fixes, do stats in seperate script (existing)

examples/umi_pi0_relative_ee/convert_umi_dataset.py

@@ -15,35 +15,31 @@
 # limitations under the License.
 
 """
-Add ``observation.state`` to an existing UMI LeRobot dataset and recompute
-stats for pi0 training with relative EE actions.
+Add ``observation.state`` to an existing LeRobot dataset.
 
-UMI datasets already contain ``action`` (absolute EE pose from SLAM) and
-images. This script derives ``observation.state`` from the action column
-and recomputes statistics with relative action stats.
+pi0 with ``use_relative_actions=True`` requires ``observation.state`` to
+compute relative actions (action − state) on the fly. This script adds
+that feature when it doesn't already exist.
 
-State-Action Offset:
-UMI SLAM produces a single trajectory of EE poses stored as ``action``.
-We derive ``observation.state`` from the same trajectory with a
-configurable offset:
+Two modes for deriving ``observation.state``:
 
-  state[t] = action[t - STATE_ACTION_OFFSET]
+  1. **From an existing feature** (``STATE_SOURCE_FEATURE``):
+     Copies an existing column (e.g. ``observation.joints`` or
+     ``observation.pose``) to ``observation.state``.
 
-With offset=0, state equals action at the same timestep. With offset=1,
-state is the previous timestep's action — representing where the gripper
-*arrived* (the result of the previous command), which is what the robot
-knows at decision time. Offset=1 is the typical UMI convention.
+  2. **From action with offset** (``STATE_SOURCE_FEATURE = None``):
+     Derives state from the action column with a per-episode offset:
+       state[t] = action[t - STATE_ACTION_OFFSET]
 
-For the first frame(s) of each episode where t < offset, we use the
-earliest available action (action[0]) as state.
+After running this script, recompute relative action stats via the CLI:
 
-After adding state, train with standard lerobot-train:
-    lerobot-train \\
-        --dataset.repo_id=<your_dataset> \\
-        --policy.type=pi0 \\
-        --policy.use_relative_actions=true \\
-        --policy.relative_exclude_joints='["gripper"]' \\
-        --policy.pretrained_path=lerobot/pi0_base
+    lerobot-edit-dataset \\
+        --repo_id <your_dataset> \\
+        --operation.type recompute_stats \\
+        --operation.relative_action true \\
+        --operation.chunk_size 50 \\
+        --operation.relative_exclude_joints "['gripper']" \\
+        --push_to_hub true
 
 Usage:
     python convert_umi_dataset.py
@@ -52,63 +48,79 @@ Usage:
 from __future__ import annotations
 
 import logging
+from collections.abc import Callable
 
 import numpy as np
 
-from lerobot.datasets.dataset_tools import add_features, recompute_stats
+from lerobot.datasets.dataset_tools import add_features
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 
 logging.basicConfig(level=logging.INFO)
 logger = logging.getLogger(__name__)
 
-# ── Configuration ─────────────────────────────────────────────────────────
 
-HF_DATASET_ID = "<hf_username>/<dataset_repo_id>"
+HF_DATASET_ID = ""
 
-# Offset between state and action indices within each episode.
+# Source for observation.state. Options:
+#   - A feature name (e.g. "observation.joints", "observation.pose") to copy
+#     an existing column. Must have the same shape as "action".
+#   - None to derive state from action with STATE_ACTION_OFFSET.
+STATE_SOURCE_FEATURE: str | None = "observation.joints"
+
+# Only used when STATE_SOURCE_FEATURE is None.
 #   0 → state[t] = action[t]       (same instant)
-#   1 → state[t] = action[t-1]     (state lags by 1 step — typical for UMI)
+#   1 → state[t] = action[t-1]     (state lags by 1 step)
 STATE_ACTION_OFFSET = 1
 
-# Joint names to keep absolute (not converted to relative).
-RELATIVE_EXCLUDE_JOINTS: list[str] = ["gripper"]
-
-# pi0 chunk size (for relative stats computation).
-CHUNK_SIZE = 50
+# Push the augmented dataset to the Hugging Face Hub.
+PUSH_TO_HUB = True
 
 
-# ── Build state from action with offset ──────────────────────────────────
+def _build_state_from_feature(dataset: LeRobotDataset, source_feature: str) -> Callable:
+    """Return a callable that copies values from an existing feature."""
+    hf = dataset.hf_dataset
+    source_values = hf[source_feature]
+
+    episode_indices = np.array(hf["episode_index"])
+    frame_indices = np.array(hf["frame_index"])
+    key_to_global = {(int(episode_indices[i]), int(frame_indices[i])): i for i in range(len(episode_indices))}
+
+    def _get_state(row_dict: dict, ep_idx: int, frame_idx: int):
+        return source_values[key_to_global[(ep_idx, frame_idx)]]
+
+    return _get_state
 
 
-def build_state_array(dataset: LeRobotDataset, offset: int) -> np.ndarray:
-    """Derive observation.state from the action column with a per-episode offset.
+def _build_state_from_action_offset(dataset: LeRobotDataset, offset: int) -> Callable:
+    """Return a callable that derives state from action with a per-episode offset.
 
-    For each frame t in an episode:
-        state[t] = action[max(0, t - offset)]  (clamped to episode start)
+    state[t] = action[max(0, t - offset)]  (clamped to episode start)
     """
     hf = dataset.hf_dataset
-    actions = np.array(hf["action"], dtype=np.float32)
     episode_indices = np.array(hf["episode_index"])
     frame_indices = np.array(hf["frame_index"])
 
-    states = np.empty_like(actions)
-
+    ep_sorted: dict[int, list[tuple[int, int]]] = {}
     for ep_idx in np.unique(episode_indices):
         ep_mask = episode_indices == ep_idx
-        ep_global_indices = np.where(ep_mask)[0]
-        ep_actions = actions[ep_global_indices]
-        ep_frames = frame_indices[ep_global_indices]
+        ep_globals = np.where(ep_mask)[0]
+        ep_frames = frame_indices[ep_globals]
+        order = np.argsort(ep_frames)
+        ep_sorted[int(ep_idx)] = [(int(ep_frames[o]), int(ep_globals[o])) for o in order]
 
-        sort_order = np.argsort(ep_frames)
-        ep_global_indices = ep_global_indices[sort_order]
-        ep_actions = ep_actions[sort_order]
+    ep_frame_to_local: dict[int, dict[int, int]] = {}
+    for ep_idx, sorted_list in ep_sorted.items():
+        ep_frame_to_local[ep_idx] = {frame: local for local, (frame, _) in enumerate(sorted_list)}
 
-        n = len(ep_actions)
-        for local_t in range(n):
-            source_t = max(0, local_t - offset)
-            states[ep_global_indices[local_t]] = ep_actions[source_t]
+    actions = hf["action"]
 
-    return states
+    def _get_state(row_dict: dict, ep_idx: int, frame_idx: int):
+        local_t = ep_frame_to_local[ep_idx][frame_idx]
+        source_local = max(0, local_t - offset)
+        _, source_global = ep_sorted[ep_idx][source_local]
+        return actions[source_global]
+
+    return _get_state
 
 
 def main():
@@ -116,44 +128,54 @@ def main():
     dataset = LeRobotDataset(HF_DATASET_ID)
 
     if "observation.state" in dataset.features:
-        logger.warning("observation.state already exists — skipping add_features")
-        augmented = dataset
-    else:
-        logger.info(f"Building observation.state from action with offset={STATE_ACTION_OFFSET}")
-        state_array = build_state_array(dataset, offset=STATE_ACTION_OFFSET)
+        logger.info("observation.state already exists — nothing to do")
+        return
 
-        action_meta = dataset.features["action"]
+    action_meta = dataset.features["action"]
+    logger.info(f"Action shape: {action_meta['shape']}, names: {action_meta.get('names')}")
+
+    if STATE_SOURCE_FEATURE is not None:
+        if STATE_SOURCE_FEATURE not in dataset.features:
+            raise ValueError(
+                f"Source feature '{STATE_SOURCE_FEATURE}' not found. "
+                f"Available: {list(dataset.features.keys())}"
+            )
+        source_meta = dataset.features[STATE_SOURCE_FEATURE]
+        logger.info(f"Copying {STATE_SOURCE_FEATURE} → observation.state")
+        state_fn = _build_state_from_feature(dataset, STATE_SOURCE_FEATURE)
+        state_feature_info = {
+            "dtype": "float32",
+            "shape": list(source_meta["shape"]),
+            "names": source_meta.get("names"),
+        }
+    else:
+        logger.info(f"Deriving observation.state from action with offset={STATE_ACTION_OFFSET}")
+        state_fn = _build_state_from_action_offset(dataset, offset=STATE_ACTION_OFFSET)
         state_feature_info = {
             "dtype": "float32",
             "shape": list(action_meta["shape"]),
             "names": action_meta.get("names"),
         }
 
-        augmented = add_features(
-            dataset,
-            features={
-                "observation.state": (state_array, state_feature_info),
-            },
-        )
-        logger.info("observation.state added")
-
-    logger.info("Recomputing stats with relative action statistics...")
-    recompute_stats(
-        augmented,
-        relative_action=True,
-        relative_exclude_joints=RELATIVE_EXCLUDE_JOINTS,
-        chunk_size=CHUNK_SIZE,
+    augmented = add_features(
+        dataset,
+        features={"observation.state": (state_fn, state_feature_info)},
     )
+    logger.info("observation.state added")
+
+    if PUSH_TO_HUB:
+        logger.info(f"Pushing to Hub: {augmented.repo_id}")
+        augmented.push_to_hub()
 
-    logger.info(f"Dataset ready at {augmented.root}")
     logger.info(
-        "Train with:\n"
-        "  lerobot-train \\\n"
-        f"    --dataset.repo_id={augmented.repo_id} \\\n"
-        "    --policy.type=pi0 \\\n"
-        "    --policy.use_relative_actions=true \\\n"
-        f"    --policy.relative_exclude_joints='{RELATIVE_EXCLUDE_JOINTS}' \\\n"
-        "    --policy.pretrained_path=lerobot/pi0_base"
+        f"Done. Now recompute relative action stats:\n"
+        "  lerobot-edit-dataset \\\n"
+        f"    --repo_id {augmented.repo_id} \\\n"
+        "    --operation.type recompute_stats \\\n"
+        "    --operation.relative_action true \\\n"
+        "    --operation.chunk_size 50 \\\n"
+        "    --operation.relative_exclude_joints \"['gripper']\" \\\n"
+        "    --push_to_hub true"
     )