From 320369ffb84cedfb3e6d22a1a5b6212a01246841 Mon Sep 17 00:00:00 2001
From: gouhanke <12219217+gouhanke@user.noreply.gitee.com>
Date: Wed, 11 Feb 2026 16:47:39 +0800
Subject: [PATCH] =?UTF-8?q?debug:=20=E5=BD=92=E4=B8=80=E5=8C=96=E5=9B=BE?=
 =?UTF-8?q?=E5=83=8F=E5=88=B0[0,=201]?=
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---
 roboimi/vla/data/simpe_robot_dataset.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/roboimi/vla/data/simpe_robot_dataset.py b/roboimi/vla/data/simpe_robot_dataset.py
index e18ecb9..4858e9d 100644
--- a/roboimi/vla/data/simpe_robot_dataset.py
+++ b/roboimi/vla/data/simpe_robot_dataset.py
@@ -87,6 +87,8 @@ class SimpleRobotDataset(Dataset):
                 if h5_path in f:
                     img = f[h5_path][meta["frame_idx"]]
                     img = torch.from_numpy(img).float()
+                    # 归一化到 [0, 1] 范围（与推理时保持一致）
+                    img = img / 255.0
                     frame[f"observation.{cam_name}"] = img.permute(2, 0, 1)  # HWC -> CHW
 
         return frame