From b31fa1e62046167f3f8fc6711cbc58f878ae23e7 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Mon, 29 Sep 2025 15:22:12 +0200 Subject: [PATCH] overwrite the pipeline normalization features with the policy features --- src/lerobot/scripts/lerobot_train.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/lerobot/scripts/lerobot_train.py b/src/lerobot/scripts/lerobot_train.py index 23b10bc86..7f844e8e9 100644 --- a/src/lerobot/scripts/lerobot_train.py +++ b/src/lerobot/scripts/lerobot_train.py @@ -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(