admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-28 20:26:05 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix(processors): wrong feature key dropped in delta-action transform_features (#4165)

Browse Source
This commit is contained in:
Steven Palma
2026-07-28 11:18:23 +02:00
committed by GitHub
parent 95211b98f1
commit ffe25afb8f
1 changed files with 12 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/processor/delta_action_processor.py
+12 -2
View File
@@ -132,10 +132,20 @@ class MapDeltaActionToRobotActionStep(RobotActionProcessorStep):
def transform_features( def transform_features(
self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]] self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
) -> 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(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( features[PipelineFeatureType.ACTION][f"{feat}"] = PolicyFeature(
type=FeatureType.ACTION, shape=(1,) type=FeatureType.ACTION, shape=(1,)
) )