Hello, thank you very much for your open-source project.
I got a question about the hdf5 data loading process, I notice that in function in below:
def load_hdf5_dataset(
episode_path: str | Path,
) -> dict:
"""Load hdf5 dataset and return a dict with observations and actions"""
with h5py.File(episode_path) as f:
state_images_cam_high = np.array(f["observations/images/cam_high"])
state_images_cam_left_wrist = np.array(f["observations/images/cam_left_wrist"])
state_images_cam_right_wrist = np.array(f["observations/images/cam_right_wrist"])
state_qpos = np.array(f["observations/qpos"])
assert (
state_images_cam_high.shape[0]
== state_images_cam_left_wrist.shape[0]
== state_images_cam_right_wrist.shape[0]
== state_qpos.shape[0]
)
epi_len = state_images_cam_high.shape[0]
episode = {
"observation.state": state_qpos.reshape((epi_len, -1)),
"observation.images.top_head": state_images_cam_high,
"observation.images.hand_left": state_images_cam_left_wrist,
"observation.images.hand_right": state_images_cam_right_wrist,
"action": state_qpos.reshape((epi_len, -1)),
"epi_len": epi_len
}
return episode
you use state_qpos as action input, is that a special design or a mini bug? That cofuse me a bit
Thank you for your attention.
Hello, thank you very much for your open-source project.
I got a question about the hdf5 data loading process, I notice that in function in below:
def load_hdf5_dataset(
episode_path: str | Path,
) -> dict:
"""Load hdf5 dataset and return a dict with observations and actions"""
you use state_qpos as action input, is that a special design or a mini bug? That cofuse me a bit
Thank you for your attention.