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refactor(constants): rename preprocessor and postprocessor constants for clarity (#1868)

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- Updated constant names from PREPROCESSOR_DEFAULT_NAME and POSTPROCESSOR_DEFAULT_NAME to POLICY_PREPROCESSOR_DEFAULT_NAME and POLICY_POSTPROCESSOR_DEFAULT_NAME for better context.
- Adjusted references across multiple files to use the new constant names, ensuring consistency in the codebase.
This commit is contained in:
Adil Zouitine
2025-09-04 17:01:53 +02:00
committed by GitHub
parent e698c709d8
commit 1ac6a6d3fe
11 changed files with 38 additions and 31 deletions
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8
src/lerobot/scripts/train.py
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@@ -26,7 +26,7 @@ from torch.optim import Optimizer
from lerobot.configs import parser
from lerobot.configs.train import TrainPipelineConfig
from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
from lerobot.datasets.factory import make_dataset
from lerobot.datasets.sampler import EpisodeAwareSampler
from lerobot.datasets.utils import cycle
@@ -153,9 +153,11 @@ def train(cfg: TrainPipelineConfig):
if cfg.resume:
step, optimizer, lr_scheduler = load_training_state(cfg.checkpoint_path, optimizer, lr_scheduler)
preprocessor.from_pretrained(cfg.checkpoint_path, config_filename=f"{PREPROCESSOR_DEFAULT_NAME}.json")
preprocessor.from_pretrained(
cfg.policy.pretrained_path, config_filename=f"{POLICY_PREPROCESSOR_DEFAULT_NAME}.json"
)
postprocessor.from_pretrained(
cfg.checkpoint_path, config_filename=f"{POSTPROCESSOR_DEFAULT_NAME}.json"
cfg.policy.pretrained_path, config_filename=f"{POLICY_POSTPROCESSOR_DEFAULT_NAME}.json"
)
num_learnable_params = sum(p.numel() for p in policy.parameters() if p.requires_grad)