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refactor(pipeline): minor improvements (#1684)

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* chore(pipeline): remove unused features + device torch + envtransition keys

* refactor(pipeline): ImageProcessor & StateProcessor are both implemented directly in VanillaObservationPRocessor

* refactor(pipeline): RenameProcessor now inherits from ObservationProcessor + remove unused code

* test(pipeline): fix broken test after refactors

* docs(pipeline): update docstrings VanillaObservationProcessor

* chore(pipeline): move None check to base pipeline classes
This commit is contained in:
Steven Palma
2025-08-06 14:00:13 +02:00
committed by GitHub
parent 7beb040e8e
commit fd4ae3466b
8 changed files with 165 additions and 421 deletions
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6
src/lerobot/processor/device_processor.py
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@@ -20,6 +20,7 @@ import torch
from lerobot.configs.types import PolicyFeature
from lerobot.processor.pipeline import EnvTransition, TransitionKey
from lerobot.utils.utils import get_safe_torch_device
@dataclass
@@ -30,10 +31,11 @@ class DeviceProcessor:
specified device (CPU or GPU) before they are returned.
"""
device: str = "cpu"
device: torch.device = "cpu"
def __post_init__(self):
self.non_blocking = "cuda" in self.device
self.device = get_safe_torch_device(self.device)
self.non_blocking = "cuda" in str(self.device)
def __call__(self, transition: EnvTransition) -> EnvTransition:
# Create a copy of the transition