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fix: include IS_INTERVENTION in complementary_info sent to learner for offline replay buffer

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Khalil Meftah
2026-04-14 16:35:08 +02:00
parent e6d282108d
commit 64dc08cb7b
1 changed files with 3 additions and 1 deletions
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src/lerobot/rl/actor.py
+3 -1
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@@ -327,7 +327,8 @@ def act_with_policy(
# Check for intervention from transition info # Check for intervention from transition info
intervention_info = new_transition[TransitionKey.INFO] intervention_info = new_transition[TransitionKey.INFO]
if intervention_info.get(TeleopEvents.IS_INTERVENTION, False): is_intervention = intervention_info.get(TeleopEvents.IS_INTERVENTION, False)
if is_intervention:
episode_intervention = True episode_intervention = True
episode_intervention_steps += 1 episode_intervention_steps += 1
@@ -335,6 +336,7 @@ def act_with_policy(
"discrete_penalty": torch.tensor( "discrete_penalty": torch.tensor(
[new_transition[TransitionKey.COMPLEMENTARY_DATA].get("discrete_penalty", 0.0)] [new_transition[TransitionKey.COMPLEMENTARY_DATA].get("discrete_penalty", 0.0)]
), ),
TeleopEvents.IS_INTERVENTION: is_intervention,
} }
# Create transition for learner (convert to old format) # Create transition for learner (convert to old format)
list_transition_to_send_to_learner.append( list_transition_to_send_to_learner.append(