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lerobot
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This commit is contained in:
Cadene 2024-04-18 09:22:50 +00:00
parent ae2a643cf2
commit a7dffc8359
1 changed files with 2 additions and 2 deletions
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lerobot/common/datasets/utils.py
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@ -9,7 +9,7 @@ import tqdm
def load_previous_and_future_frames( def load_previous_and_future_frames(
item: dict[str, torch.Tensor], item: dict[str, torch.Tensor],
hf_dataset: dict[str, datasets.Dataset], hf_dataset: datasets.Dataset,
delta_timestamps: dict[str, list[float]], delta_timestamps: dict[str, list[float]],
tol: float = 0.04, tol: float = 0.04,
) -> dict[torch.Tensor]: ) -> dict[torch.Tensor]:
@ -25,7 +25,7 @@ def load_previous_and_future_frames(
Parameters: Parameters:
- item (dict): A dictionary containing all the data related to a frame. It is the result of `dataset[idx]`. Each key corresponds to a different modality (e.g., "timestamp", "observation.image", "action"). - item (dict): A dictionary containing all the data related to a frame. It is the result of `dataset[idx]`. Each key corresponds to a different modality (e.g., "timestamp", "observation.image", "action").
- hf_dataset (dict): A dictionary containing the full dataset. Each key corresponds to a different modality (e.g., "timestamp", "observation.image", "action"). - hf_dataset (datasets.Dataset): A dictionary containing the full dataset. Each key corresponds to a different modality (e.g., "timestamp", "observation.image", "action").
- delta_timestamps (dict): A dictionary containing lists of delta timestamps for each possible modality to be retrieved. These deltas are added to the item timestamp to form the query timestamps. - delta_timestamps (dict): A dictionary containing lists of delta timestamps for each possible modality to be retrieved. These deltas are added to the item timestamp to form the query timestamps.
- tol (float, optional): The tolerance level used to determine if a data point is close enough to the query timestamp. Defaults to 0.04. - tol (float, optional): The tolerance level used to determine if a data point is close enough to the query timestamp. Defaults to 0.04.