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https://github.com/huggingface/lerobot.git
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a6dbb65917
* feat(processor): introduce PolicyProcessorPipeline and RobotProcessorPipeline as type aliases for DataProcessorPipeline - Added PolicyProcessorPipeline and RobotProcessorPipeline type aliases to enhance clarity and maintainability in the processor module. - Updated the __all__ list to include the new pipelines for better module export consistency. * refactor(processor): replace DataProcessorPipeline with PolicyProcessorPipeline across multiple modules - Updated all instances of DataProcessorPipeline to PolicyProcessorPipeline in various processor files for consistency and clarity. - Adjusted function signatures to reflect the new pipeline type, enhancing maintainability and readability. * refactor(processor): update hotswap_stats function to use PolicyProcessorPipeline - Changed the parameter name from robot_processor to policy_processor for clarity. - Ensured consistency with recent updates to the processor module by reflecting the new pipeline type in the function signature. * refactor(processor): replace DataProcessorPipeline with PolicyProcessorPipeline in migrate_policy_normalization.py - Updated the preprocessor and postprocessor to use PolicyProcessorPipeline for consistency with recent changes in the processor module. - Enhanced clarity and maintainability by aligning with the new pipeline structure. * refactor(processor): update hotswap_stats to use PolicyProcessorPipeline - Changed the parameter type in hotswap_stats from DataProcessorPipeline to PolicyProcessorPipeline for consistency with recent updates. - Enhanced clarity by updating the function documentation to reflect the new pipeline type. * refactor(processor): replace DataProcessorPipeline with RobotProcessorPipeline across multiple files - Updated instances of DataProcessorPipeline to RobotProcessorPipeline in evaluate.py, record.py, replay.py, teleoperate.py, and other relevant files for consistency and clarity. - Adjusted function signatures and variable types to reflect the new pipeline structure, enhancing maintainability and readability.
104 lines
3.4 KiB
Python
104 lines
3.4 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from .batch_processor import AddBatchDimensionProcessorStep
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from .converters import (
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batch_to_transition,
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create_transition,
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merge_transitions,
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transition_to_batch,
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transition_to_dataset_frame,
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)
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from .core import EnvTransition, TransitionKey
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from .delta_action_processor import MapDeltaActionToRobotActionStep, MapTensorToDeltaActionDictStep
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from .device_processor import DeviceProcessorStep
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from .gym_action_processor import Numpy2TorchActionProcessorStep, Torch2NumpyActionProcessorStep
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from .hil_processor import (
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AddTeleopActionAsComplimentaryDataStep,
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AddTeleopEventsAsInfoStep,
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GripperPenaltyProcessorStep,
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ImageCropResizeProcessorStep,
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InterventionActionProcessorStep,
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RewardClassifierProcessorStep,
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TimeLimitProcessorStep,
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)
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from .joint_observations_processor import JointVelocityProcessorStep, MotorCurrentProcessorStep
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from .normalize_processor import NormalizerProcessorStep, UnnormalizerProcessorStep, hotswap_stats
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from .observation_processor import VanillaObservationProcessorStep
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from .pipeline import (
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ActionProcessorStep,
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ComplementaryDataProcessorStep,
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DataProcessorPipeline,
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DoneProcessorStep,
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IdentityProcessorStep,
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InfoProcessorStep,
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ObservationProcessorStep,
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PolicyProcessorPipeline,
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ProcessorKwargs,
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ProcessorStep,
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ProcessorStepRegistry,
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RewardProcessorStep,
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RobotProcessorPipeline,
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TruncatedProcessorStep,
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)
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from .rename_processor import RenameProcessorStep
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from .tokenizer_processor import TokenizerProcessorStep
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__all__ = [
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"ActionProcessorStep",
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"AddTeleopActionAsComplimentaryDataStep",
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"AddTeleopEventsAsInfoStep",
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"ComplementaryDataProcessorStep",
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"batch_to_transition",
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"create_transition",
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"DeviceProcessorStep",
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"DoneProcessorStep",
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"EnvTransition",
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"GripperPenaltyProcessorStep",
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"hotswap_stats",
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"IdentityProcessorStep",
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"ImageCropResizeProcessorStep",
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"InfoProcessorStep",
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"InterventionActionProcessorStep",
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"JointVelocityProcessorStep",
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"MapDeltaActionToRobotActionStep",
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"MapTensorToDeltaActionDictStep",
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"merge_transitions",
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"MotorCurrentProcessorStep",
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"NormalizerProcessorStep",
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"Numpy2TorchActionProcessorStep",
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"ObservationProcessorStep",
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"PolicyProcessorPipeline",
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"ProcessorKwargs",
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"ProcessorStep",
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"ProcessorStepRegistry",
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"RenameProcessorStep",
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"RewardClassifierProcessorStep",
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"RewardProcessorStep",
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"DataProcessorPipeline",
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"TimeLimitProcessorStep",
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"AddBatchDimensionProcessorStep",
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"RobotProcessorPipeline",
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"TokenizerProcessorStep",
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"Torch2NumpyActionProcessorStep",
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"transition_to_batch",
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"transition_to_dataset_frame",
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"TransitionKey",
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"TruncatedProcessorStep",
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"UnnormalizerProcessorStep",
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"VanillaObservationProcessorStep",
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]
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