Merge remote-tracking branch 'upstream/user/rcadene/2024_03_31_remove_torchrl' into refactor_act

2024-04-08 15:44:00 +01:00
parent 91e0e4e175 70aaf1c4cb
commit 9c96349926
109 changed files with 81 additions and 228 deletions
--- a/lerobot/common/datasets/aloha.py
+++ b/lerobot/common/datasets/aloha.py
@@ -165,7 +165,7 @@ class AlohaDataset(torch.utils.data.Dataset):
                num_frames = ep["/action"].shape[0]

                # last step of demonstration is considered done
-                done = torch.zeros(num_frames, 1, dtype=torch.bool)
+                done = torch.zeros(num_frames, dtype=torch.bool)
                done[-1] = True

                state = torch.from_numpy(ep["/observations/qpos"][:])