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fix cmd record, eval

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Pepijn
2025-09-15 17:35:12 +02:00
parent 42cffd6f2e
commit 99213daa3e
1 changed files with 4 additions and 2 deletions
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src/lerobot/record.py
+4 -2
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@@ -399,7 +399,9 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
dataset_features = combine_feature_dicts(
aggregate_pipeline_dataset_features(
pipeline=teleop_action_processor,
initial_features=create_initial_features(action=teleop.action_features),
initial_features=create_initial_features(
action=robot.action_features
), # TODO(steven, pepijn): in future this should be come from teleop or policy
use_videos=cfg.dataset.video,
),
aggregate_pipeline_dataset_features(
@@ -448,7 +450,7 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
dataset_stats=rename_stats(dataset.meta.stats, cfg.dataset.rename_map),
preprocessor_overrides={
"device_processor": {"device": cfg.policy.device},
"rename_processor": {"rename_map": cfg.dataset.rename_map},
"rename_observations_processor": {"rename_map": cfg.dataset.rename_map},
},
)