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isri-aist · Dec 1, 2024 · 0d805bb · 0d805bb
1 parent dfc21f5
commit 0d805bb
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Showing 4 changed files with 14 additions and 18 deletions.
diff --git a/robo_manip_baselines/act/bin/TrainAct.py b/robo_manip_baselines/act/bin/TrainAct.py
@@ -46,19 +46,13 @@ def setup_args(self):
             required=False,
             default=["front"],
         )
-        parser.add_argument(
-            "--batch_size", default=8, type=int, help="batch_size"
-        )
+        parser.add_argument("--batch_size", default=8, type=int, help="batch_size")
         parser.add_argument("--seed", default=0, type=int, help="seed")
-        parser.add_argument(
-            "--num_epochs", default=1000, type=int, help="num_epochs"
-        )
+        parser.add_argument("--num_epochs", default=1000, type=int, help="num_epochs")
         parser.add_argument("--lr", default=1e-5, type=float, help="lr")
 
         # for ACT
-        parser.add_argument(
-            "--kl_weight", default=10, type=int, help="KL weight"
-        )
+        parser.add_argument("--kl_weight", default=10, type=int, help="KL weight")
         parser.add_argument(
             "--chunk_size", default=100, type=int, help="action chunking size"
         )

diff --git a/robo_manip_baselines/diffusion_policy/lib/RolloutDiffusionPolicy.py b/robo_manip_baselines/diffusion_policy/lib/RolloutDiffusionPolicy.py
@@ -21,7 +21,7 @@ def setup_args(self, parser=None):
             "--checkpoint",
             type=str,
             help="checkpoint file of diffusion policy (*.ckpt)",
-            required=True
+            required=True,
         )
 
         super().setup_args(parser)

diff --git a/robo_manip_baselines/sarnn/lib/RolloutSarnn.py b/robo_manip_baselines/sarnn/lib/RolloutSarnn.py
@@ -24,7 +24,7 @@ def setup_args(self, parser=None):
             "--checkpoint",
             type=str,
             help="checkpoint file of SARNN (*.pth)",
-            required=True
+            required=True,
         )
         parser.add_argument(
             "--cropped_img_size", default=280, type=int, help="size to crop the image"

diff --git a/robo_manip_baselines/teleop/lib/TeleopBase.py b/robo_manip_baselines/teleop/lib/TeleopBase.py
@@ -387,13 +387,15 @@ def manage_status(self):
             self.quit_flag = True
 
     def save_data(self):
-        filename = "teleop_data/{}_{:%Y%m%d_%H%M%S}/env{:0>1}/{}_env{:0>1}_{:0>3}.npz".format(
-            self.demo_name,
-            self.datetime_now,
-            self.data_manager.world_idx,
-            self.demo_name,
-            self.data_manager.world_idx,
-            self.data_manager.data_idx,
+        filename = (
+            "teleop_data/{}_{:%Y%m%d_%H%M%S}/env{:0>1}/{}_env{:0>1}_{:0>3}.npz".format(
+                self.demo_name,
+                self.datetime_now,
+                self.data_manager.world_idx,
+                self.demo_name,
+                self.data_manager.world_idx,
+                self.data_manager.data_idx,
+            )
         )
         if self.args.compress_rgb:
             print("- Compress rgb images")