diff --git a/.DS_Store b/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..60bb81b0e22f75a2fd71da53b0a864c94809f2c4 Binary files /dev/null and b/.DS_Store differ diff --git a/.debug/fix_converting.py b/.debug/fix_converting.py new file mode 100644 index 0000000000000000000000000000000000000000..befc491d06dc0e90e00f57bf3274c2a3998746a1 --- /dev/null +++ b/.debug/fix_converting.py @@ -0,0 +1,41 @@ +import json +import numpy as np +import copy + +# Load stats file +stats_file = "../meta/stats.json" +with open(stats_file, 'r') as f: + stats = json.load(f) + +print("Fixing stats.json file...") + +# Create a deep copy to modify +fixed_stats = copy.deepcopy(stats) + +# Fix all None std values +for key in fixed_stats: + if "std" in fixed_stats[key] and fixed_stats[key]["std"] is None: + # Use matching shape from mean if possible + if "mean" in fixed_stats[key]: + mean = fixed_stats[key]["mean"] + if isinstance(mean, list): + # Create a ones array with same shape as mean + fixed_stats[key]["std"] = [1.0] * len(mean) + else: + # Fallback to scalar + fixed_stats[key]["std"] = [1.0] + else: + # No mean to reference, use default + fixed_stats[key]["std"] = [1.0] + + print(f"Fixed {key}.std: None → {fixed_stats[key]['std']}") + +# Save the fixed stats file +output_file = "../meta/stats_fixed.json" +with open(output_file, 'w') as f: + json.dump(fixed_stats, f, indent=2) + +print(f"\nFIXED! New stats file saved to: {output_file}") +print("\nTo use this fixed file:") +print("1. Rename the original file as a backup: mv ../meta/stats.json ../meta/stats.json.bak") +print("2. Replace with fixed version: mv ../meta/stats_fixed.json ../meta/stats.json") \ No newline at end of file diff --git a/.debug/test.py b/.debug/test.py new file mode 100644 index 0000000000000000000000000000000000000000..5cb76dd1949755a3f20e045bdd265666a61fe39b --- /dev/null +++ b/.debug/test.py @@ -0,0 +1,74 @@ +import numpy as np +import json +import torch + +# Load stats file +stats_file = "../meta/stats.json" +with open(stats_file, 'r') as f: + stats = json.load(f) + +print("Keys in stats file:", list(stats.keys())) + +# Check each field more thoroughly by simulating the torch conversion +problem_found = False +for key in stats: + print(f"\nExamining key: {key}") + for stat_type in ["mean", "std"]: + if stat_type in stats[key]: + value = stats[key][stat_type] + print(f" - {stat_type} type: {type(value)}") + + try: + # Try converting to numpy array (this is what the code does) + numpy_val = np.array(value) + print(f" NumPy array shape: {numpy_val.shape}, dtype: {numpy_val.dtype}") + + # Test if this can be converted to torch tensor + try: + torch_val = torch.from_numpy(numpy_val).to(dtype=torch.float32) + print(f" ✓ Successfully converted to torch tensor") + except Exception as e: + print(f" ✗ ERROR converting to torch tensor: {type(e).__name__}: {e}") + print(f" Value: {numpy_val}") + problem_found = True + except Exception as e: + print(f" ✗ ERROR converting to NumPy array: {type(e).__name__}: {e}") + print(f" Value: {value}") + problem_found = True + +if not problem_found: + print("\nNo problems found in the stats file. The error might be happening in another part of the code.") + print("Try fixing the stats file with a preprocessing step:") + + # Create a fixed stats file + fixed_stats = {} + for key in stats: + fixed_stats[key] = {} + for field, value in stats[key].items(): + if field in ["mean", "std"]: + # Try to safely convert to float array + try: + # First convert to numpy array + arr = np.array(value) + # If object type, replace with safe values + if arr.dtype == np.dtype('O'): + arr = np.ones_like(arr, dtype=np.float32) + else: + # Make sure it's float32 + arr = arr.astype(np.float32) + # Convert back to list for JSON + fixed_stats[key][field] = arr.tolist() + except Exception as e: + print(f"Fixing {key}.{field}: {e}") + # Just use a safe default + fixed_stats[key][field] = [1.0] + else: + # Keep other fields unchanged + fixed_stats[key][field] = value + + # Save the fixed stats + with open("../meta/stats_fixed.json", 'w') as f: + json.dump(fixed_stats, f, indent=2) + + print("Created fixed stats file: ../meta/stats_fixed.json") + print("You can replace the original stats.json with this file.") \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..c1b6fe2f68f7de199884054bccac5d6de4d79bd9 --- /dev/null +++ b/README.md @@ -0,0 +1,15 @@ + +--- +tags: +- phosphobot +- so100 +- phospho-dk1 +task_categories: +- robotics +--- + +# pick_up_socks_dataset + +**This dataset was generated using a [phospho starter pack](https://robots.phospho.ai).** + +This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. 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