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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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2
tests/scripts/save_image_transforms_to_safetensors.py
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@@ -76,7 +76,7 @@ def main():
dataset = LeRobotDataset(DATASET_REPO_ID, image_transforms=None)
output_dir = Path(ARTIFACT_DIR)
output_dir.mkdir(parents=True, exist_ok=True)
original_frame = dataset[0][dataset.camera_keys[0]]
original_frame = dataset[0][dataset.meta.camera_keys[0]]
save_single_transforms(original_frame, output_dir)
save_default_config_transform(original_frame, output_dir)

2
tests/scripts/save_policy_to_safetensors.py
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@@ -38,7 +38,7 @@ def get_policy_stats(env_name, policy_name, extra_overrides):
)
set_global_seed(1337)
dataset = make_dataset(cfg)
policy = make_policy(cfg, dataset_stats=dataset.stats)
policy = make_policy(cfg, dataset_stats=dataset.meta.stats)
policy.train()
optimizer, _ = make_optimizer_and_scheduler(cfg, policy)