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Add LeRobotDatasetMetadata

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This commit is contained in:
Simon Alibert
2024-11-03 18:07:37 +01:00
parent ac79e8cb36
commit e4ba084e25
25 changed files with 419 additions and 327 deletions
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examples/3_train_policy.py
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@@ -40,7 +40,7 @@ dataset = LeRobotDataset("lerobot/pusht", delta_timestamps=delta_timestamps)
# For this example, no arguments need to be passed because the defaults are set up for PushT.
# If you're doing something different, you will likely need to change at least some of the defaults.
cfg = DiffusionConfig()
policy = DiffusionPolicy(cfg, dataset_stats=dataset.stats)
policy = DiffusionPolicy(cfg, dataset_stats=dataset.meta.stats)
policy.train()
policy.to(device)