Make it compatible with LeRobot #2
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Cadene
commented
Apr 4, 2024
Comment on lines
+213
to
+223
| #state = self.np_random.uniform(low=[50, 50, 100, 100, -np.pi], high=[450, 450, 400, 400, np.pi]) | ||
| rs = np.random.RandomState(seed=seed) | ||
| state = np.array( | ||
| [ | ||
| rs.randint(50, 450), | ||
| rs.randint(50, 450), | ||
| rs.randint(100, 400), | ||
| rs.randint(100, 400), | ||
| rs.randn() * 2 * np.pi - np.pi, | ||
| ] | ||
| ) |
There was a problem hiding this comment.
@aliberts @qgallouedec For next time, we should remove the commented code if there is not context like a TODO or human readable comments before merging.
By the way, I tried both strategies during evaluation:
- with randint: 62% success rate (original pusht code)
- wihtout randint: 64% success rate (Quentin code)
So you were right @qgallouedec ^^ It seems to not affect success rate much (even improves it a bit!!!)
To reproduce:
DATA_DIR=../lerobot/data python lerobot/scripts/eval.py --hub-id lerobot/diffusion_policy_pusht_image --revision v1.1 eval_episodes=150 hydra.run.dir=outputs/eval/example_hub_2
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.