From 2697f65cf6b7ed2a8c9c9e5f541192d1f37d0364 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Sat, 21 Feb 2026 17:15:45 +0100 Subject: [PATCH 1/2] stats for entire dataset --- src/lerobot/scripts/lerobot_train.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/scripts/lerobot_train.py b/src/lerobot/scripts/lerobot_train.py index 5b7fc6fca..d9a0f6a56 100644 --- a/src/lerobot/scripts/lerobot_train.py +++ b/src/lerobot/scripts/lerobot_train.py @@ -255,8 +255,8 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None): chunk_size = cfg.policy.chunk_size hf = dataset.hf_dataset total_frames = len(hf) - max_samples = min(100_000, total_frames - chunk_size) - indices = np.random.choice(total_frames - chunk_size, max_samples, replace=False) + max_samples = total_frames - chunk_size + indices = np.arange(max_samples) logging.info( f"use_delta_actions is enabled — computing delta action stats " f"from {max_samples} chunk samples (chunk_size={chunk_size})" From acae8417aab43a14928ac41ec0a4965439121414 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Sat, 21 Feb 2026 17:28:26 +0100 Subject: [PATCH 2/2] fix --- src/lerobot/scripts/lerobot_train.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/scripts/lerobot_train.py b/src/lerobot/scripts/lerobot_train.py index d9a0f6a56..b15e0cf3b 100644 --- a/src/lerobot/scripts/lerobot_train.py +++ b/src/lerobot/scripts/lerobot_train.py @@ -274,8 +274,8 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None): continue chunk_data = hf[idx:end_idx] - actions = torch.tensor(np.stack([np.array(a, copy=False) for a in chunk_data["action"]])).float() - state = torch.tensor(np.array(chunk_data["observation.state"][0], copy=False)).float() + actions = torch.tensor(np.stack([np.asarray(a) for a in chunk_data["action"]])).float() + state = torch.tensor(np.asarray(chunk_data["observation.state"][0])).float() mask = [True] * actions.shape[-1] delta = to_delta_actions(actions.unsqueeze(0), state.unsqueeze(0), mask).squeeze(0)