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1f1541243a
pi052's preprocessor pipelines don't roundtrip through the saved
``policy_preprocessor.json``: ``RenderMessagesStep`` holds a
``TrainingRecipe`` Python object (not JSON-serializable, saved as
``{}``) and ``ActionTokenizerProcessorStep`` saves the fitted FAST
tokenizer's host-only ``~/.cache/lerobot/fast_tokenizers/...`` path.
``PolicyProcessorPipeline.from_pretrained`` then dies with
``RenderMessagesStep.__init__() missing 1 required positional
argument: 'recipe'`` (job 22164494).
The pi052 training path was workable because the recipe-aware steps
were built directly; the runtime path
(``lerobot.scripts.lerobot_pi052_runtime``) sidesteps the loader by
passing ``pretrained_path=None`` to ``make_pre_post_processors`` and
building fresh from ``config.recipe_path``. The standard
``lerobot-eval`` entry point had no such escape hatch.
Two surgical fixes:
* ``factory.make_pre_post_processors``: when ``policy_cfg.type ==
"pi052"`` AND ``pretrained_path`` is set, bypass the generic
``PolicyProcessorPipeline.from_pretrained`` call. Build the
pipelines fresh via ``make_pi052_pre_post_processors`` (same
bootstrap the runtime uses) and transplant the saved stateful
blobs from each step's ``state_file`` reference in the saved JSON
(today: NormalizerProcessorStep + UnnormalizerProcessorStep
quantile stats). Pairing is by ``registry_name`` AND position so
a benign reorder logs a warning instead of silently mis-loading.
* ``PI052Config.use_hf_kernels``: re-add as a deprecated no-op
field. The flag was removed in d70c8104 (Liger kernels became
unconditional), but checkpoints saved before that commit
serialize ``use_hf_kernels: true`` into ``config.json``. Without
this field draccus rejects the load with ``DecodingError: The
fields use_hf_kernels are not valid for PI052Config`` (job
22164492). Mark for removal in a future major bump.
Together these let an external ``lerobot-eval --policy.path=<pi052
checkpoint>`` invocation evaluate the model against any env.
Co-authored-by: Cursor <cursoragent@cursor.com>