From f0d0faa8a172af330bde696edf97e0fb9a714928 Mon Sep 17 00:00:00 2001 From: Jade Choghari Date: Fri, 2 Jan 2026 10:27:55 +0100 Subject: [PATCH] put meanstd as default --- src/lerobot/policies/pi0_fast/configuration_pi0_fast.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/policies/pi0_fast/configuration_pi0_fast.py b/src/lerobot/policies/pi0_fast/configuration_pi0_fast.py index 278db05be..6bb4bff66 100644 --- a/src/lerobot/policies/pi0_fast/configuration_pi0_fast.py +++ b/src/lerobot/policies/pi0_fast/configuration_pi0_fast.py @@ -67,8 +67,8 @@ class PI0FastConfig(PreTrainedConfig): normalization_mapping: dict[str, NormalizationMode] = field( default_factory=lambda: { "VISUAL": NormalizationMode.IDENTITY, - "STATE": NormalizationMode.QUANTILES, # Pi0Fast uses quantiles for state - "ACTION": NormalizationMode.QUANTILES, # Pi0Fast uses quantiles for action + "STATE": NormalizationMode.MEAN_STD, # Pi0Fast uses quantiles for state + "ACTION": NormalizationMode.MEAN_STD, # Pi0Fast uses quantiles for action } )