DROID Preprocessing - Quick Start
Fast Parallel Processing (Recommended)
8 GPUs
cd /root/workspace/code/wmrl/Dual-Dynamics-Models/DROID-main
bash scripts/run_parallel_8gpu.sh
16 GPUs
cd /root/workspace/code/wmrl/Dual-Dynamics-Models/DROID-main
bash scripts/run_parallel_16gpu.sh
How it works:
- Divides ~70k episodes into equal chunks
- Each GPU processes a continuous range of episodes
- GPU 0: episodes 0-4427
- GPU 1: episodes 4427-8854
- GPU 2: episodes 8854-13281
- etc.
- Much faster startup - no dataset iteration overhead
Two Machines (16 GPUs Total - Optional)
Each machine runs 8 independent GPU processes with no communication.
Machine 1 (8 GPUs, processes episodes 0,1,2...7,16,17...):
cd /root/workspace/code/wmrl/Dual-Dynamics-Models/DROID-main
bash scripts/run_multigpu_machine1.sh
Machine 2 (8 GPUs, processes episodes 8,9,10...15,24,25...):
cd /root/workspace/code/wmrl/Dual-Dynamics-Models/DROID-main
bash scripts/run_multigpu_machine2.sh
How it works:
- 16 total independent processes (8 per machine)
- No communication between any GPUs or machines
- Episodes distributed via modulo:
episode_idx % 16 == global_gpu_id - Both machines write to same shared output directory
Monitor
# Watch GPU 0 log
tail -f /mnt/kevin/data/droid_processed_1000pts/log_machine0_gpu0.txt
# Check all processes
ps aux | grep preprocess_droid_multigpu
# GPU utilization
watch -n 1 nvidia-smi
After Completion
# Count results
ls -1 /mnt/kevin/data/droid_processed_1000pts/data/*.npz | wc -l
# Check preview videos
ls -1 /mnt/kevin/data/droid_processed_1000pts/preview_videos/*.mp4 | wc -l
Stop All
pkill -f preprocess_droid_rlds_final
Key Info
- Output:
/mnt/kevin/data/droid_processed_1000pts/ - Tracks per view: 1000 points (like LIBERO's 1098)
- Preview videos: 20 total
- Processing time: ~18-24 hours
- Output size: ~500GB-1TB
- Visibility threshold: 0.7 (in This&That dataloader)
Requirements
- CoTracker checkpoint: Must be at one of these locations:
/mnt/kevin/vlm_models/cotracker/scaled_offline.pth(preferred)/mnt/kevin/vlm_models/hub/checkpoints/scaled_offline.pth/root/workspace/code/wmrl/Dual-Dynamics-Models/DROID-main/co-tracker/checkpoints/scaled_offline.pth
See MULTIGPU_PREPROCESSING_README.md for full details.