mirror of
https://github.com/Tavish9/any4lerobot.git
synced 2026-05-22 09:29:44 +00:00
fix agibot2lerobot and update dirty tasks
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Tavish
@@ -1,5 +1,29 @@
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# AgiBot-World to LeRobot
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AgiBot World, the first large-scale robotic learning dataset designed to advance multi-purpose robotic policies. It is accompanied by foundation models, benchmarks, and an ecosystem to democratize access to high-quality robot data for the academic community and the industry, paving the path towards the "ImageNet Moment" for Embodied AI. (Copied from [docs](https://agibot-world.com/))
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## ⚠️ Dirty Tasks
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| (Gripper) Task ID | (Some episodes) Reason | Fixed By |
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| :---------------: | :--------------------: | -------- |
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| task_352 | action_len > state_len | skipping |
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| task_354 | action_len > state_len | skipping |
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| task_359 | action_len > state_len | skipping |
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| task_361 | action_len > state_len | skipping |
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| task_368 | action_len > state_len | skipping |
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| task_376 | action_len > state_len | skipping |
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| task_377 | action_len > state_len | skipping |
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| task_380 | corrupted mp4 | skipping |
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| task_384 | corrupted mp4 | skipping |
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| task_410 | action_len > state_len | skipping |
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| task_414 | action_len > state_len | skipping |
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| task_421 | action_len > state_len | skipping |
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| task_428 | corrupted mp4 | skipping |
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| task_460 | corrupted mp4 | skipping |
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| task_505 | corrupted mp4 | skipping |
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| task_510 | corrupted mp4 | skipping |
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| task_711 | corrupted mp4 | skipping |
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## 🚀 What's New in This Script
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In this dataset, we have made several key improvements:
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@@ -129,7 +153,6 @@ Dataset Structure of `meta/info.json`:
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### Download source code:
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```bash
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git clone https://github.com/Tavish9/any4lerobot.git
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```
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@@ -239,4 +262,4 @@ cd agibot2lerobot && bash convert.sh
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**Other Community Supported Cluster Managers**
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See the [doc](https://docs.ray.io/en/latest/cluster/vms/user-guides/community/index.html) for more details.
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See the [doc](https://docs.ray.io/en/latest/cluster/vms/user-guides/community/index.html) for more details.
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+32
-19
@@ -234,7 +234,7 @@ def save_as_lerobot_dataset(agibot_world_config, task: tuple[Path, Path], num_th
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task_info = get_task_info(json_file)
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task_name = task_info[0]["task_name"]
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task_init_scene = task_info[0]["init_scene_text"]
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task_instruction = f"{task_name}.{task_init_scene}"
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task_instruction = f"{task_name} | {task_init_scene}"
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task_id = json_file.stem.split("_")[-1]
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task_info = {episode["episode_id"]: episode for episode in task_info}
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@@ -263,26 +263,28 @@ def save_as_lerobot_dataset(agibot_world_config, task: tuple[Path, Path], num_th
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if eid not in task_info:
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print(f"{json_file.stem}, episode_{eid} not in task_info.json, skipping...")
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continue
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try:
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action_config = task_info[eid]["label_info"]["action_config"]
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raw_dataset = load_local_dataset(
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eid,
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src_path=src_path,
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task_id=task_id,
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task_instruction=task_instruction,
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save_depth=save_depth,
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AgiBotWorld_CONFIG=agibot_world_config,
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)
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_, frames, videos = raw_dataset
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if not all([video_path.exists() for video_path in videos.values()]):
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print(f"{json_file.stem}, episode_{eid}: some of the videos does not exist, skipping...")
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continue
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action_config = task_info[eid]["label_info"]["action_config"]
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raw_dataset = load_local_dataset(
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eid,
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src_path=src_path,
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task_id=task_id,
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task_instruction=task_instruction,
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save_depth=save_depth,
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AgiBotWorld_CONFIG=agibot_world_config,
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)
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_, frames, videos = raw_dataset
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if not all([video_path.exists() for video_path in videos.values()]):
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print(f"{json_file.stem}, episode_{eid}: some of the videos does not exist, skipping...")
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continue
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for frame_data in frames:
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dataset.add_frame(frame_data)
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for frame_data in frames:
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dataset.add_frame(frame_data)
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try:
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dataset.save_episode(videos=videos, action_config=action_config)
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except Exception as e:
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raise Exception(f"{json_file.stem}, {eid}") from e
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print(f"{json_file.stem}, episode_{eid}: there are some corrupted mp4s\nException details: {str(e)}")
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dataset.episode_buffer = None
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continue
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gc.collect()
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print(f"process done for {json_file.stem}, episode_id {eid}, len {len(frames)}")
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else:
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@@ -306,11 +308,22 @@ def save_as_lerobot_dataset(agibot_world_config, task: tuple[Path, Path], num_th
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for raw_dataset in as_completed(futures):
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eid, frames, videos = raw_dataset.result()
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if not all([video_path.exists() for video_path in videos.values()]):
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print(f"{json_file.stem}, episode_{eid}: some of the videos does not exist, skipping...")
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continue
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action_config = task_info[eid]["label_info"]["action_config"]
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for frame_data in frames:
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dataset.add_frame(frame_data)
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dataset.save_episode(videos=videos, action_config=action_config)
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try:
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dataset.save_episode(videos=videos, action_config=action_config)
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except Exception as e:
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print(
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f"{json_file.stem}, episode_{eid}: there are some corrupted mp4s\nException details: {str(e)}"
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)
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dataset.episode_buffer = None
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continue
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gc.collect()
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print(f"process done for {json_file.stem}, episode_id {eid}, len {len(frames)}")
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def main(
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@@ -34,10 +34,12 @@ def load_local_dataset(
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for key in AgiBotWorld_CONFIG["actions"]:
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action[f"actions.{key}"] = np.array(f["action/" + key.replace(".", "/")], dtype=np.float32)
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# HACK: agibot team forgot to pad some of the values
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# HACK: agibot team forgot to pad or filter some of the values
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num_frames = len(next(iter(state.values())))
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for action_key, action_value in action.items():
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if action_value.size and len(action_value) != num_frames:
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if 0 == len(action_value):
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print("0 action occurs, padding all with zeros later")
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elif len(action_value) < num_frames:
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state_key = action_key.replace("actions", "state").replace(".", "/")
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new_action_value = np.array(f[state_key], dtype=np.float32).copy()
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action_index_key = "/".join(list(action_key.replace("actions", "action").split(".")[:-1]) + ["index"])
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@@ -48,6 +50,9 @@ def load_local_dataset(
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action_index = np.array(f[action_index_key])
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new_action_value[action_index] = action_value
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action[action_key] = new_action_value
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elif len(action_value) > num_frames:
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print("corrupt data, skipping")
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return episode_id, [], {"dummy_video": Path("/path/to/no_exist")}
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if save_depth:
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depth_imgs = load_depths(ob_dir / "depth", "head_depth")
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