From d028978552d90b0cf1d6e0982fb45a79f6923c9c Mon Sep 17 00:00:00 2001
From: Pepijn <pepijn@huggingface.co>
Date: Wed, 1 Apr 2026 18:04:03 +0200
Subject: [PATCH] nit

---
 docs/source/umi_pi0_relative_ee.mdx           | 25 -------------------
 .../policies/pi0_fast/processor_pi0_fast.py   |  2 +-
 2 files changed, 1 insertion(+), 26 deletions(-)

diff --git a/docs/source/umi_pi0_relative_ee.mdx b/docs/source/umi_pi0_relative_ee.mdx
index 090c68fd7..c37637759 100644
--- a/docs/source/umi_pi0_relative_ee.mdx
+++ b/docs/source/umi_pi0_relative_ee.mdx
@@ -138,31 +138,6 @@ Inference:
                    IK → joint targets → robot
 ```
 
-## Manual mode (without derive_state_from_action)
-
-If your dataset already has `observation.state` (or you want to add it separately), you can skip `derive_state_from_action` and use relative actions + relative state independently:
-
-```bash
-# Recompute stats
-lerobot-edit-dataset \
-    --repo_id <your_dataset> \
-    --operation.type recompute_stats \
-    --operation.relative_action true \
-    --operation.relative_state true \
-    --operation.state_obs_steps 2 \
-    --operation.chunk_size 50 \
-    --operation.relative_exclude_joints "['gripper']"
-
-# Train
-lerobot-train \
-    --dataset.repo_id=<your_dataset> \
-    --policy.type=pi0 \
-    --policy.use_relative_actions=true \
-    --policy.use_relative_state=true \
-    --policy.state_obs_steps=2 \
-    --policy.relative_exclude_joints='["gripper"]'
-```
-
 ## References
 
 - [UMI: Universal Manipulation Interface](https://umi-gripper.github.io) — Chi et al., 2024. Defines relative trajectory actions.
diff --git a/src/lerobot/policies/pi0_fast/processor_pi0_fast.py b/src/lerobot/policies/pi0_fast/processor_pi0_fast.py
index c4a510615..9140a224b 100644
--- a/src/lerobot/policies/pi0_fast/processor_pi0_fast.py
+++ b/src/lerobot/policies/pi0_fast/processor_pi0_fast.py
@@ -136,7 +136,7 @@ def make_pi0_fast_pre_post_processors(
     # Pi0Fast order: relative → normalize → tokenize → model → unnormalize → absolute
     # This matches pi0/pi0.5: RelativeActionsProcessorStep runs first on raw absolute actions,
     # caching the raw state. NormalizerProcessorStep then normalizes the raw relative actions,
-    # so the normalizer (and action tokenizer) sees delta values — relative stats are required.
+    # so the normalizer (and action tokenizer) sees delta values, relative stats are required.
     # NOTE: RelativeActionsProcessorStep only modifies the action in the transition; it reads
     # state from the observation but does not change it. NormalizerProcessorStep still runs
     # before Pi0FastPrepareStateAndLanguageTokenizerProcessorStep, so the state tokenizer