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Dev/bench by frame #21

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3b841fb
chore: Update batch_sizes in evaluation.sh to only include 4
KeplerC Sep 23, 2024
68da7d5
chore: Add support for unit selection in HDF5 loader
KeplerC Sep 23, 2024
081dd04
LeRobot frame slicing added
Lenoplus42 Sep 23, 2024
ae494f9
Merge pull request #22 from BerkeleyAutomation/slicing
KeplerC Sep 23, 2024
368bf08
chore: Update HDF5 loader to support unit selection and batch size cu…
KeplerC Sep 23, 2024
ca0c0b6
Merge branch 'dev/bench-by-frame' of https://github.com/BerkeleyAutom…
KeplerC Sep 23, 2024
85f5266
vla done!
KeplerC Sep 23, 2024
e573046
fix lerobot
KeplerC Sep 23, 2024
219c7e4
RLDS frame slicing
Lenoplus42 Sep 24, 2024
f129d37
RLDS slicing & fixes
Lenoplus42 Sep 27, 2024
c9975fe
chore: Update HDF5 loader buffer size and num_workers
KeplerC Oct 2, 2024
834fdcd
Accept changes
KeplerC Oct 2, 2024
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405 changes: 136 additions & 269 deletions benchmarks/Visualization.ipynb
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46 changes: 23 additions & 23 deletions benchmarks/openx.py → benchmarks/openx_by_episode.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
import argparse
import time
import numpy as np
from fog_x.loader import RLDSLoader, VLALoader, HDF5Loader
from fog_x.loader import RLDSLoader, VLALoader
import tensorflow as tf
import pandas as pd
import fog_x
Expand Down Expand Up @@ -340,34 +340,34 @@ def evaluation(args):
logger.debug(f"Evaluating dataset: {dataset_name}")

handlers = [
# VLAHandler(
# args.exp_dir,
# dataset_name,
# args.num_batches,
# args.batch_size,
# args.log_frequency,
# ),
VLAHandler(
args.exp_dir,
dataset_name,
args.num_batches,
args.batch_size,
args.log_frequency,
),
HDF5Handler(
args.exp_dir,
dataset_name,
args.num_batches,
args.batch_size,
args.log_frequency,
),
# LeRobotHandler(
# args.exp_dir,
# dataset_name,
# args.num_batches,
# args.batch_size,
# args.log_frequency,
# ),
# RLDSHandler(
# args.exp_dir,
# dataset_name,
# args.num_batches,
# args.batch_size,
# args.log_frequency,
# ),
LeRobotHandler(
args.exp_dir,
dataset_name,
args.num_batches,
args.batch_size,
args.log_frequency,
),
RLDSHandler(
args.exp_dir,
dataset_name,
args.num_batches,
args.batch_size,
args.log_frequency,
),
# FFV1Handler(
# args.exp_dir,
# dataset_name,
Expand Down Expand Up @@ -438,4 +438,4 @@ def evaluation(args):
)
args = parser.parse_args()

evaluation(args)
evaluation(args)
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