wip - still need to verify full training run

2024-03-11 18:45:21 +00:00
parent 304355c917
commit 87fcc536f9
3 changed files with 9 additions and 7 deletions
--- a/lerobot/common/policies/diffusion/model/multi_image_obs_encoder.py
+++ b/lerobot/common/policies/diffusion/model/multi_image_obs_encoder.py
@@ -123,6 +123,8 @@ class MultiImageObsEncoder(ModuleAttrMixin):
                if imagenet_norm:
                    # TODO(rcadene): move normalizer to dataset and env
                    this_normalizer = torchvision.transforms.Normalize(
+                        # Note: This matches the normalization in the original impl. for PushT Image. This may not be
+                        # the case for other tasks.
                        mean=[127.5, 127.5, 127.5],
                        std=[127.5, 127.5, 127.5],
                    )