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added temporary fix for missing task_index key in online environment

This commit is contained in:
Michel Aractingi 2024-12-30 13:47:28 +00:00
parent ee306e2f9b
commit 35de91ef2b
2 changed files with 6 additions and 0 deletions
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1
lerobot/common/policies/sac/configuration_sac.py
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@ -50,6 +50,7 @@ class SACConfig:
state_encoder_hidden_dim = 256 state_encoder_hidden_dim = 256
latent_dim = 128 latent_dim = 128
target_entropy = None target_entropy = None
backup_entropy = True
critic_network_kwargs = { critic_network_kwargs = {
"hidden_dims": [256, 256], "hidden_dims": [256, 256],
"activate_final": True, "activate_final": True,

5
lerobot/scripts/train.py
View File

@ -322,6 +322,11 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No
logging.info("make_dataset") logging.info("make_dataset")
offline_dataset = make_dataset(cfg) offline_dataset = make_dataset(cfg)
# TODO (michel-aractingi): temporary fix to avoid datasets with task_index key that doesn't exist in online environment
# i.e., pusht
if "task_index" in offline_dataset.hf_dataset[0]:
offline_dataset.hf_dataset = offline_dataset.hf_dataset.remove_columns(["task_index"])
if isinstance(offline_dataset, MultiLeRobotDataset): if isinstance(offline_dataset, MultiLeRobotDataset):
logging.info( logging.info(
"Multiple datasets were provided. Applied the following index mapping to the provided datasets: " "Multiple datasets were provided. Applied the following index mapping to the provided datasets: "