add co-training options to constants.py: sample_weights, list of data…

…set_dir, stats_dir, train_ratio
agilexrobotics · Nov 25, 2023 · 0a46487 · 0a46487
1 parent acc201e
commit 0a46487
Showing 1 changed file with 13 additions and 0 deletions.
diff --git 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,