diff --git a/examples/port_datasets/rlds_openx.py b/examples/port_datasets/rlds_openx.py index fcb54587..769885fa 100644 --- a/examples/port_datasets/rlds_openx.py +++ b/examples/port_datasets/rlds_openx.py @@ -160,9 +160,8 @@ def to_lerobotdataset_with_save_episode(raw_dir: Path, repo_id: str, push_to_hub for key in other_keys: if "language_instruction" in key: - continue # Some openx dataset have multiple language commands - # episode_data[key] = episode[key].numpy()[0].decode("utf-8") + episode_data[key] = episode[key].numpy()[0].decode("utf-8") else: if key == "is_last": episode_data["next.done"] = tf_to_torch(episode[key]) diff --git a/lerobot/common/datasets/compute_stats.py b/lerobot/common/datasets/compute_stats.py index c6211699..ceda2de5 100644 --- a/lerobot/common/datasets/compute_stats.py +++ b/lerobot/common/datasets/compute_stats.py @@ -26,7 +26,6 @@ def get_stats_einops_patterns(dataset, num_workers=0): Note: We assume the images are in channel first format """ - dataloader = torch.utils.data.DataLoader( dataset, num_workers=num_workers, diff --git a/lerobot/common/datasets/lerobot_dataset.py b/lerobot/common/datasets/lerobot_dataset.py index 8855256f..58d6bcf3 100644 --- a/lerobot/common/datasets/lerobot_dataset.py +++ b/lerobot/common/datasets/lerobot_dataset.py @@ -895,7 +895,7 @@ class LeRobotDataset(torch.utils.data.Dataset): if run_compute_stats: self.stop_image_writer() # TODO(aliberts): refactor stats in save_episodes - self.meta.stats = compute_stats(self) + self.meta.stats = compute_stats(self, num_workers=0) serialized_stats = serialize_dict(self.meta.stats) write_json(serialized_stats, self.root / STATS_PATH) self.consolidated = True