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Merge branch 'feat/add_relative_action_pi_models' into feat/mirror

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Pepijn
2026-02-21 08:02:39 +01:00
parent aa32e6c4ab 33cedc2f71
commit 75f1285507
1 changed files with 2 additions and 2 deletions
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src/lerobot/scripts/lerobot_train.py
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@@ -246,14 +246,14 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
# Recompute action stats as delta if use_delta_actions is enabled.
# 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.
# 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:
import numpy as np
from lerobot.datasets.compute_stats import get_feature_stats
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()
logging.info(
f"use_delta_actions is enabled — computing delta action stats from {max_samples} dataset chunks"