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Read text embeddings from preprocessed_data during eval #9

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11 changes: 10 additions & 1 deletion amplify/utils/libero_utils/env_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,16 @@ def get_task_emb(task_suite, task_name, dataset_path=None):
task_file = f"{task_name}_demo.hdf5"
task_file_path = os.path.join(task_suite_path, task_file)
with h5py.File(task_file_path, 'r') as f:
task_emb = torch.tensor(f['text_emb'][()])
if 'text_emb' in f:
task_emb = torch.tensor(f['text_emb'][()])
else:
# Fallback to the preprocessed text embeddings if not in the dataset
root_dir = get_root_dir()
fallback_path = os.path.join(root_dir, 'preprocessed_data', task_suite, 'text', f'{task_name}.hdf5')
if not os.path.exists(fallback_path):
raise ValueError(f"text_emb not found in {task_file_path} and fallback text embedding missing at {fallback_path}. Please run: python -m preprocessing.preprocess_libero mode=text suite='{task_suite}'")
with h5py.File(fallback_path, 'r') as fallback_f:
task_emb = torch.tensor(fallback_f['text_emb'][()])

return task_emb

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