From c2556439e550ee3fe5bae6060c57cf227101fcaf Mon Sep 17 00:00:00 2001 From: Khalil Meftah Date: Sun, 26 Apr 2026 18:15:04 +0200 Subject: [PATCH] fix(rl): postprocess action in actor --- src/lerobot/rl/actor.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/lerobot/rl/actor.py b/src/lerobot/rl/actor.py index f75dfac11..9f21bc1b5 100644 --- a/src/lerobot/rl/actor.py +++ b/src/lerobot/rl/actor.py @@ -261,7 +261,7 @@ def act_with_policy( policy = policy.eval() assert isinstance(policy, nn.Module) - preprocessor, _postprocessor = make_pre_post_processors( + preprocessor, postprocessor = make_pre_post_processors( policy_cfg=cfg.policy, dataset_stats=cfg.policy.dataset_stats, ) @@ -292,6 +292,7 @@ def act_with_policy( with policy_timer: normalized_observation = preprocessor.process_observation(observation) action = policy.select_action(batch=normalized_observation) + action = postprocessor.process_action(action) policy_fps = policy_timer.fps_last log_policy_frequency_issue(policy_fps=policy_fps, cfg=cfg, interaction_step=interaction_step)