From 4ddba296f7e33ba3d68c6acfc391cf5d12b0900e Mon Sep 17 00:00:00 2001 From: CarolinePascal Date: Fri, 11 Apr 2025 18:55:37 +0200 Subject: [PATCH] fix: default float64 type must be cast into float32 for audio --- lerobot/common/robot_devices/control_utils.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/lerobot/common/robot_devices/control_utils.py b/lerobot/common/robot_devices/control_utils.py index e49a4e71..111e21f0 100644 --- a/lerobot/common/robot_devices/control_utils.py +++ b/lerobot/common/robot_devices/control_utils.py @@ -117,8 +117,9 @@ def predict_action(observation, policy, device, use_amp): if "image" in name: observation[name] = observation[name].type(torch.float32) / 255 observation[name] = observation[name].permute(2, 0, 1).contiguous() - # Convert to pytorch format: channel first and float32 in [-1,1] (always the case here) with batch dimension + # Convert to pytorch format: channel first and float32 in [-1,1] with batch dimension if "audio" in name: + observation[name] = observation[name].type(torch.float32) observation[name] = observation[name].permute(1, 0).contiguous() observation[name] = observation[name].unsqueeze(0) observation[name] = observation[name].to(device)