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new 96b84c2fd1 [Python] Avoid unused tensor conversions in LeRobot windows
(#10704)
96b84c2fd1 is described below
commit 96b84c2fd116d787ad70038edf5b54c3e29cf826
Author: XiaoHongbo <[email protected]>
AuthorDate: Wed Oct 21 15:31:30 2026 +0800
[Python] Avoid unused tensor conversions in LeRobot windows (#10704)
---
paimon-python/pypaimon/multimodal/lerobot/dataset.py | 5 ++++-
.../pypaimon/tests/multimodal_lerobot_test.py | 20 +++++++++++++++++++-
2 files changed, 23 insertions(+), 2 deletions(-)
diff --git a/paimon-python/pypaimon/multimodal/lerobot/dataset.py
b/paimon-python/pypaimon/multimodal/lerobot/dataset.py
index 38793e26da..22a0fb65c9 100644
--- a/paimon-python/pypaimon/multimodal/lerobot/dataset.py
+++ b/paimon-python/pypaimon/multimodal/lerobot/dataset.py
@@ -460,9 +460,12 @@ class PaimonDatasetReader(ABC):
row, self._features, self.return_uint8)
for position, row in base_rows.items()
}
+ window_keys = {key for plan in plans for key in plan["windows"]}
converted.update({
position: _torch_row(
- row, self._features, self.return_uint8)
+ {key: value for key, value in row.items()
+ if key in window_keys},
+ self._features, self.return_uint8)
for position, row in delta_rows.items()
})
diff --git a/paimon-python/pypaimon/tests/multimodal_lerobot_test.py
b/paimon-python/pypaimon/tests/multimodal_lerobot_test.py
index a9eb32ef00..e3cfc4f6da 100644
--- a/paimon-python/pypaimon/tests/multimodal_lerobot_test.py
+++ b/paimon-python/pypaimon/tests/multimodal_lerobot_test.py
@@ -990,7 +990,12 @@ class LeRobotValidationTest(unittest.TestCase):
self.assertEqual(_schema_from_info(info), dataset.reader.schema)
self.assertIsNone(dataset.reader.absolute_to_relative_idx)
self.assertTrue(repr(dataset).startswith("PaimonLeRobotDataset("))
- sample, _ = dataset.__getitems__([1, 2])
+ with patch(
+ "pypaimon.multimodal.lerobot.dataset._torch_row",
+ wraps=_torch_row) as convert:
+ sample, _ = dataset.__getitems__([1, 2])
+ self.assertEqual(3, convert.call_count)
+ self.assertEqual({"action"}, set(convert.call_args_list[-1][0][0]))
self.assertEqual([((0, 1, 2), tuple(info["features"]))],
reader.calls)
@@ -1010,6 +1015,19 @@ class LeRobotValidationTest(unittest.TestCase):
batch_size=2, shuffle=False, num_workers=0)))
self.assertEqual([0, 1], batch["index"].tolist())
self.assertEqual([2, 3], list(batch["action"].shape))
+ control_reader = Reader(
+ metadata,
+ delta_timestamps={"timestamp": [-0.1, 0.0, 0.1]},
+ )
+ torch.testing.assert_close(
+ control_reader[1]["timestamp"], torch.tensor([0.0, 0.1, 0.2]))
+ control_reader.close()
+ rows[0]["episode_index"] = 1
+ try:
+ with self.assertRaisesRegex(ValueError, "episode_index"):
+ dataset[1]
+ finally:
+ rows[0]["episode_index"] = 0
with self.assertRaisesRegex(ValueError, "manages collate_fn"):
dataset.to_dataloader(batch_size=2, collate_fn=lambda rows: rows)
dataset.return_uint8 = True
