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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/xvla/processor_xvla.py
+9 -7
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@@ -41,6 +41,7 @@ from lerobot.processor.converters import policy_action_to_transition, transition
from lerobot.processor.core import EnvTransition, TransitionKey
from lerobot.utils.constants import (
OBS_IMAGES,
OBS_PREFIX,
OBS_STATE,
POLICY_POSTPROCESSOR_DEFAULT_NAME,
POLICY_PREPROCESSOR_DEFAULT_NAME,
@@ -137,8 +138,9 @@ class LiberoProcessorStep(ObservationProcessorStep):
processed_obs[key] = img
# Process robot_state into a flat state vector
if "observation.robot_state" in processed_obs:
robot_state = processed_obs.pop("observation.robot_state")
robot_state_str = OBS_PREFIX + "robot_state"
if robot_state_str in processed_obs:
robot_state = processed_obs.pop(robot_state_str)
# Extract components
eef_pos = robot_state["eef"]["pos"] # (B, 3,)
@@ -174,8 +176,8 @@ class LiberoProcessorStep(ObservationProcessorStep):
state_feats = {}
# add our new flattened state
state_feats["observation.state"] = PolicyFeature(
key="observation.state",
state_feats[OBS_STATE] = PolicyFeature(
key=OBS_STATE,
shape=(20,),
dtype="float32",
)
@@ -247,7 +249,7 @@ class XVLAImageScaleProcessorStep(ProcessorStep):
keys_to_scale = self.image_keys
if keys_to_scale is None:
# Auto-detect image keys
keys_to_scale = [k for k in obs if k.startswith("observation.images.")]
keys_to_scale = [k for k in obs if k.startswith(OBS_IMAGES)]
# Scale each image
for key in keys_to_scale:
@@ -303,7 +305,7 @@ class XVLAImageToFloatProcessorStep(ProcessorStep):
keys_to_convert = self.image_keys
if keys_to_convert is None:
# Auto-detect image keys
keys_to_convert = [k for k in obs if k.startswith("observation.images.")]
keys_to_convert = [k for k in obs if k.startswith(OBS_IMAGES)]
# Convert each image
for key in keys_to_convert:
@@ -376,7 +378,7 @@ class XVLAImageNetNormalizeProcessorStep(ProcessorStep):
keys_to_normalize = self.image_keys
if keys_to_normalize is None:
# Auto-detect image keys
keys_to_normalize = [k for k in obs if k.startswith("observation.images.")]
keys_to_normalize = [k for k in obs if k.startswith(OBS_IMAGES)]
# Normalize each image
for key in keys_to_normalize: