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convert-dataset

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Convert robot trajectory datasets between formats — currently agibot v1 → LeRobot v2.1 (parquet + HEVC/PNG-encoded MP4). Uses the `geniesim dataset convert agibot-to-lerobot` CLI verb, which wraps the `geniesim_benchmark.dataset.convert.agibot_to_lerobot` Python API. Trigger: When the user asks to "convert agibot to lerobot", "convert dataset", "transcode trajectory data", "build a LeRobot dataset", "把 agibot 数据转成 lerobot", or provides an agibot episode dir / batch dir and wants the LeRobot v2.1 layout (`data/chunk-*/*.parquet` + `videos/…/*.mp4` + `meta/`).

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When to Use

  • User has agibot v1 trajectory data and wants the LeRobot v2.1 layout (e.g. to feed an upstream LeRobot training pipeline, or compare against an existing LeRobot reference).
  • User provides a parent dir of multiple episode subdirs — the converter auto-detects single vs batch from layout.

Do not use for:

  • Just running a benchmark task → run-benchmark skill.
  • Probing an inference server → check-inference skill.

Prerequisites

  • geniesim_benchmark installed (tier-1 peer — comes with geniesim bootstrap).
  • ffmpeg on PATH. Used for both RGB encoding (HEVC / libx265) and depth encoding (PNG / gray16le). The converter pre-flights ffmpeg; if missing it surfaces the install hint (sudo apt install ffmpeg on Debian/Ubuntu, brew install ffmpeg on macOS).
  • h5py, numpy, pyarrow are declared deps of geniesim_benchmark; nothing to install separately.

Workflow

Single episode

geniesim dataset convert agibot-to-lerobot \
  --agibot-dir ./agibot/episode_000 \
  --output-dir ./lerobot_out

--agibot-dir is treated as a single episode iff it contains aligned_joints.h5 directly. The resulting dataset has total_episodes = 1.

Batch (auto-detect)

geniesim dataset convert agibot-to-lerobot \
  --agibot-dir ./agibot \
  --output-dir ./lerobot_out

When --agibot-dir does not contain aligned_joints.h5 directly, the converter scans for episode subdirectories (each must contain aligned_joints.h5). Episodes are indexed in sorted order of their directory name.

With a reference LeRobot dataset

geniesim dataset convert agibot-to-lerobot \
  --agibot-dir ./agibot \
  --output-dir ./lerobot_out \
  --lerobot-ref-dir /path/to/reference/lerobot_dataset

When the agibot episode is missing the fisheye / head_back extrinsics (common — those cameras aren't on every rig), the converter pulls the missing columns from <lerobot-ref-dir>/data/chunk-000/episode_000000.parquet. Omit --lerobot-ref-dir to leave those columns empty.

Tune FPS

--fps 60   # default is 30

--fps is passed to ffmpeg (-r, -framerate) and baked into the v2.1 timestamps (frame_index / fps). The meta/info.json always records fps: 30 regardless — match this if you need consistency across a collection.

Programmatic use

The same conversion is callable from Python:

from pathlib import Path
from geniesim_benchmark.dataset.convert.agibot_to_lerobot import convert_agibot_to_lerobot

manifest = convert_agibot_to_lerobot(
    agibot_dir=Path("./agibot"),
    output_dir=Path("./lerobot_out"),
    lerobot_ref_dir=Path("./ref_lerobot"),  # optional
    fps=30.0,
)
print(manifest["total_episodes"], manifest["total_frames"])

The Python API raises RuntimeError for missing ffmpeg, missing heavy deps, or no detected episodes. The CLI wrapper catches those and prints the error to stderr with exit code 1.

Verify it worked

ls -R lerobot_out/
# → data/chunk-000/episode_000000.parquet, ...
# → videos/chunk-000/{top_head,hand_left,hand_right,top_head_depth,...}/episode_*.mp4
# → meta/{info.json,tasks.jsonl,episodes.jsonl,episodes_stats.jsonl}

python3 -c "
import pyarrow.parquet as pq
t = pq.read_table('lerobot_out/data/chunk-000/episode_000000.parquet')
print(t.schema)
print('rows:', t.num_rows)
"

observation.state must be a fixed_size_list<float32, 159> and action a fixed_size_list<float32, 40> — those widths are part of the v2.1 contract and the converter writes them literally.

Troubleshooting

  • ffmpeg is not on PATH — install ffmpeg; see Prerequisites.
  • No episode directories found — --agibot-dir neither contains aligned_joints.h5 directly nor has any subdir containing one. Re-check the path; common mistake is pointing at a parent that's one level too high.
  • ERROR encoding <key>: … — ffmpeg printed something to stderr. Common causes: missing input frames (camera/<N>/<stem>.jpg glob is sparse), unsupported codec (older ffmpeg without libx265 — install ffmpeg with HEVC support, e.g. the nasm/libx265 variant), or write permission errors on --output-dir.
  • Stats look wrong — episodes_stats.jsonl reads back the parquet rows; if the parquet wasn't written the stats entry is {}. Inspect the parquet first.

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