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LeRobotDataset v2.1 (#711)

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Co-authored-by: Remi <remi.cadene@huggingface.co>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
This commit is contained in:
Simon Alibert
2025-02-25 15:27:29 +01:00
committed by GitHub
parent aca464ca72
commit 3354d919fc
43 changed files with 2023 additions and 1322 deletions
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89
tests/fixtures/dataset_factories.py vendored
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@@ -1,5 +1,7 @@
import random
from functools import partial
from pathlib import Path
from typing import Protocol
from unittest.mock import patch
import datasets
@@ -27,8 +29,12 @@ from tests.fixtures.constants import (
)
class LeRobotDatasetFactory(Protocol):
def __call__(self, *args, **kwargs) -> LeRobotDataset: ...
def get_task_index(task_dicts: dict, task: str) -> int:
tasks = {d["task_index"]: d["task"] for d in task_dicts}
tasks = {d["task_index"]: d["task"] for d in task_dicts.values()}
task_to_task_index = {task: task_idx for task_idx, task in tasks.items()}
return task_to_task_index[task]
@@ -141,6 +147,7 @@ def stats_factory():
"mean": np.full((3, 1, 1), 0.5, dtype=np.float32).tolist(),
"min": np.full((3, 1, 1), 0, dtype=np.float32).tolist(),
"std": np.full((3, 1, 1), 0.25, dtype=np.float32).tolist(),
"count": [10],
}
else:
stats[key] = {
@@ -148,20 +155,38 @@ def stats_factory():
"mean": np.full(shape, 0.5, dtype=dtype).tolist(),
"min": np.full(shape, 0, dtype=dtype).tolist(),
"std": np.full(shape, 0.25, dtype=dtype).tolist(),
"count": [10],
}
return stats
return _create_stats
@pytest.fixture(scope="session")
def episodes_stats_factory(stats_factory):
def _create_episodes_stats(
features: dict[str],
total_episodes: int = 3,
) -> dict:
episodes_stats = {}
for episode_index in range(total_episodes):
episodes_stats[episode_index] = {
"episode_index": episode_index,
"stats": stats_factory(features),
}
return episodes_stats
return _create_episodes_stats
@pytest.fixture(scope="session")
def tasks_factory():
def _create_tasks(total_tasks: int = 3) -> int:
tasks_list = []
for i in range(total_tasks):
task_dict = {"task_index": i, "task": f"Perform action {i}."}
tasks_list.append(task_dict)
return tasks_list
tasks = {}
for task_index in range(total_tasks):
task_dict = {"task_index": task_index, "task": f"Perform action {task_index}."}
tasks[task_index] = task_dict
return tasks
return _create_tasks
@@ -190,10 +215,10 @@ def episodes_factory(tasks_factory):
# Generate random lengths that sum up to total_length
lengths = np.random.multinomial(total_frames, [1 / total_episodes] * total_episodes).tolist()
tasks_list = [task_dict["task"] for task_dict in tasks]
tasks_list = [task_dict["task"] for task_dict in tasks.values()]
num_tasks_available = len(tasks_list)
episodes_list = []
episodes = {}
remaining_tasks = tasks_list.copy()
for ep_idx in range(total_episodes):
num_tasks_in_episode = random.randint(1, min(3, num_tasks_available)) if multi_task else 1
@@ -203,15 +228,13 @@ def episodes_factory(tasks_factory):
for task in episode_tasks:
remaining_tasks.remove(task)
episodes_list.append(
{
"episode_index": ep_idx,
"tasks": episode_tasks,
"length": lengths[ep_idx],
}
)
episodes[ep_idx] = {
"episode_index": ep_idx,
"tasks": episode_tasks,
"length": lengths[ep_idx],
}
return episodes_list
return episodes
return _create_episodes
@@ -235,7 +258,7 @@ def hf_dataset_factory(features_factory, tasks_factory, episodes_factory, img_ar
frame_index_col = np.array([], dtype=np.int64)
episode_index_col = np.array([], dtype=np.int64)
task_index = np.array([], dtype=np.int64)
for ep_dict in episodes:
for ep_dict in episodes.values():
timestamp_col = np.concatenate((timestamp_col, np.arange(ep_dict["length"]) / fps))
frame_index_col = np.concatenate((frame_index_col, np.arange(ep_dict["length"], dtype=int)))
episode_index_col = np.concatenate(
@@ -278,6 +301,7 @@ def hf_dataset_factory(features_factory, tasks_factory, episodes_factory, img_ar
def lerobot_dataset_metadata_factory(
info_factory,
stats_factory,
episodes_stats_factory,
tasks_factory,
episodes_factory,
mock_snapshot_download_factory,
@@ -287,14 +311,18 @@ def lerobot_dataset_metadata_factory(
repo_id: str = DUMMY_REPO_ID,
info: dict | None = None,
stats: dict | None = None,
episodes_stats: list[dict] | None = None,
tasks: list[dict] | None = None,
episodes: list[dict] | None = None,
local_files_only: bool = False,
) -> LeRobotDatasetMetadata:
if not info:
info = info_factory()
if not stats:
stats = stats_factory(features=info["features"])
if not episodes_stats:
episodes_stats = episodes_stats_factory(
features=info["features"], total_episodes=info["total_episodes"]
)
if not tasks:
tasks = tasks_factory(total_tasks=info["total_tasks"])
if not episodes:
@@ -305,21 +333,20 @@ def lerobot_dataset_metadata_factory(
mock_snapshot_download = mock_snapshot_download_factory(
info=info,
stats=stats,
episodes_stats=episodes_stats,
tasks=tasks,
episodes=episodes,
)
with (
patch(
"lerobot.common.datasets.lerobot_dataset.get_hub_safe_version"
) as mock_get_hub_safe_version_patch,
patch("lerobot.common.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version_patch,
patch(
"lerobot.common.datasets.lerobot_dataset.snapshot_download"
) as mock_snapshot_download_patch,
):
mock_get_hub_safe_version_patch.side_effect = lambda repo_id, version: version
mock_get_safe_version_patch.side_effect = lambda repo_id, version: version
mock_snapshot_download_patch.side_effect = mock_snapshot_download
return LeRobotDatasetMetadata(repo_id=repo_id, root=root, local_files_only=local_files_only)
return LeRobotDatasetMetadata(repo_id=repo_id, root=root)
return _create_lerobot_dataset_metadata
@@ -328,12 +355,13 @@ def lerobot_dataset_metadata_factory(
def lerobot_dataset_factory(
info_factory,
stats_factory,
episodes_stats_factory,
tasks_factory,
episodes_factory,
hf_dataset_factory,
mock_snapshot_download_factory,
lerobot_dataset_metadata_factory,
):
) -> LeRobotDatasetFactory:
def _create_lerobot_dataset(
root: Path,
repo_id: str = DUMMY_REPO_ID,
@@ -343,6 +371,7 @@ def lerobot_dataset_factory(
multi_task: bool = False,
info: dict | None = None,
stats: dict | None = None,
episodes_stats: list[dict] | None = None,
tasks: list[dict] | None = None,
episode_dicts: list[dict] | None = None,
hf_dataset: datasets.Dataset | None = None,
@@ -354,6 +383,8 @@ def lerobot_dataset_factory(
)
if not stats:
stats = stats_factory(features=info["features"])
if not episodes_stats:
episodes_stats = episodes_stats_factory(features=info["features"], total_episodes=total_episodes)
if not tasks:
tasks = tasks_factory(total_tasks=info["total_tasks"])
if not episode_dicts:
@@ -369,6 +400,7 @@ def lerobot_dataset_factory(
mock_snapshot_download = mock_snapshot_download_factory(
info=info,
stats=stats,
episodes_stats=episodes_stats,
tasks=tasks,
episodes=episode_dicts,
hf_dataset=hf_dataset,
@@ -378,19 +410,26 @@ def lerobot_dataset_factory(
repo_id=repo_id,
info=info,
stats=stats,
episodes_stats=episodes_stats,
tasks=tasks,
episodes=episode_dicts,
local_files_only=kwargs.get("local_files_only", False),
)
with (
patch("lerobot.common.datasets.lerobot_dataset.LeRobotDatasetMetadata") as mock_metadata_patch,
patch("lerobot.common.datasets.lerobot_dataset.get_safe_version") as mock_get_safe_version_patch,
patch(
"lerobot.common.datasets.lerobot_dataset.snapshot_download"
) as mock_snapshot_download_patch,
):
mock_metadata_patch.return_value = mock_metadata
mock_get_safe_version_patch.side_effect = lambda repo_id, version: version
mock_snapshot_download_patch.side_effect = mock_snapshot_download
return LeRobotDataset(repo_id=repo_id, root=root, **kwargs)
return _create_lerobot_dataset
@pytest.fixture(scope="session")
def empty_lerobot_dataset_factory() -> LeRobotDatasetFactory:
return partial(LeRobotDataset.create, repo_id=DUMMY_REPO_ID, fps=DEFAULT_FPS)