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disable processor for sac/hilserl

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This commit is contained in:
Khalil Meftah
2026-03-19 13:12:21 +01:00
parent aaf8576411
commit 2345c779ee
1 changed files with 3 additions and 30 deletions
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src/lerobot/rl/learner.py
+3 -30
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@@ -64,7 +64,7 @@ from lerobot.configs import parser
from lerobot.configs.train import TrainRLServerPipelineConfig from lerobot.configs.train import TrainRLServerPipelineConfig
from lerobot.datasets.factory import make_dataset from lerobot.datasets.factory import make_dataset
from lerobot.datasets.lerobot_dataset import LeRobotDataset from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.policies.factory import make_policy, make_pre_post_processors from lerobot.policies.factory import make_policy
from lerobot.rl.algorithms import make_algorithm from lerobot.rl.algorithms import make_algorithm
from lerobot.rl.buffer import ReplayBuffer from lerobot.rl.buffer import ReplayBuffer
from lerobot.rl.data_sources import OnlineOfflineMixer from lerobot.rl.data_sources import OnlineOfflineMixer
@@ -321,35 +321,8 @@ def add_actor_information_and_train(
algorithm_name=cfg.algorithm, algorithm_name=cfg.algorithm,
) )
# Build policy preprocessor for batch normalization during training # TODO: Re-enable processor pipeline once refactoring is validated against main
processor_kwargs = {} preprocessor, postprocessor = None, None
postprocessor_kwargs = {}
if (cfg.policy.pretrained_path and not cfg.resume) or not cfg.policy.pretrained_path:
processor_kwargs["dataset_stats"] = cfg.policy.dataset_stats
if cfg.policy.pretrained_path is not None:
processor_kwargs["preprocessor_overrides"] = {
"device_processor": {"device": device.type},
"normalizer_processor": {
"stats": cfg.policy.dataset_stats,
"features": {**policy.config.input_features, **policy.config.output_features},
"norm_map": policy.config.normalization_mapping,
},
}
postprocessor_kwargs["postprocessor_overrides"] = {
"unnormalizer_processor": {
"stats": cfg.policy.dataset_stats,
"features": policy.config.output_features,
"norm_map": policy.config.normalization_mapping,
},
}
preprocessor, postprocessor = make_pre_post_processors(
policy_cfg=cfg.policy,
pretrained_path=cfg.policy.pretrained_path,
**processor_kwargs,
**postprocessor_kwargs,
)
# Push initial policy weights to actors (same path as periodic push) # Push initial policy weights to actors (same path as periodic push)
state_bytes = state_to_bytes(algorithm.get_weights()) state_bytes = state_to_bytes(algorithm.get_weights())