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Make policies compatible with other/multiple image keys (#149)

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Alexander Soare
2024-05-16 13:51:53 +01:00
committed by GitHub
parent f52f4f2cd2
commit 68c1b13406
9 changed files with 107 additions and 69 deletions
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4
lerobot/common/policies/utils.py
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@@ -19,6 +19,10 @@ from torch import nn
def populate_queues(queues, batch):
for key in batch:
# Ignore keys not in the queues already (leaving the responsibility to the caller to make sure the
# queues have the keys they want).
if key not in queues:
continue
if len(queues[key]) != queues[key].maxlen:
# initialize by copying the first observation several times until the queue is full
while len(queues[key]) != queues[key].maxlen: