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backup wip

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This commit is contained in:
Alexander Soare
2024-04-02 19:11:53 +01:00
parent 11cbf1bea1
commit 2b928eedd4
8 changed files with 314 additions and 37 deletions
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26
lerobot/common/datasets/factory.py
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@@ -125,6 +125,32 @@ def make_offline_buffer(
# TODO(rcadene): remove this and put it in config. Ideally we want to reproduce SOTA results just with mean_std
normalization_mode = "mean_std" if cfg.env.name == "aloha" else "min_max"
# TODO(now): These stats are needed to use their pretrained model for sim_transfer_cube_human.
# (Pdb) stats['observation']['state']['mean']
# tensor([-0.0071, -0.6293, 1.0351, -0.0517, -0.4642, -0.0754, 0.4751, -0.0373,
# -0.3324, 0.9034, -0.2258, -0.3127, -0.2412, 0.6866])
stats['observation', 'state', 'mean'] = torch.tensor([-0.00740268, -0.63187766, 1.0356655 , -0.05027218, -0.46199223,
-0.07467502, 0.47467607, -0.03615446, -0.33203387, 0.9038929 ,
-0.22060776, -0.31011587, -0.23484458, 0.6842416 ])
# (Pdb) stats['observation']['state']['std']
# tensor([0.0022, 0.0520, 0.0291, 0.0092, 0.0267, 0.0145, 0.0563, 0.0179, 0.0494,
# 0.0326, 0.0476, 0.0535, 0.0956, 0.0513])
stats['observation', 'state', 'std'] = torch.tensor([0.01219023, 0.2975381 , 0.16728032, 0.04733803, 0.1486037 ,
0.08788499, 0.31752336, 0.1049916 , 0.27933604, 0.18094037,
0.26604933, 0.30466506, 0.5298686 , 0.25505227])
# (Pdb) stats['action']['mean']
# tensor([-0.0075, -0.6346, 1.0353, -0.0465, -0.4686, -0.0738, 0.3723, -0.0396,
# -0.3184, 0.8991, -0.2065, -0.3182, -0.2338, 0.5593])
stats['action']['mean'] = torch.tensor([-0.00756444, -0.6281845 , 1.0312834 , -0.04664314, -0.47211358,
-0.074527 , 0.37389806, -0.03718753, -0.3261143 , 0.8997205 ,
-0.21371077, -0.31840396, -0.23360962, 0.551947])
# (Pdb) stats['action']['std']
# tensor([0.0023, 0.0514, 0.0290, 0.0086, 0.0263, 0.0143, 0.0593, 0.0185, 0.0510,
# 0.0328, 0.0478, 0.0531, 0.0945, 0.0794])
stats['action']['std'] = torch.tensor([0.01252818, 0.2957442 , 0.16701928, 0.04584508, 0.14833844,
0.08763024, 0.30665937, 0.10600077, 0.27572668, 0.1805853 ,
0.26304692, 0.30708534, 0.5305411 , 0.38381037])
transforms.append(NormalizeTransform(stats, in_keys, mode=normalization_mode))
offline_buffer.set_transform(transforms)