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feat(dataset): expose tolerance_s argument to training config (#2653)

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This commit is contained in:
Steven Palma
2025-12-16 00:53:19 +01:00
committed by GitHub
parent 4e6048a221
commit 2b304eeb84
2 changed files with 3 additions and 0 deletions
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src/lerobot/configs/train.py
+1
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@@ -56,6 +56,7 @@ class TrainPipelineConfig(HubMixin):
steps: int = 100_000 steps: int = 100_000
eval_freq: int = 20_000 eval_freq: int = 20_000
log_freq: int = 200 log_freq: int = 200
tolerance_s: float = 1e-4
save_checkpoint: bool = True save_checkpoint: bool = True
# Checkpoint is saved every `save_freq` training iterations and after the last training step. # Checkpoint is saved every `save_freq` training iterations and after the last training step.
save_freq: int = 20_000 save_freq: int = 20_000
src/lerobot/datasets/factory.py
+2
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@@ -98,6 +98,7 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
image_transforms=image_transforms, image_transforms=image_transforms,
revision=cfg.dataset.revision, revision=cfg.dataset.revision,
video_backend=cfg.dataset.video_backend, video_backend=cfg.dataset.video_backend,
tolerance_s=cfg.tolerance_s,
) )
else: else:
dataset = StreamingLeRobotDataset( dataset = StreamingLeRobotDataset(
@@ -108,6 +109,7 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
image_transforms=image_transforms, image_transforms=image_transforms,
revision=cfg.dataset.revision, revision=cfg.dataset.revision,
max_num_shards=cfg.num_workers, max_num_shards=cfg.num_workers,
tolerance_s=cfg.tolerance_s,
) )
else: else:
raise NotImplementedError("The MultiLeRobotDataset isn't supported for now.") raise NotImplementedError("The MultiLeRobotDataset isn't supported for now.")