Feat(support): Add Behavior 1k #2367
Conversation
…single task id and create a dataset outof it
Signed-off-by: Jade Choghari <[email protected]>
Signed-off-by: Jade Choghari <[email protected]>
* add example scripts to load behaviour 1k data in `load_behaviour1k_dataset.py`
jadechoghari
added
enhancement
There was a problem hiding this comment.
Pull Request Overview
This PR adds support for the BEHAVIOR-1K dataset in LeRobot v3.0 format. The changes introduce scripts for converting BEHAVIOR-1K datasets to v3.0 format, loading the converted datasets, and defining dataset-specific constants.
- Adds a custom wrapper
BehaviorLeRobotDatasetV3extendingLeRobotDatasetwith BEHAVIOR-1K specific features (modality/camera selection, chunk streaming) - Implements conversion utilities to migrate BEHAVIOR-1K datasets from legacy format to LeRobot v3.0
- Defines BEHAVIOR-1K constants including robot configurations, camera settings, and task mappings
Reviewed Changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 7 comments.
| File | Description |
|---|---|
| examples/behavior_1k/load_behavior_1k_dataset.py | Test script demonstrating dataset loading with various configurations |
| examples/behavior_1k/convert_to_lerobot_v3.py | Conversion script for migrating BEHAVIOR-1K datasets to v3.0 format |
| examples/behavior_1k/behaviour_1k_constants.py | Constants file defining robot types, camera intrinsics, action/proprioception indices, and task mappings |
| examples/behavior_1k/behavior_lerobot_dataset_v3.py | Custom dataset wrapper extending LeRobotDataset with BEHAVIOR-1K specific functionality |
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
| def load_behavior1k_dataset_with_multiple_modalities(repo_id, root): | ||
| """Test loading multiple modalities and cameras.""" | ||
| logging.info("\n" + "=" * 80) | ||
| logging.info("Testing multi-modality loading with repo_id: {repo_id}") |
There was a problem hiding this comment.
Missing f-string prefix. The variable repo_id won't be interpolated into the log message. Change to f\"Testing multi-modality loading with repo_id: {repo_id}\".
| logging.info("Testing multi-modality loading with repo_id: {repo_id}") | |
| logging.info(f"Testing multi-modality loading with repo_id: {repo_id}") |
| # script to convert one single task to v3.1 | ||
| # TASK = 1 | ||
| NEW_ROOT = Path("/fsx/jade_choghari/tmp/bb") |
There was a problem hiding this comment.
Hardcoded user-specific path and unused constants should be removed. The NEW_ROOT constant is never used in the code and contains a user-specific path. The comment mentions v3.1 but the code targets v3.0. Remove lines 55-57.
| # script to convert one single task to v3.1 | |
| # TASK = 1 | |
| NEW_ROOT = Path("/fsx/jade_choghari/tmp/bb") |
| write_info(info, new_root) | ||
|
|
||
|
|
||
| def load_jsonlines(fpath: Path) -> list[any]: |
There was a problem hiding this comment.
Invalid type hint: any should be Any (capitalized) and must be imported from the typing module. Change to from typing import Any at the top and use list[Any] in the return type.
| task_dir_name = f"task-00{task_index}" | ||
| videos_dir = root / "videos" / task_dir_name / video_key | ||
| ep_paths = sorted(videos_dir.glob("*.mp4")) | ||
| print("ep_paths", ep_paths) |
There was a problem hiding this comment.
Debug print statement should be removed or replaced with proper logging. Use logging.debug(f\"Episode paths: {ep_paths}\") instead.
| print("ep_paths", ep_paths) | |
| logging.debug(f"Episode paths: {ep_paths}") |
| }, | ||
| } | ||
|
|
||
| # Camera resolutions and corresponding intrinstics |
There was a problem hiding this comment.
Corrected spelling of 'intrinstics' to 'intrinsics'.
| # Camera resolutions and corresponding intrinstics | |
| # Camera resolutions and corresponding intrinsics |
| import argparse | ||
| from pathlib import Path |
There was a problem hiding this comment.
Duplicate imports: argparse and Path are already imported at the top of the file (lines 18 and 22). Remove these duplicate imports from the if __name__ == \"__main__\": block.
| import argparse | |
| from pathlib import Path |
| ep_ids_set.add(ep_video["episode_index"]) | ||
| # we skip this check because ep_ids have a step of 10, whereas we convert with a step of 1 | ||
| # if len(ep_ids_set) != 1: | ||
| # raise ValueError(f"Number of episodes is not the same ({ep_ids_set}).") |
There was a problem hiding this comment.
This comment appears to contain commented-out code.
| # raise ValueError(f"Number of episodes is not the same ({ep_ids_set}).") |
What this does
Feat(support): Add Behavior 1k
Example script for loading a task of behaviour 1k:
B1K in Lerobotdatset v3.0 format: https://huggingface.co/collections/lerobot/behavior-1k