From b0d954c6e167d1780f6d76fba99df68fb43a7413 Mon Sep 17 00:00:00 2001
From: Ruijie <ruijie85@gmail.com>
Date: Tue, 4 Jun 2024 06:21:28 -0400
Subject: [PATCH] Fix bug in normalize to avoid divide by zero (#239)

Co-authored-by: rj <rj@teleopstrio-razer.lan>
Co-authored-by: Remi <re.cadene@gmail.com>
---
 lerobot/common/policies/normalize.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/lerobot/common/policies/normalize.py b/lerobot/common/policies/normalize.py
index d638c5416..9b055f7e6 100644
--- a/lerobot/common/policies/normalize.py
+++ b/lerobot/common/policies/normalize.py
@@ -147,7 +147,7 @@ class Normalize(nn.Module):
                 assert not torch.isinf(min).any(), _no_stats_error_str("min")
                 assert not torch.isinf(max).any(), _no_stats_error_str("max")
                 # normalize to [0,1]
-                batch[key] = (batch[key] - min) / (max - min)
+                batch[key] = (batch[key] - min) / (max - min + 1e-8)
                 # normalize to [-1, 1]
                 batch[key] = batch[key] * 2 - 1
             else: