| |
| from __future__ import annotations |
|
|
| import argparse |
| import json |
| import sys |
| from pathlib import Path |
|
|
| ROOT = Path(__file__).resolve().parents[1] |
| if str(ROOT) not in sys.path: |
| sys.path.insert(0, str(ROOT)) |
|
|
| from dovla_cil.data.lerobot_export import ( |
| LeRobotExportConfig, |
| export_lerobot_style_dataset, |
| ) |
|
|
|
|
| def parse_args() -> argparse.Namespace: |
| parser = argparse.ArgumentParser( |
| description=( |
| "Export a DoVLA-CIL dataset to a dependency-light LeRobot-style JSONL interchange " |
| "format for external VLA baselines." |
| ) |
| ) |
| parser.add_argument("--dataset", required=True, help="Source CIL dataset or collection dir.") |
| parser.add_argument("--out", required=True, help="Output export directory.") |
| parser.add_argument("--split", default="train", help="JSONL split filename stem.") |
| parser.add_argument( |
| "--selection", |
| default="best", |
| choices=["best", "expert", "success"], |
| help="Which record to export from each CIL group.", |
| ) |
| parser.add_argument("--max-groups", type=int, default=None) |
| parser.add_argument( |
| "--group-sampling", |
| default="sequential", |
| choices=["sequential", "task_balanced"], |
| help="Ordering used before applying --max-groups.", |
| ) |
| parser.add_argument("--seed", type=int, default=0, help="Seed for balanced group sampling.") |
| parser.add_argument( |
| "--no-images", |
| action="store_true", |
| help="Do not copy RGB frames even when observation_ref values are present.", |
| ) |
| parser.add_argument("--image-format", default="jpg", choices=["jpg", "jpeg", "png"]) |
| return parser.parse_args() |
|
|
|
|
| def main() -> int: |
| args = parse_args() |
| metadata = export_lerobot_style_dataset( |
| LeRobotExportConfig( |
| dataset_dir=args.dataset, |
| out_dir=args.out, |
| split=args.split, |
| selection=args.selection, |
| max_groups=args.max_groups, |
| group_sampling=args.group_sampling, |
| seed=args.seed, |
| copy_images=not args.no_images, |
| image_format=args.image_format, |
| ) |
| ) |
| print(json.dumps(metadata, indent=2, sort_keys=True)) |
| return 0 |
|
|
|
|
| if __name__ == "__main__": |
| raise SystemExit(main()) |
|
|
