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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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4
tests/test_control_robot.py
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@@ -155,7 +155,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
display_cameras=False,
play_sounds=False,
)
assert dataset.total_episodes == 2
assert dataset.meta.total_episodes == 2
assert len(dataset) == 2
replay(robot, episode=0, fps=1, root=root, repo_id=repo_id, play_sounds=False)
@@ -193,7 +193,7 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
overrides=overrides,
)
policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.meta.stats)
optimizer, lr_scheduler = make_optimizer_and_scheduler(cfg, policy)
out_dir = tmpdir / "logger"
logger = Logger(cfg, out_dir, wandb_job_name="debug")