chore(processor): rename specialized processor -> XYZProcessorStep (#1852)

src/lerobot/processor/__init__.py

@@ -39,37 +39,37 @@ from .joint_observations_processor import JointVelocityProcessor, MotorCurrentPr
 from .normalize_processor import NormalizerProcessor, UnnormalizerProcessor, hotswap_stats
 from .observation_processor import VanillaObservationProcessor
 from .pipeline import (
-    ActionProcessor,
-    ComplementaryDataProcessor,
+    ActionProcessorStep,
+    ComplementaryDataProcessorStep,
     DataProcessorPipeline,
-    DoneProcessor,
-    IdentityProcessor,
-    InfoProcessor,
-    ObservationProcessor,
+    DoneProcessorStep,
+    IdentityProcessorStep,
+    InfoProcessorStep,
+    ObservationProcessorStep,
     ProcessorKwargs,
     ProcessorStep,
     ProcessorStepRegistry,
-    RewardProcessor,
-    TruncatedProcessor,
+    RewardProcessorStep,
+    TruncatedProcessorStep,
 )
 from .rename_processor import RenameProcessor
 from .tokenizer_processor import TokenizerProcessor
 
 __all__ = [
-    "ActionProcessor",
+    "ActionProcessorStep",
     "AddTeleopActionAsComplimentaryData",
     "AddTeleopEventsAsInfo",
-    "ComplementaryDataProcessor",
+    "ComplementaryDataProcessorStep",
     "batch_to_transition",
     "create_transition",
     "DeviceProcessor",
-    "DoneProcessor",
+    "DoneProcessorStep",
     "EnvTransition",
     "GripperPenaltyProcessor",
     "hotswap_stats",
-    "IdentityProcessor",
+    "IdentityProcessorStep",
     "ImageCropResizeProcessor",
-    "InfoProcessor",
+    "InfoProcessorStep",
     "InterventionActionProcessor",
     "JointVelocityProcessor",
     "MapDeltaActionToRobotAction",
@@ -78,13 +78,13 @@ __all__ = [
     "MotorCurrentProcessor",
     "NormalizerProcessor",
     "Numpy2TorchActionProcessor",
-    "ObservationProcessor",
+    "ObservationProcessorStep",
     "ProcessorKwargs",
     "ProcessorStep",
     "ProcessorStepRegistry",
     "RenameProcessor",
     "RewardClassifierProcessor",
-    "RewardProcessor",
+    "RewardProcessorStep",
     "DataProcessorPipeline",
     "TimeLimitProcessor",
     "ToBatchProcessor",
@@ -93,7 +93,7 @@ __all__ = [
     "transition_to_batch",
     "transition_to_dataset_frame",
     "TransitionKey",
-    "TruncatedProcessor",
+    "TruncatedProcessorStep",
     "UnnormalizerProcessor",
     "VanillaObservationProcessor",
 ]

src/lerobot/processor/batch_processor.py

@@ -20,9 +20,9 @@ from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 
 from .core import EnvTransition
 from .pipeline import (
-    ActionProcessor,
-    ComplementaryDataProcessor,
-    ObservationProcessor,
+    ActionProcessorStep,
+    ComplementaryDataProcessorStep,
+    ObservationProcessorStep,
     ProcessorStep,
     ProcessorStepRegistry,
 )
@@ -30,7 +30,7 @@ from .pipeline import (
 
 @dataclass
 @ProcessorStepRegistry.register(name="to_batch_processor_action")
-class ToBatchProcessorAction(ActionProcessor):
+class ToBatchProcessorAction(ActionProcessorStep):
     """Process action component in-place, adding batch dimension if needed."""
 
     def action(self, action):
@@ -45,7 +45,7 @@ class ToBatchProcessorAction(ActionProcessor):
 
 @dataclass
 @ProcessorStepRegistry.register(name="to_batch_processor_observation")
-class ToBatchProcessorObservation(ObservationProcessor):
+class ToBatchProcessorObservation(ObservationProcessorStep):
     """Process observation component in-place, adding batch dimensions where needed."""
 
     def observation(self, observation):
@@ -74,7 +74,7 @@ class ToBatchProcessorObservation(ObservationProcessor):
 
 @dataclass
 @ProcessorStepRegistry.register(name="to_batch_processor_complementary_data")
-class ToBatchProcessorComplementaryData(ComplementaryDataProcessor):
+class ToBatchProcessorComplementaryData(ComplementaryDataProcessorStep):
     """Process complementary data in-place, handling task field batching."""
 
     def complementary_data(self, complementary_data):

src/lerobot/processor/delta_action_processor.py

@@ -21,12 +21,12 @@ from torch import Tensor
 from lerobot.configs.types import FeatureType, PolicyFeature
 from lerobot.constants import ACTION
 
-from .pipeline import ActionProcessor, ProcessorStepRegistry
+from .pipeline import ActionProcessorStep, ProcessorStepRegistry
 
 
 @ProcessorStepRegistry.register("map_tensor_to_delta_action_dict")
 @dataclass
-class MapTensorToDeltaActionDict(ActionProcessor):
+class MapTensorToDeltaActionDict(ActionProcessorStep):
     """
     Map a tensor to a delta action dictionary.
     """
@@ -58,7 +58,7 @@ class MapTensorToDeltaActionDict(ActionProcessor):
 
 @ProcessorStepRegistry.register("map_delta_action_to_robot_action")
 @dataclass
-class MapDeltaActionToRobotAction(ActionProcessor):
+class MapDeltaActionToRobotAction(ActionProcessorStep):
     """
     Map delta actions from teleoperators (gamepad, keyboard) to robot target actions
     for use with inverse kinematics processors.

src/lerobot/processor/gym_action_processor.py

@@ -19,12 +19,12 @@ import torch
 from lerobot.configs.types import PolicyFeature
 
 from .converters import to_tensor
-from .pipeline import ActionProcessor, ProcessorStepRegistry
+from .pipeline import ActionProcessorStep, ProcessorStepRegistry
 
 
 @ProcessorStepRegistry.register("torch2numpy_action_processor")
 @dataclass
-class Torch2NumpyActionProcessor(ActionProcessor):
+class Torch2NumpyActionProcessor(ActionProcessorStep):
     """Convert PyTorch tensor actions to NumPy arrays."""
 
     squeeze_batch_dim: bool = True
@@ -56,7 +56,7 @@ class Torch2NumpyActionProcessor(ActionProcessor):
 
 @ProcessorStepRegistry.register("numpy2torch_action_processor")
 @dataclass
-class Numpy2TorchActionProcessor(ActionProcessor):
+class Numpy2TorchActionProcessor(ActionProcessorStep):
     """Convert NumPy array action to PyTorch tensor."""
 
     def action(self, action: np.ndarray) -> torch.Tensor:

src/lerobot/processor/hil_processor.py

@@ -14,12 +14,12 @@ from lerobot.teleoperators.utils import TeleopEvents
 
 from .core import EnvTransition, TransitionKey
 from .pipeline import (
-    ComplementaryDataProcessor,
-    InfoProcessor,
-    ObservationProcessor,
+    ComplementaryDataProcessorStep,
+    InfoProcessorStep,
+    ObservationProcessorStep,
     ProcessorStep,
     ProcessorStepRegistry,
-    TruncatedProcessor,
+    TruncatedProcessorStep,
 )
 
 GRIPPER_KEY = "gripper"
@@ -29,7 +29,7 @@ TELEOP_ACTION_KEY = "teleop_action"
 
 @ProcessorStepRegistry.register("add_teleop_action_as_complementary_data")
 @dataclass
-class AddTeleopActionAsComplimentaryData(ComplementaryDataProcessor):
+class AddTeleopActionAsComplimentaryData(ComplementaryDataProcessorStep):
     """Add teleoperator action to transition complementary data."""
 
     teleop_device: Teleoperator
@@ -45,7 +45,7 @@ class AddTeleopActionAsComplimentaryData(ComplementaryDataProcessor):
 
 @ProcessorStepRegistry.register("add_teleop_action_as_info")
 @dataclass
-class AddTeleopEventsAsInfo(InfoProcessor):
+class AddTeleopEventsAsInfo(InfoProcessorStep):
     """Add teleoperator control events to transition info."""
 
     teleop_device: Teleoperator
@@ -62,7 +62,7 @@ class AddTeleopEventsAsInfo(InfoProcessor):
 
 @ProcessorStepRegistry.register("image_crop_resize_processor")
 @dataclass
-class ImageCropResizeProcessor(ObservationProcessor):
+class ImageCropResizeProcessor(ObservationProcessorStep):
     """Crop and resize image observations."""
 
     crop_params_dict: dict[str, tuple[int, int, int, int]] | None = None
@@ -112,7 +112,7 @@ class ImageCropResizeProcessor(ObservationProcessor):
 
 @dataclass
 @ProcessorStepRegistry.register("time_limit_processor")
-class TimeLimitProcessor(TruncatedProcessor):
+class TimeLimitProcessor(TruncatedProcessorStep):
     """Track episode steps and enforce time limits."""
 
     max_episode_steps: int
@@ -139,7 +139,7 @@ class TimeLimitProcessor(TruncatedProcessor):
 
 @dataclass
 @ProcessorStepRegistry.register("gripper_penalty_processor")
-class GripperPenaltyProcessor(ComplementaryDataProcessor):
+class GripperPenaltyProcessor(ComplementaryDataProcessorStep):
     """Apply penalty for inappropriate gripper usage."""
 
     penalty: float = -0.01

src/lerobot/processor/joint_observations_processor.py

@@ -6,7 +6,7 @@ import torch
 from lerobot.configs.types import PolicyFeature
 from lerobot.constants import OBS_STATE
 from lerobot.processor.pipeline import (
-    ObservationProcessor,
+    ObservationProcessorStep,
     ProcessorStepRegistry,
 )
 from lerobot.robots import Robot
@@ -14,7 +14,7 @@ from lerobot.robots import Robot
 
 @dataclass
 @ProcessorStepRegistry.register("joint_velocity_processor")
-class JointVelocityProcessor(ObservationProcessor):
+class JointVelocityProcessor(ObservationProcessorStep):
     """Add joint velocity information to observations."""
 
     dt: float = 0.1
@@ -67,7 +67,7 @@ class JointVelocityProcessor(ObservationProcessor):
 
 @dataclass
 @ProcessorStepRegistry.register("current_processor")
-class MotorCurrentProcessor(ObservationProcessor):
+class MotorCurrentProcessor(ObservationProcessorStep):
     """Add motor current information to observations."""
 
     robot: Robot | None = None

src/lerobot/processor/observation_processor.py

@@ -23,12 +23,12 @@ from torch import Tensor
 from lerobot.configs.types import PolicyFeature
 from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 
-from .pipeline import ObservationProcessor, ProcessorStepRegistry
+from .pipeline import ObservationProcessorStep, ProcessorStepRegistry
 
 
 @dataclass
 @ProcessorStepRegistry.register(name="observation_processor")
-class VanillaObservationProcessor(ObservationProcessor):
+class VanillaObservationProcessor(ObservationProcessorStep):
     """
     Processes environment observations into the LeRobot format by handling both images and states.
 

src/lerobot/processor/pipeline.py

@@ -805,7 +805,7 @@ class DataProcessorPipeline(ModelHubMixin, Generic[TOutput]):
         return transformed_transition[TransitionKey.COMPLEMENTARY_DATA]
 
 
-class ObservationProcessor(ProcessorStep, ABC):
+class ObservationProcessorStep(ProcessorStep, ABC):
     """Base class for processors that modify only the observation component of a transition.
 
     Subclasses should override the `observation` method to implement custom observation processing.
@@ -851,7 +851,7 @@ class ObservationProcessor(ProcessorStep, ABC):
         return new_transition
 
 
-class ActionProcessor(ProcessorStep, ABC):
+class ActionProcessorStep(ProcessorStep, ABC):
     """Base class for processors that modify only the action component of a transition.
 
     Subclasses should override the `action` method to implement custom action processing.
@@ -898,7 +898,7 @@ class ActionProcessor(ProcessorStep, ABC):
         return new_transition
 
 
-class RewardProcessor(ProcessorStep, ABC):
+class RewardProcessorStep(ProcessorStep, ABC):
     """Base class for processors that modify only the reward component of a transition.
 
     Subclasses should override the `reward` method to implement custom reward processing.
@@ -944,7 +944,7 @@ class RewardProcessor(ProcessorStep, ABC):
         return new_transition
 
 
-class DoneProcessor(ProcessorStep, ABC):
+class DoneProcessorStep(ProcessorStep, ABC):
     """Base class for processors that modify only the done flag of a transition.
 
     Subclasses should override the `done` method to implement custom done flag processing.
@@ -995,7 +995,7 @@ class DoneProcessor(ProcessorStep, ABC):
         return new_transition
 
 
-class TruncatedProcessor(ProcessorStep, ABC):
+class TruncatedProcessorStep(ProcessorStep, ABC):
     """Base class for processors that modify only the truncated flag of a transition.
 
     Subclasses should override the `truncated` method to implement custom truncated flag processing.
@@ -1042,7 +1042,7 @@ class TruncatedProcessor(ProcessorStep, ABC):
         return new_transition
 
 
-class InfoProcessor(ProcessorStep, ABC):
+class InfoProcessorStep(ProcessorStep, ABC):
     """Base class for processors that modify only the info dictionary of a transition.
 
     Subclasses should override the `info` method to implement custom info processing.
@@ -1094,7 +1094,7 @@ class InfoProcessor(ProcessorStep, ABC):
         return new_transition
 
 
-class ComplementaryDataProcessor(ProcessorStep, ABC):
+class ComplementaryDataProcessorStep(ProcessorStep, ABC):
     """Base class for processors that modify only the complementary data of a transition.
 
     Subclasses should override the `complementary_data` method to implement custom complementary data processing.
@@ -1127,7 +1127,7 @@ class ComplementaryDataProcessor(ProcessorStep, ABC):
         return new_transition
 
 
-class IdentityProcessor(ProcessorStep):
+class IdentityProcessorStep(ProcessorStep):
     """Identity processor that does nothing."""
 
     def __call__(self, transition: EnvTransition) -> EnvTransition:

src/lerobot/processor/rename_processor.py

@@ -19,12 +19,12 @@ from typing import Any
 
 from lerobot.configs.types import PolicyFeature
 
-from .pipeline import ObservationProcessor, ProcessorStepRegistry
+from .pipeline import ObservationProcessorStep, ProcessorStepRegistry
 
 
 @dataclass
 @ProcessorStepRegistry.register(name="rename_processor")
-class RenameProcessor(ObservationProcessor):
+class RenameProcessor(ObservationProcessorStep):
     """Rename processor that renames keys in the observation."""
 
     rename_map: dict[str, str] = field(default_factory=dict)

src/lerobot/processor/tokenizer_processor.py

@@ -14,7 +14,7 @@ from lerobot.constants import OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS
 from lerobot.utils.import_utils import _transformers_available
 
 from .core import EnvTransition, TransitionKey
-from .pipeline import ObservationProcessor, ProcessorStepRegistry
+from .pipeline import ObservationProcessorStep, ProcessorStepRegistry
 
 if TYPE_CHECKING or _transformers_available:
     from transformers import AutoTokenizer
@@ -24,7 +24,7 @@ else:
 
 @dataclass
 @ProcessorStepRegistry.register(name="tokenizer_processor")
-class TokenizerProcessor(ObservationProcessor):
+class TokenizerProcessor(ObservationProcessorStep):
     """Tokenizes text tasks in complementary data using a huggingface tokenizer.
 
     This processor handles tokenization of task strings found in the complementary_data