Add option to provide stats to make_interleaved_dataset and skip keys during norm #62
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…ys during normalization
kvablack
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Mar 14, 2024
WenchangGaoT
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May 10, 2024
…al_again Update widowx eval again
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Small data loader changes we found helpful during DROID training:
make_interleaved_datasetthat are used for normalization (we still compute individual stats for weight & thread balancing) -- useful if you eg want to do co-training and normalize all datasets with the same statsmake_dataset_from_rldsthat allows to skip keys during normalization (eg in DROID we don't normalize proprio)@kvablack would be great to merge this ASAP if you have time to take a look!