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more annotation changes

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Jade Choghari
2026-02-12 12:46:45 +00:00
parent 4503019d18
commit 51b3b31927
4 changed files with 847 additions and 68 deletions
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src/lerobot/data_processing/annotations/run_pgen.sh
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@@ -4,23 +4,47 @@
# This generates user prompts and robot utterances for hierarchical policy training
# Configuration
REPO_ID="jadechoghari/collect-data"
MODEL="Qwen/Qwen3-VL-30B-A3B-Instruct"
REPO_ID="jadechoghari/piper-demo-20260205_103303"
# MODEL="Qwen/Qwen3-VL-30B-A3B-Thinking"
MODEL="Qwen/Qwen2-VL-7B-Instruct"
# or: MODEL="Qwen/Qwen2-VL-7B-Instruct"
OUTPUT_DIR="/fsx/jade_choghari/outputs/collect-data-pgen_new"
BATCH_SIZE=32
BATCH_SIZE=2
TEMPERATURE=0.9
SAMPLE_INTERVAL=5.0 # generate dialogue every 1 second (all episodes processed)
# Run subtask annotation
python /admin/home/jade_choghari/lerobot/src/lerobot/policies/pi05_full/annotate/subtask_annotate.py \
# Run subtask annotation.
# To use closed-vocabulary labels, add a line: --subtask-labels "label1" "label2" ...
# Example (add backslash after "$MODEL" and uncomment the next line):
# --model "$MODEL" \
# --subtask-labels "pick_up_yellow_nut_bar" "pick_up_cake" "pick_up_biscuit_pack" "pick_up_soda_can"
python /admin/home/jade_choghari/lerobot/src/lerobot/data_processing/annotations/subtask_annotate.py \
--repo-id "$REPO_ID" \
--video-key observation.images.base \
--video-key observation.images.top \
--output-dir "$OUTPUT_DIR" \
--output-repo-id "jadechoghari/collect-data-with-subtasks"
--output-repo-id "jadechoghari/piper-demo-annotated1" \
--push-to-hub \
--model "$MODEL" \
--subtask-labels "pick_up_yellow_nut_bar" "pick_up_cake" "pick_up_biscuit_pack" "pick_up_soda_can" \
--batch-size 2
# Run subtask annotation (image-window: frames as images for better accuracy)
# python /admin/home/jade_choghari/lerobot/src/lerobot/data_processing/annotations/subtask_annotate_image.py \
# --repo-id "$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 "pick_up_yellow_nut_bar" "pick_up_cake" "pick_up_biscuit_pack" "pick_up_soda_can" \
# --batch-size 2
# run synthetic data generation (all episodes processed)
# python examples/dataset/annotate_pgen.py \
# --repo-id "$REPO_ID" \