feat(WIP): adding support for multi-process camera video capture

src/lerobot/cameras/opencv/camera_opencv.py

@@ -23,6 +23,8 @@ import platform
 import time
 from pathlib import Path
 from threading import Event, Lock, Thread
+from multiprocessing import Process, Event as EventProcess, JoinableQueue as Queue
+from queue import Empty
 from typing import Any
 
 from numpy.typing import NDArray  # type: ignore  # TODO: add type stubs for numpy.typing
@@ -119,11 +121,10 @@ class OpenCVCamera(Camera):
 
         self.videocapture: cv2.VideoCapture | None = None
 
-        self.thread: Thread | None = None
+        self.process: Process | None = None
-        self.stop_event: Event | None = None
+        self.stop_event: EventProcess | None = None
-        self.frame_lock: Lock = Lock()
+        self.frame_queue: Queue = Queue()
         self.latest_frame: NDArray[Any] | None = None
-        self.new_frame_event: Event = Event()
 
         self.rotation: int | None = get_cv2_rotation(config.rotation)
         self.backend: int = get_cv2_backend()
@@ -442,37 +443,36 @@ class OpenCVCamera(Camera):
         while not self.stop_event.is_set():
             try:
                 color_image = self.read()
-
+                self.frame_queue.put_nowait(color_image)
-                with self.frame_lock:
-                    self.latest_frame = color_image
-                self.new_frame_event.set()
 
             except DeviceNotConnectedError:
                 break
             except Exception as e:
                 logger.warning(f"Error reading frame in background thread for {self}: {e}")
 
-    def _start_read_thread(self) -> None:
+    def _start_read_process(self) -> None:
         """Starts or restarts the background read thread if it's not running."""
-        if self.thread is not None and self.thread.is_alive():
+        if self.process is not None and self.process.is_alive():
-            self.thread.join(timeout=0.1)
+            self.frame_queue.join()
+            self.process.join()
         if self.stop_event is not None:
             self.stop_event.set()
 
         self.stop_event = Event()
-        self.thread = Thread(target=self._read_loop, args=(), name=f"{self}_read_loop")
+        self.process = Process(target=self._read_loop, args=(), name=f"{self}_read_loop")
-        self.thread.daemon = True
+        self.process.daemon = True
-        self.thread.start()
+        self.process.start()
 
     def _stop_read_thread(self) -> None:
         """Signals the background read thread to stop and waits for it to join."""
         if self.stop_event is not None:
             self.stop_event.set()
 
-        if self.thread is not None and self.thread.is_alive():
+        if self.process is not None and self.process.is_alive():
-            self.thread.join(timeout=2.0)
+            self.frame_queue.join()
+            self.process.join()
 
-        self.thread = None
+        self.process = None
         self.stop_event = None
 
     def async_read(self, timeout_ms: float = 200) -> NDArray[Any]:
@@ -499,24 +499,32 @@ class OpenCVCamera(Camera):
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")
 
-        if self.thread is None or not self.thread.is_alive():
+        if self.process is None or not self.process.is_alive():
-            self._start_read_thread()
+            self._start_read_process()
 
-        if not self.new_frame_event.wait(timeout=timeout_ms / 1000.0):
+        if self.latest_frame is None:
-            thread_alive = self.thread is not None and self.thread.is_alive()
+            self.latest_frame = self.frame_queue.get()
-            raise TimeoutError(
+            self.frame_queue.task_done()
-                f"Timed out waiting for frame from camera {self} after {timeout_ms} ms. "
+            return self.latest_frame
-                f"Read thread alive: {thread_alive}."
-            )
 
-        with self.frame_lock:
+        try:
-            frame = self.latest_frame
+            frame = self.frame_queue.get(timeout=timeout_ms / 1000.0)
-            self.new_frame_event.clear()
+            self.frame_queue.task_done()
+        except Empty:
+            process_alive = self.process is not None and self.process.is_alive()
+            if process_alive:
+                logger.warning(f"{self} async_read timed out after {timeout_ms} ms but camera is still running.")
+                return self.latest_frame
+            else:
+                raise TimeoutError(
+                    f"{self} async_read timed out after {timeout_ms} ms: camera is not responding !"
+                )
 
         if frame is None:
             raise RuntimeError(f"Internal error: Event set but no frame available for {self}.")
-
+        else:
-        return frame
+            self.latest_frame = frame
+            return self.latest_frame
 
     def disconnect(self) -> None:
         """

src/lerobot/policies/diffusion/configuration_diffusion.py

@@ -45,7 +45,7 @@ class DiffusionConfig(PreTrainedConfig):
     Args:
         n_obs_steps: Number of environment steps worth of observations to pass to the policy (takes the
             current step and additional steps going back).
-        chunk_size: Diffusion model action prediction size as detailed in `DiffusionPolicy.select_action`.
+        horizon: Diffusion model action prediction size as detailed in `DiffusionPolicy.select_action`.
         n_action_steps: The number of action steps to run in the environment for one invocation of the policy.
             See `DiffusionPolicy.select_action` for more details.
         input_shapes: A dictionary defining the shapes of the input data for the policy. The key represents
@@ -105,7 +105,7 @@ class DiffusionConfig(PreTrainedConfig):
 
     # Inputs / output structure.
     n_obs_steps: int = 2
-    chunk_size: int = 16
+    horizon: int = 16
     n_action_steps: int = 8
 
     normalization_mapping: dict[str, NormalizationMode] = field(
@@ -118,7 +118,7 @@ class DiffusionConfig(PreTrainedConfig):
 
     # The original implementation doesn't sample frames for the last 7 steps,
     # which avoids excessive padding and leads to improved training results.
-    drop_n_last_frames: int = 7  # chunk_size - n_action_steps - n_obs_steps + 1
+    drop_n_last_frames: int = 7  # horizon - n_action_steps - n_obs_steps + 1
 
     # Architecture / modeling.
     # Vision backbone.
@@ -180,13 +180,13 @@ class DiffusionConfig(PreTrainedConfig):
                 f"Got {self.noise_scheduler_type}."
             )
 
-        # Check that the chunk size and U-Net downsampling is compatible.
+        # Check that the horizon size and U-Net downsampling is compatible.
         # U-Net downsamples by 2 with each stage.
         downsampling_factor = 2 ** len(self.down_dims)
-        if self.chunk_size % downsampling_factor != 0:
+        if self.horizon % downsampling_factor != 0:
             raise ValueError(
-                "The chunk_size should be an integer multiple of the downsampling factor (which is determined "
+                "The horizon should be an integer multiple of the downsampling factor (which is determined "
-                f"by `len(down_dims)`). Got {self.chunk_size=} and {self.down_dims=}"
+                f"by `len(down_dims)`). Got {self.horizon=} and {self.down_dims=}"
             )
 
     def get_optimizer_preset(self) -> AdamConfig:
@@ -231,7 +231,7 @@ class DiffusionConfig(PreTrainedConfig):
 
     @property
     def action_delta_indices(self) -> list:
-        return list(range(1 - self.n_obs_steps, 1 - self.n_obs_steps + self.chunk_size))
+        return list(range(1 - self.n_obs_steps, 1 - self.n_obs_steps + self.horizon))
 
     @property
     def reward_delta_indices(self) -> None:

src/lerobot/policies/diffusion/modeling_diffusion.py

@@ -99,25 +99,25 @@ class DiffusionPolicy(PreTrainedPolicy):
         return actions
 
     @torch.no_grad()
-    def select_action(self, batch: dict[str, Tensor], noise: Tensor | None = None, **kwargs) -> Tensor:
+    def select_action(self, batch: dict[str, Tensor], noise: Tensor | None = None) -> Tensor:
         """Select a single action given environment observations.
 
         This method handles caching a history of observations and an action trajectory generated by the
         underlying diffusion model. Here's how it works:
           - `n_obs_steps` steps worth of observations are cached (for the first steps, the observation is
             copied `n_obs_steps` times to fill the cache).
-          - The diffusion model generates `chunk_size` steps worth of actions.
+          - The diffusion model generates `horizon` steps worth of actions.
           - `n_action_steps` worth of actions are actually kept for execution, starting from the current step.
         Schematically this looks like:
             ----------------------------------------------------------------------------------------------
-            (legend: o = n_obs_steps, c = chunk_size, a = n_action_steps)
+            (legend: o = n_obs_steps, h = horizon, a = n_action_steps)
             |timestep            | n-o+1 | n-o+2 | ..... | n     | ..... | n+a-1 | n+a   | ..... | n-o+h |
             |observation is used | YES   | YES   | YES   | YES   | NO    | NO    | NO    | NO    | NO    |
             |action is generated | YES   | YES   | YES   | YES   | YES   | YES   | YES   | YES   | YES   |
             |action is used      | NO    | NO    | NO    | YES   | YES   | YES   | NO    | NO    | NO    |
             ----------------------------------------------------------------------------------------------
-        Note that this means we require: `n_action_steps <= chunk_size - n_obs_steps + 1`. Also, note that
+        Note that this means we require: `n_action_steps <= horizon - n_obs_steps + 1`. Also, note that
-        this period is
+        "horizon" may not the best name to describe what the variable actually means, because this period is
         actually measured from the first observation which (if `n_obs_steps` > 1) happened in the past.
         """
         # NOTE: for offline evaluation, we have action in the batch, so we need to pop it out
@@ -213,7 +213,7 @@ class DiffusionModel(nn.Module):
             noise
             if noise is not None
             else torch.randn(
-                size=(batch_size, self.config.chunk_size, self.config.action_feature.shape[0]),
+                size=(batch_size, self.config.horizon, self.config.action_feature.shape[0]),
                 dtype=dtype,
                 device=device,
                 generator=generator,
@@ -309,16 +309,16 @@ class DiffusionModel(nn.Module):
                 AND/OR
             "observation.environment_state": (B, n_obs_steps, environment_dim)
 
-            "action": (B, chunk_size, action_dim)
+            "action": (B, horizon, action_dim)
-            "action_is_pad": (B, chunk_size)
+            "action_is_pad": (B, horizon)
         }
         """
         # Input validation.
         assert set(batch).issuperset({OBS_STATE, ACTION, "action_is_pad"})
         assert OBS_IMAGES in batch or OBS_ENV_STATE in batch
         n_obs_steps = batch[OBS_STATE].shape[1]
-        chunk_size = batch[ACTION].shape[1]
+        horizon = batch[ACTION].shape[1]
-        assert chunk_size == self.config.chunk_size
+        assert horizon == self.config.horizon
         assert n_obs_steps == self.config.n_obs_steps
 
         # Encode image features and concatenate them all together along with the state vector.

src/lerobot/policies/dsrl/configuration_dsrl.py

@@ -1,242 +0,0 @@
-# !/usr/bin/env python
-
-# Copyright 2025 The HuggingFace Inc. team.
-# All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from dataclasses import dataclass, field
-
-from lerobot.configs.policies import PreTrainedConfig
-from lerobot.configs.types import NormalizationMode
-from lerobot.optim.optimizers import MultiAdamConfig
-from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
-
-
-def is_image_feature(key: str) -> bool:
-    """Check if a feature key represents an image feature.
-
-    Args:
-        key: The feature key to check
-
-    Returns:
-        True if the key represents an image feature, False otherwise
-    """
-    return key.startswith(OBS_IMAGE)
-
-
-@dataclass
-class ConcurrencyConfig:
-    """Configuration for the concurrency of the actor and learner.
-    Possible values are:
-    - "threads": Use threads for the actor and learner.
-    - "processes": Use processes for the actor and learner.
-    """
-
-    actor: str = "threads"
-    learner: str = "threads"
-
-
-@dataclass
-class ActorLearnerConfig:
-    learner_host: str = "127.0.0.1"
-    learner_port: int = 50051
-    policy_parameters_push_frequency: int = 4
-    queue_get_timeout: float = 2
-
-
-@dataclass
-class CriticNetworkConfig:
-    hidden_dims: list[int] = field(default_factory=lambda: [256, 256])
-    activate_final: bool = True
-    final_activation: str | None = None
-
-
-@dataclass
-class ActorNetworkConfig:
-    hidden_dims: list[int] = field(default_factory=lambda: [256, 256])
-    activate_final: bool = True
-    use_layer_norm: bool = True
-
-
-@dataclass
-class NoiseActorConfig:
-    """Configuration for the noise actor in DSRL.
-    The noise actor outputs noise that gets fed to the diffusion policy.
-    """
-
-    use_tanh_squash: bool = False  # Whether to bound the noise output
-    std_min: float = 1e-5
-    std_max: float = 2.0
-    init_final: float = 0.05
-
-
-@PreTrainedConfig.register_subclass("dsrl")
-@dataclass
-class DSRLConfig(PreTrainedConfig):
-    """Diffusion Steering via Reinforcement Learning (DSRL) configuration."""
-
-    # Mapping of feature types to normalization modes
-    normalization_mapping: dict[str, NormalizationMode] = field(
-        default_factory=lambda: {
-            "VISUAL": NormalizationMode.MEAN_STD,
-            "STATE": NormalizationMode.MIN_MAX,
-            "ENV": NormalizationMode.MIN_MAX,
-            "ACTION": NormalizationMode.MIN_MAX,
-        }
-    )
-
-    # Statistics for normalizing different types of inputs
-    dataset_stats: dict[str, dict[str, list[float]]] | None = field(
-        default_factory=lambda: {
-            OBS_IMAGE: {
-                "mean": [0.485, 0.456, 0.406],
-                "std": [0.229, 0.224, 0.225],
-            },
-            OBS_STATE: {
-                "min": [0.0, 0.0],
-                "max": [1.0, 1.0],
-            },
-            ACTION: {
-                "min": [0.0, 0.0, 0.0],
-                "max": [1.0, 1.0, 1.0],
-            },
-        }
-    )
-
-    # Architecture specifics
-    # Device to run the model on (e.g., "cuda", "cpu")
-    device: str = "cpu"
-    # Device to store the model on
-    storage_device: str = "cpu"
-    # Name of the vision encoder model (Set to "helper2424/resnet10" for hil serl resnet10)
-    vision_encoder_name: str | None = None
-    # Whether to freeze the vision encoder during training
-    freeze_vision_encoder: bool = True
-    # Hidden dimension size for the image encoder
-    image_encoder_hidden_dim: int = 32
-    # Whether to use a shared encoder for actor and critic
-    shared_encoder: bool = True
-    # Number of discrete actions, eg for gripper actions
-    num_discrete_actions: int | None = None
-    # Dimension of the image embedding pooling
-    image_embedding_pooling_dim: int = 8
-
-    # Name of the action policy
-    action_policy_name: str = "pi0"
-    action_policy_weights: str | None = "lerobot/pi0_base"
-
-    # Training parameter
-    # Number of steps for online training
-    online_steps: int = 1000000
-    # Capacity of the online replay buffer
-    online_buffer_capacity: int = 100000
-    # Capacity of the offline replay buffer
-    offline_buffer_capacity: int = 100000
-    # Whether to use asynchronous prefetching for the buffers
-    async_prefetch: bool = False
-    # Number of steps before learning starts
-    online_step_before_learning: int = 100
-    # Frequency of policy updates
-    policy_update_freq: int = 1
-
-    # SAC algorithm parameters
-    discount: float = 0.99
-    # Initial temperature value
-    temperature_init: float = 1.0
-    # Number of critics in the ensemble
-    num_critics: int = 2
-    # Number of subsampled critics for training
-    num_subsample_critics: int | None = None
-    # Learning rate for the critic network
-    critic_lr: float = 3e-4
-    # Learning rate for the actor network
-    actor_lr: float = 3e-4
-    # Learning rate for the temperature parameter
-    temperature_lr: float = 3e-4
-    # Weight for the critic target update
-    critic_target_update_weight: float = 0.005
-    # Update-to-data ratio for the UTD algorithm (If you want enable utd_ratio, you need to set it to >1)
-    utd_ratio: int = 1
-    # Hidden dimension size for the state encoder
-    state_encoder_hidden_dim: int = 256
-    # Dimension of the latent space
-    latent_dim: int = 256
-    # Target entropy for the SAC algorithm
-    target_entropy: float | None = None
-    # Whether to use backup entropy for the SAC algorithm
-    use_backup_entropy: bool = True
-    # Gradient clipping norm for the SAC algorithm
-    grad_clip_norm: float = 40.0
-
-    # Network configuration
-    # Configuration for the critic network architecture
-    critic_network_kwargs: CriticNetworkConfig = field(default_factory=CriticNetworkConfig)
-    # Configuration for the noise critic network architecture
-    noise_critic_network_kwargs: CriticNetworkConfig = field(default_factory=CriticNetworkConfig)
-    # Configuration for the noise actor network architecture
-    noise_actor_network_kwargs: ActorNetworkConfig = field(default_factory=ActorNetworkConfig)
-    # Configuration for the noise actor specific parameters
-    noise_actor_kwargs: NoiseActorConfig = field(default_factory=NoiseActorConfig)
-    # Configuration for actor-learner architecture
-    actor_learner_config: ActorLearnerConfig = field(default_factory=ActorLearnerConfig)
-    # Configuration for concurrency settings (you can use threads or processes for the actor and learner)
-    concurrency: ConcurrencyConfig = field(default_factory=ConcurrencyConfig)
-
-    # Optimizations
-    use_torch_compile: bool = True
-
-    def __post_init__(self):
-        super().__post_init__()
-
-    def get_optimizer_preset(self) -> MultiAdamConfig:
-        return MultiAdamConfig(
-            weight_decay=0.0,
-            optimizer_groups={
-                "critic_action": {"lr": self.critic_lr},
-                "critic_noise": {"lr": self.critic_lr},
-                "noise_actor": {"lr": self.actor_lr},
-                "temperature": {"lr": self.temperature_lr},
-            },
-        )
-
-    def get_scheduler_preset(self) -> None:
-        return None
-
-    def validate_features(self) -> None:
-        has_image = any(is_image_feature(key) for key in self.input_features)
-        has_state = OBS_STATE in self.input_features
-
-        if not (has_state or has_image):
-            raise ValueError(
-                "You must provide either 'observation.state' or an image observation (key starting with 'observation.image') in the input features"
-            )
-
-        if ACTION not in self.output_features:
-            raise ValueError("You must provide 'action' in the output features")
-
-    @property
-    def image_features(self) -> list[str]:
-        return [key for key in self.input_features if is_image_feature(key)]
-
-    @property
-    def observation_delta_indices(self) -> list:
-        return None
-
-    @property
-    def action_delta_indices(self) -> list:
-        return None
-
-    @property
-    def reward_delta_indices(self) -> None:
-        return None

src/lerobot/policies/dsrl/processor_dsrl.py

@@ -1,89 +0,0 @@
-# !/usr/bin/env python
-
-# Copyright 2025 The HuggingFace Inc. team.
-# All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""
-Processor for DSRL policy.
-
-DSRL uses a similar processing pipeline as SAC since it operates on
-state-action transitions. The main difference is that internally it
-also works with noise, but that's handled within the policy itself.
-"""
-
-from typing import Any
-
-import torch
-
-from lerobot.policies.dsrl.configuration_dsrl import DSRLConfig
-from lerobot.processor import (
-    AddBatchDimensionProcessorStep,
-    DeviceProcessorStep,
-    NormalizerProcessorStep,
-    PolicyAction,
-    PolicyProcessorPipeline,
-    RenameObservationsProcessorStep,
-    UnnormalizerProcessorStep,
-)
-from lerobot.processor.converters import (
-    policy_action_to_transition,
-    transition_to_policy_action,
-)
-from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
-
-
-def make_dsrl_pre_post_processors(
-    config: DSRLConfig,
-    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
-) -> tuple[
-    PolicyProcessorPipeline[dict, dict],
-    PolicyProcessorPipeline[PolicyAction, PolicyAction],
-]:
-    """Create preprocessor and postprocessor pipelines for DSRL policy.
-
-    Args:
-        config: DSRL policy configuration
-        dataset_stats: Optional dataset statistics for normalization
-
-    Returns:
-        Tuple of (preprocessor, postprocessor) pipelines
-    """
-    input_steps = [
-        RenameObservationsProcessorStep(rename_map={}),
-        AddBatchDimensionProcessorStep(),
-        DeviceProcessorStep(device=config.device),
-        NormalizerProcessorStep(
-            features={**config.input_features, **config.output_features},
-            norm_map=config.normalization_mapping,
-            stats=dataset_stats,
-        ),
-    ]
-    output_steps = [
-        UnnormalizerProcessorStep(
-            features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
-        ),
-        DeviceProcessorStep(device="cpu"),
-    ]
-    return (
-        PolicyProcessorPipeline[dict[str, Any], dict[str, Any]](
-            steps=input_steps,
-            name=POLICY_PREPROCESSOR_DEFAULT_NAME,
-        ),
-        PolicyProcessorPipeline[PolicyAction, PolicyAction](
-            steps=output_steps,
-            name=POLICY_POSTPROCESSOR_DEFAULT_NAME,
-            to_transition=policy_action_to_transition,
-            to_output=transition_to_policy_action,
-        ),
-    )

src/lerobot/policies/factory.py

@@ -30,7 +30,6 @@ from lerobot.envs.configs import EnvConfig
 from lerobot.envs.utils import env_to_policy_features
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
-from lerobot.policies.dsrl.configuration_dsrl import DSRLConfig
 from lerobot.policies.groot.configuration_groot import GrootConfig
 from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.policies.pi05.configuration_pi05 import PI05Config
@@ -60,7 +59,7 @@ def get_policy_class(name: str) -> type[PreTrainedPolicy]:
 
     Args:
         name: The name of the policy. Supported names are "tdmpc", "diffusion", "act",
-              "vqbet", "pi0", "pi05", "sac", "reward_classifier", "smolvla", "dsrl".
+              "vqbet", "pi0", "pi05", "sac", "reward_classifier", "smolvla".
 
     Returns:
         The policy class corresponding to the given name.
@@ -104,10 +103,6 @@ def get_policy_class(name: str) -> type[PreTrainedPolicy]:
         from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy
 
         return SmolVLAPolicy
-    elif name == "dsrl":
-        from lerobot.policies.dsrl.modeling_dsrl import DSRLPolicy
-
-        return DSRLPolicy
     elif name == "groot":
         from lerobot.policies.groot.modeling_groot import GrootPolicy
 
@@ -126,7 +121,7 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
     Args:
         policy_type: The type of the policy. Supported types include "tdmpc",
                      "diffusion", "act", "vqbet", "pi0", "pi05", "sac", "smolvla",
-                     "reward_classifier", "dsrl".
+                     "reward_classifier".
         **kwargs: Keyword arguments to be passed to the configuration class constructor.
 
     Returns:
@@ -153,8 +148,6 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
         return SmolVLAConfig(**kwargs)
     elif policy_type == "reward_classifier":
         return RewardClassifierConfig(**kwargs)
-    elif policy_type == "dsrl":
-        return DSRLConfig(**kwargs)
     elif policy_type == "groot":
         return GrootConfig(**kwargs)
     else:
@@ -328,21 +321,6 @@ def make_pre_post_processors(
             config=policy_cfg,
             dataset_stats=kwargs.get("dataset_stats"),
         )
-    elif isinstance(policy_cfg, DSRLConfig):
-        from lerobot.policies.dsrl.processor_dsrl import make_dsrl_pre_post_processors
-
-        processors = make_dsrl_pre_post_processors(
-            config=policy_cfg,
-            dataset_stats=kwargs.get("dataset_stats"),
-        )
-
-    elif isinstance(policy_cfg, GrootConfig):
-        from lerobot.policies.groot.processor_groot import make_groot_pre_post_processors
-
-        processors = make_groot_pre_post_processors(
-            config=policy_cfg,
-            dataset_stats=kwargs.get("dataset_stats"),
-        )
 
     elif isinstance(policy_cfg, GrootConfig):
         from lerobot.policies.groot.processor_groot import make_groot_pre_post_processors

src/lerobot/policies/pi0/modeling_pi0.py

@@ -1148,7 +1148,7 @@ class PI0Policy(PreTrainedPolicy):
         return self._action_queue.popleft()
 
     @torch.no_grad()
-    def predict_action_chunk(self, batch: dict[str, Tensor], noise: Tensor | None = None) -> Tensor:
+    def predict_action_chunk(self, batch: dict[str, Tensor]) -> Tensor:
         """Predict a chunk of actions given environment observations."""
         self.eval()
 
@@ -1158,7 +1158,7 @@ class PI0Policy(PreTrainedPolicy):
         state = self.prepare_state(batch)
 
         # Sample actions using the model
-        actions = self.model.sample_actions(images, img_masks, lang_tokens, lang_masks, state, noise)
+        actions = self.model.sample_actions(images, img_masks, lang_tokens, lang_masks, state)
 
         # Unpad actions to actual action dimension
         original_action_dim = self.config.output_features[ACTION].shape[0]

src/lerobot/policies/pi05/modeling_pi05.py

@@ -1120,7 +1120,7 @@ class PI05Policy(PreTrainedPolicy):
         return self._action_queue.popleft()
 
     @torch.no_grad()
-    def predict_action_chunk(self, batch: dict[str, Tensor], noise: Tensor | None = None) -> Tensor:
+    def predict_action_chunk(self, batch: dict[str, Tensor]) -> Tensor:
         """Predict a chunk of actions given environment observations."""
         self.eval()
 
@@ -1129,7 +1129,7 @@ class PI05Policy(PreTrainedPolicy):
         tokens, masks = batch[f"{OBS_LANGUAGE_TOKENS}"], batch[f"{OBS_LANGUAGE_ATTENTION_MASK}"]
 
         # Sample actions using the model (no separate state needed for PI05)
-        actions = self.model.sample_actions(images, img_masks, tokens, masks, noise)
+        actions = self.model.sample_actions(images, img_masks, tokens, masks)
 
         # Unpad actions to actual action dimension
         original_action_dim = self.config.output_features[ACTION].shape[0]