admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-24 18:26:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

sample 1m

Browse Source
This commit is contained in:
Pepijn
2026-02-21 08:02:25 +01:00
parent f906270ec4
commit 33cedc2f71
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/scripts/lerobot_train.py
+2 -2
View File
@@ -246,14 +246,14 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
# Recompute action stats as delta if use_delta_actions is enabled. # Recompute action stats as delta if use_delta_actions is enabled.
# Must iterate the actual dataset (which returns action chunks via delta_timestamps) # Must iterate the actual dataset (which returns action chunks via delta_timestamps)
# so stats capture the full range of chunk-level deltas, not just per-frame deltas. # so stats capture the full range of chunk-level deltas, not just per-frame deltas.
# We sample a subset for speed — 100K frames is sufficient for accurate stats. # We sample a subset for speed — 1M frames is sufficient for accurate stats.
if getattr(cfg.policy, "use_delta_actions", False) and is_main_process: if getattr(cfg.policy, "use_delta_actions", False) and is_main_process:
import numpy as np import numpy as np
from lerobot.datasets.compute_stats import get_feature_stats from lerobot.datasets.compute_stats import get_feature_stats
from lerobot.processor.delta_action_processor import to_delta_actions from lerobot.processor.delta_action_processor import to_delta_actions
max_samples = min(100_000, len(dataset)) max_samples = min(1000000, len(dataset))
indices = np.random.choice(len(dataset), max_samples, replace=False).tolist() indices = np.random.choice(len(dataset), max_samples, replace=False).tolist()
logging.info( logging.info(
f"use_delta_actions is enabled — computing delta action stats from {max_samples} dataset chunks" f"use_delta_actions is enabled — computing delta action stats from {max_samples} dataset chunks"