From 87890cbf38fdb4a2e3068550a7fd34cb0befbd05 Mon Sep 17 00:00:00 2001 From: Adil Zouitine Date: Tue, 5 Aug 2025 14:40:19 +0200 Subject: [PATCH] refactor(processors): Standardize processor naming conventions - Updated processor names across various files to use a consistent "robot_preprocessor" and "robot_postprocessor" format. - Modified the make_processor functions in factory, act, diffusion, pi0, pi0fast, sac, smolvla, tdmpc, and vqbet to reflect the new naming scheme. - Enhanced the pipeline configuration to align with the updated processor names, improving clarity and maintainability. --- src/lerobot/policies/act/processor_act.py | 4 ++-- src/lerobot/policies/diffusion/processor_diffusion.py | 4 ++-- src/lerobot/policies/factory.py | 4 ++-- src/lerobot/policies/pi0/processor_pi0.py | 4 ++-- src/lerobot/policies/pi0fast/processor_pi0fast.py | 4 ++-- src/lerobot/policies/sac/processor_sac.py | 4 ++-- src/lerobot/policies/smolvla/processor_smolvla.py | 4 ++-- src/lerobot/policies/tdmpc/processor_tdmpc.py | 4 ++-- src/lerobot/policies/vqbet/processor_vqbet.py | 4 ++-- src/lerobot/processor/pipeline.py | 7 +++---- 10 files changed, 21 insertions(+), 22 deletions(-) diff --git a/src/lerobot/policies/act/processor_act.py b/src/lerobot/policies/act/processor_act.py index 2ce01431c..f3dc046f6 100644 --- a/src/lerobot/policies/act/processor_act.py +++ b/src/lerobot/policies/act/processor_act.py @@ -45,6 +45,6 @@ def make_act_processor( features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats ), ] - return RobotProcessor(steps=input_steps, name="act_preprocessor"), RobotProcessor( - steps=output_steps, name="act_postprocessor" + return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor( + steps=output_steps, name="robot_postprocessor" ) diff --git a/src/lerobot/policies/diffusion/processor_diffusion.py b/src/lerobot/policies/diffusion/processor_diffusion.py index f09f3c350..40002c3ed 100644 --- a/src/lerobot/policies/diffusion/processor_diffusion.py +++ b/src/lerobot/policies/diffusion/processor_diffusion.py @@ -46,6 +46,6 @@ def make_diffusion_processor( features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats ), ] - return RobotProcessor(steps=input_steps, name="diffusion_preprocessor"), RobotProcessor( - steps=output_steps, name="diffusion_postprocessor" + return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor( + steps=output_steps, name="robot_postprocessor" ) diff --git a/src/lerobot/policies/factory.py b/src/lerobot/policies/factory.py index 9ea9fc267..e5e2700c7 100644 --- a/src/lerobot/policies/factory.py +++ b/src/lerobot/policies/factory.py @@ -143,12 +143,12 @@ def make_processor( return ( RobotProcessor.from_pretrained( source=pretrained_path, - config_filename=kwargs.get("preprocessor_config_filename", "preprocessor.json"), + config_filename=kwargs.get("preprocessor_config_filename", "robot_preprocessor.json"), overrides=kwargs.get("preprocessor_overrides", {}), ), RobotProcessor.from_pretrained( source=pretrained_path, - config_filename=kwargs.get("postprocessor_config_filename", "postprocessor.json"), + config_filename=kwargs.get("postprocessor_config_filename", "robot_postprocessor.json"), overrides=kwargs.get("postprocessor_overrides", {}), ), ) diff --git a/src/lerobot/policies/pi0/processor_pi0.py b/src/lerobot/policies/pi0/processor_pi0.py index 4f67842c7..06cb9848a 100644 --- a/src/lerobot/policies/pi0/processor_pi0.py +++ b/src/lerobot/policies/pi0/processor_pi0.py @@ -115,6 +115,6 @@ def make_pi0_processor( ), ] - return RobotProcessor(steps=input_steps, name="pi0_preprocessor"), RobotProcessor( - steps=output_steps, name="pi0_postprocessor" + return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor( + steps=output_steps, name="robot_postprocessor" ) diff --git a/src/lerobot/policies/pi0fast/processor_pi0fast.py b/src/lerobot/policies/pi0fast/processor_pi0fast.py index fd6ff3d92..1ba4a577a 100644 --- a/src/lerobot/policies/pi0fast/processor_pi0fast.py +++ b/src/lerobot/policies/pi0fast/processor_pi0fast.py @@ -46,6 +46,6 @@ def make_pi0_processor( features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats ), ] - return RobotProcessor(steps=input_steps, name="pi0_preprocessor"), RobotProcessor( - steps=output_steps, name="pi0_postprocessor" + return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor( + steps=output_steps, name="robot_postprocessor" ) diff --git a/src/lerobot/policies/sac/processor_sac.py b/src/lerobot/policies/sac/processor_sac.py index 7e2573bcd..54bbd7f3b 100644 --- a/src/lerobot/policies/sac/processor_sac.py +++ b/src/lerobot/policies/sac/processor_sac.py @@ -47,6 +47,6 @@ def make_sac_processor( features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats ), ] - return RobotProcessor(steps=input_steps, name="sac_preprocessor"), RobotProcessor( - steps=output_steps, name="sac_postprocessor" + return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor( + steps=output_steps, name="robot_postprocessor" ) diff --git a/src/lerobot/policies/smolvla/processor_smolvla.py b/src/lerobot/policies/smolvla/processor_smolvla.py index 373583e0a..5a8caec60 100644 --- a/src/lerobot/policies/smolvla/processor_smolvla.py +++ b/src/lerobot/policies/smolvla/processor_smolvla.py @@ -57,8 +57,8 @@ def make_smolvla_processor( features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats ), ] - return RobotProcessor(steps=input_steps, name="smolvla_preprocessor"), RobotProcessor( - steps=output_steps, name="smolvla_postprocessor" + return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor( + steps=output_steps, name="robot_postprocessor" ) diff --git a/src/lerobot/policies/tdmpc/processor_tdmpc.py b/src/lerobot/policies/tdmpc/processor_tdmpc.py index 833fcb55b..157a12733 100644 --- a/src/lerobot/policies/tdmpc/processor_tdmpc.py +++ b/src/lerobot/policies/tdmpc/processor_tdmpc.py @@ -46,6 +46,6 @@ def make_tdmpc_processor( features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats ), ] - return RobotProcessor(steps=input_steps, name="tdmpc_preprocessor"), RobotProcessor( - steps=output_steps, name="tdmpc_postprocessor" + return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor( + steps=output_steps, name="robot_postprocessor" ) diff --git a/src/lerobot/policies/vqbet/processor_vqbet.py b/src/lerobot/policies/vqbet/processor_vqbet.py index c82632787..e3e95bd09 100644 --- a/src/lerobot/policies/vqbet/processor_vqbet.py +++ b/src/lerobot/policies/vqbet/processor_vqbet.py @@ -47,6 +47,6 @@ def make_vqbet_processor( features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats ), ] - return RobotProcessor(steps=input_steps, name="vqbet_preprocessor"), RobotProcessor( - steps=output_steps, name="vqbet_postprocessor" + return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor( + steps=output_steps, name="robot_postprocessor" ) diff --git a/src/lerobot/processor/pipeline.py b/src/lerobot/processor/pipeline.py index 7683cc25c..6d3546035 100644 --- a/src/lerobot/processor/pipeline.py +++ b/src/lerobot/processor/pipeline.py @@ -587,10 +587,9 @@ class RobotProcessor(ModelHubMixin): if config_filename is None: # Try common config names common_names = [ - "processor.json", - "preprocessor.json", - "postprocessor.json", - "robotprocessor.json", + "robot_processor.json", + "robot_preprocessor.json", + "robot_postprocessor.json", ] config_path = None for name in common_names: