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This commit is contained in:
Remi Cadene 2024-05-23 07:32:37 +00:00
parent 642f1d0328
commit a7d24f6dc2
2 changed files with 5 additions and 5 deletions
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6
lerobot/common/datasets/push_dataset_to_hub/aloha_dora_format.py
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@ -33,7 +33,7 @@ from lerobot.common.utils.utils import init_logging
def check_format(raw_dir) -> bool: def check_format(raw_dir) -> bool:
# TODO(rcadene): remove hardcoding # TODO(rcadene): remove hardcoding
raw_dir = raw_dir / "018f9fdc-6b7b-7432-a529-40d2cc718032" raw_dir = raw_dir / "018fa076-ad19-7c77-afa4-49f7f072e86f"
assert raw_dir.exists() assert raw_dir.exists()
leader_file = list(raw_dir.glob("*.parquet")) leader_file = list(raw_dir.glob("*.parquet"))
@ -44,7 +44,7 @@ def check_format(raw_dir) -> bool:
def load_from_raw(raw_dir: Path, out_dir: Path): def load_from_raw(raw_dir: Path, out_dir: Path):
# TODO(rcadene): remove hardcoding # TODO(rcadene): remove hardcoding
raw_dir = raw_dir / "018f9fdc-6b7b-7432-a529-40d2cc718032" raw_dir = raw_dir / "018fa076-ad19-7c77-afa4-49f7f072e86f"
# Load data stream that will be used as reference for the timestamps synchronization # Load data stream that will be used as reference for the timestamps synchronization
reference_key = "observation.images.cam_right_wrist" reference_key = "observation.images.cam_right_wrist"
@ -91,7 +91,7 @@ def load_from_raw(raw_dir: Path, out_dir: Path):
# sanity check episode indices go from 0 to n-1 # sanity check episode indices go from 0 to n-1
ep_ids = [ep_idx for ep_idx, _ in df.groupby("episode_index")] ep_ids = [ep_idx for ep_idx, _ in df.groupby("episode_index")]
expected_ep_ids = list(range(df["episode_index"].max())) expected_ep_ids = list(range(df["episode_index"].max() + 1))
assert ep_ids == expected_ep_ids, f"Episodes indices go from {ep_ids} instead of {expected_ep_ids}" assert ep_ids == expected_ep_ids, f"Episodes indices go from {ep_ids} instead of {expected_ep_ids}"
# Create symlink to raw videos directory (that needs to be absolute not relative) # Create symlink to raw videos directory (that needs to be absolute not relative)

4
lerobot/configs/policy/act_real_world.yaml
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@ -25,8 +25,8 @@ training:
offline_steps: 80000 offline_steps: 80000
online_steps: 0 online_steps: 0
eval_freq: 99999999999999 eval_freq: 99999999999999
save_freq: 100000 save_freq: 1000
log_freq: 250 log_freq: 100
save_model: true save_model: true
batch_size: 8 batch_size: 8