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feat: Add root directory option for dataset configuration (#765) 

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
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Haskely 2025-02-26 00:27:36 +08:00 committed by GitHub
parent 3354d919fc
commit eecf32e77a
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2 changed files with 6 additions and 1 deletions
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5
lerobot/common/datasets/factory.py
View File

@ -83,10 +83,13 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
) )
if isinstance(cfg.dataset.repo_id, str): if isinstance(cfg.dataset.repo_id, str):
ds_meta = LeRobotDatasetMetadata(cfg.dataset.repo_id, revision=cfg.dataset.revision) ds_meta = LeRobotDatasetMetadata(
cfg.dataset.repo_id, root=cfg.dataset.root, revision=cfg.dataset.revision
)
delta_timestamps = resolve_delta_timestamps(cfg.policy, ds_meta) delta_timestamps = resolve_delta_timestamps(cfg.policy, ds_meta)
dataset = LeRobotDataset( dataset = LeRobotDataset(
cfg.dataset.repo_id, cfg.dataset.repo_id,
root=cfg.dataset.root,
episodes=cfg.dataset.episodes, episodes=cfg.dataset.episodes,
delta_timestamps=delta_timestamps, delta_timestamps=delta_timestamps,
image_transforms=image_transforms, image_transforms=image_transforms,

2
lerobot/configs/default.py
View File

@ -29,6 +29,8 @@ class DatasetConfig:
# "dataset_index" into the returned item. The index mapping is made according to the order in which the # "dataset_index" into the returned item. The index mapping is made according to the order in which the
# datsets are provided. # datsets are provided.
repo_id: str repo_id: str
# Root directory where the dataset will be stored (e.g. 'dataset/path').
root: str | None = None
episodes: list[int] | None = None episodes: list[int] | None = None
image_transforms: ImageTransformsConfig = field(default_factory=ImageTransformsConfig) image_transforms: ImageTransformsConfig = field(default_factory=ImageTransformsConfig)
revision: str | None = None revision: str | None = None