Merge pull request #9 from Cadene/user/rcadene/2024_03_05_aloha_dataset

Add Aloha replay buffer + 4 sim datasets

lerobot/common/datasets/aloha.py

@@ -0,0 +1,185 @@
+import logging
+from pathlib import Path
+from typing import Callable
+
+import einops
+import gdown
+import h5py
+import torch
+import torchrl
+import tqdm
+from tensordict import TensorDict
+from torchrl.data.replay_buffers.samplers import SliceSampler
+from torchrl.data.replay_buffers.storages import TensorStorage
+from torchrl.data.replay_buffers.writers import Writer
+
+from lerobot.common.datasets.abstract import AbstractExperienceReplay
+
+DATASET_IDS = [
+    "aloha_sim_insertion_human",
+    "aloha_sim_insertion_scripted",
+    "aloha_sim_transfer_cube_human",
+    "aloha_sim_transfer_cube_scripted",
+]
+
+FOLDER_URLS = {
+    "aloha_sim_insertion_human": "https://drive.google.com/drive/folders/1RgyD0JgTX30H4IM5XZn8I3zSV_mr8pyF",
+    "aloha_sim_insertion_scripted": "https://drive.google.com/drive/folders/1TsojQQSXtHEoGnqgJ3gmpPQR2DPLtS2N",
+    "aloha_sim_transfer_cube_human": "https://drive.google.com/drive/folders/1sc-E4QYW7A0o23m1u2VWNGVq5smAsfCo",
+    "aloha_sim_transfer_cube_scripted": "https://drive.google.com/drive/folders/1aRyoOhQwxhyt1J8XgEig4s6kzaw__LXj",
+}
+
+EP48_URLS = {
+    "aloha_sim_insertion_human": "https://drive.google.com/file/d/18Cudl6nikDtgRolea7je8iF_gGKzynOP/view?usp=drive_link",
+    "aloha_sim_insertion_scripted": "https://drive.google.com/file/d/1wfMSZ24oOh5KR_0aaP3Cnu_c4ZCveduB/view?usp=drive_link",
+    "aloha_sim_transfer_cube_human": "https://drive.google.com/file/d/18smMymtr8tIxaNUQ61gW6dG50pt3MvGq/view?usp=drive_link",
+    "aloha_sim_transfer_cube_scripted": "https://drive.google.com/file/d/1pnGIOd-E4-rhz2P3VxpknMKRZCoKt6eI/view?usp=drive_link",
+}
+
+EP49_URLS = {
+    "aloha_sim_insertion_human": "https://drive.google.com/file/d/1C1kZYyROzs-PrLc0SkDgUgMi4-L3lauE/view?usp=drive_link",
+    "aloha_sim_insertion_scripted": "https://drive.google.com/file/d/17EuCUWS6uCCr6yyNzpXdcdE-_TTNCKtf/view?usp=drive_link",
+    "aloha_sim_transfer_cube_human": "https://drive.google.com/file/d/1Nk7l53d9sJoGDBKAOnNrExX5nLacATc6/view?usp=drive_link",
+    "aloha_sim_transfer_cube_scripted": "https://drive.google.com/file/d/1GKReZHrXU73NMiC5zKCq_UtqPVtYq8eo/view?usp=drive_link",
+}
+
+NUM_EPISODES = {
+    "aloha_sim_insertion_human": 50,
+    "aloha_sim_insertion_scripted": 50,
+    "aloha_sim_transfer_cube_human": 50,
+    "aloha_sim_transfer_cube_scripted": 50,
+}
+
+EPISODE_LEN = {
+    "aloha_sim_insertion_human": 500,
+    "aloha_sim_insertion_scripted": 400,
+    "aloha_sim_transfer_cube_human": 400,
+    "aloha_sim_transfer_cube_scripted": 400,
+}
+
+CAMERAS = {
+    "aloha_sim_insertion_human": ["top"],
+    "aloha_sim_insertion_scripted": ["top"],
+    "aloha_sim_transfer_cube_human": ["top"],
+    "aloha_sim_transfer_cube_scripted": ["top"],
+}
+
+
+def download(data_dir, dataset_id):
+    assert dataset_id in DATASET_IDS
+    assert dataset_id in FOLDER_URLS
+    assert dataset_id in EP48_URLS
+    assert dataset_id in EP49_URLS
+
+    data_dir.mkdir(parents=True, exist_ok=True)
+
+    gdown.download_folder(FOLDER_URLS[dataset_id], output=data_dir)
+
+    # because of the 50 files limit per directory, two files episode 48 and 49 were missing
+    gdown.download(EP48_URLS[dataset_id], output=data_dir / "episode_48.hdf5", fuzzy=True)
+    gdown.download(EP49_URLS[dataset_id], output=data_dir / "episode_49.hdf5", fuzzy=True)
+
+
+class AlohaExperienceReplay(AbstractExperienceReplay):
+    def __init__(
+        self,
+        dataset_id: str,
+        batch_size: int = None,
+        *,
+        shuffle: bool = True,
+        root: Path = None,
+        pin_memory: bool = False,
+        prefetch: int = None,
+        sampler: SliceSampler = None,
+        collate_fn: Callable = None,
+        writer: Writer = None,
+        transform: "torchrl.envs.Transform" = None,
+    ):
+        assert dataset_id in DATASET_IDS
+
+        super().__init__(
+            dataset_id,
+            batch_size,
+            shuffle=shuffle,
+            root=root,
+            pin_memory=pin_memory,
+            prefetch=prefetch,
+            sampler=sampler,
+            collate_fn=collate_fn,
+            writer=writer,
+            transform=transform,
+        )
+
+    @property
+    def stats_patterns(self) -> dict:
+        d = {
+            ("observation", "state"): "b c -> 1 c",
+            ("action"): "b c -> 1 c",
+        }
+        for cam in CAMERAS[self.dataset_id]:
+            d[("observation", "image", cam)] = "b c h w -> 1 c 1 1"
+        return d
+
+    @property
+    def image_keys(self) -> list:
+        return [("observation", "image", cam) for cam in CAMERAS[self.dataset_id]]
+
+    # def _is_downloaded(self) -> bool:
+    #     return False
+
+    def _download_and_preproc(self):
+        raw_dir = self.data_dir.parent / f"{self.data_dir.name}_raw"
+        if not raw_dir.is_dir():
+            download(raw_dir, self.dataset_id)
+
+        total_num_frames = 0
+        logging.info("Compute total number of frames to initialize offline buffer")
+        for ep_id in range(NUM_EPISODES[self.dataset_id]):
+            ep_path = raw_dir / f"episode_{ep_id}.hdf5"
+            with h5py.File(ep_path, "r") as ep:
+                total_num_frames += ep["/action"].shape[0] - 1
+        logging.info(f"{total_num_frames=}")
+
+        logging.info("Initialize and feed offline buffer")
+        idxtd = 0
+        for ep_id in tqdm.tqdm(range(NUM_EPISODES[self.dataset_id])):
+            ep_path = raw_dir / f"episode_{ep_id}.hdf5"
+            with h5py.File(ep_path, "r") as ep:
+                ep_num_frames = ep["/action"].shape[0]
+
+                # last step of demonstration is considered done
+                done = torch.zeros(ep_num_frames, 1, dtype=torch.bool)
+                done[-1] = True
+
+                state = torch.from_numpy(ep["/observations/qpos"][:])
+                action = torch.from_numpy(ep["/action"][:])
+
+                ep_td = TensorDict(
+                    {
+                        ("observation", "state"): state[:-1],
+                        "action": action[:-1],
+                        "episode": torch.tensor([ep_id] * (ep_num_frames - 1)),
+                        "frame_id": torch.arange(0, ep_num_frames - 1, 1),
+                        ("next", "observation", "state"): state[1:],
+                        # TODO: compute reward and success
+                        # ("next", "reward"): reward[1:],
+                        ("next", "done"): done[1:],
+                        # ("next", "success"): success[1:],
+                    },
+                    batch_size=ep_num_frames - 1,
+                )
+
+                for cam in CAMERAS[self.dataset_id]:
+                    image = torch.from_numpy(ep[f"/observations/images/{cam}"][:])
+                    image = einops.rearrange(image, "b h w c -> b c h w").contiguous()
+                    ep_td["observation", "image", cam] = image[:-1]
+                    ep_td["next", "observation", "image", cam] = image[1:]
+
+                if ep_id == 0:
+                    # hack to initialize tensordict data structure to store episodes
+                    td_data = ep_td[0].expand(total_num_frames).memmap_like(self.data_dir)
+
+                td_data[idxtd : idxtd + len(ep_td)] = ep_td
+                idxtd = idxtd + len(ep_td)
+
+        return TensorStorage(td_data.lock_())

lerobot/common/datasets/factory.py

@@ -66,6 +66,12 @@ def make_offline_buffer(
 
         clsfunc = PushtExperienceReplay
         dataset_id = "pusht"
+
+    elif cfg.env.name == "aloha":
+        from lerobot.common.datasets.aloha import AlohaExperienceReplay
+
+        clsfunc = AlohaExperienceReplay
+        dataset_id = f"aloha_{cfg.env.task}"
     else:
         raise ValueError(cfg.env.name)
 

lerobot/configs/env/aloha.yaml

@@ -0,0 +1,25 @@
+# @package _global_
+
+eval_episodes: 50
+eval_freq: 7500
+save_freq: 75000
+log_freq: 250
+# TODO: same as simxarm, need to adjust
+offline_steps: 25000
+online_steps: 25000
+
+fps: 50
+
+env:
+  name: aloha
+  task: sim_insertion_human
+  from_pixels: True
+  pixels_only: False
+  image_size: 96
+  action_repeat: 1
+  episode_length: 300
+  fps: ${fps}
+
+policy:
+  state_dim: 2
+  action_dim: 2

pyproject.toml

@@ -48,6 +48,7 @@ opencv-python = "^4.9.0.80"
 diffusion-policy = {git = "https://github.com/real-stanford/diffusion_policy"}
 diffusers = "^0.26.3"
 torchvision = "^0.17.1"
+h5py = "^3.10.0"
 
 
 [tool.poetry.group.dev.dependencies]