| """ |
| 验证 DROID action[:6] 是否等于 action_dict.cartesian_position |
| 用法: python verify_action.py --dataset_dir /path/to/droid/1.0.0 --num_episodes 5 |
| """ |
|
|
| import tensorflow_datasets as tfds |
| import numpy as np |
| import argparse |
|
|
| def verify(dataset_dir, num_episodes=5): |
| builder = tfds.builder_from_directory(dataset_dir) |
| ds = builder.as_dataset(split='train') |
| |
| for ep_idx, episode in enumerate(ds.take(num_episodes)): |
| steps = list(episode['steps']) |
| lang = steps[0]['language_instruction'].numpy().decode('utf-8') |
| print(f"\nEpisode {ep_idx}: {len(steps)} steps, task='{lang}'") |
| |
| max_diff_cart = 0.0 |
| max_diff_grip = 0.0 |
| |
| for step in steps: |
| action = step['action'].numpy() |
| cart_pos = step['action_dict']['cartesian_position'].numpy() |
| grip_pos = step['action_dict']['gripper_position'].numpy() |
| |
| diff_cart = np.abs(action[:6] - cart_pos).max() |
| diff_grip = np.abs(action[6] - grip_pos[0]) |
| |
| max_diff_cart = max(max_diff_cart, diff_cart) |
| max_diff_grip = max(max_diff_grip, diff_grip) |
| |
| print(f" action[:6] vs action_dict.cartesian_position max_diff: {max_diff_cart:.2e}") |
| print(f" action[6] vs action_dict.gripper_position max_diff: {max_diff_grip:.2e}") |
| |
| if max_diff_cart < 1e-10: |
| print(f" => action[:6] === commanded cartesian position") |
| else: |
| print(f" => 不一致! action[:6] 不是 cartesian_position") |
| |
| if max_diff_grip < 1e-10: |
| print(f" => action[6] === commanded gripper position") |
| else: |
| |
| grip_vel = step['action_dict']['gripper_velocity'].numpy() |
| print(f" => action[6] 不是 gripper_position，检查是否是 gripper_velocity...") |
|
|
| if __name__ == '__main__': |
| parser = argparse.ArgumentParser() |
| parser.add_argument('--dataset_dir', type=str, required=True) |
| parser.add_argument('--num_episodes', type=int, default=5) |
| args = parser.parse_args() |
| verify(args.dataset_dir, args.num_episodes) |
