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Extend reward classifier for multiple camera views (#626)

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Michel Aractingi
2025-01-13 13:57:49 +01:00
parent d1d6ffd23c
commit 181727c0fe
9 changed files with 186 additions and 50 deletions
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9
lerobot/configs/policy/hilserl_classifier.yaml
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@@ -4,7 +4,7 @@ defaults:
- _self_
seed: 13
dataset_repo_id: "dataset_repo_id"
dataset_repo_id: aractingi/pick_place_lego_cube_1
train_split_proportion: 0.8
# Required by logger
@@ -24,7 +24,7 @@ training:
eval_freq: 1 # How often to run validation (in epochs)
save_freq: 1 # How often to save checkpoints (in epochs)
save_checkpoint: true
image_key: "observation.images.phone"
image_keys: ["observation.images.top", "observation.images.wrist"]
label_key: "next.reward"
eval:
@@ -32,9 +32,10 @@ eval:
num_samples_to_log: 30 # Number of validation samples to log in the table
policy:
name: "hilserl/classifier"
name: "hilserl/classifier/pick_place_lego_cube_1"
model_name: "facebook/convnext-base-224"
model_type: "cnn"
num_cameras: 2 # Has to be len(training.image_keys)
wandb:
enable: false
@@ -44,4 +45,4 @@ wandb:
device: "mps"
resume: false
output_dir: "output"
output_dir: "outputs/classifier"