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src/lerobot/processor/migrate_policy_normalization.py

@@ -39,8 +39,7 @@ from typing import Any, Dict
 
 import torch
 from huggingface_hub import HfApi, hf_hub_download
-from safetensors.torch import load_file as load_safetensors
+from safetensors.torch import load_file as load_safetensors, save_file as save_safetensors
-from safetensors.torch import save_file as save_safetensors
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
 from lerobot.processor.normalize_processor import NormalizerProcessor
@@ -60,7 +59,7 @@ POLICY_CLASSES = {
 }
 
 
-def extract_normalization_stats(state_dict: Dict[str, torch.Tensor]) -> Dict[str, Dict[str, torch.Tensor]]:
+def extract_normalization_stats(state_dict: dict[str, torch.Tensor]) -> dict[str, dict[str, torch.Tensor]]:
     """Extract normalization statistics from model state_dict."""
     stats = {}
 
@@ -94,8 +93,8 @@ def extract_normalization_stats(state_dict: Dict[str, torch.Tensor]) -> Dict[str
 
 
 def detect_features_and_norm_modes(
-    config: Dict[str, Any], stats: Dict[str, Dict[str, torch.Tensor]]
+    config: dict[str, Any], stats: dict[str, dict[str, torch.Tensor]]
-) -> tuple[Dict[str, PolicyFeature], Dict[FeatureType, NormalizationMode]]:
+) -> tuple[dict[str, PolicyFeature], dict[FeatureType, NormalizationMode]]:
     """Detect features and normalization modes from config and stats."""
     features = {}
     norm_modes = {}
@@ -187,7 +186,7 @@ def detect_features_and_norm_modes(
     return features, norm_modes
 
 
-def remove_normalization_layers(state_dict: Dict[str, torch.Tensor]) -> Dict[str, torch.Tensor]:
+def remove_normalization_layers(state_dict: dict[str, torch.Tensor]) -> dict[str, torch.Tensor]:
     """Remove normalization layers from state_dict."""
     new_state_dict = {}
 
@@ -210,7 +209,7 @@ def remove_normalization_layers(state_dict: Dict[str, torch.Tensor]) -> Dict[str
     return new_state_dict
 
 
-def load_model_from_hub(repo_id: str, revision: str = None) -> tuple[Dict[str, torch.Tensor], Dict[str, Any]]:
+def load_model_from_hub(repo_id: str, revision: str = None) -> tuple[dict[str, torch.Tensor], dict[str, Any]]:
     """Load model state_dict and config from hub."""
     # Download files
     safetensors_path = hf_hub_download(repo_id=repo_id, filename="model.safetensors", revision=revision)