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chore: use alias & constants (#2785)

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* chore: use alias and constants

* fix(rl): solve circular dependecy

* chore: nit right constant

* chore: pre-commit

* chore(script): conflict tokenizer train

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Steven Palma
2026-01-13 09:49:46 +01:00
committed by GitHub
parent 2cdd9f43f7
commit 15724826dd
51 changed files with 206 additions and 178 deletions
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src/lerobot/policies/pi05/configuration_pi05.py
+6 -5
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@@ -21,6 +21,7 @@ from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from lerobot.optim.optimizers import AdamWConfig
from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
from lerobot.policies.rtc.configuration_rtc import RTCConfig
from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE
DEFAULT_IMAGE_SIZE = 224
@@ -117,26 +118,26 @@ class PI05Config(PreTrainedConfig):
def validate_features(self) -> None:
"""Validate and set up input/output features."""
for i in range(self.empty_cameras):
key = f"observation.images.empty_camera_{i}"
key = OBS_IMAGES + f".empty_camera_{i}"
empty_camera = PolicyFeature(
type=FeatureType.VISUAL,
shape=(3, *self.image_resolution), # Use configured image resolution
)
self.input_features[key] = empty_camera
if "observation.state" not in self.input_features:
if OBS_STATE not in self.input_features:
state_feature = PolicyFeature(
type=FeatureType.STATE,
shape=(self.max_state_dim,), # Padded to max_state_dim
)
self.input_features["observation.state"] = state_feature
self.input_features[OBS_STATE] = state_feature
if "action" not in self.output_features:
if ACTION not in self.output_features:
action_feature = PolicyFeature(
type=FeatureType.ACTION,
shape=(self.max_action_dim,), # Padded to max_action_dim
)
self.output_features["action"] = action_feature
self.output_features[ACTION] = action_feature
def get_optimizer_preset(self) -> AdamWConfig:
return AdamWConfig(