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align molmoact2 feature validation with eo pattern

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hq-fang
2026-05-19 21:58:06 +00:00
parent b858ba1b6c
commit c092194cf2
1 changed files with 19 additions and 2 deletions
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src/lerobot/policies/molmoact2/configuration_molmoact2.py
+19 -2
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@@ -334,7 +334,24 @@ class MolmoAct2Config(PreTrainedConfig):
self.dataset_feature_names[key] = feature["names"] self.dataset_feature_names[key] = feature["names"]
def validate_features(self) -> None: def validate_features(self) -> None:
"""Validate and set up MolmoAct2 input and output features."""
image_features = [key for key, feat in self.input_features.items() if feat.type == FeatureType.VISUAL]
if not image_features:
raise ValueError(
"MolmoAct2 policy requires at least one visual input feature. "
"No features of type FeatureType.VISUAL found in input_features."
)
if OBS_STATE not in self.input_features: if OBS_STATE not in self.input_features:
self.input_features[OBS_STATE] = PolicyFeature(type=FeatureType.STATE, shape=(0,)) state_feature = PolicyFeature(
type=FeatureType.STATE,
shape=(0,),
)
self.input_features[OBS_STATE] = state_feature
if ACTION not in self.output_features: if ACTION not in self.output_features:
self.output_features[ACTION] = PolicyFeature(type=FeatureType.ACTION, shape=(0,)) action_feature = PolicyFeature(
type=FeatureType.ACTION,
shape=(self.expected_max_action_dim,),
)
self.output_features[ACTION] = action_feature