admin/any4lerobot
1
0
Fork 0
mirror of https://github.com/Tavish9/any4lerobot.git synced 2026-05-22 09:29:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix agibot2lerobot and update dirty tasks

Browse Source
This commit is contained in:
Tavish
2025-04-22 22:43:26 +08:00
parent 405220e07f
commit 3e4e37317e
3 changed files with 64 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
agibot2lerobot/agibot_utils/agibot_utils.py
+7 -2
View File
@@ -34,10 +34,12 @@ def load_local_dataset(
for key in AgiBotWorld_CONFIG["actions"]:
action[f"actions.{key}"] = np.array(f["action/" + key.replace(".", "/")], dtype=np.float32)
# HACK: agibot team forgot to pad some of the values
# HACK: agibot team forgot to pad or filter some of the values
num_frames = len(next(iter(state.values())))
for action_key, action_value in action.items():
if action_value.size and len(action_value) != num_frames:
if 0 == len(action_value):
print("0 action occurs, padding all with zeros later")
elif len(action_value) < num_frames:
state_key = action_key.replace("actions", "state").replace(".", "/")
new_action_value = np.array(f[state_key], dtype=np.float32).copy()
action_index_key = "/".join(list(action_key.replace("actions", "action").split(".")[:-1]) + ["index"])
@@ -48,6 +50,9 @@ def load_local_dataset(
action_index = np.array(f[action_index_key])
new_action_value[action_index] = action_value
action[action_key] = new_action_value
elif len(action_value) > num_frames:
print("corrupt data, skipping")
return episode_id, [], {"dummy_video": Path("/path/to/no_exist")}
if save_depth:
depth_imgs = load_depths(ob_dir / "depth", "head_depth")