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feat(train): include input and output features in processor overrides for normalization (#2088) (#2090)

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Signed-off-by: AdilZouitine <adilzouitinegm@gmail.com>
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Adil Zouitine
2025-09-29 17:37:26 +02:00
committed by GitHub
parent 1ad2da403d
commit a0d7627d81
1 changed files with 8 additions and 2 deletions
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10
src/lerobot/scripts/lerobot_train.py
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@@ -187,10 +187,16 @@ def train(cfg: TrainPipelineConfig):
if cfg.policy.pretrained_path is not None: if cfg.policy.pretrained_path is not None:
processor_kwargs["preprocessor_overrides"] = { processor_kwargs["preprocessor_overrides"] = {
"device_processor": {"device": device.type}, "device_processor": {"device": device.type},
"normalizer_processor": {"stats": dataset.meta.stats}, "normalizer_processor": {
"stats": dataset.meta.stats,
"features": {**policy.config.input_features, **policy.config.output_features},
},
} }
processor_kwargs["postprocessor_overrides"] = { processor_kwargs["postprocessor_overrides"] = {
"unnormalizer_processor": {"stats": dataset.meta.stats}, "unnormalizer_processor": {
"stats": dataset.meta.stats,
"features": {**policy.config.input_features, **policy.config.output_features},
},
} }
preprocessor, postprocessor = make_pre_post_processors( preprocessor, postprocessor = make_pre_post_processors(