tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

fix(scripts): reconstructs action dict from policy output (#1162)

Browse Source 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
This commit is contained in:
Steven Palma
2025-05-28 15:36:21 +02:00
committed by GitHub
parent 1fd3b2e2db
commit 7308aa57a2
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
lerobot/record.py
View File

@@ -186,9 +186,10 @@ def record_loop(
observation_frame = build_dataset_frame(dataset.features, observation, prefix="observation") observation_frame = build_dataset_frame(dataset.features, observation, prefix="observation")
if policy is not None: if policy is not None:
action = predict_action( action_values = predict_action(
observation_frame, policy, get_safe_torch_device(policy.config.device), policy.config.use_amp observation_frame, policy, get_safe_torch_device(policy.config.device), policy.config.use_amp
) )
action = {key: action_values[i] for i, key in enumerate(robot.action_features)}
else: else:
action = teleop.get_action() action = teleop.get_action()