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chore(processor): add Step suffix to all processors (#1854)

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* refactor(processor): rename MapDeltaActionToRobotAction and MapTensorToDeltaActionDict for consistency

* refactor(processor): rename DeviceProcessor to DeviceProcessorStep for consistency across modules

* refactor(processor): rename Torch2NumpyActionProcessor to Torch2NumpyActionProcessorStep for consistency

* refactor(processor): rename Numpy2TorchActionProcessor to Numpy2TorchActionProcessorStep for consistency

* refactor(processor): rename AddTeleopActionAsComplimentaryData to AddTeleopActionAsComplimentaryDataStep for consistency

* refactor(processor): rename ImageCropResizeProcessor and AddTeleopEventsAsInfo for consistency

* refactor(processor): rename TimeLimitProcessor to TimeLimitProcessorStep for consistency

* refactor(processor): rename GripperPenaltyProcessor to GripperPenaltyProcessorStep for consistency

* refactor(processor): rename InterventionActionProcessor to InterventionActionProcessorStep for consistency

* refactor(processor): rename RewardClassifierProcessor to RewardClassifierProcessorStep for consistency

* refactor(processor): rename JointVelocityProcessor to JointVelocityProcessorStep for consistency

* refactor(processor): rename MotorCurrentProcessor to MotorCurrentProcessorStep for consistency

* refactor(processor): rename NormalizerProcessor and UnnormalizerProcessor to NormalizerProcessorStep and UnnormalizerProcessorStep for consistency

* refactor(processor): rename VanillaObservationProcessor to VanillaObservationProcessorStep for consistency

* refactor(processor): rename RenameProcessor to RenameProcessorStep for consistency

* refactor(processor): rename TokenizerProcessor to TokenizerProcessorStep for consistency

* refactor(processor): rename ToBatchProcessor to AddBatchDimensionProcessorStep for consistency

* refactor(processor): update config file name in test for RenameProcessorStep consistency
This commit is contained in:
Adil Zouitine
2025-09-03 18:12:11 +02:00
committed by GitHub
parent 029c4a9a76
commit ce793cde64
37 changed files with 653 additions and 628 deletions
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docs/source/hilserl.mdx
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@@ -143,27 +143,27 @@ HIL-SERL uses a modular processor pipeline architecture that processes robot obs
The environment processor (`env_processor`) handles incoming observations and environment state:
1. **VanillaObservationProcessor**: Converts raw robot observations into standardized format
2. **JointVelocityProcessor** (optional): Adds joint velocity information to observations
3. **MotorCurrentProcessor** (optional): Adds motor current readings to observations
1. **VanillaObservationProcessorStep**: Converts raw robot observations into standardized format
2. **JointVelocityProcessorStep** (optional): Adds joint velocity information to observations
3. **MotorCurrentProcessorStep** (optional): Adds motor current readings to observations
4. **ForwardKinematicsJointsToEE** (optional): Computes end-effector pose from joint positions
5. **ImageCropResizeProcessor** (optional): Crops and resizes camera images
6. **TimeLimitProcessor** (optional): Enforces episode time limits
7. **GripperPenaltyProcessor** (optional): Applies penalties for inappropriate gripper usage
8. **RewardClassifierProcessor** (optional): Automated reward detection using vision models
9. **ToBatchProcessor**: Converts data to batch format for neural network processing
10. **DeviceProcessor**: Moves data to the specified compute device (CPU/GPU)
5. **ImageCropResizeProcessorStep** (optional): Crops and resizes camera images
6. **TimeLimitProcessorStep** (optional): Enforces episode time limits
7. **GripperPenaltyProcessorStep** (optional): Applies penalties for inappropriate gripper usage
8. **RewardClassifierProcessorStep** (optional): Automated reward detection using vision models
9. **AddBatchDimensionProcessorStep**: Converts data to batch format for neural network processing
10. **DeviceProcessorStep**: Moves data to the specified compute device (CPU/GPU)
#### Action Processor Pipeline
The action processor (`action_processor`) handles outgoing actions and human interventions:
1. **AddTeleopActionAsComplimentaryData**: Captures teleoperator actions for logging
2. **AddTeleopEventsAsInfo**: Records intervention events and episode control signals
1. **AddTeleopActionAsComplimentaryDataStep**: Captures teleoperator actions for logging
2. **AddTeleopEventsAsInfoStep**: Records intervention events and episode control signals
3. **AddRobotObservationAsComplimentaryData**: Stores raw robot state for processing
4. **InterventionActionProcessor**: Handles human interventions and episode termination
4. **InterventionActionProcessorStep**: Handles human interventions and episode termination
5. **Inverse Kinematics Pipeline** (when enabled):
- **MapDeltaActionToRobotAction**: Converts delta actions to robot action format
- **MapDeltaActionToRobotActionStep**: Converts delta actions to robot action format
- **EEReferenceAndDelta**: Computes end-effector reference and delta movements
- **EEBoundsAndSafety**: Enforces workspace safety bounds
- **InverseKinematicsEEToJoints**: Converts end-effector actions to joint targets