Stream ALOHA HDF5 conversion frame-by-frame to cut RAM use#1004
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Abhishek21g wants to merge 1 commit into
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Stream ALOHA HDF5 conversion frame-by-frame to cut RAM use#1004Abhishek21g wants to merge 1 commit into
Abhishek21g wants to merge 1 commit into
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Load one camera frame at a time instead of materializing every image tensor per episode, and align the converter with HF_LEROBOT_HOME like the Libero/DROID scripts. Adds synthetic conversion tests. Fixes Physical-Intelligence#565 and the memory half of Physical-Intelligence#986. LeRobot v3 output remains blocked on the pinned lerobot revision (openpi#706).
Abhishek21g
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Michael-Equi,
jimmyt857 and
kvablack
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Summary
Addresses #986 and #565 — the ALOHA→LeRobot converter no longer loads every camera frame for an entire episode into RAM before writing frames.
Changes
load_image_frame()populate_episode()instead of materializingimgs_per_camtensorsHF_LEROBOT_HOMElike the Libero/DROID scriptsexamples/aloha_real/convert_aloha_test.pyNote on LeRobot v3
openpi training is still pinned to the v2.1 lerobot revision (#706 / #972). This PR fixes the OOM failure mode on large ALOHA exports while keeping the supported dataset format. A separate lerobot bump is needed for true v3 output.
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