hangX/lerobot
1
0
Fork 0
forked from tangger/lerobot
Code Pull Requests Activity

fix(utils): Convert observation values in predict_action to torch.Tensor (#1157)

Browse Source 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Steven Palma
2025-05-28 15:29:08 +02:00
committed by GitHub
parent 69e48bbe19
commit 1fd3b2e2db
1 changed files with 1 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
lerobot/common/utils/control_utils.py
View File

@@ -112,6 +112,7 @@ def predict_action(
): ):
# Convert to pytorch format: channel first and float32 in [0,1] with batch dimension # Convert to pytorch format: channel first and float32 in [0,1] with batch dimension
for name in observation: for name in observation:
observation[name] = torch.from_numpy(observation[name])
if "image" in name: if "image" in name:
observation[name] = observation[name].type(torch.float32) / 255 observation[name] = observation[name].type(torch.float32) / 255
observation[name] = observation[name].permute(2, 0, 1).contiguous() observation[name] = observation[name].permute(2, 0, 1).contiguous()