第一次完整测例跑完
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199
prepare_data/prepare_training_data.py
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199
prepare_data/prepare_training_data.py
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import json
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import os
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import shutil
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import h5py
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import argparse
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import pandas as pd
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import torch
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import subprocess
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from pathlib import Path
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from safetensors.torch import save_file
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from tqdm import tqdm
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def flatten_dict(d, parent_key="", sep="/"):
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"""Flatten a nested dictionary structure by collapsing nested keys into one key with a separator.
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For example:
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```
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>>> dct = {"a": {"b": 1, "c": {"d": 2}}, "e": 3}`
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>>> print(flatten_dict(dct))
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{"a/b": 1, "a/c/d": 2, "e": 3}
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"""
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items = []
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for k, v in d.items():
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new_key = f"{parent_key}{sep}{k}" if parent_key else k
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if isinstance(v, dict):
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items.extend(flatten_dict(v, new_key, sep=sep).items())
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else:
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items.append((new_key, v))
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return dict(items)
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def is_av1(file_path):
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try:
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result = subprocess.run([
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"ffprobe", "-v", "error", "-select_streams", "v:0",
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"-show_entries", "stream=codec_name", "-of", "csv=p=0",
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str(file_path)
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],
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capture_output=True,
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text=True,
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check=True)
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return result.stdout.strip() == "av1"
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except subprocess.CalledProcessError:
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return False
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def convert_to_h264(input_path, output_path):
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subprocess.run([
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"ffmpeg", "-i",
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str(input_path), "-c:v", "libx264", "-preset", "slow", "-crf", "23",
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"-c:a", "copy",
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str(output_path)
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],
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check=True)
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def main(args):
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source_dir = Path(args.source_dir)
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source_data_dir = source_dir / args.dataset_name / "data" / "chunk-000"
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source_meta_dir = source_dir / args.dataset_name / "meta"
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source_videos_dir = source_dir / args.dataset_name / "videos" / "chunk-000"
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target_dir = Path(args.target_dir)
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target_videos_dir = target_dir / "videos" / args.dataset_name
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target_transitions_dir = target_dir / "transitions" / args.dataset_name
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target_meta_dir = target_dir / "transitions" / args.dataset_name / "meta_data"
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target_dir.mkdir(parents=True, exist_ok=True)
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target_videos_dir.mkdir(parents=True, exist_ok=True)
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target_transitions_dir.mkdir(parents=True, exist_ok=True)
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target_meta_dir.mkdir(parents=True, exist_ok=True)
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csv_file = target_dir / f"{args.dataset_name}.csv"
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COLUMNS = [
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'videoid', 'contentUrl', 'duration', 'data_dir', 'instruction',
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'dynamic_confidence', 'dynamic_wording', 'dynamic_source_category',
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'embodiment'
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]
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df = pd.DataFrame(columns=COLUMNS)
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# Load info.json from source dir
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info_json_path = source_meta_dir / "info.json"
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with open(str(info_json_path), "r") as f:
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info = json.load(f)
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total_episodes = info['total_episodes']
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# Load task.jsonl to get lanugage ins
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tasks_jsonl_path = source_meta_dir / "tasks.jsonl"
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with open(str(tasks_jsonl_path), "r") as f:
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tasks = [json.loads(line) for line in f]
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instruction = tasks[0]['task']
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source_video_views = [d for d in source_videos_dir.iterdir()]
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for v_idx, source_view_dir in enumerate(source_video_views):
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view_name = source_view_dir.name
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target_videos_view_dir = target_videos_dir / view_name
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target_videos_view_dir.mkdir(parents=True, exist_ok=True)
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if v_idx == 0:
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all_actions = []
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all_states = []
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for idx in tqdm(range(total_episodes)):
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# Copy source video to target vidoe dir
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source_video = source_view_dir / f"episode_{idx:06d}.mp4"
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if is_av1(source_video):
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output_video = str(target_videos_view_dir / f"{idx}.mp4")
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print(f"Converting episode_{idx:06d}.mp4 to H.264...")
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convert_to_h264(source_video, output_video)
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else:
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print(f"Skipping episode_{idx:06d}.mp4: not AV1 encoded.")
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# Load parquet file
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episode_parquet_file = source_data_dir / f"episode_{idx:06d}.parquet"
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episode_data = pd.read_parquet(episode_parquet_file)
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actions = torch.tensor(episode_data['action'].tolist())
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states = torch.tensor(episode_data['observation.state'].tolist())
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# Save action and state into a h5 file
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if v_idx == 0:
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target_h5_file = target_transitions_dir / f"{idx}.h5"
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with h5py.File(str(target_h5_file), 'w') as h5f:
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h5f.create_dataset('observation.state', data=states)
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h5f.create_dataset('action', data=actions)
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h5f.attrs['action_type'] = 'joint position'
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h5f.attrs['state_type'] = 'joint position'
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h5f.attrs['robot_type'] = args.robot_name
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# Updata df
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df = pd.concat([
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df,
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pd.DataFrame([{
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'videoid': idx,
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'contentUrl': 'x',
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'duration': 'x',
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'data_dir': args.dataset_name + f"/{view_name}",
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'instruction': instruction,
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'dynamic_confidence': 'x',
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'dynamic_wording': 'x',
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'dynamic_source_category': 'x',
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'embodiment': args.robot_name
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}])
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],
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ignore_index=True)
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# Collect action and state
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if v_idx == 0:
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all_actions.append(actions)
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all_states.append(states)
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# Create satas.safetensors
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actions = torch.cat(all_actions, dim=0)
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states = torch.cat(all_states, dim=0)
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stats = {'action': {}, 'observation.state': {}}
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stats['action']['max'] = actions.max(dim=0).values
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stats['action']['min'] = actions.min(dim=0).values
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stats['action']['mean'] = actions.mean(dim=0)
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stats['action']['std'] = actions.std(dim=0)
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stats['observation.state']['max'] = states.max(dim=0).values
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stats['observation.state']['min'] = states.min(dim=0).values
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stats['observation.state']['mean'] = states.mean(dim=0)
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stats['observation.state']['std'] = states.std(dim=0)
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flattened_stats = flatten_dict(stats)
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target_stats_file = target_meta_dir / "stats.safetensors"
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save_file(flattened_stats, target_stats_file)
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df.to_csv(csv_file, index=False)
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print(f">>> Finished create {args.dataset_name} dataset ...")
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument('--source_dir',
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action='store',
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type=str,
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help='The dataset dir under lerobot 2.0 data format.',
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required=True)
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parser.add_argument('--target_dir',
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action='store',
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type=str,
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default='./data',
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help='The target dir to save new formatted dataset.')
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parser.add_argument('--dataset_name',
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action='store',
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type=str,
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help='dataset name',
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required=True)
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parser.add_argument('--robot_name',
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action='store',
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type=str,
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help='robot name',
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required=True)
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main(parser.parse_args())
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