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simplify goal_norm

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This commit is contained in:
TJU_Lu 2025-06-29 23:36:04 +08:00
parent cc13b0e293
commit c8ca7d096c
1 changed files with 2 additions and 4 deletions
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6
YOPO/policy/state_transform.py
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@ -113,12 +113,10 @@ class StateTransform:
def normalize_obs(self, vel_acc_goal):
vel_acc_goal[:, 0:3] = vel_acc_goal[:, 0:3] / self.lattice_primitive.vel_max
vel_acc_goal[:, 3:6] = vel_acc_goal[:, 3:6] / self.lattice_primitive.acc_max
vel_acc_goal[:, 6:9] = vel_acc_goal[:, 6:9] / self.goal_length
# Clamp the goal direction to unit length
goal_norm_length = vel_acc_goal[:, 6:9].norm(dim=1, keepdim=True)
scaling = goal_norm_length.clamp(max=1.0) / (goal_norm_length + 1e-8)
vel_acc_goal[:, 6:9] = vel_acc_goal[:, 6:9] * scaling
goal_norm = vel_acc_goal[:, 6:9].norm(dim=1, keepdim=True)
vel_acc_goal[:, 6:9] = vel_acc_goal[:, 6:9] / goal_norm.clamp(min=self.goal_length)
return vel_acc_goal