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refactor(processor): clarify action types, distinguish PolicyAction, RobotAction, and EnvAction (#1908)

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* refactor(processor): split action from policy, robots and environment

- Updated function names to robot_action_to_transition and robot_transition_to_action across multiple files to better reflect their purpose in processing robot actions.
- Adjusted references in the RobotProcessorPipeline and related components to ensure compatibility with the new naming convention.
- Enhanced type annotations for action parameters to improve code readability and maintainability.

* refactor(converters): rename robot_transition_to_action to transition_to_robot_action

- Updated function names across multiple files to improve clarity and consistency in processing robot actions.
- Adjusted references in RobotProcessorPipeline and related components to align with the new naming convention.
- Simplified action handling in the AddBatchDimensionProcessorStep by removing unnecessary checks for action presence.

* refactor(converters): update references to transition_to_robot_action

- Renamed all instances of robot_transition_to_action to transition_to_robot_action across multiple files for consistency and clarity in the processing of robot actions.
- Adjusted the RobotProcessorPipeline configurations to reflect the new naming convention, enhancing code readability.

* refactor(processor): update Torch2NumpyActionProcessorStep to extend ActionProcessorStep

- Changed the base class of Torch2NumpyActionProcessorStep from PolicyActionProcessorStep to ActionProcessorStep, aligning it with the current architecture of action processing.
- This modification enhances the clarity of the class's role in the processing pipeline.

* fix(processor): main action processor can take also EnvAction

---------

Co-authored-by: Steven Palma <steven.palma@huggingface.co>
This commit is contained in:
Adil Zouitine
2025-09-10 22:40:37 +02:00
committed by GitHub
parent 6745958362
commit 9183083e75
22 changed files with 303 additions and 139 deletions
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examples/phone_to_so100/evaluate.py
+2 -2
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@@ -25,7 +25,7 @@ from lerobot.processor import RobotProcessorPipeline
from lerobot.processor.converters import (
identity_transition,
observation_to_transition,
transition_to_action,
transition_to_robot_action,
)
from lerobot.record import record_loop
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
@@ -76,7 +76,7 @@ robot_ee_to_joints_processor = RobotProcessorPipeline(
),
],
to_transition=identity_transition,
to_output=transition_to_action,
to_output=transition_to_robot_action,
)
# Build pipeline to convert joint observation to ee pose observation