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app.py

@@ -25,7 +25,7 @@ import pandas as pd  # noqa: E402
 import plotly.graph_objects as go  # noqa: E402
 import torch  # noqa: E402
 from huggingface_hub import snapshot_download  # noqa: E402
-from lerobot.configs.types import FeatureType, PolicyFeature  # noqa: E402
+from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature  # noqa: E402
 from PIL import Image  # noqa: E402
 
 from policies.dynamicvla.configuration_dynamicvla import DynamicVLAConfig  # noqa: E402
@@ -86,6 +86,11 @@ def _build_config(ckpt_dir: str) -> DynamicVLAConfig:
         attr = key.lower()
         if attr in skip or value is None or not hasattr(cfg, attr):
             continue
+        if attr == "normalization_mapping" and isinstance(value, dict):
+            value = {
+                k: (NormalizationMode[v] if isinstance(v, str) else v)
+                for k, v in value.items()
+            }
         setattr(cfg, attr, value)
     cfg.enable_streaming = False
     return cfg