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refactor(processor): enhance tensor device handling in normalization processor #1795

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Merged
AdilZouitine merged 1 commit into from
Aug 28, 2025
Merged

refactor(processor): enhance tensor device handling in normalization processor #1795

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7 changes: 7 additions & 0 deletions src/lerobot/processor/normalize_processor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -157,9 +157,16 @@ def _apply_transform(
if self.device and tensor.device != self.device:
tensor = tensor.to(self.device)

# For Accelerate compatibility: move stats to match input tensor device
input_device = tensor.device
stats = self._tensor_stats[key]
tensor = tensor.to(dtype=torch.float32)

# Move stats to input device if needed
stats_device = next(iter(stats.values())).device
if stats_device != input_device:
stats = _convert_stats_to_tensors({key: self.stats[key]}, device=input_device)[key]

if norm_mode == NormalizationMode.MEAN_STD and "mean" in stats and "std" in stats:
mean, std = stats["mean"], stats["std"]
# Avoid division by zero by adding a small epsilon.
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