Set SO100 normalization in factory code

.gitattributes

@@ -1,5 +1,5 @@
+*.bag filter=lfs diff=lfs merge=lfs -text
 *.webp filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
 *.jpg filter=lfs diff=lfs merge=lfs -text
 *.safetensors filter=lfs diff=lfs merge=lfs -text
-*.bag filter=lfs diff=lfs merge=lfs -text

lerobot/src/lerobot/datasets/factory.py

@@ -97,6 +97,14 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
                 "observation.images.image": "observation.images.base_0_rgb",
                 "observation.images.image2": "observation.images.left_wrist_0_rgb",
             }
+        # Set normalization for SO100 (MEAN_STD for actions/state, IDENTITY for images)
+        from lerobot.configs.types import FeatureType, NormalizationMode
+        if not cfg.policy.normalization_mapping:
+            cfg.policy.normalization_mapping = {
+                FeatureType.VISUAL: NormalizationMode.IDENTITY,
+                FeatureType.STATE: NormalizationMode.MEAN_STD,
+                FeatureType.ACTION: NormalizationMode.MEAN_STD,
+            }
         dataset = SO100Dataset(
             data_root=data_root,
             index_path=index_path,