File size: 23,186 Bytes
39b809b |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 |
<!-- copy from https://github.com/huggingface/lerobot/blob/main/lerobot/templates/visualize_dataset_template.html -->
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<!-- # TODO(rcadene, mishig25): store the js files locally -->
<script src="https://cdnjs.cloudflare.com/ajax/libs/alpinejs/3.13.5/cdn.min.js" defer></script>
<script src="https://cdn.jsdelivr.net/npm/[email protected]/dist/dygraph.min.js" type="text/javascript"></script>
<script src="https://cdn.tailwindcss.com"></script>
<title>{{ dataset_info.repo_id }} episode {{ episode_id }}</title>
</head>
<!-- Use [Alpin.js](https://alpinejs.dev), a lightweight and easy to learn JS framework -->
<!-- Use [tailwindcss](https://tailwindcss.com/), CSS classes for styling html -->
<!-- Use [dygraphs](https://dygraphs.com/), a lightweight JS charting library -->
<body class="flex flex-col md:flex-row h-screen max-h-screen bg-slate-950 text-gray-200" x-data="createAlpineData()" @keydown.window="(e) => {
// Use the space bar to play and pause, instead of default action (e.g. scrolling)
const { keyCode, key } = e;
if (keyCode === 32 || key === ' ') {
e.preventDefault();
$refs.btnPause.classList.contains('hidden') ? $refs.btnPlay.click() : $refs.btnPause.click();
}else if (key === 'ArrowDown' || key === 'ArrowUp'){
const nextEpisodeId = key === 'ArrowDown' ? {{ episode_id }} + 1 : {{ episode_id }} - 1;
const lowestEpisodeId = {{ episodes }}.at(0);
const highestEpisodeId = {{ episodes }}.at(-1);
if(nextEpisodeId >= lowestEpisodeId && nextEpisodeId <= highestEpisodeId){
window.location.href = `./episode_${nextEpisodeId}`;
}
}
}">
<!-- Sidebar -->
<div x-ref="sidebar" class="bg-slate-900 p-5 break-words overflow-y-auto shrink-0 md:shrink md:w-60 md:max-h-screen">
<a href="https://github.com/huggingface/lerobot" target="_blank" class="hidden md:block">
<img src="https://github.com/huggingface/lerobot/raw/main/media/lerobot-logo-thumbnail.png">
</a>
<a href="https://huggingface.co/datasets/{{ dataset_info.repo_id }}" target="_blank">
<h1 class="mb-4 text-xl font-semibold">{{ dataset_info.repo_id }}</h1>
</a>
<ul>
<li>
Number of samples/frames: {{ dataset_info.num_samples }}
</li>
<li>
Number of episodes: {{ dataset_info.num_episodes }}
</li>
<li>
Frames per second: {{ dataset_info.fps }}
</li>
</ul>
<p>Episodes:</p>
<!-- episodes menu for medium & large screens -->
<ul class="ml-2 hidden md:block">
{% for episode in episodes %}
<li class="font-mono text-sm mt-0.5">
<a href="episode_{{ episode }}" class="underline {% if episode_id == episode %}font-bold -ml-1{% endif %}">
Episode {{ episode }}
</a>
</li>
{% endfor %}
</ul>
<!-- episodes menu for small screens -->
<div class="flex overflow-x-auto md:hidden">
{% for episode in episodes %}
<p class="font-mono text-sm mt-0.5 border-r last:border-r-0 px-2 {% if episode_id == episode %}font-bold{% endif %}">
<a href="episode_{{ episode }}" class="">
{{ episode }}
</a>
</p>
{% endfor %}
</div>
</div>
<!-- Toggle sidebar button -->
<button class="flex items-center opacity-50 hover:opacity-100 mx-1 hidden md:block"
@click="() => ($refs.sidebar.classList.toggle('hidden'))" title="Toggle sidebar">
<div class="bg-slate-500 w-2 h-10 rounded-full"></div>
</button>
<!-- Content -->
<div class="max-h-screen flex flex-col gap-4 overflow-y-auto md:flex-1">
<h1 class="text-xl font-bold mt-4 font-mono">
Episode {{ episode_id }}
</h1>
<!-- Error message -->
<div class="font-medium text-orange-700 hidden" :class="{ 'hidden': !videoCodecError }">
<p>Videos could NOT play because <a href="https://en.wikipedia.org/wiki/AV1" target="_blank" class="underline">AV1</a> decoding is not available on your browser.</p>
<ul class="list-decimal list-inside">
<li>If iPhone: <span class="italic">It is supported with A17 chip or higher.</span></li>
<li>If Mac with Safari: <span class="italic">It is supported on most browsers except Safari with M1 chip or higher and on Safari with M3 chip or higher.</span></li>
<li>Other: <span class="italic">Contact the maintainers on LeRobot discord channel:</span> <a href="https://discord.com/invite/s3KuuzsPFb" target="_blank" class="underline">https://discord.com/invite/s3KuuzsPFb</a></li>
</ul>
</div>
<!-- Videos -->
<div class="max-w-32 relative text-sm mb-4 select-none"
@click.outside="isVideosDropdownOpen = false">
<div
@click="isVideosDropdownOpen = !isVideosDropdownOpen"
class="p-2 border border-slate-500 rounded flex justify-between items-center cursor-pointer"
>
<span class="truncate">filter videos</span>
<div class="transition-transform" :class="{ 'rotate-180': isVideosDropdownOpen }">🔽</div>
</div>
<div x-show="isVideosDropdownOpen"
class="absolute mt-1 border border-slate-500 rounded shadow-lg z-10">
<div>
<template x-for="option in videosKeys" :key="option">
<div
@click="videosKeysSelected = videosKeysSelected.includes(option) ? videosKeysSelected.filter(v => v !== option) : [...videosKeysSelected, option]"
class="p-2 cursor-pointer bg-slate-900"
:class="{ 'bg-slate-700': videosKeysSelected.includes(option) }"
x-text="option"
></div>
</template>
</div>
</div>
</div>
<div class="flex flex-wrap gap-x-2 gap-y-6">
{% for video_info in videos_info %}
<div x-show="!videoCodecError && videosKeysSelected.includes('{{ video_info.filename }}')" class="max-w-96 relative">
<p class="absolute inset-x-0 -top-4 text-sm text-gray-300 bg-gray-800 px-2 rounded-t-xl truncate">{{ video_info.filename }}</p>
<video muted loop type="video/mp4" class="object-contain w-full h-full" @canplaythrough="videoCanPlay" @timeupdate="() => {
if (video.duration) {
const time = video.currentTime;
const pc = (100 / video.duration) * time;
$refs.slider.value = pc;
dygraphTime = time;
dygraphIndex = Math.floor(pc * dygraph.numRows() / 100);
dygraph.setSelection(dygraphIndex, undefined, true, true);
$refs.timer.textContent = formatTime(time) + ' / ' + formatTime(video.duration);
updateTimeQuery(time.toFixed(2));
}
}" @ended="() => {
$refs.btnPlay.classList.remove('hidden');
$refs.btnPause.classList.add('hidden');
}"
@loadedmetadata="() => ($refs.timer.textContent = formatTime(0) + ' / ' + formatTime(video.duration))">
<source src="{{ video_info.url }}">
Your browser does not support the video tag.
</video>
</div>
{% endfor %}
</div>
<!-- Language instruction -->
{% if videos_info[0].language_instruction %}
<p class="font-medium mt-2">
Language Instruction: <span class="italic">{{ videos_info[0].language_instruction }}</span>
</p>
{% endif %}
<!-- Shortcuts info -->
<div class="text-sm hidden md:block">
Hotkeys: <span class="font-mono">Space</span> to pause/unpause, <span class="font-mono">Arrow Down</span> to go to next episode, <span class="font-mono">Arrow Up</span> to go to previous episode.
</div>
<!-- Controllers -->
<div class="flex gap-1 text-3xl items-center">
<button x-ref="btnPlay" class="-rotate-90" class="-rotate-90" title="Play. Toggle with Space" @click="() => {
videos.forEach(video => video.play());
$refs.btnPlay.classList.toggle('hidden');
$refs.btnPause.classList.toggle('hidden');
}">🔽</button>
<button x-ref="btnPause" class="hidden" title="Pause. Toggle with Space" @click="() => {
videos.forEach(video => video.pause());
$refs.btnPlay.classList.toggle('hidden');
$refs.btnPause.classList.toggle('hidden');
}">⏸️</button>
<button title="Jump backward 5 seconds"
@click="() => (videos.forEach(video => (video.currentTime -= 5)))">⏪</button>
<button title="Jump forward 5 seconds"
@click="() => (videos.forEach(video => (video.currentTime += 5)))">⏩</button>
<button title="Rewind from start"
@click="() => (videos.forEach(video => (video.currentTime = 0.0)))">↩️</button>
<input x-ref="slider" max="100" min="0" step="1" type="range" value="0" class="w-80 mx-2" @input="() => {
const sliderValue = $refs.slider.value;
videos.forEach(video => {
const time = (video.duration * sliderValue) / 100;
video.currentTime = time;
});
}" />
<div x-ref="timer" class="font-mono text-sm border border-slate-500 rounded-lg px-1 py-0.5 shrink-0">0:00 /
0:00
</div>
</div>
<!-- Graph -->
<div class="flex gap-2 mb-4 flex-wrap">
<div>
<div id="graph" @mouseleave="() => {
dygraph.setSelection(dygraphIndex, undefined, true, true);
dygraphTime = video.currentTime;
}">
</div>
<p x-ref="graphTimer" class="font-mono ml-14 mt-4"
x-init="$watch('dygraphTime', value => ($refs.graphTimer.innerText = `Time: ${dygraphTime.toFixed(2)}s`))">
Time: 0.00s
</p>
</div>
<table class="text-sm border-collapse border border-slate-700" x-show="currentFrameData">
<thead>
<tr>
<th></th>
<template x-for="(_, colIndex) in Array.from({length: columns.length}, (_, index) => index)">
<th class="border border-slate-700">
<div class="flex gap-x-2 justify-between px-2">
<input type="checkbox" :checked="isColumnChecked(colIndex)"
@change="toggleColumn(colIndex)">
<p x-text="`${columns[colIndex].key}`"></p>
</div>
</th>
</template>
</tr>
</thead>
<tbody>
<template x-for="(row, rowIndex) in rows">
<tr class="odd:bg-gray-800 even:bg-gray-900">
<td class="border border-slate-700">
<div class="flex gap-x-2 max-w-64 font-semibold px-1 break-all">
<input type="checkbox" :checked="isRowChecked(rowIndex)"
@change="toggleRow(rowIndex)">
<p x-text="`${rowLabels[rowIndex]}`"></p>
</div>
</td>
<template x-for="(cell, colIndex) in row">
<td x-show="cell" class="border border-slate-700">
<div class="flex gap-x-2 w-24 justify-between px-2" :class="{ 'hidden': cell.isNull }">
<input type="checkbox" x-model="cell.checked" @change="updateTableValues()">
<span x-text="`${!cell.isNull ? cell.value.toFixed(2) : null}`"
:style="`color: ${cell.color}`"></span>
</div>
</td>
</template>
</tr>
</template>
</tbody>
</table>
<div id="labels" class="hidden">
</div>
</div>
</div>
<script>
const parentOrigin = "https://huggingface.co";
const searchParams = new URLSearchParams();
searchParams.set("dataset", "{{ dataset_info.repo_id }}");
searchParams.set("episode", "{{ episode_id }}");
window.parent.postMessage({ queryString: searchParams.toString() }, parentOrigin);
</script>
<script>
function createAlpineData() {
return {
// state
dygraph: null,
currentFrameData: null,
checked: [],
dygraphTime: 0.0,
dygraphIndex: 0,
videos: null,
video: null,
colors: null,
nVideos: {{ videos_info | length }},
nVideoReadyToPlay: 0,
videoCodecError: false,
isVideosDropdownOpen: false,
videosKeys: {{ videos_info | map(attribute='filename') | list | tojson }},
videosKeysSelected: [],
columns: {{ columns | tojson }},
rowLabels: {{ columns | tojson }}.reduce((colA, colB) => colA.value.length > colB.value.length ? colA : colB).value,
// alpine initialization
init() {
// check if videos can play
const dummyVideo = document.createElement('video');
const canPlayVideos = dummyVideo.canPlayType('video/mp4; codecs="av01.0.05M.08"'); // codec source: https://huggingface.co/blog/video-encoding#results
if(!canPlayVideos){
this.videoCodecError = true;
}
this.videosKeysSelected = this.videosKeys.map(opt => opt)
// process CSV data
const csvDataStr = {{ episode_data_csv_str|tojson|safe }};
// Create a Blob with the CSV data
const blob = new Blob([csvDataStr], { type: 'text/csv;charset=utf-8;' });
// Create a URL for the Blob
const csvUrl = URL.createObjectURL(blob);
// process CSV data
this.videos = document.querySelectorAll('video');
this.video = this.videos[0];
this.dygraph = new Dygraph(document.getElementById("graph"), csvUrl, {
pixelsPerPoint: 0.01,
legend: 'always',
labelsDiv: document.getElementById('labels'),
labelsKMB: true,
strokeWidth: 1.5,
pointClickCallback: (event, point) => {
this.dygraphTime = point.xval;
this.updateTableValues(this.dygraphTime);
},
highlightCallback: (event, x, points, row, seriesName) => {
this.dygraphTime = x;
this.updateTableValues(this.dygraphTime);
},
drawCallback: (dygraph, is_initial) => {
if (is_initial) {
// dygraph initialization
this.dygraph.setSelection(this.dygraphIndex, undefined, true, true);
this.colors = this.dygraph.getColors();
this.checked = Array(this.colors.length).fill(true);
const colors = [];
let lightness = 30; // const LIGHTNESS = [30, 65, 85]; // state_lightness, action_lightness, pred_action_lightness
for(const column of this.columns){
const nValues = column.value.length;
for (let hue = 0; hue < 360; hue += parseInt(360/nValues)) {
const color = `hsl(${hue}, 100%, ${lightness}%)`;
colors.push(color);
}
lightness += 35;
}
this.dygraph.updateOptions({ colors });
this.colors = colors;
this.updateTableValues();
let url = new URL(window.location.href);
let params = new URLSearchParams(url.search);
let time = params.get("t");
if(time){
time = parseFloat(time);
this.videos.forEach(video => (video.currentTime = time));
}
}
},
});
},
//#region Table Data
// turn dygraph's 1D data (at a given time t) to 2D data that whose columns names are defined in this.columnNames.
// 2d data view is used to create html table element.
get rows() {
if (!this.currentFrameData) {
return [];
}
const rows = [];
const nRows = Math.max(...this.columns.map(column => column.value.length));
let rowIndex = 0;
while(rowIndex < nRows){
const row = [];
// number of states may NOT match number of actions. In this case, we null-pad the 2D array to make a fully rectangular 2d array
const nullCell = { isNull: true };
// row consists of [state value, action value]
let idx = rowIndex;
for(const column of this.columns){
const nColumn = column.value.length;
row.push(rowIndex < nColumn ? this.currentFrameData[idx] : nullCell);
idx += nColumn; // because this.currentFrameData = [state0, state1, ..., stateN, action0, action1, ..., actionN]
}
rowIndex += 1;
rows.push(row);
}
return rows;
},
isRowChecked(rowIndex) {
return this.rows[rowIndex].every(cell => cell && (cell.isNull || cell.checked));
},
isColumnChecked(colIndex) {
return this.rows.every(row => row[colIndex] && (row[colIndex].isNull || row[colIndex].checked));
},
toggleRow(rowIndex) {
const newState = !this.isRowChecked(rowIndex);
this.rows[rowIndex].forEach(cell => {
if (cell && !cell.isNull) cell.checked = newState;
});
this.updateTableValues();
},
toggleColumn(colIndex) {
const newState = !this.isColumnChecked(colIndex);
this.rows.forEach(row => {
if (row[colIndex] && !row[colIndex].isNull) row[colIndex].checked = newState;
});
this.updateTableValues();
},
// given time t, update the values in the html table with "data[t]"
updateTableValues(time) {
if (!this.colors) {
return;
}
let pc = (100 / this.video.duration) * (time === undefined ? this.video.currentTime : time);
if (isNaN(pc)) pc = 0;
const index = Math.floor(pc * this.dygraph.numRows() / 100);
// slice(1) to remove the timestamp point that we do not need
const labels = this.dygraph.getLabels().slice(1);
const values = this.dygraph.rawData_[index].slice(1);
const checkedNew = this.currentFrameData ? this.currentFrameData.map(cell => cell.checked) : Array(
this.colors.length).fill(true);
this.currentFrameData = labels.map((label, idx) => ({
label,
value: values[idx],
color: this.colors[idx],
checked: checkedNew[idx],
}));
const shouldUpdateVisibility = !this.checked.every((value, index) => value === checkedNew[index]);
if (shouldUpdateVisibility) {
this.checked = checkedNew;
this.dygraph.setVisibility(this.checked);
}
},
//#endregion
updateTimeQuery(time) {
let url = new URL(window.location.href);
let params = new URLSearchParams(url.search);
params.set("t", time);
url.search = params.toString();
window.history.replaceState({}, '', url.toString());
},
formatTime(time) {
var hours = Math.floor(time / 3600);
var minutes = Math.floor((time % 3600) / 60);
var seconds = Math.floor(time % 60);
return (hours > 0 ? hours + ':' : '') + (minutes < 10 ? '0' + minutes : minutes) + ':' + (seconds <
10 ?
'0' + seconds : seconds);
},
videoCanPlay() {
this.nVideoReadyToPlay += 1;
if(this.nVideoReadyToPlay == this.nVideos) {
// start autoplay all videos in sync
this.$refs.btnPlay.click();
}
}
};
}
</script>
</body>
</html> |