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chore(processor): add Step suffix to all processors (#1854)

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* refactor(processor): rename MapDeltaActionToRobotAction and MapTensorToDeltaActionDict for consistency

* refactor(processor): rename DeviceProcessor to DeviceProcessorStep for consistency across modules

* refactor(processor): rename Torch2NumpyActionProcessor to Torch2NumpyActionProcessorStep for consistency

* refactor(processor): rename Numpy2TorchActionProcessor to Numpy2TorchActionProcessorStep for consistency

* refactor(processor): rename AddTeleopActionAsComplimentaryData to AddTeleopActionAsComplimentaryDataStep for consistency

* refactor(processor): rename ImageCropResizeProcessor and AddTeleopEventsAsInfo for consistency

* refactor(processor): rename TimeLimitProcessor to TimeLimitProcessorStep for consistency

* refactor(processor): rename GripperPenaltyProcessor to GripperPenaltyProcessorStep for consistency

* refactor(processor): rename InterventionActionProcessor to InterventionActionProcessorStep for consistency

* refactor(processor): rename RewardClassifierProcessor to RewardClassifierProcessorStep for consistency

* refactor(processor): rename JointVelocityProcessor to JointVelocityProcessorStep for consistency

* refactor(processor): rename MotorCurrentProcessor to MotorCurrentProcessorStep for consistency

* refactor(processor): rename NormalizerProcessor and UnnormalizerProcessor to NormalizerProcessorStep and UnnormalizerProcessorStep for consistency

* refactor(processor): rename VanillaObservationProcessor to VanillaObservationProcessorStep for consistency

* refactor(processor): rename RenameProcessor to RenameProcessorStep for consistency

* refactor(processor): rename TokenizerProcessor to TokenizerProcessorStep for consistency

* refactor(processor): rename ToBatchProcessor to AddBatchDimensionProcessorStep for consistency

* refactor(processor): update config file name in test for RenameProcessorStep consistency
This commit is contained in:
Adil Zouitine
2025-09-03 18:12:11 +02:00
committed by GitHub
parent 029c4a9a76
commit ce793cde64
37 changed files with 653 additions and 628 deletions
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22
src/lerobot/policies/diffusion/processor_diffusion.py
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@@ -19,13 +19,13 @@ import torch
from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
from lerobot.processor import (
AddBatchDimensionProcessorStep,
DataProcessorPipeline,
DeviceProcessor,
NormalizerProcessor,
DeviceProcessorStep,
NormalizerProcessorStep,
ProcessorKwargs,
RenameProcessor,
ToBatchProcessor,
UnnormalizerProcessor,
RenameProcessorStep,
UnnormalizerProcessorStep,
)
@@ -41,18 +41,18 @@ def make_diffusion_pre_post_processors(
postprocessor_kwargs = {}
input_steps = [
RenameProcessor(rename_map={}),
NormalizerProcessor(
RenameProcessorStep(rename_map={}),
NormalizerProcessorStep(
features={**config.input_features, **config.output_features},
norm_map=config.normalization_mapping,
stats=dataset_stats,
),
ToBatchProcessor(),
DeviceProcessor(device=config.device),
AddBatchDimensionProcessorStep(),
DeviceProcessorStep(device=config.device),
]
output_steps = [
DeviceProcessor(device="cpu"),
UnnormalizerProcessor(
DeviceProcessorStep(device="cpu"),
UnnormalizerProcessorStep(
features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
),
]