more changes

src/lerobot/envs/factory.py

@@ -21,7 +21,7 @@ from gymnasium.envs.registration import registry as gym_registry
 
 from lerobot.envs.configs import AlohaEnv, EnvConfig, LiberoEnv, PushtEnv
 from lerobot.envs.utils import _call_make_env, _download_hub_file, _import_hub_module, _normalize_hub_result
-from lerobot.processor.observation_processor import LiberoProcessorStep
+from lerobot.processor.env_processor import LiberoProcessorStep
 from lerobot.processor.pipeline import PolicyProcessorPipeline
 
 
@@ -38,27 +38,36 @@ def make_env_config(env_type: str, **kwargs) -> EnvConfig:
 
 def make_env_pre_post_processors(
     env_cfg: EnvConfig,
-) -> PolicyProcessorPipeline[dict[str, Any], dict[str, Any]]:
+) -> tuple[
+    PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+    PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+]:
     """
-    Create a preprocessor pipeline for environment observations.
+    Create preprocessor and postprocessor pipelines for environment observations.
 
-    This function creates a processor pipeline that transforms raw environment
+    This function creates processor pipelines that transform raw environment
-    observations into the format expected by policies. By default, it returns
+    observations and actions. By default, it returns identity processors that do nothing.
-    an identity processor that does nothing. For specific environments like
+    For specific environments like LIBERO, it adds environment-specific processing steps.
-    LIBERO, it adds environment-specific processing steps.
 
     Args:
         env_cfg: The configuration of the environment.
 
     Returns:
-        A PolicyProcessorPipeline that processes environment observations.
+        A tuple containing:
+            - preprocessor: Pipeline that processes environment observations
+            - postprocessor: Pipeline that processes environment outputs (currently identity)
     """
-    # For LIBERO environments, add the LiberoProcessorStep
+    # For LIBERO environments, add the LiberoProcessorStep to preprocessor
     if isinstance(env_cfg, LiberoEnv) or "libero" in env_cfg.type:
-        return PolicyProcessorPipeline(steps=[LiberoProcessorStep()])
+        preprocessor = PolicyProcessorPipeline(steps=[LiberoProcessorStep()])
+    else:
+        # For all other environments, return an identity preprocessor (does nothing)
+        preprocessor = PolicyProcessorPipeline(steps=[])
 
-    # For all other environments, return an identity processor (does nothing)
+    # Postprocessor is currently identity for all environments
-    return PolicyProcessorPipeline(steps=[])
+    postprocessor = PolicyProcessorPipeline(steps=[])
+
+    return preprocessor, postprocessor
 
 
 def make_env(

src/lerobot/processor/env_processor.py

@@ -0,0 +1,152 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+import torch
+from dataclasses import dataclass
+
+from lerobot.configs.types import PipelineFeatureType, PolicyFeature
+from lerobot.utils.constants import OBS_IMAGES, OBS_STATE
+
+from .pipeline import ObservationProcessorStep, ProcessorStepRegistry
+
+@dataclass
+@ProcessorStepRegistry.register(name="libero_processor")
+class LiberoProcessorStep(ObservationProcessorStep):
+    """
+    Processes LIBERO observations into the LeRobot format.
+
+    This step handles the specific observation structure from LIBERO environments,
+    which includes nested robot_state dictionaries and image observations.
+
+    **State Processing:**
+    -   Processes the `robot_state` dictionary which contains nested end-effector,
+        gripper, and joint information.
+    -   Extracts and concatenates:
+        - End-effector position (3D)
+        - End-effector quaternion converted to axis-angle (3D)
+        - Gripper joint positions (2D)
+    -   Maps the concatenated state to `"observation.state"`.
+
+    **Image Processing:**
+    -   Rotates images by 180 degrees by flipping both height and width dimensions.
+    -   This accounts for the HuggingFaceVLA/libero camera orientation convention.
+    """
+
+    def _process_observation(self, observation):
+        """
+        Processes both image and robot_state observations from LIBERO.
+        """
+        processed_obs = observation.copy()
+        for key in list(processed_obs.keys()):
+            if key.startswith(f"{OBS_IMAGES}."):
+                img = processed_obs[key]
+
+                # Flip both H and W
+                img = torch.flip(img, dims=[2, 3])
+
+                processed_obs[key] = img
+        # Process robot_state into a flat state vector
+        if "observation.robot_state" in processed_obs:
+            robot_state = processed_obs.pop("observation.robot_state")
+
+            # Extract components
+            eef_pos = robot_state["eef"]["pos"]  # (B, 3,)
+            eef_quat = robot_state["eef"]["quat"]  # (B, 4,)
+            gripper_qpos = robot_state["gripper"]["qpos"]  # (B, 2,)
+
+            # Convert quaternion to axis-angle
+            eef_axisangle = self._quat2axisangle(eef_quat)  # (B, 3)
+            # Concatenate into a single state vector
+            state = torch.cat((eef_pos, eef_axisangle, gripper_qpos), dim=-1)
+
+            # ensure float32
+            state = state.float()
+            if state.dim() == 1:
+                state = state.unsqueeze(0)
+
+            processed_obs[OBS_STATE] = state
+        return processed_obs
+
+    def transform_features(
+        self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
+    ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
+        """
+        Transforms feature keys from the LIBERO format to the LeRobot standard.
+        """
+        new_features: dict[PipelineFeatureType, dict[str, PolicyFeature]] = {}
+
+        # copy over non-STATE features
+        for ft, feats in features.items():
+            if ft != PipelineFeatureType.STATE:
+                new_features[ft] = feats.copy()
+
+        # rebuild STATE features
+        state_feats = {}
+
+        # add our new flattened state
+        state_feats["observation.state"] = PolicyFeature(
+            key="observation.state",
+            shape=(8,),  # [eef_pos(3), axis_angle(3), gripper(2)]
+            dtype="float32",
+            description=("Concatenated end-effector position (3), axis-angle (3), and gripper qpos (2)."),
+        )
+
+        new_features[PipelineFeatureType.STATE] = state_feats
+
+        return new_features
+
+    def observation(self, observation):
+        return self._process_observation(observation)
+
+    def _quat2axisangle(self, quat: torch.Tensor) -> torch.Tensor:
+        """
+        Convert batched quaternions to axis-angle format.
+        Only accepts torch tensors of shape (B, 4).
+
+        Args:
+            quat (Tensor): (B, 4) tensor of quaternions in (x, y, z, w) format
+
+        Returns:
+            Tensor: (B, 3) axis-angle vectors
+
+        Raises:
+            TypeError: if input is not a torch tensor
+            ValueError: if shape is not (B, 4)
+        """
+
+        if not isinstance(quat, torch.Tensor):
+            raise TypeError(f"_quat2axisangle expected a torch.Tensor, got {type(quat)}")
+
+        if quat.ndim != 2 or quat.shape[1] != 4:
+            raise ValueError(f"_quat2axisangle expected shape (B, 4), got {tuple(quat.shape)}")
+
+        quat = quat.to(dtype=torch.float32)
+        device = quat.device
+        batch_size = quat.shape[0]
+
+        w = quat[:, 3].clamp(-1.0, 1.0)
+
+        den = torch.sqrt(torch.clamp(1.0 - w * w, min=0.0))
+
+        result = torch.zeros((batch_size, 3), device=device)
+
+        mask = den > 1e-10
+
+        if mask.any():
+            angle = 2.0 * torch.acos(w[mask])  # (M,)
+            axis = quat[mask, :3] / den[mask].unsqueeze(1)
+            result[mask] = axis * angle.unsqueeze(1)
+
+        return result

src/lerobot/processor/observation_processor.py

@@ -204,134 +204,3 @@ class VanillaObservationProcessorStep(ObservationProcessorStep):
                 new_features[src_ft][key] = feat
 
         return new_features
-
-
-@dataclass
-@ProcessorStepRegistry.register(name="libero_processor")
-class LiberoProcessorStep(ObservationProcessorStep):
-    """
-    Processes LIBERO observations into the LeRobot format.
-
-    This step handles the specific observation structure from LIBERO environments,
-    which includes nested robot_state dictionaries and image observations.
-
-    **State Processing:**
-    -   Processes the `robot_state` dictionary which contains nested end-effector,
-        gripper, and joint information.
-    -   Extracts and concatenates:
-        - End-effector position (3D)
-        - End-effector quaternion converted to axis-angle (3D)
-        - Gripper joint positions (2D)
-    -   Maps the concatenated state to `"observation.state"`.
-
-    **Image Processing:**
-    -   Rotates images by 180 degrees by flipping both height and width dimensions.
-    -   This accounts for the HuggingFaceVLA/libero camera orientation convention.
-    """
-
-    def _process_observation(self, observation):
-        """
-        Processes both image and robot_state observations from LIBERO.
-        """
-        processed_obs = observation.copy()
-        for key in list(processed_obs.keys()):
-            if key.startswith(f"{OBS_IMAGES}."):
-                img = processed_obs[key]
-
-                # Flip both H and W
-                img = torch.flip(img, dims=[2, 3])
-
-                processed_obs[key] = img
-        # Process robot_state into a flat state vector
-        if "observation.robot_state" in processed_obs:
-            robot_state = processed_obs.pop("observation.robot_state")
-
-            # Extract components
-            eef_pos = robot_state["eef"]["pos"]  # (B, 3,)
-            eef_quat = robot_state["eef"]["quat"]  # (B, 4,)
-            gripper_qpos = robot_state["gripper"]["qpos"]  # (B, 2,)
-
-            # Convert quaternion to axis-angle
-            eef_axisangle = self._quat2axisangle(eef_quat)  # (B, 3)
-            # Concatenate into a single state vector
-            state = torch.cat((eef_pos, eef_axisangle, gripper_qpos), dim=-1)
-
-            # ensure float32
-            state = state.float()
-            if state.dim() == 1:
-                state = state.unsqueeze(0)
-
-            processed_obs[OBS_STATE] = state
-        return processed_obs
-
-    def transform_features(
-        self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
-    ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-        """
-        Transforms feature keys from the LIBERO format to the LeRobot standard.
-        """
-        new_features: dict[PipelineFeatureType, dict[str, PolicyFeature]] = {}
-
-        # copy over non-STATE features
-        for ft, feats in features.items():
-            if ft != PipelineFeatureType.STATE:
-                new_features[ft] = feats.copy()
-
-        # rebuild STATE features
-        state_feats = {}
-
-        # add our new flattened state
-        state_feats["observation.state"] = PolicyFeature(
-            key="observation.state",
-            shape=(8,),  # [eef_pos(3), axis_angle(3), gripper(2)]
-            dtype="float32",
-            description=("Concatenated end-effector position (3), axis-angle (3), and gripper qpos (2)."),
-        )
-
-        new_features[PipelineFeatureType.STATE] = state_feats
-
-        return new_features
-
-    def observation(self, observation):
-        return self._process_observation(observation)
-
-    def _quat2axisangle(self, quat: torch.Tensor) -> torch.Tensor:
-        """
-        Convert batched quaternions to axis-angle format.
-        Only accepts torch tensors of shape (B, 4).
-
-        Args:
-            quat (Tensor): (B, 4) tensor of quaternions in (x, y, z, w) format
-
-        Returns:
-            Tensor: (B, 3) axis-angle vectors
-
-        Raises:
-            TypeError: if input is not a torch tensor
-            ValueError: if shape is not (B, 4)
-        """
-
-        if not isinstance(quat, torch.Tensor):
-            raise TypeError(f"_quat2axisangle expected a torch.Tensor, got {type(quat)}")
-
-        if quat.ndim != 2 or quat.shape[1] != 4:
-            raise ValueError(f"_quat2axisangle expected shape (B, 4), got {tuple(quat.shape)}")
-
-        quat = quat.to(dtype=torch.float32)
-        device = quat.device
-        batch_size = quat.shape[0]
-
-        w = quat[:, 3].clamp(-1.0, 1.0)
-
-        den = torch.sqrt(torch.clamp(1.0 - w * w, min=0.0))
-
-        result = torch.zeros((batch_size, 3), device=device)
-
-        mask = den > 1e-10
-
-        if mask.any():
-            angle = 2.0 * torch.acos(w[mask])  # (M,)
-            axis = quat[mask, :3] / den[mask].unsqueeze(1)
-            result[mask] = axis * angle.unsqueeze(1)
-
-        return result

src/lerobot/scripts/lerobot_eval.py

@@ -95,6 +95,7 @@ def rollout(
     env: gym.vector.VectorEnv,
     policy: PreTrainedPolicy,
     env_preprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+    env_postprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
     preprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
     postprocessor: PolicyProcessorPipeline[PolicyAction, PolicyAction],
     seeds: list[int] | None = None,
@@ -175,6 +176,10 @@ def rollout(
             action = policy.select_action(observation)
         action = postprocessor(action)
 
+        action_transition = {"action": action}
+        action_transition = env_postprocessor(action_transition)
+        action = action_transition["action"]
+
         # Convert to CPU / numpy.
         action_numpy: np.ndarray = action.to("cpu").numpy()
         assert action_numpy.ndim == 2, "Action dimensions should be (batch, action_dim)"
@@ -245,6 +250,7 @@ def eval_policy(
     env: gym.vector.VectorEnv,
     policy: PreTrainedPolicy,
     env_preprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+    env_postprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
     preprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
     postprocessor: PolicyProcessorPipeline[PolicyAction, PolicyAction],
     n_episodes: int,
@@ -326,6 +332,7 @@ def eval_policy(
             env=env,
             policy=policy,
             env_preprocessor=env_preprocessor,
+            env_postprocessor=env_postprocessor,
             preprocessor=preprocessor,
             postprocessor=postprocessor,
             seeds=list(seeds) if seeds else None,
@@ -525,14 +532,15 @@ def eval_main(cfg: EvalPipelineConfig):
         preprocessor_overrides=preprocessor_overrides,
     )
 
-    # Create environment-specific preprocessor (e.g., for LIBERO environments)
+    # Create environment-specific preprocessor and postprocessor (e.g., for LIBERO environments)
-    env_preprocessor = make_env_pre_post_processors(env_cfg=cfg.env)
+    env_preprocessor, env_postprocessor = make_env_pre_post_processors(env_cfg=cfg.env)
 
     with torch.no_grad(), torch.autocast(device_type=device.type) if cfg.policy.use_amp else nullcontext():
         info = eval_policy_all(
             envs=envs,
             policy=policy,
             env_preprocessor=env_preprocessor,
+            env_postprocessor=env_postprocessor,
             preprocessor=preprocessor,
             postprocessor=postprocessor,
             n_episodes=cfg.eval.n_episodes,
@@ -574,6 +582,7 @@ def eval_one(
     *,
     policy: PreTrainedPolicy,
     env_preprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+    env_postprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
     preprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
     postprocessor: PolicyProcessorPipeline[PolicyAction, PolicyAction],
     n_episodes: int,
@@ -590,6 +599,7 @@ def eval_one(
         env=env,
         policy=policy,
         env_preprocessor=env_preprocessor,
+        env_postprocessor=env_postprocessor,
         preprocessor=preprocessor,
         postprocessor=postprocessor,
         n_episodes=n_episodes,
@@ -615,6 +625,7 @@ def run_one(
     *,
     policy,
     env_preprocessor,
+    env_postprocessor,
     preprocessor,
     postprocessor,
     n_episodes: int,
@@ -638,6 +649,7 @@ def run_one(
         env,
         policy=policy,
         env_preprocessor=env_preprocessor,
+        env_postprocessor=env_postprocessor,
         preprocessor=preprocessor,
         postprocessor=postprocessor,
         n_episodes=n_episodes,
@@ -656,6 +668,7 @@ def eval_policy_all(
     envs: dict[str, dict[int, gym.vector.VectorEnv]],
     policy,
     env_preprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+    env_postprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
     preprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
     postprocessor: PolicyProcessorPipeline[PolicyAction, PolicyAction],
     n_episodes: int,
@@ -712,6 +725,7 @@ def eval_policy_all(
         run_one,
         policy=policy,
         env_preprocessor=env_preprocessor,
+        env_postprocessor=env_postprocessor,
         preprocessor=preprocessor,
         postprocessor=postprocessor,
         n_episodes=n_episodes,