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Merge branch 'fix_stats_saving' into unify_policy_api

This commit is contained in:
Alexander Soare 2024-04-17 09:08:04 +01:00
parent bff4b673c9 c9454333d8
commit 296bbfe1ad
1 changed files with 3 additions and 2 deletions
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5
lerobot/common/datasets/factory.py
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@ -62,7 +62,7 @@ def make_dataset(
stats = torch.load(precomputed_stats_path) stats = torch.load(precomputed_stats_path)
else: else:
logging.info(f"compute_stats and save to {precomputed_stats_path}") logging.info(f"compute_stats and save to {precomputed_stats_path}")
# instantiate a one frame dataset with light transform # Create a dataset for stats computation.
stats_dataset = clsfunc( stats_dataset = clsfunc(
dataset_id=cfg.dataset_id, dataset_id=cfg.dataset_id,
split="train", split="train",
@ -70,7 +70,8 @@ def make_dataset(
transform=Prod(in_keys=clsfunc.image_keys, prod=1 / 255.0), transform=Prod(in_keys=clsfunc.image_keys, prod=1 / 255.0),
) )
stats = compute_stats(stats_dataset) stats = compute_stats(stats_dataset)
torch.save(stats, stats_path) precomputed_stats_path.parent.mkdir(parents=True, exist_ok=True)
torch.save(stats, precomputed_stats_path)
else: else:
stats = torch.load(stats_path) stats = torch.load(stats_path)