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chore: use alias & constants (#2785)

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* chore: use alias and constants

* fix(rl): solve circular dependecy

* chore: nit right constant

* chore: pre-commit

* chore(script): conflict tokenizer train

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Steven Palma
2026-01-13 09:49:46 +01:00
committed by GitHub
parent 2cdd9f43f7
commit 15724826dd
51 changed files with 206 additions and 178 deletions
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4
src/lerobot/processor/normalize_processor.py
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@@ -30,7 +30,7 @@ from lerobot.utils.constants import ACTION
from .converters import from_tensor_to_numpy, to_tensor
from .core import EnvTransition, PolicyAction, TransitionKey
from .pipeline import PolicyProcessorPipeline, ProcessorStep, ProcessorStepRegistry
from .pipeline import PolicyProcessorPipeline, ProcessorStep, ProcessorStepRegistry, RobotObservation
@dataclass
@@ -239,7 +239,7 @@ class _NormalizationMixin:
config["normalize_observation_keys"] = sorted(self.normalize_observation_keys)
return config
def _normalize_observation(self, observation: dict[str, Any], inverse: bool) -> dict[str, Tensor]:
def _normalize_observation(self, observation: RobotObservation, inverse: bool) -> dict[str, Tensor]:
"""
Applies (un)normalization to all relevant features in an observation dictionary.