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Support for converting OpenX datasets from RLDS format to LeRobotDataset (#354)

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Signed-off-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: youliangtan <tan_you_liang@hotmail.com>
Co-authored-by: Remi <re.cadene@gmail.com>
This commit is contained in:
Michel Aractingi
2024-08-27 09:07:00 +02:00
committed by GitHub
parent aad59e6b6b
commit eb4c505cff
12 changed files with 2329 additions and 6 deletions
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5
lerobot/common/datasets/utils.py
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@@ -80,6 +80,11 @@ def hf_transform_to_torch(items_dict: dict[torch.Tensor | None]):
if isinstance(first_item, PILImage.Image):
to_tensor = transforms.ToTensor()
items_dict[key] = [to_tensor(img) for img in items_dict[key]]
elif isinstance(first_item, str):
# TODO (michel-aractingi): add str2embedding via language tokenizer
# For now we leave this part up to the user to choose how to address
# language conditioned tasks
pass
elif isinstance(first_item, dict) and "path" in first_item and "timestamp" in first_item:
# video frame will be processed downstream
pass