From c720a4a34710ab7b2cb14b2abaeb63c671912369 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Thu, 8 Jan 2026 14:49:26 +0100 Subject: [PATCH] . --- examples/openarms/evaluate_relative.py | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/examples/openarms/evaluate_relative.py b/examples/openarms/evaluate_relative.py index b403faac5..3f6f85d71 100644 --- a/examples/openarms/evaluate_relative.py +++ b/examples/openarms/evaluate_relative.py @@ -26,7 +26,6 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features from lerobot.datasets.utils import build_dataset_frame, combine_feature_dicts from lerobot.policies.factory import make_policy, make_pre_post_processors -from lerobot.policies.utils import make_robot_action as tensor_to_robot_action from lerobot.processor import make_default_processors from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig from lerobot.robots.openarms.openarms_follower import OpenArmsFollower @@ -156,14 +155,14 @@ def inference_loop_relative( elif action_tensor.dim() == 2: action_tensor = action_tensor.unsqueeze(1) # [batch, 1, action_dim] action_tensor = relative_normalizer.unnormalize(action_tensor) - action_tensor = action_tensor.squeeze() # remove all size-1 dims -> [action_dim] - # Ensure tensor is 1D or 2D with batch=1 for conversion - while action_tensor.dim() > 2: - action_tensor = action_tensor.squeeze(0) + # Flatten to 1D: take first timestep if chunks, squeeze batch dims + while action_tensor.dim() > 1: + action_tensor = action_tensor[0] - # Convert tensor to dict - relative_action = tensor_to_robot_action(action_tensor, dataset.features) + # Manually convert to dict (tensor_to_robot_action expects specific shape) + action_names = dataset.features[ACTION]["names"] + relative_action = {name: float(action_tensor[i]) for i, name in enumerate(action_names)} # Convert relative to absolute absolute_action = convert_from_relative_actions_dict(relative_action, current_pos)