Assertion Errors in Dataset Conversion

[sangteak601]

Hi,

I am attempting to convert the dataset collected using the UMI gripper into a lerobot dataset format but keep encountering a failure at an assertion point. The exact failure occurs here. I am uncertain about the cause of this issue or potential solutions. For now, I have commented out the assertion section, which allows the dataset to be successfully converted. Any advice you could provide would be greatly appreciated.

Command I run:

python3 lerobot/scripts/push_dataset_to_hub.py --raw-dir /path/to/dataset --raw-format umi_zarr --repo-id myid/repo

Error:

Traceback (most recent call last):
  File "/lerobot/lerobot/scripts/push_dataset_to_hub.py", line 371, in <module>
    main()
  File "/lerobot/lerobot/scripts/push_dataset_to_hub.py", line 367, in main
    push_dataset_to_hub(**vars(args))
  File "/lerobot/lerobot/scripts/push_dataset_to_hub.py", line 230, in push_dataset_to_hub
    stats = compute_stats(lerobot_dataset, batch_size, num_workers)
  File "/lerobot/lerobot/common/datasets/compute_stats.py", line 140, in compute_stats
    assert torch.equal(first_batch_[key], first_batch[key])
AssertionError

[Kacchan16]

Hi @sangteak601

1. Can you tell me this, what is the dataset format you are converting ? and
2. Are you collecting data with umi, while calculating data it is throwing error or different Thanks