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

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* 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
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11
src/lerobot/rl/learner.py
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@@ -80,6 +80,7 @@ from lerobot.transport.utils import (
state_to_bytes,
)
from lerobot.utils.constants import (
ACTION,
CHECKPOINTS_DIR,
LAST_CHECKPOINT_LINK,
PRETRAINED_MODEL_DIR,
@@ -402,7 +403,7 @@ def add_actor_information_and_train(
left_batch_transitions=batch, right_batch_transition=batch_offline
)
actions = batch["action"]
actions = batch[ACTION]
rewards = batch["reward"]
observations = batch["state"]
next_observations = batch["next_state"]
@@ -415,7 +416,7 @@ def add_actor_information_and_train(
# Create a batch dictionary with all required elements for the forward method
forward_batch = {
"action": actions,
ACTION: actions,
"reward": rewards,
"state": observations,
"next_state": next_observations,
@@ -460,7 +461,7 @@ def add_actor_information_and_train(
left_batch_transitions=batch, right_batch_transition=batch_offline
)
actions = batch["action"]
actions = batch[ACTION]
rewards = batch["reward"]
observations = batch["state"]
next_observations = batch["next_state"]
@@ -474,7 +475,7 @@ def add_actor_information_and_train(
# Create a batch dictionary with all required elements for the forward method
forward_batch = {
"action": actions,
ACTION: actions,
"reward": rewards,
"state": observations,
"next_state": next_observations,
@@ -1155,7 +1156,7 @@ def process_transitions(
# Skip transitions with NaN values
if check_nan_in_transition(
observations=transition["state"],
actions=transition["action"],
actions=transition[ACTION],
next_state=transition["next_state"],
):
logging.warning("[LEARNER] NaN detected in transition, skipping")