feat(pipeline): Enhance step_through method to support both tuple and dict inputs

src/lerobot/processor/pipeline.py

@@ -329,12 +329,46 @@ class RobotProcessor(ModelHubMixin):
 
         return self.to_output(transition) if called_with_batch else transition
 
-    def step_through(self, transition: EnvTransition) -> Iterable[EnvTransition]:
-        """Yield the intermediate Transition instances after each processor step."""
-        yield transition
-        for processor_step in self.steps:
+    def step_through(self, data: EnvTransition | dict[str, Any]) -> Iterable[EnvTransition | dict[str, Any]]:
+        """Yield the intermediate results after each processor step.
+
+        Like __call__, this method accepts either EnvTransition tuples or batch dictionaries
+        and preserves the input format in the yielded results.
+
+        Args:
+            data: Either an EnvTransition tuple or a batch dictionary to process.
+
+        Yields:
+            The intermediate results after each step, in the same format as the input.
+        """
+        called_with_batch = isinstance(data, dict)
+        transition = self.to_transition(data) if called_with_batch else data
+
+        # Basic validation with helpful error message for tuple input
+        if not isinstance(transition, tuple) or len(transition) != 7:
+            raise ValueError(
+                "EnvTransition must be a 7-tuple of (observation, action, reward, done, "
+                "truncated, info, complementary_data). "
+                f"Got {type(transition).__name__} with length {len(transition) if hasattr(transition, '__len__') else 'unknown'}."
+            )
+
+        # Yield initial state
+        yield self.to_output(transition) if called_with_batch else transition
+
+        for idx, processor_step in enumerate(self.steps):
+            for hook in self.before_step_hooks:
+                updated = hook(idx, transition)
+                if updated is not None:
+                    transition = updated
+
             transition = processor_step(transition)
-            yield transition
+
+            for hook in self.after_step_hooks:
+                updated = hook(idx, transition)
+                if updated is not None:
+                    transition = updated
+
+            yield self.to_output(transition) if called_with_batch else transition
 
     _CFG_NAME = "processor.json"