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Fixing controller data alignment within padded actions tensor. #46

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Fixing controller data alignment within padded actions tensor. #46

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5efea7a
Fixing actual controller action alignment within padded action tensor.
Abcd4321 Mar 26, 2026
62dd42a
The issue with alignment is when self.old_layout is False.
Abcd4321 Mar 26, 2026
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6 changes: 6 additions & 0 deletions nitrogen/mm_tokenizers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -157,6 +157,8 @@ def _prepare_action(self, data: dict):
), f"Action dim {n_action_dims} exceeds max allowed {self.max_action_dim}."

# Pad the channel dimension
# [batch, 18, 21] -> [batch, 18, 25] badded by zeros on the right.
# Action data is left aligned here [btn[0], btn[1], ..., btn[16], j_left[0], j_left[1], j_right[0], j_right[1], 0, 0, 0, 0]
actions = np.pad(actions, ((0, 0), (0, self.max_action_dim - n_action_dims)), "constant")

# Create mask: [T, max_action_dim]
Expand Down Expand Up @@ -239,6 +241,10 @@ def unpack_actions(self, actions):
j_right = actions[:, :, 2:4]
buttons = actions[:, :, 4:]
else:
# Action data is still left aligned here [btn[0], btn[1], ..., btn[16], j_left[0], j_left[1], j_right[0], j_right[1], 0, 0, 0, 0].
# And the dimensions are [batch, 18, 25], not [batch, 18, 21].
# Need to remove padding before using negative indices for extracting j_left, j_right.
actions = actions[:, :, :21]
# Unpack the actions into j_left, j_right, buttons
buttons = actions[:, :, :-4]
j_left = actions[:, :, -4:-2]
Expand Down