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Modified crop_dataset_roi interface to automatically write the cropped parameters to a json file in the meta of the dataset

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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-02-14 12:32:45 +01:00
parent b5fbeb7401
commit 8209a6dfb7
3 changed files with 38 additions and 16 deletions
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9
lerobot/configs/policy/sac_real.yaml
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@@ -77,8 +77,11 @@ policy:
mean: [0.485, 0.456, 0.406]
std: [0.229, 0.224, 0.225]
observation.state:
min: [-87.09961, 62.402344, 67.23633, 36.035156, 77.34375,0.53691274]
max: [58.183594, 131.83594, 145.98633, 82.08984, 78.22266, 0.60402685]
min: [-77.08008, 56.25, 60.55664, 19.511719, 0., -0.63829786]
max: [ 7.215820e+01, 1.5398438e+02, 1.6075195e+02, 9.3251953e+01, 0., -1.4184397e-01]
# min: [-87.09961, 62.402344, 67.23633, 36.035156, 77.34375,0.53691274]
# max: [58.183594, 131.83594, 145.98633, 82.08984, 78.22266, 0.60402685]
# min: [-88.50586, 23.81836, 0.87890625, -32.16797, 78.66211, 0.53691274]
# max: [84.55078, 187.11914, 145.98633, 101.60156, 146.60156, 88.18792]
@@ -96,7 +99,7 @@ policy:
# Neural networks.
image_encoder_hidden_dim: 32
# discount: 0.99
discount: 0.80
discount: 0.97
temperature_init: 1.0
num_critics: 2 #10
camera_number: 2