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Added possiblity to record and replay delta actions during teleoperation rather than absolute actions

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Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-02-12 19:25:41 +01:00
parent 6868c88ef1
commit b9217b06db
12 changed files with 92 additions and 622 deletions
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6
lerobot/common/datasets/lerobot_dataset.py
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@@ -84,7 +84,7 @@ class LeRobotDatasetMetadata:
# Load metadata
(self.root / "meta").mkdir(exist_ok=True, parents=True)
self.pull_from_repo(allow_patterns="meta/")
# self.pull_from_repo(allow_patterns="meta/")
self.info = load_info(self.root)
self.stats = load_stats(self.root)
self.tasks = load_tasks(self.root)
@@ -537,7 +537,9 @@ class LeRobotDataset(torch.utils.data.Dataset):
]
files += video_files
self.pull_from_repo(allow_patterns=files, ignore_patterns=ignore_patterns)
# HACK: UNCOMMENT IF YOU REVIEW THAT, PLEASE SUGGEST TO UNCOMMENT
logging.warning("HACK: WE COMMENT THIS LINE, IF SOMETHING IS WEIRD WITH DATASETS UNCOMMENT")
# self.pull_from_repo(allow_patterns=files, ignore_patterns=ignore_patterns)
def load_hf_dataset(self) -> datasets.Dataset:
"""hf_dataset contains all the observations, states, actions, rewards, etc."""