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change validation

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Pepijn
2025-11-25 16:03:13 +01:00
parent 2af40615b8
commit 9a5a0ad575
1 changed files with 11 additions and 1 deletions
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src/lerobot/policies/utils.py
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@@ -231,11 +231,21 @@ def validate_visual_features_consistency(
""" """
Validates visual feature consistency between a policy config and provided dataset/environment features. Validates visual feature consistency between a policy config and provided dataset/environment features.
Validation passes if EITHER:
- Policy's expected visuals are a subset of dataset (policy uses some cameras, dataset has more)
- Dataset's provided visuals are a subset of policy (policy declares extras for flexibility)
Args: Args:
cfg (PreTrainedConfig): The model or policy configuration containing input_features and type. cfg (PreTrainedConfig): The model or policy configuration containing input_features and type.
features (Dict[str, PolicyFeature]): A mapping of feature names to PolicyFeature objects. features (Dict[str, PolicyFeature]): A mapping of feature names to PolicyFeature objects.
""" """
expected_visuals = {k for k, v in cfg.input_features.items() if v.type == FeatureType.VISUAL} expected_visuals = {k for k, v in cfg.input_features.items() if v.type == FeatureType.VISUAL}
provided_visuals = {k for k, v in features.items() if v.type == FeatureType.VISUAL} provided_visuals = {k for k, v in features.items() if v.type == FeatureType.VISUAL}
if not provided_visuals.issubset(expected_visuals):
# Accept if either direction is a subset
policy_subset_of_dataset = expected_visuals.issubset(provided_visuals)
dataset_subset_of_policy = provided_visuals.issubset(expected_visuals)
if not (policy_subset_of_dataset or dataset_subset_of_policy):
raise_feature_mismatch_error(provided_visuals, expected_visuals) raise_feature_mismatch_error(provided_visuals, expected_visuals)