diff --git a/Annotation_with_action_lerobotv21/README.md b/Annotation_with_action_lerobotv21/README.md deleted file mode 100644 index 1a9868f93a88c6fdeaa625f3abc9c4b2845953db..0000000000000000000000000000000000000000 --- a/Annotation_with_action_lerobotv21/README.md +++ /dev/null @@ -1,346 +0,0 @@ -# RoboInter-Data: LeRobot v2.1 Format (Actions + Annotations + Videos) - -The primary data format of [RoboInter-Data](https://huggingface.co/datasets/InternRobotics/RoboInter-Data). Contains robot **actions**, camera **observations**, and rich **intermediate representation annotations** in [LeRobot v2.1](https://github.com/huggingface/lerobot) format (parquet + MP4 videos), ready for policy training. Especially, we calculate the delta EEF (gripper) action of Droid (instead of the joint velocity or the origin cartesian action of the base). - -| Sub-dataset | Source | Robot | Episodes | Frames | Tasks | Image Size | Raw Image Size | -|-------------|--------|-------|----------|--------|-------|------------|-------| -| `lerobot_droid_anno` | [DROID](https://droid-dataset.github.io/) | Franka + Robotiq | 152,986 | 46,259,014 | 43,026 | 320 x 180 | 640 x 360 | -| `lerobot_rh20t_anno` | [RH20T](https://rh20t.github.io/) | Multiple | 82,894 | 40,755,632 | 146 | 320 x 180 | 640 x 360 | - -Both datasets share `fps=10`, `chunks_size=1000`, and the same annotation schema. - -## Directory Layout - -``` -lerobot_droid_anno/ (or lerobot_rh20t_anno/) -├── meta/ -│ ├── info.json # Dataset metadata (fps, features, shapes, etc.) -│ ├── episodes.jsonl # Per-episode info (one JSON per line) -│ ├── episodes_stats.jsonl # Per-episode statistics -│ └── tasks.jsonl # Task/instruction mapping -├── data/ -│ └── chunk-{NNN}/ # Parquet data chunks (1,000 episodes per chunk) -│ ├── episode_000000.parquet -│ ├── episode_000001.parquet -│ └── ... -└── videos/ - └── chunk-{NNN}/ - ├── observation.images.primary/ - │ └── episode_{NNNNNN}.mp4 - └── observation.images.wrist/ - └── episode_{NNNNNN}.mp4 -``` - ---- - -## Data Fields - -### Core Fields (Shared by DROID & RH20T) - -| Field | Shape | Type | Description | -|-------|-------|------|-------------| -| `action` | (7,) | float64 | Delta EEF action: [delta_x, delta_y, delta_z, delta_rx, delta_ry, delta_rz, gripper_command] | -| `state` | (7,) | float64 | EEF state: [x, y, z, rx, ry, rz, gripper_state] | -| `observation.images.primary` | (180, 320, 3) | video (H.264) | Primary camera RGB video | -| `observation.images.wrist` | (180, 320, 3) | video (H.264) | Wrist camera RGB video | - -### Metadata Fields (Shared) - -| Field | Type | Description | -|-------|------|-------------| -| `episode_name` | string | Episode unique identifier, e.g. `"3072_exterior_image_1_left"` | -| `camera_view` | string | Camera perspective, e.g. `"exterior_image_1_left"` | -| `task` | string | Task language description (via `task_index` -> `tasks.jsonl`) | -| `episode_index` | int64 | Episode index in dataset | -| `frame_index` | int64 | Frame index within episode | -| `timestamp` | float32 | Timestamp in seconds (`frame_index / fps`) | -| `index` | int64 | Global frame index across all episodes | -| `task_index` | int64 | Index into `tasks.jsonl` | - ---- - -### Other Information Fields — DROID Only - -`lerobot_droid_anno` contains the following additional fields from the original DROID dataset: - -| Field | Shape | Type | Description | -|-------|-------|------|-------------| -| `other_information.language_instruction_2` | (1,) | string | Alternative language instruction (source 2) | -| `other_information.language_instruction_3` | (1,) | string | Alternative language instruction (source 3) | -| `other_information.action_delta_tcp_pose` | (7,) | float64 | Delta TCP pose action: [dx, dy, dz, drx, dry, drz, gripper] | -| `other_information.action_delta_wrist_pose` | (7,) | float64 | Delta wrist pose action: [dx, dy, dz, drx, dry, drz, gripper] | -| `other_information.action_tcp_pose` | (7,) | float64 | Absolute TCP pose: [x, y, z, rx, ry, rz, gripper] | -| `other_information.action_wrist_pose` | (7,) | float64 | Absolute wrist pose: [x, y, z, rx, ry, rz, gripper] | -| `other_information.action_gripper_velocity` | (1,) | float64 | Gripper velocity | -| `other_information.action_joint_position` | (7,) | float64 | Joint position action: [j1..j7] | -| `other_information.action_joint_velocity` | (7,) | float64 | Joint velocity action: [j1..j7] | -| `other_information.action_cartesian_velocity` | (6,) | float64 | Cartesian velocity: [vx, vy, vz, wx, wy, wz] | -| `other_information.observation_joint_position` | (7,) | float64 | Observed joint positions: [j1..j7] | -| `other_information.observation_gripper_position` | (1,) | float64 | Observed gripper position | -| `other_information.observation_gripper_open_state` | (1,) | float64 | Gripper open state | -| `other_information.observation_gripper_pose6d` | (6,) | float64 | Gripper 6D pose: [x, y, z, rx, ry, rz] | -| `other_information.observation_tcp_pose6d` | (6,) | float64 | TCP 6D pose: [x, y, z, rx, ry, rz] | -| `other_information.is_first` | (1,) | bool | First frame flag | -| `other_information.is_last` | (1,) | bool | Last frame flag | -| `other_information.is_terminal` | (1,) | bool | Terminal state flag | - -### Other Information Fields — RH20T Only - -`lerobot_rh20t_anno` contains the following additional fields from the original RH20T dataset: - -| Field | Shape | Type | Description | -|-------|-------|------|-------------| -| `other_information.action_delta_tcp_pose` | (7,) | float64 | Delta TCP pose action: [dx, dy, dz, drx, dry, drz, gripper] | -| `other_information.action_tcp_pose` | (7,) | float64 | Absolute TCP pose: [x, y, z, rx, ry, rz, gripper] | -| `other_information.gripper_command` | (1,) | float64 | Gripper command | -| `other_information.observation_joint_position` | (14,) | float64 | Observed joint positions: [j1..j14] | -| `other_information.observation_gripper_open_state` | (1,) | float64 | Gripper open state | -| `other_information.observation_gripper_pose6d` | (6,) | float64 | Gripper 6D pose: [x, y, z, rx, ry, rz] | -| `other_information.tcp_camera` | (7,) | float64 | TCP in camera frame: [x, y, z, qx, qy, qz, qw] | -| `other_information.tcp_base` | (7,) | float64 | TCP in base frame: [x, y, z, qx, qy, qz, qw] | -| `other_information.gripper` | (1,) | string | Gripper metadata (JSON) | -| `other_information.is_first` | (1,) | bool | First frame flag | -| `other_information.is_last` | (1,) | bool | Last frame flag | -| `other_information.is_terminal` | (1,) | bool | Terminal state flag | - -> **Key difference:** DROID has 7-DoF joint positions and richer action representations (wrist pose, joint/cartesian velocities). RH20T has 14-DoF joint positions, TCP transforms in camera/base frames, and gripper metadata JSON. - ---- - -### Annotation Fields (Shared by DROID & RH20T) - -All annotation fields are prefixed with `annotation.` and stored as JSON strings. Empty string `""` means no annotation is available for that frame. - -| Field | Format | Description | -|-------|--------|-------------| -| `annotation.time_clip` | `[[start, end], ...]` | Subtask temporal segments (frame ranges) | -| `annotation.instruction_add` | string | Structured task language instruction | -| `annotation.substask` | string | Current subtask description | -| `annotation.primitive_skill` | string | Primitive skill label (pick, place, push, twist, etc.) | -| `annotation.segmentation` | string | Segmentation reference (path) | -| `annotation.object_box` | `[[x1, y1], [x2, y2]]` | Manipulated object bounding box | -| `annotation.placement_proposal` | `[[x1, y1], [x2, y2]]` | Target placement bounding box | -| `annotation.trace` | `[[x, y], ...]` | Future 10-frame gripper trajectory waypoints | -| `annotation.gripper_box` | `[[x1, y1], [x2, y2]]` | Gripper bounding box | -| `annotation.contact_frame` | int / -1 | Frame index when gripper contacts object (-1 = past contact) | -| `annotation.state_affordance` | `[x, y, z, rx, ry, rz]` | 6D EEF state at contact frame | -| `annotation.affordance_box` | `[[x1, y1], [x2, y2]]` | Gripper bounding box at contact frame | -| `annotation.contact_points` | `[x, y]` | Contact point in pixel coordinates | -| `annotation.origin_shape` | `[h, w]` | Original image resolution for coordinate reference | - -#### Bounding Box Format - -All bounding boxes use pixel coordinates with origin at top-left: -```json -[[x1, y1], [x2, y2]] // [top-left, bottom-right] -``` - -#### Trace Format - -10 future waypoints for gripper trajectory prediction: -```json -[[110, 66], [112, 68], [115, 70], [118, 72], [120, 75], [122, 78], [125, 80], [128, 82], [130, 85], [132, 88]] -``` - ---- - -### Q_Annotation Fields (Quality Indicators, Shared) - -Each annotation has a corresponding quality indicator prefixed with `Q_annotation.`: - -| Field | Values | Description | -|-------|--------|-------------| -| `Q_annotation.instruction_add` | `"Primary"` / `"Secondary"` / `""` | Instruction quality | -| `Q_annotation.substask` | `"Primary"` / `"Secondary"` / `""` | Subtask quality | -| `Q_annotation.primitive_skill` | `"Primary"` / `"Secondary"` / `""` | Primitive skill quality | -| `Q_annotation.segmentation` | `"Primary"` / `"Secondary"` / `""` | Segmentation quality | -| `Q_annotation.object_box` | `"Primary"` / `"Secondary"` / `""` | Object box quality | -| `Q_annotation.placement_proposal` | `"Primary"` / `"Secondary"` / `""` | Placement proposal quality | -| `Q_annotation.trace` | `"Primary"` / `"Secondary"` / `""` | Trace quality | -| `Q_annotation.gripper_box` | `"Primary"` / `"Secondary"` / `""` | Gripper box quality | -| `Q_annotation.contact_frame` | `"Primary"` / `"Secondary"` / `""` | Contact frame quality | -| `Q_annotation.state_affordance` | `"Primary"` / `"Secondary"` / `""` | State affordance quality | -| `Q_annotation.affordance_box` | `"Primary"` / `"Secondary"` / `""` | Affordance box quality | -| `Q_annotation.contact_points` | `"Primary"` / `"Secondary"` / `""` | Contact points quality | - -- **Primary**: High-confidence annotation -- **Secondary**: Acceptable quality, may have minor errors -- **""** (empty): No annotation available - ---- - -## Quick Start - -The dataloader code is at [RoboInterData/lerobot_dataloader](https://github.com/InternRobotics/RoboInter/tree/main/RoboInterData/lerobot_dataloader). - -### Installation - -```bash -pip install numpy torch pyarrow av opencv-python -``` - -### Basic Usage - -```python -from lerobot_dataloader import create_dataloader - -dataloader = create_dataloader( - "path/to/lerobot_droid_anno", - batch_size=32, - action_horizon=16, -) - -for batch in dataloader: - images = batch["observation.images.primary"] # (B, H, W, 3) - actions = batch["action"] # (B, 16, 7) - trace = batch["annotation.trace"] # Parsed JSON lists - skill = batch["annotation.primitive_skill"] # List of strings - break -``` - -### Multiple Datasets (DROID + RH20T) - -```python -dataloader = create_dataloader( - [ - "path/to/lerobot_droid_anno", - "path/to/lerobot_rh20t_anno", - ], - batch_size=32, - action_horizon=16, -) - -for batch in dataloader: - print(batch["dataset_name"]) # Source dataset identifier - break -``` - -### Data Filtering - -#### Frame Range Filtering - -Remove idle frames at episode start/end using `range_nop.json`: - -```python -dataloader = create_dataloader( - "path/to/lerobot_droid_anno", - range_nop_path="path/to/range_nop.json", -) -``` - -Format of `range_nop.json`: -```json -{ - "3072_exterior_image_1_left": [12, 217, 206] -} -``` -`[start_frame, end_frame, valid_length]` — frames outside this range are idle/stationary. - -#### Q_Annotation Filtering - -Select episodes by annotation quality: - -```python -from lerobot_dataloader import create_dataloader, QAnnotationFilter - -# Only Primary quality -dataloader = create_dataloader( - "path/to/lerobot_droid_anno", - q_filters=[ - QAnnotationFilter("Q_annotation.instruction_add", ["Primary"]), - QAnnotationFilter("Q_annotation.gripper_box", ["Primary"]), - ] -) - -# Any non-empty annotation -dataloader = create_dataloader( - "path/to/lerobot_droid_anno", - q_filters=[ - QAnnotationFilter("Q_annotation.trace", ["not_empty"]) - ] -) -``` - -#### Combined Filtering - -```python -from lerobot_dataloader import FilterConfig, QAnnotationFilter - -config = FilterConfig( - range_nop_path="path/to/range_nop.json", - q_filters=[ - QAnnotationFilter("Q_annotation.trace", ["Primary", "Secondary"]), - ], - q_filter_mode="all", # "all" = AND, "any" = OR -) - -dataloader = create_dataloader("path/to/lerobot_droid_anno", filter_config=config) -``` - -### Transforms - -```python -from lerobot_dataloader import Compose, Normalize, ResizeImages, ToTensorImages, LeRobotDataset -from lerobot_dataloader.transforms import compute_stats - -# Compute normalization stats -dataset = LeRobotDataset("path/to/lerobot_droid_anno", load_videos=False) -stats = compute_stats(dataset) - -# Create transform pipeline -transform = Compose([ - ResizeImages(height=224, width=224), - ToTensorImages(), # (H,W,C) uint8 -> (C,H,W) float32 - Normalize(stats), -]) - -dataloader = create_dataloader("path/to/lerobot_droid_anno", transform=transform) -``` - -### Direct Dataset Access - -```python -from lerobot_dataloader import LeRobotDataset -from lerobot_dataloader.transforms import ParseAnnotations - -dataset = LeRobotDataset( - "path/to/lerobot_droid_anno", - transform=ParseAnnotations(), -) - -print(f"Total frames: {len(dataset)}") -print(f"Total episodes: {dataset.num_episodes}") -print(f"FPS: {dataset.fps}") - -sample = dataset[0] -print(f"Action: {sample['action']}") -print(f"Object box: {sample['annotation.object_box']}") -print(f"Skill: {sample['annotation.primitive_skill']}") -``` - ---- - -## Format Conversion - -The LeRobot v2.1 format was converted from original data + LMDB annotations using: - -- **DROID**: [convert_droid_to_lerobot_anno_fast.py](https://github.com/InternRobotics/RoboInter/blob/main/RoboInterData/convert_to_lerobot/convert_droid_to_lerobot_anno_fast.py) -- **RH20T**: [convert_rh20t_to_lerobot_anno_fast.py](https://github.com/InternRobotics/RoboInter/blob/main/RoboInterData/convert_to_lerobot/convert_rh20t_to_lerobot_anno_fast.py) - ---- - -## Related Resources - -| Resource | Link | -|----------|------| -| RoboInter-Data (parent dataset) | [HuggingFace](https://huggingface.co/datasets/InternRobotics/RoboInter-Data) | -| RoboInter Project | [GitHub](https://github.com/InternRobotics/RoboInter) | -| DataLoader Code | [lerobot_dataloader](https://github.com/InternRobotics/RoboInter/tree/main/RoboInterData/lerobot_dataloader) | -| Conversion Scripts | [convert_to_lerobot](https://github.com/InternRobotics/RoboInter/tree/main/RoboInterData/convert_to_lerobot) | -| Demo Visualizer | [RoboInterData-Demo](https://github.com/InternRobotics/RoboInter/tree/main/RoboInterData-Demo) | -| DROID Dataset | [droid-dataset.github.io](https://droid-dataset.github.io/) | -| RH20T Dataset | [rh20t.github.io](https://rh20t.github.io/) | - -## License - -Please refer to the original dataset licenses for [RoboInter](https://github.com/InternRobotics/RoboInter), [DROID](https://droid-dataset.github.io/), and [RH20T](https://rh20t.github.io/). diff --git a/Annotation_with_action_lerobotv21/lerobot_droid_anno/videos/chunk-031/observation.images.primary/episode_031000.mp4 b/Annotation_with_action_lerobotv21/lerobot_droid_anno/videos/chunk-031/observation.images.primary/episode_031000.mp4 deleted file mode 100644 index 243b3f7cc87f189b80d07a0895f2f55f47805a14..0000000000000000000000000000000000000000 --- a/Annotation_with_action_lerobotv21/lerobot_droid_anno/videos/chunk-031/observation.images.primary/episode_031000.mp4 +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ee24cc13a86c0d68ca453994efba9c98ccad110d600a67c86ca9aea535684eef -size 226153 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