refactor(constants): rename preprocessor and postprocessor constants for clarity (#1868)

- Updated constant names from PREPROCESSOR_DEFAULT_NAME and POSTPROCESSOR_DEFAULT_NAME to POLICY_PREPROCESSOR_DEFAULT_NAME and POLICY_POSTPROCESSOR_DEFAULT_NAME for better context.
- Adjusted references across multiple files to use the new constant names, ensuring consistency in the codebase.

src/lerobot/constants.py

@@ -45,8 +45,8 @@ OPTIMIZER_STATE = "optimizer_state.safetensors"
 OPTIMIZER_PARAM_GROUPS = "optimizer_param_groups.json"
 SCHEDULER_STATE = "scheduler_state.json"
 
-PREPROCESSOR_DEFAULT_NAME = "robot_preprocessor"
+POLICY_PREPROCESSOR_DEFAULT_NAME = "policy_preprocessor"
-POSTPROCESSOR_DEFAULT_NAME = "robot_postprocessor"
+POLICY_POSTPROCESSOR_DEFAULT_NAME = "policy_postprocessor"
 
 if "LEROBOT_HOME" in os.environ:
     raise ValueError(

src/lerobot/policies/act/processor_act.py

@@ -15,7 +15,7 @@
 # limitations under the License.
 import torch
 
-from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -59,12 +59,12 @@ def make_act_pre_post_processors(
     return (
         PolicyProcessorPipeline(
             steps=input_steps,
-            name=PREPROCESSOR_DEFAULT_NAME,
+            name=POLICY_PREPROCESSOR_DEFAULT_NAME,
             **preprocessor_kwargs,
         ),
         PolicyProcessorPipeline(
             steps=output_steps,
-            name=POSTPROCESSOR_DEFAULT_NAME,
+            name=POLICY_POSTPROCESSOR_DEFAULT_NAME,
             **postprocessor_kwargs,
         ),
     )

src/lerobot/policies/diffusion/processor_diffusion.py

@@ -16,7 +16,7 @@
 # limitations under the License.
 import torch
 
-from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -59,12 +59,12 @@ def make_diffusion_pre_post_processors(
     return (
         PolicyProcessorPipeline(
             steps=input_steps,
-            name=PREPROCESSOR_DEFAULT_NAME,
+            name=POLICY_PREPROCESSOR_DEFAULT_NAME,
             **preprocessor_kwargs,
         ),
         PolicyProcessorPipeline(
             steps=output_steps,
-            name=POSTPROCESSOR_DEFAULT_NAME,
+            name=POLICY_POSTPROCESSOR_DEFAULT_NAME,
             **postprocessor_kwargs,
         ),
     )

src/lerobot/policies/factory.py

@@ -24,6 +24,7 @@ from typing_extensions import Unpack
 
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import FeatureType
+from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
 from lerobot.datasets.utils import dataset_to_policy_features
 from lerobot.envs.configs import EnvConfig
@@ -148,14 +149,18 @@ def make_pre_post_processors(
         return (
             PolicyProcessorPipeline.from_pretrained(
                 pretrained_model_name_or_path=pretrained_path,
-                config_filename=kwargs.get("preprocessor_config_filename", "robot_preprocessor.json"),
+                config_filename=kwargs.get(
+                    "preprocessor_config_filename", f"{POLICY_PREPROCESSOR_DEFAULT_NAME}.json"
+                ),
                 overrides=kwargs.get("preprocessor_overrides", {}),
                 to_transition=preprocessor_kwargs.get("to_transition"),
                 to_output=preprocessor_kwargs.get("to_output"),
             ),
             PolicyProcessorPipeline.from_pretrained(
                 pretrained_model_name_or_path=pretrained_path,
-                config_filename=kwargs.get("postprocessor_config_filename", "robot_postprocessor.json"),
+                config_filename=kwargs.get(
+                    "postprocessor_config_filename", f"{POLICY_POSTPROCESSOR_DEFAULT_NAME}.json"
+                ),
                 overrides=kwargs.get("postprocessor_overrides", {}),
                 to_transition=postprocessor_kwargs.get("to_transition"),
                 to_output=postprocessor_kwargs.get("to_output"),

src/lerobot/policies/pi0/processor_pi0.py

@@ -18,7 +18,7 @@
 import torch
 
 from lerobot.configs.types import PolicyFeature
-from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -107,12 +107,12 @@ def make_pi0_pre_post_processors(
     return (
         PolicyProcessorPipeline(
             steps=input_steps,
-            name=PREPROCESSOR_DEFAULT_NAME,
+            name=POLICY_PREPROCESSOR_DEFAULT_NAME,
             **preprocessor_kwargs,
         ),
         PolicyProcessorPipeline(
             steps=output_steps,
-            name=POSTPROCESSOR_DEFAULT_NAME,
+            name=POLICY_POSTPROCESSOR_DEFAULT_NAME,
             **postprocessor_kwargs,
         ),
     )

src/lerobot/policies/pi0fast/processor_pi0fast.py

@@ -16,7 +16,7 @@
 
 import torch
 
-from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -59,12 +59,12 @@ def make_pi0fast_pre_post_processors(
     return (
         PolicyProcessorPipeline(
             steps=input_steps,
-            name=PREPROCESSOR_DEFAULT_NAME,
+            name=POLICY_PREPROCESSOR_DEFAULT_NAME,
             **preprocessor_kwargs,
         ),
         PolicyProcessorPipeline(
             steps=output_steps,
-            name=POSTPROCESSOR_DEFAULT_NAME,
+            name=POLICY_POSTPROCESSOR_DEFAULT_NAME,
             **postprocessor_kwargs,
         ),
     )

src/lerobot/policies/sac/processor_sac.py

@@ -17,7 +17,7 @@
 
 import torch
 
-from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.sac.configuration_sac import SACConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -60,12 +60,12 @@ def make_sac_pre_post_processors(
     return (
         PolicyProcessorPipeline(
             steps=input_steps,
-            name=PREPROCESSOR_DEFAULT_NAME,
+            name=POLICY_PREPROCESSOR_DEFAULT_NAME,
             **preprocessor_kwargs,
         ),
         PolicyProcessorPipeline(
             steps=output_steps,
-            name=POSTPROCESSOR_DEFAULT_NAME,
+            name=POLICY_POSTPROCESSOR_DEFAULT_NAME,
             **postprocessor_kwargs,
         ),
     )

src/lerobot/policies/smolvla/processor_smolvla.py

@@ -17,7 +17,7 @@
 import torch
 
 from lerobot.configs.types import PolicyFeature
-from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -70,12 +70,12 @@ def make_smolvla_pre_post_processors(
     return (
         PolicyProcessorPipeline(
             steps=input_steps,
-            name=PREPROCESSOR_DEFAULT_NAME,
+            name=POLICY_PREPROCESSOR_DEFAULT_NAME,
             **preprocessor_kwargs,
         ),
         PolicyProcessorPipeline(
             steps=output_steps,
-            name=POSTPROCESSOR_DEFAULT_NAME,
+            name=POLICY_POSTPROCESSOR_DEFAULT_NAME,
             **postprocessor_kwargs,
         ),
     )

src/lerobot/policies/tdmpc/processor_tdmpc.py

@@ -16,7 +16,7 @@
 # limitations under the License.
 import torch
 
-from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -59,12 +59,12 @@ def make_tdmpc_pre_post_processors(
     return (
         PolicyProcessorPipeline(
             steps=input_steps,
-            name=PREPROCESSOR_DEFAULT_NAME,
+            name=POLICY_PREPROCESSOR_DEFAULT_NAME,
             **preprocessor_kwargs,
         ),
         PolicyProcessorPipeline(
             steps=output_steps,
-            name=POSTPROCESSOR_DEFAULT_NAME,
+            name=POLICY_POSTPROCESSOR_DEFAULT_NAME,
             **postprocessor_kwargs,
         ),
     )

src/lerobot/policies/vqbet/processor_vqbet.py

@@ -17,7 +17,7 @@
 # limitations under the License.
 import torch
 
-from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
@@ -60,12 +60,12 @@ def make_vqbet_pre_post_processors(
     return (
         PolicyProcessorPipeline(
             steps=input_steps,
-            name=PREPROCESSOR_DEFAULT_NAME,
+            name=POLICY_PREPROCESSOR_DEFAULT_NAME,
             **preprocessor_kwargs,
         ),
         PolicyProcessorPipeline(
             steps=output_steps,
-            name=POSTPROCESSOR_DEFAULT_NAME,
+            name=POLICY_POSTPROCESSOR_DEFAULT_NAME,
             **postprocessor_kwargs,
         ),
     )

src/lerobot/scripts/train.py

@@ -26,7 +26,7 @@ from torch.optim import Optimizer
 
 from lerobot.configs import parser
 from lerobot.configs.train import TrainPipelineConfig
-from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 from lerobot.datasets.factory import make_dataset
 from lerobot.datasets.sampler import EpisodeAwareSampler
 from lerobot.datasets.utils import cycle
@@ -153,9 +153,11 @@ def train(cfg: TrainPipelineConfig):
 
     if cfg.resume:
         step, optimizer, lr_scheduler = load_training_state(cfg.checkpoint_path, optimizer, lr_scheduler)
-        preprocessor.from_pretrained(cfg.checkpoint_path, config_filename=f"{PREPROCESSOR_DEFAULT_NAME}.json")
+        preprocessor.from_pretrained(
+            cfg.policy.pretrained_path, config_filename=f"{POLICY_PREPROCESSOR_DEFAULT_NAME}.json"
+        )
         postprocessor.from_pretrained(
-            cfg.checkpoint_path, config_filename=f"{POSTPROCESSOR_DEFAULT_NAME}.json"
+            cfg.policy.pretrained_path, config_filename=f"{POLICY_POSTPROCESSOR_DEFAULT_NAME}.json"
         )
 
     num_learnable_params = sum(p.numel() for p in policy.parameters() if p.requires_grad)