mirror of
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66 lines
2.2 KiB
Python
66 lines
2.2 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 dataclasses import dataclass
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from typing import Any
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import torch
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from lerobot.processor.pipeline import EnvTransition, TransitionIndex
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@dataclass
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class DeviceProcessor:
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"""Processes transitions by moving tensors to the specified device.
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This processor ensures that all tensors in the transition are moved to the
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specified device (CPU or GPU) before they are returned.
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"""
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device: str = "cpu"
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def __post_init__(self):
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self.non_blocking = "cuda" in self.device
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def __call__(self, transition: EnvTransition) -> EnvTransition:
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observation: dict[str, torch.Tensor] = transition[TransitionIndex.OBSERVATION]
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action = transition[TransitionIndex.ACTION]
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reward = transition[TransitionIndex.REWARD]
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done = transition[TransitionIndex.DONE]
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truncated = transition[TransitionIndex.TRUNCATED]
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info = transition[TransitionIndex.INFO]
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complementary_data = transition[TransitionIndex.COMPLEMENTARY_DATA]
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if observation is not None:
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observation = {
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k: v.to(self.device, non_blocking=self.non_blocking) for k, v in observation.items()
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}
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if action is not None:
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action = action.to(self.device)
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return (
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observation,
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action,
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reward,
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done,
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truncated,
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info,
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complementary_data,
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)
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def get_config(self) -> dict[str, Any]:
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"""Return configuration for serialization."""
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return {"device": self.device}
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