From 58cf6c87105a949ad0502ef8cbfaf8b3ca9f5479 Mon Sep 17 00:00:00 2001
From: Khalil Meftah <khalil.meftah@huggingface.co>
Date: Mon, 15 Jun 2026 18:47:16 +0200
Subject: [PATCH] fix(eval): infer recording features from actual env
 observations

---
 src/lerobot/scripts/lerobot_eval.py | 38 +++++++++++++++++++++--------
 1 file changed, 28 insertions(+), 10 deletions(-)

diff --git a/src/lerobot/scripts/lerobot_eval.py b/src/lerobot/scripts/lerobot_eval.py
index 990800e84..a084bcc4f 100644
--- a/src/lerobot/scripts/lerobot_eval.py
+++ b/src/lerobot/scripts/lerobot_eval.py
@@ -96,18 +96,32 @@ from lerobot.utils.utils import (
 )
 
 
-def _env_features_to_dataset_features(env_features: dict) -> dict:
-    """Convert EnvConfig.features (PolicyFeature objects) to the plain dict format for LeRobotDataset.create()."""
+def _env_features_to_dataset_features(env_features: dict, raw_obs: dict | None = None) -> dict:
+    """Convert EnvConfig.features (PolicyFeature objects) to the plain dict format for LeRobotDataset.create().
+
+    If raw_obs is provided, visual feature shapes are inferred from the actual observation
+    to avoid mismatches between the env config and the real observation resolution.
+    """
     features = {}
     for key, ft in env_features.items():
         if ft.type.value == "visual":
-            features[key] = {
-                "dtype": "video",
-                "shape": tuple(ft.shape),
-                "names": ["channel", "height", "width"],
-            }
+            shape = tuple(ft.shape)
+            if raw_obs is not None and key in raw_obs and isinstance(raw_obs[key], np.ndarray):
+                shape = raw_obs[key].shape[1:]  # strip batch dim
+            elif raw_obs is not None and "pixels" in raw_obs:
+                pixels = raw_obs["pixels"]
+                if isinstance(pixels, dict):
+                    for cam_name, img in pixels.items():
+                        if key == f"{OBS_IMAGES}.{cam_name}" or key == cam_name:
+                            shape = img.shape[1:]  # strip batch dim
+                elif key in ("pixels", OBS_IMAGE):
+                    shape = pixels.shape[1:]  # strip batch dim
+            features[key] = {"dtype": "video", "shape": shape, "names": ["height", "width", "channel"]}
         else:
-            features[key] = {"dtype": "float32", "shape": tuple(ft.shape), "names": None}
+            shape = tuple(ft.shape)
+            if raw_obs is not None and key in raw_obs and isinstance(raw_obs[key], np.ndarray):
+                shape = raw_obs[key].shape[1:]  # strip batch dim
+            features[key] = {"dtype": "float32", "shape": shape, "names": None}
     features["next.reward"] = {"dtype": "float32", "shape": (1,), "names": None}
     features["next.success"] = {"dtype": "bool", "shape": (1,), "names": None}
     features["next.done"] = {"dtype": "bool", "shape": (1,), "names": None}
@@ -145,7 +159,10 @@ def _build_raw_frame(
             continue
         raw_key = key
         if raw_key in raw_obs and isinstance(raw_obs[raw_key], np.ndarray):
-            frame[key] = raw_obs[raw_key][env_idx]
+            val = raw_obs[raw_key][env_idx]
+            if val.dtype == np.float64:
+                val = val.astype(np.float32)
+            frame[key] = val
     frame[ACTION] = action
     frame["next.reward"] = np.atleast_1d(np.float32(reward))
     frame["next.success"] = np.atleast_1d(np.bool_(success))
@@ -777,7 +794,8 @@ def run_one(
     if recording_dir is not None and env_features is not None:
         task_recording_dir = recording_dir / f"{task_group}_{task_id}"
         fps = env.unwrapped.metadata.get("render_fps", 30)
-        features = _env_features_to_dataset_features(env_features)
+        sample_obs, _ = env.reset()
+        features = _env_features_to_dataset_features(env_features, raw_obs=sample_obs)
         recording_dataset = LeRobotDataset.create(
             repo_id=f"eval_{task_group}_{task_id}",
             fps=fps,