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This commit is contained in:
Akshay Kashyap 2024-05-13 18:42:15 -04:00
parent c1bc8410b4
commit eaecb5fc57
1 changed files with 1 additions and 4 deletions
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lerobot/common/policies/diffusion/modeling_diffusion.py
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@ -335,10 +335,7 @@ class SpatialSoftmax(nn.Module):
# we could use torch.linspace directly but that seems to behave slightly differently than numpy # we could use torch.linspace directly but that seems to behave slightly differently than numpy
# and cause a small degradation in pc_success of pre-trained models. # and cause a small degradation in pc_success of pre-trained models.
pos_x, pos_y = np.meshgrid( pos_x, pos_y = np.meshgrid(np.linspace(-1.0, 1.0, self._in_w), np.linspace(-1.0, 1.0, self._in_h))
np.linspace(-1., 1., self._in_w),
np.linspace(-1., 1., self._in_h)
)
pos_x = torch.from_numpy(pos_x.reshape(self._in_h * self._in_w, 1)).float() pos_x = torch.from_numpy(pos_x.reshape(self._in_h * self._in_w, 1)).float()
pos_y = torch.from_numpy(pos_y.reshape(self._in_h * self._in_w, 1)).float() pos_y = torch.from_numpy(pos_y.reshape(self._in_h * self._in_w, 1)).float()
# register as buffer so it's moved to the correct device, etc. # register as buffer so it's moved to the correct device, etc.