Dataset Conversion and Upload

On your control laptop, convert the collected DROID/RealSense data into the LeRobot layout expected by pi05_droid_finetune. In this section assume we collect trajectories for picking up task.

Dry Run

cd /path_to_your_openpi_repo
uv run examples/droid/convert_realsense_droid_data_to_lerobot.py \
  --data-dir /path_to_your_droid_repo/data \
  --repo-id peopleandrobots/realsense_droid_pickup \
  --skip-invalid \
  --dry-run

Convert

uv run examples/droid/convert_realsense_droid_data_to_lerobot.py \
  --data-dir /path_to_your_droid_repo/data \
  --repo-id peopleandrobots/realsense_droid_pickup \
  --skip-invalid \
  --overwrite

Upload

uv run examples/droid/convert_realsense_droid_data_to_lerobot.py \
  --data-dir /path_to_your_droid_repo/data \
  --repo-id peopleandrobots/realsense_droid_pickup \
  --skip-invalid \
  --overwrite \
  --push-to-hub \
  --private

If you change the dataset repo id, update repo_id in src/openpi/training/config.py under pi05_droid_finetune.