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Remove random noise injected by policy server (#1496)

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Ben Zhang
2025-07-13 12:58:05 -07:00
committed by GitHub
parent d2645cb19f
commit 519b76110e
1 changed files with 1 additions and 1 deletions
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src/lerobot/scripts/server/policy_server.py
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@@ -323,7 +323,7 @@ class PolicyServer(async_inference_pb2_grpc.AsyncInferenceServicer):
if chunk.ndim != 3: if chunk.ndim != 3:
chunk = chunk.unsqueeze(0) # adding batch dimension, now shape is (B, chunk_size, action_dim) chunk = chunk.unsqueeze(0) # adding batch dimension, now shape is (B, chunk_size, action_dim)
return chunk[:, : self.actions_per_chunk, :] + torch.randn_like(chunk[:, : self.actions_per_chunk, :]) return chunk[:, : self.actions_per_chunk, :]
def _predict_action_chunk(self, observation_t: TimedObservation) -> list[TimedAction]: def _predict_action_chunk(self, observation_t: TimedObservation) -> list[TimedAction]:
"""Predict an action chunk based on an observation""" """Predict an action chunk based on an observation"""