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feat(rollout): decouple policy deployment from data recording with new lerobot-rollout CLI (#3413)

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* feat(scripts): lerobot-rollout

* fix(rollout) require dataset in dagger + use duration too

* fix(docs): dagger num_episodes

* test(rollout): fix expectations

* fix(rollout): features check

* fix(rollout): device and task propagation + feature pos + warn fps + move rename_map config

* docs(rollout): edit rename_map instructions

* chore(rollout): multiple minor improvements

* chore(rollout): address coments + minor improvements

* fix(rollout): enable default

* fix(tests): default value RTCConfig

* fix(rollout): robot_observation_processor and notify_observation at policy frequency instead of interpolator rate

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

* fix(rollout): prevent relativeactions with sync inference engine

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

* fix(rollout): rtc reanchor to non normalized state

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

* fix(rollout): fixing the episode length to use hwc (#3469)

also reducing default length to 5 minutes

* feat(rollout): go back to initial position is now a config

* fix(rollout): properly propagating video_files_size_in_mb to lerobot_dataset (#3470)

* chore(rollout): note about dagger correction stage

* chore(docs): update comments and docstring

* fix(test): move rtc relative out of rollout module

* fix(rollout): address the review comments

---------

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Maxime Ellerbach <maxime.ellerbach@huggingface.co>
This commit is contained in:
Steven Palma
2026-04-28 00:57:35 +02:00
committed by GitHub
parent 77352c495c
commit ca87ccd941
62 changed files with 5577 additions and 2847 deletions
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docs/source/rename_map.mdx
+7 -18
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@@ -61,17 +61,6 @@ lerobot-eval \
--rename_map='{"observation.images.image": "observation.images.base_0_rgb", "observation.images.image2": "observation.images.left_wrist_0_rgb"}'
```
### Recording
`lerobot-record` also supports rename maps, nested under the dataset config:
```bash
lerobot-record \ # When running inference
--policy.path="<user>/smolVLA_finetuned" \
... \
--dataset.rename_map='{"observation.images.glove2": "observation.images.image"}'
```
## Alternative: edit the policy config directly
If you always use the same dataset or environment, you can **edit the policy's `config.json`** so its observation keys match your data source. Then no rename map is needed.
@@ -105,10 +94,10 @@ XVLA-base has three visual inputs and `empty_cameras=0` by default. Your dataset
## Quick reference
| Goal | What to do |
| ----------------------------------------- | --------------------------------------------------------------------------- |
| Dataset keys ≠ policy keys | `--rename_map='{"dataset_key": "policy_key", ...}'` |
| Env keys ≠ policy keys (eval) | `--rename_map='{"env_key": "policy_key", ...}'` |
| Recording with different keys (inference) | `--dataset.rename_map='{"source_key": "policy_key", ...}'`. |
| Fewer cameras than policy expects | `--policy.empty_cameras=N` (supported by PI0, PI05, PI0Fast, SmolVLA, XVLA) |
| Avoid passing a rename map | Edit the policy's `config.json` so its keys match your data source |
| Goal | What to do |
| --------------------------------------- | --------------------------------------------------------------------------- |
| Dataset keys ≠ policy keys | `--rename_map='{"dataset_key": "policy_key", ...}'` |
| Env keys ≠ policy keys (eval) | `--rename_map='{"env_key": "policy_key", ...}'` |
| Rollout with different keys (inference) | `--rename_map='{"source_key": "policy_key", ...}'`. |
| Fewer cameras than policy expects | `--policy.empty_cameras=N` (supported by PI0, PI05, PI0Fast, SmolVLA, XVLA) |
| Avoid passing a rename map | Edit the policy's `config.json` so its keys match your data source |