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overwrite the pipeline normalization features with the policy features

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Pepijn
2025-09-29 15:22:12 +02:00
parent 57bcf201ad
commit b31fa1e620
1 changed files with 3 additions and 2 deletions
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src/lerobot/scripts/lerobot_train.py
+3 -2
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@@ -189,9 +189,10 @@ def train(cfg: TrainPipelineConfig):
processor_kwargs["preprocessor_overrides"] = {
"device_processor": {"device": device.type},
"normalizer_processor": {"stats": dataset.meta.stats},
"normalizer_processor": {"stats": dataset.meta.stats, "features": {**policy.config.input_features, **policy.config.output_features}},
}
processor_kwargs["postprocessor_overrides"] = {
"unnormalizer_processor": {"stats": dataset.meta.stats},
postprocessor_kwargs["postprocessor_overrides"] = {
"unnormalizer_processor": {"stats": dataset.meta.stats, "features": policy.config.output_features},
}
preprocessor, postprocessor = make_pre_post_processors(