Upload prep_lerobot.py with huggingface_hub

prep_lerobot.py

@@ -24,6 +24,7 @@ import glob
 import json
 import os
 import sys
+from concurrent.futures import ThreadPoolExecutor
 from pathlib import Path
 
 import h5py
@@ -43,6 +44,9 @@ def main():
     ego_root = cache / tb.REPO.replace("/", "__")   # to_lerobot EGO = this (<cat>/videos + meta)
     done, vids, skipped = 0, 0, 0
 
+    # Pass 1 — resolve each retargeted clip to (cat, ep, chunk, file) and symlink it into the
+    # category layout. Cheap (local hdf5 attrs + cached meta parquets), so keep it sequential.
+    items = []  # (cat, ep, ci, fi, vid_rel)
     for hp in sorted(glob.glob(f"{a.flat}/*/retargeted.hdf5")):
         try:
             with h5py.File(hp, "r") as h:
@@ -52,7 +56,6 @@ def main():
             ci, fi = r["data/chunk_index"], r["data/file_index"]
             fyy = f"file-{fi:03d}"
 
-            # 1) retargeted → category layout with the file-FFF_epN name to_lerobot parses
             dst = Path(a.retgt_out) / cat / f"clip_{fyy}_ep{ep}"
             dst.mkdir(parents=True, exist_ok=True)
             link = dst / "retargeted.hdf5"
@@ -60,18 +63,28 @@ def main():
                 link.unlink()
             os.symlink(os.path.abspath(hp), link)
 
-            # 2) download this clip's ego video (into cache, same repo layout)
             vid_rel = f"{tb.PREFIX}{cat}/videos/observation.images.camera/chunk-{ci:03d}/{fyy}.mp4"
-            try:
-                tb._ensure(cache, vid_rel)
-                vids += 1
-            except Exception as e:
-                print(f"[warn] video dl {vid_rel}: {e}", file=sys.stderr)
+            items.append(vid_rel)
             done += 1
         except Exception as e:
             skipped += 1
             print(f"[warn] {hp}: {e}", file=sys.stderr)
 
+    # Pass 2 — download the ego VIDEOS in PARALLEL (transform only fetched keypoints). These are the
+    # big files; a sequential loop dominated packaging wall-clock. Dedup + bounded per-file timeout
+    # in tb._ensure make concurrent fetches safe. A failed video is a non-fatal warn.
+    def _dlvid(vid_rel: str) -> bool:
+        try:
+            tb._ensure(cache, vid_rel)
+            return True
+        except Exception as e:
+            print(f"[warn] video dl {vid_rel}: {e}", file=sys.stderr)
+            return False
+
+    uniq = list(dict.fromkeys(items))  # preserve order, drop dup video files
+    with ThreadPoolExecutor(max_workers=min(24, max(1, len(uniq)))) as ex:
+        vids = sum(1 for ok in ex.map(_dlvid, uniq) if ok)
+
     print(json.dumps({"clips": done, "videos": vids, "skipped": skipped,
                       "retgt": a.retgt_out, "ego": str(ego_root)}))