Revert feat(normalization): add validation for empty features in NormalizerProcessorStep and UnnormalizerProcessorStep (#2087)#2089
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Pull Request Overview
This PR reverts previous validation logic that required non-empty features in normalization processor steps. The revert removes error checking that prevented instantiation of NormalizerProcessorStep and UnnormalizerProcessorStep with empty features dictionaries.
- Removes validation that raised ValueError for empty features in normalization processors
- Deletes associated test cases that verified the empty features validation
- Adds a missing preprocessor initialization in policy tests
Reviewed Changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
| src/lerobot/processor/normalize_processor.py | Removes empty features validation and guards feature processing with conditional check |
| tests/processor/test_normalize_processor.py | Removes test cases that verified empty features validation behavior |
| tests/policies/test_policies.py | Adds missing preprocessor initialization in test setup |
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pkooij
approved these changes
Sep 29, 2025
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Revert feat(normalization): add validation for empty features in NormalizerProcessorStep and UnnormalizerProcessorStep (#2087)