[viz] Fixes & updates to html visualizer by mishig25 · Pull Request #617 · huggingface/lerobot

mishig25 · 2025-01-07T14:54:01Z

As Remi noted, viz was failing for yaak-ai/lerobot-driving-school.

The reason was: previously viz tool assumed float32 features to have exact names observation.state & action. However, yaak-ai/lerobot-driving-school had a field action.continuous.

This PR fixes this issue by removing hardcoded names observation.state & action in favour for dynamically selecting all float32 features.

mishig25 · 2025-01-07T14:58:57Z

I dont think the failing test is related to this PR

mishig25 · 2025-01-07T14:59:31Z

cc: @Cadene @aliberts

mishig25 · 2025-01-07T15:27:06Z

pushed 094e94c that fixes an issue when motor names are not explicitly provided in the data

for cadene/agibotworld_task_327

mishig25 · 2025-01-08T10:44:40Z

pushed dcd821b that makes it possible to filter videos

Screen.Recording.2025-01-08.at.11.43.21.mov

Cadene · 2025-01-08T12:36:12Z

@mishig25 We just merged a fix for the poetry check not passing, could you rebase?

mishig25 · 2025-01-08T13:20:26Z

done so, and the checks are now passing

aliberts · 2025-01-09T08:23:37Z

Thank you @mishig25!
I'm trying to run this on pusht using

python lerobot/scripts/visualize_dataset_html.py \
    --repo-id lerobot/pusht

But I get this:

(it works on cadene/agibotworld_task_327)

mishig25 · 2025-01-09T10:15:38Z

@aliberts fix 29994ba is pushed

python lerobot/scripts/visualize_dataset_html.py --repo-id lerobot/pusht should work now

aliberts

Thank you for that feature, that's quite useful :)

* feat: enable to use multiple rgb encoders per camera in diffusion policy (huggingface#484) Co-authored-by: Alexander Soare <alexander.soare159@gmail.com> * Fix config file (huggingface#495) * fix: broken images and a few minor typos in README (huggingface#499) Signed-off-by: ivelin <ivelin117@gmail.com> * Add support for Windows (huggingface#494) * bug causes error uploading to huggingface, unicode issue on windows. (huggingface#450) * Add distinction between two unallowed cases in name check "eval_" (huggingface#489) * Rename deprecated argument (temporal_ensemble_momentum) (huggingface#490) * Dataset v2.0 (huggingface#461) Co-authored-by: Remi <remi.cadene@huggingface.co> * Refactor OpenX (huggingface#505) * Fix missing local_files_only in record/replay (huggingface#540) Co-authored-by: Simon Alibert <alibert.sim@gmail.com> * Control simulated robot with real leader (huggingface#514) Co-authored-by: Remi <remi.cadene@huggingface.co> * Update 7_get_started_with_real_robot.md (huggingface#559) * LerobotDataset pushable to HF from any folder (huggingface#563) * Fix example 6 (huggingface#572) * fixing typo from 'teloperation' to 'teleoperation' (huggingface#566) * [vizualizer] for LeRobodDataset V2 (huggingface#576) * Fix broken `create_lerobot_dataset_card` (huggingface#590) * Update README.md (huggingface#612) * Fix Quality workflow (huggingface#622) * fix(docs): typos in benchmark readme.md (huggingface#614) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> * fix(visualise): use correct language description for each episode id (huggingface#604) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> * typo fix: batch_convert_dataset_v1_to_v2.py (huggingface#615) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> * [viz] Fixes & updates to html visualizer (huggingface#617) * fixes to SO-100 readme (huggingface#600) Co-authored-by: Philip Fung <no@one> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> --------- Signed-off-by: ivelin <ivelin117@gmail.com> Co-authored-by: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Co-authored-by: Alexander Soare <alexander.soare159@gmail.com> Co-authored-by: Arsen Ohanyan <arsenohanyan@gmail.com> Co-authored-by: Ivelin Ivanov <ivelin117@gmail.com> Co-authored-by: Daniel Ritchie <daniel@brainwavecollective.ai> Co-authored-by: resolver101757 <kelster101757@hotmail.com> Co-authored-by: Jannik Grothusen <56967823+J4nn1K@users.noreply.github.com> Co-authored-by: KasparSLT <133706781+KasparSLT@users.noreply.github.com> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> Co-authored-by: Remi <remi.cadene@huggingface.co> Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co> Co-authored-by: Simon Alibert <alibert.sim@gmail.com> Co-authored-by: berjaoui <berjaoui@gmail.com> Co-authored-by: Claudio Coppola <Claudiocoppola90@gmail.com> Co-authored-by: s1lent4gnt <kmeftah.khalil@gmail.com> Co-authored-by: Mishig <dmishig@gmail.com> Co-authored-by: Eugene Mironov <helper2424@gmail.com> Co-authored-by: CharlesCNorton <135471798+CharlesCNorton@users.noreply.github.com> Co-authored-by: Philip Fung <1054593+philfung@users.noreply.github.com> Co-authored-by: Philip Fung <no@one>

[Fix] Move back to manual calibration (#488) feat: enable to use multiple rgb encoders per camera in diffusion policy (#484) Co-authored-by: Alexander Soare <alexander.soare159@gmail.com> Fix config file (#495) fix: broken images and a few minor typos in README (#499) Signed-off-by: ivelin <ivelin117@gmail.com> Add support for Windows (#494) bug causes error uploading to huggingface, unicode issue on windows. (#450) Add distinction between two unallowed cases in name check "eval_" (#489) WIP Fix autocalib moss (#486) [Fix] Move back to manual calibration (#488) feat: enable to use multiple rgb encoders per camera in diffusion policy (#484) Co-authored-by: Alexander Soare <alexander.soare159@gmail.com> Fix config file (#495) fix: broken images and a few minor typos in README (#499) Signed-off-by: ivelin <ivelin117@gmail.com> Add support for Windows (#494) bug causes error uploading to huggingface, unicode issue on windows. (#450) Add distinction between two unallowed cases in name check "eval_" (#489) Rename deprecated argument (temporal_ensemble_momentum) (#490) Dataset v2.0 (#461) Co-authored-by: Remi <remi.cadene@huggingface.co> Refactor OpenX (#505) Fix missing local_files_only in record/replay (#540) Co-authored-by: Simon Alibert <alibert.sim@gmail.com> Control simulated robot with real leader (#514) Co-authored-by: Remi <remi.cadene@huggingface.co> Update 7_get_started_with_real_robot.md (#559) LerobotDataset pushable to HF from any folder (#563) Fix example 6 (#572) fixing typo from 'teloperation' to 'teleoperation' (#566) [vizualizer] for LeRobodDataset V2 (#576) Fix broken `create_lerobot_dataset_card` (#590) Update README.md (#612) Add draccus, create MainConfig WIP refactor train.py and ACT Add policies training presets Update diffusion policy Add pusht and xarm env configs Update tdmpc Update vqbet Fix poetry relax Add feature types to envs Add EvalPipelineConfig, parse features from envs Add custom parser Update pretrained loading mechanisms Add dependency fixes & lock update Fix pretrained_path Refactor envs, remove RealEnv Fix typo Enable end-to-end tests Fix Makefile Log eval config Fix end-to-end tests Fix Quality workflow (#622) Remove amp & add resume test Speed-up tests Fix poetry relax Remove config yaml for robot devices (#594) Co-authored-by: Simon Alibert <simon.alibert@huggingface.co> fix(docs): typos in benchmark readme.md (#614) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> fix(visualise): use correct language description for each episode id (#604) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> typo fix: batch_convert_dataset_v1_to_v2.py (#615) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> [viz] Fixes & updates to html visualizer (#617) Fix logger Remove hydra-core Add aggregate_stats Add estimate_num_samples for images, Add test image Remove NoneSchedulerConfig Add push_pretrained Remove eval.episode_length Fix wandb_video Fix typo Add features back into policy configs (#643) fixes to SO-100 readme (#600) Co-authored-by: Philip Fung <no@one> Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> Fix for the issue #638 (#639) Fix env_to_policy_features call Fix wandb init remove omegaconf Add branch arg Move deprecated Move training config Remove pathable_args Implement custom HubMixin Fixes Implement PreTrainedPolicy base class Add HubMixin to TrainPipelineConfig Udpate example 2 & 3 Update push_pretrained Bump`rerun-sdk` dependency to `0.21.0` (#618) Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com> Fix config_class Fix from_pretrained kwargs Remove policy_protocol Camelize PretrainedConfig Additional fix while retraining policies (#629) Co-authored-by: Simon Alibert <simon.alibert@huggingface.co> Actually reactivate tdmpc online test Update example 4 Remove advanced example 1 Remove example 5 Move example 6 to advanced Use HubMixin.save_pretrained Enable config_path to be a repo_id Dry has_method Update example 4 Update README Cleanup pyproject.toml Update eval docstring Update README Clean example 4 Update README Make 'last' checkpoint symlink relative Fix cluster image (#653) Simplify example 4 fix stats per episodes and aggregate stats and casting to tensor

mishig25 marked this pull request as ready for review January 7, 2025 14:57

mishig25 changed the title ~~[viz] Generalize float32 columns~~ [viz] Fixes & updates to html visualizer Jan 7, 2025

mishig25 added 7 commits January 8, 2025 14:15

[viz] Generalize float32 columns

459a75f

handle when motor names are not provided

b2b86b5

rm unneded image key error

d6732b6

fix

97aa6ea

chore

d29a4b1

filter on videos

654aaa0

style better

81676da

mishig25 force-pushed the viz_f32_features branch from f5e1c30 to 81676da Compare January 8, 2025 13:15

fix shape issue

29994ba

aliberts approved these changes Jan 9, 2025

View reviewed changes

aliberts merged commit 25a8597 into huggingface:main Jan 9, 2025

mishig25 deleted the viz_f32_features branch January 9, 2025 11:05

mishig25 mentioned this pull request Jan 11, 2025

[Visualizer] visualize int columns as well #628

Closed

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[viz] Fixes & updates to html visualizer (#617)

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[viz] Fixes & updates to html visualizer (huggingface#617)

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[viz] Fixes & updates to html visualizer (huggingface#617)

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[viz] Fixes & updates to html visualizer (#617)

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[viz] Fixes & updates to html visualizer - #617

[viz] Fixes & updates to html visualizer#617
aliberts merged 8 commits into
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