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fix(factory): ensure output and input features are set only if not already defined (#1771)

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Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Maximilian Li
2025-10-18 00:50:34 +02:00
committed by GitHub
parent 92b6254473
commit f7c4f99545
1 changed files with 4 additions and 2 deletions
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6
src/lerobot/policies/factory.py
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@@ -360,8 +360,10 @@ def make_policy(
raise ValueError("env_cfg cannot be None when ds_meta is not provided") raise ValueError("env_cfg cannot be None when ds_meta is not provided")
features = env_to_policy_features(env_cfg) features = env_to_policy_features(env_cfg)
cfg.output_features = {key: ft for key, ft in features.items() if ft.type is FeatureType.ACTION} if not cfg.output_features:
cfg.input_features = {key: ft for key, ft in features.items() if key not in cfg.output_features} cfg.output_features = {key: ft for key, ft in features.items() if ft.type is FeatureType.ACTION}
if not cfg.input_features:
cfg.input_features = {key: ft for key, ft in features.items() if key not in cfg.output_features}
kwargs["config"] = cfg kwargs["config"] = cfg
if cfg.pretrained_path: if cfg.pretrained_path: