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

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Simon Alibert
2025-05-26 10:54:07 +02:00
parent fb4bfaf029 bed90e3a41
commit 78e29f4f20
5 changed files with 5 additions and 5 deletions
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2
lerobot/common/datasets/image_writer.py
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@@ -106,7 +106,7 @@ def worker_process(queue: queue.Queue, num_threads: int):
class AsyncImageWriter: class AsyncImageWriter:
""" """
This class abstract away the initialisation of processes or/and threads to This class abstract away the initialisation of processes or/and threads to
save images on disk asynchrounously, which is critical to control a robot and record data save images on disk asynchronously, which is critical to control a robot and record data
at a high frame rate. at a high frame rate.
When `num_processes=0`, it creates a threads pool of size `num_threads`. When `num_processes=0`, it creates a threads pool of size `num_threads`.

2
lerobot/common/datasets/lerobot_dataset.py
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@@ -932,7 +932,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
def stop_image_writer(self) -> None: def stop_image_writer(self) -> None:
""" """
Whenever wrapping this dataset inside a parallelized DataLoader, this needs to be called first to Whenever wrapping this dataset inside a parallelized DataLoader, this needs to be called first to
remove the image_writer in order for the LeRobotDataset object to be pickleable and parallelized. remove the image_writer in order for the LeRobotDataset object to be picklable and parallelized.
""" """
if self.image_writer is not None: if self.image_writer is not None:
self.image_writer.stop() self.image_writer.stop()

2
lerobot/common/datasets/video_utils.py
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@@ -101,7 +101,7 @@ def decode_video_frames_torchvision(
keyframes_only = False keyframes_only = False
torchvision.set_video_backend(backend) torchvision.set_video_backend(backend)
if backend == "pyav": if backend == "pyav":
keyframes_only = True # pyav doesnt support accuracte seek keyframes_only = True # pyav doesn't support accurate seek
# set a video stream reader # set a video stream reader
# TODO(rcadene): also load audio stream at the same time # TODO(rcadene): also load audio stream at the same time

2
lerobot/common/policies/pi0/modeling_pi0.py
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@@ -357,7 +357,7 @@ class PI0Policy(PreTrainedPolicy):
if self.config.resize_imgs_with_padding is not None: if self.config.resize_imgs_with_padding is not None:
img = resize_with_pad(img, *self.config.resize_imgs_with_padding, pad_value=0) img = resize_with_pad(img, *self.config.resize_imgs_with_padding, pad_value=0)
# Normalize from range [0,1] to [-1,1] as expacted by siglip # Normalize from range [0,1] to [-1,1] as expected by siglip
img = img * 2.0 - 1.0 img = img * 2.0 - 1.0
bsize = img.shape[0] bsize = img.shape[0]

2
lerobot/common/policies/pi0fast/modeling_pi0fast.py
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@@ -516,7 +516,7 @@ class PI0FAST(nn.Module):
interpolate_like_pi=self.config.interpolate_like_pi, interpolate_like_pi=self.config.interpolate_like_pi,
) )
# Normalize from range [0,1] to [-1,1] as expacted by siglip # Normalize from range [0,1] to [-1,1] as expected by siglip
img = img * 2.0 - 1.0 img = img * 2.0 - 1.0
bsize = img.shape[0] bsize = img.shape[0]