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change from openx2lerobot to any4lerobot
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Tavish
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<h1 align="center">
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<p>LeRobot: State-of-the-art AI for real-world robotics</p>
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<p>Any4LeRobot: A tool collection for LeRobot</p>
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</h1>
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> [!NOTE]
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> This repository supports converting datasets from OpenX format to LeRobot V2.0 dataset format.
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>
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> Current script is now compatible with LeRobot V2.1.
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<div align="center">
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## 🚀 What's New in This Script
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[](https://www.python.org/downloads/)
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[](https://github.com/huggingface/lerobot/pull/711)
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[](https://opensource.org/licenses/MIT)
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In this dataset, we have made several key improvements:
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</div>
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- **OXE Standard Transformations** 🔄: We have integrated OXE's standard transformations to ensure uniformity across data.
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- **Alignment of State and Action Information** 🤖: State and action information are now perfectly aligned, enhancing the clarity and coherence of the dataset.
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- **Robot Type and Control Frequency** 📊: Annotations have been added for robot type and control frequency to improve dataset comprehensibility.
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- **Joint Information** 🦾: Joint-specific details have been included to assist with fine-grained understanding.
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> [!IMPORTANT]
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>
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> **Star and Contribute**, let's make community of robotics better and better! 🔥
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Dataset Structure of `meta/info.json`:
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A curated collection of utilities for [LeRobot Projects](https://github.com/huggingface/lerobot), including data conversion scripts, preprocessing tools, training workflow helpers and etc..
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```json
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{
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"codebase_version": "v2.1", // lastest lerobot format
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"robot_type": "franka", // specific robot type, unknown if not provided
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"fps": 3, // control frequency, 10 if not provided
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// will add an additional key "control_frequency"
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"features": {
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"observation.images.image_key": {
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"dtype": "video",
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"shape": [128, 128, 3],
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"names": ["height", "width", "rgb"], // bgr to rgb if needed
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"info": {
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"video.fps": 3.0,
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"video.height": 128,
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"video.width": 128,
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"video.channels": 3,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [8],
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"names": {
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"motors": ["x", "y", "z", "roll", "pitch", "yaw", "pad", "gripper"]
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// unified 8-dim vector: [xyz, state type, gripper], motor_x if not provided
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}
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},
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"action": {
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"dtype": "float32",
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"shape": [7],
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"names": {
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"motors": ["x", "y", "z", "roll", "pitch", "yaw", "gripper"]
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// unified 7-dim vector: [xyz, action type, gripper], motor_x if not provided
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}
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}
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}
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}
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```
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## Installation
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## 🚀 What's New <a><img width="35" height="20" src="https://user-images.githubusercontent.com/12782558/212848161-5e783dd6-11e8-4fe0-bbba-39ffb77730be.png"></a>
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Download lerobot code:
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- **\[2025.04.11\]** We Change the repo from `openx2lerobot` to `any4lerobot`, making a universal toolbox for LeRobot! 🔥🔥🔥
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- **\[2025.02.19\]** We have supported Data Conversion from Open X-Embodiment to LeRobot! 🔥🔥🔥
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```bash
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git clone https://github.com/huggingface/lerobot.git
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cd lerobot
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```
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Create a virtual environment with Python 3.10 and activate it, e.g. with [`miniconda`](https://docs.anaconda.com/free/miniconda/index.html):
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## ✨ Features
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- **Data Conversion**:
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- [x] [Open X-Embodiment to LeRobot](./openx2lerobot/README.md)
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- [ ] AgiBot-World to LeRobot
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- [ ] LeRobot to Open X-Embodiment
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```bash
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conda create -y -n lerobot python=3.10
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conda activate lerobot
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```
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- **Version Conversion**:
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- [ ] LeRobotv2.0 to LeRobotv2.1
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- [ ] LeRobotv2.1 to LeRobotv2.0
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Install 🤗 LeRobot:
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## 📂 Public Resources
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- Available datasets in LeRobot format:
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- [Open X-Embodiment Dataset](https://huggingface.co/IPEC-COMMUNITY)
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- [Open X-Embodiment Visualizer](https://huggingface.co/spaces/IPEC-COMMUNITY/openx_dataset_lerobot_v2.0)
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```bash
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pip install -e .
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```
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## Get started
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## 👷♂️ Contributing
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We appreciate all contributions to improving Any4LeRobot. Please refer to the contributing guideline for the best practice.
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> [!IMPORTANT]
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> 1.Before running the following code, modify `save_episode()` function in lerobot.
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> ```python
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> def save_episode(self, episode_data: dict | None = None, keep_images: bool | None = False) -> None:
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> ...
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> # delete images
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> if not keep_images:
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> img_dir = self.root / "images"
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> if img_dir.is_dir():
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> shutil.rmtree(self.root / "images")
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> ...
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> ```
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> 2.for `bc_z` dataset, modify `encode_video_frames()` in `lerobot/common/datasets/video_utils.py`.
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>
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> ```python
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> # add the following content to line 141:
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> vf: str = "pad=ceil(iw/2)*2:ceil(ih/2)*2",
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> # Add the following content to line 171:
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> ffmpeg_args["-vf"] = vf
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> ```
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<a href="https://github.com/Tavish9/any4lerobot/graphs/contributors" target="_blank">
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<table>
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<tr>
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<th colspan="2">
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<br><img src="https://contrib.rocks/image?repo=tavish9/any4lerobot"><br><br>
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</th>
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</tr>
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</table>
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</a>
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> [!TIP]
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> We recommend using `libsvtav1` as the vcodec for ffmpeg when encoding videos during dataset conversion.
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Compile FFmpeg with libsvtav1 encoder (Optional):
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## 🤝 Acknowledgements
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`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..
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Special thanks to the [LeRobot teams](https://github.com/huggingface/lerobot) for making this great framework.
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Download source code:
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```bash
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git clone https://github.com/Tavish9/openx2lerobot.git
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```
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Modify path in `convert.sh`:
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```bash
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python openx_rlds.py \
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--raw-dir /path/to/droid/1.0.0 \
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--local-dir /path/to/LEROBOT_DATASET \
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--repo-id your_hf_id \
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--use-videos \
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--push-to-hub
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```
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Execute the script:
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```bash
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bash convert.sh
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```
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## Available OpenX_LeRobot Dataset
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We have upload most of the OpenX datasets in [huggingface](https://huggingface.co/IPEC-COMMUNITY)🤗.
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You can visualize the dataset in this [space](https://huggingface.co/spaces/IPEC-COMMUNITY/openx_dataset_lerobot_v2.0).
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## Acknowledgment
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Special thanks to the [Lerobot teams](https://github.com/huggingface/lerobot) for making this great framework.
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<p align="right"><a href="#top">🔝Back to top</a></p>
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