admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-20 11:09:59 +00:00
Code Issues Packages Projects Releases Wiki Activity

refactor(diffusion): remove normalization layer from input processing

Browse Source
This commit is contained in:
Adil Zouitine
2025-07-28 13:43:07 +02:00
committed by Steven Palma
parent 1feb7b5d88
commit f02ce69df0
1 changed files with 0 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/policies/diffusion/modeling_diffusion.py
-1
View File
@@ -124,7 +124,6 @@ class DiffusionPolicy(PreTrainedPolicy):
if ACTION in batch: if ACTION in batch:
batch.pop(ACTION) batch.pop(ACTION)
batch = self.normalize_inputs(batch)
if self.config.image_features: if self.config.image_features:
batch = dict(batch) # shallow copy so that adding a key doesn't modify the original batch = dict(batch) # shallow copy so that adding a key doesn't modify the original
batch[OBS_IMAGES] = torch.stack([batch[key] for key in self.config.image_features], dim=-4) batch[OBS_IMAGES] = torch.stack([batch[key] for key in self.config.image_features], dim=-4)