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debug: 添加推理时缩放，加大采数以及推理时物块的放置范围

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gouhanke
2026-02-12 17:14:23 +08:00
parent 926d8cf894
commit 624b926e33
2 changed files with 6 additions and 2 deletions
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4
roboimi/demos/vla_scripts/eval_vla.py
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@@ -103,10 +103,14 @@ def prepare_observation(obs: Dict, camera_names: list) -> Dict:
Returns: Returns:
agent 格式的观测字典 agent 格式的观测字典
""" """
import cv2
# 转换图像: numpy -> tensor, HWC -> CHW # 转换图像: numpy -> tensor, HWC -> CHW
images = {} images = {}
for cam_name in camera_names: for cam_name in camera_names:
img = obs['images'][cam_name] img = obs['images'][cam_name]
# Resize 到 224x224（与训练时一致）
img = cv2.resize(img, (224, 224), interpolation=cv2.INTER_LINEAR)
img = rearrange(img, 'h w c -> c h w') img = rearrange(img, 'h w c -> c h w')
img = torch.from_numpy(img / 255.0).float() img = torch.from_numpy(img / 255.0).float()
images[cam_name] = img images[cam_name] = img

4
roboimi/utils/act_ex_utils.py
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@@ -27,8 +27,8 @@ def sample_insertion_pose():
def sample_transfer_pose(): def sample_transfer_pose():
# Box # Box
x_range = [0.0, 0.05] x_range = [-0.05, 0.05]
y_range = [0.95, 1.05] y_range = [0.90, 1.05]
z_range = [0.47, 0.47] z_range = [0.47, 0.47]
ranges = np.vstack([x_range, y_range, z_range]) ranges = np.vstack([x_range, y_range, z_range])