Update constants

lerobot/common/envs/configs.py

@@ -3,7 +3,7 @@ from dataclasses import dataclass, field
 
 import draccus
 
-from lerobot.common.constants import ACTION, OBS_ENV, OBS_IMAGE, OBS_IMAGES, OBS_ROBOT
+from lerobot.common.constants import ACTION, OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 from lerobot.configs.types import FeatureType, PolicyFeature
 
 
@@ -39,7 +39,7 @@ class AlohaEnv(EnvConfig):
     features_map: dict[str, str] = field(
         default_factory=lambda: {
             "action": ACTION,
-            "agent_pos": OBS_ROBOT,
+            "agent_pos": OBS_STATE,
             "top": f"{OBS_IMAGE}.top",
             "pixels/top": f"{OBS_IMAGES}.top",
         }
@@ -80,8 +80,8 @@ class PushtEnv(EnvConfig):
     features_map: dict[str, str] = field(
         default_factory=lambda: {
             "action": ACTION,
-            "agent_pos": OBS_ROBOT,
+            "agent_pos": OBS_STATE,
-            "environment_state": OBS_ENV,
+            "environment_state": OBS_ENV_STATE,
             "pixels": OBS_IMAGE,
         }
     )
@@ -122,7 +122,7 @@ class XarmEnv(EnvConfig):
     features_map: dict[str, str] = field(
         default_factory=lambda: {
             "action": ACTION,
-            "agent_pos": OBS_ROBOT,
+            "agent_pos": OBS_STATE,
             "pixels": OBS_IMAGE,
         }
     )

lerobot/common/policies/diffusion/modeling_diffusion.py

@@ -33,7 +33,7 @@ from diffusers.schedulers.scheduling_ddim import DDIMScheduler
 from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
 from torch import Tensor, nn
 
-from lerobot.common.constants import OBS_ENV, OBS_ROBOT
+from lerobot.common.constants import OBS_ENV_STATE, OBS_STATE
 from lerobot.common.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.common.policies.normalize import Normalize, Unnormalize
 from lerobot.common.policies.pretrained import PreTrainedPolicy
@@ -238,8 +238,8 @@ class DiffusionModel(nn.Module):
 
     def _prepare_global_conditioning(self, batch: dict[str, Tensor]) -> Tensor:
         """Encode image features and concatenate them all together along with the state vector."""
-        batch_size, n_obs_steps = batch[OBS_ROBOT].shape[:2]
+        batch_size, n_obs_steps = batch[OBS_STATE].shape[:2]
-        global_cond_feats = [batch[OBS_ROBOT]]
+        global_cond_feats = [batch[OBS_STATE]]
         # Extract image features.
         if self.config.image_features:
             if self.config.use_separate_rgb_encoder_per_camera:
@@ -269,7 +269,7 @@ class DiffusionModel(nn.Module):
             global_cond_feats.append(img_features)
 
         if self.config.env_state_feature:
-            global_cond_feats.append(batch[OBS_ENV])
+            global_cond_feats.append(batch[OBS_ENV_STATE])
 
         # Concatenate features then flatten to (B, global_cond_dim).
         return torch.cat(global_cond_feats, dim=-1).flatten(start_dim=1)

lerobot/common/policies/pi0/modeling_pi0.py

@@ -57,7 +57,7 @@ import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
 from transformers import AutoTokenizer
 
-from lerobot.common.constants import ACTION, OBS_ROBOT
+from lerobot.common.constants import ACTION, OBS_STATE
 from lerobot.common.policies.normalize import Normalize, Unnormalize
 from lerobot.common.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.common.policies.pi0.paligemma_with_expert import (
@@ -271,7 +271,7 @@ class PI0Policy(PreTrainedPolicy):
         self.eval()
 
         if self.config.adapt_to_pi_aloha:
-            batch[OBS_ROBOT] = self._pi_aloha_decode_state(batch[OBS_ROBOT])
+            batch[OBS_STATE] = self._pi_aloha_decode_state(batch[OBS_STATE])
 
         batch = self.normalize_inputs(batch)
 
@@ -303,7 +303,7 @@ class PI0Policy(PreTrainedPolicy):
     def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> tuple[Tensor, dict[str, Tensor]]:
         """Do a full training forward pass to compute the loss"""
         if self.config.adapt_to_pi_aloha:
-            batch[OBS_ROBOT] = self._pi_aloha_decode_state(batch[OBS_ROBOT])
+            batch[OBS_STATE] = self._pi_aloha_decode_state(batch[OBS_STATE])
             batch[ACTION] = self._pi_aloha_encode_actions_inv(batch[ACTION])
 
         batch = self.normalize_inputs(batch)
@@ -380,7 +380,7 @@ class PI0Policy(PreTrainedPolicy):
 
     def prepare_language(self, batch) -> tuple[Tensor, Tensor]:
         """Tokenize the text input"""
-        device = batch[OBS_ROBOT].device
+        device = batch[OBS_STATE].device
         tasks = batch["task"]
 
         # PaliGemma prompt has to end with a new line
@@ -427,7 +427,7 @@ class PI0Policy(PreTrainedPolicy):
 
     def prepare_state(self, batch):
         """Pad state"""
-        state = pad_vector(batch[OBS_ROBOT], self.config.max_state_dim)
+        state = pad_vector(batch[OBS_STATE], self.config.max_state_dim)
         return state
 
     def prepare_action(self, batch):

lerobot/common/policies/tdmpc/modeling_tdmpc.py

@@ -35,7 +35,7 @@ import torch.nn as nn
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor
 
-from lerobot.common.constants import OBS_ENV, OBS_ROBOT
+from lerobot.common.constants import OBS_ENV_STATE, OBS_STATE
 from lerobot.common.policies.normalize import Normalize, Unnormalize
 from lerobot.common.policies.pretrained import PreTrainedPolicy
 from lerobot.common.policies.tdmpc.configuration_tdmpc import TDMPCConfig
@@ -753,9 +753,9 @@ class TDMPCObservationEncoder(nn.Module):
                 )
             )
         if self.config.env_state_feature:
-            feat.append(self.env_state_enc_layers(obs_dict[OBS_ENV]))
+            feat.append(self.env_state_enc_layers(obs_dict[OBS_ENV_STATE]))
         if self.config.robot_state_feature:
-            feat.append(self.state_enc_layers(obs_dict[OBS_ROBOT]))
+            feat.append(self.state_enc_layers(obs_dict[OBS_STATE]))
         return torch.stack(feat, dim=0).mean(0)