Expand TWIN preprocessing script to remaining PerAct2 tasks

openpi/scripts/run_preprocess_twin.sh

@@ -96,14 +96,47 @@ unset LEROBOT_HOME || true
 export DP_TRAIN="${DP_TRAIN:-lsnu/twin_dual_push_256_train}"
 export DP_VAL="${DP_VAL:-lsnu/twin_dual_push_256_val}"
 export DP_TEST="${DP_TEST:-lsnu/twin_dual_push_256_test}"
+export DP128_TRAIN="${DP128_TRAIN:-lsnu/twin_dual_push_128_train}"
+export DP128_VAL="${DP128_VAL:-lsnu/twin_dual_push_128_val}"
+export DP128_TEST="${DP128_TEST:-lsnu/twin_dual_push_128_test}"
 
 export HO_TRAIN="${HO_TRAIN:-lsnu/twin_handover_256_train}"
 export HO_VAL="${HO_VAL:-lsnu/twin_handover_256_val}"
 export HO_TEST="${HO_TEST:-lsnu/twin_handover_256_test}"
+export HOE_TRAIN="${HOE_TRAIN:-lsnu/twin_handover_item_easy_256_train}"
+export HOE_VAL="${HOE_VAL:-lsnu/twin_handover_item_easy_256_val}"
+export HOE_TEST="${HOE_TEST:-lsnu/twin_handover_item_easy_256_test}"
 
 export SR_TRAIN="${SR_TRAIN:-lsnu/twin_straighten_rope_256_train}"
 export SR_VAL="${SR_VAL:-lsnu/twin_straighten_rope_256_val}"
 export SR_TEST="${SR_TEST:-lsnu/twin_straighten_rope_256_test}"
+export LB_TRAIN="${LB_TRAIN:-lsnu/twin_lift_ball_256_train}"
+export LB_VAL="${LB_VAL:-lsnu/twin_lift_ball_256_val}"
+export LB_TEST="${LB_TEST:-lsnu/twin_lift_ball_256_test}"
+export LT_TRAIN="${LT_TRAIN:-lsnu/twin_lift_tray_256_train}"
+export LT_VAL="${LT_VAL:-lsnu/twin_lift_tray_256_val}"
+export LT_TEST="${LT_TEST:-lsnu/twin_lift_tray_256_test}"
+export PL_TRAIN="${PL_TRAIN:-lsnu/twin_pick_laptop_256_train}"
+export PL_VAL="${PL_VAL:-lsnu/twin_pick_laptop_256_val}"
+export PL_TEST="${PL_TEST:-lsnu/twin_pick_laptop_256_test}"
+export PP_TRAIN="${PP_TRAIN:-lsnu/twin_pick_plate_256_train}"
+export PP_VAL="${PP_VAL:-lsnu/twin_pick_plate_256_val}"
+export PP_TEST="${PP_TEST:-lsnu/twin_pick_plate_256_test}"
+export PB_TRAIN="${PB_TRAIN:-lsnu/twin_push_box_256_train}"
+export PB_VAL="${PB_VAL:-lsnu/twin_push_box_256_val}"
+export PB_TEST="${PB_TEST:-lsnu/twin_push_box_256_test}"
+export PBF_TRAIN="${PBF_TRAIN:-lsnu/twin_put_bottle_in_fridge_256_train}"
+export PBF_VAL="${PBF_VAL:-lsnu/twin_put_bottle_in_fridge_256_val}"
+export PBF_TEST="${PBF_TEST:-lsnu/twin_put_bottle_in_fridge_256_test}"
+export PID_TRAIN="${PID_TRAIN:-lsnu/twin_put_item_in_drawer_256_train}"
+export PID_VAL="${PID_VAL:-lsnu/twin_put_item_in_drawer_256_val}"
+export PID_TEST="${PID_TEST:-lsnu/twin_put_item_in_drawer_256_test}"
+export SWEEP_TRAIN="${SWEEP_TRAIN:-lsnu/twin_sweep_to_dustpan_256_train}"
+export SWEEP_VAL="${SWEEP_VAL:-lsnu/twin_sweep_to_dustpan_256_val}"
+export SWEEP_TEST="${SWEEP_TEST:-lsnu/twin_sweep_to_dustpan_256_test}"
+export OVEN_TRAIN="${OVEN_TRAIN:-lsnu/twin_take_tray_out_of_oven_256_train}"
+export OVEN_VAL="${OVEN_VAL:-lsnu/twin_take_tray_out_of_oven_256_val}"
+export OVEN_TEST="${OVEN_TEST:-lsnu/twin_take_tray_out_of_oven_256_test}"
 
 mkdir -p "$INBOX" "$TMPDIR" "$LOGDIR" "$HF_HOME" "$HF_HUB_CACHE" "$HF_DATASETS_CACHE" "$HF_LEROBOT_HOME"
 
@@ -484,6 +517,15 @@ main() {
     prepare_openpi_env
   fi
 
+  process_task \
+    "dual_push_buttons_128" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_128/bimanual_dual_push_buttons.train.squashfs" \
+    "$DP128_TRAIN" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_128/bimanual_dual_push_buttons.val.squashfs" \
+    "$DP128_VAL" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_128/bimanual_dual_push_buttons.test.squashfs" \
+    "$DP128_TEST"
+
   process_task \
     "dual_push_buttons" \
     "datasets/benchmarks/peract2_twin/bimanual/image_size_256_dual_push_buttons/bimanual_dual_push_buttons.train.squashfs" \
@@ -502,6 +544,78 @@ main() {
     "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_handover_item/bimanual_handover_item.test.squashfs" \
     "$HO_TEST"
 
+  process_task \
+    "handover_item_easy" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_handover_item_easy/bimanual_handover_item_easy.train.squashfs" \
+    "$HOE_TRAIN" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_handover_item_easy/bimanual_handover_item_easy.val.squashfs" \
+    "$HOE_VAL" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_handover_item_easy/bimanual_handover_item_easy.test.squashfs" \
+    "$HOE_TEST"
+
+  process_task \
+    "lift_ball" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_lift_ball/bimanual_lift_ball.train.squashfs" \
+    "$LB_TRAIN" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_lift_ball/bimanual_lift_ball.val.squashfs" \
+    "$LB_VAL" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_lift_ball/bimanual_lift_ball.test.squashfs" \
+    "$LB_TEST"
+
+  process_task \
+    "lift_tray" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_lift_tray/bimanual_lift_tray.train.squashfs" \
+    "$LT_TRAIN" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_lift_tray/bimanual_lift_tray.val.squashfs" \
+    "$LT_VAL" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_lift_tray/bimanual_lift_tray.test.squashfs" \
+    "$LT_TEST"
+
+  process_task \
+    "pick_laptop" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_pick_laptop/bimanual_pick_laptop.train.squashfs" \
+    "$PL_TRAIN" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_pick_laptop/bimanual_pick_laptop.val.squashfs" \
+    "$PL_VAL" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_pick_laptop/bimanual_pick_laptop.test.squashfs" \
+    "$PL_TEST"
+
+  process_task \
+    "pick_plate" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_pick_plate/bimanual_pick_plate.train.squashfs" \
+    "$PP_TRAIN" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_pick_plate/bimanual_pick_plate.val.squashfs" \
+    "$PP_VAL" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_pick_plate/bimanual_pick_plate.test.squashfs" \
+    "$PP_TEST"
+
+  process_task \
+    "push_box" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_push_box/bimanual_push_box.train.squashfs" \
+    "$PB_TRAIN" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_push_box/bimanual_push_box.val.squashfs" \
+    "$PB_VAL" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_push_box/bimanual_push_box.test.squashfs" \
+    "$PB_TEST"
+
+  process_task \
+    "put_bottle_in_fridge" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_put_bottle_in_fridge/bimanual_put_bottle_in_fridge.train.squashfs" \
+    "$PBF_TRAIN" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_put_bottle_in_fridge/bimanual_put_bottle_in_fridge.val.squashfs" \
+    "$PBF_VAL" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_put_bottle_in_fridge/bimanual_put_bottle_in_fridge.test.squashfs" \
+    "$PBF_TEST"
+
+  process_task \
+    "put_item_in_drawer" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_put_item_in_drawer/bimanual_put_item_in_drawer.train.squashfs" \
+    "$PID_TRAIN" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_put_item_in_drawer/bimanual_put_item_in_drawer.val.squashfs" \
+    "$PID_VAL" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_put_item_in_drawer/bimanual_put_item_in_drawer.test.squashfs" \
+    "$PID_TEST"
+
   process_task \
     "straighten_rope" \
     "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_straighten_rope/bimanual_straighten_rope.train.squashfs" \
@@ -511,6 +625,24 @@ main() {
     "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_straighten_rope/bimanual_straighten_rope.test.squashfs" \
     "$SR_TEST"
 
+  process_task \
+    "sweep_to_dustpan" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_sweep_to_dustpan/bimanual_sweep_to_dustpan.train.squashfs" \
+    "$SWEEP_TRAIN" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_sweep_to_dustpan/bimanual_sweep_to_dustpan.val.squashfs" \
+    "$SWEEP_VAL" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_sweep_to_dustpan/bimanual_sweep_to_dustpan.test.squashfs" \
+    "$SWEEP_TEST"
+
+  process_task \
+    "take_tray_out_of_oven" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_take_tray_out_of_oven/bimanual_take_tray_out_of_oven.train.squashfs" \
+    "$OVEN_TRAIN" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_take_tray_out_of_oven/bimanual_take_tray_out_of_oven.val.squashfs" \
+    "$OVEN_VAL" \
+    "datasets/benchmarks/peract2_twin/bimanual/image_size_256/bimanual_take_tray_out_of_oven/bimanual_take_tray_out_of_oven.test.squashfs" \
+    "$OVEN_TEST"
+
   log "All tasks completed"
 }