Merge branch 'main' into feat/add_pi

tests/policies/test_policies.py

@@ -234,7 +234,6 @@ def test_act_backbone_lr():
     assert cfg.policy.optimizer_lr_backbone == 0.001
 
     dataset = make_dataset(cfg)
-    preprocessor, _ = make_pre_post_processors(cfg.policy, None)
     policy = make_policy(cfg.policy, ds_meta=dataset.meta)
     optimizer, _ = make_optimizer_and_scheduler(cfg, policy)
     assert len(optimizer.param_groups) == 2

tests/processor/test_normalize_processor.py

@@ -754,6 +754,18 @@ def test_empty_observation():
     assert result == transition
 
 
+def test_empty_features_raises_error():
+    """Test that empty features dict raises ValueError."""
+    norm_map = {FeatureType.VISUAL: NormalizationMode.MEAN_STD}
+    stats = {OBS_IMAGE: {"mean": [0.5], "std": [0.2]}}
+
+    with pytest.raises(ValueError, match="Normalization features cannot be empty"):
+        NormalizerProcessorStep(features={}, norm_map=norm_map, stats=stats)
+
+    with pytest.raises(ValueError, match="Normalization features cannot be empty"):
+        UnnormalizerProcessorStep(features={}, norm_map=norm_map, stats=stats)
+
+
 def test_empty_stats():
     features = {OBS_IMAGE: PolicyFeature(FeatureType.VISUAL, (3, 96, 96))}
     norm_map = {FeatureType.VISUAL: NormalizationMode.MEAN_STD}