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fix bug in compute_stats for action normalization

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Cadene
2024-03-11 09:37:56 +00:00
parent 4cc7e1539e
commit a7ef4a6a33
2 changed files with 2 additions and 2 deletions
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2
lerobot/common/datasets/abstract.py
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@@ -54,7 +54,7 @@ class AbstractExperienceReplay(TensorDictReplayBuffer):
return { return {
("observation", "state"): "b c -> 1 c", ("observation", "state"): "b c -> 1 c",
("observation", "image"): "b c h w -> 1 c 1 1", ("observation", "image"): "b c h w -> 1 c 1 1",
("action"): "b c -> 1 c", "action": "b c -> 1 c",
} }
@property @property

2
lerobot/common/datasets/aloha.py
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@@ -114,7 +114,7 @@ class AlohaExperienceReplay(AbstractExperienceReplay):
def stats_patterns(self) -> dict: def stats_patterns(self) -> dict:
d = { d = {
("observation", "state"): "b c -> 1 c", ("observation", "state"): "b c -> 1 c",
("action"): "b c -> 1 c", "action": "b c -> 1 c",
} }
for cam in CAMERAS[self.dataset_id]: for cam in CAMERAS[self.dataset_id]:
d[("observation", "image", cam)] = "b c h w -> 1 c 1 1" d[("observation", "image", cam)] = "b c h w -> 1 c 1 1"