[HIL-SERL] Update CI to allow installation of prerelease versions for lerobot (#1018)

Co-authored-by: imstevenpmwork <steven.palma@huggingface.co>

lerobot/scripts/control_robot.py

@@ -276,7 +276,7 @@ def record(
 
     if not robot.is_connected:
         robot.connect()
-    listener, events = init_keyboard_listener(assign_rewards=cfg.assign_rewards)
+    listener, events = init_keyboard_listener()
 
     # Execute a few seconds without recording to:
     # 1. teleoperate the robot to move it in starting position if no policy provided,

lerobot/scripts/control_sim_robot.py

@@ -201,14 +201,9 @@ def record(
     resume: bool = False,
     local_files_only: bool = False,
     run_compute_stats: bool = True,
-    assign_rewards: bool = False,
 ) -> LeRobotDataset:
     # Load pretrained policy
 
-    extra_features = (
-        {"next.reward": {"dtype": "int64", "shape": (1,), "names": None}} if assign_rewards else None
-    )
-
     policy = None
     if pretrained_policy_name_or_path is not None:
         policy, policy_fps, device, use_amp = init_policy(pretrained_policy_name_or_path, policy_overrides)
@@ -221,7 +216,7 @@ def record(
         raise ValueError("Either policy or process_action_fn has to be set to enable control in sim.")
 
     # initialize listener before sim env
-    listener, events = init_keyboard_listener(assign_rewards=assign_rewards)
+    listener, events = init_keyboard_listener()
 
     # create sim env
     env = env()
@@ -269,7 +264,6 @@ def record(
             "shape": env.action_space.shape,
             "names": None,
         }
-        features = {**features, **extra_features}
 
         # Create empty dataset or load existing saved episodes
         sanity_check_dataset_name(repo_id, policy)
@@ -321,13 +315,6 @@ def record(
                 "timestamp": env_timestamp,
             }
 
-            # Overwrite environment reward with manually assigned reward
-            if assign_rewards:
-                frame["next.reward"] = events["next.reward"]
-
-                # Should success always be false to match what we do in control_utils?
-                frame["next.success"] = False
-
             for key in image_keys:
                 if not key.startswith("observation.image"):
                     frame["observation.image." + key] = observation[key]