fix(rollout): align relative state feature order

src/lerobot/rollout/context.py

@@ -46,6 +46,7 @@ from lerobot.processor import (
 from lerobot.processor.relative_action_processor import RelativeActionsProcessorStep
 from lerobot.robots import make_robot_from_config
 from lerobot.teleoperators import Teleoperator, make_teleoperator_from_config
+from lerobot.utils.constants import OBS_STATE
 from lerobot.utils.feature_utils import combine_feature_dicts, hw_to_dataset_features
 
 from .configs import BaseStrategyConfig, DAggerStrategyConfig, RolloutConfig
@@ -109,6 +110,26 @@ def _resolve_action_key_order(
     return policy_action_names
 
 
+def _align_relative_state_feature_order(
+    hw_features: dict[str, dict], policy_action_names: list[str] | None
+) -> dict[str, dict]:
+    """Align policy-facing state with named relative-action dimensions."""
+    if not policy_action_names or OBS_STATE not in hw_features:
+        return hw_features
+
+    state_feature = hw_features[OBS_STATE]
+    state_names = state_feature.get("names")
+    if not state_names or len(state_names) != len(policy_action_names):
+        return hw_features
+    if set(state_names) != set(policy_action_names) or state_names == policy_action_names:
+        return hw_features
+
+    aligned = dict(hw_features)
+    aligned[OBS_STATE] = {**state_feature, "names": list(policy_action_names)}
+    logger.info("Aligned relative-action state order with checkpoint action names")
+    return aligned
+
+
 # ---------------------------------------------------------------------------
 # Sub-contexts
 # ---------------------------------------------------------------------------
@@ -431,10 +452,22 @@ def build_rollout_context(
         },
     )
 
-    if isinstance(cfg.inference, SyncInferenceConfig) and any(
+    relative_action_step = next(
-        isinstance(step, RelativeActionsProcessorStep) and step.enabled
+        (
-        for step in getattr(preprocessor, "steps", ())
+            step
-    ):
+            for step in getattr(preprocessor, "steps", ())
+            if isinstance(step, RelativeActionsProcessorStep) and step.enabled
+        ),
+        None,
+    )
+    if relative_action_step is not None:
+        relative_action_names = relative_action_step.action_names or policy_action_names
+        hw_features = _align_relative_state_feature_order(
+            hw_features,
+            list(relative_action_names) if relative_action_names else None,
+        )
+
+    if isinstance(cfg.inference, SyncInferenceConfig) and relative_action_step is not None:
         raise NotImplementedError(
             "SyncInferenceEngine does not support policies with relative actions for now."
             "Use --inference.type=rtc or remove relative action processor steps from the policy pipeline."

tests/test_rollout.py

@@ -188,6 +188,42 @@ def test_trained_rtc_rollout_requires_capacity_for_max_delay(execution_horizon,
         _validate_trained_rtc_rollout_config(policy_config, inference_config)
 
 
+def test_relative_state_order_follows_checkpoint_action_names():
+    from lerobot.rollout.context import _align_relative_state_feature_order
+    from lerobot.utils.constants import OBS_STATE
+    from lerobot.utils.feature_utils import build_dataset_frame
+
+    hw_features = {
+        OBS_STATE: {
+            "dtype": "float32",
+            "shape": (4,),
+            "names": ["left_joint.pos", "left_gripper.pos", "right_joint.pos", "right_gripper.pos"],
+        }
+    }
+    checkpoint_order = [
+        "right_joint.pos",
+        "right_gripper.pos",
+        "left_joint.pos",
+        "left_gripper.pos",
+    ]
+
+    aligned = _align_relative_state_feature_order(hw_features, checkpoint_order)
+    frame = build_dataset_frame(
+        aligned,
+        {
+            "left_joint.pos": 1.0,
+            "left_gripper.pos": 2.0,
+            "right_joint.pos": 3.0,
+            "right_gripper.pos": 4.0,
+        },
+        prefix="observation",
+    )
+
+    assert aligned[OBS_STATE]["names"] == checkpoint_order
+    assert frame[OBS_STATE].tolist() == [3.0, 4.0, 1.0, 2.0]
+    assert hw_features[OBS_STATE]["names"][0] == "left_joint.pos"
+
+
 def test_sentry_config_defaults():
     from lerobot.rollout import SentryStrategyConfig