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debug: 归一化

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This commit is contained in:
gouhanke
2026-02-12 12:23:34 +08:00
parent 83cd55e67b
commit ab971b3f96
4 changed files with 92 additions and 74 deletions
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roboimi/demos/vla_scripts/train_vla.py
+11 -11
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@@ -164,24 +164,24 @@ def main(cfg: DictConfig):
dataset_stats = None
try:
dataset_dir = cfg.data.get('dataset_dir', 'roboimi/demos/dataset/sim_transfer')
stats_path = Path(dataset_dir) / 'data_stats.pkl'
stats_path = Path(dataset_dir) / 'dataset_stats.pkl'
if stats_path.exists():
with open(stats_path, 'rb') as f:
stats = pickle.load(f)
# 扁平化stats字典（嵌套结构→扁平结构）以匹配NormalizationModule的期望格式
dataset_stats = {
'normalization_type': cfg.data.get('normalization_type', 'gaussian'),
'action_mean': stats['action']['mean'].tolist(),
'action_std': stats['action']['std'].tolist(),
'action_min': stats['action']['min'].tolist(),
'action_max': stats['action']['max'].tolist(),
'qpos_mean': stats['qpos']['mean'].tolist(),
'qpos_std': stats['qpos']['std'].tolist(),
'qpos_min': stats['qpos']['min'].tolist(),
'qpos_max': stats['qpos']['max'].tolist(),
'action_mean': stats['action_mean'].tolist(),
'action_std': stats['action_std'].tolist(),
'action_min': stats['action_min'].tolist(),
'action_max': stats['action_max'].tolist(),
'qpos_mean': stats['qpos_mean'].tolist(),
'qpos_std': stats['qpos_std'].tolist(),
'qpos_min': stats['qpos_min'].tolist(),
'qpos_max': stats['qpos_max'].tolist(),
}
log.info(f"✅ 数据集统计信息加载完成 (归一化: {dataset_stats['normalization_type']})")
log.info(f"✅ 数据集统计信息加载完成 (归一化: {cfg.agent.normalization_type})")
else:
log.warning(f"⚠️ 统计文件未找到: {stats_path}")
log.warning("⚠️ 推理时动作将无法反归一化！")