fix(record): pass rename_map to make_policy in lerobot-record

[changer-changer]

Summary

Fixes a bug where cfg.dataset.rename_map was not forwarded to make_policy() in lerobot-record, causing feature mismatch errors when recording with renamed camera keys.

Motivation

When using lerobot-record with --dataset.rename_map to remap camera key names (e.g., mapping observation.images.front to observation.images.camera1), the rename mapping was not applied during policy instantiation. This caused a feature mismatch error because the policy expected keys with the original names but received renamed keys.

The make_policy() function already supports a rename_map parameter — it just was not being passed.

Fix

1-line change in src/lerobot/scripts/lerobot_record.py:507:

# Before:
make_policy(cfg.policy, ds_meta=dataset.meta)

# After:
make_policy(cfg.policy, ds_meta=dataset.meta, rename_map=cfg.dataset.rename_map)

Related

• Fixes rename_map not passed to make_policy in lerobot-record #3181

Checklist

• ruff check passes
• ruff format applied
• Minimal change (1 file, 1 line)
• No breaking changes

[Copilot]

Pull request overview

Fixes lerobot-record policy instantiation when datasets use renamed observation keys by forwarding cfg.dataset.rename_map into make_policy(), aligning lerobot-record with other entrypoints (e.g., lerobot-eval) and preventing visual feature mismatch errors.

Changes:

• Pass rename_map=cfg.dataset.rename_map to make_policy() during recording policy load.
• Reformat the policy = ... assignment into a multiline conditional expression (no behavior change beyond the new argument).

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[changer-changer]

Follow-up update: I added a regression test (tests/test_control_robot.py::test_record_passes_rename_map_to_make_policy) to explicitly validate that cfg.dataset.rename_map is forwarded to make_policy() in lerobot-record.

This makes the fix behavior explicit and protects against regressions in future refactors.

[changer-changer]

Gentle follow-up: this branch now includes a regression test that asserts rename_map is forwarded into make_policy() from lerobot-record.

Since checks are green, I’d appreciate a quick review when you have a moment.

[changer-changer]

Hi @maintainers, gentle ping on this PR. It's been a few days since the last update. The branch has been rebased to the latest main and all feedback has been addressed. Would appreciate a review when you have a moment. Thanks!

[changer-changer]

Hi @maintainers, gentle follow-up on this PR. It's been a few days since the last update. All feedback has been addressed and the branch is ready for review. Would appreciate a look when you have a moment. Thanks!