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[Port HIL_SERL] Final fixes for the Reward Classifier (#598)

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Eugene Mironov
2025-01-06 17:34:00 +07:00
committed by AdilZouitine
parent 764925e4a2
commit b68730474a
10 changed files with 7780 additions and 15 deletions
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lerobot/common/robot_devices/control_utils.py
+6 -2
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@@ -342,12 +342,16 @@ def sanity_check_dataset_name(repo_id, policy_cfg):
def sanity_check_dataset_robot_compatibility(
dataset: LeRobotDataset, robot: Robot, fps: int, use_videos: bool
dataset: LeRobotDataset, robot: Robot, fps: int, use_videos: bool, extra_features: dict = None
) -> None:
features_from_robot = get_features_from_robot(robot, use_videos)
if extra_features is not None:
features_from_robot.update(extra_features)
fields = [
("robot_type", dataset.meta.robot_type, robot.robot_type),
("fps", dataset.fps, fps),
("features", dataset.features, get_features_from_robot(robot, use_videos)),
("features", dataset.features, features_from_robot),
]
mismatches = []