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Align Normalizer zero-delta handling with LeRobot training collator #112

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Merged
StarrickLiu merged 1 commit into from
Jul 21, 2026
Merged

Align Normalizer zero-delta handling with LeRobot training collator #112

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6 changes: 3 additions & 3 deletions wall_x/model/core/action/normalizer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -285,9 +285,9 @@ def normalize_data(self, xs, dataset_names):
new_xs = []
dataset_names = [name for name in dataset_names if name != "x2_multimodal"]
for x, dataset_name in zip(xs, dataset_names):
# if dataset_name == "ex_normal":
# dataset_name = "x2_normal"
x = (x - self.min[dataset_name]) / (self.delta[dataset_name])
delta = self.delta[dataset_name]
delta = torch.where(delta == 0, torch.ones_like(delta), delta)
x = (x - self.min[dataset_name]) / delta
x = x * 2 - 1
x = torch.clamp(x, -1, 1)
new_xs.append(x)
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