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update docstring for multitask dit policy processor file

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Bryson Jones
2025-12-10 11:15:10 -08:00
parent 6f856016c5
commit cdacc090cd
1 changed files with 22 additions and 1 deletions
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23
src/lerobot/policies/multi_task_dit/processor_multi_task_dit.py
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@@ -39,7 +39,28 @@ def make_multi_task_dit_pre_post_processors(
PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
PolicyProcessorPipeline[PolicyAction, PolicyAction],
]:
"""Creates pre- and post-processing pipelines for the Multi-Task DiT policy."""
"""
Constructs pre-processor and post-processor pipelines for a Multi-Task DiT policy.
The pre-processing pipeline prepares the input data for the model by:
1. Renaming features.
2. Adding a batch dimension.
3. Moving the data to the specified device.
4. Normalizing the input and output features based on dataset statistics.
The post-processing pipeline handles the model's output by:
1. Unnormalizing the output features to their original scale.
2. Moving the data to the CPU.
Args:
config: The configuration object for the Multi-Task DiT policy,
containing feature definitions, normalization mappings, and device information.
dataset_stats: A dictionary of statistics used for normalization.
Defaults to None.
Returns:
A tuple containing the configured pre-processor and post-processor pipelines.
"""
input_steps = [
RenameObservationsProcessorStep(rename_map={}),