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

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- 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.
This commit is contained in:
Adil Zouitine
2025-09-04 17:01:53 +02:00
committed by GitHub
parent e698c709d8
commit 1ac6a6d3fe
11 changed files with 38 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/constants.py
+2 -2
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@@ -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"
POSTPROCESSOR_DEFAULT_NAME = "robot_postprocessor"
POLICY_PREPROCESSOR_DEFAULT_NAME = "policy_preprocessor"
POLICY_POSTPROCESSOR_DEFAULT_NAME = "policy_postprocessor"
if "LEROBOT_HOME" in os.environ:
raise ValueError(
src/lerobot/policies/act/processor_act.py
+3 -3
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@@ -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
+3 -3
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@@ -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
+7 -2
View File
@@ -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
+3 -3
View File
@@ -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
+3 -3
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@@ -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
+3 -3
View File
@@ -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
+3 -3
View File
@@ -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
+3 -3
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@@ -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
+3 -3
View File
@@ -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
+5 -3
View File
@@ -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)