Skip to content

Update 4.mdx #8

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
+4 −4
Open

Update 4.mdx #8

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions units/en/unit1/4.mdx
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ Here are different ways to set up temporal windows depending on your use case. S
```python
# Simple: current observation → current action
delta_timestamps = {
"observation.images.wrist_camera": [0.0], # Just current frame
"observation.images.up": [0.0], # Just current frame
"action": [0.0] # Just current action
}

Expand All @@ -47,7 +47,7 @@ dataset = LeRobotDataset(
```python
# Use observation history for context
delta_timestamps = {
"observation.images.wrist_camera": [-0.2, -0.1, 0.0], # 200ms history
"observation.images.up": [-0.2, -0.1, 0.0], # 200ms history
"action": [0.0] # Current action
}

Expand All @@ -69,7 +69,7 @@ sample = dataset[100]
```python
# Predict multiple future actions at once
delta_timestamps = {
"observation.images.wrist_camera": [-0.1, 0.0], # Recent + current
"observation.images.up": [-0.1, 0.0], # Recent + current
"action": [0.0, 0.1, 0.2, 0.3] # Current + 3 future actions
}

Expand Down Expand Up @@ -157,7 +157,7 @@ for batch in dataloader:
# Move to device
observations = batch["observation.state"].to(device)
actions = batch["action"].to(device)
images = batch["observation.images.wrist_camera"].to(device)
images = batch["observation.images.up"].to(device)

# Your model training here
# loss = model(observations, images, actions)
Expand Down