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LeRobot: Add support for List datatype #9958

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merged 1 commit into from
May 12, 2025
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LeRobot: Add support for List datatype #9958

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LeRobot: Add support for List datatype
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@emilk
emilk committed May 12, 2025
commit e0e8690da7956862e2e1932764a5f7576690ca00
35 changes: 32 additions & 3 deletions crates/store/re_data_loader/src/loader_lerobot.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -503,7 +503,23 @@ fn load_scalar(
make_scalar_batch_entity_chunks(entity_path, feature, timelines, fixed_size_array)?;
Ok(ScalarChunkIterator::Batch(Box::new(batch_chunks)))
}
DataType::Float32 => {
DataType::List(_field) => {
let list_array = data
.column_by_name(feature_key)
.and_then(|col| col.downcast_array_ref::<arrow::array::ListArray>())
.ok_or_else(|| {
DataLoaderError::Other(anyhow!("Failed to downcast feature to ListArray"))
})?;

let sliced = extract_list_array_elements_as_f64(list_array).with_context(|| {
format!("Failed to cast scalar feature {entity_path} to Float64")
})?;

Ok(ScalarChunkIterator::Single(std::iter::once(
make_scalar_entity_chunk(entity_path, timelines, &sliced)?,
)))
}
DataType::Float32 | DataType::Float64 => {
let feature_data = data.column_by_name(feature_key).ok_or_else(|| {
DataLoaderError::Other(anyhow!(
"Failed to get LeRobot dataset column data for: {:?}",
Expand Down Expand Up @@ -540,7 +556,7 @@ fn make_scalar_batch_entity_chunks(

let mut chunks = Vec::with_capacity(num_elements);

let sliced = extract_list_elements_as_f64(data)
let sliced = extract_fixed_size_list_array_elements_as_f64(data)
.with_context(|| format!("Failed to cast scalar feature {entity_path} to Float64"))?;

chunks.push(make_scalar_entity_chunk(
Expand Down Expand Up @@ -610,7 +626,20 @@ fn extract_scalar_slices_as_f64(data: &ArrayRef) -> anyhow::Result<Vec<ArrayRef>
.collect::<Vec<_>>())
}

fn extract_list_elements_as_f64(data: &FixedSizeListArray) -> anyhow::Result<Vec<ArrayRef>> {
fn extract_fixed_size_list_array_elements_as_f64(
data: &FixedSizeListArray,
) -> anyhow::Result<Vec<ArrayRef>> {
(0..data.len())
.map(|idx| {
cast(&data.value(idx), &DataType::Float64)
.with_context(|| format!("Failed to cast {:?} to Float64", data.data_type()))
})
.collect::<Result<Vec<_>, _>>()
}

fn extract_list_array_elements_as_f64(
data: &arrow::array::ListArray,
) -> anyhow::Result<Vec<ArrayRef>> {
(0..data.len())
.map(|idx| {
cast(&data.value(idx), &DataType::Float64)
Expand Down
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