lerobot/aloha_mobile_wash_pan/meta_data/episode_data_index.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:279916f7689ae46af90e92a46eba9486a71fc762e3e2679ab5441eb37126827b
size 928

3
tests/data/lerobot/aloha_mobile_wash_pan/meta_data/info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
size 33

3
tests/data/lerobot/aloha_mobile_wash_pan/meta_data/stats.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:7a7731051b521694b52b5631470720a7f05331915f4ac4e7f8cd83f9ff459bce
size 4344

3
tests/data/lerobot/aloha_mobile_wash_pan/train/data-00000-of-00001.arrow Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:99608258e8c9fe5191f1a12edc29b47d307790104149dffb6d3046ddad6aeb1b
size 435600

3
tests/data/lerobot/aloha_mobile_wash_pan/train/dataset_info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
size 1166

3
tests/data/lerobot/aloha_mobile_wash_pan/train/state.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:ae6735b7b394914824e974a7461019373a10f9e2d84ddf834bec8ea268d9ec1e
size 247

3
tests/data/lerobot/aloha_mobile_wash_pan/videos/observation.images.cam_high_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:833e288c5fdacbbe10a5d048cb6f49fe1a396d91b2117b827e130ec11069256a
size 8397615

3
tests/data/lerobot/aloha_mobile_wash_pan/videos/observation.images.cam_left_wrist_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:2cb870acb4855fef70f19c5f632d94e4c25eef59eeea92f4b1167a44b1b36b33
size 5912007

3
tests/data/lerobot/aloha_mobile_wash_pan/videos/observation.images.cam_right_wrist_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8be36298141b455ea51d17a78e4bbc6619639302139fe2db605bdfa3ff5e91bd
size 4794018

3
tests/data/lerobot/aloha_mobile_wipe_wine/meta_data/episode_data_index.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:348d0ee38a71929b2017d540de870b9dff6d79efdd0cbc5352fa9697e350134a
size 928

3
tests/data/lerobot/aloha_mobile_wipe_wine/meta_data/info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
size 33

3
tests/data/lerobot/aloha_mobile_wipe_wine/meta_data/stats.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:c5c2996f58d5277fa19cf56ec143334fbee940d1de37530452496a6f0aa11f88
size 4344

3
tests/data/lerobot/aloha_mobile_wipe_wine/train/data-00000-of-00001.arrow Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:da3a8efea9ba60d1fdd209d45a3387df22a09f7c156904ecb03f10456736fb74
size 514056

3
tests/data/lerobot/aloha_mobile_wipe_wine/train/dataset_info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:8b7fbedfdb3d536847bc6fadf2cbabb9f2b5492edf3e2c274a3e8ffb447105e8
size 1166

3
tests/data/lerobot/aloha_mobile_wipe_wine/train/state.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:6b7111ff1ef5c4d6a2990f5f39f42398f061da8c4e81adf46b9d9150ec2feeaf
size 247

3
tests/data/lerobot/aloha_mobile_wipe_wine/videos/observation.images.cam_high_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:2ac8c2755d940534042595ecad33ebea358974ec67bc041c8675e53b7d2272ff
size 9182551

3
tests/data/lerobot/aloha_mobile_wipe_wine/videos/observation.images.cam_left_wrist_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:b35aaa37e66dd5563d93e6059d5b645e112e020e03bd398f7098a5289970953a
size 6378566

3
tests/data/lerobot/aloha_mobile_wipe_wine/videos/observation.images.cam_right_wrist_episode_000000.mp4 Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:6138247ba7160a3de6c50111e6fcc5ae075044086d8527ae5d435b1f8a7c7a93
size 6439183

BIN
tests/data/lerobot/aloha_sim_insertion_human/meta_data/episode_data_index.safetensors
View File

Binary file not shown.

7
tests/data/lerobot/aloha_sim_insertion_human/meta_data/info.json
View File

@ -1,4 +1,3 @@
{
"fps": 50,
"video": 1
}
version https://git-lfs.github.com/spec/v1
oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
size 33

BIN
tests/data/lerobot/aloha_sim_insertion_human/meta_data/stats.safetensors
View File

Binary file not shown.

BIN
tests/data/lerobot/aloha_sim_insertion_human/train/data-00000-of-00001.arrow
View File

Binary file not shown.

50
tests/data/lerobot/aloha_sim_insertion_human/train/dataset_info.json
View File

@ -1,47 +1,3 @@
{
"citation": "",
"description": "",
"features": {
"observation.images.top": {
"_type": "VideoFrame"
},
"observation.state": {
"feature": {
"dtype": "float32",
"_type": "Value"
},
"length": 14,
"_type": "Sequence"
},
"action": {
"feature": {
"dtype": "float32",
"_type": "Value"
},
"length": 14,
"_type": "Sequence"
},
"episode_index": {
"dtype": "int64",
"_type": "Value"
},
"frame_index": {
"dtype": "int64",
"_type": "Value"
},
"timestamp": {
"dtype": "float32",
"_type": "Value"
},
"next.done": {
"dtype": "bool",
"_type": "Value"
},
"index": {
"dtype": "int64",
"_type": "Value"
}
},
"homepage": "",
"license": ""
}
version https://git-lfs.github.com/spec/v1
oid sha256:3f44d13de5d5a417263bbd4984942ed42ed3fa0633405aa14d9a969a45274944
size 842

16
tests/data/lerobot/aloha_sim_insertion_human/train/state.json
View File

@ -1,13 +1,3 @@
{
"_data_files": [
{
"filename": "data-00000-of-00001.arrow"
}
],
"_fingerprint": "eb913a2b1a68aa74",
"_format_columns": null,
"_format_kwargs": {},
"_format_type": null,
"_output_all_columns": false,
"_split": null
}
version https://git-lfs.github.com/spec/v1
oid sha256:71d6ba89bee5a4ee2761220452999e415bc838a44bebf1b5a2e4ba8622369798
size 247

BIN
tests/data/lerobot/aloha_sim_insertion_human/videos/observation.images.top_episode_000000.mp4
View File

Binary file not shown.

3
tests/data/lerobot/aloha_sim_insertion_human_image/meta_data/episode_data_index.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:e7dbc214a415689ca7fb83b6f8e12ec7824dfe34a66024b0b24bfeb3aeefd0e4
size 928

3
tests/data/lerobot/aloha_sim_insertion_human_image/meta_data/info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:083db9efc5c9e3396c5e1159d020c2a3786f1f1a4b069719d327ed7fbc65c34d
size 33

3
tests/data/lerobot/aloha_sim_insertion_human_image/meta_data/stats.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:f98bd8f6347590aecdddaceed95d921f2d9f7bf35fbe742c37bdf12cba11dca6
size 2904

3
tests/data/lerobot/aloha_sim_insertion_human_image/train/data-00000-of-00001.arrow Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:c0013aea549ec290af94bddde1b559fb8d0967d4c43ef14319177c4e62ed1e91
size 14545712

3
tests/data/lerobot/aloha_sim_insertion_human_image/train/dataset_info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:4c9545525dc1f4d550591bd5efb63b55c15b983ae0510fefda5a16d77c78b6ef
size 837

3
tests/data/lerobot/aloha_sim_insertion_human_image/train/state.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:d7aa033603dc90582516dbcdf3e71e4d3113b70ad49098535def0b282135b5f3
size 247

BIN
tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/episode_data_index.safetensors
View File

Binary file not shown.

7
tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/info.json
View File

@ -1,4 +1,3 @@
{
"fps": 50,
"video": 1
}
version https://git-lfs.github.com/spec/v1
oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
size 33

BIN
tests/data/lerobot/aloha_sim_insertion_scripted/meta_data/stats.safetensors
View File

Binary file not shown.

BIN
tests/data/lerobot/aloha_sim_insertion_scripted/train/data-00000-of-00001.arrow
View File

Binary file not shown.

50
tests/data/lerobot/aloha_sim_insertion_scripted/train/dataset_info.json
View File

@ -1,47 +1,3 @@
{
"citation": "",
"description": "",
"features": {
"observation.images.top": {
"_type": "VideoFrame"
},
"observation.state": {
"feature": {
"dtype": "float32",
"_type": "Value"
},
"length": 14,
"_type": "Sequence"
},
"action": {
"feature": {
"dtype": "float32",
"_type": "Value"
},
"length": 14,
"_type": "Sequence"
},
"episode_index": {
"dtype": "int64",
"_type": "Value"
},
"frame_index": {
"dtype": "int64",
"_type": "Value"
},
"timestamp": {
"dtype": "float32",
"_type": "Value"
},
"next.done": {
"dtype": "bool",
"_type": "Value"
},
"index": {
"dtype": "int64",
"_type": "Value"
}
},
"homepage": "",
"license": ""
}
version https://git-lfs.github.com/spec/v1
oid sha256:3f44d13de5d5a417263bbd4984942ed42ed3fa0633405aa14d9a969a45274944
size 842

16
tests/data/lerobot/aloha_sim_insertion_scripted/train/state.json
View File

@ -1,13 +1,3 @@
{
"_data_files": [
{
"filename": "data-00000-of-00001.arrow"
}
],
"_fingerprint": "d20c2acf1e107266",
"_format_columns": null,
"_format_kwargs": {},
"_format_type": null,
"_output_all_columns": false,
"_split": null
}
version https://git-lfs.github.com/spec/v1
oid sha256:e48156ce4f71ac15d78732312fbc7e199f0ecdaac3604231e6be2e3e5b31a0ad
size 247

BIN
tests/data/lerobot/aloha_sim_insertion_scripted/videos/observation.images.top_episode_000000.mp4
View File

Binary file not shown.

3
tests/data/lerobot/aloha_sim_insertion_scripted_image/meta_data/episode_data_index.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:4500f31e62f0928a837fa71783acacda0db516c7b00d0586a41ea5fd8fc5e772
size 928

3
tests/data/lerobot/aloha_sim_insertion_scripted_image/meta_data/info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:083db9efc5c9e3396c5e1159d020c2a3786f1f1a4b069719d327ed7fbc65c34d
size 33

3
tests/data/lerobot/aloha_sim_insertion_scripted_image/meta_data/stats.safetensors Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:0227d4e9e3b43a86bf33fbd68683ede537fdeab1b53f2ebf155620e10054352f
size 2904

3
tests/data/lerobot/aloha_sim_insertion_scripted_image/train/data-00000-of-00001.arrow Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:1bdf02ecf7d5fc502f6dd9f520c636828a5988ad16a69a137780a824f94f8112
size 10782640

3
tests/data/lerobot/aloha_sim_insertion_scripted_image/train/dataset_info.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:4c9545525dc1f4d550591bd5efb63b55c15b983ae0510fefda5a16d77c78b6ef
size 837

3
tests/data/lerobot/aloha_sim_insertion_scripted_image/train/state.json Normal file
View File

@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:752660d8fd884b33b7302a4a42ec7c680de2a3e5022d7d007586f4c6337ce08a
size 247

BIN
tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/episode_data_index.safetensors
View File

Binary file not shown.

7
tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/info.json
View File

@ -1,4 +1,3 @@
{
"fps": 50,
"video": 1
}
version https://git-lfs.github.com/spec/v1
oid sha256:cf148247bf191c7f7e8af738a7b9e147f9ffffeec0e4b9d1c4783c4e384da7eb
size 33

BIN
tests/data/lerobot/aloha_sim_transfer_cube_human/meta_data/stats.safetensors
View File

Binary file not shown.

BIN
tests/data/lerobot/aloha_sim_transfer_cube_human/train/data-00000-of-00001.arrow
View File

Binary file not shown.

50
tests/data/lerobot/aloha_sim_transfer_cube_human/train/dataset_info.json
View File

@ -1,47 +1,3 @@
{
"citation": "",
"description": "",
"features": {
"observation.images.top": {
"_type": "VideoFrame"
},
"observation.state": {
"feature": {
"dtype": "float32",
"_type": "Value"
},
"length": 14,
"_type": "Sequence"
},
"action": {
"feature": {
"dtype": "float32",
"_type": "Value"
},
"length": 14,
"_type": "Sequence"
},
"episode_index": {
"dtype": "int64",
"_type": "Value"
},
"frame_index": {
"dtype": "int64",
"_type": "Value"
},
"timestamp": {
"dtype": "float32",
"_type": "Value"
},
"next.done": {
"dtype": "bool",
"_type": "Value"
},
"index": {
"dtype": "int64",
"_type": "Value"
}
},
"homepage": "",
"license": ""
}
version https://git-lfs.github.com/spec/v1
oid sha256:3f44d13de5d5a417263bbd4984942ed42ed3fa0633405aa14d9a969a45274944
size 842

16
tests/data/lerobot/aloha_sim_transfer_cube_human/train/state.json
View File

@ -1,13 +1,3 @@
{
"_data_files": [
{
"filename": "data-00000-of-00001.arrow"
}
],
"_fingerprint": "243b01eb8a4b184e",
"_format_columns": null,
"_format_kwargs": {},
"_format_type": null,
"_output_all_columns": false,
"_split": null
}
version https://git-lfs.github.com/spec/v1
oid sha256:6ff72fd4f6f61309191a7f2829b73649d836c1ed10f00983093dc68599c92404
size 247

Some files were not shown because too many files have changed in this diff Show More