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unsqueeze after unnromalize

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Pepijn
2026-01-08 14:44:09 +01:00
parent 84f06a86af
commit ddfdf9aa76
1 changed files with 5 additions and 1 deletions
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examples/openarms/evaluate_relative.py
+5 -1
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@@ -156,7 +156,11 @@ 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(1) # back to [batch, action_dim]
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)
# Convert tensor to dict
relative_action = tensor_to_robot_action(action_tensor, dataset.features)