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lerobot
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This commit is contained in:
Marina Barannikov 2024-06-03 14:18:08 +00:00
parent 212a5ab29b
commit 9f8415fa83
2 changed files with 10 additions and 4 deletions
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1
lerobot/common/datasets/factory.py
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@ -82,6 +82,7 @@ def make_dataset(cfg, split: str = "train") -> LeRobotDataset | MultiLeRobotData
v2.RandomAdjustSharpness( v2.RandomAdjustSharpness(
cfg.image_transform.sharpness_factor, p=cfg.image_transform.sharpness_p cfg.image_transform.sharpness_factor, p=cfg.image_transform.sharpness_p
), ),
# Using RandomAdjustSharpness with parameter < 1 adds blur to the image
v2.RandomAdjustSharpness(cfg.image_transform.blur_factor, p=cfg.image_transform.blur_p), v2.RandomAdjustSharpness(cfg.image_transform.blur_factor, p=cfg.image_transform.blur_p),
v2.ToDtype(torch.float32, scale=True), v2.ToDtype(torch.float32, scale=True),
] ]

5
lerobot/configs/default.yaml
View File

@ -62,7 +62,12 @@ image_transform:
enable: false enable: false
colorjittor_factor: 0.5 colorjittor_factor: 0.5
colorjittor_p: 0.5 colorjittor_p: 0.5
# Probability that ColorJittor is applied
sharpness_factor: 2 sharpness_factor: 2
# Should be more than 1, setting parameter to 1 does not change the image
sharpness_p: 0.5 sharpness_p: 0.5
# Probability that Sharpness is applied
blur_factor: 0.5 blur_factor: 0.5
# Should be less than 1, setting parameter to 1 does not change the image
blur_p: 0.5 blur_p: 0.5
# Probability that Blur is applied