Move normalization to policy for act and diffusion#90
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| # Normalization / Unnormalization | ||
| normalize_input_modes: dict[str, str] = { | ||
| "observation.image": "mean_std", | ||
| "observation.state": "min_max", | ||
| } | ||
| unnormalize_output_modes: dict[str, str] = { | ||
| "action": "min_max", | ||
| } |
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@Cadene nice! This makes things a lot cleaner. I'm in agreement with your approach and have left some minor passing comments. Looking forward to reviewing the final PR.
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Thanks a lot for this PR Remi. Super clean design. I left some comments, and I think for some it might make sense for me to contribute to the PR a bit.
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| # Environment. | ||
| # TODO(rcadene, alexander-soar): remove these as they are defined in input_shapes, output_shapes |
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note to self so I don't forget. I will contribute to this PR to do this now
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Approved after you merge my PR
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What does this PR do?
stats.pthdataset_statsargument to policiesdataset_stats=dataset.statsdataset_stats=Nonesince the stats are insidepolicy.state_dict()transformdatasets/factory.pyenvs/utils.pytransforms.pyinput_shapes,output_shapes,normalize_input_modes,unnormalize_output_modesin config yaml andconfiguration_POLICY.pyinput_shapesandoutput_shapescan also be used to instantiate thenn.Moduleof the policy, but I left this for future PRpolicies/normalize.pycontainingNormalizeandUnnormalize, which arenn.Moduleof the policytest_policies.py::test_normalizeHow was it tested?
CI + breakpoint