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
--- a/roboimi/vla/data/simpe_robot_dataset.py
+++ b/roboimi/vla/data/simpe_robot_dataset.py
@@ -86,8 +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)
-                    # 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)
+                    # 转换为float并归一化到 [0, 1]
+                    img = torch.from_numpy(img).float() / 255.0
                    frame[f"observation.{cam_name}"] = img.permute(2, 0, 1)  # HWC -> CHW

        return frame