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chore: replace hard-coded next values with constants throughout all the source code (#2056)

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Steven Palma
2025-09-26 14:30:07 +02:00
committed by GitHub
parent ec40ccde0d
commit c5b5955c5a
13 changed files with 87 additions and 86 deletions
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src/lerobot/scripts/lerobot_eval.py
+3 -3
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@@ -81,7 +81,7 @@ from lerobot.envs.utils import (
from lerobot.policies.factory import make_policy, make_pre_post_processors
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.processor import PolicyAction, PolicyProcessorPipeline
from lerobot.utils.constants import ACTION, OBS_STR
from lerobot.utils.constants import ACTION, DONE, OBS_STR, REWARD
from lerobot.utils.io_utils import write_video
from lerobot.utils.random_utils import set_seed
from lerobot.utils.utils import (
@@ -451,9 +451,9 @@ def _compile_episode_data(
"episode_index": torch.tensor([start_episode_index + ep_ix] * (num_frames - 1)),
"frame_index": torch.arange(0, num_frames - 1, 1),
"timestamp": torch.arange(0, num_frames - 1, 1) / fps,
"next.done": rollout_data["done"][ep_ix, : num_frames - 1],
DONE: rollout_data["done"][ep_ix, : num_frames - 1],
"next.success": rollout_data["success"][ep_ix, : num_frames - 1],
"next.reward": rollout_data["reward"][ep_ix, : num_frames - 1].type(torch.float32),
REWARD: rollout_data["reward"][ep_ix, : num_frames - 1].type(torch.float32),
}
# For the last observation frame, all other keys will just be copy padded.