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remove brkp

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This commit is contained in:
Jade Choghari
2026-01-20 23:05:44 +00:00
parent 90d9698c7e
commit dc85e9b742
3 changed files with 22 additions and 23 deletions
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src/lerobot/policies/pi05_full/annotate/annotate_libero.sh
+16 -16
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@@ -4,25 +4,25 @@
# This generates user prompts and robot utterances for hierarchical policy training # This generates user prompts and robot utterances for hierarchical policy training
# Configuration # Configuration
REPO_ID="lerobot/libero_video" REPO_ID="lerobot/libero_10"
MODEL="Qwen/Qwen3-VL-30B-A3B-Instruct" MODEL="Qwen/Qwen3-VL-30B-A3B-Instruct"
# or: MODEL="Qwen/Qwen2-VL-7B-Instruct" # or: MODEL="Qwen/Qwen2-VL-7B-Instruct"
OUTPUT_DIR="/fsx/jade_choghari/outputs/libero-annotate" OUTPUT_DIR="/fsx/jade_choghari/outputs/libero-10-annotate-high"
BATCH_SIZE=16 BATCH_SIZE=16
TEMPERATURE=0.9 TEMPERATURE=0.9
SAMPLE_INTERVAL=5.0 # generate dialogue every 1 second (all episodes processed) SAMPLE_INTERVAL=5.0 # generate dialogue every 1 second (all episodes processed)
# Run subtask annotation # Run subtask annotation
python /admin/home/jade_choghari/lerobot/src/lerobot/policies/pi05_full/annotate/subtask_annotate.py \ # python /admin/home/jade_choghari/lerobot/src/lerobot/policies/pi05_full/annotate/subtask_annotate.py \
--repo-id "$REPO_ID" \ # --repo-id "$REPO_ID" \
--video-key observation.images.image \ # --video-key observation.images.image \
--output-dir "$OUTPUT_DIR" \ # --output-dir "$OUTPUT_DIR" \
--skip-existing \ # --skip-existing \
--output-repo-id "jadechoghari/libero-annotate" \ # --output-repo-id "jadechoghari/libero10-annotate" \
--batch-size "$BATCH_SIZE" \ # --batch-size "$BATCH_SIZE" \
# run synthetic data generation (all episodes processed) # run synthetic data generation (all episodes processed)
# python examples/dataset/annotate_pgen.py \ # python examples/dataset/annotate_pgen.py \
# --repo-id "$REPO_ID" \ # --repo-id "$REPO_ID" \
@@ -41,10 +41,10 @@ python /admin/home/jade_choghari/lerobot/src/lerobot/policies/pi05_full/annotate
# add --push-to-hub flag # add --push-to-hub flag
# efficient batch processing: 4 episodes at once # efficient batch processing: 4 episodes at once
# python /admin/home/jade_choghari/lerobot/src/lerobot/policies/pi05_full/annotate/high_level_annotate.py \ python /admin/home/jade_choghari/lerobot/src/lerobot/policies/pi05_full/annotate/high_level_annotate.py \
# --repo-id "$REPO_ID" \ --data-dir "/fsx/jade_choghari/outputs/libero-10-annotate" \
# --output-dir "$OUTPUT_DIR" \ --output-dir "$OUTPUT_DIR" \
# --video-mode \ --video-mode \
# --video-key observation.images.image \ --video-key observation.images.image \
# --video-batch-size "$BATCH_SIZE" \ --video-batch-size "$BATCH_SIZE" \
# --sample-interval 5.0 --sample-interval 5.0
src/lerobot/policies/pi05_full/annotate/high_level_annotate.py
-1
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@@ -769,7 +769,6 @@ def _parse_video_response(response: str, timestamps_with_skills: list[dict]) ->
}) })
return results return results
breakpoint()
# Fallback: return empty results for each timestamp # Fallback: return empty results for each timestamp
print(f"Warning: Could not parse video response: {response[:200]}...") print(f"Warning: Could not parse video response: {response[:200]}...")
return [ return [
src/lerobot/policies/pi05_full/annotate/load_lerobot_high.py
+6 -6
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@@ -4,7 +4,7 @@ from huggingface_hub import HfApi
import lerobot import lerobot
from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata
dataset = LeRobotDataset(repo_id="local", root="/fsx/jade_choghari/outputs/pgen_annotations1") dataset = LeRobotDataset(repo_id="local", root="/fsx/jade_choghari/.cache/huggingface/lerobot/lerobot/libero_10/")
dataloader = torch.utils.data.DataLoader( dataloader = torch.utils.data.DataLoader(
dataset, dataset,
@@ -23,9 +23,9 @@ print(batch['task'][0])
# read this parquet /fsx/jade_choghari/outputs/pgen_annotations1/meta/tasks.parquett # read this parquet /fsx/jade_choghari/outputs/pgen_annotations1/meta/tasks.parquett
import pandas as pd # import pandas as pd
tasks_df = pd.read_parquet('/fsx/jade_choghari/outputs/pgen_annotations1/meta/tasks.parquet') # tasks_df = pd.read_parquet('/fsx/jade_choghari/outputs/pgen_annotations1/meta/tasks.parquet')
# print all # # print all
print(tasks_df.columns) # print(tasks_df.columns)
breakpoint() # breakpoint()