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feat(viz): add dataset quality visualization tools

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Add three new analysis scripts for dataset quality insight:
- create_frame_grid.py: random frame grid JPG for visual inspection
- workspace_density.py: 3D TCP trajectory clustering with K-means
- action_consistency.py: KNN-based action-state consistency analysis
  with action chunk support (default chunk=30) matching policy learning

Also update create_progress_videos.py with configurable camera selection.

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Pepijn
2026-03-23 20:15:15 -07:00
parent 46b97da168
commit 6370949e5c
4 changed files with 1185 additions and 1 deletions
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examples/dataset/visualization_tools/create_progress_videos.py
+1 -1
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@@ -14,7 +14,7 @@ import pandas as pd
from huggingface_hub import snapshot_download
DATASETS = [
{"repo_id": "lerobot-data-collection/level2_final_quality3", "episode": 1100},
{"repo_id": "lerobot-data-collection/level2_final_quality3", "episode": 250},
]
CAMERA_KEY = (
"observation.images.base" # None = auto-select first camera, or set e.g. "observation.images.top"