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chore(rollout): note about dagger correction stage

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Steven Palma
2026-04-27 17:36:33 +02:00
parent bf5148c6e8
commit d662113e71
1 changed files with 2 additions and 0 deletions
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src/lerobot/rollout/strategies/dagger.py
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@@ -439,6 +439,7 @@ class DAggerStrategy(RolloutStrategy):
obs = robot.get_observation() obs = robot.get_observation()
# --- CORRECTING: human teleop control --- # --- CORRECTING: human teleop control ---
# TODO(Steven): This runs at interpolation FPS. We run at configured FPS and interpolate the actions from the teleop instead. Leaving it like this for now for simplicity.
if phase == DAggerPhase.CORRECTING: if phase == DAggerPhase.CORRECTING:
obs_processed = ctx.processors.robot_observation_processor(obs) obs_processed = ctx.processors.robot_observation_processor(obs)
teleop_action = teleop.get_action() teleop_action = teleop.get_action()
@@ -614,6 +615,7 @@ class DAggerStrategy(RolloutStrategy):
obs = robot.get_observation() obs = robot.get_observation()
# --- CORRECTING: human teleop control + recording --- # --- CORRECTING: human teleop control + recording ---
# TODO(Steven): This runs at interpolation FPS. We run at configured FPS and interpolate the actions from the teleop instead. Leaving it like this for now for simplicity.
if phase == DAggerPhase.CORRECTING: if phase == DAggerPhase.CORRECTING:
obs_processed = ctx.processors.robot_observation_processor(obs) obs_processed = ctx.processors.robot_observation_processor(obs)
teleop_action = teleop.get_action() teleop_action = teleop.get_action()