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Merge branch 'feat/add_relative_action_pi_models' into feat/mirror

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Pepijn
2026-02-21 07:52:10 +01:00
parent 733b6d84db f906270ec4
commit aa32e6c4ab
1 changed files with 9 additions and 5 deletions
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14
src/lerobot/scripts/lerobot_train.py
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@@ -254,16 +254,20 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
from lerobot.processor.delta_action_processor import to_delta_actions
max_samples = min(100_000, len(dataset))
indices = np.random.choice(len(dataset), max_samples, replace=False)
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"
)
# Read only action and state from parquet (no video decoding)
hf = dataset.hf_dataset
actions_raw = hf.select(indices)["action"]
states_raw = hf.select(indices)["observation.state"]
all_delta_actions = []
for i in indices:
item = dataset[int(i)]
action = item["action"]
state = item["observation.state"]
for action, state in zip(actions_raw, states_raw):
action = torch.as_tensor(action).float()
state = torch.as_tensor(state).float()
if action.ndim == 1:
action = action.unsqueeze(0)
mask = [True] * action.shape[-1]