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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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6
lerobot/common/datasets/online_buffer.py
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@@ -187,7 +187,7 @@ class OnlineBuffer(torch.utils.data.Dataset):
assert data[OnlineBuffer.INDEX_KEY][0].item() == 0
# Shift the incoming indices if necessary.
if self.num_samples > 0:
if self.num_frames > 0:
last_episode_index = self._data[OnlineBuffer.EPISODE_INDEX_KEY][next_index - 1]
last_data_index = self._data[OnlineBuffer.INDEX_KEY][next_index - 1]
data[OnlineBuffer.EPISODE_INDEX_KEY] += last_episode_index + 1
@@ -227,11 +227,11 @@ class OnlineBuffer(torch.utils.data.Dataset):
)
@property
def num_samples(self) -> int:
def num_frames(self) -> int:
return np.count_nonzero(self._data[OnlineBuffer.OCCUPANCY_MASK_KEY])
def __len__(self):
return self.num_samples
return self.num_frames
def _item_to_tensors(self, item: dict) -> dict:
item_ = {}