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Hardcoded some normalization parameters. TODO refactor

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Added masking actions on the level of the intervention actions and offline dataset

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-02-13 14:27:14 +01:00
parent 459f22ed30
commit c462a478c7
7 changed files with 38 additions and 10 deletions
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4
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)
@@ -539,7 +539,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
# 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)
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."""