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update sarm processor

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This commit is contained in:
Pepijn
2025-11-25 13:40:04 +01:00
parent 5245332e36
commit ca67231892
1 changed files with 6 additions and 5 deletions
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src/lerobot/policies/sarm/configuration_sarm.py
+6 -5
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@@ -17,6 +17,7 @@
from dataclasses import dataclass, field from dataclasses import dataclass, field
from lerobot.configs.policies import PreTrainedConfig from lerobot.configs.policies import PreTrainedConfig
from lerobot.configs.types import PolicyFeature, FeatureType
from lerobot.optim.optimizers import AdamWConfig from lerobot.optim.optimizers import AdamWConfig
from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
@@ -85,13 +86,13 @@ class SARMConfig(PreTrainedConfig):
# Features (required by PreTrainedPolicy) # Features (required by PreTrainedPolicy)
input_features: dict = field(default_factory=lambda: { input_features: dict = field(default_factory=lambda: {
"video_features": {"shape": [9, 512], "dtype": "float32"}, "video_features": PolicyFeature(shape=(9, 512), type=FeatureType.VISUAL),
"text_features": {"shape": [384], "dtype": "float32"}, "text_features": PolicyFeature(shape=(384,), type=FeatureType.LANGUAGE),
"state_features": {"shape": [9, 14], "dtype": "float32"} # Example: 7 DOF × 2 arms "state_features": PolicyFeature(shape=(9, 14), type=FeatureType.STATE) # Example: 7 DOF × 2 arms
}) })
output_features: dict = field(default_factory=lambda: { output_features: dict = field(default_factory=lambda: {
"stage": {"shape": [1], "dtype": "int64"}, "stage": PolicyFeature(shape=(1,), type=FeatureType.OTHER),
"progress": {"shape": [1], "dtype": "float32"} "progress": PolicyFeature(shape=(1,), type=FeatureType.OTHER)
}) })
def __post_init__(self): def __post_init__(self):