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Progress on aggregate_datasets

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This commit is contained in:
Remi Cadene
2025-04-19 19:11:53 +05:30
parent 54b5c805bf
commit b0cca75e5e
7 changed files with 149 additions and 87 deletions
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lerobot/common/datasets/lerobot_dataset.py
+4 -4
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@@ -712,8 +712,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
return get_hf_features_from_features(self.features)
def _get_query_indices(self, idx: int, ep_idx: int) -> tuple[dict[str, list[int | bool]]]:
ep_start = self.meta.episodes["data/from_index"][ep_idx]
ep_end = self.meta.episodes["data/to_index"][ep_idx]
ep_start = self.meta.episodes["dataset_from_index"][ep_idx]
ep_end = self.meta.episodes["dataset_to_index"][ep_idx]
query_indices = {
key: [max(ep_start, min(ep_end - 1, idx + delta)) for delta in delta_idx]
for key, delta_idx in self.delta_indices.items()
@@ -1017,8 +1017,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
metadata = {
"data/chunk_index": chunk_idx,
"data/file_index": file_idx,
"data/from_index": latest_num_frames,
"data/to_index": latest_num_frames + ep_num_frames,
"dataset_from_index": latest_num_frames,
"dataset_to_index": latest_num_frames + ep_num_frames,
}
return metadata