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

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* 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
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16
src/lerobot/processor/tokenizer_processor.py
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@@ -28,7 +28,7 @@ from typing import TYPE_CHECKING, Any
import torch
from lerobot.configs.types import FeatureType, PolicyFeature
from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
from lerobot.constants import OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS
from lerobot.utils.import_utils import _transformers_available
@@ -243,7 +243,9 @@ class TokenizerProcessorStep(ObservationProcessorStep):
return config
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]]:
"""
Adds feature definitions for the language tokens and attention mask.
@@ -257,12 +259,14 @@ class TokenizerProcessorStep(ObservationProcessorStep):
The updated dictionary of policy features.
"""
# Add a feature for the token IDs if it doesn't already exist
if OBS_LANGUAGE_TOKENS not in features:
features[OBS_LANGUAGE_TOKENS] = PolicyFeature(type=FeatureType.LANGUAGE, shape=(self.max_length,))
if OBS_LANGUAGE_TOKENS not in features[PipelineFeatureType.OBSERVATION]:
features[PipelineFeatureType.OBSERVATION][OBS_LANGUAGE_TOKENS] = PolicyFeature(
type=FeatureType.LANGUAGE, shape=(self.max_length,)
)
# Add a feature for the attention mask if it doesn't already exist
if OBS_LANGUAGE_ATTENTION_MASK not in features:
features[OBS_LANGUAGE_ATTENTION_MASK] = PolicyFeature(
if OBS_LANGUAGE_ATTENTION_MASK not in features[PipelineFeatureType.OBSERVATION]:
features[PipelineFeatureType.OBSERVATION][OBS_LANGUAGE_ATTENTION_MASK] = PolicyFeature(
type=FeatureType.LANGUAGE, shape=(self.max_length,)
)