remove normalization of gripper state
Browse files- modeling_molmoact.py +2 -0
modeling_molmoact.py
CHANGED
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@@ -1955,6 +1955,8 @@ class MolmoActForActionReasoning(MolmoActPreTrainedModel, GenerationMixin):
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| 1955 |
q01 = np.asarray(stats["q01"], dtype=np.float32)
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| 1956 |
q99 = np.asarray(stats["q99"], dtype=np.float32)
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| 1957 |
mask = np.asarray(stats.get("mask", np.ones_like(q01, dtype=bool)), dtype=bool)
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| 1958 |
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# Lazily load the tokenizer (shared across calls)
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if self._qwen_tokenizer is None:
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| 1955 |
q01 = np.asarray(stats["q01"], dtype=np.float32)
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| 1956 |
q99 = np.asarray(stats["q99"], dtype=np.float32)
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mask = np.asarray(stats.get("mask", np.ones_like(q01, dtype=bool)), dtype=bool)
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| 1958 |
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# the gripper state should not be normalized
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| 1959 |
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mask[-1] = False
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# Lazily load the tokenizer (shared across calls)
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| 1962 |
if self._qwen_tokenizer is None:
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