From 64dc08cb7bc7d606ce783e1bdeb172a857da82f3 Mon Sep 17 00:00:00 2001 From: Khalil Meftah Date: Tue, 14 Apr 2026 16:35:08 +0200 Subject: [PATCH] fix: include IS_INTERVENTION in complementary_info sent to learner for offline replay buffer --- src/lerobot/rl/actor.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/lerobot/rl/actor.py b/src/lerobot/rl/actor.py index 6d73891b6..164d25e5f 100644 --- a/src/lerobot/rl/actor.py +++ b/src/lerobot/rl/actor.py @@ -327,7 +327,8 @@ def act_with_policy( # Check for intervention from transition info intervention_info = new_transition[TransitionKey.INFO] - if intervention_info.get(TeleopEvents.IS_INTERVENTION, False): + is_intervention = intervention_info.get(TeleopEvents.IS_INTERVENTION, False) + if is_intervention: episode_intervention = True episode_intervention_steps += 1 @@ -335,6 +336,7 @@ def act_with_policy( "discrete_penalty": torch.tensor( [new_transition[TransitionKey.COMPLEMENTARY_DATA].get("discrete_penalty", 0.0)] ), + TeleopEvents.IS_INTERVENTION: is_intervention, } # Create transition for learner (convert to old format) list_transition_to_send_to_learner.append(