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[skip-ci] fix(online audio chunks): adding missing observation copy when adding audio buffer

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CarolinePascal
2025-05-12 15:15:02 +02:00
parent af0294198a
commit 97e91698fb
1 changed files with 6 additions and 4 deletions
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10
src/lerobot/scripts/lerobot_record.py
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@@ -64,6 +64,7 @@ lerobot-record \
import logging
import time
from copy import copy
from dataclasses import asdict, dataclass, field
from pathlib import Path
from pprint import pformat
@@ -361,16 +362,17 @@ def record_loop(
# Get action from either policy or teleop
if policy is not None and preprocessor is not None and postprocessor is not None:
# Transform instantaneous audio samples into a buffer of fixed size
buffered_observation_frame = copy(observation_frame)
for name in audio_buffer:
# Remove as many old audio samples as needed
audio_buffer[name] = audio_buffer[name][len(observation_frame[name]) :]
audio_buffer[name] = audio_buffer[name][len(buffered_observation_frame[name]) :]
# Add new audio samples
audio_buffer[name] = np.vstack((audio_buffer[name], observation_frame[name]))
audio_buffer[name] = np.vstack((audio_buffer[name], buffered_observation_frame[name]))
# Add the audio buffer to the observation
observation_frame[name] = audio_buffer[name]
buffered_observation_frame[name] = audio_buffer[name]
action_values = predict_action(
observation=observation_frame,
observation=buffered_observation_frame,
policy=policy,
device=get_safe_torch_device(policy.config.device),
preprocessor=preprocessor,