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

@@ -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(
+    return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor(
-        steps=output_steps, name="act_postprocessor"
+        steps=output_steps, name="robot_postprocessor"
     )

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(
+    return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor(
-        steps=output_steps, name="diffusion_postprocessor"
+        steps=output_steps, name="robot_postprocessor"
     )

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", {}),
             ),
         )

src/lerobot/policies/pi0/processor_pi0.py

@@ -115,6 +115,6 @@ def make_pi0_processor(
         ),
     ]
 
-    return RobotProcessor(steps=input_steps, name="pi0_preprocessor"), RobotProcessor(
+    return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor(
-        steps=output_steps, name="pi0_postprocessor"
+        steps=output_steps, name="robot_postprocessor"
     )

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(
+    return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor(
-        steps=output_steps, name="pi0_postprocessor"
+        steps=output_steps, name="robot_postprocessor"
     )

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(
+    return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor(
-        steps=output_steps, name="sac_postprocessor"
+        steps=output_steps, name="robot_postprocessor"
     )

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(
+    return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor(
-        steps=output_steps, name="smolvla_postprocessor"
+        steps=output_steps, name="robot_postprocessor"
     )
 
 

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(
+    return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor(
-        steps=output_steps, name="tdmpc_postprocessor"
+        steps=output_steps, name="robot_postprocessor"
     )

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(
+    return RobotProcessor(steps=input_steps, name="robot_preprocessor"), RobotProcessor(
-        steps=output_steps, name="vqbet_postprocessor"
+        steps=output_steps, name="robot_postprocessor"
     )

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",
+                    "robot_processor.json",
-                    "preprocessor.json",
+                    "robot_preprocessor.json",
-                    "postprocessor.json",
+                    "robot_postprocessor.json",
-                    "robotprocessor.json",
                 ]
                 config_path = None
                 for name in common_names: