From f02ce69df0b4dcee75b61e8fe080e33792b79104 Mon Sep 17 00:00:00 2001 From: Adil Zouitine Date: Mon, 28 Jul 2025 13:43:07 +0200 Subject: [PATCH] refactor(diffusion): remove normalization layer from input processing --- src/lerobot/policies/diffusion/modeling_diffusion.py | 1 - 1 file changed, 1 deletion(-) diff --git a/src/lerobot/policies/diffusion/modeling_diffusion.py b/src/lerobot/policies/diffusion/modeling_diffusion.py index 6c608874f..747ead334 100644 --- a/src/lerobot/policies/diffusion/modeling_diffusion.py +++ b/src/lerobot/policies/diffusion/modeling_diffusion.py @@ -124,7 +124,6 @@ class DiffusionPolicy(PreTrainedPolicy): if ACTION in batch: batch.pop(ACTION) - batch = self.normalize_inputs(batch) if self.config.image_features: batch = dict(batch) # shallow copy so that adding a key doesn't modify the original batch[OBS_IMAGES] = torch.stack([batch[key] for key in self.config.image_features], dim=-4)