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skipping keys containing lists, bc the robot gives nothing but tensors

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fracapuano
2025-05-31 21:01:31 +02:00
parent 302bdd51a6
commit 312d45b7fe
1 changed files with 3 additions and 0 deletions
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lerobot/common/robot_devices/control_utils.py
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@@ -109,6 +109,9 @@ def predict_action(observation, policy, device, use_amp):
): ):
# 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:
if isinstance(observation[name], list):
continue # VLA-like and multirobot policies include textual inputs in the observation
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()