Apply suggestions from code review

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Signed-off-by: Adil Zouitine <adilzouitinegm@gmail.com>

src/lerobot/envs/utils.py

@@ -36,8 +36,7 @@ def preprocess_observation(observations: dict[str, np.ndarray]) -> dict[str, Ten
     Returns:
         Dictionary of observation batches with keys renamed to LeRobot format and values as tensors.
     """
-    from lerobot.processor.observation_processor import VanillaObservationProcessor
-    from lerobot.processor.pipeline import RobotProcessor, TransitionIndex
+    from lerobot.processor import RobotProcessor, TransitionIndex, VanillaObservationProcessor
 
     # Create processor with observation processor
     processor = RobotProcessor([VanillaObservationProcessor()])

src/lerobot/processor/__init__.py

@@ -32,6 +32,7 @@ from .pipeline import (
     ProcessorStepRegistry,
     RewardProcessor,
     RobotProcessor,
+    TransitionIndex,
     TruncatedProcessor,
 )
 from .rename_processor import RenameProcessor
@@ -53,6 +54,7 @@ __all__ = [
     "RewardProcessor",
     "RobotProcessor",
     "StateProcessor",
+    "TransitionIndex",
     "TruncatedProcessor",
     "VanillaObservationProcessor",
 ]

src/lerobot/processor/pipeline.py

@@ -21,7 +21,7 @@ import os
 from dataclasses import dataclass, field
 from enum import IntEnum
 from pathlib import Path
-from typing import Any, Callable, Dict, Iterable, Protocol, Sequence, Tuple
+from typing import Any, Callable, Iterable, Protocol, Sequence
 
 import torch
 from huggingface_hub import ModelHubMixin, hf_hub_download
@@ -41,14 +41,14 @@ class TransitionIndex(IntEnum):
 
 
 # (observation, action, reward, done, truncated, info, complementary_data)
-EnvTransition = Tuple[
+EnvTransition = tuple[
     dict[str, Any] | None,  # observation
     Any | torch.Tensor | None,  # action
     float | torch.Tensor | None,  # reward
     bool | torch.Tensor | None,  # done
     bool | torch.Tensor | None,  # truncated
-    Dict[str, Any] | None,  # info
-    Dict[str, Any] | None,  # complementary_data
+    dict[str, Any] | None,  # info
+    dict[str, Any] | None,  # complementary_data
 ]
 
 
@@ -135,11 +135,11 @@ class ProcessorStep(Protocol):
     a safe-to-share JSON + SafeTensors format.
 
     Optional helper protocol:
-    * ``get_config() -> Dict[str, Any]`` – User-defined JSON-serializable
+    * ``get_config() -> dict[str, Any]`` – User-defined JSON-serializable
       configuration and state. YOU decide what to save here. This is where all
       non-tensor state goes (e.g., name, counter, threshold, window_size).
       The config dict will be passed to your class constructor when loading.
-    * ``state_dict() -> Dict[str, torch.Tensor]`` – PyTorch tensor state ONLY.
+    * ``state_dict() -> dict[str, torch.Tensor]`` – PyTorch tensor state ONLY.
       This is exclusively for torch.Tensor objects (e.g., learned weights,
       running statistics as tensors). Never put simple Python types here.
     * ``load_state_dict(state)`` – Inverse of ``state_dict``. Receives a dict

src/lerobot/scripts/eval.py

@@ -72,8 +72,7 @@ from lerobot.envs.utils import add_envs_task, check_env_attributes_and_types
 from lerobot.policies.factory import make_policy
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.utils import get_device_from_parameters
-from lerobot.processor.observation_processor import VanillaObservationProcessor
-from lerobot.processor.pipeline import RobotProcessor, TransitionIndex
+from lerobot.processor import RobotProcessor, TransitionIndex, VanillaObservationProcessor
 from lerobot.utils.io_utils import write_video
 from lerobot.utils.random_utils import set_seed
 from lerobot.utils.utils import (

tests/envs/test_envs.py

@@ -22,8 +22,7 @@ from gymnasium.utils.env_checker import check_env
 
 import lerobot
 from lerobot.envs.factory import make_env, make_env_config
-from lerobot.processor.observation_processor import VanillaObservationProcessor
-from lerobot.processor.pipeline import RobotProcessor, TransitionIndex
+from lerobot.processor import RobotProcessor, TransitionIndex, VanillaObservationProcessor
 from tests.utils import require_env
 
 OBS_TYPES = ["state", "pixels", "pixels_agent_pos"]

tests/policies/test_policies.py

@@ -39,8 +39,7 @@ from lerobot.policies.factory import (
 )
 from lerobot.policies.normalize import Normalize, Unnormalize
 from lerobot.policies.pretrained import PreTrainedPolicy
-from lerobot.processor.observation_processor import VanillaObservationProcessor
-from lerobot.processor.pipeline import RobotProcessor, TransitionIndex
+from lerobot.processor import RobotProcessor, TransitionIndex, VanillaObservationProcessor
 from lerobot.utils.random_utils import seeded_context
 from tests.artifacts.policies.save_policy_to_safetensors import get_policy_stats
 from tests.utils import DEVICE, require_cpu, require_env, require_x86_64_kernel

tests/processor/test_observation_processor.py

@@ -18,7 +18,7 @@ import numpy as np
 import pytest
 import torch
 
-from lerobot.processor.observation_processor import (
+from lerobot.processor import (
     ImageProcessor,
     StateProcessor,
     VanillaObservationProcessor,

tests/processor/test_pipeline.py

@@ -25,7 +25,7 @@ import pytest
 import torch
 import torch.nn as nn
 
-from lerobot.processor.pipeline import EnvTransition, ProcessorStepRegistry, RobotProcessor
+from lerobot.processor import EnvTransition, ProcessorStepRegistry, RobotProcessor
 
 
 @dataclass

tests/processor/test_rename_processor.py

@@ -20,8 +20,7 @@ from pathlib import Path
 import numpy as np
 import torch
 
-from lerobot.processor.pipeline import ProcessorStepRegistry, RobotProcessor, TransitionIndex
-from lerobot.processor.rename_processor import RenameProcessor
+from lerobot.processor import ProcessorStepRegistry, RobotProcessor, TransitionIndex, RenameProcessor
 
 
 def test_basic_renaming():