From 1331d3b4e4a0d834c330fbd1901e598a7a50d73f Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Wed, 17 Apr 2024 08:49:28 +0100 Subject: [PATCH 1/2] fix issue with saving freshly computed stats --- lerobot/common/datasets/factory.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/lerobot/common/datasets/factory.py b/lerobot/common/datasets/factory.py index ecb28e26..8407c168 100644 --- a/lerobot/common/datasets/factory.py +++ b/lerobot/common/datasets/factory.py @@ -62,7 +62,7 @@ def make_dataset( stats = torch.load(precomputed_stats_path) else: 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( dataset_id=cfg.dataset_id, split="train", @@ -70,7 +70,8 @@ def make_dataset( transform=Prod(in_keys=clsfunc.image_keys, prod=1 / 255.0), ) stats = compute_stats(stats_dataset) - torch.save(stats, stats_path) + os.makedirs(precomputed_stats_path.parent, exist_ok=True) + torch.save(stats, precomputed_stats_path) else: stats = torch.load(stats_path) From c9454333d8c43e776c6042feca3c884313dbc019 Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Wed, 17 Apr 2024 09:02:35 +0100 Subject: [PATCH 2/2] revision --- lerobot/common/datasets/factory.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lerobot/common/datasets/factory.py b/lerobot/common/datasets/factory.py index 8407c168..07afb614 100644 --- a/lerobot/common/datasets/factory.py +++ b/lerobot/common/datasets/factory.py @@ -70,7 +70,7 @@ def make_dataset( transform=Prod(in_keys=clsfunc.image_keys, prod=1 / 255.0), ) stats = compute_stats(stats_dataset) - os.makedirs(precomputed_stats_path.parent, exist_ok=True) + precomputed_stats_path.parent.mkdir(parents=True, exist_ok=True) torch.save(stats, precomputed_stats_path) else: stats = torch.load(stats_path)