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Added logging for interventions to monitor the rate of interventions through time

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Added an s keyboard command to force success in the case the reward classifier fails

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
This commit is contained in:
Michel Aractingi
2025-02-13 11:04:49 +01:00
parent b9217b06db
commit dc086dc21f
5 changed files with 45 additions and 18 deletions
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lerobot/configs/env/so100_real.yaml
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@@ -12,10 +12,10 @@ env:
wrapper:
crop_params_dict:
observation.images.front: [126, 43, 329, 518]
observation.images.side: [93, 69, 381, 434]
# observation.images.front: [135, 59, 331, 527]
# observation.images.side: [79, 47, 397, 450]
observation.images.front: [102, 43, 358, 523]
observation.images.side: [92, 123, 379, 349]
# observation.images.front: [109, 37, 361, 557]
# observation.images.side: [94, 161, 372, 315]
resize_size: [128, 128]
control_time_s: 20
reset_follower_pos: true