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max 1m frames

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Pepijn
2026-02-21 17:43:58 +01:00
parent acae8417aa
commit de0663226a
1 changed files with 2 additions and 2 deletions
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4
src/lerobot/scripts/lerobot_train.py
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@@ -255,8 +255,8 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
chunk_size = cfg.policy.chunk_size
hf = dataset.hf_dataset
total_frames = len(hf)
max_samples = total_frames - chunk_size
indices = np.arange(max_samples)
max_samples = min(1_000_000, total_frames - chunk_size)
indices = np.random.choice(total_frames - chunk_size, max_samples, replace=False)
logging.info(
f"use_delta_actions is enabled — computing delta action stats "
f"from {max_samples} chunk samples (chunk_size={chunk_size})"