From 33cedc2f713ea9c1c62ad149b08f7e341d49b199 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Sat, 21 Feb 2026 08:02:25 +0100 Subject: [PATCH] sample 1m --- src/lerobot/scripts/lerobot_train.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/scripts/lerobot_train.py b/src/lerobot/scripts/lerobot_train.py index 23bd822e2..ce6b262d1 100644 --- a/src/lerobot/scripts/lerobot_train.py +++ b/src/lerobot/scripts/lerobot_train.py @@ -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"