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This commit is contained in:
Jade Choghari
2025-09-05 13:36:27 +03:00
parent 38f7229078
commit 3886af42a5
2 changed files with 3 additions and 0 deletions
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src/lerobot/envs/utils.py
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@@ -97,6 +97,7 @@ def env_to_policy_features(env_cfg: EnvConfig) -> dict[str, PolicyFeature]:
policy_key = env_cfg.features_map[key] policy_key = env_cfg.features_map[key]
policy_features[policy_key] = feature policy_features[policy_key] = feature
return policy_features return policy_features
src/lerobot/policies/factory.py
+2
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@@ -156,6 +156,7 @@ def make_policy(
"by default without stats from a dataset." "by default without stats from a dataset."
) )
features = env_to_policy_features(env_cfg) features = env_to_policy_features(env_cfg)
cfg.output_features = {key: ft for key, ft in features.items() if ft.type is FeatureType.ACTION} cfg.output_features = {key: ft for key, ft in features.items() if ft.type is FeatureType.ACTION}
cfg.input_features = {key: ft for key, ft in features.items() if key not in cfg.output_features} cfg.input_features = {key: ft for key, ft in features.items() if key not in cfg.output_features}
kwargs["config"] = cfg kwargs["config"] = cfg
@@ -168,6 +169,7 @@ def make_policy(
else: else:
# Make a fresh policy. # Make a fresh policy.
policy = policy_cls(**kwargs) policy = policy_cls(**kwargs)
policy.to(cfg.device) policy.to(cfg.device)
assert isinstance(policy, nn.Module) assert isinstance(policy, nn.Module)