wangzixiang
/
lerobot
mirror of https://github.com/huggingface/lerobot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

backup wip

This commit is contained in:
Alexander Soare 2024-04-02 19:13:49 +01:00
parent 2b928eedd4
commit 65ef8c30d0
3 changed files with 80 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

84
lerobot/common/datasets/factory.py
View File

@ -130,27 +130,87 @@ def make_offline_buffer(
# (Pdb) stats['observation']['state']['mean']
# tensor([-0.0071, -0.6293, 1.0351, -0.0517, -0.4642, -0.0754, 0.4751, -0.0373,
# -0.3324, 0.9034, -0.2258, -0.3127, -0.2412, 0.6866])
stats['observation', 'state', 'mean'] = torch.tensor([-0.00740268, -0.63187766, 1.0356655 , -0.05027218, -0.46199223,
-0.07467502, 0.47467607, -0.03615446, -0.33203387, 0.9038929 ,
-0.22060776, -0.31011587, -0.23484458, 0.6842416 ])
stats["observation", "state", "mean"] = torch.tensor(
[
-0.00740268,
-0.63187766,
1.0356655,
-0.05027218,
-0.46199223,
-0.07467502,
0.47467607,
-0.03615446,
-0.33203387,
0.9038929,
-0.22060776,
-0.31011587,
-0.23484458,
0.6842416,
]
)
# (Pdb) stats['observation']['state']['std']
# tensor([0.0022, 0.0520, 0.0291, 0.0092, 0.0267, 0.0145, 0.0563, 0.0179, 0.0494,
# 0.0326, 0.0476, 0.0535, 0.0956, 0.0513])
stats['observation', 'state', 'std'] = torch.tensor([0.01219023, 0.2975381 , 0.16728032, 0.04733803, 0.1486037 ,
0.08788499, 0.31752336, 0.1049916 , 0.27933604, 0.18094037,
0.26604933, 0.30466506, 0.5298686 , 0.25505227])
stats["observation", "state", "std"] = torch.tensor(
[
0.01219023,
0.2975381,
0.16728032,
0.04733803,
0.1486037,
0.08788499,
0.31752336,
0.1049916,
0.27933604,
0.18094037,
0.26604933,
0.30466506,
0.5298686,
0.25505227,
]
)
# (Pdb) stats['action']['mean']
# tensor([-0.0075, -0.6346, 1.0353, -0.0465, -0.4686, -0.0738, 0.3723, -0.0396,
# -0.3184, 0.8991, -0.2065, -0.3182, -0.2338, 0.5593])
stats['action']['mean'] = torch.tensor([-0.00756444, -0.6281845 , 1.0312834 , -0.04664314, -0.47211358,
-0.074527 , 0.37389806, -0.03718753, -0.3261143 , 0.8997205 ,
-0.21371077, -0.31840396, -0.23360962, 0.551947])
stats["action"]["mean"] = torch.tensor(
[
-0.00756444,
-0.6281845,
1.0312834,
-0.04664314,
-0.47211358,
-0.074527,
0.37389806,
-0.03718753,
-0.3261143,
0.8997205,
-0.21371077,
-0.31840396,
-0.23360962,
0.551947,
]
)
# (Pdb) stats['action']['std']
# tensor([0.0023, 0.0514, 0.0290, 0.0086, 0.0263, 0.0143, 0.0593, 0.0185, 0.0510,
# 0.0328, 0.0478, 0.0531, 0.0945, 0.0794])
stats['action']['std'] = torch.tensor([0.01252818, 0.2957442 , 0.16701928, 0.04584508, 0.14833844,
0.08763024, 0.30665937, 0.10600077, 0.27572668, 0.1805853 ,
0.26304692, 0.30708534, 0.5305411 , 0.38381037])
stats["action"]["std"] = torch.tensor(
[
0.01252818,
0.2957442,
0.16701928,
0.04584508,
0.14833844,
0.08763024,
0.30665937,
0.10600077,
0.27572668,
0.1805853,
0.26304692,
0.30708534,
0.5305411,
0.38381037,
]
)
transforms.append(NormalizeTransform(stats, in_keys, mode=normalization_mode))
offline_buffer.set_transform(transforms)

5
lerobot/common/policies/act/detr_vae.py
View File

@ -2,7 +2,6 @@ import numpy as np
import torch
from torch import nn
from torch.autograd import Variable
from transformers import DetrForObjectDetection
from .backbone import build_backbone
from .transformer import TransformerEncoder, TransformerEncoderLayer, build_transformer
@ -134,7 +133,9 @@ class ActionChunkingTransformer(nn.Module):
pos_embed = self.pos_table.clone().detach()
pos_embed = pos_embed.permute(1, 0, 2) # (seq+1, 1, hidden_dim)
# query model
vae_encoder_output = self.vae_encoder(vae_encoder_input, pos=pos_embed) # , src_key_padding_mask=is_pad)
vae_encoder_output = self.vae_encoder(
vae_encoder_input, pos=pos_embed
) # , src_key_padding_mask=is_pad)
vae_encoder_output = vae_encoder_output[0] # take cls output only
latent_info = self.latent_proj(vae_encoder_output)
mu = latent_info[:, : self.latent_dim]