add support for robocasa2lerobot (#86)

* Support robocasa2lerobot * Support robocasa2lerobot * NIT: formatting * update to latest lerobot * update readme * Apply suggestion from @gemini-code-assist[bot] Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com> * fix h5py open --------- Co-authored-by: Tavish <tavish9.chen@gmail.com> Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>
2026-05-27 03:29:41 +00:00 · 2026-03-21 14:55:33 +07:00
parent e97ca6531e
commit ef184e44be
7 changed files with 683 additions and 1 deletions
@@ -0,0 +1,70 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "id": "44b6da09",
+   "metadata": {},
+   "source": [
+    "# Extract subset data \n",
+    "\n",
+    "Original hdf5 file contains about 3000 episodes. However, it contains a key \"masks\", which contain list of subset demo_ids. For example: 30_demos : [demo123, demo234, demo 345, etc.]\n",
+    "\n",
+    "Run the code bellow to extract only chosen subset demos, which is much smaller and easier for later process."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "6ac64550",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import h5py\n",
+    "\n",
+    "DATA_DIR=\"direction/to/your/hdf5/files/\"\n",
+    "# E.x: DATA_DIR=\"/projects/extern/kisski/kisski-spath/dir.project/VLA_3D/binh/robocasa/test\"\n",
+    "\n",
+    "# file_name = \"PnPCabToCounter.hdf5\"\n",
+    "# file_name = \"PnPCounterToCab.hdf5\"\n",
+    "# file_name = \"CoffeeSetupMug.hdf5\"\n",
+    "# file_name = \"TurnOnMicrowave.hdf5\"\n",
+    "file_name = \"TurnOffStove.hdf5\"\n",
+    "\n",
+    "file_path = DATA_DIR + \"/\" + file_name\n",
+    "\n",
+    "f = h5py.File(file_path, 'r')\n",
+    "chosen_demo_list = []\n",
+    "for i in f['mask']['100_demos'][:]: # or \"30_demos\"\n",
+    "    chosen_demo_list.append(i.decode('utf-8'))\n",
+    "    \n",
+    "chosen_data = []\n",
+    "for k in f['data'].keys():\n",
+    "    if k in chosen_demo_list:\n",
+    "        chosen_data.append(f['data'][k])\n",
+    "        \n",
+    "with h5py.File(f\"direction_to_your_new_extracted_subset/{file_name}\", \"w\") as out:\n",
+    "    out_data = out.create_group(\"data\")\n",
+    "    \n",
+    "    for key, val in f['data'].attrs.items():\n",
+    "            out_data.attrs[key] = val # IMPORTANT: set attributes for new hdf5 files (need for reset env and later re-render)\n",
+    "\n",
+    "    for grp in chosen_data:\n",
+    "        name = grp.name.split(\"/\")[-1]   # demo_xxx\n",
+    "        grp.file.copy(grp, out_data, name=name)"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "robocasa",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "name": "python",
+   "version": "3.10.19"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}