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Improve dataset examples (#82)

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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
This commit is contained in:
Remi
2024-04-18 11:43:16 +02:00
committed by GitHub
parent d5c4b0c344
commit 0928afd37d
15 changed files with 274 additions and 165 deletions
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lerobot/scripts/eval.py
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@@ -241,7 +241,7 @@ def eval_policy(
data_dict["index"] = torch.arange(0, total_frames, 1)
data_dict = Dataset.from_dict(data_dict).with_format("torch")
hf_dataset = Dataset.from_dict(data_dict).with_format("torch")
if max_episodes_rendered > 0:
batch_stacked_frames = np.stack(ep_frames, 1) # (b, t, *)
@@ -292,7 +292,7 @@ def eval_policy(
"eval_s": time.time() - start,
"eval_ep_s": (time.time() - start) / num_episodes,
},
"episodes": data_dict,
"episodes": hf_dataset,
}
if max_episodes_rendered > 0:
info["videos"] = videos