debug: 将归一化放在GPU上

2026-02-11 17:13:55 +08:00
parent 320369ffb8
commit b42c1c68fd
1 changed files with 2 additions and 3 deletions
--- a/roboimi/vla/data/simpe_robot_dataset.py
+++ b/roboimi/vla/data/simpe_robot_dataset.py
@@ -86,9 +86,8 @@ class SimpleRobotDataset(Dataset):
                h5_path = f'observations/images/{cam_name}'
                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
+                    img = torch.from_numpy(img)
+                    # 保持 uint8 格式以节省传输带宽，归一化移至 GPU (在 train_vla.py 中处理)
                    frame[f"observation.{cam_name}"] = img.permute(2, 0, 1)  # HWC -> CHW

        return frame