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fix(advantage): update frame count calculation in constant mode

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This commit is contained in:
Khalil Meftah
2026-07-03 17:39:23 +02:00
parent ad32d3e00d
commit 9a846c4fca
1 changed files with 2 additions and 4 deletions
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src/lerobot/annotations/steerable_pipeline/modules/advantage.py
+2 -4
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@@ -261,7 +261,7 @@ class AdvantageModule:
def _run_constant_mode(self, record: EpisodeRecord, staging: EpisodeStaging) -> None: def _run_constant_mode(self, record: EpisodeRecord, staging: EpisodeStaging) -> None:
"""Emit a fixed advantage value for every frame (with dropout for CFG).""" """Emit a fixed advantage value for every frame (with dropout for CFG)."""
num_frames = record.num_frames num_frames = len(record.frame_timestamps)
rng = np.random.default_rng(seed=self.config.seed + record.episode_index) rng = np.random.default_rng(seed=self.config.seed + record.episode_index)
rows: list[dict[str, Any]] = [] rows: list[dict[str, Any]] = []
@@ -269,14 +269,12 @@ class AdvantageModule:
if rng.random() < self.config.dropout_rate: if rng.random() < self.config.dropout_rate:
continue continue
timestamp = float(record.frame_timestamps[t]) if t < len(record.frame_timestamps) else 0.0
rows.append( rows.append(
{ {
"role": "user", "role": "user",
"content": self.config.constant_value, "content": self.config.constant_value,
"style": "advantage", "style": "advantage",
"timestamp": timestamp, "timestamp": float(record.frame_timestamps[t]),
"camera": None, "camera": None,
"tool_calls": None, "tool_calls": None,
} }