* refactor behaviour1k_lerobot_dataset.py

* add example scripts to load behaviour 1k data in `load_behaviour1k_dataset.py`
2026-05-17 17:50:09 +00:00 · 2025-11-03 12:23:12 +00:00
parent ca7c5fcdfe
commit 65b0e73ae4
4 changed files with 570 additions and 199 deletions
@@ -0,0 +1,130 @@
+#!/usr/bin/env python
+
+# Copyright 2025 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.
+
+"""
+Test script to verify BEHAVIOR-1K dataset loading with v3.0 wrapper.
+"""
+
+import argparse
+import logging
+
+from behavior_lerobot_dataset_v3 import BehaviorLeRobotDatasetV3
+
+from lerobot.utils.utils import init_logging
+
+init_logging()
+
+
+def load_behavior1k_dataset(repo_id, root):
+    """Test basic dataset loading."""
+    logging.info("=" * 80)
+    logging.info("Testing BEHAVIOR-1K dataset loading")
+    logging.info("=" * 80)
+
+    logging.info(f"\n1. Loading dataset with repo_id: {repo_id}")
+    dataset = BehaviorLeRobotDatasetV3(
+        repo_id=repo_id,
+        root=root,
+        modalities=["rgb"],
+        cameras=["head"],
+        chunk_streaming_using_keyframe=False,
+        check_timestamp_sync=False,
+    )
+
+    logging.info("\n2. Dataset loaded successfully!")
+    logging.info(f"   - Number of episodes: {dataset.num_episodes}")
+    logging.info(f"   - Number of frames: {dataset.num_frames}")
+    logging.info(f"   - FPS: {dataset.fps}")
+    logging.info(f"   - Features: {list(dataset.features)}")
+
+    return dataset
+
+
+def load_behavior1k_dataset_with_multiple_modalities(repo_id, root):
+    """Test loading multiple modalities and cameras."""
+    logging.info("\n" + "=" * 80)
+    logging.info("Testing multi-modality loading with repo_id: {repo_id}")
+    logging.info("=" * 80)
+
+    logging.info(f"\n1. Loading dataset with RGB + Depth with repo_id: {repo_id}")
+    dataset = BehaviorLeRobotDatasetV3(
+        repo_id=repo_id,
+        root=root,
+        modalities=["rgb", "depth"],
+        cameras=["head", "left_wrist", "right_wrist"],
+        chunk_streaming_using_keyframe=False,
+        check_timestamp_sync=False,
+        video_backend="pyav",
+    )
+
+    logging.info(f"\n2. Dataset loaded with modalities: {list(dataset.features)}")
+    logging.info(f"   - Total features: {len(dataset.features)}")
+
+    rgb_keys = [k for k in dataset.features if "rgb" in k]
+    depth_keys = [k for k in dataset.features if "depth" in k]
+    logging.info(f"   - RGB features: {rgb_keys}")
+    logging.info(f"   - Depth features: {depth_keys}")
+
+    logging.info("\n3. SUCCESS! Multi-modality loading works.")
+
+    return dataset
+
+
+def stream_behavior1k_dataset(repo_id, root):
+    """Test chunk streaming mode."""
+    logging.info("\n" + "=" * 80)
+    logging.info("Testing chunk streaming mode")
+    logging.info("=" * 80)
+
+    logging.info("\n1. Loading dataset with chunk streaming...")
+    dataset = BehaviorLeRobotDatasetV3(
+        repo_id=repo_id,
+        root=root,
+        modalities=["rgb"],
+        cameras=["head"],
+        chunk_streaming_using_keyframe=True,
+        shuffle=True,
+        seed=42,
+        check_timestamp_sync=False,
+    )
+
+    logging.info("\n2. Dataset loaded in streaming mode")
+    logging.info(f"   - Number of chunks: {len(dataset.chunks)}")
+    logging.info(f"   - First chunk range: {dataset.chunks[0]}")
+
+    logging.info("\n3. Testing frame access in streaming mode...")
+    for i in range(min(3, len(dataset))):
+        frame = dataset[i]
+        logging.info(
+            f"   - Frame {i}: episode_index={frame['episode_index'].item()}, "
+            f"task_index={frame['task_index'].item()}"
+        )
+
+    logging.info("\n4. SUCCESS! Chunk streaming works.")
+
+    return dataset
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--repo-id", type=str, default=None)
+    parser.add_argument("--root", type=str, default=None)
+
+    args = parser.parse_args()
+
+    load_behavior1k_dataset(args.repo_id, args.root)
+    load_behavior1k_dataset_with_multiple_modalities(args.repo_id, args.root)
+    stream_behavior1k_dataset(args.repo_id, args.root)