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feat(processor): multiple improvements to the pipeline porting (#1749)

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* [Port codebase pipeline] General fixes for RL and scripts (#1748)

* Refactor dataset configuration in documentation and codebase

- Updated dataset configuration keys from `dataset_root` to `root` and `num_episodes` to `num_episodes_to_record` for consistency.
- Adjusted replay episode handling by renaming `episode` to `replay_episode`.
- Enhanced documentation
- added specific processor to transform from policy actions to delta actions

* Added Robot action to tensor processor
Added new processor script for dealing with gym specific action processing

* removed RobotAction2Tensor processor; imrpoved choosing observations in actor

* nit in delta action

* added missing reset functions to kinematics

* Adapt teleoperate and replay to pipeline similar to record

* refactor(processors): move to inheritance (#1750)

* fix(teleoperator): improvements phone implementation (#1752)

* fix(teleoperator): protect shared state in phone implementation

* refactor(teleop): separate classes in phone

* fix: solve breaking changes (#1753)

* refactor(policies): multiple improvements (#1754)

* refactor(processor): simpler logic in device processor (#1755)

* refactor(processor): euclidean distance in delta action processor (#1757)

* refactor(processor): improvements to joint observations processor migration (#1758)

* refactor(processor): improvements to tokenizer migration (#1759)

* refactor(processor): improvements to tokenizer migration

* fix(tests): tokenizer tests regression from #1750

* fix(processors): fix float comparison and config in hil processors (#1760)

* chore(teleop): remove unnecessary callbacks in KeyboardEndEffectorTeleop (#1761)

* refactor(processor): improvements normalize pipeline migration (#1756)

* refactor(processor): several improvements normalize processor step

* refactor(processor): more improvements normalize processor

* refactor(processor): more changes to normalizer

* refactor(processor): take a different approach to DRY

* refactor(processor): final design

* chore(record): revert comment and continue deleted (#1764)

* refactor(examples): pipeline phone examples (#1769)

* refactor(examples): phone teleop + teleop script

* refactor(examples): phone replay + replay

* chore(examples): rename phone example files & folders

* feat(processor): fix improvements to the pipeline porting (#1796)

* refactor(processor): enhance tensor device handling in normalization process (#1795)

* refactor(tests): remove unsupported device detection test for complementary data (#1797)

* chore(tests): update ToBatchProcessor test (#1798)

* refactor(tests): remove in-place mutation tests for actions and complementary data in batch processor

* test(tests): add tests for action and task processing in batch processor

* add names for android and ios phone (#1799)

* use _tensor_stats in normalize processor (#1800)

* fix(normalize_processor): correct device reference for tensor epsilon handling (#1801)

* add point 5 add missing feature contracts (#1806)

* Fix PR comments 1452 (#1807)

* use key to determine image

* Address rest of PR comments

* use PolicyFeatures in transform_features

---------

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>

---------

Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
This commit is contained in:
Steven Palma
2025-08-31 20:38:52 +02:00
committed by GitHub
parent 35c5d43255
commit ce665160ae
55 changed files with 1549 additions and 2024 deletions
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tests/processor/test_batch_processor.py
+46 -39
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@@ -603,24 +603,6 @@ def test_action_dtype_preservation():
assert result[TransitionKey.ACTION].shape == (1, 4)
def test_action_in_place_mutation():
"""Test that the processor mutates the transition in place for actions."""
processor = ToBatchProcessor()
action = torch.randn(4)
transition = create_transition(action=action)
# Store reference to original transition
original_transition = transition
# Process
result = processor(transition)
# Should be the same object (in-place mutation)
assert result is original_transition
assert result[TransitionKey.ACTION].shape == (1, 4)
def test_empty_action_tensor():
"""Test handling of empty action tensors."""
processor = ToBatchProcessor()
@@ -851,27 +833,6 @@ def test_task_comprehensive_string_cases():
processed_comp_data = result[TransitionKey.COMPLEMENTARY_DATA]
assert processed_comp_data["task"] == task_list
assert isinstance(processed_comp_data["task"], list)
assert processed_comp_data["task"] is task_list # Should be same object (in-place)
def test_task_in_place_mutation():
"""Test that the processor mutates complementary_data in place for tasks."""
processor = ToBatchProcessor()
complementary_data = {"task": "sort_objects"}
transition = create_transition(complementary_data=complementary_data)
# Store reference to original transition and complementary_data
original_transition = transition
original_comp_data = complementary_data
# Process
result = processor(transition)
# Should be the same objects (in-place mutation)
assert result is original_transition
assert result[TransitionKey.COMPLEMENTARY_DATA] is original_comp_data
assert original_comp_data["task"] == ["sort_objects"]
def test_task_preserves_other_keys():
@@ -1127,3 +1088,49 @@ def test_empty_index_tensor():
# Should remain unchanged (already 1D)
assert result[TransitionKey.COMPLEMENTARY_DATA]["index"].shape == (0,)
def test_action_processing_creates_new_transition():
"""Test that the processor creates a new transition object with correctly processed action."""
processor = ToBatchProcessor()
action = torch.randn(4)
transition = create_transition(action=action)
# Store reference to original transition
original_transition = transition
# Process
result = processor(transition)
# Should be a different object (functional design, not in-place mutation)
assert result is not original_transition
# Original transition should remain unchanged
assert original_transition[TransitionKey.ACTION].shape == (4,)
# Result should have correctly processed action with batch dimension
assert result[TransitionKey.ACTION].shape == (1, 4)
assert torch.equal(result[TransitionKey.ACTION][0], action)
def test_task_processing_creates_new_transition():
"""Test that the processor creates a new transition object with correctly processed task."""
processor = ToBatchProcessor()
complementary_data = {"task": "sort_objects"}
transition = create_transition(complementary_data=complementary_data)
# Store reference to original transition and complementary_data
original_transition = transition
original_comp_data = complementary_data
# Process
result = processor(transition)
# Should be different transition object (functional design)
assert result is not original_transition
# But complementary_data is the same reference (current implementation behavior)
assert result[TransitionKey.COMPLEMENTARY_DATA] is original_comp_data
# The task should be processed correctly (wrapped in list)
assert result[TransitionKey.COMPLEMENTARY_DATA]["task"] == ["sort_objects"]
# Original complementary data is also modified (current behavior)
assert original_comp_data["task"] == ["sort_objects"]