From 0a46487fa49955fe43301281d254285bc71cef24 Mon Sep 17 00:00:00 2001 From: Zipeng Fu Date: Sat, 25 Nov 2023 00:08:48 -0800 Subject: [PATCH] add co-training options to constants.py: sample_weights, list of dataset_dir, stats_dir, train_ratio --- aloha_scripts/constants.py | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/aloha_scripts/constants.py b/aloha_scripts/constants.py index 818eb3d..fc8e5a1 100644 --- a/aloha_scripts/constants.py +++ b/aloha_scripts/constants.py @@ -52,6 +52,19 @@ 'episode_len': 1100, 'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist'] }, + 'aloha_mobile_wash_pan_cotrain':{ + 'dataset_dir': [ + DATA_DIR + '/aloha_mobile_wash_pan', + DATA_DIR + '/aloha_compressed_dataset', + ], # only the first dataset_dir is used for val + 'stats_dir': [ + DATA_DIR + '/aloha_mobile_wash_pan', + ], + 'sample_weights': [100, 100], + 'train_ratio': 0.9, # ratio of train data from the first dataset_dir + 'episode_len': 1100, + 'camera_names': ['cam_high', 'cam_left_wrist', 'cam_right_wrist'] + }, 'aloha_mobile_dummy':{ 'dataset_dir': DATA_DIR + '/aloha_mobile_dummy', 'num_episodes': 50,