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chore: 自动获取cameras的长度

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This commit is contained in:
gouhanke
2026-02-06 15:33:07 +08:00
parent f4a5c77b7c
commit f006d50814
3 changed files with 3 additions and 6 deletions
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2
roboimi/vla/agent.py
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@@ -17,7 +17,7 @@ class VLAAgent(nn.Module):
pred_horizon=16, # 预测未来多少步动作 pred_horizon=16, # 预测未来多少步动作
obs_horizon=4, # 使用多少步历史观测 obs_horizon=4, # 使用多少步历史观测
diffusion_steps=100, diffusion_steps=100,
num_cams=2, # 视觉输入的摄像头数量 num_cams=3, # 视觉输入的摄像头数量
): ):
super().__init__() super().__init__()
# Store parameters # Store parameters

5
roboimi/vla/conf/agent/resnet_diffusion.yaml
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@@ -19,7 +19,4 @@ obs_horizon: 2
diffusion_steps: 100 # Number of diffusion timesteps for training diffusion_steps: 100 # Number of diffusion timesteps for training
# Camera Configuration # Camera Configuration
# num_cams 应与 data.camera_names 列表长度一致 num_cams: ${oc.len:data.camera_names} # 自动从 data.camera_names 列表长度获取
# 可使用 Hydra OmegaConf resolver: ${oc.len:data.camera_names}
# 但部分版本不支持，这里手动保持同步
num_cams: 3 # len(data.camera_names) = 3

2
roboimi/vla/conf/data/resnet_dataset.yaml
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@@ -16,4 +16,4 @@ camera_names:
- front - front
# Normalization Type: 'gaussian' (mean/std) or 'min_max' ([-1, 1]) # Normalization Type: 'gaussian' (mean/std) or 'min_max' ([-1, 1])
normalization_type: gaussian normalization_type: min_max