From 28ef6fcd1480f55e33bdeedce7674503e5dbc9e8 Mon Sep 17 00:00:00 2001 From: Adil Zouitine Date: Wed, 6 Aug 2025 12:57:56 +0200 Subject: [PATCH] refactor(factory, pi0fast): Update processor function names and parameters - Renamed make_pi0_processor to make_pi0fast_processor for clarity and consistency. - Updated parameter names in the factory's make_processor function to use pretrained_model_name_or_path instead of source, enhancing readability and alignment with naming conventions. --- src/lerobot/policies/factory.py | 4 ++-- src/lerobot/policies/pi0fast/processor_pi0fast.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/lerobot/policies/factory.py b/src/lerobot/policies/factory.py index f2ab93b57..dab238c20 100644 --- a/src/lerobot/policies/factory.py +++ b/src/lerobot/policies/factory.py @@ -144,12 +144,12 @@ def make_processor( # TODO(azouitine): Handle this case. return ( RobotProcessor.from_pretrained( - source=pretrained_path, + pretrained_model_name_or_path=pretrained_path, config_filename=kwargs.get("preprocessor_config_filename", "robot_preprocessor.json"), overrides=kwargs.get("preprocessor_overrides", {}), ), RobotProcessor.from_pretrained( - source=pretrained_path, + pretrained_model_name_or_path=pretrained_path, config_filename=kwargs.get("postprocessor_config_filename", "robot_postprocessor.json"), overrides=kwargs.get("postprocessor_overrides", {}), ), diff --git a/src/lerobot/policies/pi0fast/processor_pi0fast.py b/src/lerobot/policies/pi0fast/processor_pi0fast.py index 1ba4a577a..135f6d383 100644 --- a/src/lerobot/policies/pi0fast/processor_pi0fast.py +++ b/src/lerobot/policies/pi0fast/processor_pi0fast.py @@ -27,7 +27,7 @@ from lerobot.processor import ( ) -def make_pi0_processor( +def make_pi0fast_processor( config: PI0Config, dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None ) -> tuple[RobotProcessor, RobotProcessor]: input_steps = [