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Pepijn
3b37bd0ca6
Replace the bespoke LingBotVAActionUnnormalizeStep with the standard
UnnormalizerProcessorStep in QUANTILES mode, which computes the identical
(action + 1) / 2 * (q99 - q01) + q01 mapping. The per-channel q01/q99 are stored
as the step's saved state (a safetensors file) and restored on load; a fresh build
has no action stats so the step is an identity passthrough.
The 3 Hub checkpoints (lerobot/lingbot_va_{libero_long,robotwin,base}) have been
re-uploaded with the new post-processor (policy_postprocessor.json +
*_unnormalizer_processor.safetensors); reloading from the Hub round-trips q01/q99.
- processor_lingbot_va.py: drop the custom step + registry; build the post-processor
with UnnormalizerProcessorStep (explicit ACTION->QUANTILES norm_map so the
preprocessor / training path is unchanged).
- tests: assert the built-in step is used, identity-when-no-stats, correct quantile
unnormalization, and a save_pretrained/from_pretrained stats round-trip.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>