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WIP stats (TODO: run tests on stats + cmpute them)

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Cadene
2024-04-04 16:36:03 +00:00
parent 1cdfbc8b52
commit c93ce35d8c
5 changed files with 157 additions and 286 deletions
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16
lerobot/common/transforms.py
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@@ -72,12 +72,12 @@ class NormalizeTransform(Transform):
if inkey not in item:
continue
if self.mode == "mean_std":
mean = self.stats[inkey]["mean"]
std = self.stats[inkey]["std"]
mean = self.stats[f"{inkey}.mean"]
std = self.stats[f"{inkey}.std"]
item[outkey] = (item[inkey] - mean) / (std + 1e-8)
else:
min = self.stats[inkey]["min"]
max = self.stats[inkey]["max"]
min = self.stats[f"{inkey}.min"]
max = self.stats[f"{inkey}.max"]
# normalize to [0,1]
item[outkey] = (item[inkey] - min) / (max - min)
# normalize to [-1, 1]
@@ -89,12 +89,12 @@ class NormalizeTransform(Transform):
if inkey not in item:
continue
if self.mode == "mean_std":
mean = self.stats[inkey]["mean"]
std = self.stats[inkey]["std"]
mean = self.stats[f"{inkey}.mean"]
std = self.stats[f"{inkey}.std"]
item[outkey] = item[inkey] * std + mean
else:
min = self.stats[inkey]["min"]
max = self.stats[inkey]["max"]
min = self.stats[f"{inkey}.min"]
max = self.stats[f"{inkey}.max"]
item[outkey] = (item[inkey] + 1) / 2
item[outkey] = item[outkey] * (max - min) + min
return item