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docs(lingbot_va): condense processor normalization comments

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Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-06-08 12:04:48 +02:00
parent 6496728025
commit 961e0d9bcd
1 changed files with 4 additions and 10 deletions
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src/lerobot/policies/lingbot_va/processor_lingbot_va.py
+4 -10
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@@ -14,13 +14,9 @@
"""Pre/post-processor pipelines for the LingBot-VA policy.
The policy itself handles image resizing, scaling to [-1, 1] and VAE encoding (the VAE
lives inside the policy), so the preprocessor only renames, batches, normalizes (IDENTITY)
and moves to device. The policy emits actions in the normalized ``[-1, 1]`` space; the
postprocessor maps them back to physical units with the standard ``UnnormalizerProcessorStep``
in QUANTILES mode (``(action + 1) / 2 * (q99 - q01) + q01``). The per-channel q01/q99 are NOT
hardcoded: they are saved in each checkpoint's post-processor state and restored on load. A
fresh (unconverted) policy has no action stats, so the step is a no-op (identity passthrough).
The preprocessor passes inputs through (IDENTITY) and the postprocessor maps the policy's
``[-1, 1]`` actions back to physical units with the built-in ``UnnormalizerProcessorStep``
(QUANTILES) using per-channel q01/q99 restored from the checkpoint.
"""
from typing import Any
@@ -67,9 +63,7 @@ def make_lingbot_va_pre_post_processors(
DeviceProcessorStep(device=config.device),
]
# Unnormalize predicted actions from [-1, 1] back to physical units via per-channel q01/q99
# (QUANTILES mode), overriding the policy's IDENTITY action mapping. The q01/q99 stats are
# restored from the checkpoint on load; a fresh build has no action stats and is a passthrough.
# Unnormalize actions from [-1, 1] to physical units (QUANTILES) using q01/q99 restored from the checkpoint.
output_steps: list[ProcessorStep] = [
UnnormalizerProcessorStep(
features=config.output_features,