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fix nit formatting in generate actions fcn

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Bryson Jones
2025-12-11 09:21:26 -08:00
parent f3823e8bcd
commit dd4ef1383f
1 changed files with 4 additions and 3 deletions
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src/lerobot/policies/multi_task_dit/modeling_multi_task_dit.py
+4 -3
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@@ -112,9 +112,10 @@ class MultiTaskDiTPolicy(PreTrainedPolicy):
conditioning_vec = self.observation_encoder.encode(batch) conditioning_vec = self.observation_encoder.encode(batch)
actions = self.objective.conditional_sample(self.noise_predictor, batch_size, conditioning_vec) actions = self.objective.conditional_sample(self.noise_predictor, batch_size, conditioning_vec)
start_idx = n_obs_steps - 1 start = n_obs_steps - 1
end_idx = start_idx + self.config.n_action_steps end = start + self.config.n_action_steps
return actions[:, start_idx:end_idx] actions = actions[:, start:end]
return actions
def reset(self): def reset(self):
"""Clear observation and action queues. Should be called on `env.reset()`""" """Clear observation and action queues. Should be called on `env.reset()`"""