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chore(processor): add type alias RobotProcessorPipeline and PolicyProcessorPipeline (#1859)

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* feat(processor): introduce PolicyProcessorPipeline and RobotProcessorPipeline as type aliases for DataProcessorPipeline

- Added PolicyProcessorPipeline and RobotProcessorPipeline type aliases to enhance clarity and maintainability in the processor module.
- Updated the __all__ list to include the new pipelines for better module export consistency.

* refactor(processor): replace DataProcessorPipeline with PolicyProcessorPipeline across multiple modules

- Updated all instances of DataProcessorPipeline to PolicyProcessorPipeline in various processor files for consistency and clarity.
- Adjusted function signatures to reflect the new pipeline type, enhancing maintainability and readability.

* refactor(processor): update hotswap_stats function to use PolicyProcessorPipeline

- Changed the parameter name from robot_processor to policy_processor for clarity.
- Ensured consistency with recent updates to the processor module by reflecting the new pipeline type in the function signature.

* refactor(processor): replace DataProcessorPipeline with PolicyProcessorPipeline in migrate_policy_normalization.py

- Updated the preprocessor and postprocessor to use PolicyProcessorPipeline for consistency with recent changes in the processor module.
- Enhanced clarity and maintainability by aligning with the new pipeline structure.

* refactor(processor): update hotswap_stats to use PolicyProcessorPipeline

- Changed the parameter type in hotswap_stats from DataProcessorPipeline to PolicyProcessorPipeline for consistency with recent updates.
- Enhanced clarity by updating the function documentation to reflect the new pipeline type.

* refactor(processor): replace DataProcessorPipeline with RobotProcessorPipeline across multiple files

- Updated instances of DataProcessorPipeline to RobotProcessorPipeline in evaluate.py, record.py, replay.py, teleoperate.py, and other relevant files for consistency and clarity.
- Adjusted function signatures and variable types to reflect the new pipeline structure, enhancing maintainability and readability.
This commit is contained in:
Adil Zouitine
2025-09-03 19:01:28 +02:00
committed by GitHub
parent 6c7169c4af
commit a6dbb65917
23 changed files with 102 additions and 89 deletions
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6
src/lerobot/processor/migrate_policy_normalization.py
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@@ -50,7 +50,7 @@ from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from .batch_processor import AddBatchDimensionProcessorStep
from .device_processor import DeviceProcessorStep
from .normalize_processor import NormalizerProcessorStep, UnnormalizerProcessorStep
from .pipeline import DataProcessorPipeline
from .pipeline import PolicyProcessorPipeline
from .rename_processor import RenameProcessorStep
# Policy type to class mapping
@@ -422,14 +422,14 @@ def main():
AddBatchDimensionProcessorStep(),
DeviceProcessorStep(device=policy_config.device),
]
preprocessor = DataProcessorPipeline(steps=preprocessor_steps, name="robot_preprocessor")
preprocessor = PolicyProcessorPipeline(steps=preprocessor_steps, name="robot_preprocessor")
# Create postprocessor with unnormalizer for outputs only
postprocessor_steps = [
DeviceProcessorStep(device="cpu"),
UnnormalizerProcessorStep(features=output_features, norm_map=norm_map, stats=stats),
]
postprocessor = DataProcessorPipeline(steps=postprocessor_steps, name="robot_postprocessor")
postprocessor = PolicyProcessorPipeline(steps=postprocessor_steps, name="robot_postprocessor")
# Determine hub repo ID if pushing to hub
if args.push_to_hub: