ydy0615/lerobot-clone
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-06-01 19:31:25 +00:00
Code Issues Packages Projects Releases Wiki Activity

chore: replace hard-coded action values with constants throughout all the source code (#2055)

Browse Source 
* chore: replace hard-coded 'action' values with constants throughout all the source code

* chore(tests): replace hard-coded action values with constants throughout all the test code
This commit is contained in:
Steven Palma
2025-09-26 13:33:18 +02:00
committed by GitHub
parent 9627765ce2
commit d2782cf66b
47 changed files with 269 additions and 255 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
src/lerobot/processor/migrate_policy_normalization.py
View File

@@ -59,6 +59,7 @@ from safetensors.torch import load_file as load_safetensors
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from lerobot.policies.factory import get_policy_class, make_policy_config, make_pre_post_processors
from lerobot.utils.constants import ACTION
def extract_normalization_stats(state_dict: dict[str, torch.Tensor]) -> dict[str, dict[str, torch.Tensor]]:
@@ -196,7 +197,7 @@ def detect_features_and_norm_modes(
feature_type = FeatureType.VISUAL
elif "state" in key:
feature_type = FeatureType.STATE
elif "action" in key:
elif ACTION in key:
feature_type = FeatureType.ACTION
else:
feature_type = FeatureType.STATE # Default
@@ -215,7 +216,7 @@ def detect_features_and_norm_modes(
feature_type = FeatureType.VISUAL
elif "state" in key or "joint" in key or "position" in key:
feature_type = FeatureType.STATE
elif "action" in key:
elif ACTION in key:
feature_type = FeatureType.ACTION
else:
feature_type = FeatureType.STATE
@@ -321,7 +322,7 @@ def convert_features_to_policy_features(features_dict: dict[str, dict]) -> dict[
feature_type = FeatureType.VISUAL
elif "state" in key:
feature_type = FeatureType.STATE
elif "action" in key:
elif ACTION in key:
feature_type = FeatureType.ACTION
else:
feature_type = FeatureType.STATE