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代码可以跑起来了

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JC6123
2026-02-19 15:32:28 +08:00
parent b701d939c2
commit 88d14221ae
11 changed files with 503 additions and 89 deletions
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39
constants.py
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@@ -1,7 +1,7 @@
import pathlib
### Task parameters
DATA_DIR = '<put your data dir here>'
DATA_DIR = str(pathlib.Path(__file__).parent.resolve() / 'data')
SIM_TASK_CONFIGS = {
'sim_transfer_cube_scripted':{
'dataset_dir': DATA_DIR + '/sim_transfer_cube_scripted',
@@ -32,6 +32,43 @@ SIM_TASK_CONFIGS = {
},
}
ENDOSCOPE_TASK_CONFIGS = {
'endoscope_default': {
'dataset_dir': DATA_DIR + '/endoscope_default',
'num_episodes': 50,
'episode_len': 400,
'camera_names': ['top'],
'state_dim': 2,
'action_dim': 2,
'use_text_instruction': True,
'instruction_mode': 'timestep-level',
'use_cached_text_features': True,
'text_encoder_type': 'distilbert',
'text_feature_dim': 768,
'text_fusion_type': 'concat_transformer_input',
'freeze_text_encoder': True,
'text_max_length': 32,
'text_tokenizer_name': 'distilbert-base-uncased',
},
'endoscope_follow': {
'dataset_dir': DATA_DIR + '/follow',
'num_episodes': 3,
'episode_len': 400,
'camera_names': ['top'],
'state_dim': 2,
'action_dim': 2,
'use_text_instruction': True,
'instruction_mode': 'timestep-level',
'use_cached_text_features': True,
'text_encoder_type': 'distilbert',
'text_feature_dim': 768,
'text_fusion_type': 'concat_transformer_input',
'freeze_text_encoder': True,
'text_max_length': 32,
'text_tokenizer_name': 'distilbert-base-uncased',
},
}
### Simulation envs fixed constants
DT = 0.02
JOINT_NAMES = ["waist", "shoulder", "elbow", "forearm_roll", "wrist_angle", "wrist_rotate"]