diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..4d453fe89e869321405a217dcc32cd5d1e83e173 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +manifests/agibot/train_index.jsonl filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..40d1632918e27b02c3a80e11433ea624cd7cc992 --- /dev/null +++ b/README.md @@ -0,0 +1,65 @@ +--- +license: other +pretty_name: merlin DMD training data +task_categories: ["robotics", "other"] +tags: ["robotics", "world-model", "video-generation", "causal-forcing", "oscar"] +--- + +# merlin DMD training data + +The data used by the DMD stage (`release/stage_configs/3_dmd_merlin.yaml`, branch `release/merlin-causal-forcing`) that +produced **merlin**, OSCAR-2B distilled into a 4-step causal robot-video model with Causal Forcing++. The same five +manifests and text-embedding store were used by every training stage of merlin. + +## Contents + +| path | what | +|---|---| +| `clips//shard-XXXXX.tar` | ~10 GB uncompressed tars; members are `//{rgb.mp4, gripper_scenario.mp4, caption.pickle}` | +| `manifests//train_index.jsonl` | the training manifests, unchanged except `data_root` is `clips/` (relative) | +| `manifests/shards.json` | which shard holds which dataset, with file counts | +| `text_cache/reason1_proj1024_T81/` | caption embeddings: `index.json` (sha1 of stripped caption → row), `meta.json`, and `emb.f16.npy` ([104779, 512, 1024] float16) as zstd parts `emb.f16.npy.zst.part-NN` with its sha256 in `emb.f16.npy.sha256` | +| `prepare.py` | restores the tree, the embedding file, and manifests with absolute paths | + +Per clip: `rgb.mp4` is the target video (640×360; DMD uses its first frame as the condition), +`gripper_scenario.mp4` the control video (arm skeleton and gripper drawn on black, same length and resolution) and +`caption.pickle` a dict `{"caption": str}`. The loader stretches both videos to 640×384 and uses 81-frame windows; +rows with `n_frames < 81` are in the manifests but skipped by the loader. + +| dataset | manifest rows | rows with ≥ 81 frames | +|---|---:|---:| +| agibot | 83,481 | 62,120 | +| droid | 36,356 | 35,877 | +| rh20t_cfg5 | 4,447 | 4,438 | +| rh20t_cfg7 | 1,328 | 1,328 | +| interndata | 1,006 | 1,006 | + +Note: these files are **not** identical to the public [zywu2115/OSCAR_robot](https://huggingface.co/datasets/zywu2115/OSCAR_robot) +release. Captions match, but control videos differ in resolution/rendering for some subsets (e.g. DROID), and +OSCAR_robot ships no `rgb.mp4`. + +## Usage + +```bash +hf download csusupergear/merlin-dmd-data --repo-type dataset --local-dir merlin_dmd_data +python merlin_dmd_data/prepare.py --repo_dir merlin_dmd_data # needs zstd on PATH; prints the config overrides +``` + +Then set `data_index_files` and `text_cache_dir` in `3_dmd_merlin.yaml` to the printed values. + +## Licenses + +Each subset keeps its upstream license; use is **non-commercial** for all but DROID. + +| subset | upstream | license | +|---|---|---| +| agibot | [AgiBot World](https://huggingface.co/datasets/agibot-world/AgiBotWorld-Beta) | CC-BY-NC-SA-4.0 | +| droid | [DROID](https://droid-dataset.github.io/) | CC-BY-4.0 | +| rh20t_cfg5, rh20t_cfg7 | [RH20T](https://rh20t.github.io/) | CC-BY-NC-4.0 | +| interndata | [InternData-A1](https://huggingface.co/datasets/InternRobotics/InternData-A1) | CC-BY-NC-SA-4.0 | + +Control videos and captions are derived from the OSCAR pipeline +([wuzy2115/oscar-public](https://github.com/wuzy2115/oscar-public), [OSCAR_robot](https://huggingface.co/datasets/zywu2115/OSCAR_robot)); +caption embeddings are from Cosmos-Reason1-7B projected by OSCAR-2B's `crossattn_proj`. Please cite the upstream +datasets, OSCAR, and Causal Forcing / Causal Forcing++ ([arXiv:2602.02214](https://arxiv.org/abs/2602.02214), +[arXiv:2605.15141](https://arxiv.org/abs/2605.15141)). diff --git a/clips/agibot/shard-00000.tar b/clips/agibot/shard-00000.tar new file mode 100644 index 0000000000000000000000000000000000000000..1c013d97905206b8e35b553c76c3e2545f18307d --- /dev/null +++ b/clips/agibot/shard-00000.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f96020c69c7f9813cdaab70b899b0d181391ae43465ba1a39837568b23b8dd21 +size 10921441280 diff --git a/clips/agibot/shard-00001.tar b/clips/agibot/shard-00001.tar new file mode 100644 index 0000000000000000000000000000000000000000..aac96ed60b5be40b9fbfc9fca2d64a1f67305e87 --- /dev/null +++ b/clips/agibot/shard-00001.tar @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:334024b2a866603cbba7d44739ff8a043b85630c67eaf850a899d9cca87b4321 +size 7266334720 diff --git 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"task_0226_user_0066_scene_0001_cfg_0007", "cam": "104122061330", "n_frames": 566, "fps": 10.0} +{"dataset": "rh20t_cfg7", "embodiment": "kuka_iiwa", "data_root": "clips/rh20t_cfg7", "episode": "task_0226_user_0066_scene_0001_cfg_0007", "cam": "104122064161", "n_frames": 494, "fps": 8.0} +{"dataset": "rh20t_cfg7", "embodiment": "kuka_iiwa", "data_root": "clips/rh20t_cfg7", "episode": "task_0226_user_0066_scene_0003_cfg_0007", "cam": "104122060811", "n_frames": 956, "fps": 9.0} +{"dataset": "rh20t_cfg7", "embodiment": "kuka_iiwa", "data_root": "clips/rh20t_cfg7", "episode": "task_0226_user_0066_scene_0003_cfg_0007", "cam": "104122061330", "n_frames": 979, "fps": 9.0} +{"dataset": "rh20t_cfg7", "embodiment": "kuka_iiwa", "data_root": "clips/rh20t_cfg7", "episode": "task_0226_user_0066_scene_0003_cfg_0007", "cam": "104122064161", "n_frames": 847, "fps": 8.0} +{"dataset": "rh20t_cfg7", "embodiment": "kuka_iiwa", "data_root": "clips/rh20t_cfg7", "episode": "task_0226_user_0066_scene_0005_cfg_0007", "cam": "104122060811", "n_frames": 414, "fps": 9.0} +{"dataset": "rh20t_cfg7", "embodiment": "kuka_iiwa", "data_root": "clips/rh20t_cfg7", "episode": "task_0226_user_0066_scene_0005_cfg_0007", "cam": "104122061330", "n_frames": 432, "fps": 10.0} +{"dataset": "rh20t_cfg7", "embodiment": "kuka_iiwa", "data_root": "clips/rh20t_cfg7", "episode": "task_0226_user_0066_scene_0005_cfg_0007", "cam": "104122064161", "n_frames": 380, "fps": 8.0} diff --git a/manifests/shards.json b/manifests/shards.json new file mode 100644 index 0000000000000000000000000000000000000000..01213fbd4fbe292ec1cdaf803f271719406f4d4c --- /dev/null +++ b/manifests/shards.json @@ -0,0 +1,227 @@ +{ + "agibot": [ + { + "file": "clips/agibot/shard-00000.tar", + "n_files": 15000, + "bytes": 10921441280 + }, + { + "file": "clips/agibot/shard-00001.tar", + "n_files": 15000, + "bytes": 7266334720 + }, + { + "file": "clips/agibot/shard-00002.tar", + "n_files": 15000, + "bytes": 8365342720 + }, + { + "file": "clips/agibot/shard-00003.tar", + "n_files": 15000, + "bytes": 6570219520 + }, + { + "file": "clips/agibot/shard-00004.tar", + "n_files": 15000, + "bytes": 8626821120 + }, + { + "file": "clips/agibot/shard-00005.tar", + "n_files": 15000, + "bytes": 9154201600 + }, + { + "file": "clips/agibot/shard-00006.tar", + "n_files": 15000, + "bytes": 8129003520 + }, + { + "file": "clips/agibot/shard-00007.tar", + "n_files": 15000, + "bytes": 8931205120 + }, + { + "file": "clips/agibot/shard-00008.tar", + "n_files": 15000, + "bytes": 8534650880 + }, + { + "file": "clips/agibot/shard-00009.tar", + "n_files": 15000, + "bytes": 8688578560 + }, + { + "file": "clips/agibot/shard-00010.tar", + "n_files": 15000, + "bytes": 7056670720 + }, + { + "file": "clips/agibot/shard-00011.tar", + "n_files": 15000, + "bytes": 6928076800 + }, + { + "file": "clips/agibot/shard-00012.tar", + "n_files": 15000, + "bytes": 7093544960 + }, + { + "file": "clips/agibot/shard-00013.tar", + "n_files": 15000, + "bytes": 6278850560 + }, + { + "file": "clips/agibot/shard-00014.tar", + "n_files": 15000, + "bytes": 5647831040 + }, + { + "file": "clips/agibot/shard-00015.tar", + "n_files": 15000, + "bytes": 7171205120 + }, + { + "file": "clips/agibot/shard-00016.tar", + "n_files": 10443, + "bytes": 4310200320 + } + ], + "droid": [ + { + "file": "clips/droid/shard-00000.tar", + "n_files": 7500, + "bytes": 10307461120 + }, + { + "file": "clips/droid/shard-00001.tar", + "n_files": 7500, + "bytes": 18084331520 + }, + { + "file": "clips/droid/shard-00002.tar", + "n_files": 7500, + "bytes": 7645982720 + }, + { + "file": "clips/droid/shard-00003.tar", + "n_files": 7500, + "bytes": 10247342080 + }, + { + "file": "clips/droid/shard-00004.tar", + "n_files": 7500, + "bytes": 10466631680 + }, + { + "file": "clips/droid/shard-00005.tar", + "n_files": 7500, + "bytes": 13621504000 + }, + { + "file": "clips/droid/shard-00006.tar", + "n_files": 7500, + "bytes": 7636367360 + }, + { + "file": "clips/droid/shard-00007.tar", + "n_files": 7500, + "bytes": 8689520640 + }, + { + "file": "clips/droid/shard-00008.tar", + "n_files": 7500, + "bytes": 7696660480 + }, + { + "file": "clips/droid/shard-00009.tar", + "n_files": 7500, + "bytes": 10892574720 + }, + { + "file": "clips/droid/shard-00010.tar", + "n_files": 7500, + "bytes": 8103895040 + }, + { + "file": "clips/droid/shard-00011.tar", + "n_files": 7500, + "bytes": 12229775360 + }, + { + "file": "clips/droid/shard-00012.tar", + "n_files": 7500, + "bytes": 9749043200 + }, + { + "file": "clips/droid/shard-00013.tar", + "n_files": 7500, + "bytes": 7621795840 + }, + { + "file": "clips/droid/shard-00014.tar", + "n_files": 4068, + "bytes": 9650595840 + } + ], + "interndata": [ + { + "file": "clips/interndata/shard-00000.tar", + "n_files": 3018, + "bytes": 482734080 + } + ], + "rh20t_cfg5": [ + { + "file": "clips/rh20t_cfg5/shard-00000.tar", + "n_files": 2100, + "bytes": 10268528640 + }, + { + "file": "clips/rh20t_cfg5/shard-00001.tar", + "n_files": 2100, + "bytes": 11122585600 + }, + { + "file": "clips/rh20t_cfg5/shard-00002.tar", + "n_files": 2100, + "bytes": 14390558720 + }, + { + "file": "clips/rh20t_cfg5/shard-00003.tar", + "n_files": 2100, + "bytes": 10873098240 + }, + { + "file": "clips/rh20t_cfg5/shard-00004.tar", + "n_files": 2100, + "bytes": 8977070080 + }, + { + "file": "clips/rh20t_cfg5/shard-00005.tar", + "n_files": 2100, + "bytes": 8868034560 + }, + { + "file": "clips/rh20t_cfg5/shard-00006.tar", + "n_files": 741, + "bytes": 7823462400 + } + ], + "rh20t_cfg7": [ + { + "file": "clips/rh20t_cfg7/shard-00000.tar", + "n_files": 1800, + "bytes": 9059983360 + }, + { + "file": "clips/rh20t_cfg7/shard-00001.tar", + "n_files": 1800, + "bytes": 10849013760 + }, + { + "file": "clips/rh20t_cfg7/shard-00002.tar", + "n_files": 384, + "bytes": 3252418560 + } + ] +} \ No newline at end of file diff --git a/prepare.py b/prepare.py new file mode 100644 index 0000000000000000000000000000000000000000..4786123542279c103380261c8500d28044b356db --- /dev/null +++ b/prepare.py @@ -0,0 +1,85 @@ +"""Restore the merlin DMD training data from a download of csusupergear/merlin-dmd-data. + + python prepare.py --repo_dir [--out ] # --out defaults to --repo_dir + +1. extracts clips//shard-*.tar into /clips////{rgb.mp4,gripper_scenario.mp4,caption.pickle} +2. reassembles text_cache/reason1_proj1024_T81/emb.f16.npy from its zstd parts and checks its sha256 +3. writes /manifests_abs//train_index.jsonl with absolute data_root, and prints the config overrides +""" +import argparse, hashlib, json, os, subprocess, tarfile + +STORE = "text_cache/reason1_proj1024_T81" + + +def sha256(path, bufsize=1 << 24): + h = hashlib.sha256() + with open(path, "rb") as f: + while chunk := f.read(bufsize): + h.update(chunk) + return h.hexdigest() + + +def main(): + ap = argparse.ArgumentParser() + ap.add_argument("--repo_dir", required=True) + ap.add_argument("--out", default=None) + ap.add_argument("--skip_text", action="store_true") + a = ap.parse_args() + repo = os.path.abspath(a.repo_dir) + out = os.path.abspath(a.out or repo) + + shards = json.load(open(os.path.join(repo, "manifests", "shards.json"))) + for ds, items in shards.items(): + dst = os.path.join(out, "clips", ds) + os.makedirs(dst, exist_ok=True) + for it in items: + done = os.path.join(dst, ".extracted_" + os.path.basename(it["file"])) + if os.path.exists(done): + continue + with tarfile.open(os.path.join(repo, it["file"])) as tf: + tf.extractall(dst, filter="data") + open(done, "w").close() + print("extracted", it["file"], flush=True) + + if not a.skip_text: + src = os.path.join(repo, STORE) + dst = os.path.join(out, STORE) + os.makedirs(dst, exist_ok=True) + for f in ("index.json", "meta.json"): + if os.path.abspath(os.path.join(src, f)) != os.path.abspath(os.path.join(dst, f)): + subprocess.run(["cp", os.path.join(src, f), dst], check=True) + emb = os.path.join(dst, "emb.f16.npy") + want = open(os.path.join(src, "emb.f16.npy.sha256")).read().split()[0] + if not (os.path.exists(emb) and sha256(emb) == want): + parts = sorted(p for p in os.listdir(src) if p.startswith("emb.f16.npy.zst.part-")) + print(f"reassembling emb.f16.npy from {len(parts)} parts", flush=True) + cat = subprocess.Popen(["cat"] + [os.path.join(src, p) for p in parts], stdout=subprocess.PIPE) + with open(emb, "wb") as fo: + subprocess.run(["zstd", "-d", "--long=27", "-c"], stdin=cat.stdout, stdout=fo, check=True) + cat.wait() + got = sha256(emb) + if got != want: + raise SystemExit(f"emb.f16.npy sha256 mismatch: {got} != {want}") + print("emb.f16.npy OK", flush=True) + + files = [] + for ds in shards: + p = os.path.join(out, "manifests_abs", ds, "train_index.jsonl") + os.makedirs(os.path.dirname(p), exist_ok=True) + with open(os.path.join(repo, "manifests", ds, "train_index.jsonl")) as fi, open(p, "w") as fo: + for line in fi: + if line.strip(): + r = json.loads(line) + r["data_root"] = os.path.join(out, "clips", ds) + fo.write(json.dumps(r) + "\n") + files.append(p) + + print("\nSet in release/local/stage_configs/3_dmd_merlin.yaml:") + print(f"text_cache_dir: {os.path.join(out, STORE)}") + print("data_index_files:") + for p in files: + print(f"- {p}") + + +if __name__ == "__main__": + main() diff --git a/text_cache/reason1_proj1024_T81/emb.f16.npy.sha256 b/text_cache/reason1_proj1024_T81/emb.f16.npy.sha256 new file mode 100644 index 0000000000000000000000000000000000000000..d9ccc165ce134992e51072ef69840a0dccbd325a --- /dev/null +++ b/text_cache/reason1_proj1024_T81/emb.f16.npy.sha256 @@ -0,0 +1 @@ +4c1331ff58bdba47b30f8cbd7a1d508c0b78d304948a3b0bf840e245c187ac2c emb.f16.npy diff --git a/text_cache/reason1_proj1024_T81/index.json b/text_cache/reason1_proj1024_T81/index.json new file mode 100644 index 0000000000000000000000000000000000000000..a2461c03e5d1457a8be87e5b476c770e647ae6cc --- /dev/null +++ b/text_cache/reason1_proj1024_T81/index.json @@ -0,0 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