From ddfff054bc80438e70a64088d73564aba0aec67b Mon Sep 17 00:00:00 2001 From: Adil Zouitine Date: Fri, 26 Sep 2025 14:32:29 +0200 Subject: [PATCH] feat(train): enhance processor overrides with normalizer and unnormalizer stats (#2038) --- src/lerobot/scripts/lerobot_train.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/lerobot/scripts/lerobot_train.py b/src/lerobot/scripts/lerobot_train.py index 5ef8c7263..86b2bbae5 100644 --- a/src/lerobot/scripts/lerobot_train.py +++ b/src/lerobot/scripts/lerobot_train.py @@ -185,7 +185,13 @@ def train(cfg: TrainPipelineConfig): processor_kwargs["dataset_stats"] = dataset.meta.stats if cfg.policy.pretrained_path is not None: - processor_kwargs["preprocessor_overrides"] = {"device_processor": {"device": device.type}} + processor_kwargs["preprocessor_overrides"] = { + "device_processor": {"device": device.type}, + "normalizer_processor": {"stats": dataset.meta.stats}, + } + processor_kwargs["postprocessor_overrides"] = { + "unnormalizer_processor": {"stats": dataset.meta.stats}, + } preprocessor, postprocessor = make_pre_post_processors( policy_cfg=cfg.policy, pretrained_path=cfg.policy.pretrained_path, **processor_kwargs