* Add normalization processor and related components
- Introduced `NormalizationProcessor` to handle both observation normalization and action unnormalization.
- Added `ObservationNormalizer` and `ActionUnnormalizer` classes for specific normalization tasks.
- Updated `__init__.py` to include the new `NormalizationProcessor` in the module exports.
- Enhanced `ObservationProcessor` with registration in the `ProcessorStepRegistry` for better modularity.
- Created `RenameProcessor` for renaming keys in observations, improving flexibility in data processing.
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Enhance processing architecture with new components
- Added `RenameProcessor` to facilitate key renaming in observations, improving data handling flexibility.
- Updated `__init__.py` to include `RenameProcessor` in module exports.
- Refactored `NormalizationProcessor` and `ObservationNormalizer` to use `rsplit` for better key handling.
- Introduced comprehensive tests for `NormalizationProcessor` and `RenameProcessor` to ensure functionality and robustness.
* chore (docs): add docstring for processor
* fix (test): test factory
* fix(test): policies
* Update tests/processor/test_observation_processor.py
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Signed-off-by: Adil Zouitine <adilzouitinegm@gmail.com>
* chore(test): add suggestion made by copilot regarding numpy test
* fix(test): import issue
* Refactor normalization components and update tests
- Renamed `ObservationNormalizer` to `NormalizerProcessor` and `ActionUnnormalizer` to `UnnormalizerProcessor` for clarity.
- Consolidated normalization logic for both observations and actions into `NormalizerProcessor` and `UnnormalizerProcessor`.
- Updated tests to reflect the new class names and ensure proper functionality of normalization and unnormalization processes.
- Enhanced handling of missing statistics in normalization processes.
* chore (docstrin):Improve docstring for NormalizerProcessor
* feat (device processor): Implement device processor
* chore (batch handling): Enhance processing components with batch conversion utilities
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* fix(test): linting issue
* chore (output format): improves output format
* chore (type): add typing for multiprocess envs
* feat (overrides): Implement support for loading processors with parameter overrides
- Added the ability to provide non-serializable objects when loading processors from saved configurations using the `overrides` parameter.
- Enhanced error handling for invalid override keys and instantiation errors.
- Updated documentation and examples to illustrate the usage of overrides for both registered and unregistered steps.
- Added comprehensive tests to validate the new functionality and ensure backward compatibility.
* chore(normalization): addressing comments from copilot
* chore(learner): nit comment from copilot
* feat(pipeline): Enhance step_through method to support both tuple and dict inputs
* refactor(pipeline): Simplify observation and padding data handling in batch transitions
* Apply suggestions from code review
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Signed-off-by: Adil Zouitine <adilzouitinegm@gmail.com>
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* refactor(pipeline): Introduce ComplementaryDataProcessor for handling complementary data in transitions
* fix(ci): temporary fix on dataset deps version
* feat(processors): Introduce processors for various policy types
- Added `make_processor` function to create processor instances for different policy types, including `tdmpc`, `diffusion`, `act`, `vqbet`, `pi0`, `pi0fast`, `sac`, and `reward_classifier`.
- Implemented corresponding processor files for each policy type, encapsulating normalization and unnormalization steps.
- Updated existing policies to remove direct normalization dependencies, enhancing modularity and clarity.
- Enhanced test coverage to validate the integration of new processors with existing policy configurations.
* refactor(learner): Remove normalization from cached image features retrieval
- Simplified the retrieval of observation features by removing the normalization step from the `get_cached_image_features` method calls.
- This change enhances clarity and aligns with the recent updates to policy processors.
* refactor(policies): Remove unnormalization step from action predictions
- Eliminated the unnormalization of actions in both `TDMPCPolicy` and `VQBeTPolicy` classes to streamline action prediction.
- This change improves code clarity and aligns with recent updates to policy processors.
* feat(train): Integrate preprocessor into training pipeline
* refactor(train): Update preprocessor initialization to include dataset statistics
* refactor(policies): Enhance processor creation and add NaN detection hook
* refactor(train): Update memory pinning logic for mps compatibility
* feat: initial commit phone teleop
* ugly delta control
* use quaternion
* Refactor observation preprocessing to use a modular pipeline system
- Introduced `RobotPipeline` and `ObservationProcessor` for handling observation transformations.
- Updated `preprocess_observation` to maintain backward compatibility while leveraging the new pipeline.
- Added tests for the new processing components and ensured they match the original functionality.
- Removed hardcoded logic in favor of a more flexible, composable architecture.
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Refactor observation processing and improve modularity
- Updated `ObservationProcessor` to enhance the modular design for processing observations.
- Cleaned up imports and improved code readability by removing unnecessary lines and comments.
- Ensured backward compatibility while integrating new processing components.
- Added tests to validate the functionality of the updated processing architecture.
* Remove redundant tests for None observation and serialization methods in `test_observation_processor.py` to streamline the test suite and improve maintainability.
* Refactor processing architecture to use RobotProcessor
- Replaced instances of RobotPipeline with RobotProcessor across the codebase for improved modularity and clarity.
- Introduced ProcessorStepRegistry for better management of processing steps.
- Updated relevant documentation and tests to reflect the new processing structure.
- Enhanced the save/load functionality to support the new processor design.
- Added a model card template for RobotProcessor to facilitate sharing and documentation.
* Add RobotProcessor tutorial to documentation
- Introduced a new tutorial on using RobotProcessor for preprocessing robot data.
- Added a section in the table of contents for easy navigation to the new tutorial.
- The tutorial covers key concepts, real-world scenarios, and practical examples for effective use of the RobotProcessor pipeline.
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Add normalization processor and related components
- Introduced `NormalizationProcessor` to handle both observation normalization and action unnormalization.
- Added `ObservationNormalizer` and `ActionUnnormalizer` classes for specific normalization tasks.
- Updated `__init__.py` to include the new `NormalizationProcessor` in the module exports.
- Enhanced `ObservationProcessor` with registration in the `ProcessorStepRegistry` for better modularity.
- Created `RenameProcessor` for renaming keys in observations, improving flexibility in data processing.
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Enhance processing architecture with new components
- Added `RenameProcessor` to facilitate key renaming in observations, improving data handling flexibility.
- Updated `__init__.py` to include `RenameProcessor` in module exports.
- Refactored `NormalizationProcessor` and `ObservationNormalizer` to use `rsplit` for better key handling.
- Introduced comprehensive tests for `NormalizationProcessor` and `RenameProcessor` to ensure functionality and robustness.
* chore (docs): add docstring for processor
* fix (test): test factory
* fix(test): policies
* Update tests/processor/test_observation_processor.py
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Signed-off-by: Adil Zouitine <adilzouitinegm@gmail.com>
* chore(test): add suggestion made by copilot regarding numpy test
* fix(test): import issue
* Refactor normalization components and update tests
- Renamed `ObservationNormalizer` to `NormalizerProcessor` and `ActionUnnormalizer` to `UnnormalizerProcessor` for clarity.
- Consolidated normalization logic for both observations and actions into `NormalizerProcessor` and `UnnormalizerProcessor`.
- Updated tests to reflect the new class names and ensure proper functionality of normalization and unnormalization processes.
- Enhanced handling of missing statistics in normalization processes.
* chore (docstrin):Improve docstring for NormalizerProcessor
* feat (device processor): Implement device processor
* chore (batch handling): Enhance processing components with batch conversion utilities
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* fix(test): linting issue
* chore (output format): improves output format
* chore (type): add typing for multiprocess envs
* feat (overrides): Implement support for loading processors with parameter overrides
- Added the ability to provide non-serializable objects when loading processors from saved configurations using the `overrides` parameter.
- Enhanced error handling for invalid override keys and instantiation errors.
- Updated documentation and examples to illustrate the usage of overrides for both registered and unregistered steps.
- Added comprehensive tests to validate the new functionality and ensure backward compatibility.
* chore(normalization): addressing comments from copilot
* chore(learner): nit comment from copilot
* feat(pipeline): Enhance step_through method to support both tuple and dict inputs
* refactor(pipeline): Simplify observation and padding data handling in batch transitions
* Apply suggestions from code review
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Signed-off-by: Adil Zouitine <adilzouitinegm@gmail.com>
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* refactor(pipeline): Introduce ComplementaryDataProcessor for handling complementary data in transitions
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* refactor(pipeline): Transition from tuple to dictionary format for EnvTransition
- Updated the EnvTransition structure to use a dictionary format instead of a tuple, enhancing readability and maintainability.
- Replaced instances of TransitionIndex with TransitionKey for accessing transition components.
- Adjusted related processing functions and tests to accommodate the new dictionary format, ensuring consistent handling of transitions across the codebase.
* refactor(observation_processor): Improve observation processing by using constants and simplifying pixel handling
- Introduced constants for observation keys to enhance readability.
- Streamlined the handling of the "pixels" key by copying observations first and processing images more clearly.
- Updated the environment state and agent position assignments to use the new constants, improving maintainability.
* feat(pipeline): Add hook unregistration functionality and enhance documentation
- Implemented methods to unregister before, after, and reset hooks in the RobotProcessor class, allowing for more flexible hook management.
- Enhanced documentation to clarify hook execution semantics and the implications of modifying transitions within hooks.
- Added comprehensive tests to verify the correct behavior of hook registration and unregistration, including error handling for non-existent hooks.
* refactor(pipeline): Clarify hook behavior and improve documentation
- Updated the RobotProcessor class to ensure hooks are strictly for observation and do not modify transitions, enhancing clarity and maintainability.
- Refactored hook registration methods to reflect the new behavior, ensuring they accept only functions that do not return modified transitions.
- Enhanced documentation to clearly outline the purpose of hooks and their execution semantics.
- Added tests to verify that hooks are not executed during the step_through method while ensuring they function correctly during the __call__ method.
* feat(pipeline): Add __repr__ method to RobotProcessor for improved readability
- Implemented a __repr__ method in the RobotProcessor class to provide a clear string representation of the processor, including step names and optional parameters like name and seed.
- Added comprehensive tests to validate the __repr__ output for various scenarios, including empty processors, single and multiple steps, custom names, and seed values.
- Ensured that the representation handles long lists of steps with truncation for better readability.
* chore(pipeline): Move _CFG_NAME along other class member
* refactor(pipeline): Utilize get_safe_torch_device for device assignment
- Replaced direct torch.device instantiation with get_safe_torch_device to ensure safe device handling.
- This change enhances code readability and maintains consistency in device management across the RobotProcessor class.
* refactor(pipeline): Enhance state filename generation and profiling method
- Updated state filename generation to use the registry name when available, improving clarity in saved files.
- Modified the profile_steps method to include a warmup_runs parameter, allowing for more controlled performance profiling.
- Ensured consistent conditions during profiling by deep copying transitions for each run, enhancing accuracy in timing results.
* chore(doc): address pip install commant lerobot that not exist yet
* feat(pipeline): Enhance configuration filename handling and state file naming
- Introduced support for custom configuration filenames in the `save_pretrained` method, allowing users to specify a filename instead of the default.
- Improved state file naming to include step indices, preventing conflicts when multiple processors of the same type are saved.
- Added automatic detection for configuration files when loading from a directory, with error handling for multiple files.
- Updated tests to validate new features, including custom filenames and automatic config detection.
* refactor(pipeline): Improve state file naming conventions for clarity and uniqueness
- Enhanced state file naming to include the processor's sanitized name, ensuring uniqueness when multiple processors are saved in the same directory.
- Updated tests to reflect changes in state file naming, verifying that filenames now include the processor name and step indices to prevent conflicts.
- Added a new test to validate state file naming when using multiple processors, ensuring distinct filenames for each processor's state files.
* docs(pipeline): Add clarification for repo name sanitization process
* feat(processors): Introduce processors for various policy types
- Added `make_processor` function to create processor instances for different policy types, including `tdmpc`, `diffusion`, `act`, `vqbet`, `pi0`, `pi0fast`, `sac`, and `reward_classifier`.
- Implemented corresponding processor files for each policy type, encapsulating normalization and unnormalization steps.
- Updated existing policies to remove direct normalization dependencies, enhancing modularity and clarity.
- Enhanced test coverage to validate the integration of new processors with existing policy configurations.
* refactor(learner): Remove normalization from cached image features retrieval
- Simplified the retrieval of observation features by removing the normalization step from the `get_cached_image_features` method calls.
- This change enhances clarity and aligns with the recent updates to policy processors.
* refactor(policies): Remove unnormalization step from action predictions
- Eliminated the unnormalization of actions in both `TDMPCPolicy` and `VQBeTPolicy` classes to streamline action prediction.
- This change improves code clarity and aligns with recent updates to policy processors.
* feat(train): Integrate preprocessor into training pipeline
* refactor(train): Update preprocessor initialization to include dataset statistics
* refactor(policies): Enhance processor creation and add NaN detection hook
* feat(record): Integrate RobotProcessor into recording loop and update policy handling
- Added support for RobotProcessor in the record_loop function to enhance data processing capabilities.
- Updated the logic to reset both policy and processor when provided, ensuring proper state management.
- Modified action prediction to utilize the processor, improving the overall functionality of the recording process.
- Adjusted the save_checkpoint function to include preprocessor state saving, enhancing checkpointing capabilities.
* feat(migration): Add script for migrating policy models with normalization layers
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* feat(migrate): Enhance migration script to create preprocessor and postprocessor for policy models
- Updated the migration script to generate both a preprocessor and a postprocessor, improving the handling of normalization for training and inference.
- Added functionality to convert features to PolicyFeature objects, ensuring compatibility with the new processor architecture.
- Refined the extraction and removal of normalization statistics and layers, streamlining the migration process.
- Improved error handling for missing mandatory configuration fields during model instantiation.
* feat(migrate): Add model card generation and saving to migration script
- Implemented functionality to generate and save a model card for the migrated model, including metadata such as dataset repository ID, license, and tags.
- Enhanced the script to push the model card to the hub if requested, improving model documentation and accessibility.
- Refactored the saving process to ensure the model card is saved locally and uploaded correctly when pushing to the hub.
* feat(processor): Introduce ToBatchProcessor for handling observation batching
- Added ToBatchProcessor to ensure observations have proper batch dimensions for model processing.
- Implemented functionality to add batch dimensions to state and image observations as needed.
- Created comprehensive unit tests to validate the processor's behavior with various tensor dimensions and types.
- Ensured compatibility with existing transition keys and maintained the integrity of non-observation data.
* feat(processors): Add ToBatchProcessor to multiple policy processors
- Integrated ToBatchProcessor into various policy processors to handle observation batching.
- Updated make functions for act, diffusion, pi0, pi0fast, sac, smolvla, tdmpc, and vqbet processors to include the new batching functionality.
- Ensured consistency across all processor implementations for improved data handling.
* refactor(factory): Remove unused imports and NaN detection hook from processor creation
* feat(batch_processor): Enhance ToBatchProcessor to handle action batching
- Updated ToBatchProcessor to add batch dimensions to actions in addition to observations.
- Implemented separate methods for processing observations and actions, improving code readability.
- Added comprehensive unit tests to validate action batching functionality across various tensor dimensions and types.
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* feat(factory): Enhance make_processor to support preprocessor and postprocessor configuration
- Introduced ProcessorConfigKwargs TypedDict for better type safety in processor configuration.
- Updated make_processor to accept preprocessor and postprocessor configuration filenames, improving flexibility in processor instantiation.
- Refactored the loading of pretrained processors to utilize the new configuration options.
* refactor(factory): Clean up imports in factory.py
- Removed unused import of IdentityProcessor to streamline the code.
* feat(migrate): Extend load_model_from_hub to include train configuration
- Updated load_model_from_hub to return the train configuration alongside the model state_dict and config.
- Modified main function to handle the additional train configuration when loading models from both the hub and local paths.
- Adjusted dataset_repo_id extraction to utilize the train configuration for improved accuracy.
* refactor(record): Rename processor parameters and update processing logic
- Renamed `processor` to `preprocessor` and added `postprocessor` parameter for clarity.
- Updated the `record_loop` and `predict_action` functions to utilize the new preprocessor and postprocessor, enhancing the processing flow.
- Ensured compatibility with existing functionality while improving code readability.
* feat(batch_processor): Add task field processing to ToBatchProcessor
- Enhanced ToBatchProcessor to wrap string tasks in a list, adding batch dimensions for compatibility with model inference.
- Implemented a new method for processing complementary data, ensuring that task values are correctly handled as either strings or lists of strings.
- Added comprehensive unit tests to validate task processing, including edge cases and in-place mutation of complementary data.
* feat(normalization): Implement IDENTITY mode for normalization and unnormalization
- Enhanced NormalizerProcessor and UnnormalizerProcessor to support IDENTITY mode, allowing features to bypass normalization when specified.
- Updated processing logic to check normalization modes and handle missing statistics gracefully.
- Added comprehensive unit tests to validate IDENTITY mode functionality for both observations and actions, ensuring correct behavior across various scenarios.
- Improved error handling for unsupported normalization modes.
* fix(rebase): remove residual normalization layer:
* refactor(diffusion): remove normalization layer from input processing
* Add debug + calib
* cleanup
* Add pipeline
* fix int
* Add record example
* nit
* Add feature contract to pipelinestep and pipeline
* Add tests
* Add processor tests
* PR feedback
* encorperate pr feedback
* type in doc
* oops
* cleaned up steps and integrated pipeline with feature_contract
* refactor steps and robot to pipeline
* cleanup pipeline
* cleanup code further
* make it run
* feat(processors): Introduce processors for various policy types
- Added `make_processor` function to create processor instances for different policy types, including `tdmpc`, `diffusion`, `act`, `vqbet`, `pi0`, `pi0fast`, `sac`, and `reward_classifier`.
- Implemented corresponding processor files for each policy type, encapsulating normalization and unnormalization steps.
- Updated existing policies to remove direct normalization dependencies, enhancing modularity and clarity.
- Enhanced test coverage to validate the integration of new processors with existing policy configurations.
* refactor(learner): Remove normalization from cached image features retrieval
- Simplified the retrieval of observation features by removing the normalization step from the `get_cached_image_features` method calls.
- This change enhances clarity and aligns with the recent updates to policy processors.
* refactor(policies): Remove unnormalization step from action predictions
- Eliminated the unnormalization of actions in both `TDMPCPolicy` and `VQBeTPolicy` classes to streamline action prediction.
- This change improves code clarity and aligns with recent updates to policy processors.
* feat(train): Integrate preprocessor into training pipeline
* refactor(train): Update preprocessor initialization to include dataset statistics
* refactor(policies): Enhance processor creation and add NaN detection hook
* feat(record): Integrate RobotProcessor into recording loop and update policy handling
- Added support for RobotProcessor in the record_loop function to enhance data processing capabilities.
- Updated the logic to reset both policy and processor when provided, ensuring proper state management.
- Modified action prediction to utilize the processor, improving the overall functionality of the recording process.
- Adjusted the save_checkpoint function to include preprocessor state saving, enhancing checkpointing capabilities.
* feat(migration): Add script for migrating policy models with normalization layers
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* feat(migrate): Enhance migration script to create preprocessor and postprocessor for policy models
- Updated the migration script to generate both a preprocessor and a postprocessor, improving the handling of normalization for training and inference.
- Added functionality to convert features to PolicyFeature objects, ensuring compatibility with the new processor architecture.
- Refined the extraction and removal of normalization statistics and layers, streamlining the migration process.
- Improved error handling for missing mandatory configuration fields during model instantiation.
* feat(migrate): Add model card generation and saving to migration script
- Implemented functionality to generate and save a model card for the migrated model, including metadata such as dataset repository ID, license, and tags.
- Enhanced the script to push the model card to the hub if requested, improving model documentation and accessibility.
- Refactored the saving process to ensure the model card is saved locally and uploaded correctly when pushing to the hub.
* feat(processor): Introduce ToBatchProcessor for handling observation batching
- Added ToBatchProcessor to ensure observations have proper batch dimensions for model processing.
- Implemented functionality to add batch dimensions to state and image observations as needed.
- Created comprehensive unit tests to validate the processor's behavior with various tensor dimensions and types.
- Ensured compatibility with existing transition keys and maintained the integrity of non-observation data.
* feat(processors): Add ToBatchProcessor to multiple policy processors
- Integrated ToBatchProcessor into various policy processors to handle observation batching.
- Updated make functions for act, diffusion, pi0, pi0fast, sac, smolvla, tdmpc, and vqbet processors to include the new batching functionality.
- Ensured consistency across all processor implementations for improved data handling.
* refactor(factory): Remove unused imports and NaN detection hook from processor creation
* feat(batch_processor): Enhance ToBatchProcessor to handle action batching
- Updated ToBatchProcessor to add batch dimensions to actions in addition to observations.
- Implemented separate methods for processing observations and actions, improving code readability.
- Added comprehensive unit tests to validate action batching functionality across various tensor dimensions and types.
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* feat(factory): Enhance make_processor to support preprocessor and postprocessor configuration
- Introduced ProcessorConfigKwargs TypedDict for better type safety in processor configuration.
- Updated make_processor to accept preprocessor and postprocessor configuration filenames, improving flexibility in processor instantiation.
- Refactored the loading of pretrained processors to utilize the new configuration options.
* refactor(factory): Clean up imports in factory.py
- Removed unused import of IdentityProcessor to streamline the code.
* feat(migrate): Extend load_model_from_hub to include train configuration
- Updated load_model_from_hub to return the train configuration alongside the model state_dict and config.
- Modified main function to handle the additional train configuration when loading models from both the hub and local paths.
- Adjusted dataset_repo_id extraction to utilize the train configuration for improved accuracy.
* refactor(record): Rename processor parameters and update processing logic
- Renamed `processor` to `preprocessor` and added `postprocessor` parameter for clarity.
- Updated the `record_loop` and `predict_action` functions to utilize the new preprocessor and postprocessor, enhancing the processing flow.
- Ensured compatibility with existing functionality while improving code readability.
* feat(batch_processor): Add task field processing to ToBatchProcessor
- Enhanced ToBatchProcessor to wrap string tasks in a list, adding batch dimensions for compatibility with model inference.
- Implemented a new method for processing complementary data, ensuring that task values are correctly handled as either strings or lists of strings.
- Added comprehensive unit tests to validate task processing, including edge cases and in-place mutation of complementary data.
* feat(normalization): Implement IDENTITY mode for normalization and unnormalization
- Enhanced NormalizerProcessor and UnnormalizerProcessor to support IDENTITY mode, allowing features to bypass normalization when specified.
- Updated processing logic to check normalization modes and handle missing statistics gracefully.
- Added comprehensive unit tests to validate IDENTITY mode functionality for both observations and actions, ensuring correct behavior across various scenarios.
- Improved error handling for unsupported normalization modes.
* fix(rebase): remove residual normalization layer:
* refactor(diffusion): remove normalization layer from input processing
* refactor(normalization): Remove unused state dict transformation methods and streamline imports
- Eliminated the _transform_state_dict_keys and _load_as_safetensor methods from PI0Policy, simplifying the model loading process.
- Cleaned up imports in modeling_pi0.py by removing log_model_loading_keys and init_logging.
- Updated TDMPCPolicy and VQBeTPolicy to handle action removal from batches during offline evaluation.
- Introduced hotswap_stats function in normalize_processor.py to update normalization statistics dynamically, with corresponding tests to ensure functionality.
* refactor(normalization): Clean up imports in normalize_processor.py
* feat(batch_processor): Add feature_contract method to ToBatchProcessor
- Introduced feature_contract method that returns features without modification, maintaining the no-op behavior of the processor.
- This addition enhances the flexibility of the ToBatchProcessor for future feature processing needs.
* fix(dependencies): Update transformers dependency constraint to allow only versions up to 4.52.0
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* feat(tokenizer): Introduce TokenizerProcessor for text tokenization
- Added TokenizerProcessor class to handle tokenization of task strings using Hugging Face's AutoTokenizer.
- Supports both string and list inputs, with customizable parameters for task key, output key, and tokenization settings.
- Implemented comprehensive unit tests to validate functionality, including handling of various input scenarios and integration with RobotProcessor.
- Updated types.py to include LANGUAGE feature type and modified __init__.py to register the new processor.
* feat(language): Enhance language processing in TokenizerProcessor
- Added OBS_LANGUAGE constant to define the observation language key.
- Updated TokenizerProcessor to store tokenized task data in the observation dictionary, ensuring compatibility with the new language feature.
- Introduced Pi0NewLineProcessor to append newlines to tasks for proper tokenization.
- Modified tests to validate the integration of language tokens and attention masks in the observation structure.
* feat(tokenizer): Add padding configuration to TokenizerProcessor
- Introduced `padding_side` parameter to the TokenizerProcessor for customizable padding direction.
- Updated the `make_pi0_processor` function to include the new padding configuration.
- Enhanced unit tests to validate the functionality of the `padding_side` parameter in various scenarios.
* feat(processor): Add state management methods to Pi0NewLineProcessor
* feat(normalization): Track normalization and unnormalization info in complementary data
- Updated NormalizerProcessor and UnnormalizerProcessor to accept additional parameters for tracking normalization modes.
- Enhanced the __call__ methods to store normalization and unnormalization information in the complementary data of transitions.
- Added unit tests to verify the correct tracking of normalization info, including scenarios with missing stats and selective normalization keys.
* feat(factory): Add preprocessor and postprocessor overrides to ProcessorConfigKwargs
- Updated ProcessorConfigKwargs to include optional overrides for preprocessor and postprocessor configurations.
- Enhanced the make_processor function to utilize the new overrides, allowing for more flexible processor initialization.
* feat(processors): Integrate RenameProcessor into various processor configurations
- Added RenameProcessor to the input steps of multiple processor functions, including make_act_processor, make_diffusion_processor, make_pi0_processor, make_sac_processor, make_tdmpc_processor, make_vqbet_processor, and make_smolvla_processor.
- Consolidated normalization features from input and output into a single NormalizerProcessor for improved efficiency.
- Updated the input steps to ensure compatibility with the new RenameProcessor integration.
* Do some todos and cleanup
* change feature_contract to dataset_features
* use one method for conversion pipeline output to add_frame dict and use base processors where possible
* Add back in and use record_loop
* update todo
* rename to_dataset_frame
* feat(smolvla): Refactor language processing and introduce new line processor (#1658)
- Removed the prepare_language method and directly accessed language tokens and masks from the batch using the OBS_LANGUAGE constant.
- Added SmolVLANewLineProcessor to ensure tasks end with a newline, enhancing tokenization compatibility.
- Updated the make_smolvla_processor function to include the new line processor and tokenizer processor for improved input handling.
* feat(processors): Integrate DeviceProcessor into multiple processor configurations
- Added DeviceProcessor to the input and output steps of various processor functions, including make_act_processor, make_diffusion_processor, make_pi0_processor, make_pi0fast_processor, make_sac_processor, make_tdmpc_processor, make_vqbet_processor, and make_smolvla_processor.
- Enhanced the DeviceProcessor class with state management methods and ensured compatibility with existing processor pipelines.
- Introduced unit tests for DeviceProcessor to validate functionality across different scenarios, including CPU and CUDA operations.
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* fix
* fix reference frame
* refactor(pipeline): Remove to() method for device management
- Eliminated the to() method from RobotProcessor, which was responsible for moving tensor states to specified devices.
- Removed associated unit tests that validated the functionality of the to() method across various scenarios.
- Streamlined the pipeline code by focusing on other device management strategies.
* feat(processor): Enhance DeviceProcessor with float dtype conversion
- Added support for optional float dtype conversion in DeviceProcessor, allowing tensors to be converted to specified floating-point types while preserving non-float types.
- Implemented validation for float dtype input and updated the processor's configuration methods to include float dtype.
- Refactored tensor processing logic to streamline device movement and dtype conversion.
- Introduced comprehensive unit tests to validate the new float dtype functionality across various scenarios.
* update data visualization
* update teleop example
* fix record bugs
* Add replay
* Not code
* feature(pipeline): port tokenizer pipeline for VLA (#1645)
* feat(tokenizer): Introduce TokenizerProcessor for text tokenization
- Added TokenizerProcessor class to handle tokenization of task strings using Hugging Face's AutoTokenizer.
- Supports both string and list inputs, with customizable parameters for task key, output key, and tokenization settings.
- Implemented comprehensive unit tests to validate functionality, including handling of various input scenarios and integration with RobotProcessor.
- Updated types.py to include LANGUAGE feature type and modified __init__.py to register the new processor.
* feat(language): Enhance language processing in TokenizerProcessor
- Added OBS_LANGUAGE constant to define the observation language key.
- Updated TokenizerProcessor to store tokenized task data in the observation dictionary, ensuring compatibility with the new language feature.
- Introduced Pi0NewLineProcessor to append newlines to tasks for proper tokenization.
- Modified tests to validate the integration of language tokens and attention masks in the observation structure.
* feat(tokenizer): Add padding configuration to TokenizerProcessor
- Introduced `padding_side` parameter to the TokenizerProcessor for customizable padding direction.
- Updated the `make_pi0_processor` function to include the new padding configuration.
- Enhanced unit tests to validate the functionality of the `padding_side` parameter in various scenarios.
* feat(processor): Add state management methods to Pi0NewLineProcessor
* feat(normalization): Track normalization and unnormalization info in complementary data
- Updated NormalizerProcessor and UnnormalizerProcessor to accept additional parameters for tracking normalization modes.
- Enhanced the __call__ methods to store normalization and unnormalization information in the complementary data of transitions.
- Added unit tests to verify the correct tracking of normalization info, including scenarios with missing stats and selective normalization keys.
* feat(factory): Add preprocessor and postprocessor overrides to ProcessorConfigKwargs
- Updated ProcessorConfigKwargs to include optional overrides for preprocessor and postprocessor configurations.
- Enhanced the make_processor function to utilize the new overrides, allowing for more flexible processor initialization.
* feat(processors): Integrate RenameProcessor into various processor configurations
- Added RenameProcessor to the input steps of multiple processor functions, including make_act_processor, make_diffusion_processor, make_pi0_processor, make_sac_processor, make_tdmpc_processor, make_vqbet_processor, and make_smolvla_processor.
- Consolidated normalization features from input and output into a single NormalizerProcessor for improved efficiency.
- Updated the input steps to ensure compatibility with the new RenameProcessor integration.
* feat(smolvla): Refactor language processing and introduce new line processor (#1658)
- Removed the prepare_language method and directly accessed language tokens and masks from the batch using the OBS_LANGUAGE constant.
- Added SmolVLANewLineProcessor to ensure tasks end with a newline, enhancing tokenization compatibility.
- Updated the make_smolvla_processor function to include the new line processor and tokenizer processor for improved input handling.
* feture(policies): add device processor (#1659)
* feat(processors): Integrate DeviceProcessor into multiple processor configurations
- Added DeviceProcessor to the input and output steps of various processor functions, including make_act_processor, make_diffusion_processor, make_pi0_processor, make_pi0fast_processor, make_sac_processor, make_tdmpc_processor, make_vqbet_processor, and make_smolvla_processor.
- Enhanced the DeviceProcessor class with state management methods and ensured compatibility with existing processor pipelines.
- Introduced unit tests for DeviceProcessor to validate functionality across different scenarios, including CPU and CUDA operations.
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* refactor(pipeline): Remove to() method for device management
- Eliminated the to() method from RobotProcessor, which was responsible for moving tensor states to specified devices.
- Removed associated unit tests that validated the functionality of the to() method across various scenarios.
- Streamlined the pipeline code by focusing on other device management strategies.
* feat(processor): Enhance DeviceProcessor with float dtype conversion
- Added support for optional float dtype conversion in DeviceProcessor, allowing tensors to be converted to specified floating-point types while preserving non-float types.
- Implemented validation for float dtype input and updated the processor's configuration methods to include float dtype.
- Refactored tensor processing logic to streamline device movement and dtype conversion.
- Introduced comprehensive unit tests to validate the new float dtype functionality across various scenarios.
* feat(policies): Add new line processors and update module exports
* feat(processor): Enhance batch and device processors to handle index and task_index fields
- Added logic to ToBatchProcessor for unsqueezing 0D tensors for index and task_index fields, ensuring they are processed as 1D tensors.
- Updated DeviceProcessor to process index and task_index fields in complementary data, preserving their tensor types and ensuring non-tensor fields remain unchanged.
- Enhanced unit tests to validate the correct handling of index and task_index fields across various scenarios, including device compatibility and dtype preservation.
* Add eval script
* fix `q_curr` in InverseKinematicsEEToJoints to the IK solution
* feat(processors): Introduce processors for various policy types
- Added `make_processor` function to create processor instances for different policy types, including `tdmpc`, `diffusion`, `act`, `vqbet`, `pi0`, `pi0fast`, `sac`, and `reward_classifier`.
- Implemented corresponding processor files for each policy type, encapsulating normalization and unnormalization steps.
- Updated existing policies to remove direct normalization dependencies, enhancing modularity and clarity.
- Enhanced test coverage to validate the integration of new processors with existing policy configurations.
* refactor(learner): Remove normalization from cached image features retrieval
- Simplified the retrieval of observation features by removing the normalization step from the `get_cached_image_features` method calls.
- This change enhances clarity and aligns with the recent updates to policy processors.
* refactor(policies): Remove unnormalization step from action predictions
- Eliminated the unnormalization of actions in both `TDMPCPolicy` and `VQBeTPolicy` classes to streamline action prediction.
- This change improves code clarity and aligns with recent updates to policy processors.
* feat(train): Integrate preprocessor into training pipeline
* refactor(train): Update preprocessor initialization to include dataset statistics
* refactor(policies): Enhance processor creation and add NaN detection hook
* feat(record): Integrate RobotProcessor into recording loop and update policy handling
- Added support for RobotProcessor in the record_loop function to enhance data processing capabilities.
- Updated the logic to reset both policy and processor when provided, ensuring proper state management.
- Modified action prediction to utilize the processor, improving the overall functionality of the recording process.
- Adjusted the save_checkpoint function to include preprocessor state saving, enhancing checkpointing capabilities.
* feat(migration): Add script for migrating policy models with normalization layers
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* feat(migrate): Enhance migration script to create preprocessor and postprocessor for policy models
- Updated the migration script to generate both a preprocessor and a postprocessor, improving the handling of normalization for training and inference.
- Added functionality to convert features to PolicyFeature objects, ensuring compatibility with the new processor architecture.
- Refined the extraction and removal of normalization statistics and layers, streamlining the migration process.
- Improved error handling for missing mandatory configuration fields during model instantiation.
* feat(migrate): Add model card generation and saving to migration script
- Implemented functionality to generate and save a model card for the migrated model, including metadata such as dataset repository ID, license, and tags.
- Enhanced the script to push the model card to the hub if requested, improving model documentation and accessibility.
- Refactored the saving process to ensure the model card is saved locally and uploaded correctly when pushing to the hub.
* feat(processor): Introduce ToBatchProcessor for handling observation batching
- Added ToBatchProcessor to ensure observations have proper batch dimensions for model processing.
- Implemented functionality to add batch dimensions to state and image observations as needed.
- Created comprehensive unit tests to validate the processor's behavior with various tensor dimensions and types.
- Ensured compatibility with existing transition keys and maintained the integrity of non-observation data.
* feat(processors): Add ToBatchProcessor to multiple policy processors
- Integrated ToBatchProcessor into various policy processors to handle observation batching.
- Updated make functions for act, diffusion, pi0, pi0fast, sac, smolvla, tdmpc, and vqbet processors to include the new batching functionality.
- Ensured consistency across all processor implementations for improved data handling.
* refactor(factory): Remove unused imports and NaN detection hook from processor creation
* feat(batch_processor): Enhance ToBatchProcessor to handle action batching
- Updated ToBatchProcessor to add batch dimensions to actions in addition to observations.
- Implemented separate methods for processing observations and actions, improving code readability.
- Added comprehensive unit tests to validate action batching functionality across various tensor dimensions and types.
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* feat(factory): Enhance make_processor to support preprocessor and postprocessor configuration
- Introduced ProcessorConfigKwargs TypedDict for better type safety in processor configuration.
- Updated make_processor to accept preprocessor and postprocessor configuration filenames, improving flexibility in processor instantiation.
- Refactored the loading of pretrained processors to utilize the new configuration options.
* refactor(factory): Clean up imports in factory.py
- Removed unused import of IdentityProcessor to streamline the code.
* feat(migrate): Extend load_model_from_hub to include train configuration
- Updated load_model_from_hub to return the train configuration alongside the model state_dict and config.
- Modified main function to handle the additional train configuration when loading models from both the hub and local paths.
- Adjusted dataset_repo_id extraction to utilize the train configuration for improved accuracy.
* refactor(record): Rename processor parameters and update processing logic
- Renamed `processor` to `preprocessor` and added `postprocessor` parameter for clarity.
- Updated the `record_loop` and `predict_action` functions to utilize the new preprocessor and postprocessor, enhancing the processing flow.
- Ensured compatibility with existing functionality while improving code readability.
* feat(batch_processor): Add task field processing to ToBatchProcessor
- Enhanced ToBatchProcessor to wrap string tasks in a list, adding batch dimensions for compatibility with model inference.
- Implemented a new method for processing complementary data, ensuring that task values are correctly handled as either strings or lists of strings.
- Added comprehensive unit tests to validate task processing, including edge cases and in-place mutation of complementary data.
* feat(normalization): Implement IDENTITY mode for normalization and unnormalization
- Enhanced NormalizerProcessor and UnnormalizerProcessor to support IDENTITY mode, allowing features to bypass normalization when specified.
- Updated processing logic to check normalization modes and handle missing statistics gracefully.
- Added comprehensive unit tests to validate IDENTITY mode functionality for both observations and actions, ensuring correct behavior across various scenarios.
- Improved error handling for unsupported normalization modes.
* fix(rebase): remove residual normalization layer:
* refactor(diffusion): remove normalization layer from input processing
* refactor(normalization): Remove unused state dict transformation methods and streamline imports
- Eliminated the _transform_state_dict_keys and _load_as_safetensor methods from PI0Policy, simplifying the model loading process.
- Cleaned up imports in modeling_pi0.py by removing log_model_loading_keys and init_logging.
- Updated TDMPCPolicy and VQBeTPolicy to handle action removal from batches during offline evaluation.
- Introduced hotswap_stats function in normalize_processor.py to update normalization statistics dynamically, with corresponding tests to ensure functionality.
* refactor(normalization): Clean up imports in normalize_processor.py
* feat(batch_processor): Add feature_contract method to ToBatchProcessor
- Introduced feature_contract method that returns features without modification, maintaining the no-op behavior of the processor.
- This addition enhances the flexibility of the ToBatchProcessor for future feature processing needs.
* fix(dependencies): Update transformers dependency constraint to allow only versions up to 4.52.0
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* feature(pipeline): port tokenizer pipeline for VLA (#1645)
* feat(tokenizer): Introduce TokenizerProcessor for text tokenization
- Added TokenizerProcessor class to handle tokenization of task strings using Hugging Face's AutoTokenizer.
- Supports both string and list inputs, with customizable parameters for task key, output key, and tokenization settings.
- Implemented comprehensive unit tests to validate functionality, including handling of various input scenarios and integration with RobotProcessor.
- Updated types.py to include LANGUAGE feature type and modified __init__.py to register the new processor.
* feat(language): Enhance language processing in TokenizerProcessor
- Added OBS_LANGUAGE constant to define the observation language key.
- Updated TokenizerProcessor to store tokenized task data in the observation dictionary, ensuring compatibility with the new language feature.
- Introduced Pi0NewLineProcessor to append newlines to tasks for proper tokenization.
- Modified tests to validate the integration of language tokens and attention masks in the observation structure.
* feat(tokenizer): Add padding configuration to TokenizerProcessor
- Introduced `padding_side` parameter to the TokenizerProcessor for customizable padding direction.
- Updated the `make_pi0_processor` function to include the new padding configuration.
- Enhanced unit tests to validate the functionality of the `padding_side` parameter in various scenarios.
* feat(processor): Add state management methods to Pi0NewLineProcessor
* feat(normalization): Track normalization and unnormalization info in complementary data
- Updated NormalizerProcessor and UnnormalizerProcessor to accept additional parameters for tracking normalization modes.
- Enhanced the __call__ methods to store normalization and unnormalization information in the complementary data of transitions.
- Added unit tests to verify the correct tracking of normalization info, including scenarios with missing stats and selective normalization keys.
* feat(factory): Add preprocessor and postprocessor overrides to ProcessorConfigKwargs
- Updated ProcessorConfigKwargs to include optional overrides for preprocessor and postprocessor configurations.
- Enhanced the make_processor function to utilize the new overrides, allowing for more flexible processor initialization.
* feat(processors): Integrate RenameProcessor into various processor configurations
- Added RenameProcessor to the input steps of multiple processor functions, including make_act_processor, make_diffusion_processor, make_pi0_processor, make_sac_processor, make_tdmpc_processor, make_vqbet_processor, and make_smolvla_processor.
- Consolidated normalization features from input and output into a single NormalizerProcessor for improved efficiency.
- Updated the input steps to ensure compatibility with the new RenameProcessor integration.
* feat(smolvla): Refactor language processing and introduce new line processor (#1658)
- Removed the prepare_language method and directly accessed language tokens and masks from the batch using the OBS_LANGUAGE constant.
- Added SmolVLANewLineProcessor to ensure tasks end with a newline, enhancing tokenization compatibility.
- Updated the make_smolvla_processor function to include the new line processor and tokenizer processor for improved input handling.
* feture(policies): add device processor (#1659)
* feat(processors): Integrate DeviceProcessor into multiple processor configurations
- Added DeviceProcessor to the input and output steps of various processor functions, including make_act_processor, make_diffusion_processor, make_pi0_processor, make_pi0fast_processor, make_sac_processor, make_tdmpc_processor, make_vqbet_processor, and make_smolvla_processor.
- Enhanced the DeviceProcessor class with state management methods and ensured compatibility with existing processor pipelines.
- Introduced unit tests for DeviceProcessor to validate functionality across different scenarios, including CPU and CUDA operations.
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* refactor(pipeline): Remove to() method for device management
- Eliminated the to() method from RobotProcessor, which was responsible for moving tensor states to specified devices.
- Removed associated unit tests that validated the functionality of the to() method across various scenarios.
- Streamlined the pipeline code by focusing on other device management strategies.
* feat(processor): Enhance DeviceProcessor with float dtype conversion
- Added support for optional float dtype conversion in DeviceProcessor, allowing tensors to be converted to specified floating-point types while preserving non-float types.
- Implemented validation for float dtype input and updated the processor's configuration methods to include float dtype.
- Refactored tensor processing logic to streamline device movement and dtype conversion.
- Introduced comprehensive unit tests to validate the new float dtype functionality across various scenarios.
* feat(policies): Add new line processors and update module exports
* feat(processor): Enhance batch and device processors to handle index and task_index fields
- Added logic to ToBatchProcessor for unsqueezing 0D tensors for index and task_index fields, ensuring they are processed as 1D tensors.
- Updated DeviceProcessor to process index and task_index fields in complementary data, preserving their tensor types and ensuring non-tensor fields remain unchanged.
- Enhanced unit tests to validate the correct handling of index and task_index fields across various scenarios, including device compatibility and dtype preservation.
* refactor(processors): Standardize processor naming conventions
- Updated processor names across various files to use a consistent "robot_preprocessor" and "robot_postprocessor" format.
- Modified the make_processor functions in factory, act, diffusion, pi0, pi0fast, sac, smolvla, tdmpc, and vqbet to reflect the new naming scheme.
- Enhanced the pipeline configuration to align with the updated processor names, improving clarity and maintainability.
* refactor(factory): Update processor configuration and type hints
- Changed return type of get_policy_class to type[PreTrainedPolicy] for improved type safety.
- Enhanced make_processor function to utilize dataset_stats in processor creation for better flexibility.
- Updated ProcessorConfigKwargs to include dataset_stats, allowing for more comprehensive processor configurations.
- Streamlined processor initialization by removing unnecessary kwargs and ensuring clarity in processor type handling.
* Fix eval and android gripper
* add some tests
* refactor(factory, pi0fast): Update processor function names and parameters
- Renamed make_pi0_processor to make_pi0fast_processor for clarity and consistency.
- Updated parameter names in the factory's make_processor function to use pretrained_model_name_or_path instead of source, enhancing readability and alignment with naming conventions.
* fix(train.py) push postprocessor with preprocessor
- Add preprocesser policy overrides for device and rename_map
- Add rename_map to DatasetRecordConfig (record.py)
* Cleanup pr
* fix more git diff pr issues
* add path as type in save_pretrained
* small nit
* [pre-commit.ci] auto fixes from pre-commit.com hooks
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* rename test file
* fix: make dataset_features/feature_contract is optional
* fix tests
* Encorperate pr feedback
* clean up record.py
* add ascii art, fix normal record
* remove merge issues
* fix merge
* remove features
* Add feedback PR
* fix last 4 tests
* remove features check
* rename to transform_features
* add transform_features
* fix lekiwi eval and update eval api example
---------
Signed-off-by: Adil Zouitine <adilzouitinegm@gmail.com>
Signed-off-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
* feat: Add fixes and refactor lekiwi example
* fix: replace repo_id with placeholders
* feat: use record_loop for lekiwi, use same control strucutre as record.py
* feat: make rerun log more general for lekiwi
* fix: add comments record_loop and fix params evaluate.py
* fix: add events in evaluate.py
* fix: add events 2
* change record to display data
* Integrate feedback steven
* Add docs merging
* fix: add lekiwi name check
* fix: integrate feedback steven
* fix: list for type
* fix: check type list
* remove second robot connect
* fix: added file when merging
* fix(record): account for edge cases when teleop is a list
---------
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Steven Palma