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Merge branch 'feat/add_relative_action_pi_models' into feat/mirror

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Pepijn
2026-02-21 17:28:35 +01:00
parent 74f42f218e acae8417aa
commit 2222f25da3
1 changed files with 2 additions and 2 deletions
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src/lerobot/scripts/lerobot_train.py
+2 -2
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@@ -274,8 +274,8 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
continue continue
chunk_data = hf[idx:end_idx] chunk_data = hf[idx:end_idx]
actions = torch.tensor(np.stack([np.array(a, copy=False) for a in chunk_data["action"]])).float() actions = torch.tensor(np.stack([np.asarray(a) for a in chunk_data["action"]])).float()
state = torch.tensor(np.array(chunk_data["observation.state"][0], copy=False)).float() state = torch.tensor(np.asarray(chunk_data["observation.state"][0])).float()
mask = [True] * actions.shape[-1] mask = [True] * actions.shape[-1]
delta = to_delta_actions(actions.unsqueeze(0), state.unsqueeze(0), mask).squeeze(0) delta = to_delta_actions(actions.unsqueeze(0), state.unsqueeze(0), mask).squeeze(0)