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feat(data): add recipe-driven language supervision

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Pepijn
2026-07-28 10:04:28 +02:00
parent 95211b98f1
commit 3f093d8927
21 changed files with 779 additions and 57 deletions
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tests/datasets/test_sampler.py
+1 -3
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@@ -25,7 +25,7 @@ from datasets import Dataset # noqa: E402
from lerobot.datasets.io_utils import (
hf_transform_to_torch,
)
from lerobot.datasets.sampler import EpisodeAwareSampler
from lerobot.datasets.sampler import EpisodeAwareSampler, compute_sampler_state
def calculate_episode_data_index(hf_dataset: Dataset) -> dict[str, torch.Tensor]:
@@ -154,8 +154,6 @@ def test_partial_episode_drop_warns(caplog):
# --- seeded (seed, epoch) shuffling, resume, and state ---
from lerobot.datasets.sampler import compute_sampler_state # noqa: E402
EPISODE_BOUNDS = ([0, 2, 3], [2, 3, 6]) # episodes of 2, 1 and 3 frames