From 06fe7aa34b1513b9836fd6860c03b647e287032e Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Thu, 16 May 2024 18:19:53 +0100 Subject: [PATCH] backup wip --- lerobot/common/policies/act/modeling_act.py | 1 + 1 file changed, 1 insertion(+) diff --git a/lerobot/common/policies/act/modeling_act.py b/lerobot/common/policies/act/modeling_act.py index 9936a119..4cef6253 100644 --- a/lerobot/common/policies/act/modeling_act.py +++ b/lerobot/common/policies/act/modeling_act.py @@ -103,6 +103,7 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin): # the first action. if self.config.temporal_ensemble_momentum is not None: actions = self.model(batch)[0] # (batch_size, chunk_size, action_dim) + actions = self.unnormalize_outputs({"action": actions})["action"] if self._ensembled_actions is None: self._ensembled_actions = actions.clone() else: