fix(action): handle action_normalization=None in ActionBaseDataset._b…#52
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lfengad wants to merge 1 commit into
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fix(action): handle action_normalization=None in ActionBaseDataset._b…#52lfengad wants to merge 1 commit into
lfengad wants to merge 1 commit into
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…uild_result joint_pos DROID actions are raw/un-normalized: DROIDLeRobotDataset forces action_normalization=None for action_space="joint_pos", and the parameter is typed str | None across all action datasets. But _build_result always called normalize_action(action, None, ...), which only accepts quantile|meanstd|minmax and raises "ValueError: Unknown normalization method: None" — so the shipped action_policy_droid_nano recipe crashed at dataloader start (no 8-D joint_pos stats exist to normalize against anyway). Guard the None case: pass actions through untouched and skip stats loading. The fix lives at the dataset layer (where the str | None contract lives); normalize_action's strict method validation is left intact. Adds base_dataset_test.py covering both the None pass-through and the method-set normalization paths. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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It is already fixed on #37 |
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…uild_result
joint_pos DROID actions are raw/un-normalized: DROIDLeRobotDataset forces action_normalization=None for action_space="joint_pos", and the parameter is typed str | None across all action datasets. But _build_result always called normalize_action(action, None, ...), which only accepts quantile|meanstd|minmax and raises "ValueError: Unknown normalization method: None" — so the shipped action_policy_droid_nano recipe crashed at dataloader start (no 8-D joint_pos stats exist to normalize against anyway).
Guard the None case: pass actions through untouched and skip stats loading. The fix lives at the dataset layer (where the str | None contract lives); normalize_action's strict method validation is left intact.
Adds base_dataset_test.py covering both the None pass-through and the method-set normalization paths.