feat(processor): multiple improvements to the pipeline porting (#1749)

* [Port codebase pipeline] General fixes for RL and scripts (#1748)

* Refactor dataset configuration in documentation and codebase

- Updated dataset configuration keys from `dataset_root` to `root` and `num_episodes` to `num_episodes_to_record` for consistency.
- Adjusted replay episode handling by renaming `episode` to `replay_episode`.
- Enhanced documentation
- added specific processor to transform from policy actions to delta actions

* Added Robot action to tensor processor
Added new processor script for dealing with gym specific action processing

* removed RobotAction2Tensor processor; imrpoved choosing observations in actor

* nit in delta action

* added missing reset functions to kinematics

* Adapt teleoperate and replay to pipeline similar to record

* refactor(processors): move to inheritance (#1750)

* fix(teleoperator): improvements phone implementation (#1752)

* fix(teleoperator): protect shared state in phone implementation

* refactor(teleop): separate classes in phone

* fix: solve breaking changes (#1753)

* refactor(policies): multiple improvements (#1754)

* refactor(processor): simpler logic in device processor (#1755)

* refactor(processor): euclidean distance in delta action processor (#1757)

* refactor(processor): improvements to joint observations processor migration (#1758)

* refactor(processor): improvements to tokenizer migration (#1759)

* refactor(processor): improvements to tokenizer migration

* fix(tests): tokenizer tests regression from #1750

* fix(processors): fix float comparison and config in hil processors (#1760)

* chore(teleop): remove unnecessary callbacks in KeyboardEndEffectorTeleop (#1761)

* refactor(processor): improvements normalize pipeline migration (#1756)

* refactor(processor): several improvements normalize processor step

* refactor(processor): more improvements normalize processor

* refactor(processor): more changes to normalizer

* refactor(processor): take a different approach to DRY

* refactor(processor): final design

* chore(record): revert comment and continue deleted (#1764)

* refactor(examples): pipeline phone examples (#1769)

* refactor(examples): phone teleop + teleop script

* refactor(examples): phone replay + replay

* chore(examples): rename phone example files & folders

* feat(processor): fix improvements to the pipeline porting (#1796)

* refactor(processor): enhance tensor device handling in normalization process (#1795)

* refactor(tests): remove unsupported device detection test for complementary data (#1797)

* chore(tests): update ToBatchProcessor test (#1798)

* refactor(tests): remove in-place mutation tests for actions and complementary data in batch processor

* test(tests): add tests for action and task processing in batch processor

* add names for android and ios phone (#1799)

* use _tensor_stats in normalize processor (#1800)

* fix(normalize_processor): correct device reference for tensor epsilon handling (#1801)

* add point 5 add missing feature contracts (#1806)

* Fix PR comments 1452 (#1807)

* use key to determine image

* Address rest of PR comments

* use PolicyFeatures in transform_features

---------

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

---------

Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

src/lerobot/processor/__init__.py

@@ -15,18 +15,17 @@
 # limitations under the License.
 
 from .batch_processor import ToBatchProcessor
-from .delta_action_processor import MapDeltaActionToRobotAction
+from .delta_action_processor import MapDeltaActionToRobotAction, MapTensorToDeltaActionDict
 from .device_processor import DeviceProcessor
+from .gym_action_processor import Numpy2TorchActionProcessor, Torch2NumpyActionProcessor
 from .hil_processor import (
     AddTeleopActionAsComplimentaryData,
     AddTeleopEventsAsInfo,
     GripperPenaltyProcessor,
     ImageCropResizeProcessor,
     InterventionActionProcessor,
-    Numpy2TorchActionProcessor,
     RewardClassifierProcessor,
     TimeLimitProcessor,
-    Torch2NumpyActionProcessor,
 )
 from .joint_observations_processor import JointVelocityProcessor, MotorCurrentProcessor
 from .normalize_processor import NormalizerProcessor, UnnormalizerProcessor, hotswap_stats
@@ -55,6 +54,7 @@ __all__ = [
     "DeviceProcessor",
     "DoneProcessor",
     "MapDeltaActionToRobotAction",
+    "MapTensorToDeltaActionDict",
     "EnvTransition",
     "GripperPenaltyProcessor",
     "IdentityProcessor",