From ac7d6228ed03f0618c64799b3e730a0d364380c7 Mon Sep 17 00:00:00 2001 From: Thomas Wolf Date: Sat, 8 Jun 2024 12:15:01 +0200 Subject: [PATCH] Update README.md Co-authored-by: Remi --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 603c6a71..797c73c5 100644 --- a/README.md +++ b/README.md @@ -145,7 +145,7 @@ Our script can also visualize datasets stored on a distant server. See `python l A dataset in `LeRobotDataset` format is very simple to use. It can be loaded from a repository on the Hugging Face hub or a local folder simply with e.g. `dataset = LeRobotDataset("lerobot/aloha_static_coffee")` and can be indexed into like any Hugging Face and Pytorch dataset. For instance `dataset[0]` will retrieve a sample of the dataset observations and actions in pytorch tensors format ready to be fed to a model. -A specificity of `LeRobotDataset` is that we can retrieve several frames for one sample query. By setting `delta_timestamps` to to a list of delta timestamps, e.g. `delta_timestamps = {"observation.image": [-1, -0.5, -0.20, 0]}` one can retrieve, for each query, 4 images before the current time frame. See example [1_load_lerobot_dataset.py](examples/1_load_lerobot_dataset.py) for more details on `delta_timestamps`. +A specificity of `LeRobotDataset` is that we can retrieve several frames for one sample query. By setting `delta_timestamps` to a list of delta timestamps, e.g. `delta_timestamps = {"observation.image": [-1, -0.5, -0.2, 0]}` one can retrieve, for each query, 4 images including one at -1 second before the current time step, the two others at -0.5 second and -0.2, and the final one at the current time step (0 second). See example [1_load_lerobot_dataset.py](examples/1_load_lerobot_dataset.py) for more details on `delta_timestamps`. Under the hood, the `LeRobotDataset` format makes use of several ways to serialize data which can be useful to understand if you plan to work more closely with this format. We tried to make a flexible yet simple dataset format that would cover most type of features and specificities present in RL and robotics.