From 527463cb325b296f6012d3826431acdb74dba732 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Wed, 8 Apr 2026 14:15:27 +0200 Subject: [PATCH] docs(env_processor): remove deprecated add_envs_task from pipeline example MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit add_envs_task is replaced by env.call("task_description") in this PR. Remove it from the pipeline walkthrough and renumber the steps (8→7). Co-Authored-By: Claude Sonnet 4.6 --- docs/source/env_processor.mdx | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/docs/source/env_processor.mdx b/docs/source/env_processor.mdx index 7c2317a26..f22618be7 100644 --- a/docs/source/env_processor.mdx +++ b/docs/source/env_processor.mdx @@ -25,31 +25,28 @@ raw_observation = env.step(action) # 2. Convert numpy to torch, normalize images [0,1] observation = preprocess_observation(raw_observation) -# 3. Add task metadata (for multi-task environments) -observation = add_envs_task(env, observation) - -# 4. ENVIRONMENT-SPECIFIC preprocessing (NEW!) +# 3. ENVIRONMENT-SPECIFIC preprocessing (NEW!) # - Flatten robot states # - Rotate images to match dataset conventions # - Handle environment-specific coordinate systems observation = env_preprocessor(observation) -# 5. POLICY-SPECIFIC preprocessing +# 4. POLICY-SPECIFIC preprocessing # - Normalize with dataset statistics # - Add batch dimensions # - Move to GPU # - Tokenize language instructions observation = preprocessor(observation) -# 6. Policy inference +# 5. Policy inference action = policy.select_action(observation) -# 7. POLICY-SPECIFIC postprocessing +# 6. POLICY-SPECIFIC postprocessing # - Unnormalize actions # - Remove batch dimensions action = postprocessor(action) -# 8. ENVIRONMENT-SPECIFIC postprocessing (NEW!) +# 7. ENVIRONMENT-SPECIFIC postprocessing (NEW!) # - Convert action formats if needed # - Apply environment-specific constraints action_transition = {"action": action}