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fix diffusion

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This commit is contained in:
Remi Cadene
2024-05-29 09:50:44 +00:00
parent b47c07fbeb
commit ad0033ae12
1 changed files with 4 additions and 1 deletions
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5
lerobot/common/policies/diffusion/modeling_diffusion.py
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@@ -432,7 +432,10 @@ class DiffusionRgbEncoder(nn.Module):
image_keys = [k for k in config.input_shapes if k.startswith("observation.image")] image_keys = [k for k in config.input_shapes if k.startswith("observation.image")]
# Note: we have a check in the config class to make sure all images have the same shape. # Note: we have a check in the config class to make sure all images have the same shape.
image_key = image_keys[0] image_key = image_keys[0]
dummy_input = torch.zeros(size=(1, config.input_shapes[image_key][0], *config.crop_shape)) if config.crop_shape is None:
dummy_input = torch.zeros(size=(1, *config.input_shapes[image_key]))
else:
dummy_input = torch.zeros(size=(1, config.input_shapes[image_key][0], *config.crop_shape))
with torch.inference_mode(): with torch.inference_mode():
dummy_feature_map = self.backbone(dummy_input) dummy_feature_map = self.backbone(dummy_input)
feature_map_shape = tuple(dummy_feature_map.shape[1:]) feature_map_shape = tuple(dummy_feature_map.shape[1:])