fix more bugs in normalization

2024-03-11 11:03:13 +00:00
parent a7ef4a6a33
commit 816b2e9d63
5 changed files with 14 additions and 8 deletions
--- a/lerobot/common/datasets/aloha.py
+++ b/lerobot/common/datasets/aloha.py
@@ -114,7 +114,7 @@ class AlohaExperienceReplay(AbstractExperienceReplay):
    def stats_patterns(self) -> dict:
        d = {
            ("observation", "state"): "b c -> 1 c",
-            "action": "b c -> 1 c",
+            ("action",): "b c -> 1 c",
        }
        for cam in CAMERAS[self.dataset_id]:
            d[("observation", "image", cam)] = "b c h w -> 1 c 1 1"