From 694c606940fc16289bafbd4c5d2c70bc27a98207 Mon Sep 17 00:00:00 2001 From: "Tony Z. Zhao" <46111210+tonyzhaozh@users.noreply.github.com> Date: Mon, 4 Sep 2023 23:12:06 -0700 Subject: [PATCH] remove clip ceiling --- utils.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/utils.py b/utils.py index 673cbb1..d90b782 100644 --- a/utils.py +++ b/utils.py @@ -94,12 +94,12 @@ def get_norm_stats(dataset_dir, num_episodes): # normalize action data action_mean = all_action_data.mean(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 qpos_mean = all_qpos_data.mean(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(), "qpos_mean": qpos_mean.numpy().squeeze(), "qpos_std": qpos_std.numpy().squeeze(),