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fix bugs in feature shape

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Tavish
2025-02-20 20:54:24 +08:00
parent d2456c1506
commit 6e7bdc3e9e
1 changed files with 3 additions and 4 deletions
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openx_rlds.py
+2 -3
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@@ -107,16 +107,15 @@ def generate_features_from_raw(builder: tfds.core.DatasetBuilder, use_videos: bo
elif action_encoding == ActionEncoding.JOINT_POS: elif action_encoding == ActionEncoding.JOINT_POS:
action_names = [f"motor_{i}" for i in range(7)] + ["gripper"] action_names = [f"motor_{i}" for i in range(7)] + ["gripper"]
DEFAULT_FEATURES = { DEFAULT_FEATURES = {
"observation.state": { "observation.state": {
"dtype": "float32", "dtype": "float32",
"shape": (8,), "shape": (len(state_names),),
"names": {"motors": state_names}, "names": {"motors": state_names},
}, },
"action": { "action": {
"dtype": "float32", "dtype": "float32",
"shape": (7,), "shape": (len(action_names),),
"names": {"motors": action_names}, "names": {"motors": action_names},
}, },
} }