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refactor(learner): Remove normalization from cached image features retrieval

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- Simplified the retrieval of observation features by removing the normalization step from the `get_cached_image_features` method calls.
- This change enhances clarity and aligns with the recent updates to policy processors.
This commit is contained in:
Adil Zouitine
2025-07-07 17:40:39 +02:00
committed by Steven Palma
parent b72274066e
commit 7eccefe235
1 changed files with 2 additions and 4 deletions
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src/lerobot/scripts/rl/learner.py
+2 -4
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@@ -1048,10 +1048,8 @@ def get_observation_features(
return None, None
with torch.no_grad():
observation_features = policy.actor.encoder.get_cached_image_features(observations, normalize=True)
next_observation_features = policy.actor.encoder.get_cached_image_features(
next_observations, normalize=True
)
observation_features = policy.actor.encoder.get_cached_image_features(observations)
next_observation_features = policy.actor.encoder.get_cached_image_features(next_observations)
return observation_features, next_observation_features