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pass dataset metadata to policy

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Pepijn
2025-11-25 22:13:23 +01:00
parent 006185ff4a
commit 456d9fe3ff
1 changed files with 3 additions and 0 deletions
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src/lerobot/policies/factory.py
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@@ -436,6 +436,9 @@ def make_policy(
# Pass dataset_stats to the policy if available (needed for some policies like SARM) # Pass dataset_stats to the policy if available (needed for some policies like SARM)
if ds_meta is not None and hasattr(ds_meta, 'stats'): if ds_meta is not None and hasattr(ds_meta, 'stats'):
kwargs["dataset_stats"] = ds_meta.stats kwargs["dataset_stats"] = ds_meta.stats
if ds_meta is not None:
kwargs["dataset_meta"] = ds_meta
if cfg.pretrained_path: if cfg.pretrained_path:
# Load a pretrained policy and override the config if needed (for example, if there are inference-time # Load a pretrained policy and override the config if needed (for example, if there are inference-time