JC6123/aloha
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

follow用policy_last

Browse Source
This commit is contained in:
JC6123
2026-02-20 16:45:16 +08:00
parent 88d0cc5ca2
commit 81e1bf8838
4 changed files with 129 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
constants.py
View File

@@ -40,6 +40,7 @@ ENDOSCOPE_TASK_CONFIGS = {
'camera_names': ['top'],
'state_dim': 2,
'action_dim': 2,
'real_action_t_minus_1': False,
'use_text_instruction': True,
'instruction_mode': 'timestep-level',
'use_cached_text_features': True,
@@ -57,6 +58,7 @@ ENDOSCOPE_TASK_CONFIGS = {
'camera_names': ['top'],
'state_dim': 2,
'action_dim': 2,
'real_action_t_minus_1': False,
'use_text_instruction': True,
'instruction_mode': 'timestep-level',
'use_cached_text_features': True,
@@ -74,6 +76,37 @@ ENDOSCOPE_TASK_CONFIGS = {
'camera_names': ['top'],
'state_dim': 2,
'action_dim': 2,
'real_action_t_minus_1': False,
'use_text_instruction': False,
},
'endoscope_sanity_check': {
'dataset_dir': DATA_DIR + '/sanity-check',
'num_episodes': 3,
'episode_len': 400,
'camera_names': ['top'],
'state_dim': 2,
'action_dim': 2,
'real_action_t_minus_1': False,
'use_text_instruction': False,
},
'endoscope_cannulation_no_text': {
'dataset_dir': DATA_DIR + '/cannulation-no-text',
'num_episodes': 3,
'episode_len': 400,
'camera_names': ['top'],
'state_dim': 2,
'action_dim': 2,
'real_action_t_minus_1': False,
'use_text_instruction': False,
},
'endoscope_follow_no_text': {
'dataset_dir': DATA_DIR + '/follow-no-text',
'num_episodes': 3,
'episode_len': 400,
'camera_names': ['top'],
'state_dim': 2,
'action_dim': 2,
'real_action_t_minus_1': False,
'use_text_instruction': False,
},
}