- Eliminated the _generate_model_card method from RobotProcessor, which was responsible for generating README.md files from a template.
- Updated save_pretrained method to remove model card generation, focusing on serialization of processor definitions and parameters.
- Added default implementations for get_config, state_dict, load_state_dict, reset, and feature_contract methods in various processor classes to enhance consistency and usability.
- 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.
- Updated documentation to specify that hooks always receive transitions in EnvTransition format, ensuring consistent behavior across input formats.
- Refactored the step_through method to yield only EnvTransition objects, regardless of the input format, and updated related tests to reflect this change.
- Enhanced test assertions to verify the structure of results and the correctness of processing steps.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
* Merge together proto files and refactor Async inference
* Fixup for Async inference
* Drop not reuqired changes
* Fix tests
* Drop old async files
* Drop chunk_size param
* Fix versions
* [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
* Fix wrong fix
Co-authored-by: Ben Zhang <ben.zhang@uwaterloo.ca>
* Fixup
---------
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
Co-authored-by: Ben Zhang <ben.zhang@uwaterloo.ca>
Co-authored-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
* test(cameras): increase timeout in depth read for testing
* test(cameras): skip test_depth in realsense
---------
Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co>
* feat(policies): Initial setup to push policies to hub with tags and model card
* feat: add dataset that is used to train
* Add model template summary
* fix: Update link model_card template
* fix: remove print
* fix: change import name
* fix: add model summary in template
* fix: minor text
* fix: comments Lucain
* fix: feedback steven
* fix: restructure push to hub
* fix: remove unneeded changes
* fix: import
* fix: import 2
* Add MANIFEST.in
* fix: feedback pr
* Fix tests
* tests: Add smolvla end-to-end test
* Fix: smolvla test
* fix test name
* fix policy tests
* Add push to hub false policy tests
* Do push to hub cleaner
* fix(ci): add push_to_hub false in tests
---------
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Adil Zouitine