Modification on Dataset
To handle real data we need some modifications on the current implementation to train with data from multiple rosbags.
We discussed two options:
- Make the real data fit to the shape of synth data, means to successively load the bags and create a dataset similiar to the synth data shape (num_bags, num_samples, num_features)
- To read the bags and concatenate all samples within one entry, resulting in a shape similiar to (num_samples*num_bags, num_features) like it can be seen here 19e96697. Following it's needed to modify
dataset_iter_multi.py
and the v_map fn.
@Update: After discussing this thread with Kevin, we:
-
Modify the slide v_map fn -
Convert to np.ndarray after sliding due to uniform size of the data -
Write better concatenate part without addressing each attribute
Edited by Lisa-Marie Fenner