Can I inverse transform the intercept and coefficients of LASSO regression after using Robust Scaler?

Is it possible to inverse transform the intercept and coefficients in LASSO regression, after fitting the model on scaled data using Robust Scaler?

I'm using LASSO regression to predict values on data that is not normalized and doesn't perform well with LASSO unless it's scaled beforehand. After scaling the data and fitting the LASSO model, I ideally want to be able to see what the model intercept and coefficients are but in the original units (not the scaled versions). I asked a similar question here and it doesn't appear this is possible. If not, why? Can someone explain this to me? I'm trying to broaden my understanding of how LASSO and Robust Scaler work.

Below is the code I was using. Here I was trying to inverse transform the coefficients using transformer_x and the intercept using transformer_y. However, it sounds like this is incorrect.

import pandas as pd
from sklearn.preprocessing import RobustScaler
from sklearn.linear_model import Lasso

df = pd.DataFrame({'Y':[5, -10, 10, .5, 2.5, 15], 'X1':[1., -2.,  2., .1, .5, 3], 'X2':[1, 1, 2, 1, 1, 1], 
              'X3':[6, 6, 6, 5, 6, 4], 'X4':[6, 5, 4, 3, 2, 1]})

X = df[['X1','X2','X3','X4']]
y = df[['Y']]

#Scaling 
transformer_x = RobustScaler().fit(X)
transformer_y = RobustScaler().fit(y) 
X_scal = transformer_x.transform(X)
y_scal = transformer_y.transform(y)

#LASSO
lasso = Lasso()
lasso = lasso.fit(X_scal, y_scal)

#LASSO info
print('Score: ', lasso.score(X_scal,y_scal))
print('Raw Intercept: ', lasso.intercept_.round(2)[0]) 
intercept = transformer_y.inverse_transform([lasso.intercept_])[0][0]
print('Unscaled Intercept: ', intercept) 
print('\nCoefficients Used: ')
coeff_array = lasso.coef_
inverse_coeff_array = transformer_x.inverse_transform(lasso.coef_.reshape(1,-1))[0]
for i,j,k in zip(X.columns, coeff_array, inverse_coeff_array):
    if j != 0:
        print(i, j.round(2), k.round(2))

#Predictions
example = [[3,1,1,1]]
pred = lasso.predict(example)
pred_scal = transformer_y.inverse_transform(pred.reshape(-1, 1))
print('\nRaw Prediction where X1 = 3: ', pred[0])
print('Unscaled Prediction where X1 = 3: ', pred_scal[0][0])

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