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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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20
src/lerobot/processor/batch_processor.py
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@@ -30,7 +30,7 @@ from .pipeline import (
@dataclass
@ProcessorStepRegistry.register(name="to_batch_processor_action")
class ToBatchProcessorAction(ActionProcessorStep):
class AddBatchDimensionActionStep(ActionProcessorStep):
"""Process action component in-place, adding batch dimension if needed."""
def action(self, action):
@@ -45,7 +45,7 @@ class ToBatchProcessorAction(ActionProcessorStep):
@dataclass
@ProcessorStepRegistry.register(name="to_batch_processor_observation")
class ToBatchProcessorObservation(ObservationProcessorStep):
class AddBatchDimensionObservationStep(ObservationProcessorStep):
"""Process observation component in-place, adding batch dimensions where needed."""
def observation(self, observation):
@@ -74,7 +74,7 @@ class ToBatchProcessorObservation(ObservationProcessorStep):
@dataclass
@ProcessorStepRegistry.register(name="to_batch_processor_complementary_data")
class ToBatchProcessorComplementaryData(ComplementaryDataProcessorStep):
class AddBatchDimensionComplementaryDataStep(ComplementaryDataProcessorStep):
"""Process complementary data in-place, handling task field batching."""
def complementary_data(self, complementary_data):
@@ -103,7 +103,7 @@ class ToBatchProcessorComplementaryData(ComplementaryDataProcessorStep):
@dataclass
@ProcessorStepRegistry.register(name="to_batch_processor")
class ToBatchProcessor(ProcessorStep):
class AddBatchDimensionProcessorStep(ProcessorStep):
"""Processor that adds batch dimensions to observations and actions when needed.
This processor ensures that observations and actions have proper batch dimensions for model processing:
@@ -138,12 +138,14 @@ class ToBatchProcessor(ProcessorStep):
```
"""
to_batch_action_processor: ToBatchProcessorAction = field(default_factory=ToBatchProcessorAction)
to_batch_observation_processor: ToBatchProcessorObservation = field(
default_factory=ToBatchProcessorObservation
to_batch_action_processor: AddBatchDimensionActionStep = field(
default_factory=AddBatchDimensionActionStep
)
to_batch_complementary_data_processor: ToBatchProcessorComplementaryData = field(
default_factory=ToBatchProcessorComplementaryData
to_batch_observation_processor: AddBatchDimensionObservationStep = field(
default_factory=AddBatchDimensionObservationStep
)
to_batch_complementary_data_processor: AddBatchDimensionComplementaryDataStep = field(
default_factory=AddBatchDimensionComplementaryDataStep
)
def __call__(self, transition: EnvTransition) -> EnvTransition: