Merge remote-tracking branch 'origin/user/rcadene/2025_04_11_dataset_v3' into user/rcadene/2025_04_11_dataset_v3

lerobot/common/datasets/aggregate.py

@@ -18,6 +18,7 @@ from lerobot.common.datasets.utils import (
     concat_video_files,
     get_parquet_file_size_in_mb,
     get_video_size_in_mb,
+    safe_write_dataframe_to_parquet,
     update_chunk_file_indices,
     write_info,
     write_stats,
@@ -100,7 +101,8 @@ def aggregate_datasets(repo_ids: list[str], aggr_repo_id: str, roots: list[Path]
         ]
     )
     fps, robot_type, features = validate_all_metadata(all_metadata)
-    video_keys = [k for k, v in features.items() if v["dtype"] == "video"]
+    video_keys = [key for key in features if features[key]["dtype"] == "video"]
+    image_keys = [key for key in features if features[key]["dtype"] == "image"]
 
     # Initialize output dataset metadata
     dst_meta = LeRobotDatasetMetadata.create(
@@ -203,9 +205,21 @@ def aggregate_videos(src_meta, dst_meta, videos_idx):
                     file_idx,
                 )
 
-        # Update the video index tracking
+                if aggr_size_in_mb + size_in_mb >= DEFAULT_DATA_FILE_SIZE_IN_MB:
-        video_idx["chunk_idx"] = chunk_idx
+                    # Size limit is reached, prepare new parquet file
-        video_idx["file_idx"] = file_idx
+                    aggr_data_chunk_idx, aggr_data_file_idx = update_chunk_file_indices(
+                        aggr_data_chunk_idx, aggr_data_file_idx, DEFAULT_CHUNK_SIZE
+                    )
+                    aggr_path = aggr_root / DEFAULT_DATA_PATH.format(
+                        chunk_index=aggr_data_chunk_idx, file_index=aggr_data_file_idx
+                    )
+                    aggr_path.parent.mkdir(parents=True, exist_ok=True)
+                    df.to_parquet(aggr_path)
+                else:
+                    # Update the existing parquet file with new rows
+                    aggr_df = pd.read_parquet(aggr_path)
+                    df = pd.concat([aggr_df, df], ignore_index=True)
+                    safe_write_dataframe_to_parquet(df, aggr_path, image_keys)
 
         return videos_idx
 

lerobot/common/datasets/lerobot_dataset.py

@@ -63,6 +63,7 @@ from lerobot.common.datasets.utils import (
     load_nested_dataset,
     load_stats,
     load_tasks,
+    safe_write_dataframe_to_parquet,
     update_chunk_file_indices,
     validate_episode_buffer,
     validate_frame,
@@ -1008,10 +1009,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
         # Write the resulting dataframe from RAM to disk
         path = self.root / self.meta.data_path.format(chunk_index=chunk_idx, file_index=file_idx)
         path.parent.mkdir(parents=True, exist_ok=True)
-        if len(self.meta.image_keys) > 0:
+        safe_write_dataframe_to_parquet(df, path, self.meta.image_keys)
-            datasets.Dataset.from_dict(df.to_dict(orient="list")).to_parquet(path)
-        else:
-            df.to_parquet(path)
 
         # Update the Hugging Face dataset by reloading it.
         # This process should be fast because only the latest Parquet file has been modified.

lerobot/common/datasets/utils.py

@@ -937,3 +937,11 @@ def validate_episode_buffer(episode_buffer: dict, total_episodes: int, features:
             f"In episode_buffer not in features: {buffer_keys - set(features)}"
             f"In features not in episode_buffer: {set(features) - buffer_keys}"
         )
+
+
+def safe_write_dataframe_to_parquet(df: pandas.DataFrame, path: Path, image_keys: list[str]):
+    if len(image_keys) > 0:
+        # TODO(qlhoest): replace this weird synthax by `df.to_parquet(path)` only
+        datasets.Dataset.from_dict(df.to_dict(orient="list")).to_parquet(path)
+    else:
+        df.to_parquet(path)

tests/datasets/test_datasets.py

@@ -71,7 +71,7 @@ def test_same_attributes_defined(tmp_path, lerobot_dataset_factory):
     dataset_create = LeRobotDataset.create(repo_id=DUMMY_REPO_ID, fps=30, robot=robot, root=root_create)
 
     root_init = tmp_path / "init"
-    dataset_init = lerobot_dataset_factory(root=root_init)
+    dataset_init = lerobot_dataset_factory(root=root_init, total_episodes=1, total_frames=1)
 
     init_attr = set(vars(dataset_init).keys())
     create_attr = set(vars(dataset_create).keys())

tests/fixtures/constants.py

@@ -29,8 +29,8 @@ DUMMY_MOTOR_FEATURES = {
     },
 }
 DUMMY_CAMERA_FEATURES = {
-    "laptop": {"shape": (480, 640, 3), "names": ["height", "width", "channels"], "info": None},
+    "laptop": {"shape": (64, 96, 3), "names": ["height", "width", "channels"], "info": None},
-    "phone": {"shape": (480, 640, 3), "names": ["height", "width", "channels"], "info": None},
+    "phone": {"shape": (64, 96, 3), "names": ["height", "width", "channels"], "info": None},
 }
 DEFAULT_FPS = 30
 DUMMY_VIDEO_INFO = {

tests/fixtures/dataset_factories.py

@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import random
+import shutil
 from functools import partial
 from pathlib import Path
 from typing import Protocol
@@ -37,6 +38,7 @@ from lerobot.common.datasets.utils import (
     get_hf_features_from_features,
     hf_transform_to_torch,
 )
+from lerobot.common.datasets.video_utils import encode_video_frames
 from tests.fixtures.constants import (
     DEFAULT_FPS,
     DUMMY_CAMERA_FEATURES,
@@ -95,7 +97,7 @@ def features_factory():
     def _create_features(
         motor_features: dict = DUMMY_MOTOR_FEATURES,
         camera_features: dict = DUMMY_CAMERA_FEATURES,
-        use_videos: bool = True,
+        use_videos: bool = False,
     ) -> dict:
         if use_videos:
             camera_ft = {
@@ -129,7 +131,7 @@ def info_factory(features_factory):
         video_path: str = DEFAULT_VIDEO_PATH,
         motor_features: dict = DUMMY_MOTOR_FEATURES,
         camera_features: dict = DUMMY_CAMERA_FEATURES,
-        use_videos: bool = True,
+        use_videos: bool = False,
     ) -> dict:
         features = features_factory(motor_features, camera_features, use_videos)
         return {
@@ -302,6 +304,38 @@ def episodes_factory(tasks_factory, stats_factory):
     return _create_episodes
 
 
+@pytest.fixture(scope="session")
+def create_videos(info_factory, img_array_factory):
+    def _create_video_directory(
+        root: Path,
+        info: dict | None = None,
+        total_episodes: int = 3,
+        total_frames: int = 150,
+        total_tasks: int = 1,
+    ):
+        if info is None:
+            info = info_factory(
+                total_episodes=total_episodes, total_frames=total_frames, total_tasks=total_tasks
+            )
+
+        video_feats = {key: feats for key, feats in info["features"].items() if feats["dtype"] == "video"}
+        for key, ft in video_feats.items():
+            # create and save images
+            tmp_dir = root / "tmp_images"
+            tmp_dir.mkdir(parents=True, exist_ok=True)
+            for frame_index in range(info["total_frames"]):
+                img = img_array_factory(height=ft["shape"][1], width=ft["shape"][0])
+                pil_img = PIL.Image.fromarray(img)
+                path = tmp_dir / f"frame-{frame_index:06d}.png"
+                pil_img.save(path)
+
+            video_path = root / DEFAULT_VIDEO_PATH.format(video_key=key, chunk_index=0, file_index=0)
+            encode_video_frames(tmp_dir, video_path, fps=ft["video.fps"])
+            shutil.rmtree(tmp_dir)
+
+    return _create_video_directory
+
+
 @pytest.fixture(scope="session")
 def hf_dataset_factory(features_factory, tasks_factory, episodes_factory, img_array_factory):
     def _create_hf_dataset(
@@ -338,7 +372,7 @@ def hf_dataset_factory(features_factory, tasks_factory, episodes_factory, img_ar
         for key, ft in features.items():
             if ft["dtype"] == "image":
                 robot_cols[key] = [
-                    img_array_factory(height=ft["shapes"][1], width=ft["shapes"][0])
+                    img_array_factory(height=ft["shape"][1], width=ft["shape"][0])
                     for _ in range(len(index_col))
                 ]
             elif ft["shape"][0] > 1 and ft["dtype"] != "video":
@@ -439,6 +473,7 @@ def lerobot_dataset_factory(
         hf_dataset: datasets.Dataset | None = None,
         **kwargs,
     ) -> LeRobotDataset:
+        # Instantiate objects
         if info is None:
             info = info_factory(
                 total_episodes=total_episodes, total_frames=total_frames, total_tasks=total_tasks
@@ -448,19 +483,18 @@ def lerobot_dataset_factory(
         if tasks is None:
             tasks = tasks_factory(total_tasks=info["total_tasks"])
         if episodes_metadata is None:
-            video_keys = [key for key, ft in info["features"].items() if ft["dtype"] == "video"]
             episodes_metadata = episodes_factory(
                 features=info["features"],
                 fps=info["fps"],
                 total_episodes=info["total_episodes"],
                 total_frames=info["total_frames"],
-                video_keys=video_keys,
                 tasks=tasks,
                 multi_task=multi_task,
             )
         if not hf_dataset:
             hf_dataset = hf_dataset_factory(tasks=tasks, episodes=episodes_metadata, fps=info["fps"])
 
+        # Write data on disk
         mock_snapshot_download = mock_snapshot_download_factory(
             info=info,
             stats=stats,

tests/fixtures/hub.py

@@ -22,6 +22,7 @@ from lerobot.common.datasets.utils import (
     DEFAULT_DATA_PATH,
     DEFAULT_EPISODES_PATH,
     DEFAULT_TASKS_PATH,
+    DEFAULT_VIDEO_PATH,
     INFO_PATH,
     STATS_PATH,
 )
@@ -40,6 +41,7 @@ def mock_snapshot_download_factory(
     create_episodes,
     hf_dataset_factory,
     create_hf_dataset,
+    create_videos,
 ):
     """
     This factory allows to patch snapshot_download such that when called, it will create expected files rather
@@ -91,40 +93,48 @@ def mock_snapshot_download_factory(
                 DEFAULT_DATA_PATH.format(chunk_index=0, file_index=0),
             ]
 
+            video_keys = [key for key, feats in info["features"].items() if feats["dtype"] == "video"]
+            for key in video_keys:
+                all_files.append(DEFAULT_VIDEO_PATH.format(video_key=key, chunk_index=0, file_index=0))
+
             allowed_files = filter_repo_objects(
                 all_files, allow_patterns=allow_patterns, ignore_patterns=ignore_patterns
             )
 
-            has_info = False
+            request_info = False
-            has_tasks = False
+            request_tasks = False
-            has_episodes = False
+            request_episodes = False
-            has_stats = False
+            request_stats = False
-            has_data = False
+            request_data = False
+            request_videos = False
             for rel_path in allowed_files:
                 if rel_path.startswith("meta/info.json"):
-                    has_info = True
+                    request_info = True
                 elif rel_path.startswith("meta/stats"):
-                    has_stats = True
+                    request_stats = True
                 elif rel_path.startswith("meta/tasks"):
-                    has_tasks = True
+                    request_tasks = True
                 elif rel_path.startswith("meta/episodes"):
-                    has_episodes = True
+                    request_episodes = True
                 elif rel_path.startswith("data/"):
-                    has_data = True
+                    request_data = True
+                elif rel_path.startswith("videos/"):
+                    request_videos = True
                 else:
                     raise ValueError(f"{rel_path} not supported.")
 
-            if has_info:
+            if request_info:
                 create_info(local_dir, info)
-            if has_stats:
+            if request_stats:
                 create_stats(local_dir, stats)
-            if has_tasks:
+            if request_tasks:
                 create_tasks(local_dir, tasks)
-            if has_episodes:
+            if request_episodes:
                 create_episodes(local_dir, episodes)
-            # TODO(rcadene): create_videos?
+            if request_data:
-            if has_data:
                 create_hf_dataset(local_dir, hf_dataset)
+            if request_videos:
+                create_videos(root=local_dir, info=info)
 
             return str(local_dir)