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Dataset v2.0 (#461)

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Co-authored-by: Remi <remi.cadene@huggingface.co>
This commit is contained in:
Simon Alibert
2024-11-29 19:04:00 +01:00
committed by GitHub
parent 96c7052777
commit 32eb0cec8f
71 changed files with 6115 additions and 2235 deletions
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5
lerobot/common/datasets/factory.py
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@@ -91,9 +91,9 @@ def make_dataset(cfg, split: str = "train") -> LeRobotDataset | MultiLeRobotData
)
if isinstance(cfg.dataset_repo_id, str):
# TODO (aliberts): add 'episodes' arg from config after removing hydra
dataset = LeRobotDataset(
cfg.dataset_repo_id,
split=split,
delta_timestamps=cfg.training.get("delta_timestamps"),
image_transforms=image_transforms,
video_backend=cfg.video_backend,
@@ -101,7 +101,6 @@ def make_dataset(cfg, split: str = "train") -> LeRobotDataset | MultiLeRobotData
else:
dataset = MultiLeRobotDataset(
cfg.dataset_repo_id,
split=split,
delta_timestamps=cfg.training.get("delta_timestamps"),
image_transforms=image_transforms,
video_backend=cfg.video_backend,
@@ -112,6 +111,6 @@ def make_dataset(cfg, split: str = "train") -> LeRobotDataset | MultiLeRobotData
for stats_type, listconfig in stats_dict.items():
# example of stats_type: min, max, mean, std
stats = OmegaConf.to_container(listconfig, resolve=True)
dataset.stats[key][stats_type] = torch.tensor(stats, dtype=torch.float32)
dataset.meta.stats[key][stats_type] = torch.tensor(stats, dtype=torch.float32)
return dataset