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feat(dataset): integrate episode streaming into training

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Pepijn
2026-07-23 16:10:39 +02:00
parent b85620657f
commit 3d70b21aac
34 changed files with 2771 additions and 942 deletions
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tests/datasets/test_depth.py
+9 -10
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@@ -323,14 +323,13 @@ class TestDepthUnitMetadata:
np.testing.assert_allclose(float(np.asarray(stats["mean"]).reshape(-1)[0]), expected, rtol=0.05)
np.testing.assert_allclose(float(np.asarray(stats["count"]).reshape(-1)[0]), count)
if not use_videos:
depth = read_dataset[0][DEPTH_KEY]
assert torch.allclose(depth, torch.full_like(depth, expected))
from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
stream_dataset = StreamingLeRobotDataset(
repo_id=DUMMY_REPO_ID, root=tmp_path / "ds", depth_output_unit=output_unit
)
stream_depth = next(iter(stream_dataset))[DEPTH_KEY]
assert torch.allclose(stream_depth, torch.full_like(stream_depth, expected))
stream_dataset = StreamingLeRobotDataset(
repo_id=DUMMY_REPO_ID, root=tmp_path / "ds", depth_output_unit=output_unit
)
stream_item = next(iter(stream_dataset))
stream_depth = stream_item[DEPTH_KEY]
reference_depth = read_dataset[int(stream_item["index"])][DEPTH_KEY]
assert torch.allclose(stream_depth, reference_depth)
assert torch.allclose(stream_depth, torch.full_like(stream_depth, expected), rtol=0.05)