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docs: update document in response to Simplify configs PR (#1596)

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* docs: update document input/output_shapes -> input/output_features

* fix inconsistent quote (suggested by copilot reviewer)

* docs: shapes => PolicyFeature

* docs: relfect normalization_mapping and remove outdated
This commit is contained in:
Hirokazu Ishida
2026-02-03 04:05:58 +09:00
committed by GitHub
parent b18cef2e26
commit 9c24a09665
5 changed files with 34 additions and 73 deletions
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src/lerobot/configs/policies.py
+6 -6
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@@ -45,12 +45,12 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC): # type: igno
Args:
n_obs_steps: Number of environment steps worth of observations to pass to the policy (takes the
current step and additional steps going back).
input_shapes: A dictionary defining the shapes of the input data for the policy.
output_shapes: A dictionary defining the shapes of the output data for the policy.
input_normalization_modes: A dictionary with key representing the modality and the value specifies the
normalization mode to apply.
output_normalization_modes: Similar dictionary as `input_normalization_modes`, but to unnormalize to
the original scale.
input_features: A dictionary defining the PolicyFeature of the input data for the policy. The key represents
the input data name, and the value is PolicyFeature, which consists of FeatureType and shape attributes.
output_features: A dictionary defining the PolicyFeature of the output data for the policy. The key represents
the output data name, and the value is PolicyFeature, which consists of FeatureType and shape attributes.
normalization_mapping: A dictionary that maps from a str value of FeatureType (e.g., "STATE", "VISUAL") to
a corresponding NormalizationMode (e.g., NormalizationMode.MIN_MAX)
"""
n_obs_steps: int = 1