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docs(processor): enhance tutorial on implementing custom processors
- Updated the tutorial to use `NormalizerProcessorStep` as the primary example, clarifying its role in normalizing observations and actions. - Improved explanations of the need for custom processors, emphasizing data compatibility and processing requirements. - Added code snippets demonstrating the normalization process and the configuration of processor pipelines. - Enhanced the introduction to processors, detailing their function as translators between raw robot data and model inputs. - Included examples of real-world processor configurations for both training and inference scenarios.
This commit is contained in:
AdilZouitine
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# Implement your own Robot Processor
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# Implement your own Robot Processor
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In this tutorial, you'll learn how to implement your own Robot Processor.
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In this tutorial, you'll learn how to implement your own Robot Processor.
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It begins by exploring the need for a custom processor, then uses the Normalization processors as the running example to explain how to implement, configure, and serialize a processor. Finally, it lists all helper processors that ship with LeRobot.
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It begins by exploring the need for a custom processor, then uses the `NormalizerProcessorStep` as the running example to explain how to implement, configure, and serialize a processor. Finally, it lists all helper processors that ship with LeRobot.
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## Why would you need a custom processor?
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## Why would you need a custom processor?
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In most cases, when reading raw data from a sensor like the camera and robot motor encoders,
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In most cases, when reading raw data from sensors or when models output actions, you need to process this data to make it compatible with your target system. For example, a common need is normalizing data ranges to make them suitable for neural networks.
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you will need to process this data to transform it into a format that is compatible to use with the policies in LeRobot.
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For example, raw images are encoded with `uint8` and the values are in the range `[0, 255]`.
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To use these images with the policies, you will need to cast them to `float32` and normalize them to the range `[0, 1]`.
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For example, in LeRobot's `VanillaObservationProcessor`, raw images come from the environment as numpy arrays with `uint8` values in range `[0, 255]` and in channel-last format `(H, W, C)`. The processor transforms them into PyTorch tensors with `float32` values in range `[0, 1]` and channel-first format `(C, H, W)`:
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LeRobot's `NormalizerProcessorStep` handles this crucial task:
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```python
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```python
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# Input: numpy array with shape (480, 640, 3) and dtype uint8
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# Input: raw joint positions in [0, 180] degrees
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raw_image = env_observation["pixels"] # Values in [0, 255]
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raw_action = torch.tensor([90.0, 45.0, 135.0])
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# After processing: torch tensor with shape (1, 3, 480, 640) and dtype float32
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# After processing: normalized to [-1, 1] range for model training
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processed_image = processor(transition)["observation"]["observation.image"] # Values in [0, 1]
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normalizer = NormalizerProcessorStep(features=features, norm_map=norm_map, stats=dataset_stats)
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normalized_result = normalizer(transition)
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# ...
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```
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```
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On the other hand, when a model returns a certain action to be executed on the robot, it is often that one has to post-process this action to make it compatible to run on the robot.
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Other common processing needs include:
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For example, the model might return joint positions values that range from `[-1, 1]` and one would need to scale them to the ranges of the minimum and maximum joint angle positions of the robot.
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In LeRobot, this normalization workflow is handled by the `NormalizerProcessor` (for inputs) and the `UnnormalizerProcessor` (for outputs). These processors are heavily used by policies (e.g., Pi0, SmolVLA) and integrate tightly with the `RobotProcessor`'s `get_config`, `state_dict`, and `load_state_dict` APIs.
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- **Device placement**: Moving tensors between CPU/GPU and converting data types
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- **Format conversion**: Transforming between different data structures
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For instance, `UnnormalizerProcessor` converts model outputs in `[-1, 1]` back to actual robot joint ranges:
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- **Batching**: Adding/removing batch dimensions for model compatibility
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- **Safety constraints**: Applying limits to robot commands
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```python
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```python
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# Input: model action with normalized values in [-1, 1]
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# Example pipeline combining multiple processors
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normalized_action = torch.tensor([-0.5, 0.8, -1.0, 0.2]) # Model output
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pipeline = PolicyProcessorPipeline([
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RenameObservationsProcessorStep(rename_map={}),
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# After post-processing: real joint positions in robot's native ranges
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AddBatchDimensionProcessorStep(),
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# Example: joints range from [-180.0, 180.0]
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NormalizerProcessorStep(features=features, stats=stats),
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real_action = unnormalizer(transition)["action"]
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DeviceProcessorStep(device="cuda"),
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# real action after post-processing: [ -90., 144., -180., 36.]
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# ...
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])
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```
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```
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The unnormalizer uses the dataset statistics to convert back:
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LeRobot provides a pipeline mechanism to implement sequences of processing steps for both input data and output actions, making it easy to compose these transformations in the right order for optimal performance.
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```python
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# For MIN_MAX normalization: action = (normalized + 1) * (max - min) / 2 + min
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real_action = (normalized_action + 1) * (max_val - min_val) / 2 + min_val
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```
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All these situations point us towards the need for a mechanism to preprocess the data before being passed to the policies and then post-process the action that are returned to be executed on the robot.
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To that end, LeRobot provides a pipeline mechanism to implement a sequence of processing steps for the input data and the output action.
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## How to implement your own processor?
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## How to implement your own processor?
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We'll use the `DeviceProcessorStep` as our main example because it demonstrates essential processor patterns and device/dtype awareness that's crucial for modern multi-GPU setups.
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We'll use the `NormalizerProcessorStep` as our main example because it demonstrates essential processor patterns including state management, configuration serialization, and tensor handling that you'll commonly need.
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Prepare the sequence of processing steps necessary for your problem. A processor step is a class that implements the following methods:
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Prepare the sequence of processing steps necessary for your problem. A processor step is a class that implements the following methods:
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@@ -63,150 +54,107 @@ Prepare the sequence of processing steps necessary for your problem. A processor
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### Implement the `__call__` method
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### Implement the `__call__` method
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The `__call__` method is the core of your processor step. It takes an `EnvTransition` and returns a modified `EnvTransition`. Here's how the `DeviceProcessorStep` works:
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The `__call__` method is the core of your processor step. It takes an `EnvTransition` and returns a modified `EnvTransition`. Here's how the `NormalizerProcessorStep` works:
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```python
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```python
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from dataclasses import dataclass
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import torch
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from lerobot.processor import ProcessorStep, ProcessorStepRegistry
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from lerobot.processor.core import EnvTransition, TransitionKey
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@dataclass
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@dataclass
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@ProcessorStepRegistry.register("device_processor")
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@ProcessorStepRegistry.register("normalizer_processor")
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class DeviceProcessorStep(ProcessorStep):
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class NormalizerProcessorStep(ProcessorStep):
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"""Move tensors to specified device with optional dtype conversion."""
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"""Normalize observations/actions using dataset statistics."""
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device: str = "cpu"
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features: dict[str, PolicyFeature]
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float_dtype: str | None = None
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norm_map: dict[FeatureType, NormalizationMode]
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stats: dict[str, dict[str, Any]] | None = None
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eps: float = 1e-8
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_tensor_stats: dict = field(default_factory=dict, init=False, repr=False)
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def __post_init__(self):
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def __post_init__(self):
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"""Initialize device and dtype mappings."""
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"""Convert stats to tensors for efficient computation."""
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self.tensor_device = torch.device(self.device)
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self.stats = self.stats or {}
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self.non_blocking = "cuda" in str(self.device)
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self._tensor_stats = to_tensor(self.stats, device=self.device, dtype=torch.float32)
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# Map string dtype to torch dtype
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if self.float_dtype is not None:
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dtype_mapping = {
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"float16": torch.float16, "half": torch.float16,
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"float32": torch.float32, "float": torch.float32,
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"bfloat16": torch.bfloat16
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}
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self._target_float_dtype = dtype_mapping[self.float_dtype]
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else:
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self._target_float_dtype = None
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def __call__(self, transition: EnvTransition) -> EnvTransition:
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def __call__(self, transition: EnvTransition) -> EnvTransition:
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new_transition = transition.copy()
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new_transition = transition.copy()
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# Normalize observations
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# Process simple tensor keys
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# ...
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for key in [TransitionKey.ACTION, TransitionKey.REWARD, TransitionKey.DONE, TransitionKey.TRUNCATED]:
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# Normalize action
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value = transition.get(key)
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# ...
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if isinstance(value, torch.Tensor):
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new_transition[key] = self._process_tensor(value)
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# Process nested tensor dicts
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for key in [TransitionKey.OBSERVATION, TransitionKey.COMPLEMENTARY_DATA]:
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data_dict = transition.get(key)
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if data_dict is not None:
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new_data_dict = {
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k: self._process_tensor(v) if isinstance(v, torch.Tensor) else v
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for k, v in data_dict.items()
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}
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new_transition[key] = new_data_dict
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return new_transition
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return new_transition
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def _process_tensor(self, tensor: torch.Tensor) -> torch.Tensor:
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"""Move tensor to target device and convert dtype if needed."""
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# Smart device handling for multi-GPU compatibility
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if tensor.is_cuda and self.tensor_device.type == "cuda":
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# Both on GPU: preserve original GPU (Accelerate compatibility)
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target_device = tensor.device
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else:
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# CPU or different device types: use configured device
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target_device = self.tensor_device
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# Move if necessary
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if tensor.device != target_device:
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tensor = tensor.to(target_device, non_blocking=self.non_blocking)
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# Convert float dtype if specified
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if self._target_float_dtype is not None and tensor.is_floating_point():
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tensor = tensor.to(dtype=self._target_float_dtype)
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return tensor
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def get_config(self) -> dict:
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return {"device": self.device, "float_dtype": self.float_dtype}
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```
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```
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See the full implementation in `src/lerobot/processor/device_processor.py` for complete details.
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See the full implementation in `src/lerobot/processor/normalize_processor.py` for complete details.
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**Key principles:**
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**Key principles:**
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- **Always use `transition.copy()`** to avoid side effects
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- **Always use `transition.copy()`** to avoid side effects
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- **Handle both simple and nested tensors** systematically
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- **Handle both observations and actions** consistently
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- **Smart device handling**: Preserve GPU placement for Accelerate compatibility
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- **Separate config from state**: `get_config()` returns JSON-serializable params, `state_dict()` returns tensors
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- **Validate configurations** in `__post_init__()`
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- **Convert stats to tensors** in `__post_init__()` for efficient computation
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### Configuration and State Management
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### Configuration and State Management
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Processors support serialization through three methods that separate configuration from tensor state. This is especially important for normalization processors, which carry dataset statistics (tensors) in their state, and hyperparameters in their config:
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Processors support serialization through three methods that separate configuration from tensor state. The `NormalizerProcessorStep` demonstrates this perfectly - it carries dataset statistics (tensors) in its state, and hyperparameters in its config:
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```python
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```python
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from dataclasses import dataclass, field
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# Continuing the NormalizerProcessorStep example...
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from typing import Any
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import torch
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from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
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@dataclass
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def get_config(self) -> dict[str, Any]:
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class NormalizerProcessor:
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"""JSON-serializable configuration (no tensors)."""
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features: dict[str, PolicyFeature]
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return {
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norm_map: dict[FeatureType, NormalizationMode]
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"eps": self.eps,
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eps: float = 1e-8
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"features": {k: {"type": v.type.value, "shape": v.shape} for k, v in self.features.items()},
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_tensor_stats: dict[str, dict[str, torch.Tensor]] = field(default_factory=dict, init=False, repr=False)
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"norm_map": {ft.value: nm.value for ft, nm in self.norm_map.items()},
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# ...
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}
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def get_config(self) -> dict[str, Any]:
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def state_dict(self) -> dict[str, torch.Tensor]:
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"""JSON-serializable configuration (no tensors)."""
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"""Tensor state only (e.g., dataset statistics)."""
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return {
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flat: dict[str, torch.Tensor] = {}
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"eps": self.eps,
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for key, sub in self._tensor_stats.items():
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"features": {k: {"type": v.type.value, "shape": v.shape} for k, v in self.features.items()},
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for stat_name, tensor in sub.items():
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"norm_map": {ft.value: nm.value for ft, nm in self.norm_map.items()},
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flat[f"{key}.{stat_name}"] = tensor.cpu() # Always save to CPU
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}
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return flat
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def state_dict(self) -> dict[str, torch.Tensor]:
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def load_state_dict(self, state: dict[str, torch.Tensor]) -> None:
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"""Tensor state only (e.g., dataset statistics)."""
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"""Restore tensor state at runtime."""
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flat: dict[str, torch.Tensor] = {}
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self._tensor_stats.clear()
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for key, sub in self._tensor_stats.items():
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for flat_key, tensor in state.items():
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for stat_name, tensor in sub.items():
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key, stat_name = flat_key.rsplit(".", 1)
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flat[f"{key}.{stat_name}"] = tensor
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# Load to processor's configured device
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return flat
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self._tensor_stats.setdefault(key, {})[stat_name] = tensor.to(
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dtype=torch.float32, device=self.device
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def load_state_dict(self, state: dict[str, torch.Tensor]) -> None:
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)
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"""Restore tensor state at runtime."""
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# ...
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self._tensor_stats.clear()
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for flat_key, tensor in state.items():
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key, stat_name = flat_key.rsplit(".", 1)
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self._tensor_stats.setdefault(key, {})[stat_name] = tensor
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```
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```
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**Usage:**
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**Usage:**
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```python
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```python
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# Save (e.g., inside a policy)
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# Save (e.g., inside a policy)
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config = processor.get_config()
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config = normalizer.get_config()
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tensors = processor.state_dict()
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tensors = normalizer.state_dict()
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# Restore (e.g., loading a pretrained policy)
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# Restore (e.g., loading a pretrained policy)
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new_processor = NormalizerProcessor(**config)
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new_normalizer = NormalizerProcessorStep(**config)
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new_processor.load_state_dict(tensors)
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new_normalizer.load_state_dict(tensors)
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# Now new_normalizer has the same stats and configuration
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```
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```
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### Transform features
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### Transform features
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The `transform_features` method defines how your processor transforms feature names and shapes. This is crucial for policy configuration and debugging.
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The `transform_features` method defines how your processor transforms feature names and shapes. This is crucial for policy configuration and debugging.
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Normalization typically preserves the feature keys and shapes, so `NormalizerProcessor.transform_features` returns the input features unchanged. When your processor renames or reshapes, implement this method to reflect the mapping for downstream components. For example, a simple rename processor:
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For `NormalizerProcessorStep`, features are typically preserved unchanged since normalization doesn't alter keys or shapes:
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```python
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def transform_features(self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
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"""Normalization preserves all feature definitions."""
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return features # No changes to feature structure
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# ...
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```
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When your processor renames or reshapes data, implement this method to reflect the mapping for downstream components. For example, a simple rename processor:
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```python
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```python
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def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
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def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
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@@ -219,6 +167,7 @@ def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, Po
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if key.startswith("env_state."):
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if key.startswith("env_state."):
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suffix = key[len("env_state."):]
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suffix = key[len("env_state."):]
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features[f"observation.{suffix}"] = features.pop(key)
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features[f"observation.{suffix}"] = features.pop(key)
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# ...
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return features
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return features
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```
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```
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@@ -230,98 +179,30 @@ def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, Po
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- Always return the modified features dictionary
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- Always return the modified features dictionary
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- Document transformations clearly in the docstring
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- Document transformations clearly in the docstring
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### Example of usage from the codebase
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`transform_features` is used by `RobotProcessor` to derive the dataset/policy feature contract from an initial feature set by applying each step's transformation. You can see concrete examples in the codebase:
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- Phone teleoperation record pipeline (`examples/phone_so100_record.py`): processors like `ForwardKinematicsJointsToEE`, `GripperVelocityToJoint`, and `EEBoundsAndSafety` implement `transform_features` to declare which action/observation keys should be materialized in the dataset.
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- SO100 follower kinematics (`src/lerobot/robots/so100_follower/robot_kinematic_processor.py`): each processor's `transform_features` method adds or refines feature keys such as `observation.state.ee.{x,y,z,wx,wy,wz}` or `action.gripper.pos`.
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- Rename and tokenizer processors (`src/lerobot/processor/rename_processor.py`, `src/lerobot/processor/tokenizer_processor.py`): demonstrate key renaming and adding language token features to the contract.
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In practice, you will often aggregate features by running `DataProcessorPipeline.transform_features(...)` with your initial features to compute the final contract before recording or training.
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## Helper Classes
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LeRobot provides pre-built processor classes for common transformations. Below is a comprehensive list of registered processors in the codebase.
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### Core processors (observations, actions, normalization)
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- **`VanillaObservationProcessorStep`** (`observation_processor`): Images and state processing to LeRobot format.
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- **`NormalizerProcessorStep`** (`normalizer_processor`): Normalize observations/actions (mean/std or min/max to [-1, 1]).
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- **`UnnormalizerProcessorStep`** (`unnormalizer_processor`): Inverse of the normalizer for model outputs.
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- **`DeviceProcessorStep`** (`device_processor`): Move tensors to a specific device (CPU/GPU) and optional float dtype.
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- **`AddBatchDimensionProcessorStep`** (`to_batch_processor`): Add batch dimension to observations/actions when missing.
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- **`RenameObservationsProcessorStep`** (`rename_observations_processor`): Rename observation keys using a mapping dictionary.
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- **`TokenizerProcessorStep`** (`tokenizer_processor`): Tokenize language tasks into `observation.language.*` tensors.
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### Teleoperation mapping processors
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|
||||||
- **`MapDeltaActionToRobotAction`** (`map_delta_action_to_robot_action`): Map teleop deltas (e.g., gamepad) to `action.target_*` fields.
|
|
||||||
- **`MapPhoneActionToRobotAction`** (`map_phone_action_to_robot_action`): Map calibrated phone pose/buttons to `action.target_*` and gripper.
|
|
||||||
|
|
||||||
### Robot kinematics processors (SO100 follower example)
|
|
||||||
|
|
||||||
- **`EEReferenceAndDelta`** (`ee_reference_and_delta`): Compute desired EE pose from target deltas and current pose.
|
|
||||||
- **`EEBoundsAndSafety`** (`ee_bounds_and_safety`): Clip EE pose to bounds and check for jumps.
|
|
||||||
- **`InverseKinematicsEEToJoints`** (`inverse_kinematics_ee_to_joints`): Convert EE pose to joint targets via IK.
|
|
||||||
- **`GripperVelocityToJoint`** (`gripper_velocity_to_joint`): Convert gripper velocity input to joint position command.
|
|
||||||
- **`ForwardKinematicsJointsToEE`** (`forward_kinematics_joints_to_ee`): Compute EE pose features from joint positions via FK.
|
|
||||||
- **`AddRobotObservationAsComplimentaryData`** (`add_robot_observation`): Read robot observation and insert `raw_joint_positions` into complementary data.
|
|
||||||
|
|
||||||
### Policy-specific utility processors
|
|
||||||
|
|
||||||
- **`Pi0NewLineProcessor`** (`pi0_new_line_processor`): Ensure text tasks end with a newline (Pi0 tokenizer compatibility).
|
|
||||||
- **`SmolVLANewLineProcessor`** (`smolvla_new_line_processor`): Ensure text tasks end with a newline (SmolVLA tokenizer compatibility).
|
|
||||||
|
|
||||||
### Usage Example
|
|
||||||
|
|
||||||
```python
|
|
||||||
from lerobot.processor import (
|
|
||||||
NormalizerProcessorStep, DeviceProcessorStep,
|
|
||||||
RobotProcessorPipeline, AddBatchDimensionProcessorStep
|
|
||||||
)
|
|
||||||
|
|
||||||
# Create a processing pipeline (typical policy preprocessor)
|
|
||||||
steps = [
|
|
||||||
NormalizerProcessorStep(features=features, norm_map=norm_map, stats=stats),
|
|
||||||
AddBatchDimensionProcessorStep(),
|
|
||||||
DeviceProcessorStep(device="cuda"),
|
|
||||||
]
|
|
||||||
|
|
||||||
# Use in RobotProcessorPipeline
|
|
||||||
processor = RobotProcessorPipeline[dict, dict](steps=steps)
|
|
||||||
processed_transition = processor(raw_transition)
|
|
||||||
```
|
|
||||||
|
|
||||||
### Using overrides
|
### Using overrides
|
||||||
|
|
||||||
You can override step parameters at load-time using `overrides`. This is handy for non-serializable objects or site-specific settings. It works both in policy factories and with `DataProcessorPipeline.from_pretrained(...)`.
|
You can override step parameters at load-time using `overrides`. This is handy for non-serializable objects or site-specific settings. It works both in policy factories and with `DataProcessorPipeline.from_pretrained(...)`.
|
||||||
|
|
||||||
|
**Foundational model adaptation**: This is particularly useful when working with foundational pretrained policies where you rarely have access to the original training statistics. You can inject your own dataset statistics to adapt the normalizer to your specific robot or environment data.
|
||||||
|
|
||||||
Example: during policy evaluation on the robot, override the device and rename map.
|
Example: during policy evaluation on the robot, override the device and rename map.
|
||||||
Use this to run a policy trained on CUDA on a CPU-only robot, or to remap camera keys when the robot uses different names than the dataset.
|
Use this to run a policy trained on CUDA on a CPU-only robot, or to remap camera keys when the robot uses different names than the dataset.
|
||||||
|
|
||||||
```437:445:src/lerobot/record.py
|
|
||||||
preprocessor, postprocessor = make_processor(
|
|
||||||
policy_cfg=cfg.policy,
|
|
||||||
pretrained_path=cfg.policy.pretrained_path,
|
|
||||||
dataset_stats=rename_stats(dataset.meta.stats, cfg.dataset.rename_map),
|
|
||||||
preprocessor_overrides={
|
|
||||||
"device_processor": {"device": cfg.policy.device},
|
|
||||||
"rename_processor": {"rename_map": cfg.dataset.rename_map},
|
|
||||||
},
|
|
||||||
)
|
|
||||||
```
|
|
||||||
|
|
||||||
Direct usage with `from_pretrained`:
|
Direct usage with `from_pretrained`:
|
||||||
|
|
||||||
```python
|
```python
|
||||||
from lerobot.processor import RobotProcessorPipeline
|
from lerobot.processor import RobotProcessorPipeline
|
||||||
|
|
||||||
|
# Load a foundational policy trained on diverse robot data
|
||||||
|
# but adapt normalization to your specific robot/environment
|
||||||
|
new_stats = LeRobotDataset(repo_id="username/my-dataset").meta.stats
|
||||||
processor = RobotProcessorPipeline.from_pretrained(
|
processor = RobotProcessorPipeline.from_pretrained(
|
||||||
"username/my-processor",
|
"huggingface/foundational-robot-policy", # Pretrained foundation model
|
||||||
overrides={
|
overrides={
|
||||||
"device_processor": {"device": "cuda:0"}, # registry name for registered steps
|
"normalizer_processor": {"stats": new_stats}, # Inject your robot's statistics
|
||||||
"CustomStep": {"param": 42}, # class name for non-registered steps
|
"device_processor": {"device": "cuda:0"}, # registry name for registered steps
|
||||||
|
"rename_processor": {"rename_map": robot_key_map}, # Map your robot's observation keys
|
||||||
|
# ...
|
||||||
},
|
},
|
||||||
)
|
)
|
||||||
```
|
```
|
||||||
@@ -332,139 +213,43 @@ Based on analysis of all LeRobot processor implementations, here are the key pat
|
|||||||
|
|
||||||
### 1. **Safe Data Handling**
|
### 1. **Safe Data Handling**
|
||||||
|
|
||||||
```python
|
Always create copies of input data to avoid unintended side effects. Use `transition.copy()` and `observation.copy()` rather than modifying data in-place. This prevents your processor from accidentally affecting other components in the pipeline.
|
||||||
# ✅ Always copy data to avoid side effects
|
|
||||||
new_action = action.copy()
|
|
||||||
new_obs = observation.copy()
|
|
||||||
|
|
||||||
# ✅ Check for required data before processing
|
Check for required data before processing and handle missing data gracefully. If your processor expects certain keys (like `"pixels"` for image processing), validate their presence first. For optional data, use safe access patterns like `transition.get()` and handle `None` values appropriately.
|
||||||
if "pixels" not in observation:
|
|
||||||
return observation # Pass through unchanged
|
|
||||||
|
|
||||||
# ✅ Handle None gracefully
|
When data validation fails, provide clear, actionable error messages that help users understand what went wrong and how to fix it.
|
||||||
comp = self.transition.get(TransitionKey.COMPLEMENTARY_DATA)
|
|
||||||
if comp is None:
|
|
||||||
raise ValueError("Required complementary data missing")
|
|
||||||
```
|
|
||||||
|
|
||||||
### 2. **Robust Input Validation**
|
### 2. **Choose Appropriate Base Classes**
|
||||||
|
|
||||||
```python
|
LeRobot provides specialized base classes that reduce boilerplate code and ensure consistency. Use `ObservationProcessorStep` when you only need to modify observations, `ActionProcessorStep` for action-only processing, and `RobotActionProcessorStep` specifically for dictionary-based robot actions.
|
||||||
# ✅ Validate data types and shapes
|
|
||||||
if not isinstance(action, dict):
|
|
||||||
raise ValueError(f"Action should be a RobotAction type got {type(action)}")
|
|
||||||
|
|
||||||
# ✅ Check tensor properties before processing
|
Only inherit directly from `ProcessorStep` when you need full control over the entire transition or when processing multiple transition components simultaneously. The specialized base classes handle the transition management for you and provide type safety.
|
||||||
if img_tensor.dtype != torch.uint8:
|
|
||||||
raise ValueError(f"Expected torch.uint8 images, but got {img_tensor.dtype}")
|
|
||||||
|
|
||||||
# ✅ Validate required keys exist
|
### 3. **Registration and Naming**
|
||||||
if None in (x, y, z, wx, wy, wz):
|
|
||||||
raise ValueError("Missing required end-effector pose components")
|
|
||||||
```
|
|
||||||
|
|
||||||
### 3. **Use Appropriate Base Classes**
|
Register your processors with descriptive, namespaced names using `@ProcessorStepRegistry.register()`. Use organization prefixes like `"robotics_lab/safety_clipper"` or `"acme_corp/vision_enhancer"` to avoid naming conflicts. Avoid generic names like `"processor"` or `"step"` that could clash with other implementations.
|
||||||
|
|
||||||
```python
|
Good registration makes your processors discoverable and enables clean serialization/deserialization when saving and loading pipelines.
|
||||||
# ✅ Observation-only processors
|
|
||||||
class MyObsProcessor(ObservationProcessorStep):
|
|
||||||
def observation(self, observation): ...
|
|
||||||
|
|
||||||
# ✅ Action-only processors
|
### 4. **State Management Patterns**
|
||||||
class MyActionProcessor(ActionProcessorStep):
|
|
||||||
def action(self, action): ...
|
|
||||||
|
|
||||||
# ✅ Robot action processors (dict actions only)
|
Distinguish between configuration parameters (JSON-serializable values) and internal state (tensors, buffers). Use dataclass fields with `init=False, repr=False` for internal state that shouldn't appear in the constructor or string representation.
|
||||||
class MyRobotActionProcessor(RobotActionProcessorStep):
|
|
||||||
def action(self, action: dict[str, Any]): ...
|
|
||||||
|
|
||||||
# ✅ Full control processors
|
Implement the `reset()` method to clear internal state between episodes. This is crucial for stateful processors that accumulate data over time, like moving averages or temporal filters.
|
||||||
class MyFullProcessor(ProcessorStep):
|
|
||||||
def __call__(self, transition: EnvTransition): ...
|
|
||||||
```
|
|
||||||
|
|
||||||
### 4. **Registration and Naming**
|
Remember that `get_config()` should only return JSON-serializable configuration, while `state_dict()` handles tensor state separately.
|
||||||
|
|
||||||
```python
|
### 5. **Input Validation and Error Handling**
|
||||||
# ✅ Always register with namespaced names
|
|
||||||
@ProcessorStepRegistry.register("my_company/image_processor")
|
|
||||||
@dataclass
|
|
||||||
class ImageProcessor(ObservationProcessorStep):
|
|
||||||
...
|
|
||||||
|
|
||||||
# ✅ Use descriptive, unique names
|
Validate input types and shapes before processing. Check tensor properties like `dtype` and dimensions to ensure compatibility with your algorithms. For robot actions, verify that required pose components or joint values are present and within expected ranges.
|
||||||
# Good: "robotics_lab/safety_clipper", "acme_corp/vision_enhancer"
|
|
||||||
# Bad: "processor", "step", "my_processor"
|
|
||||||
```
|
|
||||||
|
|
||||||
### 5. **State Management Patterns**
|
Use early returns for edge cases where no processing is needed. Provide clear, descriptive error messages that include the expected vs. actual data types or shapes. This makes debugging much easier for users.
|
||||||
|
|
||||||
```python
|
### 6. **Device and Dtype Awareness**
|
||||||
# ✅ Use dataclass fields for internal state
|
|
||||||
@dataclass
|
|
||||||
class StatefulProcessor(ProcessorStep):
|
|
||||||
# Public config
|
|
||||||
window_size: int = 10
|
|
||||||
|
|
||||||
# Internal state (not in config)
|
Design your processors to automatically adapt to the device and dtype of input tensors. Internal tensors (like normalization statistics) should match the input tensor's device and dtype to ensure compatibility with multi-GPU training, mixed precision, and distributed setups.
|
||||||
_buffer: list = field(default_factory=list, init=False, repr=False)
|
|
||||||
_last_value: float | None = field(default=None, init=False, repr=False)
|
|
||||||
|
|
||||||
def reset(self):
|
Implement a `to()` method that moves your processor's internal state to the specified device. Check device/dtype compatibility at runtime and automatically migrate internal state when needed. This pattern enables seamless operation across different hardware configurations without manual intervention.
|
||||||
"""Reset internal state between episodes."""
|
|
||||||
self._buffer.clear()
|
|
||||||
self._last_value = None
|
|
||||||
```
|
|
||||||
|
|
||||||
### 6. **Error Handling**
|
|
||||||
|
|
||||||
```python
|
|
||||||
# ✅ Early returns for edge cases
|
|
||||||
if not self.enabled or action is None:
|
|
||||||
return action
|
|
||||||
|
|
||||||
# ✅ Clear error messages for invalid inputs
|
|
||||||
if not isinstance(action, dict):
|
|
||||||
raise ValueError(f"Action should be a RobotAction type got {type(action)}")
|
|
||||||
|
|
||||||
# ✅ Validate required keys exist
|
|
||||||
if "required_key" not in action:
|
|
||||||
raise ValueError("Required key 'required_key' not found in action")
|
|
||||||
```
|
|
||||||
|
|
||||||
### 7. **Device and Dtype Awareness**
|
|
||||||
|
|
||||||
The key principle: **tensors stored in your processor should mimic the dtype and device of input tensors**. This enables seamless operation in multi-GPU setups, Accelerate, and data parallel configurations.
|
|
||||||
|
|
||||||
```python
|
|
||||||
# ✅ Adapt internal state to match input tensors
|
|
||||||
def _apply_transform(self, tensor: torch.Tensor, key: str) -> torch.Tensor:
|
|
||||||
# Check if our internal stats match the input tensor
|
|
||||||
if key in self._tensor_stats:
|
|
||||||
first_stat = next(iter(self._tensor_stats[key].values()))
|
|
||||||
if first_stat.device != tensor.device or first_stat.dtype != tensor.dtype:
|
|
||||||
# Automatically adapt to input tensor's device/dtype
|
|
||||||
self.to(device=tensor.device, dtype=tensor.dtype)
|
|
||||||
|
|
||||||
# Now process with matching device/dtype
|
|
||||||
return self._process_with_stats(tensor, key)
|
|
||||||
|
|
||||||
# ✅ Implement to() method for device/dtype migration
|
|
||||||
def to(self, device=None, dtype=None):
|
|
||||||
if device is not None:
|
|
||||||
self.device = device
|
|
||||||
if dtype is not None:
|
|
||||||
self.dtype = dtype
|
|
||||||
# Update internal tensor stats to match
|
|
||||||
self._tensor_stats = to_tensor(self.stats, device=self.device, dtype=self.dtype)
|
|
||||||
return self
|
|
||||||
|
|
||||||
# ✅ This pattern enables:
|
|
||||||
# - Multi-GPU training (data on different GPUs)
|
|
||||||
# - Mixed precision (float16, bfloat16)
|
|
||||||
# - Accelerate compatibility (automatic device placement)
|
|
||||||
# - Data parallel setups (distributed training)
|
|
||||||
```
|
|
||||||
|
|
||||||
## Conclusion
|
## Conclusion
|
||||||
|
|
||||||
|
|||||||
@@ -1,28 +1,42 @@
|
|||||||
# Introduction to Processors
|
# Introduction to Processors
|
||||||
|
|
||||||
In robotics, there's a fundamental mismatch between the data that robots and humans produce and what machine learning models expect. This creates several translation challenges:
|
In robotics, there's a fundamental mismatch between the data that robots and humans produce and what machine learning models expect.
|
||||||
|
Robots output raw sensor data like camera images and joint positions that need normalization, batching, and device placement before models can process them.
|
||||||
|
Language instructions from humans must be tokenized into numerical representations, and different robots use different coordinate systems that need standardization.
|
||||||
|
|
||||||
**Raw Robot Data → Model Input:**
|
The challenge extends to model outputs as well.
|
||||||
|
Models might output end-effector positions while robots need joint-space commands, or teleoperators produce relative movements while robots expect absolute commands.
|
||||||
|
Model predictions are often normalized and need conversion back to real-world scales.
|
||||||
|
|
||||||
- Robots output raw sensor data (camera images, joint positions, force readings) that need normalization, batching, and device placement before models can process them
|
Cross-domain translation adds another layer of complexity.
|
||||||
- Language instructions from humans ("pick up the red cube") must be tokenized into numerical representations
|
Training data from one robot setup needs adaptation for deployment on different hardware, models trained with specific camera configurations must work with new arrangements, and datasets with different naming conventions need harmonization.
|
||||||
- Different robots use different coordinate systems and units that need standardization
|
|
||||||
|
|
||||||
**Model Output → Robot Commands:**
|
**That's where processors come in.** They serve as universal translators that bridge these gaps, ensuring seamless data flow from sensors to models to actuators.
|
||||||
|
Processors handle all the preprocessing and postprocessing steps needed to convert raw environment data into model-ready inputs and vice versa.
|
||||||
|
|
||||||
- Models might output end-effector positions, but robots need joint-space commands
|
Now your favorite policy can be used like this:
|
||||||
- Teleoperators (like gamepads) produce relative movements (delta positions), but robots expect absolute commands
|
|
||||||
- Model predictions are often normalized and need to be converted back to real-world scales
|
|
||||||
|
|
||||||
**Cross-Domain Translation:**
|
```python
|
||||||
|
import torch
|
||||||
|
|
||||||
- Training data from one robot setup needs adaptation for deployment on different hardware
|
from lerobot.datasets.lerobot_dataset import LeRobotDataset
|
||||||
- Models trained with specific camera configurations must work with new camera arrangements
|
from lerobot.policies.factory import make_pre_post_processors
|
||||||
- Datasets with different naming conventions need harmonization
|
from lerobot.policies.your_policy import YourPolicy
|
||||||
|
from lerobot.processor.pipeline import RobotProcessorPipeline, PolicyProcessorPipeline
|
||||||
|
dataset = LeRobotDataset("hf_user/dataset", episodes=[0])
|
||||||
|
sample = dataset[10]
|
||||||
|
|
||||||
**That's where processors come in.** They serve as the universal translators that bridge these gaps, ensuring seamless data flow from sensors to models to actuators.
|
model = YourPolicy.from_pretrained(
|
||||||
|
"hf_user/model",
|
||||||
|
)
|
||||||
|
model.eval()
|
||||||
|
model.to("cuda")
|
||||||
|
preprocessor, postprocessor = make_pre_post_processors(model.config, pretrained_path="hf_user/model", dataset_stats=dataset.meta.stats)
|
||||||
|
|
||||||
Processors are the data transformation backbone of LeRobot. They handle all the preprocessing and postprocessing steps needed to convert raw environment data into model-ready inputs and vice versa.
|
preprocessed_sample = preprocessor(sample)
|
||||||
|
action = model.select_action(preprocessed_sample)
|
||||||
|
postprocessed_action = postprocessor(action)
|
||||||
|
```
|
||||||
|
|
||||||
## What are Processors?
|
## What are Processors?
|
||||||
|
|
||||||
@@ -40,36 +54,8 @@ Processors handle these transformations through composable, reusable steps that
|
|||||||
|
|
||||||
### EnvTransition: The Universal Data Container
|
### EnvTransition: The Universal Data Container
|
||||||
|
|
||||||
The `EnvTransition` is the fundamental data structure that flows through all processors. It's a strongly-typed dictionary that represents a complete robot-environment interaction:
|
The `EnvTransition` is the fundamental data structure that flows through all processors.
|
||||||
|
It's a typed dictionary that represents a complete robot-environment interaction:
|
||||||
```python
|
|
||||||
from lerobot.processor import TransitionKey, EnvTransition, PolicyAction, RobotAction
|
|
||||||
|
|
||||||
# EnvTransition is precisely typed to handle different action types:
|
|
||||||
# - PolicyAction: torch.Tensor (for model inputs/outputs)
|
|
||||||
# - RobotAction: dict[str, Any] (for robot hardware)
|
|
||||||
# - EnvAction: np.ndarray (for gym environments)
|
|
||||||
|
|
||||||
# Example transition from a robot collecting data
|
|
||||||
transition: EnvTransition = {
|
|
||||||
TransitionKey.OBSERVATION: {
|
|
||||||
"observation.images.camera0": camera0_image_tensor, # Shape: (H, W, C)
|
|
||||||
"observation.images.camera1": camera1_image_tensor, # Shape: (H, W, C)
|
|
||||||
"observation.state": joint_positions_tensor, # Shape: (7,) for 7-DOF arm
|
|
||||||
"observation.environment_state": env_state_tensor # Shape: (3,) for object position
|
|
||||||
},
|
|
||||||
TransitionKey.ACTION: action_tensor, # PolicyAction | RobotAction | EnvAction | None
|
|
||||||
TransitionKey.REWARD: 0.0, # float | torch.Tensor | None
|
|
||||||
TransitionKey.DONE: False, # bool | torch.Tensor | None
|
|
||||||
TransitionKey.TRUNCATED: False, # bool | torch.Tensor | None
|
|
||||||
TransitionKey.INFO: {"success": False}, # dict[str, Any] | None
|
|
||||||
TransitionKey.COMPLEMENTARY_DATA: {
|
|
||||||
"task": "pick up the red cube", # Language instruction
|
|
||||||
}
|
|
||||||
}
|
|
||||||
```
|
|
||||||
|
|
||||||
Each key in the transition has a specific purpose:
|
|
||||||
|
|
||||||
- **OBSERVATION**: All sensor data (images, states, proprioception)
|
- **OBSERVATION**: All sensor data (images, states, proprioception)
|
||||||
- **ACTION**: The action to execute or that was executed
|
- **ACTION**: The action to execute or that was executed
|
||||||
@@ -99,6 +85,7 @@ class MyProcessorStep(ProcessorStep):
|
|||||||
```
|
```
|
||||||
|
|
||||||
`__call__` is the core of your processor step. It takes an `EnvTransition` and returns a modified `EnvTransition`.
|
`__call__` is the core of your processor step. It takes an `EnvTransition` and returns a modified `EnvTransition`.
|
||||||
|
|
||||||
`transform_features` is used to declare how this step transforms feature shapes/types.
|
`transform_features` is used to declare how this step transforms feature shapes/types.
|
||||||
|
|
||||||
### DataProcessorPipeline: The Generic Orchestrator
|
### DataProcessorPipeline: The Generic Orchestrator
|
||||||
@@ -109,7 +96,7 @@ The `DataProcessorPipeline[TInput, TOutput]` chains multiple `ProcessorStep` ins
|
|||||||
from lerobot.processor import RobotProcessorPipeline, PolicyProcessorPipeline
|
from lerobot.processor import RobotProcessorPipeline, PolicyProcessorPipeline
|
||||||
|
|
||||||
# For robot hardware (unbatched data)
|
# For robot hardware (unbatched data)
|
||||||
robot_processor = RobotProcessorPipeline[dict[str, Any], dict[str, Any]](
|
robot_processor = RobotProcessorPipeline[RobotAction, RobotAction](
|
||||||
steps=[step1, step2, step3],
|
steps=[step1, step2, step3],
|
||||||
name="robot_pipeline"
|
name="robot_pipeline"
|
||||||
)
|
)
|
||||||
@@ -165,52 +152,27 @@ policy_action: torch.Tensor = torch.tensor([[0.2, 0.1, 0.8]]) # Model output te
|
|||||||
|
|
||||||
## Converter Functions
|
## Converter Functions
|
||||||
|
|
||||||
LeRobot provides converter functions to bridge different data formats:
|
LeRobot provides converter functions to bridge different data formats in `lerobot.processor.converters`. These functions handle the crucial translations between robot hardware data structures, policy model formats, and the internal `EnvTransition` representation that flows through processor pipelines.
|
||||||
|
|
||||||
```python
|
| Category | Function | Description |
|
||||||
from lerobot.processor.converters import (
|
| ------------------------------ | ----------------------------- | ------------------------------- |
|
||||||
# Robot hardware converters
|
| **Robot Hardware Converters** | `robot_action_to_transition` | Robot dict → EnvTransition |
|
||||||
robot_action_to_transition, # Robot dict → EnvTransition
|
| | `observation_to_transition` | Robot obs → EnvTransition |
|
||||||
observation_to_transition, # Robot obs → EnvTransition
|
| | `transition_to_robot_action` | EnvTransition → Robot dict |
|
||||||
transition_to_robot_action, # EnvTransition → Robot dict
|
| **Policy/Training Converters** | `batch_to_transition` | Batch dict → EnvTransition |
|
||||||
|
| | `transition_to_batch` | EnvTransition → Batch dict |
|
||||||
|
| | `policy_action_to_transition` | Policy tensor → EnvTransition |
|
||||||
|
| | `transition_to_policy_action` | EnvTransition → Policy tensor |
|
||||||
|
| **Utilities** | `create_transition` | Build transitions with defaults |
|
||||||
|
| | `identity_transition` | Pass-through converter |
|
||||||
|
|
||||||
# Policy/training converters
|
The key insight is that **robot hardware converters** work with individual values and dictionaries, while **policy/training converters** work with batched tensors and model outputs. The converter functions automatically handle the structural differences, so your processor steps can focus on the core transformations without worrying about data format compatibility.
|
||||||
batch_to_transition, # Batch dict → EnvTransition
|
|
||||||
transition_to_batch, # EnvTransition → Batch dict
|
|
||||||
policy_action_to_transition, # Policy tensor → EnvTransition
|
|
||||||
transition_to_policy_action, # EnvTransition → Policy tensor
|
|
||||||
|
|
||||||
# Utilities
|
## Processor Examples
|
||||||
create_transition, # Build transitions with defaults
|
|
||||||
identity_transition # Pass-through converter
|
|
||||||
)
|
|
||||||
```
|
|
||||||
|
|
||||||
## Real-World Examples
|
The following examples demonstrate real-world processor configurations for policy training and inference.
|
||||||
|
|
||||||
### Robot Control Pipeline
|
Here is an example processor for policy training and inference:
|
||||||
|
|
||||||
```python
|
|
||||||
# Phone teleoperation → Robot control (from examples/phone_to_so100/)
|
|
||||||
phone_to_robot = RobotProcessorPipeline[RobotAction, RobotAction](
|
|
||||||
steps=[
|
|
||||||
MapPhoneActionToRobotAction(platform=PhoneOS.IOS), # Phone → robot targets
|
|
||||||
EEReferenceAndDelta(kinematics=solver, ...), # Deltas → absolute pose
|
|
||||||
EEBoundsAndSafety(bounds=..., max_step=0.2), # Safety limits
|
|
||||||
InverseKinematicsEEToJoints(kinematics=solver), # Pose → joint angles
|
|
||||||
GripperVelocityToJoint(motor_names=motors), # Gripper control
|
|
||||||
],
|
|
||||||
to_transition=robot_action_to_transition,
|
|
||||||
to_output=transition_to_robot_action
|
|
||||||
)
|
|
||||||
|
|
||||||
# Usage: phone_action → robot_joints
|
|
||||||
phone_input = {"phone.pos": [0.1, 0.2, 0.0], "phone.rot": rotation}
|
|
||||||
robot_joints = phone_to_robot(phone_input)
|
|
||||||
robot.send_action(robot_joints)
|
|
||||||
```
|
|
||||||
|
|
||||||
### Policy Training Pipeline
|
|
||||||
|
|
||||||
```python
|
```python
|
||||||
# Training data preprocessing (optimized order for GPU performance)
|
# Training data preprocessing (optimized order for GPU performance)
|
||||||
@@ -235,26 +197,27 @@ training_postprocessor = PolicyProcessorPipeline[torch.Tensor, torch.Tensor](
|
|||||||
)
|
)
|
||||||
```
|
```
|
||||||
|
|
||||||
### Mixed Robot + Policy Pipeline
|
### An interaction between a robot and a policy with processors
|
||||||
|
|
||||||
|
The most common real-world scenario combines both pipeline types robot hardware generates observations that need policy processing, and policy outputs need robot-compatible postprocessing:
|
||||||
|
|
||||||
```python
|
```python
|
||||||
# Real deployment: Robot sensors → Model → Robot commands
|
# Real deployment: Robot sensors → Model → Robot commands
|
||||||
with torch.no_grad():
|
with torch.no_grad():
|
||||||
while not done:
|
while not done:
|
||||||
# 1. Get robot observation (unbatched)
|
|
||||||
raw_obs = robot.get_observation() # dict[str, Any]
|
raw_obs = robot.get_observation() # dict[str, Any]
|
||||||
|
|
||||||
# 2. Process for policy (add batching, normalize)
|
# Add your robot observation to policy observation processor
|
||||||
|
|
||||||
policy_input = policy_preprocessor(raw_obs) # Batched dict
|
policy_input = policy_preprocessor(raw_obs) # Batched dict
|
||||||
|
|
||||||
# 3. Run model
|
|
||||||
policy_output = policy.select_action(policy_input) # Policy tensor
|
policy_output = policy.select_action(policy_input) # Policy tensor
|
||||||
|
|
||||||
# 4. Postprocess for robot (denormalize, convert to dict)
|
policy_action = policy_postprocessor(policy_output)
|
||||||
robot_action = policy_postprocessor(policy_output) # dict[str, Any]
|
|
||||||
|
|
||||||
# 5. Send to robot
|
# Add your robot action to policy action processor
|
||||||
robot.send_action(robot_action)
|
|
||||||
|
robot.send_action(policy_action)
|
||||||
```
|
```
|
||||||
|
|
||||||
## Feature Contracts: Shape and Type Transformation
|
## Feature Contracts: Shape and Type Transformation
|
||||||
@@ -312,14 +275,6 @@ final_features = aggregate_pipeline_dataset_features(
|
|||||||
use_videos=True
|
use_videos=True
|
||||||
)
|
)
|
||||||
|
|
||||||
# Result: Complete feature specification for dataset/policy
|
|
||||||
# {
|
|
||||||
# "observation.state": {"shape": (7,), "dtype": "float32"},
|
|
||||||
# "observation.images.camera_0": {"shape": (3, 480, 640), "dtype": "uint8"},
|
|
||||||
# "observation.velocity": {"shape": (7,), "dtype": "float32"}, # Added by processor!
|
|
||||||
# "action": {"shape": (7,), "dtype": "float32"}
|
|
||||||
# }
|
|
||||||
|
|
||||||
# Use for dataset creation
|
# Use for dataset creation
|
||||||
dataset = LeRobotDataset.create(
|
dataset = LeRobotDataset.create(
|
||||||
repo_id="my_dataset",
|
repo_id="my_dataset",
|
||||||
|
|||||||
Reference in New Issue
Block a user