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revert libero delta action change (#351)

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Karl Pertsch
2025-02-28 14:26:01 -05:00
committed by GitHub
parent f1b9f4ab71 a4b1bf92f1
commit 92b1082442
1 changed files with 7 additions and 5 deletions
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12
src/openpi/training/config.py
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@@ -302,11 +302,13 @@ class LeRobotLiberoDataConfig(DataConfigFactory):
# apply a separate delta conversion (that's why it's commented out). Choose whether to apply this
# transform based on whether your dataset uses ``absolute`` or ``delta`` actions out of the box.
# delta_action_mask = _transforms.make_bool_mask(6, -1)
# data_transforms = data_transforms.push(
# inputs=[_transforms.DeltaActions(delta_action_mask)],
# outputs=[_transforms.AbsoluteActions(delta_action_mask)],
# )
# TODO(karl): comment this out once we have updated the Libero checkpoints to not use
# the delta action transform
delta_action_mask = _transforms.make_bool_mask(6, -1)
data_transforms = data_transforms.push(
inputs=[_transforms.DeltaActions(delta_action_mask)],
outputs=[_transforms.AbsoluteActions(delta_action_mask)],
)
# Model transforms include things like tokenizing the prompt and action targets
# You do not need to change anything here for your own dataset.