admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-15 08:39:49 +00:00
Code Issues Packages Projects Releases Wiki Activity

refactor(envs): move dispatch logic from factory into EnvConfig subclasses

Browse Source 
Replace hardcoded if/elif chains in factory.py with create_envs() and
get_env_processors() methods on EnvConfig. New benchmarks now only need
to register a config subclass — no factory.py edits required.

Net -23 lines: factory.py shrinks from ~200 to ~70 lines of logic.

Made-with: Cursor
This commit is contained in:
Pepijn
2026-04-03 13:23:44 +02:00
parent 508358749a
commit 24d9b74d81
5 changed files with 310 additions and 192 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/source/env_processor.mdx
+17 -33
View File
@@ -151,7 +151,7 @@ observation = {
### Factory Function
The `make_env_pre_post_processors` function follows the same pattern as `make_pre_post_processors` for policies:
The `make_env_pre_post_processors` function delegates to `env_cfg.get_env_processors()`:
```python
from lerobot.envs.factory import make_env_pre_post_processors
@@ -159,47 +159,31 @@ from lerobot.envs.configs import LiberoEnv, PushtEnv
# For LIBERO: Returns LiberoProcessorStep in preprocessor
libero_cfg = LiberoEnv(task="libero_spatial", camera_name=["agentview"])
env_preprocessor, env_postprocessor = make_env_pre_post_processors(libero_cfg)
env_preprocessor, env_postprocessor = make_env_pre_post_processors(libero_cfg, policy_cfg)
# For other environments: Returns identity processors (no-op)
pusht_cfg = PushtEnv()
env_preprocessor, env_postprocessor = make_env_pre_post_processors(pusht_cfg)
env_preprocessor, env_postprocessor = make_env_pre_post_processors(pusht_cfg, policy_cfg)
```
### Implementation in `envs/factory.py`
### How It Works
Each `EnvConfig` subclass can override `get_env_processors()` to return benchmark-specific
processor pipelines. The base class returns identity (no-op) processors by default.
```python
def make_env_pre_post_processors(
env_cfg: EnvConfig,
) -> tuple[
PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
]:
"""
Create preprocessor and postprocessor pipelines for environment observations.
Args:
env_cfg: The configuration of the environment.
Returns:
A tuple containing:
- preprocessor: Pipeline that processes environment observations
- postprocessor: Pipeline that processes environment outputs
"""
# For LIBERO environments, add the LiberoProcessorStep to preprocessor
if isinstance(env_cfg, LiberoEnv) or "libero" in env_cfg.type:
preprocessor = PolicyProcessorPipeline(steps=[LiberoProcessorStep()])
else:
# For all other environments, return an identity preprocessor
preprocessor = PolicyProcessorPipeline(steps=[])
# Postprocessor is currently identity for all environments
# Future: Could add environment-specific action transformations
postprocessor = PolicyProcessorPipeline(steps=[])
return preprocessor, postprocessor
# In your EnvConfig subclass:
def get_env_processors(self):
from lerobot.processor.pipeline import PolicyProcessorPipeline
return (
PolicyProcessorPipeline(steps=[MyProcessorStep()]),
PolicyProcessorPipeline(steps=[]),
)
```
The factory function `make_env_pre_post_processors` simply delegates to this method,
with a special case for `XVLAConfig` policies which override the env processors entirely.
### Integration in Evaluation
In `lerobot_eval.py`, the environment processors are created once and used throughout: