mirror of
https://github.com/huggingface/lerobot.git
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211 lines
8.2 KiB
Python
211 lines
8.2 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import logging
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from collections.abc import Callable
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from pathlib import Path
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import datasets
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import torch
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import torch.utils
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from lerobot.datasets.compute_stats import aggregate_stats
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from lerobot.datasets.lerobot_dataset import LeRobotDataset
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from lerobot.datasets.video_utils import VideoFrame
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from lerobot.utils.constants import HF_LEROBOT_HOME
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logger = logging.getLogger(__name__)
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class MultiLeRobotDataset(torch.utils.data.Dataset):
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"""A dataset consisting of multiple underlying `LeRobotDataset`s.
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The underlying `LeRobotDataset`s are effectively concatenated, and this class adopts much of the API
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structure of `LeRobotDataset`.
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"""
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def __init__(
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self,
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repo_ids: list[str],
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root: str | Path | None = None,
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episodes: dict | None = None,
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image_transforms: Callable | None = None,
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delta_timestamps: dict[str, list[float]] | None = None,
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tolerances_s: dict | None = None,
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download_videos: bool = True,
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video_backend: str | None = None,
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):
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super().__init__()
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self.repo_ids = repo_ids
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self.root = Path(root) if root else HF_LEROBOT_HOME
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self.tolerances_s = tolerances_s if tolerances_s else dict.fromkeys(repo_ids, 0.0001)
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# Construct the underlying datasets passing everything but `transform` and `delta_timestamps` which
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# are handled by this class.
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self._datasets = [
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LeRobotDataset(
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repo_id,
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root=self.root / repo_id,
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episodes=episodes[repo_id] if episodes else None,
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image_transforms=image_transforms,
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delta_timestamps=delta_timestamps,
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tolerance_s=self.tolerances_s[repo_id],
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download_videos=download_videos,
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video_backend=video_backend,
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)
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for repo_id in repo_ids
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]
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# Disable any data keys that are not common across all of the datasets. Note: we may relax this
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# restriction in future iterations of this class. For now, this is necessary at least for being able
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# to use PyTorch's default DataLoader collate function.
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self.disabled_features = set()
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intersection_features = set(self._datasets[0].features)
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for ds in self._datasets:
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intersection_features.intersection_update(ds.features)
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if len(intersection_features) == 0:
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raise RuntimeError(
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"Multiple datasets were provided but they had no keys common to all of them. "
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"The multi-dataset functionality currently only keeps common keys."
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)
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for repo_id, ds in zip(self.repo_ids, self._datasets, strict=True):
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extra_keys = set(ds.features).difference(intersection_features)
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if extra_keys:
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logger.warning(
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f"keys {extra_keys} of {repo_id} were disabled as they are not contained in all the "
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"other datasets."
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)
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self.disabled_features.update(extra_keys)
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self.image_transforms = image_transforms
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self.delta_timestamps = delta_timestamps
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# TODO(rcadene, aliberts): We should not perform this aggregation for datasets
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# with multiple robots of different ranges. Instead we should have one normalization
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# per robot.
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self.stats = aggregate_stats([dataset.meta.stats for dataset in self._datasets])
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@property
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def repo_id_to_index(self):
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"""Return a mapping from dataset repo_id to a dataset index automatically created by this class.
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This index is incorporated as a data key in the dictionary returned by `__getitem__`.
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"""
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return {repo_id: i for i, repo_id in enumerate(self.repo_ids)}
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@property
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def fps(self) -> int:
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"""Frames per second used during data collection.
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NOTE: Fow now, this relies on a check in __init__ to make sure all sub-datasets have the same info.
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"""
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return self._datasets[0].meta.info["fps"]
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@property
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def video(self) -> bool:
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"""Returns True if this dataset loads video frames from mp4 files.
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Returns False if it only loads images from png files.
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NOTE: Fow now, this relies on a check in __init__ to make sure all sub-datasets have the same info.
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"""
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return self._datasets[0].meta.info.get("video", False)
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@property
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def features(self) -> datasets.Features:
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features = {}
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for dataset in self._datasets:
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features.update({k: v for k, v in dataset.hf_features.items() if k not in self.disabled_features})
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return features
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@property
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def camera_keys(self) -> list[str]:
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"""Keys to access image and video stream from cameras."""
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keys = []
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for key, feats in self.features.items():
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if isinstance(feats, (datasets.Image | VideoFrame)):
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keys.append(key)
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return keys
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@property
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def video_frame_keys(self) -> list[str]:
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"""Keys to access video frames that requires to be decoded into images.
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Note: It is empty if the dataset contains images only,
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or equal to `self.cameras` if the dataset contains videos only,
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or can even be a subset of `self.cameras` in a case of a mixed image/video dataset.
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"""
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video_frame_keys = []
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for key, feats in self.features.items():
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if isinstance(feats, VideoFrame):
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video_frame_keys.append(key)
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return video_frame_keys
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@property
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def num_frames(self) -> int:
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"""Number of samples/frames."""
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return sum(d.num_frames for d in self._datasets)
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@property
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def num_episodes(self) -> int:
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"""Number of episodes."""
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return sum(d.num_episodes for d in self._datasets)
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@property
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def tolerance_s(self) -> float:
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"""Tolerance in seconds used to discard loaded frames when their timestamps
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are not close enough from the requested frames. It is only used when `delta_timestamps`
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is provided or when loading video frames from mp4 files.
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"""
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# 1e-4 to account for possible numerical error
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return 1 / self.fps - 1e-4
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def __len__(self):
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return self.num_frames
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def __getitem__(self, idx: int) -> dict[str, torch.Tensor]:
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if idx >= len(self):
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raise IndexError(f"Index {idx} out of bounds.")
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# Determine which dataset to get an item from based on the index.
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start_idx = 0
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dataset_idx = 0
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for dataset in self._datasets:
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if idx >= start_idx + dataset.num_frames:
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start_idx += dataset.num_frames
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dataset_idx += 1
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continue
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break
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else:
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raise AssertionError("We expect the loop to break out as long as the index is within bounds.")
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item = self._datasets[dataset_idx][idx - start_idx]
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item["dataset_index"] = torch.tensor(dataset_idx)
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for data_key in self.disabled_features:
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if data_key in item:
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del item[data_key]
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return item
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def __repr__(self):
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return (
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f"{self.__class__.__name__}(\n"
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f" Repository IDs: '{self.repo_ids}',\n"
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f" Number of Samples: {self.num_frames},\n"
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f" Number of Episodes: {self.num_episodes},\n"
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f" Type: {'video (.mp4)' if self.video else 'image (.png)'},\n"
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f" Recorded Frames per Second: {self.fps},\n"
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f" Camera Keys: {self.camera_keys},\n"
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f" Video Frame Keys: {self.video_frame_keys if self.video else 'N/A'},\n"
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f" Transformations: {self.image_transforms},\n"
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f")"
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)
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