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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 5d6879d93a
commit ee820859d3
5 changed files with 45 additions and 18 deletions
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lerobot/scripts/server/crop_dataset_roi.py
+11 -3
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@@ -245,10 +245,18 @@ if __name__ == "__main__":
images = {k: v.cpu().permute(1, 2, 0).numpy() for k, v in images.items()}
images = {k: (v * 255).astype("uint8") for k, v in images.items()}
rois = select_square_roi_for_images(images)
# rois = select_square_roi_for_images(images)
rois = {
"observation.images.front": [102, 43, 358, 523],
"observation.images.side": [92, 123, 379, 349],
}
# rois = {
# "observation.images.front": [126, 43, 329, 518],
# "observation.images.side": [93, 69, 381, 434],
# "observation.images.side": (92, 123, 379, 349),
# "observation.images.front": (109, 37, 361, 557),
# }
# rois = {
# "observation.images.front": [109, 37, 361, 557],
# "observation.images.side": [94, 161, 372, 315],
# }
# Print the selected rectangular ROIs