add subtasl

scripts/run_subtask_annotate.sh

@@ -0,0 +1,83 @@
+#!/bin/bash
+# Example script to run subtask annotation with Qwen VLM.
+# Generates skill/subtask segments for hierarchical policy training.
+#
+# Usage:
+#   ./scripts/run_subtask_annotate.sh
+# Or with env overrides:
+#   REPO_ID=user/other-dataset OUTPUT_DIR=/tmp/out ./scripts/run_subtask_annotate.sh
+
+set -e
+
+# --------------- Configuration ---------------
+REPO_ID="${REPO_ID:-lerobot-data-collection/round1_1}"
+# MODEL="${MODEL:-Qwen/Qwen3-VL-30B-A3B-Thinking}"
+MODEL="${MODEL:-Qwen/Qwen3.5-27B}"
+# Or: MODEL="Qwen/Qwen2-VL-7B-Instruct"
+
+OUTPUT_DIR="${OUTPUT_DIR:-/fsx/jade_choghari/outputs/collect-data-pgen_new}"
+BATCH_SIZE="${BATCH_SIZE:-4}"
+VIDEO_KEY="${VIDEO_KEY:-observation.images.base}"
+
+# Closed-vocabulary subtask labels (optional). Pass as space-separated list.
+# Leave empty for open-vocabulary segmentation.
+SUBTASK_LABELS=(
+  "do_first_horizontal_fold"
+  "do_second_horizontal_fold"
+  "do_third_fold_left_to_right"
+  "do_fourth_fold_right_to_left"
+  "rotate_t-shirt_90_degrees"
+  "slide_folded_shirt_to_right"
+)
+
+# --------------- Run subtask annotation ---------------
+# Uses the refactored CLI: lerobot-dataset-subtask-annotate (config-based, snake_case args).
+# If not installed, run from repo root: PYTHONPATH=src python -m lerobot.scripts.lerobot_subtask_annotate ...
+
+CMD=(
+  lerobot-dataset-subtask-annotate
+  --repo_id "$REPO_ID"
+  --video_key "$VIDEO_KEY"
+  --output_dir "$OUTPUT_DIR"
+  --push_to_hub True
+  --no_timer_overlay True
+  --model "$MODEL"
+  --batch_size "$BATCH_SIZE"
+)
+
+# Add closed-vocabulary labels if defined
+if [ ${#SUBTASK_LABELS[@]} -gt 0 ]; then
+  for label in "${SUBTASK_LABELS[@]}"; do
+    CMD+=(--subtask_labels "$label")
+  done
+fi
+
+echo "Running: ${CMD[*]}"
+"${CMD[@]}"
+
+# --------------- Optional: image-window annotator (if available) ---------------
+# Uncomment and adjust path if you use the image-window variant:
+# python /path/to/lerobot/data_processing/annotations/subtask_annotate_image.py \
+#   --repo-id "$REPO_ID" \
+#   --camera-key observation.images.wrist \
+#   --output-dir "$OUTPUT_DIR" \
+#   --output-repo-id "jadechoghari/piper-demo-annotated1-image" \
+#   --push-to-hub \
+#   --model "$MODEL" \
+#   --window-size 184 \
+#   --max-frames-per-window 16 \
+#   --subtask-labels "label1" "label2" \
+#   --batch-size 2
+
+# --------------- Optional: synthetic data generation (pgen) ---------------
+# BATCH_SIZE=2 TEMPERATURE=0.9 SAMPLE_INTERVAL=5.0
+# python examples/dataset/annotate_pgen.py \
+#   --repo-id "$REPO_ID" \
+#   --model "$MODEL" \
+#   --output-dir "$OUTPUT_DIR" \
+#   --temperature "$TEMPERATURE" \
+#   --batch-size "$BATCH_SIZE" \
+#   --sample-interval "$SAMPLE_INTERVAL" \
+#   --image-key observation.images.base \
+#   --num-image-views-per-sample 1
+# Add --push-to-hub to push after generation.