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dora-rs / dora-lerobot

Lerobot boosted with dora
Apache License 2.0
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Adding Lerobot dataset standard for teleoperated data #4

Closed haixuanTao closed 5 months ago

haixuanTao commented 5 months ago

This PR makes the teleoperated data usable within lerobot as well as evaluate it.

Getting started

Given you have already setup the aloha arms:


dora up

# Go to aloha folder
cd aloha

dora start graphs/record_2arms_teleop.yml --attach                                                                                             

# Press Spacebar to record a new episode

# Release Spacebar to stop recording an episode

# Press and release spacebar as many time as episode required.

# Stop the dataflow with ctrl-c

# Copy the data into `data/<DATASET_ID>_raw` folder
cp graphs/out/018f3f3f-9b49-7438-9821-bf7c98f7c0bb data/<DATASET_ID>_raw -r

# then push the dataset to the hub using lerobot script at: https://github.com/huggingface/lerobot/pull/201

# git clone https://github.com/huggingface/lerobot/pull/201 --branch user/rcadene/2024_05_20_dora_parquet_format

python  <Path/to/leorobot>/lerobot/scripts/push_dataset_to_hub.py \
--data-dir data \
--dataset-id <DATASET_ID> \
--raw-format aloha_dora \
--community-id <YOUR_HF_ID>

This is still work in progress and will update this as we change the script