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feat(train): enhance processor overrides with normalizer and unnormalizer stats (#2038)

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Adil Zouitine
2025-09-26 14:32:29 +02:00
committed by GitHub
parent 49918efbc1
commit ddfff054bc
1 changed files with 7 additions and 1 deletions
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8
src/lerobot/scripts/lerobot_train.py
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@@ -185,7 +185,13 @@ def train(cfg: TrainPipelineConfig):
processor_kwargs["dataset_stats"] = dataset.meta.stats processor_kwargs["dataset_stats"] = dataset.meta.stats
if cfg.policy.pretrained_path is not None: 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( preprocessor, postprocessor = make_pre_post_processors(
policy_cfg=cfg.policy, pretrained_path=cfg.policy.pretrained_path, **processor_kwargs policy_cfg=cfg.policy, pretrained_path=cfg.policy.pretrained_path, **processor_kwargs