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refactor(normalization): Remove unused state dict transformation methods and streamline imports

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- Eliminated the _transform_state_dict_keys and _load_as_safetensor methods from PI0Policy, simplifying the model loading process.
- Cleaned up imports in modeling_pi0.py by removing log_model_loading_keys and init_logging.
- Updated TDMPCPolicy and VQBeTPolicy to handle action removal from batches during offline evaluation.
- Introduced hotswap_stats function in normalize_processor.py to update normalization statistics dynamically, with corresponding tests to ensure functionality.
This commit is contained in:
Adil Zouitine
2025-08-01 08:55:38 +02:00
committed by Steven Palma
parent f02ce69df0
commit 8ff95be04c
6 changed files with 398 additions and 98 deletions
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3
src/lerobot/processor/__init__.py
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@@ -16,7 +16,7 @@
from .batch_processor import ToBatchProcessor
from .device_processor import DeviceProcessor
from .normalize_processor import NormalizerProcessor, UnnormalizerProcessor
from .normalize_processor import NormalizerProcessor, UnnormalizerProcessor, hotswap_stats
from .observation_processor import VanillaObservationProcessor
from .pipeline import (
ActionProcessor,
@@ -43,6 +43,7 @@ __all__ = [
"InfoProcessor",
"NormalizerProcessor",
"UnnormalizerProcessor",
"hotswap_stats",
"ObservationProcessor",
"ProcessorStep",
"ProcessorStepRegistry",