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clamp quantiles

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This commit is contained in:
Pepijn
2025-09-30 11:50:00 +02:00
parent 7e4a3f2b31
commit 172207471c
1 changed files with 8 additions and 2 deletions
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src/lerobot/processor/normalize_processor.py
+8 -2
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@@ -375,8 +375,11 @@ class _NormalizationMixin:
denom == 0, torch.tensor(self.eps, device=tensor.device, dtype=tensor.dtype), denom denom == 0, torch.tensor(self.eps, device=tensor.device, dtype=tensor.dtype), denom
) )
if inverse: if inverse:
tensor = torch.clamp(tensor, -1.0, 1.0)
return tensor * denom + q01 return tensor * denom + q01
return 2.0 * (tensor - q01) / denom - 1.0 result = 2.0 * (tensor - q01) / denom - 1.0
result = torch.clamp(result, -1.0, 1.0)
return result
if norm_mode == NormalizationMode.QUANTILE10: if norm_mode == NormalizationMode.QUANTILE10:
q10 = stats.get("q10", None) q10 = stats.get("q10", None)
@@ -392,8 +395,11 @@ class _NormalizationMixin:
denom == 0, torch.tensor(self.eps, device=tensor.device, dtype=tensor.dtype), denom denom == 0, torch.tensor(self.eps, device=tensor.device, dtype=tensor.dtype), denom
) )
if inverse: if inverse:
tensor = torch.clamp(tensor, -1.0, 1.0)
return tensor * denom + q10 return tensor * denom + q10
return 2.0 * (tensor - q10) / denom - 1.0 result = 2.0 * (tensor - q10) / denom - 1.0
result = torch.clamp(result, -1.0, 1.0)
return result
# If necessary stats are missing, return input unchanged. # If necessary stats are missing, return input unchanged.
return tensor return tensor