diff --git a/src/lerobot/processor/delta_action_processor.py b/src/lerobot/processor/delta_action_processor.py
index f081fd35d..95d3d2c3e 100644
--- a/src/lerobot/processor/delta_action_processor.py
+++ b/src/lerobot/processor/delta_action_processor.py
@@ -59,9 +59,11 @@ class MapTensorToDeltaActionDictStep(ActionProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-        features[PipelineFeatureType.ACTION]["delta_x"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["delta_y"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["delta_z"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        for axis in ["x", "y", "z"]:
+            features[PipelineFeatureType.ACTION][f"delta_{axis}"] = PolicyFeature(
+                type=FeatureType.ACTION, shape=(1,)
+            )
+
         if self.use_gripper:
             features[PipelineFeatureType.ACTION]["gripper"] = PolicyFeature(
                 type=FeatureType.ACTION, shape=(1,)
@@ -94,10 +96,10 @@ class MapDeltaActionToRobotActionStep(RobotActionProcessorStep):
     def action(self, action: RobotAction) -> RobotAction:
         # NOTE (maractingi): Action can be a dict from the teleop_devices or a tensor from the policy
         # TODO (maractingi): changing this target_xyz naming convention from the teleop_devices
-        delta_x = action.pop("delta_x", 0.0)
-        delta_y = action.pop("delta_y", 0.0)
-        delta_z = action.pop("delta_z", 0.0)
-        gripper = action.pop("gripper", 1.0)  # Default to "stay" (1.0)
+        delta_x = action.pop("delta_x")
+        delta_y = action.pop("delta_y")
+        delta_z = action.pop("delta_z")
+        gripper = action.pop("gripper")
 
         # Determine if the teleoperator is actively providing input
         # Consider enabled if any significant movement delta is detected
@@ -132,18 +134,12 @@ class MapDeltaActionToRobotActionStep(RobotActionProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-        """Transform features to match output format."""
-        features[PipelineFeatureType.ACTION].pop("delta_x", None)
-        features[PipelineFeatureType.ACTION].pop("delta_y", None)
-        features[PipelineFeatureType.ACTION].pop("delta_z", None)
-        features[PipelineFeatureType.ACTION].pop("gripper", None)
+        for axis in ["x", "y", "z", "gripper"]:
+            features[PipelineFeatureType.ACTION].pop(f"delta_{axis}", None)
+
+        for feat in ["enabled", "target_x", "target_y", "target_z", "target_wx", "target_wy", "target_wz"]:
+            features[PipelineFeatureType.ACTION][f"{feat}"] = PolicyFeature(
+                type=FeatureType.ACTION, shape=(1,)
+            )
 
-        features[PipelineFeatureType.ACTION]["enabled"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["target_x"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["target_y"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["target_z"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["target_wx"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["target_wy"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["target_wz"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["gripper"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
         return features
diff --git a/src/lerobot/robots/so100_follower/robot_kinematic_processor.py b/src/lerobot/robots/so100_follower/robot_kinematic_processor.py
index be42d5654..bb81c72e2 100644
--- a/src/lerobot/robots/so100_follower/robot_kinematic_processor.py
+++ b/src/lerobot/robots/so100_follower/robot_kinematic_processor.py
@@ -78,7 +78,7 @@ class EEReferenceAndDelta(RobotActionProcessorStep):
         comp = self.transition.get(TransitionKey.COMPLEMENTARY_DATA)
 
         # Get joint positions from complimentary data
-        raw = comp.get("raw_joint_positions", None)
+        raw = comp["raw_joint_positions"]
         if raw is None:
             raise ValueError(
                 "raw_joint_positions is not in complementary data and is required for EEReferenceAndDelta"
@@ -155,24 +155,23 @@ class EEReferenceAndDelta(RobotActionProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-        features[PipelineFeatureType.ACTION].pop("enabled", None)
-        features[PipelineFeatureType.ACTION].pop("target_x", None)
-        features[PipelineFeatureType.ACTION].pop("target_y", None)
-        features[PipelineFeatureType.ACTION].pop("target_z", None)
-        features[PipelineFeatureType.ACTION].pop("target_wx", None)
-        features[PipelineFeatureType.ACTION].pop("target_wy", None)
-        features[PipelineFeatureType.ACTION].pop("target_wz", None)
-        features[PipelineFeatureType.ACTION].pop("gripper_vel", None)
+        for feat in [
+            "enabled",
+            "target_x",
+            "target_y",
+            "target_z",
+            "target_wx",
+            "target_wy",
+            "target_wz",
+            "gripper_vel",
+        ]:
+            features[PipelineFeatureType.ACTION].pop(f"{feat}", None)
+
+        for feat in ["x", "y", "z", "wx", "wy", "wz", "gripper_vel"]:
+            features[PipelineFeatureType.ACTION][f"ee.{feat}"] = PolicyFeature(
+                type=FeatureType.ACTION, shape=(1,)
+            )
 
-        features[PipelineFeatureType.ACTION]["ee.x"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["ee.y"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["ee.z"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["ee.wx"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["ee.wy"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["ee.wz"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["ee.gripper_vel"] = PolicyFeature(
-            type=FeatureType.ACTION, shape=(1,)
-        )
         return features
 
 
@@ -200,12 +199,12 @@ class EEBoundsAndSafety(RobotActionProcessorStep):
     _last_twist: np.ndarray | None = field(default=None, init=False, repr=False)
 
     def action(self, action: RobotAction) -> RobotAction:
-        x = action.get("ee.x")
-        y = action.get("ee.y")
-        z = action.get("ee.z")
-        wx = action.get("ee.wx")
-        wy = action.get("ee.wy")
-        wz = action.get("ee.wz")
+        x = action["ee.x"]
+        y = action["ee.y"]
+        z = action["ee.z"]
+        wx = action["ee.wx"]
+        wy = action["ee.wy"]
+        wz = action["ee.wz"]
         # TODO(Steven): ee.gripper_vel does not need to be bounded
 
         if None in (x, y, z, wx, wy, wz):
@@ -294,7 +293,7 @@ class InverseKinematicsEEToJoints(ProcessorStep):
             )
 
         # Get joint positions from complimentary data
-        raw = comp.get("raw_joint_positions", None)
+        raw = comp["raw_joint_positions"]
         if raw is None:
             raise ValueError(
                 "raw_joint_positions is not in complementary data and is required for EEReferenceAndDelta"
@@ -330,13 +329,9 @@ class InverseKinematicsEEToJoints(ProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-        features[PipelineFeatureType.ACTION].pop("ee.x", None)
-        features[PipelineFeatureType.ACTION].pop("ee.y", None)
-        features[PipelineFeatureType.ACTION].pop("ee.z", None)
-        features[PipelineFeatureType.ACTION].pop("ee.wx", None)
-        features[PipelineFeatureType.ACTION].pop("ee.wy", None)
-        features[PipelineFeatureType.ACTION].pop("ee.wz", None)
-        features[PipelineFeatureType.ACTION].pop("ee.gripper_pos", None)
+        for feat in ["x", "y", "z", "wx", "wy", "wz", "gripper_pos"]:
+            features[PipelineFeatureType.ACTION].pop(f"ee.{feat}", None)
+
         for name in self.motor_names:
             features[PipelineFeatureType.ACTION][f"{name}.pos"] = PolicyFeature(
                 type=FeatureType.ACTION, shape=(1,)
@@ -373,7 +368,7 @@ class GripperVelocityToJoint(RobotActionProcessorStep):
     discrete_gripper: bool = False
 
     def action(self, action: RobotAction) -> RobotAction:
-        complementary_data = self.transition.get(TransitionKey.COMPLEMENTARY_DATA) or {}
+        complementary_data = self.transition.get(TransitionKey.COMPLEMENTARY_DATA)
 
         gripper_vel = action.pop("ee.gripper_vel")
 
@@ -382,7 +377,7 @@ class GripperVelocityToJoint(RobotActionProcessorStep):
                 "raw_joint_positions is not in complementary data and is required for GripperVelocityToJoint"
             )
 
-        curr_gripper_pos = complementary_data.get("raw_joint_positions").get("gripper")
+        curr_gripper_pos = complementary_data["raw_joint_positions"]["gripper"]
 
         # TODO(Michel,Adil): Fix this logic
         # if self.discrete_gripper:
@@ -403,7 +398,7 @@ class GripperVelocityToJoint(RobotActionProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-        features[PipelineFeatureType.ACTION].pop("ee.gripper_vel")
+        features[PipelineFeatureType.ACTION].pop("ee.gripper_vel", None)
         features[PipelineFeatureType.ACTION]["ee.gripper_pos"] = PolicyFeature(
             type=FeatureType.ACTION, shape=(1,)
         )
@@ -428,14 +423,14 @@ class ForwardKinematicsJointsToEE(ObservationProcessorStep):
     motor_names: list[str]
 
     def observation(self, observation: dict[str, Any]) -> dict[str, Any]:
-        motor_joint_values = [observation.get(f"{n}.pos") for n in self.motor_names]
+        motor_joint_values = [observation[f"{n}.pos"] for n in self.motor_names]
 
         q = np.array(motor_joint_values, dtype=float)
         t = self.kinematics.forward_kinematics(q)
         pos = t[:3, 3]
         tw = Rotation.from_matrix(t[:3, :3]).as_rotvec()
 
-        gripper_pos = observation.get("gripper.pos")
+        gripper_pos = observation["gripper.pos"]
 
         for n in self.motor_names:
             observation.pop(f"{n}.pos")
diff --git a/src/lerobot/teleoperators/phone/phone_processor.py b/src/lerobot/teleoperators/phone/phone_processor.py
index 2a86e3c95..67e64c7d5 100644
--- a/src/lerobot/teleoperators/phone/phone_processor.py
+++ b/src/lerobot/teleoperators/phone/phone_processor.py
@@ -56,10 +56,10 @@ class MapPhoneActionToRobotAction(RobotActionProcessorStep):
             ValueError: If 'pos' or 'rot' keys are missing from the input action.
         """
         # Pop them from the action
-        enabled = bool(action.pop("phone.enabled", 0))
-        pos = action.pop("phone.pos", None)
-        rot = action.pop("phone.rot", None)
-        inputs = action.pop("phone.raw_inputs", {})
+        enabled = bool(action.pop("phone.enabled"))
+        pos = action.pop("phone.pos")
+        rot = action.pop("phone.rot")
+        inputs = action.pop("phone.raw_inputs")
 
         if pos is None or rot is None:
             raise ValueError("pos and rot must be present in action")
@@ -90,19 +90,21 @@ class MapPhoneActionToRobotAction(RobotActionProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-        features[PipelineFeatureType.ACTION].pop("phone.enabled", None)
-        features[PipelineFeatureType.ACTION].pop("phone.pos", None)
-        features[PipelineFeatureType.ACTION].pop("phone.rot", None)
-        features[PipelineFeatureType.ACTION].pop("phone.raw_inputs", None)
+        for feat in ["enabled", "pos", "rot", "raw_inputs"]:
+            features[PipelineFeatureType.ACTION].pop(f"phone.{feat}", None)
+
+        for feat in [
+            "enabled",
+            "target_x",
+            "target_y",
+            "target_z",
+            "target_wx",
+            "target_wy",
+            "target_wz",
+            "gripper_vel",
+        ]:
+            features[PipelineFeatureType.ACTION][f"{feat}"] = PolicyFeature(
+                type=FeatureType.ACTION, shape=(1,)
+            )
 
-        features[PipelineFeatureType.ACTION]["enabled"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["target_x"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["target_y"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["target_z"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["target_wx"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["target_wy"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["target_wz"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
-        features[PipelineFeatureType.ACTION]["gripper_vel"] = PolicyFeature(
-            type=FeatureType.ACTION, shape=(1,)
-        )
         return features