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typo fix: example_1 python script #631

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imstevenpmwork merged 4 commits into from
Apr 7, 2025
Merged

typo fix: example_1 python script #631

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typo fix: example_1 python script
junwuzhang Jan 13, 2025
78353db
Merge branch 'main' into junwuz-fix-typos-example-1
junwuzhang Jan 18, 2025
2d80c80
Merge branch 'main' into junwuz-fix-typos-example-1
junwuzhang Feb 18, 2025
1e83a42
Merge branch 'main' into junwuz-fix-typos-example-1
imstevenpmwork Apr 7, 2025
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4 changes: 2 additions & 2 deletions examples/1_load_lerobot_dataset.py
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Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,7 @@
delta_timestamps = {
# loads 4 images: 1 second before current frame, 500 ms before, 200 ms before, and current frame
camera_key: [-1, -0.5, -0.20, 0],
# loads 8 state vectors: 1.5 seconds before, 1 second before, ... 200 ms, 100 ms, and current frame
# loads 6 state vectors: 1.5 seconds before, 1 second before, ... 200 ms, 100 ms, and current frame
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@tc-huang tc-huang Jan 28, 2025

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Since the length of the observation.state list is 6 instead of 8, this change seems reasonable.

"observation.state": [-1.5, -1, -0.5, -0.20, -0.10, 0],
# loads 64 action vectors: current frame, 1 frame in the future, 2 frames, ... 63 frames in the future
"action": [t / dataset.fps for t in range(64)],
Expand All @@ -129,6 +129,6 @@

for batch in dataloader:
print(f"{batch[camera_key].shape=}") # (32, 4, c, h, w)
print(f"{batch['observation.state'].shape=}") # (32, 5, c)
print(f"{batch['observation.state'].shape=}") # (32, 6, c)
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@tc-huang tc-huang Jan 28, 2025

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I tested the code by running python3 examples/1_load_lerobot_dataset.py. The last lines of the output, as shown in the attached image, indicates that batch['observation.state'].shape = torch.Size([32, 6, 14]). Therefore, this modification to the comment is correct.

截圖 2025-01-28 上午10 01 57

print(f"{batch['action'].shape=}") # (32, 64, c)
break