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fix(rl): postprocess action in actor

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This commit is contained in:
Khalil Meftah
2026-04-26 18:15:04 +02:00
parent d2a046dfc5
commit c2556439e5
1 changed files with 2 additions and 1 deletions
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src/lerobot/rl/actor.py
+2 -1
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@@ -261,7 +261,7 @@ def act_with_policy(
policy = policy.eval() policy = policy.eval()
assert isinstance(policy, nn.Module) assert isinstance(policy, nn.Module)
preprocessor, _postprocessor = make_pre_post_processors( preprocessor, postprocessor = make_pre_post_processors(
policy_cfg=cfg.policy, policy_cfg=cfg.policy,
dataset_stats=cfg.policy.dataset_stats, dataset_stats=cfg.policy.dataset_stats,
) )
@@ -292,6 +292,7 @@ def act_with_policy(
with policy_timer: with policy_timer:
normalized_observation = preprocessor.process_observation(observation) normalized_observation = preprocessor.process_observation(observation)
action = policy.select_action(batch=normalized_observation) action = policy.select_action(batch=normalized_observation)
action = postprocessor.process_action(action)
policy_fps = policy_timer.fps_last policy_fps = policy_timer.fps_last
log_policy_frequency_issue(policy_fps=policy_fps, cfg=cfg, interaction_step=interaction_step) log_policy_frequency_issue(policy_fps=policy_fps, cfg=cfg, interaction_step=interaction_step)