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This commit is contained in:
Jade Choghari
2025-12-17 18:03:09 +00:00
parent b229e7df28
commit 18ddc67714
20 changed files with 5417 additions and 13 deletions
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examples/dataset/run_pgen.sh
+3 -2
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@@ -4,12 +4,12 @@
# This generates user prompts and robot utterances for hierarchical policy training
# Configuration
REPO_ID="lerobot/svla_so101_pickplace"
REPO_ID="jadechoghari/collect-data"
MODEL="Qwen/Qwen3-VL-30B-A3B-Instruct"
# Alternative: MODEL="Qwen/Qwen2-VL-7B-Instruct"
OUTPUT_DIR="/fsx/jade_choghari/outputs/pgen_annotations1"
OUTPUT_DIR="/fsx/jade_choghari/outputs/collect-data-pgen"
BATCH_SIZE=32
TEMPERATURE=0.9
SAMPLE_INTERVAL=5.0 # Generate dialogue every 1 second (all episodes processed)
@@ -22,6 +22,7 @@ python examples/dataset/annotate_pgen.py \
--temperature "$TEMPERATURE" \
--batch-size "$BATCH_SIZE" \
--sample-interval "$SAMPLE_INTERVAL" \
--image-key observation.images.base \
--num-image-views-per-sample 1
# For faster testing, increase sample interval: