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Maxime Ellerbach
2026-07-20 12:32:47 +00:00
parent 61c9d034a4
commit 5faa956d39
1 changed files with 1 additions and 0 deletions
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src/lerobot/policies/lingbot_va/modeling_lingbot_va.py
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@@ -573,6 +573,7 @@ class LingBotVAPolicy(PreTrainedPolicy):
if size is None: if size is None:
size = (self.config.height, self.config.width) size = (self.config.height, self.config.width)
img = F.interpolate(img, size=size, mode="bilinear", align_corners=False) img = F.interpolate(img, size=size, mode="bilinear", align_corners=False)
print(f"[lingbot_va] {key} pre-scale range: [{img.min().item():.4f}, {img.max().item():.4f}] (expect ~[0,1])")
img = img * 2.0 - 1.0 img = img * 2.0 - 1.0
return img.unsqueeze(2).to(self.dtype) # [1, C, F=1, H, W] return img.unsqueeze(2).to(self.dtype) # [1, C, F=1, H, W]