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Improve dataset examples (#82)

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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
This commit is contained in:
Remi
2024-04-18 11:43:16 +02:00
committed by GitHub
parent d5c4b0c344
commit 0928afd37d
15 changed files with 274 additions and 165 deletions
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16
lerobot/common/datasets/xarm.py
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@@ -19,7 +19,7 @@ class XarmDataset(torch.utils.data.Dataset):
def __init__(
self,
dataset_id: str,
dataset_id: str = "xarm_lift_medium",
version: str | None = "v1.0",
root: Path | None = None,
split: str = "train",
@@ -34,31 +34,31 @@ class XarmDataset(torch.utils.data.Dataset):
self.transform = transform
self.delta_timestamps = delta_timestamps
if self.root is not None:
self.data_dict = load_from_disk(Path(self.root) / self.dataset_id / self.split)
self.hf_dataset = load_from_disk(Path(self.root) / self.dataset_id / self.split)
else:
self.data_dict = load_dataset(
self.hf_dataset = load_dataset(
f"lerobot/{self.dataset_id}", revision=self.version, split=self.split
)
self.data_dict = self.data_dict.with_format("torch")
self.hf_dataset = self.hf_dataset.with_format("torch")
@property
def num_samples(self) -> int:
return len(self.data_dict)
return len(self.hf_dataset)
@property
def num_episodes(self) -> int:
return len(self.data_dict.unique("episode_id"))
return len(self.hf_dataset.unique("episode_id"))
def __len__(self):
return self.num_samples
def __getitem__(self, idx):
item = self.data_dict[idx]
item = self.hf_dataset[idx]
if self.delta_timestamps is not None:
item = load_previous_and_future_frames(
item,
self.data_dict,
self.hf_dataset,
self.delta_timestamps,
)