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fix(rl): postprocess action in actor

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(cherry picked from commit c2556439e5)
This commit is contained in:
Khalil Meftah
2026-04-26 18:15:04 +02:00
parent 77d18659b1
commit c278cfa026
1 changed files with 2 additions and 1 deletions
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3
src/lerobot/rl/actor.py
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@@ -260,7 +260,7 @@ def act_with_policy(
policy = policy.to(device).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,
)
@@ -291,6 +291,7 @@ 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)