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remove clip ceiling

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This commit is contained in:
Tony Z. Zhao
2023-09-04 23:12:06 -07:00
committed by GitHub
parent 4d30cb944e
commit 2133db326e
1 changed files with 2 additions and 2 deletions
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4
utils.py
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@@ -94,12 +94,12 @@ def get_norm_stats(dataset_dir, num_episodes):
# normalize action data # normalize action data
action_mean = all_action_data.mean(dim=[0, 1], keepdim=True) action_mean = all_action_data.mean(dim=[0, 1], keepdim=True)
action_std = all_action_data.std(dim=[0, 1], keepdim=True) action_std = all_action_data.std(dim=[0, 1], keepdim=True)
action_std = torch.clip(action_std, 1e-2, 10) # clipping action_std = torch.clip(action_std, 1e-2, np.inf) # clipping
# normalize qpos data # normalize qpos data
qpos_mean = all_qpos_data.mean(dim=[0, 1], keepdim=True) qpos_mean = all_qpos_data.mean(dim=[0, 1], keepdim=True)
qpos_std = all_qpos_data.std(dim=[0, 1], keepdim=True) qpos_std = all_qpos_data.std(dim=[0, 1], keepdim=True)
qpos_std = torch.clip(qpos_std, 1e-2, 10) # clipping qpos_std = torch.clip(qpos_std, 1e-2, np.inf) # clipping
stats = {"action_mean": action_mean.numpy().squeeze(), "action_std": action_std.numpy().squeeze(), stats = {"action_mean": action_mean.numpy().squeeze(), "action_std": action_std.numpy().squeeze(),
"qpos_mean": qpos_mean.numpy().squeeze(), "qpos_std": qpos_std.numpy().squeeze(), "qpos_mean": qpos_mean.numpy().squeeze(), "qpos_std": qpos_std.numpy().squeeze(),