fix(processor): add gripper_vel in MapDeltaActionToRobotActionStep

Merge branch 'main' into fix/delta-action-gripper-feature
chore: enable Dependabot weekly GitHub Actions bumps (#3677 )
2026-07-28 04:06:00 +00:00 · 2026-07-27 14:02:08 +02:00 · 2026-07-27 13:28:55 +02:00 · 2026-07-27 13:22:04 +02:00 · 2026-07-27 11:54:09 +02:00 · 2026-05-29 15:56:22 -04:00
3 changed files with 25 additions and 3 deletions
@@ -0,0 +1,11 @@
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    cooldown:
+      default-days: 7
+    groups:
+      actions:
+        patterns: ["*"]
@@ -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,)
            )
@@ -61,6 +61,7 @@ import pyarrow as pa
 import tqdm
 from datasets import Dataset, Features, Image
 from huggingface_hub import HfApi, snapshot_download
+from huggingface_hub.errors import RevisionNotFoundError
 from requests import HTTPError

 from lerobot.datasets import CODEBASE_VERSION, LeRobotDataset, aggregate_stats
@@ -521,7 +522,7 @@ def convert_dataset(
        hub_api = HfApi()
        try:
            hub_api.delete_tag(repo_id, tag=CODEBASE_VERSION, repo_type="dataset")
-        except HTTPError as e:
+        except (HTTPError, RevisionNotFoundError) as e:
            print(f"tag={CODEBASE_VERSION} probably doesn't exist. Skipping exception ({e})")
            pass
        hub_api.delete_files(
Author	SHA1	Message	Date
Steven Palma	be286fc853	fix(processor): add gripper_vel in MapDeltaActionToRobotActionStep	2026-07-27 14:02:08 +02:00
Steven Palma	78b12fb77c	Merge branch 'main' into fix/delta-action-gripper-feature	2026-07-27 13:28:55 +02:00
hf-dependantbot-rollout[bot]	6c57dfd2ee	chore: enable Dependabot weekly GitHub Actions bumps (#3677 ) Co-authored-by: hf-dependantbot-rollout[bot] <285970069+hf-dependantbot-rollout[bot]@users.noreply.github.com> Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>	2026-07-27 13:22:04 +02:00
Kohei SENDAI	d63e6e67a5	fix convverstion err (#3656 ) Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>	2026-07-27 11:54:09 +02:00
Jaimin Patel	2c95e55b91	Fix wrong feature key dropped in delta-action transform_features MapDeltaActionToRobotActionStep.transform_features iterated over ["x", "y", "z", "gripper"] and popped f"delta_{axis}", producing "delta_gripper" for the last item. No "delta_gripper" feature is ever created: the upstream MapTensorToDeltaActionDictStep registers the gripper input under the key "gripper", and this step's own action() method pops "gripper" at runtime. As a result the gripper action feature was never removed from the feature dict, so the declared features diverged from the actual runtime transition. Pop "gripper" explicitly so transform_features matches action().	2026-05-29 15:56:22 -04:00