debug: 归一化图像到[0, 1]

2026-02-11 16:47:39 +08:00
parent 130d4bb3c5
commit 320369ffb8
1 changed files with 2 additions and 0 deletions
--- 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