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processor debug

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This commit is contained in:
Steven Palma
2026-04-20 20:00:50 +02:00
parent 2f690fe4f1
commit c16ac80063
1 changed files with 16 additions and 0 deletions
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src/lerobot/rollout/context.py
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@@ -422,6 +422,22 @@ def build_rollout_context(
}, },
) )
# --- Debug: verify normalizer stats loaded from pretrained ---
from lerobot.processor import NormalizerProcessorStep, UnnormalizerProcessorStep
for step in preprocessor.steps:
if isinstance(step, NormalizerProcessorStep):
n_stats = sum(len(v) for v in step._tensor_stats.values()) if step._tensor_stats else 0
logger.info("Preprocessor normalizer: %d stat tensors, keys=%s", n_stats, list(step._tensor_stats.keys())[:3])
if n_stats == 0:
logger.error("PREPROCESSOR NORMALIZER HAS NO STATS — observations will NOT be normalized!")
for step in postprocessor.steps:
if isinstance(step, UnnormalizerProcessorStep):
n_stats = sum(len(v) for v in step._tensor_stats.values()) if step._tensor_stats else 0
logger.info("Postprocessor unnormalizer: %d stat tensors, keys=%s", n_stats, list(step._tensor_stats.keys())[:3])
if n_stats == 0:
logger.error("POSTPROCESSOR UNNORMALIZER HAS NO STATS — actions will NOT be denormalized!")
# --- 7. Inference strategy (needs policy + pre/post + hardware) -- # --- 7. Inference strategy (needs policy + pre/post + hardware) --
logger.info( logger.info(
"Creating inference engine (type=%s)...", "Creating inference engine (type=%s)...",