LeRobotDataset v2.1

examples/port_datasets/pusht_zarr.py

@@ -3,8 +3,10 @@
 
 import numpy as np
 import torch
+from huggingface_hub import HfApi
 
-from lerobot.common.datasets.lerobot_dataset import LEROBOT_HOME, LeRobotDataset
+from lerobot.common.constants import HF_LEROBOT_HOME
+from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset
 from lerobot.common.datasets.push_dataset_to_hub._download_raw import download_raw
 
 PUSHT_TASK = "Push the T-shaped blue block onto the T-shaped green target surface."
@@ -134,8 +136,8 @@ def main(raw_dir: Path, repo_id: str, mode: str = "video", push_to_hub: bool = T
     if mode not in ["video", "image", "keypoints"]:
         raise ValueError(mode)
 
-    if (LEROBOT_HOME / repo_id).exists():
-        shutil.rmtree(LEROBOT_HOME / repo_id)
+    if (HF_LEROBOT_HOME / repo_id).exists():
+        shutil.rmtree(HF_LEROBOT_HOME / repo_id)
 
     if not raw_dir.exists():
         download_raw(raw_dir, repo_id="lerobot-raw/pusht_raw")
@@ -148,6 +150,10 @@ def main(raw_dir: Path, repo_id: str, mode: str = "video", push_to_hub: bool = T
     action = zarr_data["action"][:]
     image = zarr_data["img"]  # (b, h, w, c)
 
+    if image.dtype == np.float32 and image.max() == np.float32(255):
+        # HACK: images are loaded as float32 but they actually encode uint8 data
+        image = image.astype(np.uint8)
+
     episode_data_index = {
         "from": np.concatenate(([0], zarr_data.meta["episode_ends"][:-1])),
         "to": zarr_data.meta["episode_ends"],
@@ -180,6 +186,7 @@ def main(raw_dir: Path, repo_id: str, mode: str = "video", push_to_hub: bool = T
                 # Shift reward and success by +1 until the last item of the episode
                 "next.reward": reward[i + (frame_idx < num_frames - 1)],
                 "next.success": success[i + (frame_idx < num_frames - 1)],
+                "task": PUSHT_TASK,
             }
 
             frame["observation.state"] = torch.from_numpy(agent_pos[i])
@@ -191,12 +198,12 @@ def main(raw_dir: Path, repo_id: str, mode: str = "video", push_to_hub: bool = T
 
             dataset.add_frame(frame)
 
-        dataset.save_episode(task=PUSHT_TASK)
-
-    dataset.consolidate()
+        dataset.save_episode()
 
     if push_to_hub:
         dataset.push_to_hub()
+        hub_api = HfApi()
+        hub_api.create_tag(repo_id, tag=CODEBASE_VERSION, repo_type="dataset")
 
 
 if __name__ == "__main__":
@@ -218,5 +225,5 @@ def main(raw_dir: Path, repo_id: str, mode: str = "video", push_to_hub: bool = T
         main(raw_dir, repo_id=repo_id, mode=mode)
 
         # Uncomment if you want to load the local dataset and explore it
-        # dataset = LeRobotDataset(repo_id=repo_id, local_files_only=True)
+        # dataset = LeRobotDataset(repo_id=repo_id)
         # breakpoint()

lerobot/common/constants.py

@@ -1,4 +1,9 @@
 # keys
+import os
+from pathlib import Path
+
+from huggingface_hub.constants import HF_HOME
+
 OBS_ENV = "observation.environment_state"
 OBS_ROBOT = "observation.state"
 OBS_IMAGE = "observation.image"
@@ -15,3 +20,13 @@
 OPTIMIZER_STATE = "optimizer_state.safetensors"
 OPTIMIZER_PARAM_GROUPS = "optimizer_param_groups.json"
 SCHEDULER_STATE = "scheduler_state.json"
+
+# cache dir
+default_cache_path = Path(HF_HOME) / "lerobot"
+HF_LEROBOT_HOME = Path(os.getenv("HF_LEROBOT_HOME", default_cache_path)).expanduser()
+
+if "LEROBOT_HOME" in os.environ:
+    raise ValueError(
+        f"You have a 'LEROBOT_HOME' environment variable set to '{os.getenv('LEROBOT_HOME')}'.\n"
+        "'LEROBOT_HOME' is deprecated, please use 'HF_LEROBOT_HOME' instead."
+    )

lerobot/common/datasets/backward_compatibility.py

@@ -0,0 +1,40 @@
+import packaging.version
+
+V2_MESSAGE = """
+The dataset you requested ({repo_id}) is in {version} format.
+
+We introduced a new format since v2.0 which is not backward compatible with v1.x.
+Please, use our conversion script. Modify the following command with your own task description:
+```
+python lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py \\
+    --repo-id {repo_id} \\
+    --single-task "TASK DESCRIPTION."  # <---- /!\\ Replace TASK DESCRIPTION /!\\
+```
+
+A few examples to replace TASK DESCRIPTION: "Pick up the blue cube and place it into the bin.", "Insert the
+peg into the socket.", "Slide open the ziploc bag.", "Take the elevator to the 1st floor.", "Open the top
+cabinet, store the pot inside it then close the cabinet.", "Push the T-shaped block onto the T-shaped
+target.", "Grab the spray paint on the shelf and place it in the bin on top of the robot dog.", "Fold the
+sweatshirt.", ...
+
+If you encounter a problem, contact LeRobot maintainers on [Discord](https://discord.com/invite/s3KuuzsPFb)
+or open an [issue on GitHub](https://github.com/huggingface/lerobot/issues/new/choose).
+"""
+
+V21_MESSAGE = """
+The dataset you requested ({repo_id}) is in {version} format.
+While current version of LeRobot is backward-compatible with it, the version of your dataset still uses global
+stats instead of per-episode stats. Update your dataset stats to the new format using this command:
+```
+python lerobot/common/datasets/v21/convert_dataset_v20_to_v21.py --repo-id={repo_id}
+```
+
+If you encounter a problem, contact LeRobot maintainers on [Discord](https://discord.com/invite/s3KuuzsPFb)
+or open an [issue on GitHub](https://github.com/huggingface/lerobot/issues/new/choose).
+"""
+
+
+class BackwardCompatibilityError(Exception):
+    def __init__(self, repo_id: str, version: packaging.version.Version):
+        message = V2_MESSAGE.format(repo_id=repo_id, version=version)
+        super().__init__(message)