ydy0615/lerobot-clone
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-06-01 11:21:27 +00:00
Code Issues Packages Projects Releases Wiki Activity

refactor(pipeline): feature contract now categorizes between OBS or Action (#1867)

Browse Source 
* refactor(processor): signature of transform_features

* refactor(processor): remove prefixes + processor respect new transform_features signature + update test accordingly

* refactor(processor): rename now is only for visual

* refactor(processor): update normalize processor

* refactor(processor): update vanilla processor features

* refactor(processor): feature contract now uses its own enum

* chore(processor): rename renameprocessor

* chore(processor): minor changes

* refactor(processor): add create & change aggregate

* refactor(processor): update aggregate

* refactor(processor): simplify to functions, fix features contracts and rename function

* test(processor): remove to converter tests as now they are very simple

* chore(docs): recover docs joint observations processor

* fix(processor): update RKP

* fix(tests): recv diff test_pipeline

* chore(tests): add docs to test

* chore(processor): leave obs language constant untouched

* fix(processor): correct new shape of feature in crop image processor
This commit is contained in:
Steven Palma
2025-09-09 18:27:30 +02:00
committed by GitHub
parent acf0ba7fb3
commit e881fb6678
47 changed files with 781 additions and 616 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
src/lerobot/processor/batch_processor.py
View File

@@ -24,7 +24,7 @@ from dataclasses import dataclass, field
from torch import Tensor
from lerobot.configs.types import PolicyFeature
from lerobot.configs.types import PipelineFeatureType, PolicyFeature
from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
from .core import EnvTransition
@@ -60,7 +60,9 @@ class AddBatchDimensionActionStep(ActionProcessorStep):
return action
return action.unsqueeze(0)
def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
def transform_features(
self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
"""
Returns the input features unchanged.
@@ -116,7 +118,9 @@ class AddBatchDimensionObservationStep(ObservationProcessorStep):
observation[key] = value.unsqueeze(0)
return observation
def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
def transform_features(
self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
"""
Returns the input features unchanged.
@@ -171,7 +175,9 @@ class AddBatchDimensionComplementaryDataStep(ComplementaryDataProcessorStep):
complementary_data["task_index"] = task_index_value.unsqueeze(0)
return complementary_data
def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
def transform_features(
self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
"""
Returns the input features unchanged.
@@ -226,7 +232,9 @@ class AddBatchDimensionProcessorStep(ProcessorStep):
transition = self.to_batch_complementary_data_processor(transition)
return transition
def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
def transform_features(
self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
"""
Returns the input features unchanged.