| # Instructions |
|
|
| How to reproduce this dataset locally and push it to the Hugging Face Hub. |
|
|
| ## Setup |
|
|
| ```bash |
| uv sync |
| ``` |
|
|
| ## Generation pipeline |
|
|
| Four scripts under `scripts/`, run in order: |
|
|
| 1. **`download_lafan.py`** — pulls the G1 subset of |
| [`lvhaidong/LAFAN1_Retargeting_Dataset`][lafan1] into `.cache/lafan1_g1/` |
| (gitignored). |
| 2. **`retarget.py`** — step 1 direct G1 → Lite joint remap (sign + offset |
| table baked into `common.G1_TO_LITE`) and step 2 per-frame `mink` IK |
| refinement on both feet and both hands. Writes a HuggingFace |
| LeRobotDataset at the repository root (`meta/` + `data/chunk-*/`). |
| 3. **`visualize.py`** — viser web viewer; renders Lite (solid) overlaid with |
| the source G1 (alpha-blended ghost). Episode dropdown lazy-loads each |
| clip on selection. |
| 4. **`push_to_hub.py`** — uploads the dataset to the Hugging Face Hub using |
| `LeRobotDataset.push_to_hub` (auto-generates the dataset card). |
|
|
| End-to-end reproduction: |
|
|
| ```bash |
| uv run scripts/download_lafan.py |
| uv run scripts/retarget.py --workers -1 # parallelise across all CPU cores |
| uv run scripts/visualize.py # browse and inspect |
| uv run scripts/push_to_hub.py # publish |
| ``` |
|
|
| ### `retarget.py` flags |
|
|
| | Flag | Default | Effect | |
| | --- | --- | --- | |
| | `--clip <regex>` | none | Process only matching CSVs (e.g. `'walk1_subject1'`). | |
| | `--validate-only` | off | Print step-1 vs step-2 EE-error table without writing the dataset. | |
| | `--no-ik` | off | Output step 1 only (skips per-frame IK refinement). | |
| | `--ik-iters N` | 15 | `mink` Newton iterations per frame in step 2. | |
| | `--workers N` | 1 | Parallel processes across clips. `-1` = all CPU cores. | |
|
|
| ### `visualize.py` flags |
|
|
| | Flag | Default | Effect | |
| | --- | --- | --- | |
| | `--episode-index N` | 0 | Initial episode to load (switch later from the GUI dropdown). | |
| | `--port N` | 8080 | viser HTTP port. | |
| | `--no-ghost` | off | Hide the source G1 ghost; show Lite only. | |
|
|
| ## Pushing to Hugging Face Hub |
|
|
| Authenticate once: |
|
|
| ```bash |
| hf auth login # interactive |
| # or, non-interactive: |
| export HF_TOKEN=hf_... |
| ``` |
|
|
| Your token needs **write** scope on the target namespace (your account or |
| an org you belong to). |
|
|
| Then upload: |
|
|
| ```bash |
| uv run scripts/push_to_hub.py |
| uv run scripts/push_to_hub.py --repo-id your-username/your-dataset |
| uv run scripts/push_to_hub.py --private |
| uv run scripts/push_to_hub.py --branch v0.1 |
| ``` |
|
|
| `push_to_hub.py` calls `LeRobotDataset.push_to_hub`, which: |
|
|
| * Creates the dataset repo if it doesn't exist. |
| * Uploads `meta/` + `data/` (and `videos/` if any — there are none here). |
| * Generates a LeRobot dataset card from `meta/info.json` (this overwrites |
| whatever `README.md` was uploaded). |
| * Tags the revision with the LeRobot codebase version. |
|
|
| [lafan1]: https://huggingface.co/datasets/lvhaidong/LAFAN1_Retargeting_Dataset |
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|
