From 52d5000c34af7183c6a02327970058bbc9b8f0ba Mon Sep 17 00:00:00 2001 From: Qizhi Chen Date: Sun, 27 Apr 2025 00:50:53 +0800 Subject: [PATCH] fix fmb video channel from bgr to rgb --- openx2lerobot/oxe_utils/transforms.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/openx2lerobot/oxe_utils/transforms.py b/openx2lerobot/oxe_utils/transforms.py index b196310..f340a81 100644 --- a/openx2lerobot/oxe_utils/transforms.py +++ b/openx2lerobot/oxe_utils/transforms.py @@ -826,6 +826,12 @@ def gnm_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: def fmb_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # flip image from bgr to rgb + trajectory["observation"]["image_wrist_1"] = trajectory["observation"]["image_wrist_1"][..., ::-1] + trajectory["observation"]["image_wrist_2"] = trajectory["observation"]["image_wrist_2"][..., ::-1] + trajectory["observation"]["image_side_1"] = trajectory["observation"]["image_side_1"][..., ::-1] + trajectory["observation"]["image_side_2"] = trajectory["observation"]["image_side_2"][..., ::-1] + # every input feature is batched, ie has leading batch dimension trajectory["observation"]["proprio"] = tf.concat( (