From ffe25afb8fdfb6397228b29b533dd5fb6378e17e Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Tue, 28 Jul 2026 11:18:23 +0200 Subject: [PATCH] fix(processors): wrong feature key dropped in delta-action transform_features (#4165) --- src/lerobot/processor/delta_action_processor.py | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/src/lerobot/processor/delta_action_processor.py b/src/lerobot/processor/delta_action_processor.py index 86b2feec1..57d353c5c 100644 --- a/src/lerobot/processor/delta_action_processor.py +++ b/src/lerobot/processor/delta_action_processor.py @@ -132,10 +132,20 @@ class MapDeltaActionToRobotActionStep(RobotActionProcessorStep): def transform_features( self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]] ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]: - for axis in ["x", "y", "z", "gripper"]: + for axis in ["x", "y", "z"]: features[PipelineFeatureType.ACTION].pop(f"delta_{axis}", None) + features[PipelineFeatureType.ACTION].pop("gripper", None) - for feat in ["enabled", "target_x", "target_y", "target_z", "target_wx", "target_wy", "target_wz"]: + 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,) )