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

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Simon Alibert
2025-04-08 10:47:40 +02:00
parent 792c3d961d 437fc29e12
commit 8924ccbbab
13 changed files with 1173 additions and 14 deletions
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4
examples/1_load_lerobot_dataset.py
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@@ -119,7 +119,7 @@ print(dataset.features[camera_key]["shape"])
delta_timestamps = {
# loads 4 images: 1 second before current frame, 500 ms before, 200 ms before, and current frame
camera_key: [-1, -0.5, -0.20, 0],
# loads 8 state vectors: 1.5 seconds before, 1 second before, ... 200 ms, 100 ms, and current frame
# loads 6 state vectors: 1.5 seconds before, 1 second before, ... 200 ms, 100 ms, and current frame
"observation.state": [-1.5, -1, -0.5, -0.20, -0.10, 0],
# loads 64 action vectors: current frame, 1 frame in the future, 2 frames, ... 63 frames in the future
"action": [t / dataset.fps for t in range(64)],
@@ -143,6 +143,6 @@ dataloader = torch.utils.data.DataLoader(
for batch in dataloader:
print(f"{batch[camera_key].shape=}") # (32, 4, c, h, w)
print(f"{batch['observation.state'].shape=}") # (32, 5, c)
print(f"{batch['observation.state'].shape=}") # (32, 6, c)
print(f"{batch['action'].shape=}") # (32, 64, c)
break