添加pad_loss

2026-02-11 20:33:26 +08:00
parent eeb07cad15
commit 83cd55e67b
5 changed files with 27 additions and 8 deletions
@@ -248,7 +248,8 @@ def main(cfg: DictConfig):
        return {
            'images': images,
            'qpos': batch_data['observation.state'],  # SimpleRobotDataset 使用 observation.state
-            'action': batch_data['action']
+            'action': batch_data['action'],
+            'action_is_pad': batch_data.get('action_is_pad', None)  # 传递padding mask
        }

    def run_validation():