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Move normalization to policy for act and diffusion (#90)

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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
This commit is contained in:
Remi
2024-04-25 11:47:38 +02:00
committed by GitHub
parent c1bcf857c5
commit e760e4cd63
25 changed files with 543 additions and 288 deletions
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6
lerobot/scripts/visualize_dataset.py
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@@ -50,11 +50,7 @@ def visualize_dataset(cfg: dict, out_dir=None):
log_output_dir(out_dir)
logging.info("make_dataset")
dataset = make_dataset(
cfg,
# remove all transformations such as rescale images from [0,255] to [0,1] or normalization
normalize=False,
)
dataset = make_dataset(cfg)
logging.info("Start rendering episodes from offline buffer")
video_paths = render_dataset(dataset, out_dir, MAX_NUM_STEPS * NUM_EPISODES_TO_RENDER)