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Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots

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Simon Alibert
2025-05-08 13:24:12 +02:00
parent 08fbbb318f 8cfab38824
commit 320f7e8450
43 changed files with 1941 additions and 167 deletions
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4
lerobot/scripts/eval.py
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@@ -94,8 +94,8 @@ def rollout(
data will probably need to be discarded (for environments that aren't the first one to be done).
The return dictionary contains:
(optional) "observation": A a dictionary of (batch, sequence + 1, *) tensors mapped to observation
keys. NOTE the that this has an extra sequence element relative to the other keys in the
(optional) "observation": A dictionary of (batch, sequence + 1, *) tensors mapped to observation
keys. NOTE that this has an extra sequence element relative to the other keys in the
dictionary. This is because an extra observation is included for after the environment is
terminated or truncated.
"action": A (batch, sequence, action_dim) tensor of actions applied based on the observations (not

7
lerobot/scripts/visualize_dataset_html.py
View File

@@ -174,7 +174,10 @@ def run_server(
dataset.meta.get_video_file_path(episode_id, key) for key in dataset.meta.video_keys
]
videos_info = [
{"url": url_for("static", filename=video_path), "filename": video_path.parent.name}
{
"url": url_for("static", filename=str(video_path).replace("\\", "/")),
"filename": video_path.parent.name,
}
for video_path in video_paths
]
tasks = dataset.meta.episodes[episode_id]["tasks"]
@@ -381,7 +384,7 @@ def visualize_dataset_html(
if isinstance(dataset, LeRobotDataset):
ln_videos_dir = static_dir / "videos"
if not ln_videos_dir.exists():
ln_videos_dir.symlink_to((dataset.root / "videos").resolve())
ln_videos_dir.symlink_to((dataset.root / "videos").resolve().as_posix())
if serve:
run_server(dataset, episodes, host, port, static_dir, template_dir)