* refactor(processor): enhance type annotations for processors in record, replay, teleoperate, and control utils
- Updated type annotations for preprocessor and postprocessor parameters in record_loop and predict_action functions to specify the expected dictionary types.
- Adjusted robot_action_processor type in ReplayConfig and TeleoperateConfig to improve clarity and maintainability.
- Ensured consistency in type definitions across multiple files, enhancing overall code readability.
* refactor(processor): enhance type annotations for RobotProcessorPipeline in various files
- Updated type annotations for RobotProcessorPipeline instances in evaluate.py, record.py, replay.py, teleoperate.py, and other related files to specify input and output types more clearly.
- Introduced new type conversions for PolicyAction and EnvTransition to improve type safety and maintainability across the processing pipelines.
- Ensured consistency in type definitions, enhancing overall code readability and reducing potential runtime errors.
* refactor(processor): update transition handling in processors to use transition_to_batch
- Replaced direct transition handling with transition_to_batch in various processor tests and implementations to ensure consistent batching of input data.
- Updated assertions in tests to reflect changes in data structure, enhancing clarity and maintainability.
- Improved overall code readability by standardizing the way transitions are processed across different processor types.
* refactor(tests): standardize transition key usage in processor tests
- Updated assertions in processor test files to utilize the TransitionKey for action references, enhancing consistency across tests.
- Replaced direct string references with TransitionKey constants for improved readability and maintainability.
- Ensured that all relevant tests reflect these changes, contributing to a more uniform approach in handling transitions.
* refactor(processor): signature of transform_features
* refactor(processor): remove prefixes + processor respect new transform_features signature + update test accordingly
* refactor(processor): rename now is only for visual
* refactor(processor): update normalize processor
* refactor(processor): update vanilla processor features
* refactor(processor): feature contract now uses its own enum
* chore(processor): rename renameprocessor
* chore(processor): minor changes
* refactor(processor): add create & change aggregate
* refactor(processor): update aggregate
* refactor(processor): simplify to functions, fix features contracts and rename function
* test(processor): remove to converter tests as now they are very simple
* chore(docs): recover docs joint observations processor
* fix(processor): update RKP
* fix(tests): recv diff test_pipeline
* chore(tests): add docs to test
* chore(processor): leave obs language constant untouched
* fix(processor): correct new shape of feature in crop image processor
* refactor(processors): reorder processor steps for consistency across implementations
- Updated the order of processor steps in multiple files to ensure consistency, placing AddBatchDimensionProcessorStep and DeviceProcessorStep before NormalizerProcessorStep.
- Adjusted related test assertions to reflect the new order of steps in the preprocessor, enhancing clarity and maintainability.
* refactor(normalization): remove dtype specification in tensor conversion for adaptation logic
- Updated tensor conversion in the _NormalizationMixin class to remove explicit dtype specification, allowing for automatic adaptation of tensor types.
- Adjusted related tests to ensure proper functionality with the new tensor conversion logic, verifying that normalizers adapt correctly to input types.
- Changed assertions in multiple processor test files to verify the updated names from "robot_preprocessor" and "robot_postprocessor" to "policy_preprocessor" and "policy_postprocessor" for consistency with recent refactoring.
- Updated the DataProcessorPipeline to require that all steps inherit from ProcessorStep, enhancing type safety and clarity.
- Adjusted tests to utilize a MockTokenizerProcessorStep that adheres to the ProcessorStep interface, ensuring consistent behavior across tests.
- Refactored various mock step classes in tests to inherit from ProcessorStep for improved consistency and maintainability.
* refactor(processor): rename MapDeltaActionToRobotAction and MapTensorToDeltaActionDict for consistency
* refactor(processor): rename DeviceProcessor to DeviceProcessorStep for consistency across modules
* refactor(processor): rename Torch2NumpyActionProcessor to Torch2NumpyActionProcessorStep for consistency
* refactor(processor): rename Numpy2TorchActionProcessor to Numpy2TorchActionProcessorStep for consistency
* refactor(processor): rename AddTeleopActionAsComplimentaryData to AddTeleopActionAsComplimentaryDataStep for consistency
* refactor(processor): rename ImageCropResizeProcessor and AddTeleopEventsAsInfo for consistency
* refactor(processor): rename TimeLimitProcessor to TimeLimitProcessorStep for consistency
* refactor(processor): rename GripperPenaltyProcessor to GripperPenaltyProcessorStep for consistency
* refactor(processor): rename InterventionActionProcessor to InterventionActionProcessorStep for consistency
* refactor(processor): rename RewardClassifierProcessor to RewardClassifierProcessorStep for consistency
* refactor(processor): rename JointVelocityProcessor to JointVelocityProcessorStep for consistency
* refactor(processor): rename MotorCurrentProcessor to MotorCurrentProcessorStep for consistency
* refactor(processor): rename NormalizerProcessor and UnnormalizerProcessor to NormalizerProcessorStep and UnnormalizerProcessorStep for consistency
* refactor(processor): rename VanillaObservationProcessor to VanillaObservationProcessorStep for consistency
* refactor(processor): rename RenameProcessor to RenameProcessorStep for consistency
* refactor(processor): rename TokenizerProcessor to TokenizerProcessorStep for consistency
* refactor(processor): rename ToBatchProcessor to AddBatchDimensionProcessorStep for consistency
* refactor(processor): update config file name in test for RenameProcessorStep consistency
* refactor(processor): introduce generic type for to_output
- Always return `TOutput`
- Remove `_prepare_transition`, so `__call__` now always returns `TOutput`
- Update tests accordingly
- This refactor paves the way for adding settings for `to_transition` and `to_output` in `make_processor` and the post-processor
* refactor(processor): consolidate ProcessorKwargs usage across policies
- Removed the ProcessorTypes module and integrated ProcessorKwargs directly into the processor pipeline.
- Updated multiple policy files to utilize the new ProcessorKwargs structure for preprocessor and postprocessor arguments.
- Simplified the handling of processor kwargs by initializing them to empty dictionaries when not provided.
* [Port codebase pipeline] General fixes for RL and scripts (#1748)
* Refactor dataset configuration in documentation and codebase
- Updated dataset configuration keys from `dataset_root` to `root` and `num_episodes` to `num_episodes_to_record` for consistency.
- Adjusted replay episode handling by renaming `episode` to `replay_episode`.
- Enhanced documentation
- added specific processor to transform from policy actions to delta actions
* Added Robot action to tensor processor
Added new processor script for dealing with gym specific action processing
* removed RobotAction2Tensor processor; imrpoved choosing observations in actor
* nit in delta action
* added missing reset functions to kinematics
* Adapt teleoperate and replay to pipeline similar to record
* refactor(processors): move to inheritance (#1750)
* fix(teleoperator): improvements phone implementation (#1752)
* fix(teleoperator): protect shared state in phone implementation
* refactor(teleop): separate classes in phone
* fix: solve breaking changes (#1753)
* refactor(policies): multiple improvements (#1754)
* refactor(processor): simpler logic in device processor (#1755)
* refactor(processor): euclidean distance in delta action processor (#1757)
* refactor(processor): improvements to joint observations processor migration (#1758)
* refactor(processor): improvements to tokenizer migration (#1759)
* refactor(processor): improvements to tokenizer migration
* fix(tests): tokenizer tests regression from #1750
* fix(processors): fix float comparison and config in hil processors (#1760)
* chore(teleop): remove unnecessary callbacks in KeyboardEndEffectorTeleop (#1761)
* refactor(processor): improvements normalize pipeline migration (#1756)
* refactor(processor): several improvements normalize processor step
* refactor(processor): more improvements normalize processor
* refactor(processor): more changes to normalizer
* refactor(processor): take a different approach to DRY
* refactor(processor): final design
* chore(record): revert comment and continue deleted (#1764)
* refactor(examples): pipeline phone examples (#1769)
* refactor(examples): phone teleop + teleop script
* refactor(examples): phone replay + replay
* chore(examples): rename phone example files & folders
* feat(processor): fix improvements to the pipeline porting (#1796)
* refactor(processor): enhance tensor device handling in normalization process (#1795)
* refactor(tests): remove unsupported device detection test for complementary data (#1797)
* chore(tests): update ToBatchProcessor test (#1798)
* refactor(tests): remove in-place mutation tests for actions and complementary data in batch processor
* test(tests): add tests for action and task processing in batch processor
* add names for android and ios phone (#1799)
* use _tensor_stats in normalize processor (#1800)
* fix(normalize_processor): correct device reference for tensor epsilon handling (#1801)
* add point 5 add missing feature contracts (#1806)
* Fix PR comments 1452 (#1807)
* use key to determine image
* Address rest of PR comments
* use PolicyFeatures in transform_features
---------
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
---------
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
- Introduced new test files for ACT, Classifier, Diffusion, PI0, SAC, SmolVLA, TDMPC, and VQBeT policy processors.
- Each test file includes unit tests to validate functionality, including handling of batch sizes, device management, and data type conversions.
- Enhanced test coverage to ensure robustness and reliability of processor implementations across different scenarios.
Adil Zouitine