From 5f27a840639fba1be29bc3cbf7be7f631a5b31e8 Mon Sep 17 00:00:00 2001 From: Tavish Date: Fri, 11 Apr 2025 19:59:29 +0800 Subject: [PATCH] change from openx2lerobot to any4lerobot --- .gitignore | 173 ++++++++++++++++++ README.md | 164 ++++------------- convert.sh | 6 - openx2lerobot/README.md | 124 +++++++++++++ openx2lerobot/convert.sh | 9 + openx_rlds.py => openx2lerobot/openx_rlds.py | 0 .../oxe_utils}/configs.py | 1 + .../oxe_utils}/transform_utils.py | 2 +- .../oxe_utils}/transforms.py | 12 +- 9 files changed, 353 insertions(+), 138 deletions(-) create mode 100644 .gitignore delete mode 100644 convert.sh create mode 100644 openx2lerobot/README.md create mode 100644 openx2lerobot/convert.sh rename openx_rlds.py => openx2lerobot/openx_rlds.py (100%) rename {oxe_utils => openx2lerobot/oxe_utils}/configs.py (99%) rename {oxe_utils => openx2lerobot/oxe_utils}/transform_utils.py (100%) rename {oxe_utils => openx2lerobot/oxe_utils}/transforms.py (99%) diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..276c1af --- /dev/null +++ b/.gitignore @@ -0,0 +1,173 @@ +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# Logging +logs +tmp +wandb + +# Data +data +outputs + +# Apple +.DS_Store + +# VS Code +.vscode + +# HPC +nautilus/*.yaml +*.key + +# Slurm +sbatch*.sh + +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +pip-wheel-metadata/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# uv/poetry lock files +poetry.lock +uv.lock + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +!tests/artifacts +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ + +# Ignore .cache except calibration +.cache/* +!.cache/calibration/ +!.cache/calibration/** + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +.python-version + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ \ No newline at end of file diff --git a/README.md b/README.md index be7438f..b8e843e 100644 --- a/README.md +++ b/README.md @@ -1,146 +1,60 @@

-

LeRobot: State-of-the-art AI for real-world robotics

+

Any4LeRobot: A tool collection for LeRobot

-> [!NOTE] -> This repository supports converting datasets from OpenX format to LeRobot V2.0 dataset format. -> -> Current script is now compatible with LeRobot V2.1. +
-## ๐Ÿš€ What's New in This Script +[![Python versions](https://img.shields.io/pypi/pyversions/lerobot)](https://www.python.org/downloads/) +[![LeRobot Dataset](https://img.shields.io/badge/LeRobot%20Dataset-v2.1-ff69b4.svg)](https://github.com/huggingface/lerobot/pull/711) +[![License](https://img.shields.io/badge/License-MIT-blue.svg)](https://opensource.org/licenses/MIT) -In this dataset, we have made several key improvements: +
-- **OXE Standard Transformations** ๐Ÿ”„: We have integrated OXE's standard transformations to ensure uniformity across data. -- **Alignment of State and Action Information** ๐Ÿค–: State and action information are now perfectly aligned, enhancing the clarity and coherence of the dataset. -- **Robot Type and Control Frequency** ๐Ÿ“Š: Annotations have been added for robot type and control frequency to improve dataset comprehensibility. -- **Joint Information** ๐Ÿฆพ: Joint-specific details have been included to assist with fine-grained understanding. +> [!IMPORTANT] +> +> **Star and Contribute**, let's make community of robotics better and better! ๐Ÿ”ฅ -Dataset Structure of `meta/info.json`: +A curated collection of utilities for [LeRobot Projects](https://github.com/huggingface/lerobot), including data conversion scripts, preprocessing tools, training workflow helpers and etc.. -```json -{ - "codebase_version": "v2.1", // lastest lerobot format - "robot_type": "franka", // specific robot type, unknown if not provided - "fps": 3, // control frequency, 10 if not provided - // will add an additional key "control_frequency" - "features": { - "observation.images.image_key": { - "dtype": "video", - "shape": [128, 128, 3], - "names": ["height", "width", "rgb"], // bgr to rgb if needed - "info": { - "video.fps": 3.0, - "video.height": 128, - "video.width": 128, - "video.channels": 3, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "has_audio": false - } - }, - "observation.state": { - "dtype": "float32", - "shape": [8], - "names": { - "motors": ["x", "y", "z", "roll", "pitch", "yaw", "pad", "gripper"] - // unified 8-dim vector: [xyz, state type, gripper], motor_x if not provided - } - }, - "action": { - "dtype": "float32", - "shape": [7], - "names": { - "motors": ["x", "y", "z", "roll", "pitch", "yaw", "gripper"] - // unified 7-dim vector: [xyz, action type, gripper], motor_x if not provided - } - } - } -} -``` -## Installation +## ๐Ÿš€ What's New -Download lerobot code: +- **\[2025.04.11\]** We Change the repo from `openx2lerobot` to `any4lerobot`, making a โ€‹โ€‹universal toolbox for LeRobotโ€‹โ€‹! ๐Ÿ”ฅ๐Ÿ”ฅ๐Ÿ”ฅ +- **\[2025.02.19\]** We have supported Data Conversion from Open X-Embodiment to LeRobot! ๐Ÿ”ฅ๐Ÿ”ฅ๐Ÿ”ฅ -```bash -git clone https://github.com/huggingface/lerobot.git -cd lerobot -``` -Create a virtual environment with Python 3.10 and activate it, e.g. with [`miniconda`](https://docs.anaconda.com/free/miniconda/index.html): +## โœจ Features +- โ€‹**โ€‹Data Conversionโ€‹**โ€‹: + - [x] [Open X-Embodiment to LeRobot](./openx2lerobot/README.md) + - [ ] AgiBot-World to LeRobot + - [ ] LeRobot to Open X-Embodiment -```bash -conda create -y -n lerobot python=3.10 -conda activate lerobot -``` +- โ€‹**Version Conversionโ€‹**โ€‹: + - [ ] LeRobotv2.0 to LeRobotv2.1 + - [ ] LeRobotv2.1 to LeRobotv2.0 -Install ๐Ÿค— LeRobot: +## ๐Ÿ“‚ Public Resources +- Available datasets in LeRobot format: + - [Open X-Embodiment Dataset](https://huggingface.co/IPEC-COMMUNITY) + - [Open X-Embodiment Visualizer](https://huggingface.co/spaces/IPEC-COMMUNITY/openx_dataset_lerobot_v2.0) -```bash -pip install -e . -``` -## Get started +## ๐Ÿ‘ทโ€โ™‚๏ธ Contributing +We appreciate all contributions to improving Any4LeRobot. Please refer to the contributing guideline for the best practice. -> [!IMPORTANT] -> 1.Before running the following code, modify `save_episode()` function in lerobot. -> ```python -> def save_episode(self, episode_data: dict | None = None, keep_images: bool | None = False) -> None: -> ... -> # delete images -> if not keep_images: -> img_dir = self.root / "images" -> if img_dir.is_dir(): -> shutil.rmtree(self.root / "images") -> ... -> ``` -> 2.for `bc_z` dataset, modify `encode_video_frames()` in `lerobot/common/datasets/video_utils.py`. -> -> ```python -> # add the following content to line 141: -> vf: str = "pad=ceil(iw/2)*2:ceil(ih/2)*2", -> # Add the following content to line 171: -> ffmpeg_args["-vf"] = vf -> ``` + + + + + +
+


+
+ -> [!TIP] -> We recommend using `libsvtav1` as the vcodec for ffmpeg when encoding videos during dataset conversion. -Compile FFmpeg with libsvtav1 encoder (Optional): +## ๐Ÿค Acknowledgements -`libsvtav1` is only supported in higher version of ffmpeg, so many users need to compile ffmpeg to enable it. You can follow this [link](https://trac.ffmpeg.org/wiki/CompilationGuide) for detailed compilation instructions.. +Special thanks to the [LeRobot teams](https://github.com/huggingface/lerobot) for making this great framework. -Download source code: - -```bash -git clone https://github.com/Tavish9/openx2lerobot.git -``` - -Modify path in `convert.sh`: - -```bash -python openx_rlds.py \ - --raw-dir /path/to/droid/1.0.0 \ - --local-dir /path/to/LEROBOT_DATASET \ - --repo-id your_hf_id \ - --use-videos \ - --push-to-hub -``` - -Execute the script: - -```bash -bash convert.sh -``` - -## Available OpenX_LeRobot Dataset - -We have upload most of the OpenX datasets in [huggingface](https://huggingface.co/IPEC-COMMUNITY)๐Ÿค—. - -You can visualize the dataset in this [space](https://huggingface.co/spaces/IPEC-COMMUNITY/openx_dataset_lerobot_v2.0). - -## Acknowledgment - -Special thanks to the [Lerobot teams](https://github.com/huggingface/lerobot) for making this great framework. +

๐Ÿ”Back to top

\ No newline at end of file diff --git a/convert.sh b/convert.sh deleted file mode 100644 index 91d2591..0000000 --- a/convert.sh +++ /dev/null @@ -1,6 +0,0 @@ -python openx_rlds.py \ - --raw-dir /path/to/droid/1.0.0 \ - --local-dir /path/to/LEROBOT_DATASET \ - --repo-id your_hf_id \ - --use-videos \ - --push-to-hub diff --git a/openx2lerobot/README.md b/openx2lerobot/README.md new file mode 100644 index 0000000..e6ca4f6 --- /dev/null +++ b/openx2lerobot/README.md @@ -0,0 +1,124 @@ +# OpenX to LeRobot + +## ๐Ÿš€ What's New in This Script + +In this dataset, we have made several key improvements: + +- **OXE Standard Transformations** ๐Ÿ”„: We have integrated OXE's standard transformations to ensure uniformity across data. +- **Alignment of State and Action Information** ๐Ÿค–: State and action information are now perfectly aligned, enhancing the clarity and coherence of the dataset. +- **Robot Type and Control Frequency** ๐Ÿ“Š: Annotations have been added for robot type and control frequency to improve dataset comprehensibility. +- **Joint Information** ๐Ÿฆพ: Joint-specific details have been included to assist with fine-grained understanding. + +Dataset Structure of `meta/info.json`: + +```json +{ + "codebase_version": "v2.1", // lastest lerobot format + "robot_type": "franka", // specific robot type, unknown if not provided + "fps": 3, // control frequency, 10 if not provided + // will add an additional key "control_frequency" + "features": { + "observation.images.image_key": { + "dtype": "video", + "shape": [128, 128, 3], + "names": ["height", "width", "rgb"], // bgr to rgb if needed + "info": { + "video.fps": 3.0, + "video.height": 128, + "video.width": 128, + "video.channels": 3, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [8], + "names": { + "motors": ["x", "y", "z", "roll", "pitch", "yaw", "pad", "gripper"] + // unified 8-dim vector: [xyz, state type, gripper], motor_x if not provided + } + }, + "action": { + "dtype": "float32", + "shape": [7], + "names": { + "motors": ["x", "y", "z", "roll", "pitch", "yaw", "gripper"] + // unified 7-dim vector: [xyz, action type, gripper], motor_x if not provided + } + } + } +} +``` + +## Installation + +1. Install LeRobot: + Follow instructions in [official repo](https://github.com/huggingface/lerobot?tab=readme-ov-file#installation). + +2. Install others: + For reading tfds/rlds, we need to install `tensorflow-datasets`: + ```bash + pip install tensorflow + pip install tensorflow-datasets + ``` + + +## Get started + +> [!IMPORTANT] +> 1.Before running the following code, modify `save_episode()` function in lerobot. +> ```python +> def save_episode(self, episode_data: dict | None = None, keep_images: bool | None = False) -> None: +> ... +> # delete images +> if not keep_images: +> img_dir = self.root / "images" +> if img_dir.is_dir(): +> shutil.rmtree(self.root / "images") +> ... +> ``` +> 2.for `bc_z` dataset, modify `encode_video_frames()` in `lerobot/common/datasets/video_utils.py`. +> +> ```python +> # add the following content to line 141: +> vf: str = "pad=ceil(iw/2)*2:ceil(ih/2)*2", +> # Add the following content to line 171: +> ffmpeg_args["-vf"] = vf +> ``` + +> [!TIP] +> We recommend using `libsvtav1` as the vcodec for ffmpeg when encoding videos during dataset conversion. If you can't use libsvtav1 after installing lerobot, you need to compile it yourself. Follow this [link](https://trac.ffmpeg.org/wiki/CompilationGuide) for detailed compilation instructions. + + +1. Download source code: + + ```bash + git clone https://github.com/Tavish9/openx2lerobot.git + ``` + +2. Modify path in `convert.sh`: + + ```bash + python openx_rlds.py \ + --raw-dir /path/to/droid/1.0.0 \ + --local-dir /path/to/LEROBOT_DATASET \ + --repo-id your_hf_id \ + --use-videos \ + --push-to-hub + ``` + +3. Execute the script: + + ```bash + bash convert.sh + ``` + +## Available OpenX_LeRobot Dataset + +We have upload most of the OpenX datasets in [huggingface](https://huggingface.co/IPEC-COMMUNITY)๐Ÿค—. + +You can visualize the dataset in this [space](https://huggingface.co/spaces/IPEC-COMMUNITY/openx_dataset_lerobot_v2.0). + diff --git a/openx2lerobot/convert.sh b/openx2lerobot/convert.sh new file mode 100644 index 0000000..0a9eec7 --- /dev/null +++ b/openx2lerobot/convert.sh @@ -0,0 +1,9 @@ +export LD_LIBRARY_PATH="/cpfs01/shared/optimal/vla_ptm/miniconda3/envs/vla_next/lib/python3.10/site-packages/nvidia/nvjitlink/lib:${LD_LIBRARY_PATH}" +export LD_LIBRARY_PATH="/cpfs01/shared/optimal/vla_ptm/miniconda3/envs/vla_next/lib/python3.10/site-packages/nvidia/cusparse/lib:${LD_LIBRARY_PATH}" + +python openx_rlds.py \ + --raw-dir /oss/vla_ptm_hwfile/DATA/fine_tune/kitchen_banana/0.1.0 \ + --local-dir /cpfs01/shared/optimal/vla_next/LEROBOT_DATASET/Franka \ + --repo-id your_hf_id \ + --use-videos + # --push-to-hub diff --git a/openx_rlds.py b/openx2lerobot/openx_rlds.py similarity index 100% rename from openx_rlds.py rename to openx2lerobot/openx_rlds.py diff --git a/oxe_utils/configs.py b/openx2lerobot/oxe_utils/configs.py similarity index 99% rename from oxe_utils/configs.py rename to openx2lerobot/oxe_utils/configs.py index 02522f8..49d55c7 100644 --- a/oxe_utils/configs.py +++ b/openx2lerobot/oxe_utils/configs.py @@ -76,6 +76,7 @@ class StateEncoding(IntEnum): class ActionEncoding(IntEnum): # fmt: off EEF_POS = 1 # EEF Delta XYZ (3) + Roll-Pitch-Yaw (3) + Gripper Open/Close (1) + EEF_POS_QUAT = 5 # EEF Delta XYZ (3) + Quaternion (4) + Gripper Open/Close (1) JOINT_POS = 2 # Joint Delta Position (7) + Gripper Open/Close (1) JOINT_POS_BIMANUAL = 3 # Joint Delta Position (2 x [ Joint Delta Position (6) + Gripper Open/Close (1) ]) EEF_R6 = 4 # EEF Delta XYZ (3) + R6 (6) + Gripper Open/Close (1) diff --git a/oxe_utils/transform_utils.py b/openx2lerobot/oxe_utils/transform_utils.py similarity index 100% rename from oxe_utils/transform_utils.py rename to openx2lerobot/oxe_utils/transform_utils.py index ca250ca..3d7e884 100644 --- a/oxe_utils/transform_utils.py +++ b/openx2lerobot/oxe_utils/transform_utils.py @@ -2,7 +2,6 @@ Copied from https://github.com/openvla/openvla/blob/main/prismatic/vla/datasets/rlds/utils/data_utils.py """ - from typing import Any, Dict import tensorflow as tf @@ -66,6 +65,7 @@ def rel2abs_gripper_actions(actions: tf.Tensor) -> tf.Tensor: return new_actions + # === Bridge-V2 =>> Dataset-Specific Transform === def relabel_bridge_actions(traj: Dict[str, Any]) -> Dict[str, Any]: """Relabels actions to use reached proprioceptive state; discards last timestep (no-action).""" diff --git a/oxe_utils/transforms.py b/openx2lerobot/oxe_utils/transforms.py similarity index 99% rename from oxe_utils/transforms.py rename to openx2lerobot/oxe_utils/transforms.py index 01c9598..b196310 100644 --- a/oxe_utils/transforms.py +++ b/openx2lerobot/oxe_utils/transforms.py @@ -19,7 +19,6 @@ Transforms adopt the following structure: from typing import Any, Dict import tensorflow as tf - from oxe_utils.transform_utils import ( binarize_gripper_actions, invert_gripper_actions, @@ -32,6 +31,7 @@ def droid_baseact_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: """ DROID dataset transformation for actions expressed in *base* frame of the robot. """ + def rand_swap_exterior_images(img1, img2): """ Randomly swaps the two exterior images (for training with single exterior input). @@ -56,11 +56,11 @@ def droid_baseact_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: ) ) # trajectory["observation"]["proprio"] = tf.concat( - # ( - # trajectory["observation"]["cartesian_position"], - # trajectory["observation"]["gripper_position"], - # ), - # axis=-1, + # ( + # trajectory["observation"]["cartesian_position"], + # trajectory["observation"]["gripper_position"], + # ), + # axis=-1, # ) trajectory["observation"]["EEF_state"] = trajectory["observation"]["cartesian_position"] trajectory["observation"]["gripper_state"] = trajectory["observation"]["gripper_position"]