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fix kuka_dataset_transform & filter

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Tavish
2025-02-21 19:51:27 +08:00
parent a96845809b
commit 43fe83852c
2 changed files with 6 additions and 14 deletions
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openx_rlds.py
+6 -1
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@@ -190,7 +190,12 @@ def create_lerobot_dataset(
builder = tfds.builder(dataset_name, data_dir=data_dir, version=version)
features = generate_features_from_raw(builder, use_videos)
raw_dataset = builder.as_dataset(split="train").map(partial(transform_raw_dataset, dataset_name=dataset_name))
filter_fn = lambda e: e["success"] if dataset_name == "kuka" else True
raw_dataset = (
builder.as_dataset(split="train")
.filter(filter_fn)
.map(partial(transform_raw_dataset, dataset_name=dataset_name))
)
if fps is None:
if dataset_name in OXE_DATASET_CONFIGS:
oxe_utils/transforms.py
-13
View File
@@ -192,19 +192,6 @@ def kuka_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]:
),
axis=-1,
)
# decode compressed state
eef_value = tf.io.decode_compressed(
trajectory["observation"]["clip_function_input/base_pose_tool_reached"],
compression_type="ZLIB",
)
eef_value = tf.io.decode_raw(eef_value, tf.float32)
trajectory["observation"]["clip_function_input/base_pose_tool_reached"] = tf.reshape(eef_value, (-1, 7))
gripper_value = tf.io.decode_compressed(trajectory["observation"]["gripper_closed"], compression_type="ZLIB")
gripper_value = tf.io.decode_raw(gripper_value, tf.float32)
trajectory["observation"]["gripper_closed"] = tf.reshape(gripper_value, (-1, 1))
# trajectory["language_instruction"] = tf.fill(
# tf.shape(trajectory["observation"]["natural_language_instruction"]), ""
# ) # delete uninformative language instruction
trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"]
return trajectory