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debug: 归一化图像到[0, 1]

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gouhanke
2026-02-11 16:47:39 +08:00
parent 130d4bb3c5
commit 320369ffb8
1 changed files with 2 additions and 0 deletions
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roboimi/vla/data/simpe_robot_dataset.py
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@@ -87,6 +87,8 @@ class SimpleRobotDataset(Dataset):
if h5_path in f: if h5_path in f:
img = f[h5_path][meta["frame_idx"]] img = f[h5_path][meta["frame_idx"]]
img = torch.from_numpy(img).float() 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 frame[f"observation.{cam_name}"] = img.permute(2, 0, 1) # HWC -> CHW
return frame return frame