diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..3f633ea24d2e01a551cfe8e720247a1a732fda96 100644 --- a/.gitattributes +++ b/.gitattributes @@ -1,60 +1,3 @@ -*.7z filter=lfs diff=lfs merge=lfs -text -*.arrow filter=lfs diff=lfs merge=lfs -text -*.avro filter=lfs diff=lfs merge=lfs -text -*.bin filter=lfs diff=lfs merge=lfs -text -*.bz2 filter=lfs diff=lfs merge=lfs -text -*.ckpt filter=lfs diff=lfs merge=lfs -text -*.ftz filter=lfs diff=lfs merge=lfs -text -*.gz filter=lfs diff=lfs merge=lfs -text +*.hdf5 filter=lfs diff=lfs merge=lfs -text *.h5 filter=lfs diff=lfs merge=lfs -text -*.joblib filter=lfs diff=lfs merge=lfs -text -*.lfs.* filter=lfs diff=lfs merge=lfs -text -*.lz4 filter=lfs diff=lfs merge=lfs -text -*.mds filter=lfs diff=lfs merge=lfs -text -*.mlmodel filter=lfs diff=lfs merge=lfs -text -*.model filter=lfs diff=lfs merge=lfs -text -*.msgpack filter=lfs diff=lfs merge=lfs -text -*.npy filter=lfs diff=lfs merge=lfs -text -*.npz filter=lfs diff=lfs merge=lfs -text -*.onnx filter=lfs diff=lfs merge=lfs -text -*.ot filter=lfs diff=lfs merge=lfs -text -*.parquet filter=lfs diff=lfs merge=lfs -text -*.pb filter=lfs diff=lfs merge=lfs -text -*.pickle filter=lfs diff=lfs merge=lfs -text -*.pkl filter=lfs diff=lfs merge=lfs -text -*.pt filter=lfs diff=lfs merge=lfs -text -*.pth filter=lfs diff=lfs merge=lfs -text -*.rar filter=lfs diff=lfs merge=lfs -text -*.safetensors filter=lfs diff=lfs merge=lfs -text -saved_model/**/* filter=lfs diff=lfs merge=lfs -text -*.tar.* filter=lfs diff=lfs merge=lfs -text -*.tar filter=lfs diff=lfs merge=lfs -text -*.tflite filter=lfs diff=lfs merge=lfs -text -*.tgz filter=lfs diff=lfs merge=lfs -text -*.wasm filter=lfs diff=lfs merge=lfs -text -*.xz filter=lfs diff=lfs merge=lfs -text -*.zip filter=lfs diff=lfs merge=lfs -text -*.zst filter=lfs diff=lfs merge=lfs -text -*tfevents* filter=lfs diff=lfs merge=lfs -text -# Audio files - uncompressed -*.pcm filter=lfs diff=lfs merge=lfs -text -*.sam filter=lfs diff=lfs merge=lfs -text -*.raw filter=lfs diff=lfs merge=lfs -text -# Audio files - compressed -*.aac filter=lfs diff=lfs merge=lfs -text -*.flac filter=lfs diff=lfs merge=lfs -text -*.mp3 filter=lfs diff=lfs merge=lfs -text -*.ogg filter=lfs diff=lfs merge=lfs -text -*.wav filter=lfs diff=lfs merge=lfs -text -# Image files - uncompressed -*.bmp filter=lfs diff=lfs merge=lfs -text -*.gif filter=lfs diff=lfs merge=lfs -text -*.png filter=lfs diff=lfs merge=lfs -text -*.tiff filter=lfs diff=lfs merge=lfs -text -# Image files - compressed -*.jpg filter=lfs diff=lfs merge=lfs -text -*.jpeg filter=lfs diff=lfs merge=lfs -text -*.webp filter=lfs diff=lfs merge=lfs -text -# Video files - compressed -*.mp4 filter=lfs diff=lfs merge=lfs -text -*.webm filter=lfs diff=lfs merge=lfs -text +data_reader_example.png filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..638c5cc72354e805c4846808b774745b4d840c52 --- /dev/null +++ b/README.md @@ -0,0 +1,207 @@ +--- +license: other +task_categories: +- robotics +- imitation-learning +tags: +- libero +- robotics +- hdf5 +- logical-state +- manipulation +pretty_name: LIBERO Logical State and Action Trajectories +size_categories: +- 1K int: + match = re.fullmatch(r"demo_(\d+)", name) + return int(match.group(1)) if match else 10**9 + + +def decode_value(value): + if isinstance(value, bytes): + return value.decode("utf-8") + if isinstance(value, np.generic): + return value.item() + return value + + +def json_value(value): + value = decode_value(value) + if isinstance(value, np.ndarray): + return value.tolist() + return value + + +def image_to_data_url(array: np.ndarray) -> str: + flipped = np.ascontiguousarray(np.flipud(array).astype(np.uint8)) + image = Image.fromarray(flipped, mode="RGB") + buffer = io.BytesIO() + image.save(buffer, format="PNG") + encoded = base64.b64encode(buffer.getvalue()).decode("ascii") + return f"data:image/png;base64,{encoded}" + + +def suite_paths() -> list[Path]: + root = APP_STATE["datasets_dir"] + return sorted(path for path in root.iterdir() if path.is_dir()) + + +def hdf5_files(suite: str) -> list[Path]: + return sorted((APP_STATE["datasets_dir"] / suite).glob("*.hdf5")) + + +def read_task_label(path: Path) -> str: + try: + with h5py.File(path, "r") as f: + info = f["data"].attrs.get("problem_info") + if info: + info = decode_value(info) + return json.loads(info).get("language_instruction", path.stem) + except Exception: + pass + return path.stem.replace("_demo", "").replace("_", " ") + + +def selected_file(suite: str, task: str) -> Path: + path = APP_STATE["datasets_dir"] / suite / task + root = (APP_STATE["datasets_dir"] / suite).resolve() + resolved = path.resolve() + if root not in resolved.parents or not resolved.exists() or resolved.suffix != ".hdf5": + raise ValueError("Invalid task file") + return resolved + + +def read_metadata() -> dict: + suites = [] + for suite_path in suite_paths(): + files = [] + for path in hdf5_files(suite_path.name): + files.append({"file": path.name, "label": read_task_label(path)}) + suites.append({"name": suite_path.name, "tasks": files}) + return {"suites": suites} + + +def read_demos(suite: str, task: str) -> dict: + path = selected_file(suite, task) + with h5py.File(path, "r") as f: + demos = [] + for name in sorted(f["data"].keys(), key=natural_demo_key): + group = f[f"data/{name}"] + demos.append({"name": name, "frames": int(group["actions"].shape[0])}) + attrs = {k: json_value(v) for k, v in f["data"].attrs.items()} + return {"demos": demos, "attrs": attrs} + + +def read_frame(suite: str, task: str, demo: str, frame: int) -> dict: + path = selected_file(suite, task) + with LOCK, h5py.File(path, "r") as f: + group = f[f"data/{demo}"] + frame_count = int(group["actions"].shape[0]) + frame = max(0, min(frame, frame_count - 1)) + + def arr(name: str): + return np.asarray(group[name][frame]) + + logical_state = decode_value(group["logical_states"][frame]) + logical_action = decode_value(group["logical_actions"][frame]) + try: + parsed_state = json.loads(logical_state) + except Exception: + parsed_state = logical_state + + return { + "frame": frame, + "frames": frame_count, + "agentview_rgb": image_to_data_url(arr("obs/agentview_rgb")), + "eye_in_hand_rgb": image_to_data_url(arr("obs/eye_in_hand_rgb")), + "logical_action": logical_action, + "logical_state": parsed_state, + "robot_action": arr("actions").round(6).tolist(), + "robot_states": arr("robot_states").round(6).tolist(), + "ee_pos": arr("obs/ee_pos").round(6).tolist(), + "ee_ori": arr("obs/ee_ori").round(6).tolist(), + "gripper_states": arr("obs/gripper_states").round(6).tolist(), + "joint_states": arr("obs/joint_states").round(6).tolist(), + "reward": json_value(group["rewards"][frame]), + "done": json_value(group["dones"][frame]), + } + + +HTML = r""" + + + + + LIBERO Dataset Viewer + + + +
+

LIBERO Dataset Viewer

+
+
+
+
+ + + + + + +
+ +
+
+

Images

+
+
Agent View
+
Eye In Hand
+
+
+
+

Frame

+
+
+
Frame0
+
Total0
+
Reward0
+
Done0
+
+ + + + + + + + + +
Logical Action
Logical State
Robot Action
EE Position
EE Orientation
Gripper

+        

+      

+    

+  

+
+  
+
+
+"""
+
+
+class Handler(BaseHTTPRequestHandler):
+    def send_json(self, payload: dict, status: int = 200) -> None:
+        data = json.dumps(payload).encode("utf-8")
+        self.send_response(status)
+        self.send_header("Content-Type", "application/json")
+        self.send_header("Content-Length", str(len(data)))
+        self.end_headers()
+        self.wfile.write(data)
+
+    def send_html(self) -> None:
+        data = HTML.encode("utf-8")
+        self.send_response(200)
+        self.send_header("Content-Type", "text/html; charset=utf-8")
+        self.send_header("Content-Length", str(len(data)))
+        self.end_headers()
+        self.wfile.write(data)
+
+    def do_GET(self) -> None:
+        try:
+            parsed = urlparse(self.path)
+            query = {k: v[0] for k, v in parse_qs(parsed.query).items()}
+            if parsed.path == "/":
+                self.send_html()
+            elif parsed.path == "/api/meta":
+                self.send_json(read_metadata())
+            elif parsed.path == "/api/demos":
+                self.send_json(read_demos(query["suite"], query["task"]))
+            elif parsed.path == "/api/frame":
+                self.send_json(
+                    read_frame(
+                        query["suite"],
+                        query["task"],
+                        query["demo"],
+                        int(query.get("frame", 0)),
+                    )
+                )
+            else:
+                self.send_json({"error": "Not found"}, 404)
+        except Exception as exc:
+            self.send_json({"error": str(exc)}, 500)
+
+    def log_message(self, fmt: str, *args) -> None:
+        print(f"{self.address_string()} - {fmt % args}")
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--datasets-dir",
+        type=Path,
+        default=DEFAULT_DATASETS_DIR,
+        help="Path to datasets directory. Defaults to ./datasets next to this script.",
+    )
+    parser.add_argument("--host", default="127.0.0.1")
+    parser.add_argument("--port", type=int, default=8000)
+    args = parser.parse_args()
+
+    APP_STATE["datasets_dir"] = args.datasets_dir.expanduser().resolve()
+    if not APP_STATE["datasets_dir"].exists():
+        raise SystemExit(f"Datasets directory not found: {APP_STATE['datasets_dir']}")
+    if not APP_STATE["datasets_dir"].is_dir():
+        raise SystemExit(f"Datasets path is not a directory: {APP_STATE['datasets_dir']}")
+
+    server = ThreadingHTTPServer((args.host, args.port), Handler)
+    print(f"Serving dataset viewer at http://{args.host}:{args.port}")
+    print(f"Reading datasets from {APP_STATE['datasets_dir']}")
+    server.serve_forever()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())