ydy0615/lerobot-clone
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-06-03 20:31:25 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files

6
src/lerobot/utils/control_utils.py
View File

@@ -31,7 +31,7 @@ from termcolor import colored
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.datasets.utils import DEFAULT_FEATURES
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.processor import DataProcessorPipeline, TransitionKey
from lerobot.processor import PolicyProcessorPipeline, TransitionKey
from lerobot.robots import Robot
@@ -102,8 +102,8 @@ def predict_action(
observation: dict[str, np.ndarray],
policy: PreTrainedPolicy,
device: torch.device,
preprocessor: DataProcessorPipeline,
postprocessor: DataProcessorPipeline,
preprocessor: PolicyProcessorPipeline,
postprocessor: PolicyProcessorPipeline,
use_amp: bool,
task: str | None = None,
robot_type: str | None = None,