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airbot_articulation/meta/info.json

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airbot_articulation/meta/tasks.jsonl

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+{"task_index": 0, "task": "place_wipes_blocks_on_platform_bimanual_seq"}
+{"task_index": 1, "task": "place_block_in_bowl_tape_in_plate_bimanual_seq"}
+{"task_index": 2, "task": "place_bread_in_pot_bimanual_seq"}
+{"task_index": 3, "task": "place_tapes_on_bottle_bimanual_seq"}
+{"task_index": 4, "task": "stack_case_and_block_bimanual_seq"}
+{"task_index": 5, "task": "swap_cake_and_pumpkin"}
+{"task_index": 6, "task": "close_cabinet_door_left"}
+{"task_index": 7, "task": "open_cabinet_door_right"}
+{"task_index": 8, "task": "open_cabinet_door_ajar_right"}
+{"task_index": 9, "task": "close_drawer_right"}
+{"task_index": 10, "task": "open_box_lid_bimanual_simultaneous"}
+{"task_index": 11, "task": "close_box_lid_bimanual_simultaneous"}
+{"task_index": 12, "task": "open_iron_cabinet_door_ajar_left"}
+{"task_index": 13, "task": "close_iron_cabinet_door_right"}
+{"task_index": 14, "task": "open_iron_box_lid_bimanual"}
+{"task_index": 15, "task": "close_iron_box_lid_bimanual"}
+{"task_index": 16, "task": "close_cabinet_doors_bimanual_seq"}
+{"task_index": 17, "task": "open_wooden_box_lid_bimanual_simultaneous"}
+{"task_index": 18, "task": "close_wooden_box_lid_bimanual_simultaneous"}
+{"task_index": 37, "task": "measure_book_with_tape_measure"}

airbot_assemble/meta/info.json

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airbot_assemble/meta/tasks.jsonl

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+{"task_index": 11, "task": "push_arched_block_right"}
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+{"task_index": 13, "task": "move_book_from_pile_to_shelf_bimanual"}
+{"task_index": 14, "task": "place_plate_in_storage_rack_bimanual"}
+{"task_index": 15, "task": "operate_phone_bimanual"}
+{"task_index": 16, "task": "nest_cups_bimanual_seq"}
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+{"task_index": 18, "task": "pick_eggs_place_into_plate"}
+{"task_index": 19, "task": "place_book_on_bookshelf"}
+{"task_index": 21, "task": "stack_purple_cup_in_blue_cup"}
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+{"task_index": 27, "task": "push_arched_block"}
+{"task_index": 33, "task": "insert_charger_into_socket"}

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airbot_dexterous/meta/info.json

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+{
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+                "left_arm_joint_1",
+                "left_arm_joint_2",
+                "left_arm_joint_3",
+                "left_arm_joint_4",
+                "left_arm_joint_5",
+                "left_arm_joint_6",
+                "right_arm_joint_1",
+                "right_arm_joint_2",
+                "right_arm_joint_3",
+                "right_arm_joint_4",
+                "right_arm_joint_5",
+                "right_arm_joint_6",
+                "left_hand_joint_1",
+                "left_hand_joint_2",
+                "left_hand_joint_3",
+                "left_hand_joint_4",
+                "left_hand_joint_5",
+                "left_hand_joint_6",
+                "left_hand_joint_7",
+                "left_hand_joint_8",
+                "left_hand_joint_9",
+                "left_hand_joint_10",
+                "left_hand_joint_11",
+                "left_hand_joint_12",
+                "right_hand_joint_1",
+                "right_hand_joint_2",
+                "right_hand_joint_3",
+                "right_hand_joint_4",
+                "right_hand_joint_5",
+                "right_hand_joint_6",
+                "right_hand_joint_7",
+                "right_hand_joint_8",
+                "right_hand_joint_9",
+                "right_hand_joint_10",
+                "right_hand_joint_11",
+                "right_hand_joint_12",
+                "head_joint_1",
+                "head_joint_2",
+                "spine_joint"
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+                "left_arm_joint_1",
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+                "left_arm_joint_3",
+                "left_arm_joint_4",
+                "left_arm_joint_5",
+                "left_arm_joint_6",
+                "right_arm_joint_1",
+                "right_arm_joint_2",
+                "right_arm_joint_3",
+                "right_arm_joint_4",
+                "right_arm_joint_5",
+                "right_arm_joint_6",
+                "left_hand_joint_1",
+                "left_hand_joint_2",
+                "left_hand_joint_3",
+                "left_hand_joint_4",
+                "left_hand_joint_5",
+                "left_hand_joint_6",
+                "left_hand_joint_7",
+                "left_hand_joint_8",
+                "left_hand_joint_9",
+                "left_hand_joint_10",
+                "left_hand_joint_11",
+                "left_hand_joint_12",
+                "right_hand_joint_1",
+                "right_hand_joint_2",
+                "right_hand_joint_3",
+                "right_hand_joint_4",
+                "right_hand_joint_5",
+                "right_hand_joint_6",
+                "right_hand_joint_7",
+                "right_hand_joint_8",
+                "right_hand_joint_9",
+                "right_hand_joint_10",
+                "right_hand_joint_11",
+                "right_hand_joint_12",
+                "head_joint_1",
+                "head_joint_2",
+                "spine_joint"
+            ]
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+        "frame_index": {
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+        "episode_index": {
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+        "index": {
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+        "task_index": {
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+}

airbot_dexterous/meta/tasks.jsonl

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+{"task_index": 0, "task": "place_penguin_tiger_toys_in_lid_bimanual_seq_1"}
+{"task_index": 1, "task": "place_diamond_in_box_and_close_bimanual_seq"}
+{"task_index": 2, "task": "move_piano_and_play_bimanual_seq"}
+{"task_index": 3, "task": "pick_up_yellow_egg_right"}
+{"task_index": 4, "task": "stack_three_cups_on_book_right"}
+{"task_index": 5, "task": "balance_ball_on_racket_bimanual"}
+{"task_index": 6, "task": "place_and_stack_blocks_bimanual_seq_2"}
+{"task_index": 7, "task": "lift_basin_bimanual_2"}
+{"task_index": 8, "task": "pull_tissue_right"}
+{"task_index": 9, "task": "operate_rubiks_cube_bimanual"}
+{"task_index": 10, "task": "turn_page_of_book_right_2"}
+{"task_index": 11, "task": "retrieve_book_fashionindia_and_place_right"}
+{"task_index": 12, "task": "operate_pen_click_right"}
+{"task_index": 13, "task": "operate_pen_write_right"}
+{"task_index": 14, "task": "remove_foam_lid_bimanual"}
+{"task_index": 15, "task": "uncap_pencil_bimanual"}
+{"task_index": 16, "task": "place_plates_in_storage_rack_bimanual_seq"}
+{"task_index": 24, "task": "stack_hex_on_rectangular_block"}
+{"task_index": 35, "task": "sweep_garbage_into_dustpan"}
+{"task_index": 39, "task": "bimanual_pack_cake_and_close_box"}
+{"task_index": 40, "task": "manipulate_tongs_transfer_cake"}
+{"task_index": 41, "task": "operate_rolling_pin"}
+{"task_index": 42, "task": "wipe_plate_with_towel"}
+{"task_index": 43, "task": "cut_paper_with_knife"}
+{"task_index": 44, "task": "manipulate_tongs_cook_pork"}
+{"task_index": 45, "task": "type_on_keyboard"}
+{"task_index": 46, "task": "hammer_nail"}
+{"task_index": 47, "task": "saw_wood"}

logs/restructured_20251125_003108.log

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+2025-11-25 00:31:08,266 - AirbotRestructured - INFO - === Airbot LeRobot Restructured Processor ===
+2025-11-25 00:31:08,266 - AirbotRestructured - INFO - 加载instruction文件...
+2025-11-25 00:31:08,655 - AirbotRestructured - WARNING - Action目录不存在: /media/diy01/246ADCDD27AF9BC6/action187
+2025-11-25 00:31:08,655 - AirbotRestructured - INFO - 加载了 185 个action的instructions
+2025-11-25 00:31:08,655 - AirbotRestructured - INFO - === 硬件配置检查 ===
+2025-11-25 00:31:09,657 - AirbotRestructured - INFO - 硬件状态: CPU核心=24, 可用内存=108.0GB
+2025-11-25 00:31:09,657 - AirbotRestructured - INFO - 推荐worker数量: 16
+2025-11-25 00:31:09,657 - AirbotRestructured - INFO - 最终worker配置: 8
+2025-11-25 00:31:09,658 - AirbotRestructured - INFO - === Airbot LeRobot Restructured 转换开始 ===
+2025-11-25 00:31:09,658 - AirbotRestructured - INFO - === 使用多进程并行处理4个数据集 ===
+2025-11-25 00:31:09,658 - AirbotRestructured - INFO - 将并行处理: pick_and_place, articulation, assemble, dexterous
+2025-11-25 00:31:09,668 - AirbotRestructured - INFO - 启动进程处理 pick_and_place
+2025-11-25 00:31:09,671 - AirbotRestructured_pick_and_place - INFO - === 开始处理 pick_and_place 数据集 ===
+2025-11-25 00:31:09,672 - AirbotRestructured_pick_and_place - INFO - === 加载已存在的 pick_and_place 数据集 ===
+2025-11-25 00:31:09,672 - AirbotRestructured_pick_and_place - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place
+2025-11-25 00:31:09,672 - AirbotRestructured_pick_and_place - WARNING -   加载数据集失败: LeRobotDataset.__init__() got an unexpected keyword argument 'local_files_only'
+2025-11-25 00:31:09,673 - AirbotRestructured_pick_and_place - INFO -   将重新创建数据集...
+2025-11-25 00:31:09,677 - AirbotRestructured - INFO - 启动进程处理 articulation
+2025-11-25 00:31:09,681 - AirbotRestructured_articulation - INFO - === 开始处理 articulation 数据集 ===
+2025-11-25 00:31:09,684 - AirbotRestructured_articulation - INFO - === 加载已存在的 articulation 数据集 ===
+2025-11-25 00:31:09,685 - AirbotRestructured_articulation - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation
+2025-11-25 00:31:09,686 - AirbotRestructured_articulation - WARNING -   加载数据集失败: LeRobotDataset.__init__() got an unexpected keyword argument 'local_files_only'
+2025-11-25 00:31:09,687 - AirbotRestructured_articulation - INFO -   将重新创建数据集...
+2025-11-25 00:31:09,688 - AirbotRestructured - INFO - 启动进程处理 assemble
+2025-11-25 00:31:09,694 - AirbotRestructured_assemble - INFO - === 开始处理 assemble 数据集 ===
+2025-11-25 00:31:09,698 - AirbotRestructured_assemble - INFO - === 加载已存在的 assemble 数据集 ===
+2025-11-25 00:31:09,699 - AirbotRestructured - INFO - 启动进程处理 dexterous
+2025-11-25 00:31:09,698 - AirbotRestructured_assemble - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble
+2025-11-25 00:31:09,700 - AirbotRestructured_assemble - WARNING -   加载数据集失败: LeRobotDataset.__init__() got an unexpected keyword argument 'local_files_only'
+2025-11-25 00:31:09,702 - AirbotRestructured_assemble - INFO -   将重新创建数据集...
+2025-11-25 00:31:09,706 - AirbotRestructured_dexterous - INFO - === 开始处理 dexterous 数据集 ===
+2025-11-25 00:31:09,712 - AirbotRestructured_dexterous - INFO - === 加载已存在的 dexterous 数据集 ===
+2025-11-25 00:31:09,712 - AirbotRestructured_dexterous - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous
+2025-11-25 00:31:09,713 - AirbotRestructured_dexterous - WARNING -   加载数据集失败: LeRobotDataset.__init__() got an unexpected keyword argument 'local_files_only'
+2025-11-25 00:31:09,714 - AirbotRestructured_dexterous - INFO -   将重新创建数据集...
+2025-11-25 00:31:11,999 - AirbotRestructured_assemble - INFO - === 创建 assemble 数据集 ===
+2025-11-25 00:31:12,003 - AirbotRestructured_assemble - INFO -   Repo ID: RoboCoin-BAAI/airbot_assemble
+2025-11-25 00:31:12,008 - AirbotRestructured_assemble - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble
+2025-11-25 00:31:12,009 - AirbotRestructured_assemble - INFO -   Actions数量: 17
+2025-11-25 00:31:12,030 - AirbotRestructured_assemble - INFO -   预注册actions作为tasks...
+2025-11-25 00:31:12,136 - AirbotRestructured_assemble - INFO -   已注册 17 个tasks (action names)
+2025-11-25 00:31:12,138 - AirbotRestructured_assemble - INFO - assemble 数据集创建成功
+2025-11-25 00:31:12,252 - AirbotRestructured_dexterous - INFO - === 创建 dexterous 数据集 ===
+2025-11-25 00:31:12,253 - AirbotRestructured_dexterous - INFO -   Repo ID: RoboCoin-BAAI/airbot_dexterous
+2025-11-25 00:31:12,254 - AirbotRestructured_dexterous - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous
+2025-11-25 00:31:12,255 - AirbotRestructured_dexterous - INFO -   Actions数量: 18
+2025-11-25 00:31:12,272 - AirbotRestructured_dexterous - INFO -   预注册actions作为tasks...
+2025-11-25 00:31:12,375 - AirbotRestructured_dexterous - INFO -   已注册 18 个tasks (action names)
+2025-11-25 00:31:12,376 - AirbotRestructured_dexterous - INFO - dexterous 数据集创建成功
+2025-11-25 00:31:13,530 - AirbotRestructured_assemble - INFO - assemble 总episodes: 1405
+2025-11-25 00:31:13,655 - AirbotRestructured_dexterous - WARNING - Action目录不存在: /media/diy01/246ADCDD27AF9BC6/action187
+2025-11-25 00:31:13,656 - AirbotRestructured_dexterous - INFO - dexterous 总episodes: 1338
+2025-11-25 00:31:20,413 - AirbotRestructured_articulation - INFO - === 创建 articulation 数据集 ===
+2025-11-25 00:31:20,416 - AirbotRestructured_articulation - INFO -   Repo ID: RoboCoin-BAAI/airbot_articulation
+2025-11-25 00:31:20,420 - AirbotRestructured_articulation - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation
+2025-11-25 00:31:20,429 - AirbotRestructured_articulation - INFO -   Actions数量: 19
+2025-11-25 00:31:20,465 - AirbotRestructured_articulation - INFO -   预注册actions作为tasks...
+2025-11-25 00:31:20,774 - AirbotRestructured_articulation - INFO -   已注册 19 个tasks (action names)
+2025-11-25 00:31:20,778 - AirbotRestructured_articulation - INFO - articulation 数据集创建成功
+2025-11-25 00:31:24,578 - AirbotRestructured_articulation - INFO - articulation 总episodes: 931
+2025-11-25 00:31:34,795 - AirbotRestructured_pick_and_place - INFO - === 创建 pick_and_place 数据集 ===
+2025-11-25 00:31:34,795 - AirbotRestructured_pick_and_place - INFO -   Repo ID: RoboCoin-BAAI/airbot_pick_and_place
+2025-11-25 00:31:34,796 - AirbotRestructured_pick_and_place - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place
+2025-11-25 00:31:34,796 - AirbotRestructured_pick_and_place - INFO -   Actions数量: 132
+2025-11-25 00:31:34,806 - AirbotRestructured_pick_and_place - INFO -   预注册actions作为tasks...
+2025-11-25 00:31:34,835 - AirbotRestructured_pick_and_place - INFO -   已注册 132 个tasks (action names)
+2025-11-25 00:31:34,835 - AirbotRestructured_pick_and_place - INFO - pick_and_place 数据集创建成功
+2025-11-25 00:31:36,567 - AirbotRestructured_pick_and_place - INFO - pick_and_place 总episodes: 6297
+2025-11-25 00:32:07,134 - AirbotRestructured - WARNING - 用户中断处理
+2025-11-25 00:32:07,136 - AirbotRestructured_articulation - WARNING - 用户中断处理
+2025-11-25 00:32:07,137 - AirbotRestructured_articulation - WARNING - articulation 被用户中断，正在保存已处理的数据...
+2025-11-25 00:32:07,136 - AirbotRestructured_pick_and_place - WARNING - 用户中断处理
+2025-11-25 00:32:07,137 - AirbotRestructured_articulation - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation/meta/episode_instruction_mapping.jsonl
+2025-11-25 00:32:07,137 - AirbotRestructured_articulation - INFO - articulation 中断保存完成: 0 成功, 0 失败
+2025-11-25 00:32:07,137 - AirbotRestructured_pick_and_place - WARNING - pick_and_place 被用户中断，正在保存已处理的数据...
+2025-11-25 00:32:07,138 - AirbotRestructured_pick_and_place - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place/meta/episode_instruction_mapping.jsonl
+2025-11-25 00:32:07,139 - AirbotRestructured_pick_and_place - INFO - pick_and_place 中断保存完成: 0 成功, 0 失败
+2025-11-25 00:32:07,143 - AirbotRestructured_assemble - WARNING - 用户中断处理
+2025-11-25 00:32:07,144 - AirbotRestructured_assemble - WARNING - assemble 被用户中断，正在保存已处理的数据...
+2025-11-25 00:32:07,144 - AirbotRestructured_assemble - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble/meta/episode_instruction_mapping.jsonl
+2025-11-25 00:32:07,144 - AirbotRestructured_assemble - INFO - assemble 中断保存完成: 0 成功, 0 失败
+2025-11-25 00:32:07,145 - AirbotRestructured_dexterous - WARNING - 用户中断处理
+2025-11-25 00:32:07,146 - AirbotRestructured_dexterous - WARNING - dexterous 被用户中断，正在保存已处理的数据...
+2025-11-25 00:32:07,146 - AirbotRestructured_dexterous - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous/meta/episode_instruction_mapping.jsonl
+2025-11-25 00:32:07,147 - AirbotRestructured_dexterous - INFO - dexterous 中断保存完成: 0 成功, 0 失败

logs/restructured_20251125_004313.log

@@ -0,0 +1,297 @@
+2025-11-25 00:43:13,633 - AirbotRestructured - INFO - === Airbot LeRobot Restructured Processor ===
+2025-11-25 00:43:13,633 - AirbotRestructured - INFO - 加载instruction文件...
+2025-11-25 00:43:14,044 - AirbotRestructured - WARNING - Action目录不存在: /media/diy01/246ADCDD27AF9BC6/action187
+2025-11-25 00:43:14,044 - AirbotRestructured - INFO - 加载了 185 个action的instructions
+2025-11-25 00:43:14,044 - AirbotRestructured - INFO - === 硬件配置检查 ===
+2025-11-25 00:43:15,046 - AirbotRestructured - INFO - 硬件状态: CPU核心=24, 可用内存=109.6GB
+2025-11-25 00:43:15,046 - AirbotRestructured - INFO - 推荐worker数量: 16
+2025-11-25 00:43:15,046 - AirbotRestructured - INFO - 最终worker配置: 8
+2025-11-25 00:43:15,046 - AirbotRestructured - INFO - === Airbot LeRobot Restructured 转换开始 ===
+2025-11-25 00:43:15,047 - AirbotRestructured - INFO - === 使用多进程并行处理4个数据集 ===
+2025-11-25 00:43:15,047 - AirbotRestructured - INFO - 将并行处理: pick_and_place, articulation, assemble, dexterous
+2025-11-25 00:43:15,055 - AirbotRestructured - INFO - 启动进程处理 pick_and_place
+2025-11-25 00:43:15,060 - AirbotRestructured_pick_and_place - INFO - === 开始处理 pick_and_place 数据集 ===
+2025-11-25 00:43:15,062 - AirbotRestructured_pick_and_place - INFO - === 加载已存在的 pick_and_place 数据集 ===
+2025-11-25 00:43:15,062 - AirbotRestructured_pick_and_place - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place
+2025-11-25 00:43:15,065 - AirbotRestructured - INFO - 启动进程处理 articulation
+2025-11-25 00:43:15,069 - AirbotRestructured_articulation - INFO - === 开始处理 articulation 数据集 ===
+2025-11-25 00:43:15,069 - AirbotRestructured_articulation - INFO - === 加载已存在的 articulation 数据集 ===
+2025-11-25 00:43:15,069 - AirbotRestructured_articulation - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation
+2025-11-25 00:43:15,075 - AirbotRestructured - INFO - 启动进程处理 assemble
+2025-11-25 00:43:15,079 - AirbotRestructured_assemble - INFO - === 开始处理 assemble 数据集 ===
+2025-11-25 00:43:15,080 - AirbotRestructured_assemble - INFO - === 加载已存在的 assemble 数据集 ===
+2025-11-25 00:43:15,080 - AirbotRestructured_assemble - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble
+2025-11-25 00:43:15,083 - AirbotRestructured - INFO - 启动进程处理 dexterous
+2025-11-25 00:43:15,087 - AirbotRestructured_dexterous - INFO - === 开始处理 dexterous 数据集 ===
+2025-11-25 00:43:15,087 - AirbotRestructured_dexterous - INFO - === 加载已存在的 dexterous 数据集 ===
+2025-11-25 00:43:15,087 - AirbotRestructured_dexterous - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous
+2025-11-25 00:43:15,835 - AirbotRestructured_dexterous - ERROR -   ✗ 加载数据集失败: 401 Client Error. (Request ID: Root=1-69248b23-6eb8ae78054cea992e731259;b0447eae-cf3b-478f-b04a-c625fc7724cc)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_dexterous/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+2025-11-25 00:43:15,835 - AirbotRestructured_dexterous - ERROR -   已存在的数据集无法加载，为防止数据丢失，程序将终止
+2025-11-25 00:43:15,836 - AirbotRestructured_dexterous - ERROR -   请检查数据集完整性或手动删除损坏的数据集目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous
+2025-11-25 00:43:15,836 - AirbotRestructured_dexterous - ERROR - 处理 dexterous 时出错: 无法加载已存在的数据集 dexterous，为防止数据覆盖，程序已终止
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 102, in __init__
+    self.load_metadata()
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 122, in load_metadata
+    self.episodes = load_episodes(self.root)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 313, in load_episodes
+    episodes = load_jsonlines(local_dir / EPISODES_PATH)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 162, in load_jsonlines
+    with jsonlines.open(fpath, "r") as reader:
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/jsonlines/jsonlines.py", line 643, in open
+    fp = builtins.open(file, mode=mode + "t", encoding=encoding)
+FileNotFoundError: [Errno 2] No such file or directory: '/media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous/meta/episodes.jsonl'
+
+During handling of the above exception, another exception occurred:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/requests/models.py", line 1026, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 401 Client Error: Unauthorized for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_dexterous/refs
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 151, in setup_dataset
+    self.dataset = LeRobotDataset(repo_id=repo_id, root=output_dir)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 486, in __init__
+    self.meta = LeRobotDatasetMetadata(
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 105, in __init__
+    self.revision = get_safe_version(self.repo_id, self.revision)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 419, in get_safe_version
+    hub_versions = get_repo_versions(repo_id)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 401, in get_repo_versions
+    repo_refs = api.list_repo_refs(repo_id, repo_type="dataset")
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3248, in list_repo_refs
+    hf_raise_for_status(response)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
+    raise _format(RepositoryNotFoundError, message, response) from e
+huggingface_hub.errors.RepositoryNotFoundError: 401 Client Error. (Request ID: Root=1-69248b23-6eb8ae78054cea992e731259;b0447eae-cf3b-478f-b04a-c625fc7724cc)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_dexterous/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 911, in process_single_category
+    manager.setup_dataset()
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 159, in setup_dataset
+    raise RuntimeError(f"无法加载已存在的数据集 {category}，为防止数据覆盖，程序已终止") from e
+RuntimeError: 无法加载已存在的数据集 dexterous，为防止数据覆盖，程序已终止
+2025-11-25 00:43:15,843 - AirbotRestructured_dexterous - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous/meta/episode_instruction_mapping.jsonl
+2025-11-25 00:43:15,843 - AirbotRestructured_dexterous - INFO - dexterous 异常保存完成: 0 成功, 0 失败
+2025-11-25 00:43:16,004 - AirbotRestructured_assemble - ERROR -   ✗ 加载数据集失败: 401 Client Error. (Request ID: Root=1-69248b23-3f94968f41209aec4c44a319;c975241b-f693-4c42-b955-d5a5a49327bf)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_assemble/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+2025-11-25 00:43:16,004 - AirbotRestructured_assemble - ERROR -   已存在的数据集无法加载，为防止数据丢失，程序将终止
+2025-11-25 00:43:16,004 - AirbotRestructured_assemble - ERROR -   请检查数据集完整性或手动删除损坏的数据集目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble
+2025-11-25 00:43:16,006 - AirbotRestructured_articulation - ERROR -   ✗ 加载数据集失败: 401 Client Error. (Request ID: Root=1-69248b23-72e278b721b1434930b18d9d;c0b3c27f-e1f3-4f75-9ef6-646302905740)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_articulation/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+2025-11-25 00:43:16,004 - AirbotRestructured_assemble - ERROR - 处理 assemble 时出错: 无法加载已存在的数据集 assemble，为防止数据覆盖，程序已终止
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 102, in __init__
+    self.load_metadata()
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 122, in load_metadata
+    self.episodes = load_episodes(self.root)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 313, in load_episodes
+    episodes = load_jsonlines(local_dir / EPISODES_PATH)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 162, in load_jsonlines
+    with jsonlines.open(fpath, "r") as reader:
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/jsonlines/jsonlines.py", line 643, in open
+    fp = builtins.open(file, mode=mode + "t", encoding=encoding)
+FileNotFoundError: [Errno 2] No such file or directory: '/media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble/meta/episodes.jsonl'
+
+During handling of the above exception, another exception occurred:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/requests/models.py", line 1026, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 401 Client Error: Unauthorized for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_assemble/refs
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 151, in setup_dataset
+    self.dataset = LeRobotDataset(repo_id=repo_id, root=output_dir)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 486, in __init__
+    self.meta = LeRobotDatasetMetadata(
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 105, in __init__
+    self.revision = get_safe_version(self.repo_id, self.revision)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 419, in get_safe_version
+    hub_versions = get_repo_versions(repo_id)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 401, in get_repo_versions
+    repo_refs = api.list_repo_refs(repo_id, repo_type="dataset")
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3248, in list_repo_refs
+    hf_raise_for_status(response)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
+    raise _format(RepositoryNotFoundError, message, response) from e
+huggingface_hub.errors.RepositoryNotFoundError: 401 Client Error. (Request ID: Root=1-69248b23-3f94968f41209aec4c44a319;c975241b-f693-4c42-b955-d5a5a49327bf)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_assemble/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 911, in process_single_category
+    manager.setup_dataset()
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 159, in setup_dataset
+    raise RuntimeError(f"无法加载已存在的数据集 {category}，为防止数据覆盖，程序已终止") from e
+RuntimeError: 无法加载已存在的数据集 assemble，为防止数据覆盖，程序已终止
+2025-11-25 00:43:16,006 - AirbotRestructured_articulation - ERROR -   已存在的数据集无法加载，为防止数据丢失，程序将终止
+2025-11-25 00:43:16,006 - AirbotRestructured_articulation - ERROR -   请检查数据集完整性或手动删除损坏的数据集目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation
+2025-11-25 00:43:16,007 - AirbotRestructured_assemble - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble/meta/episode_instruction_mapping.jsonl
+2025-11-25 00:43:16,007 - AirbotRestructured_assemble - INFO - assemble 异常保存完成: 0 成功, 0 失败
+2025-11-25 00:43:16,007 - AirbotRestructured_articulation - ERROR - 处理 articulation 时出错: 无法加载已存在的数据集 articulation，为防止数据覆盖，程序已终止
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 102, in __init__
+    self.load_metadata()
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 122, in load_metadata
+    self.episodes = load_episodes(self.root)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 313, in load_episodes
+    episodes = load_jsonlines(local_dir / EPISODES_PATH)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 162, in load_jsonlines
+    with jsonlines.open(fpath, "r") as reader:
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/jsonlines/jsonlines.py", line 643, in open
+    fp = builtins.open(file, mode=mode + "t", encoding=encoding)
+FileNotFoundError: [Errno 2] No such file or directory: '/media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation/meta/episodes.jsonl'
+
+During handling of the above exception, another exception occurred:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/requests/models.py", line 1026, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 401 Client Error: Unauthorized for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_articulation/refs
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 151, in setup_dataset
+    self.dataset = LeRobotDataset(repo_id=repo_id, root=output_dir)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 486, in __init__
+    self.meta = LeRobotDatasetMetadata(
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 105, in __init__
+    self.revision = get_safe_version(self.repo_id, self.revision)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 419, in get_safe_version
+    hub_versions = get_repo_versions(repo_id)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 401, in get_repo_versions
+    repo_refs = api.list_repo_refs(repo_id, repo_type="dataset")
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3248, in list_repo_refs
+    hf_raise_for_status(response)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
+    raise _format(RepositoryNotFoundError, message, response) from e
+huggingface_hub.errors.RepositoryNotFoundError: 401 Client Error. (Request ID: Root=1-69248b23-72e278b721b1434930b18d9d;c0b3c27f-e1f3-4f75-9ef6-646302905740)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_articulation/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 911, in process_single_category
+    manager.setup_dataset()
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 159, in setup_dataset
+    raise RuntimeError(f"无法加载已存在的数据集 {category}，为防止数据覆盖，程序已终止") from e
+RuntimeError: 无法加载已存在的数据集 articulation，为防止数据覆盖，程序已终止
+2025-11-25 00:43:16,009 - AirbotRestructured_articulation - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation/meta/episode_instruction_mapping.jsonl
+2025-11-25 00:43:16,009 - AirbotRestructured_articulation - INFO - articulation 异常保存完成: 0 成功, 0 失败
+2025-11-25 00:43:20,890 - AirbotRestructured_pick_and_place - ERROR -   ✗ 加载数据集失败: 401 Client Error. (Request ID: Root=1-69248b28-3871552123f3b9fa42c8d8eb;0388610c-8093-4b79-8e60-074d80899e52)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_pick_and_place/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+2025-11-25 00:43:20,891 - AirbotRestructured_pick_and_place - ERROR -   已存在的数据集无法加载，为防止数据丢失，程序将终止
+2025-11-25 00:43:20,891 - AirbotRestructured_pick_and_place - ERROR -   请检查数据集完整性或手动删除损坏的数据集目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place
+2025-11-25 00:43:20,891 - AirbotRestructured_pick_and_place - ERROR - 处理 pick_and_place 时出错: 无法加载已存在的数据集 pick_and_place，为防止数据覆盖，程序已终止
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 102, in __init__
+    self.load_metadata()
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 122, in load_metadata
+    self.episodes = load_episodes(self.root)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 313, in load_episodes
+    episodes = load_jsonlines(local_dir / EPISODES_PATH)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 162, in load_jsonlines
+    with jsonlines.open(fpath, "r") as reader:
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/jsonlines/jsonlines.py", line 643, in open
+    fp = builtins.open(file, mode=mode + "t", encoding=encoding)
+FileNotFoundError: [Errno 2] No such file or directory: '/media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place/meta/episodes.jsonl'
+
+During handling of the above exception, another exception occurred:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/requests/models.py", line 1026, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 401 Client Error: Unauthorized for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_pick_and_place/refs
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 151, in setup_dataset
+    self.dataset = LeRobotDataset(repo_id=repo_id, root=output_dir)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 486, in __init__
+    self.meta = LeRobotDatasetMetadata(
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 105, in __init__
+    self.revision = get_safe_version(self.repo_id, self.revision)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 419, in get_safe_version
+    hub_versions = get_repo_versions(repo_id)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 401, in get_repo_versions
+    repo_refs = api.list_repo_refs(repo_id, repo_type="dataset")
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3248, in list_repo_refs
+    hf_raise_for_status(response)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
+    raise _format(RepositoryNotFoundError, message, response) from e
+huggingface_hub.errors.RepositoryNotFoundError: 401 Client Error. (Request ID: Root=1-69248b28-3871552123f3b9fa42c8d8eb;0388610c-8093-4b79-8e60-074d80899e52)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_pick_and_place/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 911, in process_single_category
+    manager.setup_dataset()
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 159, in setup_dataset
+    raise RuntimeError(f"无法加载已存在的数据集 {category}，为防止数据覆盖，程序已终止") from e
+RuntimeError: 无法加载已存在的数据集 pick_and_place，为防止数据覆盖，程序已终止
+2025-11-25 00:43:20,895 - AirbotRestructured_pick_and_place - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place/meta/episode_instruction_mapping.jsonl
+2025-11-25 00:43:20,895 - AirbotRestructured_pick_and_place - INFO - pick_and_place 异常保存完成: 0 成功, 0 失败
+2025-11-25 00:43:20,903 - AirbotRestructured - INFO - 所有数据集处理完成
+2025-11-25 00:43:20,903 - AirbotRestructured - INFO - === 转换完成 ===

logs/restructured_20251125_081918.log

@@ -0,0 +1,102 @@
+2025-11-25 08:19:18,481 - AirbotRestructured - INFO - === Airbot LeRobot Restructured Processor ===
+2025-11-25 08:19:18,481 - AirbotRestructured - INFO - 加载instruction文件...
+2025-11-25 08:19:19,080 - AirbotRestructured - WARNING - Action目录不存在: /media/diy01/246ADCDD27AF9BC6/action187
+2025-11-25 08:19:19,080 - AirbotRestructured - INFO - 加载了 185 个action的instructions
+2025-11-25 08:19:19,080 - AirbotRestructured - INFO - === 硬件配置检查 ===
+2025-11-25 08:19:20,083 - AirbotRestructured - INFO - 硬件状态: CPU核心=24, 可用内存=114.2GB
+2025-11-25 08:19:20,083 - AirbotRestructured - INFO - 推荐worker数量: 16
+2025-11-25 08:19:20,083 - AirbotRestructured - INFO - 最终worker配置: 8
+2025-11-25 08:19:20,083 - AirbotRestructured - INFO - === Airbot LeRobot Restructured 转换开始 ===
+2025-11-25 08:19:20,083 - AirbotRestructured - INFO - === 使用多进程并行处理4个数据集 ===
+2025-11-25 08:19:20,083 - AirbotRestructured - INFO - 将并行处理: pick_and_place, articulation, assemble, dexterous
+2025-11-25 08:19:20,094 - AirbotRestructured - INFO - 启动进程处理 pick_and_place
+2025-11-25 08:19:20,099 - AirbotRestructured_pick_and_place - INFO - === 开始处理 pick_and_place 数据集 ===
+2025-11-25 08:19:20,100 - AirbotRestructured_pick_and_place - INFO - === 创建 pick_and_place 数据集 ===
+2025-11-25 08:19:20,100 - AirbotRestructured_pick_and_place - INFO -   Repo ID: RoboCoin-BAAI/airbot_pick_and_place
+2025-11-25 08:19:20,100 - AirbotRestructured_pick_and_place - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place
+2025-11-25 08:19:20,100 - AirbotRestructured_pick_and_place - INFO -   Actions数量: 132
+2025-11-25 08:19:20,101 - AirbotRestructured - INFO - 启动进程处理 articulation
+2025-11-25 08:19:20,105 - AirbotRestructured_articulation - INFO - === 开始处理 articulation 数据集 ===
+2025-11-25 08:19:20,105 - AirbotRestructured_articulation - INFO - === 创建 articulation 数据集 ===
+2025-11-25 08:19:20,105 - AirbotRestructured_articulation - INFO -   Repo ID: RoboCoin-BAAI/airbot_articulation
+2025-11-25 08:19:20,105 - AirbotRestructured_articulation - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation
+2025-11-25 08:19:20,105 - AirbotRestructured_articulation - INFO -   Actions数量: 19
+2025-11-25 08:19:20,108 - AirbotRestructured - INFO - 启动进程处理 assemble
+2025-11-25 08:19:20,110 - AirbotRestructured_pick_and_place - INFO -   预注册actions作为tasks...
+2025-11-25 08:19:20,111 - AirbotRestructured_assemble - INFO - === 开始处理 assemble 数据集 ===
+2025-11-25 08:19:20,111 - AirbotRestructured_assemble - INFO - === 创建 assemble 数据集 ===
+2025-11-25 08:19:20,111 - AirbotRestructured_assemble - INFO -   Repo ID: RoboCoin-BAAI/airbot_assemble
+2025-11-25 08:19:20,112 - AirbotRestructured_assemble - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble
+2025-11-25 08:19:20,112 - AirbotRestructured_assemble - INFO -   Actions数量: 17
+2025-11-25 08:19:20,113 - AirbotRestructured_articulation - INFO -   预注册actions作为tasks...
+2025-11-25 08:19:20,115 - AirbotRestructured - INFO - 启动进程处理 dexterous
+2025-11-25 08:19:20,118 - AirbotRestructured_dexterous - INFO - === 开始处理 dexterous 数据集 ===
+2025-11-25 08:19:20,118 - AirbotRestructured_dexterous - INFO - === 创建 dexterous 数据集 ===
+2025-11-25 08:19:20,118 - AirbotRestructured_dexterous - INFO -   Repo ID: RoboCoin-BAAI/airbot_dexterous
+2025-11-25 08:19:20,118 - AirbotRestructured_dexterous - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous
+2025-11-25 08:19:20,118 - AirbotRestructured_dexterous - INFO -   Actions数量: 18
+2025-11-25 08:19:20,119 - AirbotRestructured_assemble - INFO -   预注册actions作为tasks...
+2025-11-25 08:19:20,121 - AirbotRestructured_articulation - INFO -   已注册 19 个tasks (action names)
+2025-11-25 08:19:20,121 - AirbotRestructured_articulation - INFO - articulation 数据集创建成功
+2025-11-25 08:19:20,126 - AirbotRestructured_dexterous - INFO -   预注册actions作为tasks...
+2025-11-25 08:19:20,148 - AirbotRestructured_assemble - INFO -   已注册 17 个tasks (action names)
+2025-11-25 08:19:20,149 - AirbotRestructured_assemble - INFO - assemble 数据集创建成功
+2025-11-25 08:19:20,169 - AirbotRestructured_dexterous - INFO -   已注册 18 个tasks (action names)
+2025-11-25 08:19:20,170 - AirbotRestructured_dexterous - INFO - dexterous 数据集创建成功
+2025-11-25 08:19:20,523 - AirbotRestructured_pick_and_place - INFO -   已注册 132 个tasks (action names)
+2025-11-25 08:19:20,524 - AirbotRestructured_pick_and_place - INFO - pick_and_place 数据集创建成功
+2025-11-25 08:19:21,086 - AirbotRestructured_articulation - INFO - articulation 总episodes: 931
+2025-11-25 08:19:22,616 - AirbotRestructured_dexterous - WARNING - Action目录不存���: /media/diy01/246ADCDD27AF9BC6/action187
+2025-11-25 08:19:22,619 - AirbotRestructured_dexterous - INFO - dexterous 总episodes: 1338
+2025-11-25 08:19:22,727 - AirbotRestructured_assemble - INFO - assemble 总episodes: 1405
+2025-11-25 08:19:30,018 - AirbotRestructured_articulation - ERROR - 处理episode失败 action36/episode_0: 'LeRobotDataset' object has no attribute 'add_episode'
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 1071, in process_single_episode_standalone
+    dataset.add_episode(task=action_name)
+AttributeError: 'LeRobotDataset' object has no attribute 'add_episode'
+2025-11-25 08:19:35,196 - AirbotRestructured_dexterous - ERROR - 处理episode失败 action91/episode_0: 'LeRobotDataset' object has no attribute 'add_episode'
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 1071, in process_single_episode_standalone
+    dataset.add_episode(task=action_name)
+AttributeError: 'LeRobotDataset' object has no attribute 'add_episode'
+2025-11-25 08:19:38,056 - AirbotRestructured_articulation - ERROR - 处理episode失败 action36/episode_1: 'LeRobotDataset' object has no attribute 'add_episode'
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 1071, in process_single_episode_standalone
+    dataset.add_episode(task=action_name)
+AttributeError: 'LeRobotDataset' object has no attribute 'add_episode'
+2025-11-25 08:19:45,252 - AirbotRestructured_dexterous - ERROR - 处理episode失败 action91/episode_1: 'LeRobotDataset' object has no attribute 'add_episode'
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 1071, in process_single_episode_standalone
+    dataset.add_episode(task=action_name)
+AttributeError: 'LeRobotDataset' object has no attribute 'add_episode'
+2025-11-25 08:19:46,752 - AirbotRestructured_assemble - ERROR - 处理episode失败 action85/episode_0: 'LeRobotDataset' object has no attribute 'add_episode'
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 1071, in process_single_episode_standalone
+    dataset.add_episode(task=action_name)
+AttributeError: 'LeRobotDataset' object has no attribute 'add_episode'
+2025-11-25 08:19:48,401 - AirbotRestructured_articulation - ERROR - 处理episode失败 action36/episode_10: 'LeRobotDataset' object has no attribute 'add_episode'
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 1071, in process_single_episode_standalone
+    dataset.add_episode(task=action_name)
+AttributeError: 'LeRobotDataset' object has no attribute 'add_episode'
+2025-11-25 08:19:50,607 - AirbotRestructured_dexterous - ERROR - 处理episode失败 action91/episode_10: 'LeRobotDataset' object has no attribute 'add_episode'
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 1071, in process_single_episode_standalone
+    dataset.add_episode(task=action_name)
+AttributeError: 'LeRobotDataset' object has no attribute 'add_episode'
+2025-11-25 08:19:50,614 - AirbotRestructured - WARNING - 用户中断处理
+2025-11-25 08:19:50,622 - AirbotRestructured_pick_and_place - WARNING - pick_and_place 被用户中断，正在保存已处理的数据...
+2025-11-25 08:19:50,624 - AirbotRestructured_dexterous - WARNING - 用户中断处理
+2025-11-25 08:19:50,631 - AirbotRestructured_dexterous - WARNING - dexterous 被用户中断，正在保存已处理的数据...
+2025-11-25 08:19:50,640 - AirbotRestructured_pick_and_place - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place/meta/episode_instruction_mapping.jsonl
+2025-11-25 08:19:50,642 - AirbotRestructured_pick_and_place - INFO - pick_and_place 中断保存完成: 0 成功, 0 失败
+2025-11-25 08:19:50,643 - AirbotRestructured_dexterous - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous/meta/episode_instruction_mapping.jsonl
+2025-11-25 08:19:50,647 - AirbotRestructured_dexterous - INFO - dexterous 中断保存完成: 0 成功, 3 失败
+2025-11-25 08:19:50,926 - AirbotRestructured_assemble - WARNING - 用户中断处理
+2025-11-25 08:19:50,926 - AirbotRestructured_articulation - WARNING - 用户中断处理
+2025-11-25 08:19:50,930 - AirbotRestructured_assemble - WARNING - assemble 被用户中断，正在保存已处理的数据...
+2025-11-25 08:19:50,933 - AirbotRestructured_articulation - WARNING - articulation 被用户中断，正在保存已处理的数据...
+2025-11-25 08:19:50,943 - AirbotRestructured_assemble - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble/meta/episode_instruction_mapping.jsonl
+2025-11-25 08:19:50,944 - AirbotRestructured_articulation - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation/meta/episode_instruction_mapping.jsonl
+2025-11-25 08:19:50,945 - AirbotRestructured_assemble - INFO - assemble 中断保存完成: 0 成功, 1 失败
+2025-11-25 08:19:50,946 - AirbotRestructured_articulation - INFO - articulation 中断保存完成: 0 成功, 3 失败

logs/restructured_20251125_082213.log

@@ -0,0 +1,297 @@
+2025-11-25 08:22:13,089 - AirbotRestructured - INFO - === Airbot LeRobot Restructured Processor ===
+2025-11-25 08:22:13,090 - AirbotRestructured - INFO - 加载instruction文件...
+2025-11-25 08:22:13,453 - AirbotRestructured - WARNING - Action目录不存在: /media/diy01/246ADCDD27AF9BC6/action187
+2025-11-25 08:22:13,453 - AirbotRestructured - INFO - 加载了 185 个action的instructions
+2025-11-25 08:22:13,454 - AirbotRestructured - INFO - === 硬件配置检查 ===
+2025-11-25 08:22:14,455 - AirbotRestructured - INFO - 硬件状态: CPU核心=24, 可用内存=114.1GB
+2025-11-25 08:22:14,455 - AirbotRestructured - INFO - 推荐worker数量: 16
+2025-11-25 08:22:14,455 - AirbotRestructured - INFO - 最终worker配置: 8
+2025-11-25 08:22:14,455 - AirbotRestructured - INFO - === Airbot LeRobot Restructured 转换开始 ===
+2025-11-25 08:22:14,455 - AirbotRestructured - INFO - === 使用多进程并行处理4个数据集 ===
+2025-11-25 08:22:14,455 - AirbotRestructured - INFO - 将并行处理: pick_and_place, articulation, assemble, dexterous
+2025-11-25 08:22:14,464 - AirbotRestructured - INFO - 启动进程处理 pick_and_place
+2025-11-25 08:22:14,468 - AirbotRestructured_pick_and_place - INFO - === 开始处理 pick_and_place 数据集 ===
+2025-11-25 08:22:14,469 - AirbotRestructured_pick_and_place - INFO - === 加载已存在的 pick_and_place 数据集 ===
+2025-11-25 08:22:14,469 - AirbotRestructured_pick_and_place - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place
+2025-11-25 08:22:14,471 - AirbotRestructured - INFO - 启动进程处理 articulation
+2025-11-25 08:22:14,473 - AirbotRestructured_articulation - INFO - === 开始处理 articulation 数据集 ===
+2025-11-25 08:22:14,474 - AirbotRestructured_articulation - INFO - === 加载已存在的 articulation 数据集 ===
+2025-11-25 08:22:14,474 - AirbotRestructured_articulation - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation
+2025-11-25 08:22:14,477 - AirbotRestructured - INFO - 启动进程处理 assemble
+2025-11-25 08:22:14,481 - AirbotRestructured_assemble - INFO - === 开始处理 assemble 数据集 ===
+2025-11-25 08:22:14,482 - AirbotRestructured_assemble - INFO - === 加载已存在的 assemble 数据集 ===
+2025-11-25 08:22:14,482 - AirbotRestructured_assemble - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble
+2025-11-25 08:22:14,484 - AirbotRestructured - INFO - 启动进程处理 dexterous
+2025-11-25 08:22:14,487 - AirbotRestructured_dexterous - INFO - === 开始处理 dexterous 数据集 ===
+2025-11-25 08:22:14,487 - AirbotRestructured_dexterous - INFO - === 加载已存在的 dexterous 数据集 ===
+2025-11-25 08:22:14,488 - AirbotRestructured_dexterous - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous
+2025-11-25 08:22:15,154 - AirbotRestructured_articulation - ERROR -   ✗ 加载数据集失败: 401 Client Error. (Request ID: Root=1-6924f6b6-3d86239824f738ff0136e014;a12c304f-6ef4-4917-a4b1-62d83985b4e1)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_articulation/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+2025-11-25 08:22:15,155 - AirbotRestructured_articulation - ERROR -   已存在的数据集无法加载，为防止数据丢失，程序将终止
+2025-11-25 08:22:15,155 - AirbotRestructured_articulation - ERROR -   请检查数据集完整性或手动删除损坏的数据集目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation
+2025-11-25 08:22:15,155 - AirbotRestructured_articulation - ERROR - 处理 articulation 时出错: 无法加载已存在的数据集 articulation，为防止数据覆盖，程序已终止
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 102, in __init__
+    self.load_metadata()
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 122, in load_metadata
+    self.episodes = load_episodes(self.root)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 313, in load_episodes
+    episodes = load_jsonlines(local_dir / EPISODES_PATH)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 162, in load_jsonlines
+    with jsonlines.open(fpath, "r") as reader:
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/jsonlines/jsonlines.py", line 643, in open
+    fp = builtins.open(file, mode=mode + "t", encoding=encoding)
+FileNotFoundError: [Errno 2] No such file or directory: '/media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation/meta/episodes.jsonl'
+
+During handling of the above exception, another exception occurred:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/requests/models.py", line 1026, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 401 Client Error: Unauthorized for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_articulation/refs
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 151, in setup_dataset
+    self.dataset = LeRobotDataset(repo_id=repo_id, root=output_dir)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 486, in __init__
+    self.meta = LeRobotDatasetMetadata(
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 105, in __init__
+    self.revision = get_safe_version(self.repo_id, self.revision)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 419, in get_safe_version
+    hub_versions = get_repo_versions(repo_id)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 401, in get_repo_versions
+    repo_refs = api.list_repo_refs(repo_id, repo_type="dataset")
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3248, in list_repo_refs
+    hf_raise_for_status(response)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
+    raise _format(RepositoryNotFoundError, message, response) from e
+huggingface_hub.errors.RepositoryNotFoundError: 401 Client Error. (Request ID: Root=1-6924f6b6-3d86239824f738ff0136e014;a12c304f-6ef4-4917-a4b1-62d83985b4e1)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_articulation/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 914, in process_single_category
+    manager.setup_dataset()
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 159, in setup_dataset
+    raise RuntimeError(f"无法加载已存在的数据集 {category}，为防止数据覆盖，程序已终止") from e
+RuntimeError: 无法加载已存在的数据集 articulation，为防止数据覆盖，程序已终止
+2025-11-25 08:22:15,158 - AirbotRestructured_articulation - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation/meta/episode_instruction_mapping.jsonl
+2025-11-25 08:22:15,158 - AirbotRestructured_articulation - INFO - articulation 异常保存完成: 0 成功, 0 失败
+2025-11-25 08:22:15,197 - AirbotRestructured_assemble - ERROR -   ✗ 加载数据集失败: 401 Client Error. (Request ID: Root=1-6924f6b6-0fd7e1a234fea8746ea4a816;55104b13-3e13-4393-958c-80e20aaab2a3)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_assemble/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+2025-11-25 08:22:15,197 - AirbotRestructured_assemble - ERROR -   已存在的数据集无法加载，为防止数据丢失，程序将终止
+2025-11-25 08:22:15,197 - AirbotRestructured_assemble - ERROR -   请检查数据集完整性或手动删除损坏的数据集目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble
+2025-11-25 08:22:15,198 - AirbotRestructured_pick_and_place - ERROR -   ✗ 加载数据集失败: 401 Client Error. (Request ID: Root=1-6924f6b6-1624a69754cf88e85676c1d0;edb2faef-cc83-4324-91fd-647bd2ea02c1)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_pick_and_place/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+2025-11-25 08:22:15,199 - AirbotRestructured_pick_and_place - ERROR -   已存在的数据集无法加载，为防止数据丢失，程序将终止
+2025-11-25 08:22:15,199 - AirbotRestructured_pick_and_place - ERROR -   请检查数据集完整性或手动删除损坏的数据集目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place
+2025-11-25 08:22:15,197 - AirbotRestructured_assemble - ERROR - 处理 assemble 时出错: 无法加载已存在的数据集 assemble，为防止数据覆盖，程序已终止
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 102, in __init__
+    self.load_metadata()
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 122, in load_metadata
+    self.episodes = load_episodes(self.root)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 313, in load_episodes
+    episodes = load_jsonlines(local_dir / EPISODES_PATH)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 162, in load_jsonlines
+    with jsonlines.open(fpath, "r") as reader:
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/jsonlines/jsonlines.py", line 643, in open
+    fp = builtins.open(file, mode=mode + "t", encoding=encoding)
+FileNotFoundError: [Errno 2] No such file or directory: '/media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble/meta/episodes.jsonl'
+
+During handling of the above exception, another exception occurred:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/requests/models.py", line 1026, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 401 Client Error: Unauthorized for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_assemble/refs
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 151, in setup_dataset
+    self.dataset = LeRobotDataset(repo_id=repo_id, root=output_dir)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 486, in __init__
+    self.meta = LeRobotDatasetMetadata(
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 105, in __init__
+    self.revision = get_safe_version(self.repo_id, self.revision)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 419, in get_safe_version
+    hub_versions = get_repo_versions(repo_id)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 401, in get_repo_versions
+    repo_refs = api.list_repo_refs(repo_id, repo_type="dataset")
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3248, in list_repo_refs
+    hf_raise_for_status(response)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
+    raise _format(RepositoryNotFoundError, message, response) from e
+huggingface_hub.errors.RepositoryNotFoundError: 401 Client Error. (Request ID: Root=1-6924f6b6-0fd7e1a234fea8746ea4a816;55104b13-3e13-4393-958c-80e20aaab2a3)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_assemble/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 914, in process_single_category
+    manager.setup_dataset()
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 159, in setup_dataset
+    raise RuntimeError(f"无法加载已存在的数据集 {category}，为防止数据覆盖，程序已终止") from e
+RuntimeError: 无法加载已���在的数据集 assemble，为防止数据覆盖，程序已终止
+2025-11-25 08:22:15,199 - AirbotRestructured_assemble - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble/meta/episode_instruction_mapping.jsonl
+2025-11-25 08:22:15,200 - AirbotRestructured_assemble - INFO - assemble 异常保存完成: 0 成功, 0 失败
+2025-11-25 08:22:15,199 - AirbotRestructured_pick_and_place - ERROR - 处理 pick_and_place 时出错: 无法加载已存在的数据集 pick_and_place，为防止数据覆盖，程序已终止
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 102, in __init__
+    self.load_metadata()
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 122, in load_metadata
+    self.episodes = load_episodes(self.root)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 313, in load_episodes
+    episodes = load_jsonlines(local_dir / EPISODES_PATH)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 162, in load_jsonlines
+    with jsonlines.open(fpath, "r") as reader:
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/jsonlines/jsonlines.py", line 643, in open
+    fp = builtins.open(file, mode=mode + "t", encoding=encoding)
+FileNotFoundError: [Errno 2] No such file or directory: '/media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place/meta/episodes.jsonl'
+
+During handling of the above exception, another exception occurred:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/requests/models.py", line 1026, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 401 Client Error: Unauthorized for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_pick_and_place/refs
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 151, in setup_dataset
+    self.dataset = LeRobotDataset(repo_id=repo_id, root=output_dir)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 486, in __init__
+    self.meta = LeRobotDatasetMetadata(
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 105, in __init__
+    self.revision = get_safe_version(self.repo_id, self.revision)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 419, in get_safe_version
+    hub_versions = get_repo_versions(repo_id)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 401, in get_repo_versions
+    repo_refs = api.list_repo_refs(repo_id, repo_type="dataset")
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3248, in list_repo_refs
+    hf_raise_for_status(response)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
+    raise _format(RepositoryNotFoundError, message, response) from e
+huggingface_hub.errors.RepositoryNotFoundError: 401 Client Error. (Request ID: Root=1-6924f6b6-1624a69754cf88e85676c1d0;edb2faef-cc83-4324-91fd-647bd2ea02c1)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_pick_and_place/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 914, in process_single_category
+    manager.setup_dataset()
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 159, in setup_dataset
+    raise RuntimeError(f"无法加载已存在的数据集 {category}，为防止数据覆盖，程序已终止") from e
+RuntimeError: 无法加载已存在的数据集 pick_and_place，为防止数据覆盖，程序已终止
+2025-11-25 08:22:15,200 - AirbotRestructured_pick_and_place - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place/meta/episode_instruction_mapping.jsonl
+2025-11-25 08:22:15,200 - AirbotRestructured_pick_and_place - INFO - pick_and_place 异常保存完成: 0 成功, 0 失败
+2025-11-25 08:22:15,272 - AirbotRestructured_dexterous - ERROR -   ✗ 加载数据集失败: 401 Client Error. (Request ID: Root=1-6924f6b6-25bc1d780b73ef370c7e575d;0e420a40-6828-4861-bc27-1a4668f4782d)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_dexterous/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+2025-11-25 08:22:15,272 - AirbotRestructured_dexterous - ERROR -   已存在的数据集无法加载，为防止数据丢失，程序将终止
+2025-11-25 08:22:15,272 - AirbotRestructured_dexterous - ERROR -   请检查数据集完整性或手动删除损坏的数据集目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous
+2025-11-25 08:22:15,272 - AirbotRestructured_dexterous - ERROR - 处理 dexterous 时出错: 无法加载已存在的数据集 dexterous，为防止数据覆盖，程序已终止
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 102, in __init__
+    self.load_metadata()
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 122, in load_metadata
+    self.episodes = load_episodes(self.root)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 313, in load_episodes
+    episodes = load_jsonlines(local_dir / EPISODES_PATH)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 162, in load_jsonlines
+    with jsonlines.open(fpath, "r") as reader:
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/jsonlines/jsonlines.py", line 643, in open
+    fp = builtins.open(file, mode=mode + "t", encoding=encoding)
+FileNotFoundError: [Errno 2] No such file or directory: '/media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous/meta/episodes.jsonl'
+
+During handling of the above exception, another exception occurred:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/requests/models.py", line 1026, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 401 Client Error: Unauthorized for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_dexterous/refs
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 151, in setup_dataset
+    self.dataset = LeRobotDataset(repo_id=repo_id, root=output_dir)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 486, in __init__
+    self.meta = LeRobotDatasetMetadata(
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 105, in __init__
+    self.revision = get_safe_version(self.repo_id, self.revision)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 419, in get_safe_version
+    hub_versions = get_repo_versions(repo_id)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/utils.py", line 401, in get_repo_versions
+    repo_refs = api.list_repo_refs(repo_id, repo_type="dataset")
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3248, in list_repo_refs
+    hf_raise_for_status(response)
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 457, in hf_raise_for_status
+    raise _format(RepositoryNotFoundError, message, response) from e
+huggingface_hub.errors.RepositoryNotFoundError: 401 Client Error. (Request ID: Root=1-6924f6b6-25bc1d780b73ef370c7e575d;0e420a40-6828-4861-bc27-1a4668f4782d)
+
+Repository Not Found for url: https://huggingface.co/api/datasets/RoboCoin-BAAI/airbot_dexterous/refs.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated. For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+Invalid username or password.
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 914, in process_single_category
+    manager.setup_dataset()
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 159, in setup_dataset
+    raise RuntimeError(f"无法加载已存在的数据集 {category}，为防止数据覆盖，程序已终止") from e
+RuntimeError: 无法加载已存在的数据集 dexterous，为防止数据覆盖，程序已终止
+2025-11-25 08:22:15,274 - AirbotRestructured_dexterous - WARNING - Episode mapping文件不存在: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous/meta/episode_instruction_mapping.jsonl
+2025-11-25 08:22:15,274 - AirbotRestructured_dexterous - INFO - dexterous 异常保存完成: 0 成功, 0 失败
+2025-11-25 08:22:15,285 - AirbotRestructured - INFO - 所有数据集处理完成
+2025-11-25 08:22:15,285 - AirbotRestructured - INFO - === 转换完成 ===

logs/restructured_20251125_082319.log

@@ -0,0 +1,96 @@
+2025-11-25 08:23:19,536 - AirbotRestructured - INFO - === Airbot LeRobot Restructured Processor ===
+2025-11-25 08:23:19,536 - AirbotRestructured - INFO - 加载instruction文件...
+2025-11-25 08:23:19,932 - AirbotRestructured - WARNING - Action目录不存在: /media/diy01/246ADCDD27AF9BC6/action187
+2025-11-25 08:23:19,932 - AirbotRestructured - INFO - 加载了 185 个action的instructions
+2025-11-25 08:23:19,932 - AirbotRestructured - INFO - === 硬件配置检查 ===
+2025-11-25 08:23:20,934 - AirbotRestructured - INFO - 硬件状态: CPU核心=24, 可用内存=114.2GB
+2025-11-25 08:23:20,934 - AirbotRestructured - INFO - 推荐worker数量: 16
+2025-11-25 08:23:20,934 - AirbotRestructured - INFO - 最终worker配置: 8
+2025-11-25 08:23:20,934 - AirbotRestructured - INFO - === Airbot LeRobot Restructured 转换开始 ===
+2025-11-25 08:23:20,935 - AirbotRestructured - INFO - === 使用多进程并行处理4个数据集 ===
+2025-11-25 08:23:20,935 - AirbotRestructured - INFO - 将并行处理: pick_and_place, articulation, assemble, dexterous
+2025-11-25 08:23:20,945 - AirbotRestructured - INFO - 启动进程处理 pick_and_place
+2025-11-25 08:23:20,949 - AirbotRestructured_pick_and_place - INFO - === 开始处理 pick_and_place 数据集 ===
+2025-11-25 08:23:20,949 - AirbotRestructured_pick_and_place - INFO - === 创建 pick_and_place 数据集 ===
+2025-11-25 08:23:20,949 - AirbotRestructured_pick_and_place - INFO -   Repo ID: RoboCoin-BAAI/airbot_pick_and_place
+2025-11-25 08:23:20,949 - AirbotRestructured_pick_and_place - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place
+2025-11-25 08:23:20,949 - AirbotRestructured_pick_and_place - INFO -   Actions数量: 132
+2025-11-25 08:23:20,953 - AirbotRestructured - INFO - 启动进程处理 articulation
+2025-11-25 08:23:20,956 - AirbotRestructured_articulation - INFO - === 开始处理 articulation 数据集 ===
+2025-11-25 08:23:20,956 - AirbotRestructured_articulation - INFO - === 创建 articulation 数据集 ===
+2025-11-25 08:23:20,956 - AirbotRestructured_articulation - INFO -   Repo ID: RoboCoin-BAAI/airbot_articulation
+2025-11-25 08:23:20,957 - AirbotRestructured_articulation - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation
+2025-11-25 08:23:20,957 - AirbotRestructured_articulation - INFO -   Actions数量: 19
+2025-11-25 08:23:20,957 - AirbotRestructured_pick_and_place - INFO -   预注册actions作为tasks...
+2025-11-25 08:23:20,959 - AirbotRestructured - INFO - 启动进程处理 assemble
+2025-11-25 08:23:20,963 - AirbotRestructured_assemble - INFO - === 开始处理 assemble 数据集 ===
+2025-11-25 08:23:20,963 - AirbotRestructured_assemble - INFO - === 创建 assemble 数据集 ===
+2025-11-25 08:23:20,963 - AirbotRestructured_assemble - INFO -   Repo ID: RoboCoin-BAAI/airbot_assemble
+2025-11-25 08:23:20,963 - AirbotRestructured_assemble - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble
+2025-11-25 08:23:20,963 - AirbotRestructured_assemble - INFO -   Actions数量: 17
+2025-11-25 08:23:20,966 - AirbotRestructured_articulation - INFO -   预注册actions作为tasks...
+2025-11-25 08:23:20,967 - AirbotRestructured - INFO - 启动进程处理 dexterous
+2025-11-25 08:23:20,970 - AirbotRestructured_dexterous - INFO - === 开始处理 dexterous 数据集 ===
+2025-11-25 08:23:20,970 - AirbotRestructured_dexterous - INFO - === 创建 dexterous 数据集 ===
+2025-11-25 08:23:20,970 - AirbotRestructured_dexterous - INFO -   Repo ID: RoboCoin-BAAI/airbot_dexterous
+2025-11-25 08:23:20,970 - AirbotRestructured_dexterous - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous
+2025-11-25 08:23:20,970 - AirbotRestructured_dexterous - INFO -   Actions数量: 18
+2025-11-25 08:23:20,972 - AirbotRestructured_assemble - INFO -   预注册actions作为tasks...
+2025-11-25 08:23:20,974 - AirbotRestructured_articulation - INFO -   已注册 19 个tasks (action names)
+2025-11-25 08:23:20,975 - AirbotRestructured_articulation - INFO - articulation 数据集创建成功
+2025-11-25 08:23:20,978 - AirbotRestructured_dexterous - INFO -   预注册actions作为tasks...
+2025-11-25 08:23:20,984 - AirbotRestructured_assemble - INFO -   已注册 17 个tasks (action names)
+2025-11-25 08:23:20,984 - AirbotRestructured_assemble - INFO - assemble 数据集创建成功
+2025-11-25 08:23:21,019 - AirbotRestructured_dexterous - INFO -   已注册 18 个tasks (action names)
+2025-11-25 08:23:21,019 - AirbotRestructured_dexterous - INFO - dexterous 数据集创建成功
+2025-11-25 08:23:21,221 - AirbotRestructured_pick_and_place - INFO -   已注册 132 个tasks (action names)
+2025-11-25 08:23:21,222 - AirbotRestructured_pick_and_place - INFO - pick_and_place 数据集创建成功
+2025-11-25 08:23:21,839 - AirbotRestructured_articulation - INFO - articulation 总episodes: 931
+2025-11-25 08:23:22,207 - AirbotRestructured_assemble - INFO - assemble 总episodes: 1405
+2025-11-25 08:23:22,210 - AirbotRestructured_dexterous - WARNING - Action目录不存在: /media/diy01/246ADCDD27AF9BC6/action187
+2025-11-25 08:23:22,211 - AirbotRestructured_dexterous - INFO - dexterous 总episodes: 1338
+2025-11-25 08:23:24,661 - AirbotRestructured_pick_and_place - INFO - pick_and_place 总episodes: 6297
+2025-11-25 14:26:07,973 - AirbotRestructured_assemble - ERROR - 处理episode失败 action111/episode_77: cannot identify image file 'temp/RoboCoin-BAAI_airbot_assemble/images/observation.images.top/episode_000319/frame_000313.png'
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 1088, in process_single_episode_standalone
+    dataset.save_episode()
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 1020, in save_episode
+    self.encode_episode_videos(episode_index)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 1140, in encode_episode_videos
+    encode_video_frames(img_dir, video_path, self.fps, overwrite=True)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/video_utils.py", line 316, in encode_video_frames
+    input_image = Image.open(input_data).convert("RGB")
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/PIL/Image.py", line 3560, in open
+    raise UnidentifiedImageError(msg)
+PIL.UnidentifiedImageError: cannot identify image file 'temp/RoboCoin-BAAI_airbot_assemble/images/observation.images.top/episode_000319/frame_000313.png'
+2025-11-25 14:26:26,481 - AirbotRestructured_dexterous - ERROR - 处理episode失败 action134/episode_10: cannot identify image file 'temp/RoboCoin-BAAI_airbot_dexterous/images/observation.images.top/episode_000355/frame_000311.png'
+Traceback (most recent call last):
+  File "/home/diy01/dev/robocoin-dataset/air_script/airbot_lerobot_restructured.py", line 1088, in process_single_episode_standalone
+    dataset.save_episode()
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 1020, in save_episode
+    self.encode_episode_videos(episode_index)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/lerobot_dataset.py", line 1140, in encode_episode_videos
+    encode_video_frames(img_dir, video_path, self.fps, overwrite=True)
+  File "/home/diy01/dev/robocoin-dataset/third_parties/robocoin-lerobot/src/lerobot/datasets/video_utils.py", line 316, in encode_video_frames
+    input_image = Image.open(input_data).convert("RGB")
+  File "/home/diy01/dev/robocoin-dataset/.venv/lib/python3.10/site-packages/PIL/Image.py", line 3560, in open
+    raise UnidentifiedImageError(msg)
+PIL.UnidentifiedImageError: cannot identify image file 'temp/RoboCoin-BAAI_airbot_dexterous/images/observation.images.top/episode_000355/frame_000311.png'
+2025-11-25 19:45:31,421 - AirbotRestructured_articulation - INFO - 保存 articulation 数据集...
+2025-11-25 19:45:31,434 - AirbotRestructured_articulation - INFO - Episode mapping文件: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation/meta/episode_instruction_mapping.jsonl
+2025-11-25 19:45:31,435 - AirbotRestructured_articulation - INFO -   总计: 931 episodes
+2025-11-25 19:45:31,435 - AirbotRestructured_articulation - INFO - articulation 完成:
+2025-11-25 19:45:31,435 - AirbotRestructured_articulation - INFO -   成功: 931
+2025-11-25 19:45:31,435 - AirbotRestructured_articulation - INFO -   失败: 0
+2025-11-26 10:07:28,979 - AirbotRestructured_assemble - INFO - 保存 assemble 数据集...
+2025-11-26 10:07:28,983 - AirbotRestructured_assemble - INFO - Episode mapping文件: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble/meta/episode_instruction_mapping.jsonl
+2025-11-26 10:07:28,983 - AirbotRestructured_assemble - INFO -   总计: 1404 episodes
+2025-11-26 10:07:28,983 - AirbotRestructured_assemble - INFO - assemble 完成:
+2025-11-26 10:07:28,983 - AirbotRestructured_assemble - INFO -   成功: 1404
+2025-11-26 10:07:28,983 - AirbotRestructured_assemble - INFO -   失败: 1
+2025-11-26 14:34:18,485 - AirbotRestructured_dexterous - INFO - 保存 dexterous 数据集...
+2025-11-26 14:34:18,489 - AirbotRestructured_dexterous - INFO - Episode mapping文件: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous/meta/episode_instruction_mapping.jsonl
+2025-11-26 14:34:18,489 - AirbotRestructured_dexterous - INFO -   总计: 1337 episodes
+2025-11-26 14:34:18,489 - AirbotRestructured_dexterous - INFO - dexterous 完成:
+2025-11-26 14:34:18,489 - AirbotRestructured_dexterous - INFO -   成功: 1337
+2025-11-26 14:34:18,489 - AirbotRestructured_dexterous - INFO -   失败: 1

logs/restructured_20251126_183936.log

@@ -0,0 +1,86 @@
+2025-11-26 18:39:36,852 - AirbotRestructured - INFO - === Airbot LeRobot Restructured Processor ===
+2025-11-26 18:39:36,865 - AirbotRestructured - INFO - 加载instruction文件...
+2025-11-26 18:40:07,439 - AirbotRestructured - WARNING - Action目录不存在: /media/diy01/246ADCDD27AF9BC6/action187
+2025-11-26 18:40:07,439 - AirbotRestructured - INFO - 加载了 185 个action的instructions
+2025-11-26 18:40:07,440 - AirbotRestructured - INFO - === 硬件配置检查 ===
+2025-11-26 18:40:08,444 - AirbotRestructured - INFO - 硬件状态: CPU核心=24, 可用内存=115.8GB
+2025-11-26 18:40:08,456 - AirbotRestructured - INFO - 推荐worker数量: 16
+2025-11-26 18:40:08,472 - AirbotRestructured - INFO - 最终worker配置: 8
+2025-11-26 18:40:08,481 - AirbotRestructured - INFO - === Airbot LeRobot Restructured 转换开始 ===
+2025-11-26 18:40:08,482 - AirbotRestructured - INFO - === 使用多进程并行处理4个数据集 ===
+2025-11-26 18:40:08,482 - AirbotRestructured - INFO - 将并行处理: pick_and_place, articulation, assemble, dexterous
+2025-11-26 18:40:08,491 - AirbotRestructured - INFO - 启动进程处理 pick_and_place
+2025-11-26 18:40:08,505 - AirbotRestructured - INFO - 启动进程处理 articulation
+2025-11-26 18:40:08,518 - AirbotRestructured - INFO - 启动进程处理 assemble
+2025-11-26 18:40:08,530 - AirbotRestructured - INFO - 启动进程处理 dexterous
+2025-11-26 18:40:08,535 - AirbotRestructured_pick_and_place - INFO - === 开始处理 pick_and_place 数据集 ===
+2025-11-26 18:40:08,535 - AirbotRestructured_articulation - INFO - === 开始处理 articulation 数据集 ===
+2025-11-26 18:40:08,537 - AirbotRestructured_assemble - INFO - === 开始处理 assemble 数据集 ===
+2025-11-26 18:40:08,537 - AirbotRestructured_dexterous - INFO - === 开始处理 dexterous 数据集 ===
+2025-11-26 18:40:08,538 - AirbotRestructured_articulation - INFO - === 加载已存在的 articulation 数据集 ===
+2025-11-26 18:40:08,538 - AirbotRestructured_pick_and_place - INFO - === 加载已存在的 pick_and_place 数据集 ===
+2025-11-26 18:40:08,538 - AirbotRestructured_articulation - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation
+2025-11-26 18:40:08,538 - AirbotRestructured_pick_and_place - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place
+2025-11-26 18:40:08,542 - AirbotRestructured_assemble - INFO - === 加载已存在的 assemble 数据集 ===
+2025-11-26 18:40:08,564 - AirbotRestructured_assemble - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble
+2025-11-26 18:40:08,573 - AirbotRestructured_dexterous - INFO - === 加载已存在的 dexterous 数据集 ===
+2025-11-26 18:40:08,592 - AirbotRestructured_dexterous - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous
+2025-11-26 18:54:52,002 - AirbotRestructured_articulation - INFO -   ✓ 成功加载数据集，当前episodes: 150778
+2025-11-26 18:54:52,003 - AirbotRestructured_articulation - INFO -   ✓ 断点续转模式：将从episode 150778 开始
+2025-11-26 18:54:52,004 - AirbotRestructured_articulation - INFO - articulation 数据集创建成功
+2025-11-26 18:54:52,352 - AirbotRestructured_articulation - INFO - articulation 总episodes: 931
+2025-11-26 18:54:52,352 - AirbotRestructured_articulation - INFO - ✓ 检测到已有 150778 个episodes，将跳过已转换的部分
+2025-11-26 18:54:52,352 - AirbotRestructured_articulation - INFO - ✓ 断点续转：从episode 150778 继续处理
+2025-11-26 18:54:52,353 - AirbotRestructured_articulation - INFO - 保存 articulation 数据集...
+2025-11-26 18:54:52,354 - AirbotRestructured_articulation - INFO - Episode mapping文件: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation/meta/episode_instruction_mapping.jsonl
+2025-11-26 18:54:52,354 - AirbotRestructured_articulation - INFO -   总计: 0 episodes
+2025-11-26 18:54:52,355 - AirbotRestructured_articulation - INFO - articulation 完成:
+2025-11-26 18:54:52,355 - AirbotRestructured_articulation - INFO -   跳过（已转换）: 931
+2025-11-26 18:54:52,355 - AirbotRestructured_articulation - INFO -   成功: 0
+2025-11-26 18:54:52,356 - AirbotRestructured_articulation - INFO -   失败: 0
+2025-11-26 18:54:52,356 - AirbotRestructured_articulation - INFO -   总计: 931
+2025-11-26 18:55:05,264 - AirbotRestructured_dexterous - INFO -   ✓ 成功加载数据集，当前episodes: 443012
+2025-11-26 18:55:05,265 - AirbotRestructured_dexterous - INFO -   ✓ 断点续转模式：将从episode 443012 开始
+2025-11-26 18:55:05,266 - AirbotRestructured_dexterous - INFO - dexterous 数据集创建成功
+2025-11-26 18:55:05,576 - AirbotRestructured_dexterous - WARNING - Action目录不存在: /media/diy01/246ADCDD27AF9BC6/action187
+2025-11-26 18:55:05,576 - AirbotRestructured_dexterous - INFO - dexterous 总episodes: 1338
+2025-11-26 18:55:05,576 - AirbotRestructured_dexterous - INFO - ✓ 检测到已有 443012 个episodes，将跳过已转换的部分
+2025-11-26 18:55:05,576 - AirbotRestructured_dexterous - INFO - ✓ 断点续转：从episode 443012 继续处理
+2025-11-26 18:55:05,577 - AirbotRestructured_dexterous - INFO - 保存 dexterous 数据集...
+2025-11-26 18:55:05,578 - AirbotRestructured_dexterous - INFO - Episode mapping文件: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous/meta/episode_instruction_mapping.jsonl
+2025-11-26 18:55:05,578 - AirbotRestructured_dexterous - INFO -   总计: 0 episodes
+2025-11-26 18:55:05,578 - AirbotRestructured_dexterous - INFO - dexterous 完成:
+2025-11-26 18:55:05,578 - AirbotRestructured_dexterous - INFO -   跳过（已转换）: 1338
+2025-11-26 18:55:05,578 - AirbotRestructured_dexterous - INFO -   成功: 0
+2025-11-26 18:55:05,579 - AirbotRestructured_dexterous - INFO -   失败: 0
+2025-11-26 18:55:05,579 - AirbotRestructured_dexterous - INFO -   总计: 1338
+2025-11-26 18:55:06,200 - AirbotRestructured_assemble - INFO -   ✓ 成功加载数据集，当前episodes: 381155
+2025-11-26 18:55:06,201 - AirbotRestructured_assemble - INFO -   ✓ 断点续转模式：将从episode 381155 开始
+2025-11-26 18:55:06,202 - AirbotRestructured_assemble - INFO - assemble 数据集创建成功
+2025-11-26 18:55:06,490 - AirbotRestructured_assemble - INFO - assemble 总episodes: 1405
+2025-11-26 18:55:06,490 - AirbotRestructured_assemble - INFO - ✓ 检测到已有 381155 个episodes，将跳过已转换的部分
+2025-11-26 18:55:06,490 - AirbotRestructured_assemble - INFO - ✓ 断点续转：从episode 381155 继续处理
+2025-11-26 18:55:06,491 - AirbotRestructured_assemble - INFO - 保存 assemble 数据集...
+2025-11-26 18:55:06,491 - AirbotRestructured_assemble - INFO - Episode mapping文件: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble/meta/episode_instruction_mapping.jsonl
+2025-11-26 18:55:06,492 - AirbotRestructured_assemble - INFO -   总计: 0 episodes
+2025-11-26 18:55:06,492 - AirbotRestructured_assemble - INFO - assemble 完成:
+2025-11-26 18:55:06,492 - AirbotRestructured_assemble - INFO -   跳过（已转换）: 1405
+2025-11-26 18:55:06,492 - AirbotRestructured_assemble - INFO -   成功: 0
+2025-11-26 18:55:06,492 - AirbotRestructured_assemble - INFO -   失败: 0
+2025-11-26 18:55:06,492 - AirbotRestructured_assemble - INFO -   总计: 1405
+2025-11-26 18:55:28,878 - AirbotRestructured_pick_and_place - INFO -   ✓ 成功加载数据集，当前episodes: 483243
+2025-11-26 18:55:28,882 - AirbotRestructured_pick_and_place - INFO -   ✓ 断点续转模式：将从episode 483243 开始
+2025-11-26 18:55:28,884 - AirbotRestructured_pick_and_place - INFO - pick_and_place 数据集创建成功
+2025-11-26 18:55:30,070 - AirbotRestructured_pick_and_place - INFO - pick_and_place 总episodes: 6297
+2025-11-26 18:55:30,070 - AirbotRestructured_pick_and_place - INFO - ✓ 检测到已有 483243 个episodes，将跳过已转换的部分
+2025-11-26 18:55:30,070 - AirbotRestructured_pick_and_place - INFO - ✓ 断点续转：从episode 483243 继续处理
+2025-11-26 18:55:30,071 - AirbotRestructured_pick_and_place - INFO - 保存 pick_and_place 数据集...
+2025-11-26 18:55:30,072 - AirbotRestructured_pick_and_place - INFO - Episode mapping文件: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place/meta/episode_instruction_mapping.jsonl
+2025-11-26 18:55:30,072 - AirbotRestructured_pick_and_place - INFO -   总计: 0 episodes
+2025-11-26 18:55:30,072 - AirbotRestructured_pick_and_place - INFO - pick_and_place 完成:
+2025-11-26 18:55:30,072 - AirbotRestructured_pick_and_place - INFO -   跳过（已转换）: 6297
+2025-11-26 18:55:30,072 - AirbotRestructured_pick_and_place - INFO -   成功: 0
+2025-11-26 18:55:30,073 - AirbotRestructured_pick_and_place - INFO -   失败: 0
+2025-11-26 18:55:30,073 - AirbotRestructured_pick_and_place - INFO -   总计: 6297
+2025-11-26 18:55:30,113 - AirbotRestructured - INFO - 所有数据集处理完成
+2025-11-26 18:55:30,113 - AirbotRestructured - INFO - === 转换完成 ===

logs/restructured_20251126_185846.log

@@ -0,0 +1,76 @@
+2025-11-26 18:58:46,509 - AirbotRestructured - INFO - === Airbot LeRobot Restructured Processor ===
+2025-11-26 18:58:46,509 - AirbotRestructured - INFO - 加载instruction文件...
+2025-11-26 18:58:46,983 - AirbotRestructured - WARNING - Action目录不存在: /media/diy01/246ADCDD27AF9BC6/action187
+2025-11-26 18:58:46,983 - AirbotRestructured - INFO - 加载了 185 个action的instructions
+2025-11-26 18:58:46,983 - AirbotRestructured - INFO - === 硬件配置检查 ===
+2025-11-26 18:58:47,988 - AirbotRestructured - INFO - 硬件状态: CPU核心=24, 可用内存=114.3GB
+2025-11-26 18:58:47,988 - AirbotRestructured - INFO - 推荐worker数量: 16
+2025-11-26 18:58:47,989 - AirbotRestructured - INFO - 最终worker配置: 8
+2025-11-26 18:58:47,989 - AirbotRestructured - INFO - === Airbot LeRobot Restructured 转换开始 ===
+2025-11-26 18:58:47,989 - AirbotRestructured - INFO - === 使用多进程并行处理4个数据集 ===
+2025-11-26 18:58:47,989 - AirbotRestructured - INFO - 将并行处理: pick_and_place, articulation, assemble, dexterous
+2025-11-26 18:58:48,013 - AirbotRestructured - INFO - 启动进程处理 pick_and_place
+2025-11-26 18:58:48,021 - AirbotRestructured_pick_and_place - INFO - === 开始处理 pick_and_place 数据集 ===
+2025-11-26 18:58:48,021 - AirbotRestructured - INFO - 启动进程处理 articulation
+2025-11-26 18:58:48,023 - AirbotRestructured_pick_and_place - INFO - === 加载已存在的 pick_and_place 数据集 ===
+2025-11-26 18:58:48,023 - AirbotRestructured_pick_and_place - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_pick_and_place
+2025-11-26 18:58:48,024 - AirbotRestructured_articulation - INFO - === 开始处理 articulation 数据集 ===
+2025-11-26 18:58:48,026 - AirbotRestructured - INFO - 启动进程处理 assemble
+2025-11-26 18:58:48,026 - AirbotRestructured_articulation - INFO - === 加载已存在的 articulation 数据集 ===
+2025-11-26 18:58:48,026 - AirbotRestructured_articulation - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation
+2025-11-26 18:58:48,029 - AirbotRestructured_assemble - INFO - === 开始处理 assemble 数据集 ===
+2025-11-26 18:58:48,030 - AirbotRestructured - INFO - 启动进程处理 dexterous
+2025-11-26 18:58:48,043 - AirbotRestructured_assemble - INFO - === 加载已存在的 assemble 数据集 ===
+2025-11-26 18:58:48,043 - AirbotRestructured_assemble - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble
+2025-11-26 18:58:48,045 - AirbotRestructured_dexterous - INFO - === 开始处理 dexterous 数据集 ===
+2025-11-26 18:58:48,047 - AirbotRestructured_dexterous - INFO - === 加载已存在的 dexterous 数据集 ===
+2025-11-26 18:58:48,047 - AirbotRestructured_dexterous - INFO -   输出目录: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous
+2025-11-26 18:59:28,951 - AirbotRestructured_articulation - INFO -   ✓ 成功加载数据集，当前episodes: 931, 总帧数: 150778
+2025-11-26 18:59:28,952 - AirbotRestructured_articulation - INFO -   ✓ 断点续转模式：将从episode 931 开始
+2025-11-26 18:59:28,953 - AirbotRestructured_articulation - INFO - articulation 数据集创建成功
+2025-11-26 18:59:29,433 - AirbotRestructured_articulation - INFO - articulation 总episodes: 931
+2025-11-26 18:59:29,434 - AirbotRestructured_articulation - INFO - ✓ 检测到已有 931 个episodes，将跳过已转换的部分
+2025-11-26 18:59:29,434 - AirbotRestructured_articulation - INFO - ✓ 断点续转：从episode 931 继续处理
+2025-11-26 18:59:29,435 - AirbotRestructured_articulation - INFO - 保存 articulation 数据集...
+2025-11-26 18:59:29,436 - AirbotRestructured_articulation - INFO - Episode mapping文件: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_articulation/meta/episode_instruction_mapping.jsonl
+2025-11-26 18:59:29,436 - AirbotRestructured_articulation - INFO -   总计: 0 episodes
+2025-11-26 18:59:29,437 - AirbotRestructured_articulation - INFO - articulation 完成:
+2025-11-26 18:59:29,437 - AirbotRestructured_articulation - INFO -   跳过（已转换）: 931
+2025-11-26 18:59:29,437 - AirbotRestructured_articulation - INFO -   成功: 0
+2025-11-26 18:59:29,438 - AirbotRestructured_articulation - INFO -   失败: 0
+2025-11-26 18:59:29,438 - AirbotRestructured_articulation - INFO -   总计: 931
+2025-11-26 18:59:48,987 - AirbotRestructured_dexterous - INFO -   ✓ 成功加载数据集，当前episodes: 1337, 总帧数: 443012
+2025-11-26 18:59:48,987 - AirbotRestructured_dexterous - INFO -   ✓ 断点续转模式：将从episode 1337 开始
+2025-11-26 18:59:48,987 - AirbotRestructured_dexterous - INFO - dexterous 数据集创建成功
+2025-11-26 18:59:49,071 - AirbotRestructured_assemble - INFO -   ✓ 成功加载数据集，当前episodes: 1404, 总帧数: 381155
+2025-11-26 18:59:49,072 - AirbotRestructured_assemble - INFO -   ✓ 断点续转模式：将从episode 1404 开始
+2025-11-26 18:59:49,072 - AirbotRestructured_assemble - INFO - assemble 数据集创建成功
+2025-11-26 18:59:49,554 - AirbotRestructured_dexterous - WARNING - Action目录不存在: /media/diy01/246ADCDD27AF9BC6/action187
+2025-11-26 18:59:49,554 - AirbotRestructured_dexterous - INFO - dexterous 总episodes: 1338
+2025-11-26 18:59:49,554 - AirbotRestructured_dexterous - INFO - ✓ 检测到已有 1337 个episodes，将跳过已转换的部分
+2025-11-26 18:59:49,555 - AirbotRestructured_dexterous - INFO - ✓ 断点续转：从episode 1337 继续处理
+2025-11-26 18:59:50,321 - AirbotRestructured_assemble - INFO - assemble 总episodes: 1405
+2025-11-26 18:59:50,325 - AirbotRestructured_assemble - INFO - ✓ 检测到已有 1404 个episodes，将跳过已转换的部分
+2025-11-26 18:59:50,328 - AirbotRestructured_assemble - INFO - ✓ 断点续转：从episode 1404 继续处理
+2025-11-26 19:00:12,064 - AirbotRestructured_pick_and_place - INFO -   ✓ 成功加载数据集，当前episodes: 2084, 总帧数: 483243
+2025-11-26 19:00:12,069 - AirbotRestructured_pick_and_place - INFO -   ✓ 断点续转模式：将从episode 2084 开始
+2025-11-26 19:00:12,069 - AirbotRestructured_pick_and_place - INFO - pick_and_place 数据集创建成功
+2025-11-26 19:00:13,618 - AirbotRestructured_pick_and_place - INFO - pick_and_place 总episodes: 6297
+2025-11-26 19:00:13,618 - AirbotRestructured_pick_and_place - INFO - ✓ 检测到已有 2084 个episodes，将跳过已转换的部分
+2025-11-26 19:00:13,618 - AirbotRestructured_pick_and_place - INFO - ✓ 断点续转：从episode 2084 继续处理
+2025-11-26 19:00:42,651 - AirbotRestructured_assemble - INFO - 保存 assemble 数据集...
+2025-11-26 19:00:42,652 - AirbotRestructured_assemble - INFO - Episode mapping文件: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_assemble/meta/episode_instruction_mapping.jsonl
+2025-11-26 19:00:42,652 - AirbotRestructured_assemble - INFO -   总计: 1 episodes
+2025-11-26 19:00:42,653 - AirbotRestructured_assemble - INFO - assemble 完成:
+2025-11-26 19:00:42,653 - AirbotRestructured_assemble - INFO -   跳过（已转换）: 1404
+2025-11-26 19:00:42,653 - AirbotRestructured_assemble - INFO -   成功: 1
+2025-11-26 19:00:42,653 - AirbotRestructured_assemble - INFO -   失败: 0
+2025-11-26 19:00:42,653 - AirbotRestructured_assemble - INFO -   总计: 1405
+2025-11-26 19:01:10,823 - AirbotRestructured_dexterous - INFO - 保存 dexterous 数据集...
+2025-11-26 19:01:10,824 - AirbotRestructured_dexterous - INFO - Episode mapping文件: /media/diy01/246ADCDD27AF9BC6/lerobot_output_restructured/airbot_dexterous/meta/episode_instruction_mapping.jsonl
+2025-11-26 19:01:10,824 - AirbotRestructured_dexterous - INFO -   总计: 1 episodes
+2025-11-26 19:01:10,824 - AirbotRestructured_dexterous - INFO - dexterous 完成:
+2025-11-26 19:01:10,825 - AirbotRestructured_dexterous - INFO -   跳过（已转换）: 1337
+2025-11-26 19:01:10,825 - AirbotRestructured_dexterous - INFO -   成功: 1
+2025-11-26 19:01:10,825 - AirbotRestructured_dexterous - INFO -   失败: 0
+2025-11-26 19:01:10,825 - AirbotRestructured_dexterous - INFO -   总计: 1338