refactor(pipeline): enforce ProcessorStep inheritance for pipeline steps (#1862 )

- 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.
feat(record): add transition features to dataset and handle scalar vs array formatting in converters (#1861 )
2026-07-07 01:51:47 +00:00 · 2025-09-04 16:22:03 +02:00 · 2025-09-04 16:17:31 +02:00 · 2025-09-04 10:31:18 +02:00 · 2025-09-03 19:01:28 +02:00 · 2025-09-03 18:42:13 +02:00
168 changed files with 15665 additions and 18065 deletions
@@ -19,8 +19,6 @@
    title: Train RL in Simulation
  - local: async
    title: Use Async Inference
-  - local: libero
-    title: Using LIBERO
  title: "Tutorials"
 - sections:
  - local: smolvla
@@ -37,8 +35,6 @@
    title: Koch v1.1
  - local: lekiwi
    title: LeKiwi
-  - local: reachy2
-    title: Reachy 2
  title: "Robots"
 - sections:
  - local: notebooks
@@ -4,7 +4,13 @@ In this tutorial you will go through the full Human-in-the-Loop Sample-Efficient

 HIL-SERL is a sample-efficient reinforcement learning algorithm that combines human demonstrations with online learning and human interventions. The approach starts from a small set of human demonstrations, uses them to train a reward classifier, and then employs an actor-learner architecture where humans can intervene during policy execution to guide exploration and correct unsafe behaviors. In this tutorial, you'll use a gamepad to provide interventions and control the robot during the learning process.

-It combines three key ingredients: 1. **Offline demonstrations & reward classifier:** a handful of human-teleop episodes plus a vision-based success detector give the policy a shaped starting point. 2. **On-robot actor / learner loop with human interventions:** a distributed Soft Actor Critic (SAC) learner updates the policy while an actor explores on the physical robot; the human can jump in at any time to correct dangerous or unproductive behaviour. 3. **Safety & efficiency tools:** joint/end-effector (EE) bounds, crop region of interest (ROI) preprocessing and WandB monitoring keep the data useful and the hardware safe.
+It combines three key ingredients:
+
+1. **Offline demonstrations & reward classifier:** a handful of human-teleop episodes plus a vision-based success detector give the policy a shaped starting point.
+
+2. **On-robot actor / learner loop with human interventions:** a distributed Soft Actor Critic (SAC) learner updates the policy while an actor explores on the physical robot; the human can jump in at any time to correct dangerous or unproductive behaviour.
+
+3. **Safety & efficiency tools:** joint/end-effector (EE) bounds, crop region of interest (ROI) preprocessing and WandB monitoring keep the data useful and the hardware safe.

 Together these elements let HIL-SERL reach near-perfect task success and faster cycle times than imitation-only baselines.

@@ -56,30 +62,243 @@ pip install -e ".[hilserl]"

 ### Understanding Configuration

-The training process begins with proper configuration for the HILSerl environment. The configuration class of interest is `HILSerlRobotEnvConfig` in `lerobot/envs/configs.py`. Which is defined as:
+The training process begins with proper configuration for the HILSerl environment. The main configuration class is `GymManipulatorConfig` in `lerobot/scripts/rl/gym_manipulator.py`, which contains nested `HILSerlRobotEnvConfig` and `DatasetConfig`. The configuration is organized into focused, nested sub-configs:

 <!-- prettier-ignore-start -->
 ```python
+class GymManipulatorConfig:
+    env: HILSerlRobotEnvConfig    # Environment configuration (nested)
+    dataset: DatasetConfig    # Dataset recording/replay configuration (nested)
+    mode: str | None = None    # "record", "replay", or None (for training)
+    device: str = "cpu"    # Compute device
+
 class HILSerlRobotEnvConfig(EnvConfig):
    robot: RobotConfig | None = None    # Main robot agent (defined in `lerobot/robots`)
-    teleop: TeleoperatorConfig | None = None    # Teleoperator agent, e.g., gamepad or leader arm, (defined in `lerobot/teleoperators`)
-    wrapper: EnvTransformConfig | None = None    # Environment wrapper settings; check `lerobot/scripts/server/gym_manipulator.py`
-    fps: int = 10    # Control frequency
+    teleop: TeleoperatorConfig | None = None    # Teleoperator agent, e.g., gamepad or leader arm
+    processor: HILSerlProcessorConfig    # Processing pipeline configuration (nested)
    name: str = "real_robot"    # Environment name
-    mode: str = None    # "record", "replay", or None (for training)
-    repo_id: str | None = None    # LeRobot dataset repository ID
-    dataset_root: str | None = None    # Local dataset root (optional)
-    task: str = ""    # Task identifier
-    num_episodes: int = 10    # Number of episodes for recording
-    episode: int = 0    # episode index for replay
-    device: str = "cuda"    # Compute device
-    push_to_hub: bool = True    # Whether to push the recorded datasets to Hub
-    pretrained_policy_name_or_path: str | None = None    # For policy loading
-    reward_classifier_pretrained_path: str | None = None    # For reward model
-    number_of_steps_after_success: int = 0    # For reward classifier, collect more positive examples after a success to train a classifier
+    task: str | None = None    # Task identifier
+    fps: int = 10    # Control frequency
+
+# Nested processor configuration
+class HILSerlProcessorConfig:
+    control_mode: str = "gamepad"    # Control mode
+    observation: ObservationConfig | None = None    # Observation processing settings
+    image_preprocessing: ImagePreprocessingConfig | None = None    # Image crop/resize settings
+    gripper: GripperConfig | None = None    # Gripper control and penalty settings
+    reset: ResetConfig | None = None    # Environment reset and timing settings
+    inverse_kinematics: InverseKinematicsConfig | None = None    # IK processing settings
+    reward_classifier: RewardClassifierConfig | None = None    # Reward classifier settings
+    max_gripper_pos: float | None = 100.0    # Maximum gripper position
+
+# Sub-configuration classes
+class ObservationConfig:
+    add_joint_velocity_to_observation: bool = False    # Add joint velocities to state
+    add_current_to_observation: bool = False    # Add motor currents to state
+    add_ee_pose_to_observation: bool = False    # Add end-effector pose to state
+    display_cameras: bool = False    # Display camera feeds during execution
+
+class ImagePreprocessingConfig:
+    crop_params_dict: dict[str, tuple[int, int, int, int]] | None = None    # Image cropping parameters
+    resize_size: tuple[int, int] | None = None    # Target image size
+
+class GripperConfig:
+    use_gripper: bool = True    # Enable gripper control
+    gripper_penalty: float = 0.0    # Penalty for inappropriate gripper usage
+    gripper_penalty_in_reward: bool = False    # Include gripper penalty in reward
+
+class ResetConfig:
+    fixed_reset_joint_positions: Any | None = None    # Joint positions for reset
+    reset_time_s: float = 5.0    # Time to wait during reset
+    control_time_s: float = 20.0    # Maximum episode duration
+    terminate_on_success: bool = True    # Whether to terminate episodes on success detection
+
+class InverseKinematicsConfig:
+    urdf_path: str | None = None    # Path to robot URDF file
+    target_frame_name: str | None = None    # End-effector frame name
+    end_effector_bounds: dict[str, list[float]] | None = None    # EE workspace bounds
+    end_effector_step_sizes: dict[str, float] | None = None    # EE step sizes per axis
+
+class RewardClassifierConfig:
+    pretrained_path: str | None = None    # Path to pretrained reward classifier
+    success_threshold: float = 0.5    # Success detection threshold
+    success_reward: float = 1.0    # Reward value for successful episodes
+
+# Dataset configuration
+class DatasetConfig:
+    repo_id: str    # LeRobot dataset repository ID
+    task: str    # Task identifier
+    root: str | None = None    # Local dataset root directory
+    num_episodes_to_record: int = 5    # Number of episodes for recording
+    replay_episode: int | None = None    # Episode index for replay
+    push_to_hub: bool = False    # Whether to push datasets to Hub
 ```
 <!-- prettier-ignore-end -->

+### Processor Pipeline Architecture
+
+HIL-SERL uses a modular processor pipeline architecture that processes robot observations and actions through a series of composable steps. The pipeline is divided into two main components:
+
+#### Environment Processor Pipeline
+
+The environment processor (`env_processor`) handles incoming observations and environment state:
+
+1. **VanillaObservationProcessorStep**: Converts raw robot observations into standardized format
+2. **JointVelocityProcessorStep** (optional): Adds joint velocity information to observations
+3. **MotorCurrentProcessorStep** (optional): Adds motor current readings to observations
+4. **ForwardKinematicsJointsToEE** (optional): Computes end-effector pose from joint positions
+5. **ImageCropResizeProcessorStep** (optional): Crops and resizes camera images
+6. **TimeLimitProcessorStep** (optional): Enforces episode time limits
+7. **GripperPenaltyProcessorStep** (optional): Applies penalties for inappropriate gripper usage
+8. **RewardClassifierProcessorStep** (optional): Automated reward detection using vision models
+9. **AddBatchDimensionProcessorStep**: Converts data to batch format for neural network processing
+10. **DeviceProcessorStep**: Moves data to the specified compute device (CPU/GPU)
+
+#### Action Processor Pipeline
+
+The action processor (`action_processor`) handles outgoing actions and human interventions:
+
+1. **AddTeleopActionAsComplimentaryDataStep**: Captures teleoperator actions for logging
+2. **AddTeleopEventsAsInfoStep**: Records intervention events and episode control signals
+3. **AddRobotObservationAsComplimentaryData**: Stores raw robot state for processing
+4. **InterventionActionProcessorStep**: Handles human interventions and episode termination
+5. **Inverse Kinematics Pipeline** (when enabled):
+   - **MapDeltaActionToRobotActionStep**: Converts delta actions to robot action format
+   - **EEReferenceAndDelta**: Computes end-effector reference and delta movements
+   - **EEBoundsAndSafety**: Enforces workspace safety bounds
+   - **InverseKinematicsEEToJoints**: Converts end-effector actions to joint targets
+   - **GripperVelocityToJoint**: Handles gripper control commands
+
+#### Configuration Examples
+
+**Basic Observation Processing**:
+
+```json
+{
+  "env": {
+    "processor": {
+      "observation": {
+        "add_joint_velocity_to_observation": true,
+        "add_current_to_observation": false,
+        "display_cameras": false
+      }
+    }
+  }
+}
+```
+
+**Image Processing**:
+
+```json
+{
+  "env": {
+    "processor": {
+      "image_preprocessing": {
+        "crop_params_dict": {
+          "observation.images.front": [180, 250, 120, 150],
+          "observation.images.side": [180, 207, 180, 200]
+        },
+        "resize_size": [128, 128]
+      }
+    }
+  }
+}
+```
+
+**Inverse Kinematics Setup**:
+
+```json
+{
+  "env": {
+    "processor": {
+      "inverse_kinematics": {
+        "urdf_path": "path/to/robot.urdf",
+        "target_frame_name": "end_effector",
+        "end_effector_bounds": {
+          "min": [0.16, -0.08, 0.03],
+          "max": [0.24, 0.2, 0.1]
+        },
+        "end_effector_step_sizes": {
+          "x": 0.02,
+          "y": 0.02,
+          "z": 0.02
+        }
+      }
+    }
+  }
+}
+```
+
+### Advanced Observation Processing
+
+The HIL-SERL framework supports additional observation processing features that can improve policy learning:
+
+#### Joint Velocity Processing
+
+Enable joint velocity estimation to provide the policy with motion information:
+
+```json
+{
+  "env": {
+    "processor": {
+      "observation": {
+        "add_joint_velocity_to_observation": true
+      }
+    }
+  }
+}
+```
+
+This processor:
+
+- Estimates joint velocities using finite differences between consecutive joint position readings
+- Adds velocity information to the observation state vector
+- Useful for policies that need motion awareness for dynamic tasks
+
+#### Motor Current Processing
+
+Monitor motor currents to detect contact forces and load conditions:
+
+```json
+{
+  "env": {
+    "processor": {
+      "observation": {
+        "add_current_to_observation": true
+      }
+    }
+  }
+}
+```
+
+This processor:
+
+- Reads motor current values from the robot's control system
+- Adds current measurements to the observation state vector
+- Helps detect contact events, object weights, and mechanical resistance
+- Useful for contact-rich manipulation tasks
+
+#### Combined Observation Processing
+
+You can enable multiple observation processing features simultaneously:
+
+```json
+{
+  "env": {
+    "processor": {
+      "observation": {
+        "add_joint_velocity_to_observation": true,
+        "add_current_to_observation": true,
+        "add_ee_pose_to_observation": false,
+        "display_cameras": false
+      }
+    }
+  }
+}
+```
+
+**Note**: Enabling additional observation features increases the state space dimensionality, which may require adjusting your policy network architecture and potentially collecting more training data.
+
 ### Finding Robot Workspace Bounds

 Before collecting demonstrations, you need to determine the appropriate operational bounds for your robot.
@@ -130,22 +349,56 @@ With the bounds defined, you can safely collect demonstrations for training. Tra

 Create a configuration file for recording demonstrations (or edit an existing one like [env_config_so100.json](https://huggingface.co/datasets/aractingi/lerobot-example-config-files/blob/main/env_config_so100.json)):

-1. Set `mode` to `"record"`
-2. Specify a unique `repo_id` for your dataset (e.g., "username/task_name")
-3. Set `num_episodes` to the number of demonstrations you want to collect
-4. Set `crop_params_dict` to `null` initially (we'll determine crops later)
-5. Configure `robot`, `cameras`, and other hardware settings
+1. Set `mode` to `"record"` at the root level
+2. Specify a unique `repo_id` for your dataset in the `dataset` section (e.g., "username/task_name")
+3. Set `num_episodes_to_record` in the `dataset` section to the number of demonstrations you want to collect
+4. Set `env.processor.image_preprocessing.crop_params_dict` to `{}` initially (we'll determine crops later)
+5. Configure `env.robot`, `env.teleop`, and other hardware settings in the `env` section

 Example configuration section:

 ```json
-"mode": "record",
-"repo_id": "username/pick_lift_cube",
-"dataset_root": null,
-"task": "pick_and_lift",
-"num_episodes": 15,
-"episode": 0,
-"push_to_hub": true
+{
+  "env": {
+    "type": "gym_manipulator",
+    "name": "real_robot",
+    "fps": 10,
+    "processor": {
+      "control_mode": "gamepad",
+      "observation": {
+        "display_cameras": false
+      },
+      "image_preprocessing": {
+        "crop_params_dict": {},
+        "resize_size": [128, 128]
+      },
+      "gripper": {
+        "use_gripper": true,
+        "gripper_penalty": 0.0
+      },
+      "reset": {
+        "reset_time_s": 5.0,
+        "control_time_s": 20.0
+      }
+    },
+    "robot": {
+      // ... robot configuration ...
+    },
+    "teleop": {
+      // ... teleoperator configuration ...
+    }
+  },
+  "dataset": {
+    "repo_id": "username/pick_lift_cube",
+    "root": null,
+    "task": "pick_and_lift",
+    "num_episodes_to_record": 15,
+    "replay_episode": 0,
+    "push_to_hub": true
+  },
+  "mode": "record",
+  "device": "cpu"
+}
 ```

 ### Using a Teleoperation Device
@@ -191,10 +444,20 @@ The gamepad provides a very convenient way to control the robot and the episode
 To setup the gamepad, you need to set the `control_mode` to `"gamepad"` and define the `teleop` section in the configuration file.

 ```json
+{
+  "env": {
    "teleop": {
-        "type": "gamepad",
-        "use_gripper": true
+      "type": "gamepad",
+      "use_gripper": true
    },
+    "processor": {
+      "control_mode": "gamepad",
+      "gripper": {
+        "use_gripper": true
+      }
+    }
+  }
+}
 ```

 <p align="center">
@@ -216,11 +479,21 @@ The SO101 leader arm has reduced gears that allows it to move and track the foll
 To setup the SO101 leader, you need to set the `control_mode` to `"leader"` and define the `teleop` section in the configuration file.

 ```json
+{
+  "env": {
    "teleop": {
-        "type": "so101_leader",
-        "port": "/dev/tty.usbmodem585A0077921", # check your port number
-        "use_degrees": true
+      "type": "so101_leader",
+      "port": "/dev/tty.usbmodem585A0077921",
+      "use_degrees": true
    },
+    "processor": {
+      "control_mode": "leader",
+      "gripper": {
+        "use_gripper": true
+      }
+    }
+  }
+}
 ```

 In order to annotate the success/failure of the episode, **you will need** to use a keyboard to press `s` for success, `esc` for failure.
@@ -251,7 +524,7 @@ python -m lerobot.scripts.rl.gym_manipulator --config_path src/lerobot/configs/e

 During recording:

-1. The robot will reset to the initial position defined in the configuration file `fixed_reset_joint_positions`
+1. The robot will reset to the initial position defined in the configuration file `env.processor.reset.fixed_reset_joint_positions`
 2. Complete the task successfully
 3. The episode ends with a reward of 1 when you press the "success" button
 4. If the time limit is reached, or the fail button is pressed, the episode ends with a reward of 0
@@ -310,11 +583,19 @@ observation.images.front: [180, 250, 120, 150]
 Add these crop parameters to your training configuration:

 ```json
-"crop_params_dict": {
-    "observation.images.side": [180, 207, 180, 200],
-    "observation.images.front": [180, 250, 120, 150]
-},
-"resize_size": [128, 128]
+{
+  "env": {
+    "processor": {
+      "image_preprocessing": {
+        "crop_params_dict": {
+          "observation.images.side": [180, 207, 180, 200],
+          "observation.images.front": [180, 250, 120, 150]
+        },
+        "resize_size": [128, 128]
+      }
+    }
+  }
+}
 ```

 **Recommended image resolution**
@@ -343,26 +624,52 @@ python -m lerobot.scripts.rl.gym_manipulator --config_path src/lerobot/configs/r

 **Key Parameters for Data Collection**

- **mode**: set it to `"record"` to collect a dataset
- **repo_id**: `"hf_username/dataset_name"`, name of the dataset and repo on the hub
- **num_episodes**: Number of episodes to record
- **number_of_steps_after_success**: Number of additional frames to record after a success (reward=1) is detected
- **fps**: Number of frames per second to record
- **push_to_hub**: Whether to push the dataset to the hub
+- **mode**: set it to `"record"` to collect a dataset (at root level)
+- **dataset.repo_id**: `"hf_username/dataset_name"`, name of the dataset and repo on the hub
+- **dataset.num_episodes_to_record**: Number of episodes to record
+- **env.processor.reset.terminate_on_success**: Whether to automatically terminate episodes when success is detected (default: `true`)
+- **env.fps**: Number of frames per second to record
+- **dataset.push_to_hub**: Whether to push the dataset to the hub

-The `number_of_steps_after_success` parameter is crucial as it allows you to collect more positive examples. When a success is detected, the system will continue recording for the specified number of steps while maintaining the reward=1 label. Otherwise, there won't be enough states in the dataset labeled to 1 to train a good classifier.
+The `env.processor.reset.terminate_on_success` parameter allows you to control episode termination behavior. When set to `false`, episodes will continue even after success is detected, allowing you to collect more positive examples with the reward=1 label. This is crucial for training reward classifiers as it provides more success state examples in your dataset. When set to `true` (default), episodes terminate immediately upon success detection.
+
+**Important**: For reward classifier training, set `terminate_on_success: false` to collect sufficient positive examples. For regular HIL-SERL training, keep it as `true` to enable automatic episode termination when the task is completed successfully.

 Example configuration section for data collection:

 ```json
 {
+  "env": {
+    "type": "gym_manipulator",
+    "name": "real_robot",
+    "fps": 10,
+    "processor": {
+      "reset": {
+        "reset_time_s": 5.0,
+        "control_time_s": 20.0,
+        "terminate_on_success": false
+      },
+      "gripper": {
+        "use_gripper": true
+      }
+    },
+    "robot": {
+      // ... robot configuration ...
+    },
+    "teleop": {
+      // ... teleoperator configuration ...
+    }
+  },
+  "dataset": {
+    "repo_id": "hf_username/dataset_name",
+    "dataset_root": "data/your_dataset",
+    "task": "reward_classifier_task",
+    "num_episodes_to_record": 20,
+    "replay_episode": null,
+    "push_to_hub": true
+  },
  "mode": "record",
-  "repo_id": "hf_username/dataset_name",
-  "dataset_root": "data/your_dataset",
-  "num_episodes": 20,
-  "push_to_hub": true,
-  "fps": 10,
-  "number_of_steps_after_success": 15
+  "device": "cpu"
 }
 ```

@@ -421,9 +728,17 @@ To use your trained reward classifier, configure the `HILSerlRobotEnvConfig` to

 <!-- prettier-ignore-start -->
 ```python
-env_config = HILSerlRobotEnvConfig(
-    reward_classifier_pretrained_path="path_to_your_pretrained_trained_model",
-    # Other environment parameters
+config = GymManipulatorConfig(
+    env=HILSerlRobotEnvConfig(
+        processor=HILSerlProcessorConfig(
+            reward_classifier=RewardClassifierConfig(
+                pretrained_path="path_to_your_pretrained_trained_model"
+            )
+        ),
+        # Other environment parameters
+    ),
+    dataset=DatasetConfig(...),
+    mode=None  # For training
 )
 ```
 <!-- prettier-ignore-end -->
@@ -432,7 +747,18 @@ or set the argument in the json config file.

 ```json
 {
-  "reward_classifier_pretrained_path": "path_to_your_pretrained_model"
+  "env": {
+    "processor": {
+      "reward_classifier": {
+        "pretrained_path": "path_to_your_pretrained_model",
+        "success_threshold": 0.7,
+        "success_reward": 1.0
+      },
+      "reset": {
+        "terminate_on_success": true
+      }
+    }
+  }
 }
 ```

@@ -32,9 +32,12 @@ To use `gym_hil` with LeRobot, you need to create a configuration file. An examp

 ```json
 {
-  "type": "hil",
-  "name": "franka_sim",
-  "task": "PandaPickCubeGamepad-v0",
+  "env": {
+    "type": "gym_manipulator",
+    "name": "gym_hil",
+    "task": "PandaPickCubeGamepad-v0",
+    "fps": 10
+  },
  "device": "cuda"
 }
 ```
@@ -45,28 +48,40 @@ Available tasks:
 - `PandaPickCubeGamepad-v0`: With gamepad control
 - `PandaPickCubeKeyboard-v0`: With keyboard control

-### Gym Wrappers Configuration
+### Processor Configuration

 ```json
-"wrapper": {
-    "gripper_penalty": -0.02,
-    "control_time_s": 15.0,
-    "use_gripper": true,
-    "fixed_reset_joint_positions": [0.0, 0.195, 0.0, -2.43, 0.0, 2.62, 0.785],
-    "end_effector_step_sizes": {
-        "x": 0.025,
-        "y": 0.025,
-        "z": 0.025
-    },
-    "control_mode": "gamepad"
+{
+  "env": {
+    "processor": {
+      "control_mode": "gamepad",
+      "gripper": {
+        "use_gripper": true,
+        "gripper_penalty": -0.02
+      },
+      "reset": {
+        "control_time_s": 15.0,
+        "fixed_reset_joint_positions": [
+          0.0, 0.195, 0.0, -2.43, 0.0, 2.62, 0.785
+        ]
+      },
+      "inverse_kinematics": {
+        "end_effector_step_sizes": {
+          "x": 0.025,
+          "y": 0.025,
+          "z": 0.025
+        }
+      }
    }
+  }
+}
 ```

 Important parameters:

- `gripper_penalty`: Penalty for excessive gripper movement
- `use_gripper`: Whether to enable gripper control
- `end_effector_step_sizes`: Size of the steps in the x,y,z axes of the end-effector
+- `gripper.gripper_penalty`: Penalty for excessive gripper movement
+- `gripper.use_gripper`: Whether to enable gripper control
+- `inverse_kinematics.end_effector_step_sizes`: Size of the steps in the x,y,z axes of the end-effector
 - `control_mode`: Set to `"gamepad"` to use a gamepad controller

 ## Running with HIL RL of LeRobot
@@ -75,39 +90,50 @@ Important parameters:

 To run the environment, set mode to null:

-<!-- prettier-ignore-start -->
-```python
+```bash
 python -m lerobot.scripts.rl.gym_manipulator --config_path path/to/gym_hil_env.json
 ```
-<!-- prettier-ignore-end -->

 ### Recording a Dataset

 To collect a dataset, set the mode to `record` whilst defining the repo_id and number of episodes to record:

-<!-- prettier-ignore-start -->
-```python
+```json
+{
+  "env": {
+    "type": "gym_manipulator",
+    "name": "gym_hil",
+    "task": "PandaPickCubeGamepad-v0"
+  },
+  "dataset": {
+    "repo_id": "username/sim_dataset",
+    "root": null,
+    "task": "pick_cube",
+    "num_episodes_to_record": 10,
+    "replay_episode": null,
+    "push_to_hub": true
+  },
+  "mode": "record"
+}
+```
+
+```bash
 python -m lerobot.scripts.rl.gym_manipulator --config_path path/to/gym_hil_env.json
 ```
-<!-- prettier-ignore-end -->

 ### Training a Policy

 To train a policy, checkout the configuration example available [here](https://huggingface.co/datasets/aractingi/lerobot-example-config-files/blob/main/train_gym_hil_env.json) and run the actor and learner servers:

-<!-- prettier-ignore-start -->
-```python
+```bash
 python -m lerobot.scripts.rl.actor --config_path path/to/train_gym_hil_env.json
 ```
-<!-- prettier-ignore-end -->

 In a different terminal, run the learner server:

-<!-- prettier-ignore-start -->
-```python
+```bash
 python -m lerobot.scripts.rl.learner --config_path path/to/train_gym_hil_env.json
 ```
-<!-- prettier-ignore-end -->

 The simulation environment provides a safe and repeatable way to develop and test your Human-In-the-Loop reinforcement learning components before deploying to real robots.

@@ -519,11 +519,14 @@ from lerobot.utils.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import _init_rerun
 from lerobot.record import record_loop
+from lerobot.policies.factory import make_processor

 NUM_EPISODES = 5
 FPS = 30
 EPISODE_TIME_SEC = 60
 TASK_DESCRIPTION = "My task description"
+HF_MODEL_ID = "<hf_username>/<model_repo_id>"
+HF_DATASET_ID = "<hf_username>/<eval_dataset_repo_id>"

 # Create the robot configuration
 camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
@@ -535,7 +538,7 @@ robot_config = SO100FollowerConfig(
 robot = SO100Follower(robot_config)

 # Initialize the policy
-policy = ACTPolicy.from_pretrained("<hf_username>/<my_policy_repo_id>")
+policy = ACTPolicy.from_pretrained(HF_MODEL_ID)

 # Configure the dataset features
 action_features = hw_to_dataset_features(robot.action_features, "action")
@@ -544,7 +547,7 @@ dataset_features = {**action_features, **obs_features}

 # Create the dataset
 dataset = LeRobotDataset.create(
-    repo_id="<hf_username>/eval_<dataset_repo_id>",
+    repo_id=HF_DATASET_ID,
    fps=FPS,
    features=dataset_features,
    robot_type=robot.name,
@@ -559,6 +562,12 @@ _init_rerun(session_name="recording")
 # Connect the robot
 robot.connect()

+preprocessor, postprocessor = make_processor(
+    policy_cfg=policy,
+    pretrained_path=HF_MODEL_ID,
+    dataset_stats=dataset.meta.stats,
+)
+
 for episode_idx in range(NUM_EPISODES):
    log_say(f"Running inference, recording eval episode {episode_idx + 1} of {NUM_EPISODES}")

@@ -568,6 +577,8 @@ for episode_idx in range(NUM_EPISODES):
        events=events,
        fps=FPS,
        policy=policy,
+        preprocessor=preprocessor,
+        postprocessor=postprocessor,
        dataset=dataset,
        control_time_s=EPISODE_TIME_SEC,
        single_task=TASK_DESCRIPTION,
@@ -24,11 +24,36 @@ pip install -e ".[hilserl]"

 To use `gym_hil` with LeRobot, you need to use a configuration file. An example config file can be found [here](https://huggingface.co/datasets/aractingi/lerobot-example-config-files/blob/main/env_config_gym_hil_il.json).

-To teleoperate and collect a dataset, we need to modify this config file and you should add your `repo_id` here: `"repo_id": "il_gym",` and `"num_episodes": 30,` and make sure you set `mode` to `record`, "mode": "record".
+To teleoperate and collect a dataset, we need to modify this config file. Here's an example configuration for imitation learning data collection:

-If you do not have a Nvidia GPU also change `"device": "cuda"` parameter in the config file (for example to `mps` for MacOS).
+```json
+{
+  "env": {
+    "type": "gym_manipulator",
+    "name": "gym_hil",
+    "task": "PandaPickCubeGamepad-v0",
+    "fps": 10
+  },
+  "dataset": {
+    "repo_id": "your_username/il_gym",
+    "root": null,
+    "task": "pick_cube",
+    "num_episodes_to_record": 30,
+    "replay_episode": null,
+    "push_to_hub": true
+  },
+  "mode": "record",
+  "device": "cuda"
+}
+```

-By default the config file assumes you use a controller. To use your keyboard please change the envoirment specified at `"task"` in the config file and set it to `"PandaPickCubeKeyboard-v0"`.
+Key configuration points:
+
+- Set your `repo_id` in the `dataset` section: `"repo_id": "your_username/il_gym"`
+- Set `num_episodes_to_record: 30` to collect 30 demonstration episodes
+- Ensure `mode` is set to `"record"`
+- If you don't have an NVIDIA GPU, change `"device": "cuda"` to `"mps"` for macOS or `"cpu"`
+- To use keyboard instead of gamepad, change `"task"` to `"PandaPickCubeKeyboard-v0"`

 Then we can run this command to start:

@@ -140,9 +165,32 @@ huggingface-cli upload ${HF_USER}/il_sim_test${CKPT} \

 ## Evaluate your policy in Sim

-To evaluate your policy we have to use the config file that can be found [here](https://huggingface.co/datasets/aractingi/lerobot-example-config-files/blob/main/eval_config_gym_hil.json).
+To evaluate your policy we have to use a configuration file. An example can be found [here](https://huggingface.co/datasets/aractingi/lerobot-example-config-files/blob/main/eval_config_gym_hil.json).

-Make sure to replace the `repo_id` with the dataset you trained on, for example `pepijn223/il_sim_dataset` and replace the `pretrained_policy_name_or_path` with your model id, for example `pepijn223/il_sim_model`
+Here's an example evaluation configuration:
+
+```json
+{
+  "env": {
+    "type": "gym_manipulator",
+    "name": "gym_hil",
+    "task": "PandaPickCubeGamepad-v0",
+    "fps": 10
+  },
+  "dataset": {
+    "repo_id": "your_username/il_sim_dataset",
+    "dataset_root": null,
+    "task": "pick_cube"
+  },
+  "pretrained_policy_name_or_path": "your_username/il_sim_model",
+  "device": "cuda"
+}
+```
+
+Make sure to replace:
+
+- `repo_id` with the dataset you trained on (e.g., `your_username/il_sim_dataset`)
+- `pretrained_policy_name_or_path` with your model ID (e.g., `your_username/il_sim_model`)

 Then you can run this command to visualize your trained policy

@@ -1,230 +0,0 @@
-# LIBERO
-
-**LIBERO** is a benchmark designed to study **lifelong robot learning**. The idea is that robots won’t just be pretrained once in a factory, they’ll need to keep learning and adapting with their human users over time. This ongoing adaptation is called **lifelong learning in decision making (LLDM)**, and it’s a key step toward building robots that become truly personalized helpers. The benchmark was first introduced in the [LIBERO paper](https://arxiv.org/abs/2306.03310) and the [original repository](https://github.com/Lifelong-Robot-Learning/LIBERO).
-
-To make progress on this challenge, LIBERO provides a set of standardized tasks that focus on **knowledge transfer**: how well a robot can apply what it has already learned to new situations. By evaluating on LIBERO, different algorithms can be compared fairly and researchers can build on each other’s work.
-
-LIBERO includes **five task suites**:
-
- **LIBERO-Spatial (`libero_spatial`)** – tasks that require reasoning about spatial relations.
- **LIBERO-Object (`libero_object`)** – tasks centered on manipulating different objects.
- **LIBERO-Goal (`libero_goal`)** – goal-conditioned tasks where the robot must adapt to changing targets.
- **LIBERO-90 (`libero_90`)** – 90 short-horizon tasks from the LIBERO-100 collection.
- **LIBERO-Long (`libero_10`)** – 10 long-horizon tasks from the LIBERO-100 collection.
-
-Together, these suites cover **130 tasks**, ranging from simple object manipulations to complex multi-step scenarios. LIBERO is meant to grow over time, and to serve as a shared benchmark where the community can test and improve lifelong learning algorithms.
-
-![An overview of the LIBERO benchmark](https://libero-project.github.io/assets/img/libero/fig1.png)
-_Figure 1: An overview of the LIBERO benchmark._
-
-## Evaluating with LIBERO
-
-At **LeRobot**, we ported [LIBERO](https://github.com/Lifelong-Robot-Learning/LIBERO) into our framework and used it primarily to **benchmark [SmolVLA](https://huggingface.co/docs/lerobot/en/smolvla)**, our lightweight Vision-Language-Action model, comparing it against state-of-the-art VLA models such as Pi0, OpenVLA, Octo, and Diffusion Policy.
-
-LIBERO is now part of our **multi-eval supported simulation**, allowing you to benchmark your policies either on a **single suite of tasks** or across **multiple suites at once** with just a single flag.
-
-To install LIBERO, first follow the [LeRobot Installation Guide](https://huggingface.co/docs/lerobot/installation).
-Once LeRobot is installed, there are two options:
-
-1. **Install via pip** (recommended):
-
-   ```bash
-   pip install "lerobot[libero,smolvla]"
-   ```
-
-2. **Install from source**:
-   ```bash
-   git clone https://github.com/huggingface/lerobot.git
-   cd lerobot
-   pip install -e ".[libero,smolvla]"
-   ```
-
-### Single-suite evaluation
-
-Evaluate a policy on one LIBERO suite:
-
-```bash
-python src/lerobot/scripts/eval.py \
-  --policy.path="your-policy-id" \
-  --env.type=libero \
-  --env.task=libero_object \
-  --env.multitask_eval=False \
-  --eval.batch_size=2 \
-  --eval.n_episodes=3
-```
-
- `--env.task` picks the suite (`libero_object`, `libero_spatial`, etc.).
- `--eval.batch_size` controls how many environments run in parallel.
- `--eval.n_episodes` sets how many episodes to run in total.
-
---
-
-### Multi-suite evaluation
-
-Benchmark a policy across multiple suites at once:
-
-```bash
-python src/lerobot/scripts/eval.py \
-  --policy.path="your-policy-id" \
-  --env.type=libero \
-  --env.task=libero_object \
-  --env.multitask_eval=True \
-  --eval.batch_size=1 \
-  --eval.n_episodes=2
-```
-
- Pass a comma-separated list to `--env.task` for multi-suite evaluation.
- Set `-env.multitask_eval=True` to enable evaluation across all tasks in those suites.
-
-### Policy inputs and outputs
-
-When using LIBERO through LeRobot, policies interact with the environment via **observations** and **actions**:
-
- **Observations**
-  - `observation.state` – proprioceptive features (agent state).
-  - `observation.images.image` – main camera view (`agentview_image`).
-  - `observation.images.image2` – wrist camera view (`robot0_eye_in_hand_image`).
-
-  ⚠️ **Note:** LeRobot enforces the `.images.*` prefix for any visual features. Make sure your dataset metadata keys match this convention when evaluating.
-
-  ## Input Features and Metadata Alignment
-
-  To train or evaluate a policy, you use `make_policy`, which builds a feature-naming dictionary for the observations the policy expects.
-  This mapping can come from:
-  - Dataset metadata
-  - The evaluation environment
-  - The policy path (if a pretrained repo ID is provided)
-
-  ### Common Issues
-
-  A common problem is when the keys in the dataset, environment, and policy config do not match. For example:
-  - `wrist_image` vs `observation.images.image2`
-  - `observation.image2` (as in SmolVLA) vs the `.images.*` prefix convention
-
-  Such mismatches will cause `KeyError`s. This may be due to assumptions in `make_policy` or missing error handling.
-
-  ***
-
-  ### How to Check Expected Features
-  - Open your policy config (`config.json`), e.g. [example here](https://huggingface.co/jadechoghari/smolvla-libero/blob/main/config.json).
-  - Or add a breakpoint in `train.py` and inspect:
-
-    ````python
-    print(policy.config.input_features)
-    To ensure you can just check what your policy expects as `input_features`:
-
-    - Open your policy config (`config.json`), e.g. [example here](https://huggingface.co/jadechoghari/smolvla-libero/blob/main/config.json).
-    - Or add a breakpoint in `train.py` and inspect:
-      ```python
-      print(policy.config.input_features)
-    Fixing KeyErrors (Preprocessing Example)
-    ````
-
-## Fixing KeyErrors (Preprocessing Example)
-
-If your dataset columns do not follow the expected naming, you can rename them in-place before training:
-
-````python
-import pyarrow.parquet as pq
-import shutil
-
-def rename_columns(parquet_path, rename_map):
-    table = pq.read_table(parquet_path)
-    schema = table.schema
-    new_names = [rename_map.get(name, name) for name in schema.names]
-    renamed_table = table.rename_columns(new_names)
-    backup_path = parquet_path + ".bak"
-    shutil.copy(parquet_path, backup_path)
-    pq.write_table(renamed_table, parquet_path)
-    print(f"patched {parquet_path}, backup at {backup_path}")
-
-# example mapping: align dataset keys to LeRobot convention
-rename_map = {
-    "image": "observation.images.image",
-    "wrist_image": "observation.images.image2",
-}
-
-rename_columns("episode_000001.parquet", rename_map)
-
-
-
- **Actions**
-  - Continuous control values in a `Box(-1, 1, shape=(7,))` space.
-
-We also provide a notebook for quick testing:
-Training with LIBERO
-
-## Training with LIBERO
-
-When training on LIBERO tasks, make sure your dataset parquet and metadata keys follow the LeRobot convention.
-
-The environment expects:
-
- `observation.state` → 8-dim agent state
- `observation.images.image` → main camera (`agentview_image`)
- `observation.images.image2` → wrist camera (`robot0_eye_in_hand_image`)
-
-⚠️ Cleaning the dataset upfront is **cleaner and more efficient** than remapping keys inside the code. We plan to provide a script to easily preprocess such data.
-To avoid potential mismatches and `KeyError`s, we provide a **preprocessed LIBERO dataset** that is fully compatible with the current LeRobot codebase and requires no additional manipulations.
-
- 🔗 [Preprocessed LIBERO dataset (Hugging Face LeRobot org)](https://huggingface.co/datasets/HuggingFaceVLA/libero)
- 🔗 [Original LIBERO dataset (physical-intelligence)](https://huggingface.co/datasets/physical-intelligence/libero)
-
-The preprocessed dataset follows LeRobot naming conventions (e.g., `.images.*` prefix for visual features) and aligns with policy configs out-of-the-box.
-The original dataset is acknowledged here as the primary source.
---
-
-### Example training command
-
-```bash
-python src/lerobot/scripts/train.py \
-  --policy.type=smolvla \
-  --policy.repo_id=${HF_USER}/libero-test \
-  --dataset.repo_id=jadechoghari/smol-libero3 \
-  --env.type=libero \
-  --env.task=libero_10 \
-  --output_dir=./outputs/ \
-  --steps=100000 \
-  --batch_size=4 \
-  --env.multitask_eval=True \
-  --eval.batch_size=1 \
-  --eval.n_episodes=1 \
-  --eval_freq=1000 \
-````
-
---
-
-### Note on rendering
-
-LeRobot uses MuJoCo for simulation. You need to set the rendering backend before training or evaluation:
-
- `export MUJOCO_GL=egl` → for headless servers (e.g. HPC, cloud)
-
---
-
-## Colab Note on Parallel Evaluation
-
-When running evaluation on Colab, you may encounter warnings such as:
-
-```
-UserWarning: resource_tracker: There appear to be 1 leaked semaphore objects to clean up at shutdown
-```
-
-This happens because Colab’s rendering contexts are **not thread-safe**, and `ThreadPoolExecutor(max_workers=num_workers)` can trigger segfaults or leaked semaphore warnings.
-
-**Colab Note:**
-Parallel evaluation is not supported in Colab. To avoid these issues, run sequentially or disable multitask evaluation:
-
-Run sequentially:
-
-```bash
--env.max_parallel_tasks=1
-```
-
-Or disable multitask evaluation:
-
-```bash
--env.multitask_eval=False
-```
-
-If you want to take advantage of **parallel evaluation**, we recommend **not using Colab**. Instead, run locally or on a proper compute environment where multi-threaded rendering is easily supported.
@@ -1,288 +0,0 @@
-# Reachy 2
-
-Reachy 2 is an open-source humanoid robot made by Pollen Robotics, specifically designed for the development of embodied AI and real-world applications.
-Check out [Pollen Robotics website](https://www.pollen-robotics.com/reachy/), or access [Reachy 2 documentation](https://docs.pollen-robotics.com/) for more information on the platform!
-
-## Teleoperate Reachy 2
-
-Currently, there are two ways to teleoperate Reachy 2:
-
- Pollen Robotics’ VR teleoperation (not included in LeRobot).
- Robot-to-robot teleoperation (use one Reachy 2 to control another).
-
-## Reachy 2 Simulation
-
-**(Linux only)** You can run Reachy 2 in simulation (Gazebo or MuJoCo) using the provided [Docker image](https://hub.docker.com/r/pollenrobotics/reachy2_core).
-
-1. Install [Docker Engine](https://docs.docker.com/engine/).
-2. Run (for MuJoCo):
-
-```
-docker run --rm -it \
-  --name reachy \
-  --privileged \
-  --network host \
-  --ipc host \
-  --device-cgroup-rule='c 189:* rwm' \
-  --group-add audio \
-  -e ROS_DOMAIN_ID="$ROS_DOMAIN_ID" \
-  -e DISPLAY="$DISPLAY" \
-  -e RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}]: {message}" \
-  -e REACHY2_CORE_SERVICE_FAKE="${REACHY2_CORE_SERVICE_FAKE:-true}" \
-  -v /dev:/dev \
-  -v "$HOME/.reachy_config":/home/reachy/.reachy_config_override \
-  -v "$HOME/.reachy.log":/home/reachy/.ros/log \
-  -v /usr/lib/x86_64-linux-gnu:/opt/host-libs \
-  --entrypoint /package/launch.sh \
-  pollenrobotics/reachy2_core:1.7.5.9_deploy \
-  start_rviz:=true start_sdk_server:=true mujoco:=true
-```
-
-> If MuJoCo runs slowly (low simulation frequency), append `-e LD_LIBRARY_PATH="/opt/host-libs:$LD_LIBRARY_PATH" \` to the previous command to improve performance:
->
-> ```
-> docker run --rm -it \
->   --name reachy \
->   --privileged \
->   --network host \
->   --ipc host \
->   --device-cgroup-rule='c 189:* rwm' \
->   --group-add audio \
->   -e ROS_DOMAIN_ID="$ROS_DOMAIN_ID" \
->   -e DISPLAY="$DISPLAY" \
->   -e RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}]: {message}" \
->   -e REACHY2_CORE_SERVICE_FAKE="${REACHY2_CORE_SERVICE_FAKE:-true}" \
->   -e LD_LIBRARY_PATH="/opt/host-libs:$LD_LIBRARY_PATH" \
->   -v /dev:/dev \
->   -v "$HOME/.reachy_config":/home/reachy/.reachy_config_override \
->   -v "$HOME/.reachy.log":/home/reachy/.ros/log \
->   -v /usr/lib/x86_64-linux-gnu:/opt/host-libs \
->   --entrypoint /package/launch.sh \
->   pollenrobotics/reachy2_core:1.7.5.9_deploy \
->   start_rviz:=true start_sdk_server:=true mujoco:=true
-> ```
-
-## Setup
-
-### Prerequisites
-
- On your robot, check the **service images** meet the minimum versions:
-  - **reachy2-core >= 1.7.5.2**
-  - **webrtc >= 2.0.1.1**
-
-Then, if you want to use VR teleoperation:
-
- Install the [Reachy 2 teleoperation application](https://docs.pollen-robotics.com/teleoperation/teleoperation-introduction/discover-teleoperation/).
-  Use version **>=v1.2.0**
-
-We recommend using two computers: one for teleoperation (Windows required) and another for recording with LeRobot.
-
-### Install LeRobot
-
-Follow the [installation instructions](https://github.com/huggingface/lerobot#installation) to install LeRobot.
-
-Install LeRobot with Reachy 2 dependencies:
-
-```bash
-pip install -e ".[reachy2]"
-```
-
-### (Optional but recommended) Install pollen_data_acquisition_server
-
-How you manage Reachy 2 recording sessions is up to you, but the **easiest** way is to use this server so you can control sessions directly from the VR teleoperation app.
-
-> **Note:** Currently, only the VR teleoperation application works as a client for this server, so this step primarily targets teleoperation. You’re free to develop custom clients to manage sessions to your needs.
-
-In your LeRobot environment, install the server from source:
-
-```bash
-git clone https://github.com/pollen-robotics/pollen_data_acquisition_server.git
-cd pollen_data_acquisition_server
-pip install -e .
-```
-
-Find the [pollen_data_acquisition_server documentation here](https://github.com/pollen-robotics/pollen_data_acquisition_server).
-
-## Step 1: Recording
-
-### Get Reachy 2 IP address
-
-Before starting teleoperation and data recording, find the [robot's IP address](https://docs.pollen-robotics.com/getting-started/setup-reachy2/connect-reachy2/).
-We strongly recommend connecting all devices (PC and robot) via **Ethernet**.
-
-### Launch recording
-
-There are two ways to manage recording sessions when using the Reachy 2 VR teleoperation application:
-
- **Using the data acquisition server (recommended for VR teleop)**: The VR app orchestrates sessions (via the server it tells LeRobot when to create datasets, start/stop episodes) while also controlling the robot’s motions.
- **Using LeRobot’s record script**: LeRobot owns session control and decides when to start/stop episodes. If you also use the VR teleop app, it’s only for motion control.
-
-### Option 1: Using Pollen data acquisition server (recommended for VR teleop)
-
-Make sure you have installed pollen_data_acquisition_server, as explained in the Setup section.
-
-Launch the data acquisition server to be able to manage your session directly from the teleoperation application:
-
-```bash
-python -m pollen_data_acquisition_server.server
-```
-
-Then get into the teleoperation application and choose "Data acquisition session".
-You can finally setup your session by following the screens displayed.
-
-> Even without the VR app, you can use the `pollen_data_acquisition_server` with your own client implementation.
-
-### Option 2: Using lerobot.record
-
-Reachy 2 is fully supported by LeRobot’s recording features.
-If you choose this option but still want to use the VR teleoperation application, select "Standard session" in the app.
-
-**Example: start a recording without the mobile base:**
-First add reachy2 and reachy2_teleoperator to the imports of the record script. Then you can use the following command:
-
-```bash
-python -m lerobot.record \
-    --robot.type=reachy2 \
-    --robot.ip_address=192.168.0.200 \
-    --robot.id=r2-0000 \
-    --robot.use_external_commands=true \
-    --robot.with_mobile_base=false \
-    --teleop.type=reachy2_teleoperator \
-    --teleop.ip_address=192.168.0.200 \
-    --teleop.with_mobile_base=false \
-    --dataset.repo_id=pollen_robotics/record_test \
-    --dataset.single_task="Reachy 2 recording test" \
-    --dataset.num_episodes=1 \
-    --dataset.episode_time_s=5 \
-    --dataset.fps=15 \
-    --dataset.push_to_hub=true \
-    --dataset.private=true \
-    --display_data=true
-```
-
-#### Specific Options
-
-**Extended setup overview (all options included):**
-
-```bash
-python -m lerobot.record \
-    --robot.type=reachy2 \
-    --robot.ip_address=192.168.0.200 \
-    --robot.use_external_commands=true \
-    --robot.with_mobile_base=true \
-    --robot.with_l_arm=true \
-    --robot.with_r_arm=true \
-    --robot.with_neck=true \
-    --robot.with_antennas=true \
-    --robot.with_left_teleop_camera=true \
-    --robot.with_right_teleop_camera=true \
-    --robot.with_torso_camera=false \
-    --robot.disable_torque_on_disconnect=false \
-    --robot.max_relative_target=5.0 \
-    --teleop.type=reachy2_teleoperator \
-    --teleop.ip_address=192.168.0.200 \
-    --teleop.use_present_position=false \
-    --teleop.with_mobile_base=false \
-    --teleop.with_l_arm=true \
-    --teleop.with_r_arm=true \
-    --teleop.with_neck=true \
-    --teleop.with_antennas=true \
-    --dataset.repo_id=pollen_robotics/record_test \
-    --dataset.single_task="Reachy 2 recording test" \
-    --dataset.num_episodes=1 \
-    --dataset.episode_time_s=5 \
-    --dataset.fps=15 \
-    --dataset.push_to_hub=true \
-    --dataset.private=true \
-    --display_data=true
-```
-
-##### `--robot.use_external_commands`
-
-Determine whether LeRobot robot.send_action() sends commands to the robot.
-**Must** be set to false while using the VR teleoperation application, as the app already sends commands.
-
-##### `--teleop.use_present_position`
-
-Determine whether the teleoperator reads the goal or present position of the robot.
-Must be set to true if a compliant Reachy 2 is used to control another one.
-
-##### Use the relevant parts
-
-From our initial tests, recording **all** joints when only some are moving can reduce model quality with certain policies.
-To avoid this, you can exclude specific parts from recording and replay using:
-
-````
--robot.with_<part>=false
-```,
-with `<part>` being one of : `mobile_base`, `l_arm`, `r_arm", `neck`, `antennas`.
-It determine whether the corresponding part is recorded in the observations. True if not set.
-
-By default, **all parts are recorded**.
-
-The same per-part mechanism is available in `reachy2_teleoperator` as well.
-
-````
-
--teleop.with\_<part>
-
-```
-with `<part>` being one of : `mobile_base`, `l_arm`, `r_arm", `neck`, `antennas`.
-Determine whether the corresponding part is recorded in the actions. True if not set.
-
-> **Important:** In a given session, the **enabled parts must match** on both the robot and the teleoperator.
-For example, if the robot runs with `--robot.with_mobile_base=false`, the teleoperator must disable the same part `--teleoperator.with_mobile_base=false`.
-
-##### Use the relevant cameras
-
-You can do the same for **cameras**. By default, only the **teleoperation cameras** are recorded (both `left_teleop_camera` and `right_teleop_camera`). Enable or disable each camera with:
-
-```
-
--robot.with_left_teleop_camera=<true|false>
--robot.with_right_teleop_camera=<true|false>
--robot.with_torso_camera=<true|false>
-
-````
-
-
-## Step 2: Replay
-
-Make sure the robot is configured with the same parts as the dataset:
-
-```bash
-python -m lerobot.replay \
-    --robot.type=reachy2 \
-    --robot.ip_address=192.168.0.200 \
-    --robot.use_external_commands=false \
-    --robot.with_mobile_base=false \
-    --dataset.repo_id=pollen_robotics/record_test \
-    --dataset.episode=0
-    --display_data=true
-````
-
-## Step 3: Train
-
-```bash
-python -m lerobot.scripts.train \
-  --dataset.repo_id=pollen_robotics/record_test \
-  --policy.type=act \
-  --output_dir=outputs/train/reachy2_test \
-  --job_name=reachy2 \
-  --policy.device=mps \
-  --wandb.enable=true \
-  --policy.repo_id=pollen_robotics/record_test_policy
-```
-
-## Step 4: Evaluate
-
-```bash
-python -m lerobot.record \
-  --robot.type=reachy2 \
-  --robot.ip_address=192.168.0.200 \
-  --display_data=false \
-  --dataset.repo_id=pollen_robotics/eval_record_test \
-  --dataset.single_task="Evaluate reachy2 policy" \
-  --dataset.num_episodes=10 \
-  --policy.path=outputs/train/reachy2_test/checkpoints/last/pretrained_model
-```
@@ -1,58 +0,0 @@
-#!/bin/bash
-
-# storage / caches
-RAID=/raid/jade
-export TRANSFORMERS_CACHE=$RAID/.cache/huggingface/transformers
-export HF_HOME=$RAID/.cache/huggingface
-export HF_DATASETS_CACHE=$RAID/.cache/huggingface/datasets
-export HF_LEROBOT_HOME=$RAID/.cache/huggingface/lerobot
-export WANDB_CACHE_DIR=$RAID/.cache/wandb
-export TMPDIR=$RAID/.cache/tmp
-mkdir -p $TMPDIR
-export WANDB_MODE=offline
-export HF_DATASETS_OFFLINE=1
-export HF_HUB_OFFLINE=1
-export TOKENIZERS_PARALLELISM=false
-export MUJOCO_GL=egl
-export CUDA_VISIBLE_DEVICES=2
-
-# CONFIGURATION
-POLICY_PATH="/raid/jade/logs/lerobot/lerobot_2_HuggingFaceVLA_libero_smolvla_lr1e-4bs32steps100000/checkpoints/100000/pretrained_model"
-POLICY_PATH="/raid/jade/models/smolvlamust"
-TASK=libero_spatial,libero_object
-ENV_TYPE="libero"
-BATCH_SIZE=1
-N_EPISODES=1
-# storage / caches
-RAID=/raid/jade
-N_ACTION_STEPS=1
-export TRANSFORMERS_CACHE=$RAID/.cache/huggingface/transformers
-export HF_HOME=$RAID/.cache/huggingface
-export HF_DATASETS_CACHE=$RAID/.cache/huggingface/datasets
-export HF_LEROBOT_HOME=$RAID/.cache/huggingface/lerobot
-export WANDB_CACHE_DIR=$RAID/.cache/wandb
-export TMPDIR=$RAID/.cache/tmp
-mkdir -p $TMPDIR
-export WANDB_MODE=offline
-# export HF_DATASETS_OFFLINE=1
-# export HF_HUB_OFFLINE=1
-export TOKENIZERS_PARALLELISM=false
-export MUJOCO_GL=egl
-export MUJOCO_GL=egl
-unset HF_HUB_OFFLINE
-# RUN EVALUATION
-python src/lerobot/scripts/eval.py \
-    --policy.path="$POLICY_PATH" \
-    --env.type="$ENV_TYPE" \
-    --eval.batch_size="$BATCH_SIZE" \
-    --eval.n_episodes="$N_EPISODES" \
-    --env.multitask_eval=True \
-    --env.task=$TASK \
-# python examples/evaluate_libero.py \
-#     --policy_path "$POLICY_PATH" \
-#     --task_suite_name "$TASK" \
-#     --num_steps_wait 10 \
-#     --num_trials_per_task 10 \
-#     --video_out_path "data/libero/videos" \
-#     --device "cuda" \
-#     --seed 7
@@ -1,6 +1,7 @@
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.utils import hw_to_dataset_features
 from lerobot.policies.act.modeling_act import ACTPolicy
+from lerobot.policies.factory import make_pre_post_processors
 from lerobot.record import record_loop
 from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
 from lerobot.utils.control_utils import init_keyboard_listener
@@ -11,12 +12,14 @@ NUM_EPISODES = 2
 FPS = 30
 EPISODE_TIME_SEC = 60
 TASK_DESCRIPTION = "My task description"
+HF_MODEL_ID = "<hf_username>/<model_repo_id>"
+HF_DATASET_ID = "<hf_username>/<eval_dataset_repo_id>"

 # Create the robot and teleoperator configurations
 robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")
 robot = LeKiwiClient(robot_config)

-policy = ACTPolicy.from_pretrained("<hf_username>/<policy_repo_id>")
+policy = ACTPolicy.from_pretrained(HF_MODEL_ID)

 # Configure the dataset features
 action_features = hw_to_dataset_features(robot.action_features, "action")
@@ -25,7 +28,7 @@ dataset_features = {**action_features, **obs_features}

 # Create the dataset
 dataset = LeRobotDataset.create(
-    repo_id="<hf_username>/<eval_dataset_repo_id>",
+    repo_id=HF_DATASET_ID,
    fps=FPS,
    features=dataset_features,
    robot_type=robot.name,
@@ -43,6 +46,12 @@ listener, events = init_keyboard_listener()
 if not robot.is_connected:
    raise ValueError("Robot is not connected!")

+preprocessor, postprocessor = make_pre_post_processors(
+    policy_cfg=policy,
+    pretrained_path=HF_MODEL_ID,
+    dataset_stats=dataset.meta.stats,
+)
+
 recorded_episodes = 0
 while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
    log_say(f"Running inference, recording eval episode {recorded_episodes} of {NUM_EPISODES}")
@@ -53,6 +62,8 @@ while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
        events=events,
        fps=FPS,
        policy=policy,
+        preprocessor=preprocessor,
+        postprocessor=postprocessor,
        dataset=dataset,
        control_time_s=EPISODE_TIME_SEC,
        single_task=TASK_DESCRIPTION,
@@ -38,7 +38,7 @@ while True:
    keyboard_keys = keyboard.get_action()
    base_action = robot._from_keyboard_to_base_action(keyboard_keys)

-    log_rerun_data(observation, {**arm_action, **base_action})
+    log_rerun_data(observation=observation, action={**arm_action, **base_action})

    action = {**arm_action, **base_action} if len(base_action) > 0 else arm_action

@@ -0,0 +1,158 @@
+# !/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 lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features
+from lerobot.datasets.utils import combine_feature_dicts
+from lerobot.model.kinematics import RobotKinematics
+from lerobot.policies.act.modeling_act import ACTPolicy
+from lerobot.policies.factory import make_pre_post_processors
+from lerobot.processor import RobotProcessorPipeline
+from lerobot.processor.converters import (
+    observation_to_transition,
+    transition_to_robot_action,
+)
+from lerobot.record import record_loop
+from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
+from lerobot.robots.so100_follower.robot_kinematic_processor import (
+    AddRobotObservationAsComplimentaryData,
+    ForwardKinematicsJointsToEE,
+    InverseKinematicsEEToJoints,
+)
+from lerobot.robots.so100_follower.so100_follower import SO100Follower
+from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.utils import log_say
+from lerobot.utils.visualization_utils import _init_rerun
+
+NUM_EPISODES = 5
+FPS = 30
+EPISODE_TIME_SEC = 60
+TASK_DESCRIPTION = "My task description"
+HF_MODEL_ID = "<hf_username>/<model_repo_id>"
+HF_DATASET_ID = "<hf_username>/<dataset_repo_id>"
+
+# Initialize the robot with degrees
+camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
+robot_config = SO100FollowerConfig(
+    port="/dev/tty.usbmodem58760434471",
+    id="my_awesome_follower_arm",
+    cameras=camera_config,
+    use_degrees=True,
+)
+
+# Initialize the robot
+robot = SO100Follower(robot_config)
+
+# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
+kinematics_solver = RobotKinematics(
+    urdf_path="./src/lerobot/teleoperators/sim/so101_new_calib.urdf",
+    target_frame_name="gripper_frame_link",
+    joint_names=list(robot.bus.motors.keys()),
+)
+
+# Build pipeline to convert ee pose action to joint action
+robot_ee_to_joints_processor = RobotProcessorPipeline(
+    steps=[
+        AddRobotObservationAsComplimentaryData(robot=robot),
+        InverseKinematicsEEToJoints(
+            kinematics=kinematics_solver,
+            motor_names=list(robot.bus.motors.keys()),
+            initial_guess_current_joints=True,
+        ),
+    ],
+    to_transition=lambda tr: tr,
+    to_output=transition_to_robot_action,
+)
+
+# Build pipeline to convert joint observation to ee pose observation
+robot_joints_to_ee_pose_processor = RobotProcessorPipeline(
+    steps=[
+        ForwardKinematicsJointsToEE(kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys()))
+    ],
+    to_transition=observation_to_transition,
+    to_output=lambda tr: tr,
+)
+
+# Build dataset action and gripper features
+action_ee_and_gripper = aggregate_pipeline_dataset_features(
+    pipeline=robot_ee_to_joints_processor,
+    initial_features={},
+    use_videos=True,
+    patterns=["action.ee", "action.gripper.pos", "observation.state.gripper.pos"],
+)  # Get all ee action features + gripper pos action features
+
+# Build dataset observation features
+obs_ee = aggregate_pipeline_dataset_features(
+    pipeline=robot_joints_to_ee_pose_processor,
+    initial_features=robot.observation_features,
+    use_videos=True,
+    patterns=["observation.state.ee"],
+)  # Get all ee observation features
+
+dataset_features = combine_feature_dicts(obs_ee, action_ee_and_gripper)
+
+print("All dataset features: ", dataset_features)
+
+# Create the dataset
+dataset = LeRobotDataset.create(
+    repo_id=HF_DATASET_ID,
+    fps=FPS,
+    features=dataset_features,
+    robot_type=robot.name,
+    use_videos=True,
+    image_writer_threads=4,
+)
+
+# Initialize the keyboard listener and rerun visualization
+_, events = init_keyboard_listener()
+_init_rerun(session_name="recording_phone")
+
+# Connect the robot and teleoperator
+robot.connect()
+
+episode_idx = 0
+
+policy = ACTPolicy.from_pretrained(HF_MODEL_ID)
+preprocessor, postprocessor = make_pre_post_processors(
+    policy_cfg=policy,
+    pretrained_path=HF_MODEL_ID,
+    dataset_stats=dataset.meta.stats,
+)
+
+for episode_idx in range(NUM_EPISODES):
+    log_say(f"Running inference, recording eval episode {episode_idx + 1} of {NUM_EPISODES}")
+
+    record_loop(
+        robot=robot,
+        events=events,
+        fps=FPS,
+        policy=policy,
+        preprocessor=preprocessor,
+        postprocessor=postprocessor,
+        dataset=dataset,
+        control_time_s=EPISODE_TIME_SEC,
+        single_task=TASK_DESCRIPTION,
+        display_data=True,
+        robot_action_processor=robot_ee_to_joints_processor,
+        robot_observation_processor=robot_joints_to_ee_pose_processor,
+    )
+    dataset.save_episode()
+
+# Clean up
+log_say("Stop recording")
+robot.disconnect()
+dataset.push_to_hub()
@@ -0,0 +1,215 @@
+# !/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 lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features
+from lerobot.datasets.utils import combine_feature_dicts
+from lerobot.model.kinematics import RobotKinematics
+from lerobot.processor import RobotProcessorPipeline
+from lerobot.processor.converters import (
+    action_to_transition,
+    observation_to_transition,
+    transition_to_robot_action,
+)
+from lerobot.record import record_loop
+from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
+from lerobot.robots.so100_follower.robot_kinematic_processor import (
+    AddRobotObservationAsComplimentaryData,
+    EEBoundsAndSafety,
+    EEReferenceAndDelta,
+    ForwardKinematicsJointsToEE,
+    GripperVelocityToJoint,
+    InverseKinematicsEEToJoints,
+)
+from lerobot.robots.so100_follower.so100_follower import SO100Follower
+from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
+from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
+from lerobot.teleoperators.phone.teleop_phone import Phone
+from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.utils import log_say
+from lerobot.utils.visualization_utils import _init_rerun
+
+NUM_EPISODES = 10
+FPS = 30
+EPISODE_TIME_SEC = 60
+RESET_TIME_SEC = 30
+TASK_DESCRIPTION = "My task description"
+HF_REPO_ID = "<hf_username>/<dataset_repo_id>"
+
+# Initialize the robot and teleoperator
+camera_config = {"front": OpenCVCameraConfig(index_or_path=0, width=640, height=480, fps=FPS)}
+robot_config = SO100FollowerConfig(
+    port="/dev/tty.usbmodem58760434471",
+    id="my_awesome_follower_arm",
+    cameras=camera_config,
+    use_degrees=True,
+)
+teleop_config = PhoneConfig(phone_os=PhoneOS.IOS)  # or PhoneOS.ANDROID
+
+# Initialize the robot and teleoperator
+robot = SO100Follower(robot_config)
+phone = Phone(teleop_config)
+
+# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
+kinematics_solver = RobotKinematics(
+    urdf_path="./src/lerobot/teleoperators/sim/so101_new_calib.urdf",
+    target_frame_name="gripper_frame_link",
+    joint_names=list(robot.bus.motors.keys()),
+)
+
+# Build pipeline to convert phone action to ee pose action
+phone_to_robot_ee_pose_processor = RobotProcessorPipeline(
+    steps=[
+        MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
+        AddRobotObservationAsComplimentaryData(robot=robot),
+        EEReferenceAndDelta(
+            kinematics=kinematics_solver,
+            end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
+            motor_names=list(robot.bus.motors.keys()),
+        ),
+        EEBoundsAndSafety(
+            end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
+            max_ee_step_m=0.20,
+            max_ee_twist_step_rad=0.50,
+        ),
+    ],
+    to_transition=action_to_transition,
+    to_output=lambda tr: tr,
+)
+
+# Build pipeline to convert ee pose action to joint action
+robot_ee_to_joints_processor = RobotProcessorPipeline(
+    steps=[
+        InverseKinematicsEEToJoints(
+            kinematics=kinematics_solver,
+            motor_names=list(robot.bus.motors.keys()),
+            initial_guess_current_joints=True,
+        ),
+        GripperVelocityToJoint(
+            motor_names=list(robot.bus.motors.keys()),
+            speed_factor=20.0,
+        ),
+    ],
+    to_transition=lambda tr: tr,
+    to_output=transition_to_robot_action,
+)
+
+# Build pipeline to convert joint observation to ee pose observation
+robot_joints_to_ee_pose = RobotProcessorPipeline(
+    steps=[
+        ForwardKinematicsJointsToEE(kinematics=kinematics_solver, motor_names=list(robot.bus.motors.keys()))
+    ],
+    to_transition=observation_to_transition,
+    to_output=lambda tr: tr,
+)
+
+# Build dataset ee action features
+action_ee = aggregate_pipeline_dataset_features(
+    pipeline=phone_to_robot_ee_pose_processor,
+    initial_features=phone.action_features,
+    use_videos=True,
+    patterns=["action.ee"],
+)
+
+# Get gripper pos action features
+gripper = aggregate_pipeline_dataset_features(
+    pipeline=robot_ee_to_joints_processor,
+    initial_features={},
+    use_videos=True,
+    patterns=["action.gripper.pos", "observation.state.gripper.pos"],
+)
+
+# Build dataset ee observation features
+observation_ee = aggregate_pipeline_dataset_features(
+    pipeline=robot_joints_to_ee_pose,
+    initial_features=robot.observation_features,
+    use_videos=True,
+    patterns=["observation.state.ee"],
+)
+
+dataset_features = combine_feature_dicts(action_ee, gripper, observation_ee)
+
+print("All dataset features: ", dataset_features)
+
+# Create the dataset
+dataset = LeRobotDataset.create(
+    repo_id=HF_REPO_ID,
+    fps=FPS,
+    features=dataset_features,
+    robot_type=robot.name,
+    use_videos=True,
+    image_writer_threads=4,
+)
+
+# Initialize the keyboard listener and rerun visualization
+_, events = init_keyboard_listener()
+_init_rerun(session_name="recording_phone")
+
+# Connect the robot and teleoperator
+robot.connect()
+phone.connect()
+
+episode_idx = 0
+while episode_idx < NUM_EPISODES and not events["stop_recording"]:
+    log_say(f"Recording episode {episode_idx + 1} of {NUM_EPISODES}")
+
+    record_loop(
+        robot=robot,
+        events=events,
+        fps=FPS,
+        teleop=phone,
+        dataset=dataset,
+        control_time_s=EPISODE_TIME_SEC,
+        single_task=TASK_DESCRIPTION,
+        display_data=True,
+        teleop_action_processor=phone_to_robot_ee_pose_processor,
+        robot_action_processor=robot_ee_to_joints_processor,
+        robot_observation_processor=robot_joints_to_ee_pose,
+    )
+
+    # Reset the environment if not stopping or re-recording
+    if not events["stop_recording"] and (episode_idx < NUM_EPISODES - 1 or events["rerecord_episode"]):
+        log_say("Reset the environment")
+        record_loop(
+            robot=robot,
+            events=events,
+            fps=FPS,
+            teleop=phone,
+            control_time_s=RESET_TIME_SEC,
+            single_task=TASK_DESCRIPTION,
+            display_data=True,
+            teleop_action_processor=phone_to_robot_ee_pose_processor,
+            robot_action_processor=robot_ee_to_joints_processor,
+            robot_observation_processor=robot_joints_to_ee_pose,
+        )
+
+    if events["rerecord_episode"]:
+        log_say("Re-recording episode")
+        events["rerecord_episode"] = False
+        events["exit_early"] = False
+        dataset.clear_episode_buffer()
+        continue
+
+    dataset.save_episode()
+    episode_idx += 1
+
+# Clean up
+log_say("Stop recording")
+robot.disconnect()
+phone.disconnect()
+dataset.push_to_hub()
@@ -0,0 +1,81 @@
+# !/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.
+
+
+import time
+
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.model.kinematics import RobotKinematics
+from lerobot.processor import RobotProcessorPipeline
+from lerobot.processor.converters import action_to_transition, transition_to_robot_action
+from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
+from lerobot.robots.so100_follower.robot_kinematic_processor import (
+    AddRobotObservationAsComplimentaryData,
+    InverseKinematicsEEToJoints,
+)
+from lerobot.robots.so100_follower.so100_follower import SO100Follower
+from lerobot.utils.robot_utils import busy_wait
+from lerobot.utils.utils import log_say
+
+EPISODE_IDX = 0
+HF_REPO_ID = "<hf_username>/<dataset_repo_id>"
+
+robot_config = SO100FollowerConfig(
+    port="/dev/tty.usbmodem58760434471", id="my_awesome_follower_arm", use_degrees=True
+)
+robot = SO100Follower(robot_config)
+robot.connect()
+
+dataset = LeRobotDataset(HF_REPO_ID, episodes=[EPISODE_IDX])
+actions = dataset.hf_dataset.select_columns("action")
+
+# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
+kinematics_solver = RobotKinematics(
+    urdf_path="./src/lerobot/teleoperators/sim/so101_new_calib.urdf",
+    target_frame_name="gripper_frame_link",
+    joint_names=list(robot.bus.motors.keys()),
+)
+
+# Build pipeline to convert ee pose action to joint action
+robot_ee_to_joints_processor = RobotProcessorPipeline(
+    steps=[
+        AddRobotObservationAsComplimentaryData(robot=robot),
+        InverseKinematicsEEToJoints(
+            kinematics=kinematics_solver,
+            motor_names=list(robot.bus.motors.keys()),
+            initial_guess_current_joints=False,  # Because replay is open loop
+        ),
+    ],
+    to_transition=action_to_transition,
+    to_output=transition_to_robot_action,
+)
+
+robot_ee_to_joints_processor.reset()
+
+log_say(f"Replaying episode {EPISODE_IDX}")
+for idx in range(dataset.num_frames):
+    t0 = time.perf_counter()
+
+    ee_action = {
+        name: float(actions[idx]["action"][i]) for i, name in enumerate(dataset.features["action"]["names"])
+    }
+
+    joint_action = robot_ee_to_joints_processor(ee_action)
+    action_sent = robot.send_action(joint_action)
+
+    busy_wait(1.0 / dataset.fps - (time.perf_counter() - t0))
+
+robot.disconnect()
@@ -0,0 +1,93 @@
+#!/usr/bin/env python
+
+# Copyright 2024 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 specif
+
+import time
+
+from lerobot.model.kinematics import RobotKinematics
+from lerobot.processor import RobotProcessorPipeline
+from lerobot.processor.converters import action_to_transition, transition_to_robot_action
+from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
+from lerobot.robots.so100_follower.robot_kinematic_processor import (
+    AddRobotObservationAsComplimentaryData,
+    EEBoundsAndSafety,
+    EEReferenceAndDelta,
+    GripperVelocityToJoint,
+    InverseKinematicsEEToJoints,
+)
+from lerobot.robots.so100_follower.so100_follower import SO100Follower
+from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
+from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
+from lerobot.teleoperators.phone.teleop_phone import Phone
+
+# Initialize the robot and teleoperator
+robot_config = SO100FollowerConfig(
+    port="/dev/tty.usbmodem58760434471", id="my_awesome_follower_arm", use_degrees=True
+)
+teleop_config = PhoneConfig(phone_os=PhoneOS.IOS)  # or PhoneOS.ANDROID
+
+# Initialize the robot and teleoperator
+robot = SO100Follower(robot_config)
+teleop_device = Phone(teleop_config)
+
+# NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo: https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
+kinematics_solver = RobotKinematics(
+    urdf_path="./src/lerobot/teleoperators/sim/so101_new_calib.urdf",
+    target_frame_name="gripper_frame_link",
+    joint_names=list(robot.bus.motors.keys()),
+)
+
+# Build pipeline to convert phone action to ee pose action to joint action
+phone_to_robot_joints_processor = RobotProcessorPipeline(
+    steps=[
+        MapPhoneActionToRobotAction(platform=teleop_config.phone_os),
+        AddRobotObservationAsComplimentaryData(robot=robot),
+        EEReferenceAndDelta(
+            kinematics=kinematics_solver,
+            end_effector_step_sizes={"x": 0.5, "y": 0.5, "z": 0.5},
+            motor_names=list(robot.bus.motors.keys()),
+        ),
+        EEBoundsAndSafety(
+            end_effector_bounds={"min": [-1.0, -1.0, -1.0], "max": [1.0, 1.0, 1.0]},
+            max_ee_step_m=0.10,
+            max_ee_twist_step_rad=0.50,
+        ),
+        InverseKinematicsEEToJoints(
+            kinematics=kinematics_solver,
+            motor_names=list(robot.bus.motors.keys()),
+        ),
+        GripperVelocityToJoint(
+            motor_names=list(robot.bus.motors.keys()),
+            speed_factor=20.0,
+        ),
+    ],
+    to_transition=action_to_transition,
+    to_output=transition_to_robot_action,
+)
+
+robot.connect()
+teleop_device.connect()
+
+print("Starting teleop loop. Move your phone to teleoperate the robot.")
+while True:
+    # Get teleop observation
+    phone_obs = teleop_device.get_action()
+
+    # Phone -> EE pose -> Joints transition
+    joint_action = phone_to_robot_joints_processor(phone_obs)
+
+    if joint_action:
+        robot.send_action(joint_action)
+
+    time.sleep(0.01)
@@ -1,193 +0,0 @@
-#!/usr/bin/env python
-
-"""Script to create and push a PI0OpenPI model to HuggingFace hub with proper config format."""
-
-import tempfile
-from pathlib import Path
-
-import torch
-from huggingface_hub import HfApi, create_repo
-
-from lerobot.policies.pi0_openpi import PI0OpenPIConfig, PI0OpenPIPolicy
-
-
-def create_and_push_model(
-    repo_id: str,
-    private: bool = False,
-    token: str = None,
-):
-    """Create a PI0OpenPI model with proper config and push to HuggingFace hub.
-
-    Args:
-        repo_id: HuggingFace repository ID (e.g., "username/model-name")
-        private: Whether to create a private repository
-        token: HuggingFace API token (optional, will use cached token if not provided)
-    """
-    print("=" * 60)
-    print("PI0OpenPI Model Hub Upload")
-    print("=" * 60)
-
-    # Create configuration
-    print("\nCreating PI0OpenPI configuration...")
-    config = PI0OpenPIConfig(
-        # Model architecture
-        paligemma_variant="gemma_2b",
-        action_expert_variant="gemma_300m",
-        pi05=False,  # Use PI0 (not PI0.5)
-        dtype="float32",  # Use float32 for compatibility
-        # Input/output dimensions
-        action_dim=32,  # see openpi `Pi0Config`
-        state_dim=32,
-        chunk_size=50,
-        n_action_steps=50,
-        # Image inputs, see openpi `model.py, IMAGE_KEYS`
-        image_keys=(
-            "observation.images.base_0_rgb",
-            "observation.images.left_wrist_0_rgb",
-            "observation.images.right_wrist_0_rgb",
-        ),
-        # Training settings
-        gradient_checkpointing=False,
-        compile_model=False,
-        device=None,  # Auto-detect
-        # Tokenizer settings
-        tokenizer_max_length=48,  # see openpi `__post_init__`, use pi0=48 and pi05=200
-    )
-
-    print(f"  - Config type: {config.__class__.__name__}")
-    print(f"  - PaliGemma variant: {config.paligemma_variant}")
-    print(f"  - Action expert variant: {config.action_expert_variant}")
-    print(f"  - Action dim: {config.action_dim}")
-    print(f"  - State dim: {config.state_dim}")
-
-    # Create dummy dataset stats for normalization
-    print("\nCreating dataset statistics...")
-    dataset_stats = {
-        "observation.state": {
-            "mean": torch.zeros(config.state_dim),
-            "std": torch.ones(config.state_dim),
-            "min": torch.full((config.state_dim,), -5.0),
-            "max": torch.full((config.state_dim,), 5.0),
-        },
-        "action": {
-            "mean": torch.zeros(config.action_dim),
-            "std": torch.ones(config.action_dim),
-            "min": torch.full((config.action_dim,), -1.0),
-            "max": torch.full((config.action_dim,), 1.0),
-        },
-    }
-
-    # Add image stats
-    for key in config.image_keys:
-        dataset_stats[key] = {
-            "mean": torch.tensor([0.485, 0.456, 0.406]),  # TODO(pepijn): fix this, now its ImageNet mean
-            "std": torch.tensor([0.229, 0.224, 0.225]),  # TODO(pepijn): fix this, now its ImageNet std
-            "min": torch.tensor([0.0, 0.0, 0.0]),
-            "max": torch.tensor([1.0, 1.0, 1.0]),
-        }
-
-    # Create the policy
-    print("\nInitializing PI0OpenPI policy...")
-    print("  (This may take a moment as it loads the tokenizer and initializes the model)")
-    policy = PI0OpenPIPolicy(config, dataset_stats)
-
-    # Initialize with small random weights (optional - for testing)
-    # Note: In practice, you would load your trained weights here
-    print("\nInitializing model weights...")
-    for name, param in policy.named_parameters():
-        if "weight" in name:
-            if "norm" in name.lower() or "layernorm" in name.lower():
-                torch.nn.init.ones_(param)
-            elif len(param.shape) >= 2:
-                torch.nn.init.xavier_uniform_(param, gain=0.01)
-            else:
-                torch.nn.init.normal_(param, mean=0.0, std=0.01)
-        elif "bias" in name:
-            torch.nn.init.zeros_(param)
-
-    print(f"  - Total parameters: {sum(p.numel() for p in policy.parameters()):,}")
-    print(f"  - Trainable parameters: {sum(p.numel() for p in policy.parameters() if p.requires_grad):,}")
-
-    # Create temporary directory for saving
-    with tempfile.TemporaryDirectory() as tmpdir:
-        save_path = Path(tmpdir) / "model"
-        save_path.mkdir(exist_ok=True)
-
-        print(f"\nSaving model to temporary directory: {save_path}")
-
-        # Save the model using LeRobot's save_pretrained method
-        # This ensures the config is saved in the correct format
-        policy.save_pretrained(save_path)
-
-        # List saved files
-        saved_files = list(save_path.glob("*"))
-        print("\nSaved files:")
-        for file in saved_files:
-            size = file.stat().st_size
-            print(f"  - {file.name}: {size:,} bytes")
-
-        # Create or get repository
-        print(f"\nCreating/accessing repository: {repo_id}")
-        api = HfApi(token=token)
-
-        try:
-            # Create repo if it doesn't exist
-            create_repo(
-                repo_id,
-                private=private,
-                token=token,
-                exist_ok=True,
-            )
-            print(f"  ✓ Repository ready: https://huggingface.co/{repo_id}")
-        except Exception as e:
-            print(f"  ⚠️  Note: {e}")
-
-        # Upload to hub
-        print("\nUploading to HuggingFace hub...")
-        api.upload_folder(
-            folder_path=str(save_path),
-            repo_id=repo_id,
-            repo_type="model",
-            token=token,
-            commit_message="Upload PI0OpenPI model with proper LeRobot config format",
-        )
-
-        print(f"\n✓ Model successfully uploaded to: https://huggingface.co/{repo_id}")
-
-    print("\n" + "=" * 60)
-    print("✓ Process complete!")
-    print("=" * 60)
-
-    return policy
-
-
-if __name__ == "__main__":
-    import argparse
-
-    parser = argparse.ArgumentParser(description="Push PI0OpenPI model to HuggingFace hub")
-    parser.add_argument(
-        "--repo-id",
-        type=str,
-        default="test-user/pi0-openpi-test",
-        help="HuggingFace repository ID (e.g., 'username/model-name')",
-    )
-    parser.add_argument(
-        "--private",
-        action="store_true",
-        help="Create a private repository",
-    )
-    parser.add_argument(
-        "--token",
-        type=str,
-        default=None,
-        help="HuggingFace API token (optional, uses cached token if not provided)",
-    )
-
-    args = parser.parse_args()
-
-    # Run the upload
-    create_and_push_model(
-        repo_id=args.repo_id,
-        private=args.private,
-        token=args.token,
-    )
@@ -29,7 +29,7 @@ version = "0.3.4"
 description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
 readme = "README.md"
 license = { text = "Apache-2.0" }
-requires-python = ">=3.11"
+requires-python = ">=3.10"
 authors = [
    { name = "Rémi Cadène", email = "re.cadene@gmail.com" },
    { name = "Simon Alibert", email = "alibert.sim@gmail.com" },
@@ -50,7 +50,7 @@ classifiers = [
    "Intended Audience :: Education",
    "Intended Audience :: Science/Research",
    "License :: OSI Approved :: Apache Software License",
-    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.10",
    "Topic :: Software Development :: Build Tools",
    "Topic :: Scientific/Engineering :: Artificial Intelligence",
 ]
@@ -73,6 +73,7 @@ dependencies = [
    "pynput>=1.7.7",
    "pyserial>=3.5",
    "wandb>=0.20.0",
+    "scipy>=1.15.2",

    "torch>=2.2.1,<2.8.0", # TODO: Bumb dependency
    "torchcodec>=0.2.1,<0.6.0; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')", # TODO: Bumb dependency
@@ -95,7 +96,7 @@ dependencies = [
 # Common
 pygame-dep = ["pygame>=2.5.1"]
 placo-dep = ["placo>=0.9.6"]
-transformers-dep = ["transformers==4.53.2"]
+transformers-dep = ["transformers<=4.52.0"]
 grpcio-dep = ["grpcio==1.73.1", "protobuf==6.31.0"]

 # Motors
@@ -106,12 +107,12 @@ dynamixel = ["dynamixel-sdk>=3.7.31"]
 gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0"]
 hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
 lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1"]
-reachy2 = ["reachy2_sdk>=1.0.14"]
 kinematics = ["lerobot[placo-dep]"]
 intelrealsense = [
    "pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'",
    "pyrealsense2-macosx>=2.54 ; sys_platform == 'darwin'",
 ]
+phone = ["hebi-py>=2.8.0", "teleop>=0.1.0"]
 # stretch = [
 #     "hello-robot-stretch-body>=0.7.27 ; sys_platform == 'linux'",
 #     "pyrender @ git+https://github.com/mmatl/pyrender.git ; sys_platform == 'linux'",
@@ -135,33 +136,13 @@ video_benchmark = ["scikit-image>=0.23.2", "pandas>=2.2.2"]
 aloha = ["gym-aloha>=0.1.1"]
 pusht = ["gym-pusht>=0.1.5", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
 xarm = ["gym-xarm>=0.1.1"]
-libero = [
-    "hydra-core>=1.2,<1.4",
-    "numpy",
-    "wandb",
-    "easydict",
-    "transformers",
-    "opencv-python",
-    "robomimic==0.2.0",
-    "einops",
-    "thop",
-    "robosuite==1.4.0",
-    "mujoco>=2.3.7,<3.0.0",
-    "bddl==1.0.1",
-    "matplotlib",
-    "cloudpickle",
-    "future",
-    "gym",
-    "egl_probe @ git+https://github.com/jadechoghari/egl_probe.git#egg=egl_probe",
-    "libero @ git+https://github.com/jadechoghari/LIBERO.git@main#egg=libero",
-]
+
 # All
 all = [
    "lerobot[dynamixel]",
    "lerobot[gamepad]",
    "lerobot[hopejr]",
    "lerobot[lekiwi]",
-    "lerobot[reachy2]",
    "lerobot[kinematics]",
    "lerobot[intelrealsense]",
    "lerobot[pi0]",
@@ -174,7 +155,7 @@ all = [
    "lerobot[aloha]",
    "lerobot[pusht]",
    "lerobot[xarm]",
-    "lerobot[libero]"
+    "lerobot[phone]",
 ]

 [project.scripts]
@@ -280,7 +261,7 @@ default.extend-ignore-identifiers-re = [
 # paths = ["src/lerobot"]

 # [tool.mypy]
-# python_version = "3.11"
+# python_version = "3.10"
 # warn_return_any = true
 # warn_unused_configs = true
 # ignore_missing_imports = false
@@ -1,78 +0,0 @@
-# Copyright 2024 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
-
-from ..configs import CameraConfig, ColorMode
-
-
-@CameraConfig.register_subclass("reachy2_camera")
-@dataclass
-class Reachy2CameraConfig(CameraConfig):
-    """Configuration class for Reachy 2 camera devices.
-
-    This class provides configuration options for Reachy 2 cameras,
-    supporting both the teleop and depth cameras. It includes settings
-    for resolution, frame rate, color mode, and the selection of the cameras.
-
-    Example configurations:
-    ```python
-    # Basic configurations
-    Reachy2CameraConfig(
-        name="teleop",
-        image_type="left",
-        ip_address="192.168.0.200",  # IP address of the robot
-        fps=15,
-        width=640,
-        height=480,
-        color_mode=ColorMode.RGB,
-    )  # Left teleop camera, 640x480 @ 15FPS
-    ```
-
-    Attributes:
-        name: Name of the camera device. Can be "teleop" or "depth".
-        image_type: Type of image stream. For "teleop" camera, can be "left" or "right".
-                    For "depth" camera, can be "rgb" or "depth". (depth is not supported yet)
-        fps: Requested frames per second for the color stream.
-        width: Requested frame width in pixels for the color stream.
-        height: Requested frame height in pixels for the color stream.
-        color_mode: Color mode for image output (RGB or BGR). Defaults to RGB.
-        ip_address: IP address of the robot. Defaults to "localhost".
-        port: Port number for the camera server. Defaults to 50065.
-
-    Note:
-        - Only 3-channel color output (RGB/BGR) is currently supported.
-    """
-
-    name: str
-    image_type: str
-    color_mode: ColorMode = ColorMode.RGB
-    ip_address: str | None = "localhost"
-    port: int = 50065
-    # use_depth: bool = False
-
-    def __post_init__(self):
-        if self.name not in ["teleop", "depth"]:
-            raise ValueError(f"`name` is expected to be 'teleop' or 'depth', but {self.name} is provided.")
-        if (self.name == "teleop" and self.image_type not in ["left", "right"]) or (
-            self.name == "depth" and self.image_type not in ["rgb", "depth"]
-        ):
-            raise ValueError(
-                f"`image_type` is expected to be 'left' or 'right' for teleop camera, and 'rgb' or 'depth' for depth camera, but {self.image_type} is provided."
-            )
-
-        if self.color_mode not in ["rgb", "bgr"]:
-            raise ValueError(
-                f"`color_mode` is expected to be 'rgb' or 'bgr', but {self.color_mode} is provided."
-            )
@@ -1,288 +0,0 @@
-# Copyright 2024 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.
-
-"""
-Provides the Reachy2Camera class for capturing frames from Reachy 2 cameras using Reachy 2's CameraManager.
-"""
-
-import logging
-import os
-import platform
-import time
-from threading import Event, Lock, Thread
-from typing import Any
-
-# Fix MSMF hardware transform compatibility for Windows before importing cv2
-if platform.system() == "Windows" and "OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS" not in os.environ:
-    os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
-import cv2
-import numpy as np
-from reachy2_sdk.media.camera import CameraView
-from reachy2_sdk.media.camera_manager import CameraManager
-
-from lerobot.errors import DeviceNotConnectedError
-
-from ..camera import Camera
-from .configuration_reachy2_camera import ColorMode, Reachy2CameraConfig
-
-logger = logging.getLogger(__name__)
-
-
-class Reachy2Camera(Camera):
-    """
-    Manages Reachy 2 camera using Reachy 2 CameraManager.
-
-    This class provides a high-level interface to connect to, configure, and read
-    frames from Reachy 2 cameras. It supports both synchronous and asynchronous
-    frame reading.
-
-    An Reachy2Camera instance requires a camera name (e.g., "teleop") and an image
-    type (e.g., "left") to be specified in the configuration.
-
-    The camera's default settings (FPS, resolution, color mode) are used unless
-    overridden in the configuration.
-    """
-
-    def __init__(self, config: Reachy2CameraConfig):
-        """
-        Initializes the Reachy2Camera instance.
-
-        Args:
-            config: The configuration settings for the camera.
-        """
-        super().__init__(config)
-
-        self.config = config
-
-        self.fps = config.fps
-        self.color_mode = config.color_mode
-
-        self.cam_manager: CameraManager | None = None
-
-        self.thread: Thread | None = None
-        self.stop_event: Event | None = None
-        self.frame_lock: Lock = Lock()
-        self.latest_frame: np.ndarray | None = None
-        self.new_frame_event: Event = Event()
-
-    def __str__(self) -> str:
-        return f"{self.__class__.__name__}({self.config.name}, {self.config.image_type})"
-
-    @property
-    def is_connected(self) -> bool:
-        """Checks if the camera is currently connected and opened."""
-        if self.config.name == "teleop":
-            return self.cam_manager._grpc_connected and self.cam_manager.teleop if self.cam_manager else False
-        elif self.config.name == "depth":
-            return self.cam_manager._grpc_connected and self.cam_manager.depth if self.cam_manager else False
-        else:
-            raise ValueError(f"Invalid camera name '{self.config.name}'. Expected 'teleop' or 'depth'.")
-
-    def connect(self, warmup: bool = True):
-        """
-        Connects to the Reachy2 CameraManager as specified in the configuration.
-        """
-        self.cam_manager = CameraManager(host=self.config.ip_address, port=self.config.port)
-        self.cam_manager.initialize_cameras()
-
-        logger.info(f"{self} connected.")
-
-    @staticmethod
-    def find_cameras(ip_address: str = "localhost", port: int = 50065) -> list[dict[str, Any]]:
-        """
-        Detects available Reachy 2 cameras.
-
-        Returns:
-            List[Dict[str, Any]]: A list of dictionaries,
-            where each dictionary contains 'name', 'stereo',
-            and the default profile properties (width, height, fps).
-        """
-        initialized_cameras = []
-        camera_manager = CameraManager(host=ip_address, port=port)
-
-        for camera in [camera_manager.teleop, camera_manager.depth]:
-            if camera is None:
-                continue
-
-            height, width, _, _, _, _, _ = camera.get_parameters()
-
-            camera_info = {
-                "name": camera._cam_info.name,
-                "stereo": camera._cam_info.stereo,
-                "default_profile": {
-                    "width": width,
-                    "height": height,
-                    "fps": 30,
-                },
-            }
-            initialized_cameras.append(camera_info)
-
-        camera_manager.disconnect()
-        return initialized_cameras
-
-    def read(self, color_mode: ColorMode | None = None) -> np.ndarray:
-        """
-        Reads a single frame synchronously from the camera.
-
-        This is a blocking call.
-
-        Args:
-            color_mode (Optional[ColorMode]): If specified, overrides the default
-                color mode (`self.color_mode`) for this read operation (e.g.,
-                request RGB even if default is BGR).
-
-        Returns:
-            np.ndarray: The captured frame as a NumPy array in the format
-                       (height, width, channels), using the specified or default
-                       color mode and applying any configured rotation.
-        """
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-
-        start_time = time.perf_counter()
-
-        frame = None
-
-        if self.cam_manager is None:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-        else:
-            if self.config.name == "teleop" and hasattr(self.cam_manager, "teleop"):
-                if self.config.image_type == "left":
-                    frame = self.cam_manager.teleop.get_frame(CameraView.LEFT, size=(640, 480))[0]
-                elif self.config.image_type == "right":
-                    frame = self.cam_manager.teleop.get_frame(CameraView.RIGHT, size=(640, 480))[0]
-            elif self.config.name == "depth" and hasattr(self.cam_manager, "depth"):
-                if self.config.image_type == "depth":
-                    frame = self.cam_manager.depth.get_depth_frame()[0]
-                elif self.config.image_type == "rgb":
-                    frame = self.cam_manager.depth.get_frame(size=(640, 480))[0]
-
-            if frame is None:
-                return np.empty((0, 0, 3), dtype=np.uint8)
-
-            if self.config.color_mode == "rgb":
-                frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
-
-        read_duration_ms = (time.perf_counter() - start_time) * 1e3
-        logger.debug(f"{self} read took: {read_duration_ms:.1f}ms")
-
-        return frame
-
-    def _read_loop(self):
-        """
-        Internal loop run by the background thread for asynchronous reading.
-
-        On each iteration:
-        1. Reads a color frame
-        2. Stores result in latest_frame (thread-safe)
-        3. Sets new_frame_event to notify listeners
-
-        Stops on DeviceNotConnectedError, logs other errors and continues.
-        """
-        while not self.stop_event.is_set():
-            try:
-                color_image = self.read()
-
-                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:
-        """Starts or restarts the background read thread if it's not running."""
-        if self.thread is not None and self.thread.is_alive():
-            self.thread.join(timeout=0.1)
-        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.thread.daemon = True
-        self.thread.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():
-            self.thread.join(timeout=2.0)
-
-        self.thread = None
-        self.stop_event = None
-
-    def async_read(self, timeout_ms: float = 200) -> np.ndarray:
-        """
-        Reads the latest available frame asynchronously.
-
-        This method retrieves the most recent frame captured by the background
-        read thread. It does not block waiting for the camera hardware directly,
-        but may wait up to timeout_ms for the background thread to provide a frame.
-
-        Args:
-            timeout_ms (float): Maximum time in milliseconds to wait for a frame
-                to become available. Defaults to 200ms (0.2 seconds).
-
-        Returns:
-            np.ndarray: The latest captured frame as a NumPy array in the format
-                       (height, width, channels), processed according to configuration.
-
-        Raises:
-            DeviceNotConnectedError: If the camera is not connected.
-            TimeoutError: If no frame becomes available within the specified timeout.
-            RuntimeError: If an unexpected error occurs.
-        """
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-
-        if self.thread is None or not self.thread.is_alive():
-            self._start_read_thread()
-
-        if not self.new_frame_event.wait(timeout=timeout_ms / 1000.0):
-            thread_alive = self.thread is not None and self.thread.is_alive()
-            raise TimeoutError(
-                f"Timed out waiting for frame from camera {self} after {timeout_ms} ms. "
-                f"Read thread alive: {thread_alive}."
-            )
-
-        with self.frame_lock:
-            frame = self.latest_frame
-            self.new_frame_event.clear()
-
-        if frame is None:
-            raise RuntimeError(f"Internal error: Event set but no frame available for {self}.")
-
-        return frame
-
-    def disconnect(self):
-        """
-        Stops the background read thread (if running).
-
-        Raises:
-            DeviceNotConnectedError: If the camera is already disconnected.
-        """
-        if not self.is_connected and self.thread is None:
-            raise DeviceNotConnectedError(f"{self} not connected.")
-
-        if self.thread is not None:
-            self._stop_read_thread()
-
-        if self.cam_manager is not None:
-            self.cam_manager.disconnect()
-
-        logger.info(f"{self} disconnected.")
@@ -37,14 +37,8 @@ def make_cameras_from_configs(camera_configs: dict[str, CameraConfig]) -> dict[s
            from .realsense.camera_realsense import RealSenseCamera

            cameras[key] = RealSenseCamera(cfg)
-
-        elif cfg.type == "reachy2_camera":
-            from .reachy2_camera.reachy2_camera import Reachy2Camera
-
-            cameras[key] = Reachy2Camera(cfg)
-
        else:
-            raise ValueError(f"The camera type '{cfg.type}' is not valid.")
+            raise ValueError(f"The motor type '{cfg.type}' is not valid.")

    return cameras

@@ -26,7 +26,7 @@ from huggingface_hub import hf_hub_download
 from huggingface_hub.constants import CONFIG_NAME
 from huggingface_hub.errors import HfHubHTTPError

-from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
+from lerobot.configs.types import FeatureType, PolicyFeature
 from lerobot.constants import ACTION, OBS_STATE
 from lerobot.optim.optimizers import OptimizerConfig
 from lerobot.optim.schedulers import LRSchedulerConfig
@@ -53,7 +53,6 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
    """

    n_obs_steps: int = 1
-    normalization_mapping: dict[str, NormalizationMode] = field(default_factory=dict)

    input_features: dict[str, PolicyFeature] = field(default_factory=dict)
    output_features: dict[str, PolicyFeature] = field(default_factory=dict)
@@ -72,11 +71,9 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
    tags: list[str] | None = None
    # Add tags to your policy on the hub.
    license: str | None = None
-    # Either the repo ID of a model hosted on the Hub or a path to a directory containing weights
-    # saved using `Policy.save_pretrained`. If not provided, the policy is initialized from scratch.
-    pretrained_path: str | None = None

    def __post_init__(self):
+        self.pretrained_path = None
        if not self.device or not is_torch_device_available(self.device):
            auto_device = auto_select_torch_device()
            logging.warning(f"Device '{self.device}' is not available. Switching to '{auto_device}'.")
@@ -24,6 +24,7 @@ class FeatureType(str, Enum):
    ENV = "ENV"
    ACTION = "ACTION"
    REWARD = "REWARD"
+    LANGUAGE = "LANGUAGE"


 class NormalizationMode(str, Enum):
@@ -21,8 +21,14 @@ OBS_ENV_STATE = "observation.environment_state"
 OBS_STATE = "observation.state"
 OBS_IMAGE = "observation.image"
 OBS_IMAGES = "observation.images"
+OBS_LANGUAGE = "observation.language"
 ACTION = "action"
 REWARD = "next.reward"
+TRUNCATED = "next.truncated"
+DONE = "next.done"
+
+OBS_LANGUAGE_TOKENS = "observation.language.tokens"
+OBS_LANGUAGE_ATTENTION_MASK = "observation.language.attention_mask"

 ROBOTS = "robots"
 ROBOT_TYPE = "robot_type"
@@ -39,6 +45,9 @@ OPTIMIZER_STATE = "optimizer_state.safetensors"
 OPTIMIZER_PARAM_GROUPS = "optimizer_param_groups.json"
 SCHEDULER_STATE = "scheduler_state.json"

+PREPROCESSOR_DEFAULT_NAME = "robot_preprocessor"
+POSTPROCESSOR_DEFAULT_NAME = "robot_postprocessor"
+
 if "LEROBOT_HOME" in os.environ:
    raise ValueError(
        f"You have a 'LEROBOT_HOME' environment variable set to '{os.getenv('LEROBOT_HOME')}'.\n"
@@ -0,0 +1,95 @@
+# 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 collections.abc import Sequence
+from typing import Any
+
+from lerobot.constants import ACTION, OBS_IMAGES, OBS_STATE
+from lerobot.datasets.utils import hw_to_dataset_features
+from lerobot.processor import DataProcessorPipeline
+
+
+def aggregate_pipeline_dataset_features(
+    pipeline: DataProcessorPipeline,
+    initial_features: dict[str, Any],
+    *,
+    use_videos: bool = True,
+    patterns: Sequence[str] | None = None,
+) -> dict[str, dict]:
+    """
+    Aggregates the pipeline's features and returns a features dict ready for the dataset,
+    filtered to only those keys matching any of the given patterns (for action/state only).
+
+    - `initial_features`: raw camera specs, e.g. {"front": (h,w,c), ...}
+    - `use_videos`: whether to treat image features as video streams
+    - `patterns`: regexes to filter action & state features; images are included
+                  whenever use_videos=True, regardless of patterns.
+    """
+    import re
+
+    # Gather everything the pipeline features specifies, seeded with hardware cams:
+    all_features = pipeline.transform_features(initial_features)
+
+    # Helper to decide which action/state keys survive the `patterns` filter:
+    def keep(key: str) -> bool:
+        if patterns is None:
+            return True
+        return any(re.search(pat, key) for pat in patterns)
+
+    # Start with hardware dict, injecting initial cameras if videos are ON:
+    hw: dict[str, dict[str, Any]] = {}
+    if use_videos:
+        cams = {
+            name: shape
+            for name, shape in initial_features.items()
+            if isinstance(shape, tuple) and len(shape) == 3
+        }
+        if cams:
+            hw["observation"] = dict(cams)
+
+    # Go over every feature from the pipeline and merge:
+    for full_key, ty in all_features.items():
+        if full_key.startswith(f"{ACTION}."):
+            # action.<feat>
+            if not keep(full_key):
+                continue
+            name = full_key[len(f"{ACTION}.") :]
+            hw.setdefault(ACTION, {})[name] = ty
+
+        elif full_key.startswith(f"{OBS_STATE}."):
+            # observation.state.<feat>
+            if not keep(full_key):
+                continue
+            name = full_key[len(f"{OBS_STATE}.") :]
+            hw.setdefault("observation", {})[name] = ty
+
+        elif full_key.startswith(f"{OBS_IMAGES}."):
+            # observation.images.<cam>
+            # images obey ONLY the use_videos flag, not patterns
+            if not use_videos:
+                continue
+            name = full_key[len(f"{OBS_IMAGES}.") :]
+            hw.setdefault("observation", {})[name] = ty
+
+        else:
+            # anything else (e.g. policy-only features) is ignored here
+            continue
+
+    out: dict[str, dict] = {}
+    if ACTION in hw:
+        out.update(hw_to_dataset_features(hw[ACTION], ACTION, use_videos))
+    if "observation" in hw:
+        out.update(hw_to_dataset_features(hw["observation"], "observation", use_videos))
+
+    return out
@@ -470,6 +470,50 @@ def dataset_to_policy_features(features: dict[str, dict]) -> dict[str, PolicyFea
    return policy_features


+def combine_feature_dicts(*dicts: dict) -> dict:
+    """
+    Merge LeRobot grouped feature dicts.
+
+    - For 1D numeric specs (dtype not image/video/string) with "names": we merge the names and recompute the shape.
+    - For others (observation.images.*), last one wins (if they are identical).
+    """
+    out: dict = {}
+    for d in dicts:
+        for key, value in d.items():
+            if not isinstance(value, dict):
+                out[key] = value
+                continue
+
+            dtype = value.get("dtype")
+            shape = value.get("shape")
+            is_vector = (
+                dtype not in ("image", "video", "string")
+                and isinstance(shape, tuple)
+                and len(shape) == 1
+                and "names" in value
+            )
+
+            if is_vector:
+                # Initialize or retrieve the accumulating dict for this feature key
+                target = out.setdefault(key, {"dtype": dtype, "names": [], "shape": (0,)})
+                # Ensure consistent data types across merged entries
+                if "dtype" in target and dtype != target["dtype"]:
+                    raise ValueError(f"dtype mismatch for '{key}': {target['dtype']} vs {dtype}")
+
+                # Merge feature names: append only new ones to preserve order without duplicates
+                seen = set(target["names"])
+                for n in value["names"]:
+                    if n not in seen:
+                        target["names"].append(n)
+                        seen.add(n)
+                # Recompute the shape to reflect the updated number of features
+                target["shape"] = (len(target["names"]),)
+            else:
+                # For images/videos and non-1D entries: override with the latest definition
+                out[key] = value
+    return out
+
+
 def create_empty_dataset_info(
    codebase_version: str,
    fps: int,
@@ -30,8 +30,6 @@ class EnvConfig(draccus.ChoiceRegistry, abc.ABC):
    fps: int = 30
    features: dict[str, PolicyFeature] = field(default_factory=dict)
    features_map: dict[str, str] = field(default_factory=dict)
-    multitask_eval: bool = False
-    max_parallel_tasks: int = 5

    @property
    def type(self) -> str:
@@ -163,35 +161,73 @@ class XarmEnv(EnvConfig):


@dataclass
-class VideoRecordConfig:
-    """Configuration for video recording in ManiSkill environments."""
-
-    enabled: bool = False
-    record_dir: str = "videos"
-    trajectory_name: str = "trajectory"
+class ImagePreprocessingConfig:
+    crop_params_dict: dict[str, tuple[int, int, int, int]] | None = None
+    resize_size: tuple[int, int] | None = None


@dataclass
-class EnvTransformConfig:
-    """Configuration for environment wrappers."""
+class RewardClassifierConfig:
+    """Configuration for reward classification."""
+
+    pretrained_path: str | None = None
+    success_threshold: float = 0.5
+    success_reward: float = 1.0
+
+
+@dataclass
+class InverseKinematicsConfig:
+    """Configuration for inverse kinematics processing."""
+
+    urdf_path: str | None = None
+    target_frame_name: str | None = None
+    end_effector_bounds: dict[str, list[float]] | None = None
+    end_effector_step_sizes: dict[str, float] | None = None
+
+
+@dataclass
+class ObservationConfig:
+    """Configuration for observation processing."""

-    # ee_action_space_params: EEActionSpaceConfig = field(default_factory=EEActionSpaceConfig)
-    control_mode: str = "gamepad"
-    display_cameras: bool = False
    add_joint_velocity_to_observation: bool = False
    add_current_to_observation: bool = False
    add_ee_pose_to_observation: bool = False
-    crop_params_dict: dict[str, tuple[int, int, int, int]] | None = None
-    resize_size: tuple[int, int] | None = None
-    control_time_s: float = 20.0
-    fixed_reset_joint_positions: Any | None = None
-    reset_time_s: float = 5.0
+    display_cameras: bool = False
+
+
+@dataclass
+class GripperConfig:
+    """Configuration for gripper control and penalties."""
+
    use_gripper: bool = True
-    gripper_quantization_threshold: float | None = 0.8
    gripper_penalty: float = 0.0
    gripper_penalty_in_reward: bool = False


+@dataclass
+class ResetConfig:
+    """Configuration for environment reset behavior."""
+
+    fixed_reset_joint_positions: Any | None = None
+    reset_time_s: float = 5.0
+    control_time_s: float = 20.0
+    terminate_on_success: bool = True
+
+
+@dataclass
+class HILSerlProcessorConfig:
+    """Configuration for environment processing pipeline."""
+
+    control_mode: str = "gamepad"
+    observation: ObservationConfig | None = None
+    image_preprocessing: ImagePreprocessingConfig | None = None
+    gripper: GripperConfig | None = None
+    reset: ResetConfig | None = None
+    inverse_kinematics: InverseKinematicsConfig | None = None
+    reward_classifier: RewardClassifierConfig | None = None
+    max_gripper_pos: float | None = 100.0
+
+
@EnvConfig.register_subclass(name="gym_manipulator")
@dataclass
 class HILSerlRobotEnvConfig(EnvConfig):
@@ -199,127 +235,10 @@ class HILSerlRobotEnvConfig(EnvConfig):

    robot: RobotConfig | None = None
    teleop: TeleoperatorConfig | None = None
-    wrapper: EnvTransformConfig | None = None
-    fps: int = 10
+    processor: HILSerlProcessorConfig = field(default_factory=HILSerlProcessorConfig)
+
    name: str = "real_robot"
-    mode: str | None = None  # Either "record", "replay", None
-    repo_id: str | None = None
-    dataset_root: str | None = None
-    task: str | None = ""
-    num_episodes: int = 10  # only for record mode
-    episode: int = 0
-    device: str = "cuda"
-    push_to_hub: bool = True
-    pretrained_policy_name_or_path: str | None = None
-    reward_classifier_pretrained_path: str | None = None
-    # For the reward classifier, to record more positive examples after a success
-    number_of_steps_after_success: int = 0

    @property
    def gym_kwargs(self) -> dict:
        return {}
-
-
-@EnvConfig.register_subclass("hil")
-@dataclass
-class HILEnvConfig(EnvConfig):
-    """Configuration for the HIL environment."""
-
-    name: str = "PandaPickCube"
-    task: str | None = "PandaPickCubeKeyboard-v0"
-    use_viewer: bool = True
-    gripper_penalty: float = 0.0
-    use_gamepad: bool = True
-    state_dim: int = 18
-    action_dim: int = 4
-    fps: int = 100
-    episode_length: int = 100
-    video_record: VideoRecordConfig = field(default_factory=VideoRecordConfig)
-    features: dict[str, PolicyFeature] = field(
-        default_factory=lambda: {
-            "action": PolicyFeature(type=FeatureType.ACTION, shape=(4,)),
-            "observation.image": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 128, 128)),
-            "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(18,)),
-        }
-    )
-    features_map: dict[str, str] = field(
-        default_factory=lambda: {
-            "action": ACTION,
-            "observation.image": OBS_IMAGE,
-            "observation.state": OBS_STATE,
-        }
-    )
-    ################# args from hilserlrobotenv
-    reward_classifier_pretrained_path: str | None = None
-    robot_config: RobotConfig | None = None
-    teleop_config: TeleoperatorConfig | None = None
-    wrapper: EnvTransformConfig | None = None
-    mode: str | None = None  # Either "record", "replay", None
-    repo_id: str | None = None
-    dataset_root: str | None = None
-    num_episodes: int = 10  # only for record mode
-    episode: int = 0
-    device: str = "cuda"
-    push_to_hub: bool = True
-    pretrained_policy_name_or_path: str | None = None
-    # For the reward classifier, to record more positive examples after a success
-    number_of_steps_after_success: int = 0
-    ############################
-
-    @property
-    def gym_kwargs(self) -> dict:
-        return {
-            "use_viewer": self.use_viewer,
-            "use_gamepad": self.use_gamepad,
-            "gripper_penalty": self.gripper_penalty,
-        }
-
-
-@EnvConfig.register_subclass("libero")
-@dataclass
-class LiberoEnv(EnvConfig):
-    task: str = "libero_10"  # can also choose libero_spatial, libero_object, etc.
-    fps: int = 30
-    episode_length: int = 520
-    obs_type: str = "pixels_agent_pos"
-    render_mode: str = "rgb_array"
-    camera_name: str = "agentview_image,robot0_eye_in_hand_image"
-    init_states: bool = True
-    multitask_eval: bool = True
-    features: dict[str, PolicyFeature] = field(
-        default_factory=lambda: {
-            "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
-        }
-    )
-    features_map: dict[str, str] = field(
-        default_factory=lambda: {
-            "action": ACTION,
-            "agent_pos": OBS_STATE,
-            "pixels/agentview_image": f"{OBS_IMAGES}.image",
-            "pixels/robot0_eye_in_hand_image": f"{OBS_IMAGES}.image2",
-        }
-    )
-
-    def __post_init__(self):
-        if self.obs_type == "pixels":
-            self.features["pixels/agentview_image"] = PolicyFeature(
-                type=FeatureType.VISUAL, shape=(360, 360, 3)
-            )
-            self.features["pixels/robot0_eye_in_hand_image"] = PolicyFeature(
-                type=FeatureType.VISUAL, shape=(360, 360, 3)
-            )
-        elif self.obs_type == "pixels_agent_pos":
-            self.features["agent_pos"] = PolicyFeature(type=FeatureType.STATE, shape=(8,))
-            self.features["pixels/agentview_image"] = PolicyFeature(
-                type=FeatureType.VISUAL, shape=(360, 360, 3)
-            )
-            self.features["pixels/robot0_eye_in_hand_image"] = PolicyFeature(
-                type=FeatureType.VISUAL, shape=(360, 360, 3)
-            )
-
-    @property
-    def gym_kwargs(self) -> dict:
-        return {
-            "obs_type": self.obs_type,
-            "render_mode": self.render_mode,
-        }
@@ -17,7 +17,7 @@ import importlib

 import gymnasium as gym

-from lerobot.envs.configs import AlohaEnv, EnvConfig, HILEnvConfig, LiberoEnv, PushtEnv, XarmEnv
+from lerobot.envs.configs import AlohaEnv, EnvConfig, PushtEnv, XarmEnv


 def make_env_config(env_type: str, **kwargs) -> EnvConfig:
@@ -27,17 +27,11 @@ def make_env_config(env_type: str, **kwargs) -> EnvConfig:
        return PushtEnv(**kwargs)
    elif env_type == "xarm":
        return XarmEnv(**kwargs)
-    elif env_type == "hil":
-        return HILEnvConfig(**kwargs)
-    elif env_type == "libero":
-        return LiberoEnv(**kwargs)
    else:
        raise ValueError(f"Policy type '{env_type}' is not available.")


-def make_env(
-    cfg: EnvConfig, n_envs: int = 1, use_async_envs: bool = False
-) -> gym.vector.VectorEnv | dict[str, dict[int, gym.vector.VectorEnv]]:
+def make_env(cfg: EnvConfig, n_envs: int = 1, use_async_envs: bool = False) -> gym.vector.VectorEnv | None:
    """Makes a gym vector environment according to the config.

    Args:
@@ -52,43 +46,24 @@ def make_env(

    Returns:
        gym.vector.VectorEnv: The parallelized gym.env instance.
-        dict[str, dict[int, gym.vector.VectorEnv]]: A mapping from task suite
-            names to indexed vectorized environments (when multitask eval is used).
-
    """
    if n_envs < 1:
-        raise ValueError("`n_envs` must be at least 1")
-
-    env_cls = gym.vector.AsyncVectorEnv if use_async_envs else gym.vector.SyncVectorEnv
-
-    if "libero" in cfg.type:
-        from lerobot.envs.libero import create_libero_envs
-
-        return create_libero_envs(
-            task=cfg.task,
-            n_envs=n_envs,
-            camera_name=cfg.camera_name,
-            init_states=cfg.init_states,
-            gym_kwargs=cfg.gym_kwargs,
-            env_cls=env_cls,
-            multitask_eval=cfg.multitask_eval,
-        )
+        raise ValueError("`n_envs must be at least 1")

    package_name = f"gym_{cfg.type}"
+
    try:
        importlib.import_module(package_name)
    except ModuleNotFoundError as e:
-        raise ModuleNotFoundError(
-            f'{package_name} is not installed. Install with: pip install "lerobot[{cfg.type}]"'
-        ) from e
+        print(f"{package_name} is not installed. Please install it with `pip install 'lerobot[{cfg.type}]'`")
+        raise e

    gym_handle = f"{package_name}/{cfg.task}"

-    def _make_one():
-        return gym.make(gym_handle, disable_env_checker=True, **(cfg.gym_kwargs or {}))
+    # batched version of the env that returns an observation of shape (b, c)
+    env_cls = gym.vector.AsyncVectorEnv if use_async_envs else gym.vector.SyncVectorEnv
+    env = env_cls(
+        [lambda: gym.make(gym_handle, disable_env_checker=True, **cfg.gym_kwargs) for _ in range(n_envs)]
+    )

-    vec = env_cls([_make_one for _ in range(n_envs)])
-
-    # normalize to {suite: {task_id: vec_env}} for consistency
-    suite_name = cfg.type  # e.g., "pusht", "aloha"
-    return {suite_name: {0: vec}}
+    return env
@@ -1,497 +0,0 @@
-from __future__ import annotations
-
-import logging
-import math
-import os
-from collections import defaultdict
-from collections.abc import Callable, Iterable, Mapping, Sequence
-from itertools import chain
-from typing import Any
-
-import gymnasium as gym
-import numpy as np
-import torch
-from gymnasium import spaces
-from libero.libero import benchmark, get_libero_path
-from libero.libero.envs import OffScreenRenderEnv
-
-logger = logging.getLogger(__name__)
-
-# ---- Helpers -----------------------------------------------------------------
-
-
-def _parse_camera_names(camera_name: str | Sequence[str]) -> list[str]:
-    """Normalize camera_name into a non-empty list of strings."""
-    if isinstance(camera_name, str):
-        cams = [c.strip() for c in camera_name.split(",") if c.strip()]
-    elif isinstance(camera_name, (list, tuple)):
-        cams = [str(c).strip() for c in camera_name if str(c).strip()]
-    else:
-        raise TypeError(f"camera_name must be str or sequence[str], got {type(camera_name).__name__}")
-    if not cams:
-        raise ValueError("camera_name resolved to an empty list.")
-    return cams
-
-
-def _get_suite(name: str):
-    """Instantiate a LIBERO suite by name with clear validation."""
-    bench = benchmark.get_benchmark_dict()
-    if name not in bench:
-        raise ValueError(f"Unknown LIBERO suite '{name}'. Available: {', '.join(sorted(bench.keys()))}")
-    suite = bench[name]()
-    if not getattr(suite, "tasks", None):
-        raise ValueError(f"Suite '{name}' has no tasks.")
-    return suite
-
-
-def _select_task_ids(total_tasks: int, task_ids: Iterable[int] | None) -> list[int]:
-    """Validate/normalize task ids. If None → all tasks."""
-    if task_ids is None:
-        return list(range(total_tasks))
-    ids = sorted({int(t) for t in task_ids})
-    for t in ids:
-        if t < 0 or t >= total_tasks:
-            raise ValueError(f"task_id {t} out of range [0, {total_tasks - 1}].")
-    return ids
-
-
-def _make_env_fns(
-    *,
-    suite,
-    suite_name: str,
-    task_id: int,
-    n_envs: int,
-    camera_names: list[str],
-    init_states: bool,
-    gym_kwargs: Mapping[str, Any],
-    LiberoEnv: type,  # injected to avoid forward ref issues if needed
-) -> list[Callable[[], LiberoEnv]]:
-    """Build n_envs factory callables for a single (suite, task_id)."""
-    joined_cams = ",".join(camera_names)  # keep backward-compat: downstream expects a string
-    fns: list[Callable[[], LiberoEnv]] = []
-    for i in range(n_envs):
-
-        def _mk(
-            i=i,
-            suite=suite,
-            task_id=task_id,
-            suite_name=suite_name,
-            joined_cams=joined_cams,
-            init_states=init_states,
-            gym_kwargs=dict(gym_kwargs),
-        ):
-            return LiberoEnv(
-                task_suite=suite,
-                task_id=task_id,
-                task_suite_name=suite_name,
-                camera_name=joined_cams,
-                init_states=init_states,
-                episode_index=i,
-                **gym_kwargs,
-            )
-
-        fns.append(_mk)
-    return fns
-
-
-# ---- Main API ----------------------------------------------------------------
-
-
-def create_libero_envs(
-    task: str,
-    n_envs: int,
-    gym_kwargs: dict[str, Any] | None = None,
-    camera_name: str | Sequence[str] = "agentview_image,robot0_eye_in_hand_image",
-    init_states: bool = True,
-    env_cls: Callable[[Sequence[Callable[[], Any]]], Any] | None = None,
-    multitask_eval: bool = True,  # kept for signature compatibility; return type is consistent regardless
-) -> dict[str, dict[int, Any]]:
-    """
-    Create vectorized LIBERO environments with a consistent return shape.
-
-    Returns:
-        dict[suite_name][task_id] -> vec_env (env_cls([...]) with exactly n_envs factories)
-    Notes:
-        - n_envs is the number of rollouts *per task* (episode_index = 0..n_envs-1).
-        - `task` can be a single suite or a comma-separated list of suites.
-        - You may pass `task_ids` (list[int]) inside `gym_kwargs` to restrict tasks per suite.
-    """
-    if env_cls is None or not callable(env_cls):
-        raise ValueError("env_cls must be a callable that wraps a list of environment factory callables.")
-    if not isinstance(n_envs, int) or n_envs <= 0:
-        raise ValueError(f"n_envs must be a positive int; got {n_envs}.")
-
-    gym_kwargs = dict(gym_kwargs or {})
-    task_ids_filter = gym_kwargs.pop("task_ids", None)  # optional: limit to specific tasks
-
-    # Avoid circular import/type issues: assume LiberoEnv is defined in this module
-    try:
-        LiberoEnv  # type: ignore[name-defined]
-    except NameError:
-        # If LiberoEnv is in the same file, this won't run. If it's elsewhere, import here.
-        exit()
-        # from .libero_env import LiberoEnv  # adjust if your class lives in another module
-
-    camera_names = _parse_camera_names(camera_name)
-    suite_names = [s.strip() for s in str(task).split(",") if s.strip()]
-    if not suite_names:
-        raise ValueError("`task` must contain at least one LIBERO suite name.")
-
-    logger.info(
-        "Creating LIBERO envs | suites=%s | n_envs(per task)=%d | init_states=%s | multitask_eval=%s",
-        suite_names,
-        n_envs,
-        init_states,
-        bool(multitask_eval),
-    )
-    if task_ids_filter is not None:
-        logger.info("Restricting to task_ids=%s", task_ids_filter)
-
-    out: dict[str, dict[int, Any]] = defaultdict(dict)
-
-    for suite_name in suite_names:
-        suite = _get_suite(suite_name)
-        total = len(suite.tasks)
-        selected = _select_task_ids(total, task_ids_filter)
-
-        if not selected:
-            raise ValueError(f"No tasks selected for suite '{suite_name}' (available: {total}).")
-
-        for tid in selected:
-            fns = _make_env_fns(
-                suite=suite,
-                suite_name=suite_name,
-                task_id=tid,
-                n_envs=n_envs,
-                camera_names=camera_names,
-                init_states=init_states,
-                gym_kwargs=gym_kwargs,
-                LiberoEnv=LiberoEnv,
-            )
-            out[suite_name][tid] = env_cls(fns)
-            logger.debug("Built vec env | suite=%s | task_id=%d | n_envs=%d", suite_name, tid, n_envs)
-
-    # return plain dicts for predictability
-    return {suite: dict(task_map) for suite, task_map in out.items()}
-
-
-def quat2axisangle(quat):
-    """
-    Copied from robosuite: https://github.com/ARISE-Initiative/robosuite/blob/eafb81f54ffc104f905ee48a16bb15f059176ad3/robosuite/utils/transform_utils.py#L490C1-L512C55
-
-    Converts quaternion to axis-angle format.
-    Returns a unit vector direction scaled by its angle in radians.
-
-    Args:
-        quat (np.array): (x,y,z,w) vec4 float angles
-
-    Returns:
-        np.array: (ax,ay,az) axis-angle exponential coordinates
-    """
-    # clip quaternion
-    if quat[3] > 1.0:
-        quat[3] = 1.0
-    elif quat[3] < -1.0:
-        quat[3] = -1.0
-
-    den = np.sqrt(1.0 - quat[3] * quat[3])
-    if math.isclose(den, 0.0):
-        # This is (close to) a zero degree rotation, immediately return
-        return np.zeros(3)
-
-    return (quat[:3] * 2.0 * math.acos(quat[3])) / den
-
-
-def get_task_init_states(task_suite, i):
-    init_states_path = os.path.join(
-        get_libero_path("init_states"),
-        task_suite.tasks[i].problem_folder,
-        task_suite.tasks[i].init_states_file,
-    )
-    init_states = torch.load(init_states_path, weights_only=False)  # nosec B614
-    return init_states
-
-
-def get_libero_dummy_action():
-    """Get dummy/no-op action, used to roll out the simulation while the robot does nothing."""
-    return [0, 0, 0, 0, 0, 0, -1]
-
-
-OBS_STATE_DIM = 8
-ACTION_DIM = 7
-
-
-class LiberoEnv(gym.Env):
-    metadata = {"render_modes": ["rgb_array"], "render_fps": 80}
-
-    def __init__(
-        self,
-        task_suite,
-        task_id,
-        task_suite_name,
-        camera_name="agentview_image,robot0_eye_in_hand_image",
-        obs_type="pixels",
-        render_mode="rgb_array",
-        observation_width=256,
-        observation_height=256,
-        visualization_width=640,
-        visualization_height=480,
-        init_states=True,
-        episode_index=0,
-    ):
-        super().__init__()
-        self.task_id = task_id
-        self.obs_type = obs_type
-        self.render_mode = render_mode
-        self.observation_width = observation_width
-        self.observation_height = observation_height
-        self.visualization_width = visualization_width
-        self.visualization_height = visualization_height
-        self.init_states = init_states
-        self.camera_name = camera_name.split(
-            ","
-        )  # agentview_image (main) or robot0_eye_in_hand_image (wrist)
-
-        # Map raw camera names to "image1" and "image2".
-        # The preprocessing step `preprocess_observation` will then prefix these with `.images.*`,
-        # following the LeRobot convention (e.g., `observation.images.image`, `observation.images.image2`).
-        # This ensures the policy consistently receives observations in the
-        # expected format regardless of the original camera naming.
-        self.camera_name_mapping = {
-            "agentview_image": "image",
-            "robot0_eye_in_hand_image": "image2",
-        }
-
-        self.num_steps_wait = (
-            10  # Do nothing for the first few timesteps to wait for the simulator drops objects
-        )
-        self.episode_index = episode_index
-
-        self._env = self._make_envs_task(task_suite, self.task_id)
-        TASK_SUITE_MAX_STEPS: dict[str, int] = {
-            "libero_spatial": 220,  # longest training demo has 193 steps
-            "libero_object": 280,  # longest training demo has 254 steps
-            "libero_goal": 300,  # longest training demo has 270 steps
-            "libero_10": 520,  # longest training demo has 505 steps
-            "libero_90": 400,  # longest training demo has 373 steps
-        }
-        default_steps = 500
-        self._max_episode_steps = TASK_SUITE_MAX_STEPS.get(task_suite_name, default_steps)
-
-        images = {}
-        for cam in self.camera_name:
-            images[self.camera_name_mapping[cam]] = spaces.Box(
-                low=0,
-                high=255,
-                shape=(self.observation_height, self.observation_width, 3),
-                dtype=np.uint8,
-            )
-
-        if self.obs_type == "state":
-            raise NotImplementedError(
-                "The 'state' observation type is not supported in LiberoEnv. "
-                "Please switch to an image-based obs_type (e.g. 'pixels', 'pixels_agent_pos')."
-            )
-
-        elif self.obs_type == "pixels":
-            self.observation_space = spaces.Dict(
-                {
-                    "pixels": spaces.Dict(images),
-                }
-            )
-        elif self.obs_type == "pixels_agent_pos":
-            self.observation_space = spaces.Dict(
-                {
-                    "pixels": spaces.Dict(images),
-                    "agent_pos": spaces.Box(
-                        low=-1000.0,
-                        high=1000.0,
-                        shape=(OBS_STATE_DIM,),
-                        dtype=np.float64,
-                    ),
-                }
-            )
-
-        self.action_space = spaces.Box(low=-1, high=1, shape=(ACTION_DIM,), dtype=np.float32)
-
-    def render(self):
-        raw_obs = self._env.env._get_observations()
-        image = self._format_raw_obs(raw_obs)["pixels"]["image"]
-        return image
-
-    def _make_envs_task(self, task_suite, task_id: int = 0):
-        task = task_suite.get_task(task_id)
-        self.task = task.name
-        self.task_description = task.language
-        task_bddl_file = os.path.join(get_libero_path("bddl_files"), task.problem_folder, task.bddl_file)
-
-        env_args = {
-            "bddl_file_name": task_bddl_file,
-            "camera_heights": self.observation_height,
-            "camera_widths": self.observation_width,
-        }
-        env = OffScreenRenderEnv(**env_args)
-        env.reset()
-        if self.init_states:
-            init_states = get_task_init_states(
-                task_suite, task_id
-            )  # for benchmarking purpose, we fix the a set of initial states FIXME(mshukor): should be in the reset()?
-            init_state_id = self.episode_index  # episode index
-            env.set_init_state(init_states[init_state_id])
-
-        return env
-
-    def _format_raw_obs(self, raw_obs):
-        images = {}
-        for camera_name in self.camera_name:
-            image = raw_obs[camera_name]
-            image = image[::-1, ::-1]  # rotate 180 degrees
-            images[self.camera_name_mapping[camera_name]] = image
-        state = np.concatenate(
-            (
-                raw_obs["robot0_eef_pos"],
-                quat2axisangle(raw_obs["robot0_eef_quat"]),
-                raw_obs["robot0_gripper_qpos"],
-            )
-        )
-        agent_pos = state
-        if self.obs_type == "state":
-            raise NotImplementedError(
-                "The 'state' observation type is not supported in LiberoEnv. "
-                "Please switch to an image-based obs_type (e.g. 'pixels', 'pixels_agent_pos')."
-            )
-        elif self.obs_type == "pixels":
-            obs = {"pixels": images.copy()}
-        elif self.obs_type == "pixels_agent_pos":
-            obs = {
-                "pixels": images.copy(),
-                "agent_pos": agent_pos,
-            }
-        return obs
-
-    def reset(self, seed=None, **kwargs):
-        super().reset(seed=seed)
-
-        self._env.seed(seed)
-        raw_obs = self._env.reset()
-        # Do nothing for the first few timesteps to wait for the simulator drops objects
-        for _ in range(self.num_steps_wait):
-            raw_obs, _, _, _ = self._env.step(get_libero_dummy_action())
-        observation = self._format_raw_obs(raw_obs)
-        info = {"is_success": False}
-        return observation, info
-
-    def step(self, action):
-        if action.ndim != 1:
-            raise ValueError(
-                f"Expected action to be 1-D (shape (action_dim,)), "
-                f"but got shape {action.shape} with ndim={action.ndim}"
-            )
-        raw_obs, reward, done, info = self._env.step(action)
-
-        is_success = self._env.check_success()
-        terminated = done or is_success
-        info["is_success"] = done  # is_success
-
-        observation = self._format_raw_obs(raw_obs)
-        if done:
-            self.reset()
-            print(self.task, self.task_id, done, is_success)
-        truncated = False
-        return observation, reward, terminated, truncated, info
-
-    def close(self):
-        self._env.close()
-
-
-def create_libero_envs1(
-    task: str,
-    n_envs: int,
-    gym_kwargs: dict[str, Any] = None,
-    camera_name: str = "agentview_image,robot0_eye_in_hand_image",
-    init_states: bool = True,
-    env_cls: Callable = None,
-    multitask_eval: bool = True,
-) -> dict[str, dict[str, Any]]:
-    """
-    Here n_envs is per task and equal to the number of rollouts.
-    Returns:
-        dict[str, dict[str, list[LiberoEnv]]]: keys are task_suite and values are list of LiberoEnv envs.
-    """
-    print("num envs", n_envs)
-    print("multitask_eval", multitask_eval)
-    print("gym_kwargs", gym_kwargs)
-    if gym_kwargs is None:
-        gym_kwargs = {}
-
-    if not multitask_eval:
-        benchmark_dict = benchmark.get_benchmark_dict()
-        task_suite = benchmark_dict[task]()  # can also choose libero_spatial, libero_object, libero_10 etc.
-        tasks_id = list(range(len(task_suite.tasks)))
-        episode_indices = [0 for i in range(len(tasks_id))]
-        if len(tasks_id) == 1:
-            tasks_id = [tasks_id[0] for _ in range(n_envs)]
-            episode_indices = list(range(n_envs))
-        elif len(tasks_id) < n_envs and n_envs % len(tasks_id) == 0:
-            n_repeat = n_envs // len(tasks_id)
-            print("n_repeat", n_repeat)
-            episode_indices = []
-            for _ in range(len(tasks_id)):
-                episode_indices.extend(list(range(n_repeat)))
-            tasks_id = list(chain.from_iterable([[item] * n_repeat for item in tasks_id]))
-        elif n_envs < len(tasks_id):
-            tasks_id = tasks_id[:n_envs]
-            episode_indices = list(range(n_envs))[:n_envs]
-            print(f"WARNING: n_envs < len(tasks_id), evaluating only on {tasks_id}")
-        print(f"Creating Libero envs with task ids {tasks_id} from suite {task}")
-        assert n_envs == len(tasks_id), (
-            f"len(n_envs) and tasks_id should be the same, got {n_envs} and {len(tasks_id)}"
-        )
-        return env_cls(
-            [
-                lambda i=i: LiberoEnv(
-                    task_suite=task_suite,
-                    task_id=tasks_id[i],
-                    task_suite_name=task,
-                    camera_name=camera_name,
-                    init_states=init_states,
-                    episode_index=episode_indices[i],
-                    **gym_kwargs,
-                )
-                for i in range(n_envs)
-            ]
-        )
-    else:
-        envs = defaultdict(dict)
-        benchmark_dict = benchmark.get_benchmark_dict()
-        task = task.split(",")
-        for _task in task:
-            task_suite = benchmark_dict[
-                _task
-            ]()  # can also choose libero_spatial, libero_object, libero_10 etc.
-            tasks_ids = list(range(len(task_suite.tasks)))
-            for tasks_id in tasks_ids:
-                episode_indices = list(range(n_envs))
-                print(
-                    f"Creating Libero envs with task ids {tasks_id} from suite {_task}, episode_indices: {episode_indices}"
-                )
-                envs_list = [
-                    (
-                        lambda i=i,
-                        task_suite=task_suite,
-                        tasks_id=tasks_id,
-                        _task=_task,
-                        episode_indices=episode_indices: LiberoEnv(
-                            task_suite=task_suite,
-                            task_id=tasks_id,
-                            task_suite_name=_task,
-                            camera_name=camera_name,
-                            init_states=init_states,
-                            episode_index=episode_indices[i],
-                            **gym_kwargs,
-                        )
-                    )
-                    for i in range(n_envs)
-                ]
-                envs[_task][tasks_id] = env_cls(envs_list)
-        return envs
@@ -134,49 +134,3 @@ def add_envs_task(env: gym.vector.VectorEnv, observation: dict[str, Any]) -> dic
        num_envs = observation[list(observation.keys())[0]].shape[0]
        observation["task"] = ["" for _ in range(num_envs)]
    return observation
-
-
-def _close_single_env(env: Any) -> None:
-    """Try to close a single env object if it exposes .close()."""
-    try:
-        close_fn = getattr(env, "close", None)
-        if callable(close_fn):
-            close_fn()
-    except Exception as exc:
-        # Best-effort close: log but don't raise
-        LOG.debug("Exception while closing env %s: %s", env, exc)
-
-
-def close_envs(env_or_collection: Any) -> None:
-    """
-    Close a single env or any nested structure of envs.
-
-    Accepts:
-      - a single env with .close()
-      - a Mapping of things (e.g. dict)
-      - a Sequence of things (list/tuple) but NOT str/bytes
-      - nested combinations of the above
-
-    This is intentionally permissive and best-effort: it will swallow exceptions
-    encountered while closing individual envs and continue.
-    """
-    # Guard: single object with close()
-    if hasattr(env_or_collection, "close") and not isinstance(env_or_collection, (Mapping, Sequence)):
-        _close_single_env(env_or_collection)
-        return
-
-    # Mapping (e.g., {suite: {task_id: vec_env}})
-    if isinstance(env_or_collection, Mapping):
-        for v in env_or_collection.values():
-            close_envs(v)
-        return
-
-    # Sequence (list/tuple) but skip str/bytes
-    if isinstance(env_or_collection, Sequence) and not isinstance(env_or_collection, (str, bytes)):
-        for v in env_or_collection:
-            close_envs(v)
-        return
-
-    # Fallback: try to close if possible
-    if hasattr(env_or_collection, "close"):
-        _close_single_env(env_or_collection)
@@ -15,6 +15,17 @@
 from .act.configuration_act import ACTConfig as ACTConfig
 from .diffusion.configuration_diffusion import DiffusionConfig as DiffusionConfig
 from .pi0.configuration_pi0 import PI0Config as PI0Config
+from .pi0.processor_pi0 import Pi0NewLineProcessor
 from .smolvla.configuration_smolvla import SmolVLAConfig as SmolVLAConfig
+from .smolvla.processor_smolvla import SmolVLANewLineProcessor
 from .tdmpc.configuration_tdmpc import TDMPCConfig as TDMPCConfig
 from .vqbet.configuration_vqbet import VQBeTConfig as VQBeTConfig
+
+__all__ = [
+    "ACTConfig",
+    "DiffusionConfig",
+    "PI0Config",
+    "SmolVLAConfig",
+    "TDMPCConfig",
+    "VQBeTConfig",
+]
@@ -35,7 +35,6 @@ from torchvision.ops.misc import FrozenBatchNorm2d

 from lerobot.constants import ACTION, OBS_IMAGES
 from lerobot.policies.act.configuration_act import ACTConfig
-from lerobot.policies.normalize import Normalize, Unnormalize
 from lerobot.policies.pretrained import PreTrainedPolicy


@@ -51,27 +50,16 @@ class ACTPolicy(PreTrainedPolicy):
    def __init__(
        self,
        config: ACTConfig,
-        dataset_stats: dict[str, dict[str, Tensor]] | None = None,
    ):
        """
        Args:
            config: Policy configuration class instance or None, in which case the default instantiation of
                    the configuration class is used.
-            dataset_stats: Dataset statistics to be used for normalization. If not passed here, it is expected
-                that they will be passed with a call to `load_state_dict` before the policy is used.
        """
        super().__init__(config)
        config.validate_features()
        self.config = config

-        self.normalize_inputs = Normalize(config.input_features, config.normalization_mapping, dataset_stats)
-        self.normalize_targets = Normalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-        self.unnormalize_outputs = Unnormalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-
        self.model = ACT(config)

        if config.temporal_ensemble_coeff is not None:
@@ -137,23 +125,19 @@ class ACTPolicy(PreTrainedPolicy):
        """Predict a chunk of actions given environment observations."""
        self.eval()

-        batch = self.normalize_inputs(batch)
        if self.config.image_features:
            batch = dict(batch)  # shallow copy so that adding a key doesn't modify the original
            batch[OBS_IMAGES] = [batch[key] for key in self.config.image_features]

        actions = self.model(batch)[0]
-        actions = self.unnormalize_outputs({ACTION: actions})[ACTION]
        return actions

    def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, dict]:
        """Run the batch through the model and compute the loss for training or validation."""
-        batch = self.normalize_inputs(batch)
        if self.config.image_features:
            batch = dict(batch)  # shallow copy so that adding a key doesn't modify the original
            batch[OBS_IMAGES] = [batch[key] for key in self.config.image_features]

-        batch = self.normalize_targets(batch)
        actions_hat, (mu_hat, log_sigma_x2_hat) = self.model(batch)

        l1_loss = (
@@ -0,0 +1,70 @@
+#!/usr/bin/env python
+
+# Copyright 2024 Tony Z. Zhao and 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.
+import torch
+
+from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.policies.act.configuration_act import ACTConfig
+from lerobot.processor import (
+    AddBatchDimensionProcessorStep,
+    DeviceProcessorStep,
+    NormalizerProcessorStep,
+    PolicyProcessorPipeline,
+    ProcessorKwargs,
+    RenameProcessorStep,
+    UnnormalizerProcessorStep,
+)
+
+
+def make_act_pre_post_processors(
+    config: ACTConfig,
+    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
+    preprocessor_kwargs: ProcessorKwargs | None = None,
+    postprocessor_kwargs: ProcessorKwargs | None = None,
+) -> tuple[PolicyProcessorPipeline, PolicyProcessorPipeline]:
+    if preprocessor_kwargs is None:
+        preprocessor_kwargs = {}
+    if postprocessor_kwargs is None:
+        postprocessor_kwargs = {}
+
+    input_steps = [
+        RenameProcessorStep(rename_map={}),
+        NormalizerProcessorStep(
+            features={**config.input_features, **config.output_features},
+            norm_map=config.normalization_mapping,
+            stats=dataset_stats,
+        ),
+        AddBatchDimensionProcessorStep(),
+        DeviceProcessorStep(device=config.device),
+    ]
+    output_steps = [
+        DeviceProcessorStep(device="cpu"),
+        UnnormalizerProcessorStep(
+            features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
+        ),
+    ]
+
+    return (
+        PolicyProcessorPipeline(
+            steps=input_steps,
+            name=PREPROCESSOR_DEFAULT_NAME,
+            **preprocessor_kwargs,
+        ),
+        PolicyProcessorPipeline(
+            steps=output_steps,
+            name=POSTPROCESSOR_DEFAULT_NAME,
+            **postprocessor_kwargs,
+        ),
+    )
@@ -35,7 +35,6 @@ from torch import Tensor, nn

 from lerobot.constants import ACTION, OBS_ENV_STATE, OBS_IMAGES, OBS_STATE
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
-from lerobot.policies.normalize import Normalize, Unnormalize
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.utils import (
    get_device_from_parameters,
@@ -57,7 +56,6 @@ class DiffusionPolicy(PreTrainedPolicy):
    def __init__(
        self,
        config: DiffusionConfig,
-        dataset_stats: dict[str, dict[str, Tensor]] | None = None,
    ):
        """
        Args:
@@ -70,14 +68,6 @@ class DiffusionPolicy(PreTrainedPolicy):
        config.validate_features()
        self.config = config

-        self.normalize_inputs = Normalize(config.input_features, config.normalization_mapping, dataset_stats)
-        self.normalize_targets = Normalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-        self.unnormalize_outputs = Unnormalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-
        # queues are populated during rollout of the policy, they contain the n latest observations and actions
        self._queues = None

@@ -106,9 +96,6 @@ class DiffusionPolicy(PreTrainedPolicy):
        batch = {k: torch.stack(list(self._queues[k]), dim=1) for k in batch if k in self._queues}
        actions = self.diffusion.generate_actions(batch)

-        # TODO(rcadene): make above methods return output dictionary?
-        actions = self.unnormalize_outputs({ACTION: actions})[ACTION]
-
        return actions

    @torch.no_grad()
@@ -137,7 +124,6 @@ class DiffusionPolicy(PreTrainedPolicy):
        if ACTION in batch:
            batch.pop(ACTION)

-        batch = self.normalize_inputs(batch)
        if self.config.image_features:
            batch = dict(batch)  # shallow copy so that adding a key doesn't modify the original
            batch[OBS_IMAGES] = torch.stack([batch[key] for key in self.config.image_features], dim=-4)
@@ -153,11 +139,9 @@ class DiffusionPolicy(PreTrainedPolicy):

    def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, None]:
        """Run the batch through the model and compute the loss for training or validation."""
-        batch = self.normalize_inputs(batch)
        if self.config.image_features:
            batch = dict(batch)  # shallow copy so that adding a key doesn't modify the original
            batch[OBS_IMAGES] = torch.stack([batch[key] for key in self.config.image_features], dim=-4)
-        batch = self.normalize_targets(batch)
        loss = self.diffusion.compute_loss(batch)
        # no output_dict so returning None
        return loss, None
@@ -0,0 +1,70 @@
+#!/usr/bin/env python
+
+# Copyright 2024 Columbia Artificial Intelligence, Robotics Lab,
+# and 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.
+import torch
+
+from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
+from lerobot.processor import (
+    AddBatchDimensionProcessorStep,
+    DeviceProcessorStep,
+    NormalizerProcessorStep,
+    PolicyProcessorPipeline,
+    ProcessorKwargs,
+    RenameProcessorStep,
+    UnnormalizerProcessorStep,
+)
+
+
+def make_diffusion_pre_post_processors(
+    config: DiffusionConfig,
+    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
+    preprocessor_kwargs: ProcessorKwargs | None = None,
+    postprocessor_kwargs: ProcessorKwargs | None = None,
+) -> tuple[PolicyProcessorPipeline, PolicyProcessorPipeline]:
+    if preprocessor_kwargs is None:
+        preprocessor_kwargs = {}
+    if postprocessor_kwargs is None:
+        postprocessor_kwargs = {}
+
+    input_steps = [
+        RenameProcessorStep(rename_map={}),
+        NormalizerProcessorStep(
+            features={**config.input_features, **config.output_features},
+            norm_map=config.normalization_mapping,
+            stats=dataset_stats,
+        ),
+        AddBatchDimensionProcessorStep(),
+        DeviceProcessorStep(device=config.device),
+    ]
+    output_steps = [
+        DeviceProcessorStep(device="cpu"),
+        UnnormalizerProcessorStep(
+            features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
+        ),
+    ]
+    return (
+        PolicyProcessorPipeline(
+            steps=input_steps,
+            name=PREPROCESSOR_DEFAULT_NAME,
+            **preprocessor_kwargs,
+        ),
+        PolicyProcessorPipeline(
+            steps=output_steps,
+            name=POSTPROCESSOR_DEFAULT_NAME,
+            **postprocessor_kwargs,
+        ),
+    )
@@ -14,9 +14,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.

-import logging
+from __future__ import annotations

-from torch import nn
+import logging
+from typing import Any, TypedDict
+
+import torch
+from typing_extensions import Unpack

 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import FeatureType
@@ -27,18 +31,17 @@ 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.pi0.configuration_pi0 import PI0Config
-from lerobot.policies.pi0_openpi.configuration_pi0openpi import PI0OpenPIConfig
 from lerobot.policies.pi0fast.configuration_pi0fast import PI0FASTConfig
-from lerobot.policies.pi05_openpi.configuration_pi05openpi import PI05OpenPIConfig
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.sac.configuration_sac import SACConfig
 from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
 from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
 from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
+from lerobot.processor import PolicyProcessorPipeline, ProcessorKwargs


-def get_policy_class(name: str) -> PreTrainedPolicy:
+def get_policy_class(name: str) -> type[PreTrainedPolicy]:
    """Get the policy's class and config class given a name (matching the policy class' `name` attribute)."""
    if name == "tdmpc":
        from lerobot.policies.tdmpc.modeling_tdmpc import TDMPCPolicy
@@ -64,14 +67,6 @@ def get_policy_class(name: str) -> PreTrainedPolicy:
        from lerobot.policies.pi0fast.modeling_pi0fast import PI0FASTPolicy

        return PI0FASTPolicy
-    elif name == "pi0_openpi":
-        from lerobot.policies.pi0_openpi.modeling_pi0openpi import PI0OpenPIPolicy
-
-        return PI0OpenPIPolicy
-    elif name == "pi05_openpi":
-        from lerobot.policies.pi05_openpi.modeling_pi05openpi import PI05OpenPIPolicy
-
-        return PI05OpenPIPolicy
    elif name == "sac":
        from lerobot.policies.sac.modeling_sac import SACPolicy

@@ -101,10 +96,6 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
        return PI0Config(**kwargs)
    elif policy_type == "pi0fast":
        return PI0FASTConfig(**kwargs)
-    elif policy_type == "pi0_openpi":
-        return PI0OpenPIConfig(**kwargs)
-    elif policy_type == "pi05_openpi":
-        return PI05OpenPIConfig(**kwargs)
    elif policy_type == "sac":
        return SACConfig(**kwargs)
    elif policy_type == "smolvla":
@@ -115,6 +106,159 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
        raise ValueError(f"Policy type '{policy_type}' is not available.")


+class ProcessorConfigKwargs(TypedDict, total=False):
+    """Keyword arguments for the processor config."""
+
+    preprocessor_config_filename: str | None
+    postprocessor_config_filename: str | None
+    preprocessor_overrides: dict[str, Any] | None
+    postprocessor_overrides: dict[str, Any] | None
+    dataset_stats: dict[str, dict[str, torch.Tensor]] | None
+    preprocessor_kwargs: ProcessorKwargs | None
+    postprocessor_kwargs: ProcessorKwargs | None
+
+
+def make_pre_post_processors(
+    policy_cfg: PreTrainedConfig,
+    pretrained_path: str | None = None,
+    **kwargs: Unpack[ProcessorConfigKwargs],
+) -> tuple[PolicyProcessorPipeline, PolicyProcessorPipeline]:
+    """Make a processor instance for a given policy type.
+
+    This function creates the appropriate processor configuration based on the policy type.
+    Each policy type has its own processor with specific preprocessing steps.
+
+    Args:
+        policy_cfg: The config of the policy to create a processor for (e.g., "act", "diffusion", etc.)
+        pretrained_path: Optional path to load a pretrained processor from. If provided, loads
+            the processor from this path instead of creating a new one.
+        **kwargs: Additional keyword arguments passed to the processor creation.
+
+    Returns:
+        Tuple of (input_processor, output_processor) for the policy.
+
+    Raises:
+        NotImplementedError: If the policy type doesn't have a processor implemented.
+    """
+    if pretrained_path:
+        # Extract preprocessor and postprocessor kwargs
+        preprocessor_kwargs = kwargs.get("preprocessor_kwargs", {})
+        postprocessor_kwargs = kwargs.get("postprocessor_kwargs", {})
+
+        return (
+            PolicyProcessorPipeline.from_pretrained(
+                pretrained_model_name_or_path=pretrained_path,
+                config_filename=kwargs.get("preprocessor_config_filename", "robot_preprocessor.json"),
+                overrides=kwargs.get("preprocessor_overrides", {}),
+                to_transition=preprocessor_kwargs.get("to_transition"),
+                to_output=preprocessor_kwargs.get("to_output"),
+            ),
+            PolicyProcessorPipeline.from_pretrained(
+                pretrained_model_name_or_path=pretrained_path,
+                config_filename=kwargs.get("postprocessor_config_filename", "robot_postprocessor.json"),
+                overrides=kwargs.get("postprocessor_overrides", {}),
+                to_transition=postprocessor_kwargs.get("to_transition"),
+                to_output=postprocessor_kwargs.get("to_output"),
+            ),
+        )
+
+    # Create a new processor based on policy type
+    if isinstance(policy_cfg, TDMPCConfig):
+        from lerobot.policies.tdmpc.processor_tdmpc import make_tdmpc_pre_post_processors
+
+        processors = make_tdmpc_pre_post_processors(
+            config=policy_cfg,
+            dataset_stats=kwargs.get("dataset_stats"),
+            preprocessor_kwargs=kwargs.get("preprocessor_kwargs"),
+            postprocessor_kwargs=kwargs.get("postprocessor_kwargs"),
+        )
+
+    elif isinstance(policy_cfg, DiffusionConfig):
+        from lerobot.policies.diffusion.processor_diffusion import make_diffusion_pre_post_processors
+
+        processors = make_diffusion_pre_post_processors(
+            config=policy_cfg,
+            dataset_stats=kwargs.get("dataset_stats"),
+            preprocessor_kwargs=kwargs.get("preprocessor_kwargs"),
+            postprocessor_kwargs=kwargs.get("postprocessor_kwargs"),
+        )
+
+    elif isinstance(policy_cfg, ACTConfig):
+        from lerobot.policies.act.processor_act import make_act_pre_post_processors
+
+        processors = make_act_pre_post_processors(
+            config=policy_cfg,
+            dataset_stats=kwargs.get("dataset_stats"),
+            preprocessor_kwargs=kwargs.get("preprocessor_kwargs"),
+            postprocessor_kwargs=kwargs.get("postprocessor_kwargs"),
+        )
+
+    elif isinstance(policy_cfg, VQBeTConfig):
+        from lerobot.policies.vqbet.processor_vqbet import make_vqbet_pre_post_processors
+
+        processors = make_vqbet_pre_post_processors(
+            config=policy_cfg,
+            dataset_stats=kwargs.get("dataset_stats"),
+            preprocessor_kwargs=kwargs.get("preprocessor_kwargs"),
+            postprocessor_kwargs=kwargs.get("postprocessor_kwargs"),
+        )
+
+    elif isinstance(policy_cfg, PI0Config):
+        from lerobot.policies.pi0.processor_pi0 import make_pi0_pre_post_processors
+
+        processors = make_pi0_pre_post_processors(
+            config=policy_cfg,
+            dataset_stats=kwargs.get("dataset_stats"),
+            preprocessor_kwargs=kwargs.get("preprocessor_kwargs"),
+            postprocessor_kwargs=kwargs.get("postprocessor_kwargs"),
+        )
+
+    elif isinstance(policy_cfg, PI0FASTConfig):
+        from lerobot.policies.pi0fast.processor_pi0fast import make_pi0fast_pre_post_processors
+
+        processors = make_pi0fast_pre_post_processors(
+            config=policy_cfg,
+            dataset_stats=kwargs.get("dataset_stats"),
+            preprocessor_kwargs=kwargs.get("preprocessor_kwargs"),
+            postprocessor_kwargs=kwargs.get("postprocessor_kwargs"),
+        )
+
+    elif isinstance(policy_cfg, SACConfig):
+        from lerobot.policies.sac.processor_sac import make_sac_pre_post_processors
+
+        processors = make_sac_pre_post_processors(
+            config=policy_cfg,
+            dataset_stats=kwargs.get("dataset_stats"),
+            preprocessor_kwargs=kwargs.get("preprocessor_kwargs"),
+            postprocessor_kwargs=kwargs.get("postprocessor_kwargs"),
+        )
+
+    elif isinstance(policy_cfg, RewardClassifierConfig):
+        from lerobot.policies.sac.reward_model.processor_classifier import make_classifier_processor
+
+        processors = make_classifier_processor(
+            config=policy_cfg,
+            dataset_stats=kwargs.get("dataset_stats"),
+            preprocessor_kwargs=kwargs.get("preprocessor_kwargs"),
+            postprocessor_kwargs=kwargs.get("postprocessor_kwargs"),
+        )
+
+    elif isinstance(policy_cfg, SmolVLAConfig):
+        from lerobot.policies.smolvla.processor_smolvla import make_smolvla_pre_post_processors
+
+        processors = make_smolvla_pre_post_processors(
+            config=policy_cfg,
+            dataset_stats=kwargs.get("dataset_stats"),
+            preprocessor_kwargs=kwargs.get("preprocessor_kwargs"),
+            postprocessor_kwargs=kwargs.get("postprocessor_kwargs"),
+        )
+
+    else:
+        raise NotImplementedError(f"Processor for policy type '{policy_cfg.type}' is not implemented.")
+
+    return processors
+
+
 def make_policy(
    cfg: PreTrainedConfig,
    ds_meta: LeRobotDatasetMetadata | None = None,
@@ -161,7 +305,6 @@ def make_policy(
    kwargs = {}
    if ds_meta is not None:
        features = dataset_to_policy_features(ds_meta.features)
-        kwargs["dataset_stats"] = ds_meta.stats
    else:
        if not cfg.pretrained_path:
            logging.warning(
@@ -169,6 +312,8 @@ def make_policy(
                "rather than a dataset. Normalization modules inside the policy will have infinite values "
                "by default without stats from a dataset."
            )
+        if env_cfg is None:
+            raise ValueError("env_cfg cannot be None when ds_meta is not provided")
        features = env_to_policy_features(env_cfg)

    cfg.output_features = {key: ft for key, ft in features.items() if ft.type is FeatureType.ACTION}
@@ -185,6 +330,8 @@ def make_policy(
        policy = policy_cls(**kwargs)

    policy.to(cfg.device)
-    assert isinstance(policy, nn.Module)
+    assert isinstance(policy, torch.nn.Module)
+
    # policy = torch.compile(policy, mode="reduce-overhead")
+
    return policy
@@ -1,420 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 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.
-import numpy as np
-import torch
-from torch import Tensor, nn
-
-from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-
-
-def create_stats_buffers(
-    features: dict[str, PolicyFeature],
-    norm_map: dict[str, NormalizationMode],
-    stats: dict[str, dict[str, Tensor]] | None = None,
-) -> dict[str, dict[str, nn.ParameterDict]]:
-    """
-    Create buffers per modality (e.g. "observation.image", "action") containing their mean, std, min, max
-    statistics.
-
-    Args: (see Normalize and Unnormalize)
-
-    Returns:
-        dict: A dictionary where keys are modalities and values are `nn.ParameterDict` containing
-            `nn.Parameters` set to `requires_grad=False`, suitable to not be updated during backpropagation.
-    """
-    stats_buffers = {}
-
-    for key, ft in features.items():
-        norm_mode = norm_map.get(ft.type, NormalizationMode.IDENTITY)
-        if norm_mode is NormalizationMode.IDENTITY:
-            continue
-
-        assert isinstance(norm_mode, NormalizationMode)
-
-        shape = tuple(ft.shape)
-
-        if ft.type is FeatureType.VISUAL:
-            # sanity checks
-            assert len(shape) == 3, f"number of dimensions of {key} != 3 ({shape=}"
-            c, h, w = shape
-            assert c < h and c < w, f"{key} is not channel first ({shape=})"
-            # override image shape to be invariant to height and width
-            shape = (c, 1, 1)
-
-        # Note: we initialize mean, std, min, max to infinity. They should be overwritten
-        # downstream by `stats` or `policy.load_state_dict`, as expected. During forward,
-        # we assert they are not infinity anymore.
-
-        buffer = {}
-        if norm_mode is NormalizationMode.MEAN_STD:
-            mean = torch.ones(shape, dtype=torch.float32) * torch.inf
-            std = torch.ones(shape, dtype=torch.float32) * torch.inf
-            buffer = nn.ParameterDict(
-                {
-                    "mean": nn.Parameter(mean, requires_grad=False),
-                    "std": nn.Parameter(std, requires_grad=False),
-                }
-            )
-        elif norm_mode is NormalizationMode.MIN_MAX:
-            min = torch.ones(shape, dtype=torch.float32) * torch.inf
-            max = torch.ones(shape, dtype=torch.float32) * torch.inf
-            buffer = nn.ParameterDict(
-                {
-                    "min": nn.Parameter(min, requires_grad=False),
-                    "max": nn.Parameter(max, requires_grad=False),
-                }
-            )
-
-        # TODO(aliberts, rcadene): harmonize this to only use one framework (np or torch)
-        if stats:
-            if isinstance(stats[key]["mean"], np.ndarray):
-                if norm_mode is NormalizationMode.MEAN_STD:
-                    buffer["mean"].data = torch.from_numpy(stats[key]["mean"]).to(dtype=torch.float32)
-                    buffer["std"].data = torch.from_numpy(stats[key]["std"]).to(dtype=torch.float32)
-                elif norm_mode is NormalizationMode.MIN_MAX:
-                    buffer["min"].data = torch.from_numpy(stats[key]["min"]).to(dtype=torch.float32)
-                    buffer["max"].data = torch.from_numpy(stats[key]["max"]).to(dtype=torch.float32)
-            elif isinstance(stats[key]["mean"], torch.Tensor):
-                # Note: The clone is needed to make sure that the logic in save_pretrained doesn't see duplicated
-                # tensors anywhere (for example, when we use the same stats for normalization and
-                # unnormalization). See the logic here
-                # https://github.com/huggingface/safetensors/blob/079781fd0dc455ba0fe851e2b4507c33d0c0d407/bindings/python/py_src/safetensors/torch.py#L97.
-                if norm_mode is NormalizationMode.MEAN_STD:
-                    buffer["mean"].data = stats[key]["mean"].clone().to(dtype=torch.float32)
-                    buffer["std"].data = stats[key]["std"].clone().to(dtype=torch.float32)
-                elif norm_mode is NormalizationMode.MIN_MAX:
-                    buffer["min"].data = stats[key]["min"].clone().to(dtype=torch.float32)
-                    buffer["max"].data = stats[key]["max"].clone().to(dtype=torch.float32)
-            else:
-                type_ = type(stats[key]["mean"])
-                raise ValueError(f"np.ndarray or torch.Tensor expected, but type is '{type_}' instead.")
-
-        stats_buffers[key] = buffer
-    return stats_buffers
-
-
-def _no_stats_error_str(name: str) -> str:
-    return (
-        f"`{name}` is infinity. You should either initialize with `stats` as an argument, or use a "
-        "pretrained model."
-    )
-
-
-class Normalize(nn.Module):
-    """Normalizes data (e.g. "observation.image") for more stable and faster convergence during training."""
-
-    def __init__(
-        self,
-        features: dict[str, PolicyFeature],
-        norm_map: dict[str, NormalizationMode],
-        stats: dict[str, dict[str, Tensor]] | None = None,
-    ):
-        """
-        Args:
-            shapes (dict): A dictionary where keys are input modalities (e.g. "observation.image") and values
-            are their shapes (e.g. `[3,96,96]`]). These shapes are used to create the tensor buffer containing
-            mean, std, min, max statistics. If the provided `shapes` contain keys related to images, the shape
-            is adjusted to be invariant to height and width, assuming a channel-first (c, h, w) format.
-            modes (dict): A dictionary where keys are output modalities (e.g. "observation.image") and values
-                are their normalization modes among:
-                    - "mean_std": subtract the mean and divide by standard deviation.
-                    - "min_max": map to [-1, 1] range.
-            stats (dict, optional): A dictionary where keys are output modalities (e.g. "observation.image")
-                and values are dictionaries of statistic types and their values (e.g.
-                `{"mean": torch.randn(3,1,1)}, "std": torch.randn(3,1,1)}`). If provided, as expected for
-                training the model for the first time, these statistics will overwrite the default buffers. If
-                not provided, as expected for finetuning or evaluation, the default buffers should to be
-                overwritten by a call to `policy.load_state_dict(state_dict)`. That way, initializing the
-                dataset is not needed to get the stats, since they are already in the policy state_dict.
-        """
-        super().__init__()
-        self.features = features
-        self.norm_map = norm_map
-        self.stats = stats
-        stats_buffers = create_stats_buffers(features, norm_map, stats)
-        for key, buffer in stats_buffers.items():
-            setattr(self, "buffer_" + key.replace(".", "_"), buffer)
-
-    # TODO(rcadene): should we remove torch.no_grad?
-    @torch.no_grad()
-    def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]:
-        # TODO: Remove this shallow copy
-        batch = dict(batch)  # shallow copy avoids mutating the input batch
-        for key, ft in self.features.items():
-            if key not in batch:
-                # FIXME(aliberts, rcadene): This might lead to silent fail!
-                continue
-
-            norm_mode = self.norm_map.get(ft.type, NormalizationMode.IDENTITY)
-            if norm_mode is NormalizationMode.IDENTITY:
-                continue
-
-            buffer = getattr(self, "buffer_" + key.replace(".", "_"))
-
-            if norm_mode is NormalizationMode.MEAN_STD:
-                mean = buffer["mean"]
-                std = buffer["std"]
-                assert not torch.isinf(mean).any(), _no_stats_error_str("mean")
-                assert not torch.isinf(std).any(), _no_stats_error_str("std")
-                batch[key] = (batch[key] - mean) / (std + 1e-8)
-            elif norm_mode is NormalizationMode.MIN_MAX:
-                min = buffer["min"]
-                max = buffer["max"]
-                assert not torch.isinf(min).any(), _no_stats_error_str("min")
-                assert not torch.isinf(max).any(), _no_stats_error_str("max")
-                # normalize to [0,1]
-                batch[key] = (batch[key] - min) / (max - min + 1e-8)
-                # normalize to [-1, 1]
-                batch[key] = batch[key] * 2 - 1
-            else:
-                raise ValueError(norm_mode)
-        return batch
-
-
-class Unnormalize(nn.Module):
-    """
-    Similar to `Normalize` but unnormalizes output data (e.g. `{"action": torch.randn(b,c)}`) in their
-    original range used by the environment.
-    """
-
-    def __init__(
-        self,
-        features: dict[str, PolicyFeature],
-        norm_map: dict[str, NormalizationMode],
-        stats: dict[str, dict[str, Tensor]] | None = None,
-    ):
-        """
-        Args:
-            shapes (dict): A dictionary where keys are input modalities (e.g. "observation.image") and values
-            are their shapes (e.g. `[3,96,96]`]). These shapes are used to create the tensor buffer containing
-            mean, std, min, max statistics. If the provided `shapes` contain keys related to images, the shape
-            is adjusted to be invariant to height and width, assuming a channel-first (c, h, w) format.
-            modes (dict): A dictionary where keys are output modalities (e.g. "observation.image") and values
-                are their normalization modes among:
-                    - "mean_std": subtract the mean and divide by standard deviation.
-                    - "min_max": map to [-1, 1] range.
-            stats (dict, optional): A dictionary where keys are output modalities (e.g. "observation.image")
-                and values are dictionaries of statistic types and their values (e.g.
-                `{"mean": torch.randn(3,1,1)}, "std": torch.randn(3,1,1)}`). If provided, as expected for
-                training the model for the first time, these statistics will overwrite the default buffers. If
-                not provided, as expected for finetuning or evaluation, the default buffers should to be
-                overwritten by a call to `policy.load_state_dict(state_dict)`. That way, initializing the
-                dataset is not needed to get the stats, since they are already in the policy state_dict.
-        """
-        super().__init__()
-        self.features = features
-        self.norm_map = norm_map
-        self.stats = stats
-        # `self.buffer_observation_state["mean"]` contains `torch.tensor(state_dim)`
-        stats_buffers = create_stats_buffers(features, norm_map, stats)
-        for key, buffer in stats_buffers.items():
-            setattr(self, "buffer_" + key.replace(".", "_"), buffer)
-
-    # TODO(rcadene): should we remove torch.no_grad?
-    @torch.no_grad()
-    def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]:
-        batch = dict(batch)  # shallow copy avoids mutating the input batch
-        for key, ft in self.features.items():
-            if key not in batch:
-                continue
-
-            norm_mode = self.norm_map.get(ft.type, NormalizationMode.IDENTITY)
-            if norm_mode is NormalizationMode.IDENTITY:
-                continue
-
-            buffer = getattr(self, "buffer_" + key.replace(".", "_"))
-
-            if norm_mode is NormalizationMode.MEAN_STD:
-                mean = buffer["mean"]
-                std = buffer["std"]
-                assert not torch.isinf(mean).any(), _no_stats_error_str("mean")
-                assert not torch.isinf(std).any(), _no_stats_error_str("std")
-                batch[key] = batch[key] * std + mean
-            elif norm_mode is NormalizationMode.MIN_MAX:
-                min = buffer["min"]
-                max = buffer["max"]
-                assert not torch.isinf(min).any(), _no_stats_error_str("min")
-                assert not torch.isinf(max).any(), _no_stats_error_str("max")
-                batch[key] = (batch[key] + 1) / 2
-                batch[key] = batch[key] * (max - min) + min
-            else:
-                raise ValueError(norm_mode)
-        return batch
-
-
-# TODO (azouitine): We should replace all normalization on the policies with register_buffer normalization
-#       and remove the `Normalize` and `Unnormalize` classes.
-def _initialize_stats_buffers(
-    module: nn.Module,
-    features: dict[str, PolicyFeature],
-    norm_map: dict[str, NormalizationMode],
-    stats: dict[str, dict[str, Tensor]] | None = None,
-) -> None:
-    """Register statistics buffers (mean/std or min/max) on the given *module*.
-
-    The logic matches the previous constructors of `NormalizeBuffer` and `UnnormalizeBuffer`,
-    but is factored out so it can be reused by both classes and stay in sync.
-    """
-    for key, ft in features.items():
-        norm_mode = norm_map.get(ft.type, NormalizationMode.IDENTITY)
-        if norm_mode is NormalizationMode.IDENTITY:
-            continue
-
-        shape: tuple[int, ...] = tuple(ft.shape)
-        if ft.type is FeatureType.VISUAL:
-            # reduce spatial dimensions, keep channel dimension only
-            c, *_ = shape
-            shape = (c, 1, 1)
-
-        prefix = key.replace(".", "_")
-
-        if norm_mode is NormalizationMode.MEAN_STD:
-            mean = torch.full(shape, torch.inf, dtype=torch.float32)
-            std = torch.full(shape, torch.inf, dtype=torch.float32)
-
-            if stats and key in stats and "mean" in stats[key] and "std" in stats[key]:
-                mean_data = stats[key]["mean"]
-                std_data = stats[key]["std"]
-                if isinstance(mean_data, torch.Tensor):
-                    # Note: The clone is needed to make sure that the logic in save_pretrained doesn't see duplicated
-                    # tensors anywhere (for example, when we use the same stats for normalization and
-                    # unnormalization). See the logic here
-                    # https://github.com/huggingface/safetensors/blob/079781fd0dc455ba0fe851e2b4507c33d0c0d407/bindings/python/py_src/safetensors/torch.py#L97.
-                    mean = mean_data.clone().to(dtype=torch.float32)
-                    std = std_data.clone().to(dtype=torch.float32)
-                else:
-                    raise ValueError(f"Unsupported stats type for key '{key}' (expected ndarray or Tensor).")
-
-            module.register_buffer(f"{prefix}_mean", mean)
-            module.register_buffer(f"{prefix}_std", std)
-            continue
-
-        if norm_mode is NormalizationMode.MIN_MAX:
-            min_val = torch.full(shape, torch.inf, dtype=torch.float32)
-            max_val = torch.full(shape, torch.inf, dtype=torch.float32)
-
-            if stats and key in stats and "min" in stats[key] and "max" in stats[key]:
-                min_data = stats[key]["min"]
-                max_data = stats[key]["max"]
-                if isinstance(min_data, torch.Tensor):
-                    min_val = min_data.clone().to(dtype=torch.float32)
-                    max_val = max_data.clone().to(dtype=torch.float32)
-                else:
-                    raise ValueError(f"Unsupported stats type for key '{key}' (expected ndarray or Tensor).")
-
-            module.register_buffer(f"{prefix}_min", min_val)
-            module.register_buffer(f"{prefix}_max", max_val)
-            continue
-
-        raise ValueError(norm_mode)
-
-
-class NormalizeBuffer(nn.Module):
-    """Same as `Normalize` but statistics are stored as registered buffers rather than parameters."""
-
-    def __init__(
-        self,
-        features: dict[str, PolicyFeature],
-        norm_map: dict[str, NormalizationMode],
-        stats: dict[str, dict[str, Tensor]] | None = None,
-    ):
-        super().__init__()
-        self.features = features
-        self.norm_map = norm_map
-
-        _initialize_stats_buffers(self, features, norm_map, stats)
-
-    def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]:
-        batch = dict(batch)
-        for key, ft in self.features.items():
-            if key not in batch:
-                continue
-
-            norm_mode = self.norm_map.get(ft.type, NormalizationMode.IDENTITY)
-            if norm_mode is NormalizationMode.IDENTITY:
-                continue
-
-            prefix = key.replace(".", "_")
-
-            if norm_mode is NormalizationMode.MEAN_STD:
-                mean = getattr(self, f"{prefix}_mean")
-                std = getattr(self, f"{prefix}_std")
-                assert not torch.isinf(mean).any(), _no_stats_error_str("mean")
-                assert not torch.isinf(std).any(), _no_stats_error_str("std")
-                batch[key] = (batch[key] - mean) / (std + 1e-8)
-                continue
-
-            if norm_mode is NormalizationMode.MIN_MAX:
-                min_val = getattr(self, f"{prefix}_min")
-                max_val = getattr(self, f"{prefix}_max")
-                assert not torch.isinf(min_val).any(), _no_stats_error_str("min")
-                assert not torch.isinf(max_val).any(), _no_stats_error_str("max")
-                batch[key] = (batch[key] - min_val) / (max_val - min_val + 1e-8)
-                batch[key] = batch[key] * 2 - 1
-                continue
-
-            raise ValueError(norm_mode)
-
-        return batch
-
-
-class UnnormalizeBuffer(nn.Module):
-    """Inverse operation of `NormalizeBuffer`. Uses registered buffers for statistics."""
-
-    def __init__(
-        self,
-        features: dict[str, PolicyFeature],
-        norm_map: dict[str, NormalizationMode],
-        stats: dict[str, dict[str, Tensor]] | None = None,
-    ):
-        super().__init__()
-        self.features = features
-        self.norm_map = norm_map
-
-        _initialize_stats_buffers(self, features, norm_map, stats)
-
-    def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]:
-        # batch = dict(batch)
-        for key, ft in self.features.items():
-            if key not in batch:
-                continue
-
-            norm_mode = self.norm_map.get(ft.type, NormalizationMode.IDENTITY)
-            if norm_mode is NormalizationMode.IDENTITY:
-                continue
-
-            prefix = key.replace(".", "_")
-
-            if norm_mode is NormalizationMode.MEAN_STD:
-                mean = getattr(self, f"{prefix}_mean")
-                std = getattr(self, f"{prefix}_std")
-                assert not torch.isinf(mean).any(), _no_stats_error_str("mean")
-                assert not torch.isinf(std).any(), _no_stats_error_str("std")
-                batch[key] = batch[key] * std + mean
-                continue
-
-            if norm_mode is NormalizationMode.MIN_MAX:
-                min_val = getattr(self, f"{prefix}_min")
-                max_val = getattr(self, f"{prefix}_max")
-                assert not torch.isinf(min_val).any(), _no_stats_error_str("min")
-                assert not torch.isinf(max_val).any(), _no_stats_error_str("max")
-                batch[key] = (batch[key] + 1) / 2
-                batch[key] = batch[key] * (max_val - min_val) + min_val
-                continue
-
-            raise ValueError(norm_mode)
-
-        return batch
@@ -56,18 +56,15 @@ from collections import deque
 import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
-from transformers import AutoTokenizer

-from lerobot.constants import ACTION, OBS_STATE
-from lerobot.policies.normalize import Normalize, Unnormalize
+from lerobot.constants import ACTION, OBS_LANGUAGE, OBS_STATE
 from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.policies.pi0.paligemma_with_expert import (
    PaliGemmaWithExpertConfig,
    PaliGemmaWithExpertModel,
 )
 from lerobot.policies.pretrained import PreTrainedPolicy
-from lerobot.policies.utils import log_model_loading_keys
-from lerobot.utils.utils import get_safe_dtype, init_logging
+from lerobot.utils.utils import get_safe_dtype


 def create_sinusoidal_pos_embedding(
@@ -223,28 +220,17 @@ class PI0Policy(PreTrainedPolicy):
    def __init__(
        self,
        config: PI0Config,
-        dataset_stats: dict[str, dict[str, Tensor]] | None = None,
    ):
        """
        Args:
            config: Policy configuration class instance or None, in which case the default instantiation of
                    the configuration class is used.
-            dataset_stats: Dataset statistics to be used for normalization. If not passed here, it is expected
-                that they will be passed with a call to `load_state_dict` before the policy is used.
        """

        super().__init__(config)
        config.validate_features()
        self.config = config
-        self.normalize_inputs = Normalize(config.input_features, config.normalization_mapping, dataset_stats)
-        self.normalize_targets = Normalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-        self.unnormalize_outputs = Unnormalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )

-        self.language_tokenizer = AutoTokenizer.from_pretrained("google/paligemma-3b-pt-224")
        self.model = PI0FlowMatching(config)

        self.reset()
@@ -253,99 +239,6 @@ class PI0Policy(PreTrainedPolicy):
        """This should be called whenever the environment is reset."""
        self._action_queue = deque([], maxlen=self.config.n_action_steps)

-    @classmethod
-    def _transform_state_dict_keys(cls, state_dict: dict) -> dict:
-        """
-        Transform state dict keys to match expected model structure.
-
-        Transformations:
-        - model.paligemma_with_expert.paligemma.language_model.lm_head ->
-          model.paligemma_with_expert.paligemma.lm_head
-        - model.paligemma_with_expert.paligemma.language_model.model ->
-          model.paligemma_with_expert.paligemma.model.language_model
-        - model.paligemma_with_expert.paligemma.vision_tower ->
-          model.paligemma_with_expert.paligemma.model.vision_tower
-        - model.paligemma_with_expert.paligemma.multi_modal_projector ->
-          model.paligemma_with_expert.paligemma.model.multi_modal_projector
-
-        Also handles tied weights between lm_head.weight and
-        embed_tokens.weight.
-        """
-        import re
-
-        transformed_dict = {}
-
-        transformations = [
-            (
-                re.compile(r"\.paligemma_with_expert\.paligemma\.language_model\.lm_head"),
-                ".paligemma_with_expert.paligemma.lm_head",
-            ),
-            (
-                re.compile(r"\.paligemma_with_expert\.paligemma\.language_model\.model"),
-                ".paligemma_with_expert.paligemma.model.language_model",
-            ),
-            (
-                re.compile(r"\.paligemma_with_expert\.paligemma\.vision_tower"),
-                ".paligemma_with_expert.paligemma.model.vision_tower",
-            ),
-            (
-                re.compile(r"\.paligemma_with_expert\.paligemma\.multi_modal_projector"),
-                ".paligemma_with_expert.paligemma.model.multi_modal_projector",
-            ),
-        ]
-
-        for key, value in state_dict.items():
-            new_key = key
-            for pattern, replacement in transformations:
-                new_key = pattern.sub(replacement, new_key)
-            transformed_dict[new_key] = value
-
-        # Handle tied weights: lm_head.weight and embed_tokens.weight share memory
-        lm_head_key = None
-        embed_tokens_key = None
-
-        for key in transformed_dict:
-            if key.endswith(".paligemma_with_expert.paligemma.lm_head.weight"):
-                lm_head_key = key
-            elif key.endswith(".paligemma_with_expert.paligemma.model.language_model.embed_tokens.weight"):
-                embed_tokens_key = key
-            if lm_head_key and embed_tokens_key:
-                break
-
-        if lm_head_key and not embed_tokens_key:
-            embed_tokens_key = lm_head_key.replace(
-                ".lm_head.weight", ".model.language_model.embed_tokens.weight"
-            )
-            transformed_dict[embed_tokens_key] = transformed_dict[lm_head_key]
-        elif embed_tokens_key and not lm_head_key:
-            lm_head_key = embed_tokens_key.replace(
-                ".model.language_model.embed_tokens.weight", ".lm_head.weight"
-            )
-            transformed_dict[lm_head_key] = transformed_dict[embed_tokens_key]
-
-        return transformed_dict
-
-    @classmethod
-    def _load_as_safetensor(
-        cls, model: "PI0Policy", model_file: str, map_location: str, strict: bool
-    ) -> "PI0Policy":
-        """Override to apply key transformations before loading."""
-        from safetensors.torch import load_file
-
-        init_logging()
-        # Load the state dict from file safely
-        state_dict = load_file(model_file, device=map_location)
-
-        # Apply key transformations
-        transformed_state_dict = cls._transform_state_dict_keys(state_dict)
-
-        # Load the transformed state dict
-        msg = model.load_state_dict(transformed_state_dict, strict=strict)
-
-        # Log message
-        log_model_loading_keys(msg.missing_keys, msg.unexpected_keys)
-        return model
-
    def get_optim_params(self) -> dict:
        return self.parameters()

@@ -377,14 +270,13 @@ class PI0Policy(PreTrainedPolicy):
        if self.config.adapt_to_pi_aloha:
            batch[OBS_STATE] = self._pi_aloha_decode_state(batch[OBS_STATE])

-        batch = self.normalize_inputs(batch)
-
        # Action queue logic for n_action_steps > 1. When the action_queue is depleted, populate it by
        # querying the policy.
        if len(self._action_queue) == 0:
            images, img_masks = self.prepare_images(batch)
            state = self.prepare_state(batch)
-            lang_tokens, lang_masks = self.prepare_language(batch)
+            lang_tokens = batch[f"{OBS_LANGUAGE}.tokens"]
+            lang_masks = batch[f"{OBS_LANGUAGE}.attention_mask"]

            actions = self.model.sample_actions(
                images, img_masks, lang_tokens, lang_masks, state, noise=noise
@@ -394,8 +286,6 @@ class PI0Policy(PreTrainedPolicy):
            original_action_dim = self.config.action_feature.shape[0]
            actions = actions[:, :, :original_action_dim]

-            actions = self.unnormalize_outputs({"action": actions})["action"]
-
            if self.config.adapt_to_pi_aloha:
                actions = self._pi_aloha_encode_actions(actions)

@@ -410,12 +300,10 @@ class PI0Policy(PreTrainedPolicy):
            batch[OBS_STATE] = self._pi_aloha_decode_state(batch[OBS_STATE])
            batch[ACTION] = self._pi_aloha_encode_actions_inv(batch[ACTION])

-        batch = self.normalize_inputs(batch)
-        batch = self.normalize_targets(batch)
-
        images, img_masks = self.prepare_images(batch)
        state = self.prepare_state(batch)
-        lang_tokens, lang_masks = self.prepare_language(batch)
+        lang_tokens = batch[f"{OBS_LANGUAGE}.tokens"]
+        lang_masks = batch[f"{OBS_LANGUAGE}.attention_mask"]
        actions = self.prepare_action(batch)
        actions_is_pad = batch.get("action_is_pad")

@@ -482,26 +370,6 @@ class PI0Policy(PreTrainedPolicy):

        return images, img_masks

-    def prepare_language(self, batch) -> tuple[Tensor, Tensor]:
-        """Tokenize the text input"""
-        device = batch[OBS_STATE].device
-        tasks = batch["task"]
-
-        # PaliGemma prompt has to end with a new line
-        tasks = [task if task.endswith("\n") else f"{task}\n" for task in tasks]
-
-        tokenized_prompt = self.language_tokenizer.__call__(
-            tasks,
-            padding="max_length",
-            padding_side="right",
-            max_length=self.config.tokenizer_max_length,
-            return_tensors="pt",
-        )
-        lang_tokens = tokenized_prompt["input_ids"].to(device=device)
-        lang_masks = tokenized_prompt["attention_mask"].to(device=device, dtype=torch.bool)
-
-        return lang_tokens, lang_masks
-
    def _pi_aloha_decode_state(self, state):
        # Flip the joints.
        for motor_idx in [1, 2, 8, 9]:
@@ -567,7 +435,7 @@ class PI0FlowMatching(nn.Module):
    └──────────────────────────────┘
    """

-    def __init__(self, config):
+    def __init__(self, config: PI0Config):
        super().__init__()
        self.config = config

@@ -0,0 +1,118 @@
+#!/usr/bin/env python
+
+# Copyright 2025 Physical Intelligence and 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.
+
+
+import torch
+
+from lerobot.configs.types import PolicyFeature
+from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.policies.pi0.configuration_pi0 import PI0Config
+from lerobot.processor import (
+    AddBatchDimensionProcessorStep,
+    ComplementaryDataProcessorStep,
+    DeviceProcessorStep,
+    NormalizerProcessorStep,
+    PolicyProcessorPipeline,
+    ProcessorKwargs,
+    ProcessorStep,
+    ProcessorStepRegistry,
+    RenameProcessorStep,
+    TokenizerProcessorStep,
+    UnnormalizerProcessorStep,
+)
+
+
+@ProcessorStepRegistry.register(name="pi0_new_line_processor")
+class Pi0NewLineProcessor(ComplementaryDataProcessorStep):
+    """Add a new line to the end of the task if it doesn't have one.
+    This is required for the PaliGemma tokenizer.
+    """
+
+    def complementary_data(self, complementary_data):
+        if "task" not in complementary_data:
+            return complementary_data
+
+        task = complementary_data["task"]
+        if task is None:
+            return complementary_data
+
+        new_complementary_data = dict(complementary_data)
+
+        # Handle both string and list of strings
+        if isinstance(task, str):
+            # Single string: add newline if not present
+            if not task.endswith("\n"):
+                new_complementary_data["task"] = f"{task}\n"
+        elif isinstance(task, list) and all(isinstance(t, str) for t in task):
+            # List of strings: add newline to each if not present
+            new_complementary_data["task"] = [t if t.endswith("\n") else f"{t}\n" for t in task]
+        # If task is neither string nor list of strings, leave unchanged
+
+        return new_complementary_data
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
+
+
+def make_pi0_pre_post_processors(
+    config: PI0Config,
+    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
+    preprocessor_kwargs: ProcessorKwargs | None = None,
+    postprocessor_kwargs: ProcessorKwargs | None = None,
+) -> tuple[PolicyProcessorPipeline, PolicyProcessorPipeline]:
+    if preprocessor_kwargs is None:
+        preprocessor_kwargs = {}
+    if postprocessor_kwargs is None:
+        postprocessor_kwargs = {}
+
+    # Add remaining processors
+    input_steps: list[ProcessorStep] = [
+        RenameProcessorStep(rename_map={}),  # To mimic the same processor as pretrained one
+        NormalizerProcessorStep(
+            features={**config.input_features, **config.output_features},
+            norm_map=config.normalization_mapping,
+            stats=dataset_stats,
+        ),
+        AddBatchDimensionProcessorStep(),
+        Pi0NewLineProcessor(),  # Add newlines before tokenization for PaliGemma
+        TokenizerProcessorStep(
+            tokenizer_name="google/paligemma-3b-pt-224",
+            max_length=config.tokenizer_max_length,
+            padding_side="right",
+            padding="max_length",
+        ),
+        DeviceProcessorStep(device=config.device),
+    ]
+
+    output_steps: list[ProcessorStep] = [
+        DeviceProcessorStep(device="cpu"),
+        UnnormalizerProcessorStep(
+            features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
+        ),
+    ]
+
+    return (
+        PolicyProcessorPipeline(
+            steps=input_steps,
+            name=PREPROCESSOR_DEFAULT_NAME,
+            **preprocessor_kwargs,
+        ),
+        PolicyProcessorPipeline(
+            steps=output_steps,
+            name=POSTPROCESSOR_DEFAULT_NAME,
+            **postprocessor_kwargs,
+        ),
+    )
@@ -1,92 +0,0 @@
-# π₀.₅ (pi05)
-
-This repository contains the Hugging Face port of **π₀.₅**, adapted from [OpenPI](https://github.com/Physical-Intelligence/openpi) by the Physical Intelligence.
-It is designed as a **Vision-Language-Action model with open-world generalization**.
-
---
-
-### ⚠️ WARNING ⚠️
-
-This project requires **patching the Hugging Face `transformers` library**.
-
-1. Make sure you have the exact version installed:
-
-```bash
-   pip show transformers
-```
-
-It must be version **4.53.2**.
-
-2. Apply the custom patches by copying the modified files into your environment:
-
-   ```bash
-   cp -r ./src/lerobot/policies/pi0_openpi/transformers_replace/* \
-     $(python -c "import transformers, os; print(os.path.dirname(transformers.__file__))")
-   ```
-
-   These patches overwrite parts of `transformers` to:
-   - Support the **AdaRMS optimizer**,
-   - Correctly control the precision of activations,
-   - Allow the KV cache to be used without updates.
-
-**Important:**
-
- This permanently modifies your `transformers` installation.
- The changes survive reinstalls unless you explicitly remove the patched files or recreate the environment.
-
-To undo and restore a clean state:
-
-```bash
-pip uninstall transformers
-pip install transformers==4.53.2
-```
-
---
-
-## Model Overview
-
-| Feature              | π₀                                                     | π₀.₅                                      |
-| -------------------- | ------------------------------------------------------ | ----------------------------------------- |
-| State Embedding      | Uses `state_proj` layer                                | No state embedding                        |
-| Time Conditioning    | Concatenates time with actions via `action_time_mlp_*` | Uses `time_mlp_*` for AdaRMS conditioning |
-| AdaRMS               | Not used                                               | Used in action expert                     |
-| Tokenizer Length     | 48 tokens                                              | 200 tokens                                |
-| Discrete State Input | False                                                  | True                                      |
-| Parameter Count      | Higher (includes state embedding)                      | Lower (no state embedding)                |
-
---
-
-## Citation
-
-If you use this work, please cite both **OpenPI** and the π₀.₅ paper:
-
-```bibtex
-@misc{openpi2024,
-  author       = {Physical Intelligence Lab},
-  title        = {OpenPI: PyTorch Implementation of π0 and π0.5 Policies},
-  year         = {2024},
-  publisher    = {GitHub},
-  howpublished = {\url{https://github.com/Physical-Intelligence/openpi}},
-  license      = {Apache-2.0}
-}
-
-@misc{intelligence2025pi05visionlanguageactionmodelopenworld,
-  title        = {π₀.₅: a Vision-Language-Action Model with Open-World Generalization},
-  author       = {Physical Intelligence and Kevin Black and Noah Brown and James Darpinian and Karan Dhabalia and Danny Driess and Adnan Esmail and Michael Equi and Chelsea Finn and Niccolo Fusai and Manuel Y. Galliker and Dibya Ghosh and Lachy Groom and Karol Hausman and Brian Ichter and Szymon Jakubczak and Tim Jones and Liyiming Ke and Devin LeBlanc and Sergey Levine and Adrian Li-Bell and Mohith Mothukuri and Suraj Nair and Karl Pertsch and Allen Z. Ren and Lucy Xiaoyang Shi and Laura Smith and Jost Tobias Springenberg and Kyle Stachowicz and James Tanner and Quan Vuong and Homer Walke and Anna Walling and Haohuan Wang and Lili Yu and Ury Zhilinsky},
-  year         = {2025},
-  eprint       = {2504.16054},
-  archivePrefix= {arXiv},
-  primaryClass = {cs.LG},
-  url          = {https://arxiv.org/abs/2504.16054},
-}
-```
-
---
-
-## License
-
-This port follows the **Apache 2.0 License**, consistent with the original [OpenPI repository](https://github.com/Physical-Intelligence/openpi).
-
-```
-
-```
@@ -1,137 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 Physical Intelligence and 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 AdamWConfig
-from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
-
-
-@PreTrainedConfig.register_subclass("pi05_openpi")
-@dataclass
-class PI05OpenPIConfig(PreTrainedConfig):
-    # Model architecture
-    paligemma_variant: str = "gemma_2b"
-    action_expert_variant: str = "gemma_300m"
-    discrete_state_input: bool | None = (
-        True  # Whether to use discrete state input # see openpi `Pi0Config, __post_init__`
-    )
-    dtype: str = "float32"  # Options: "bfloat16", "float32"
-
-    # Input / output structure
-    n_obs_steps: int = 1
-    chunk_size: int = 50  # Number of action steps to predict, in openpi called "action_horizon"
-    n_action_steps: int = 50  # Number of action steps to execute
-
-    # Shorter state and action vectors will be padded to these dimensions
-    max_state_dim: int = 32  # State dimension (will be padded to 32)
-    max_action_dim: int = 32  # Action dimension (will be padded to 32)
-
-    # Flow matching parameters: see openpi `PI0Pytorch`
-    num_inference_steps: int = 10  # Number of denoising steps during inference
-    time_sampling_beta_alpha: float = 1.5  # Beta distribution alpha parameter for time sampling
-    time_sampling_beta_beta: float = 1.0  # Beta distribution beta parameter for time sampling
-    min_period: float = 4e-3  # Min period for sinusoidal positional encoding
-    max_period: float = 4.0  # Max period for sinusoidal positional encoding
-
-    # Image preprocessing
-    image_resolution: tuple[int, int] = (224, 224)  # see openpi `preprocessing_pytorch.py`
-
-    # Normalization
-    normalization_mapping: dict[str, NormalizationMode] = field(
-        default_factory=lambda: {
-            "VISUAL": NormalizationMode.IDENTITY,  # Images are normalized to [-1, 1] in preprocessing
-            "STATE": NormalizationMode.MEAN_STD,
-            "ACTION": NormalizationMode.MEAN_STD,
-        }
-    )
-
-    # Training settings
-    gradient_checkpointing: bool = False  # Enable gradient checkpointing for memory optimization
-    compile_model: bool = False  # Whether to use torch.compile for model optimization
-    compile_mode: str = "max-autotune"  # Torch compile mode
-    device: str | None = None  # Device to use for the model (None = auto-detect)
-
-    # Optimizer settings: see openpi `AdamW` and
-    optimizer_lr: float = 2.5e-5  # see openpi `CosineDecaySchedule: peak_lr`
-    optimizer_betas: tuple[float, float] = (0.9, 0.95)
-    optimizer_eps: float = 1e-8
-    optimizer_weight_decay: float = 0.01
-    optimizer_grad_clip_norm: float = 1.0
-
-    # Scheduler settings: see openpi `CosineDecaySchedule`
-    scheduler_warmup_steps: int = 1_000
-    scheduler_decay_steps: int = 30_000
-    scheduler_decay_lr: float = 2.5e-6
-
-    tokenizer_max_length: int = 200  # see openpi `__post_init__`
-
-    def __post_init__(self):
-        super().__post_init__()
-
-        # Validate configuration
-        if self.n_action_steps > self.chunk_size:
-            raise ValueError(
-                f"n_action_steps ({self.n_action_steps}) cannot be greater than chunk_size ({self.chunk_size})"
-            )
-
-        if self.paligemma_variant not in ["gemma_300m", "gemma_2b"]:
-            raise ValueError(f"Invalid paligemma_variant: {self.paligemma_variant}")
-
-        if self.action_expert_variant not in ["gemma_300m", "gemma_2b"]:
-            raise ValueError(f"Invalid action_expert_variant: {self.action_expert_variant}")
-
-        if self.dtype not in ["bfloat16", "float32"]:
-            raise ValueError(f"Invalid dtype: {self.dtype}")
-
-    def validate_features(self) -> None:
-        """Validate and set up input/output features."""
-        # Image features are now handled dynamically through dataset configuration
-        # No need to auto-add hardcoded image keys
-
-        # State and action features are also handled dynamically through dataset configuration
-        # The actual dimensions come from the feature shapes, max dimensions are used for padding only
-        pass
-
-    def get_optimizer_preset(self) -> AdamWConfig:
-        return AdamWConfig(
-            lr=self.optimizer_lr,
-            betas=self.optimizer_betas,
-            eps=self.optimizer_eps,
-            weight_decay=self.optimizer_weight_decay,
-            grad_clip_norm=self.optimizer_grad_clip_norm,
-        )
-
-    def get_scheduler_preset(self):
-        return CosineDecayWithWarmupSchedulerConfig(
-            peak_lr=self.optimizer_lr,
-            decay_lr=self.scheduler_decay_lr,
-            num_warmup_steps=self.scheduler_warmup_steps,
-            num_decay_steps=self.scheduler_decay_steps,
-        )
-
-    @property
-    def observation_delta_indices(self) -> None:
-        return None
-
-    @property
-    def action_delta_indices(self) -> list:
-        return list(range(self.chunk_size))
-
-    @property
-    def reward_delta_indices(self) -> None:
-        return None
@@ -1,173 +0,0 @@
-#                🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨
-#           This file was automatically generated from src/transformers/models/gemma/modular_gemma.py.
-#               Do NOT edit this file manually as any edits will be overwritten by the generation of
-#             the file from the modular. If any change should be done, please apply the change to the
-#                          modular_gemma.py file directly. One of our CI enforces this.
-#                🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨
-# coding=utf-8
-# Copyright 2024 Google Inc. 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 ...configuration_utils import PretrainedConfig
-
-
-class GemmaConfig(PretrainedConfig):
-    r"""
-    This is the configuration class to store the configuration of a [`GemmaModel`]. It is used to instantiate an Gemma
-    model according to the specified arguments, defining the model architecture. Instantiating a configuration with the
-    defaults will yield a similar configuration to that of the Gemma-7B.
-    e.g. [google/gemma-7b](https://huggingface.co/google/gemma-7b)
-    Configuration objects inherit from [`PretrainedConfig`] and can be used to control the model outputs. Read the
-    documentation from [`PretrainedConfig`] for more information.
-    Args:
-        vocab_size (`int`, *optional*, defaults to 256000):
-            Vocabulary size of the Gemma model. Defines the number of different tokens that can be represented by the
-            `inputs_ids` passed when calling [`GemmaModel`]
-        hidden_size (`int`, *optional*, defaults to 3072):
-            Dimension of the hidden representations.
-        intermediate_size (`int`, *optional*, defaults to 24576):
-            Dimension of the MLP representations.
-        num_hidden_layers (`int`, *optional*, defaults to 28):
-            Number of hidden layers in the Transformer decoder.
-        num_attention_heads (`int`, *optional*, defaults to 16):
-            Number of attention heads for each attention layer in the Transformer decoder.
-        num_key_value_heads (`int`, *optional*, defaults to 16):
-            This is the number of key_value heads that should be used to implement Grouped Query Attention. If
-            `num_key_value_heads=num_attention_heads`, the model will use Multi Head Attention (MHA), if
-            `num_key_value_heads=1` the model will use Multi Query Attention (MQA) otherwise GQA is used. When
-            converting a multi-head checkpoint to a GQA checkpoint, each group key and value head should be constructed
-            by meanpooling all the original heads within that group. For more details, check out [this
-            paper](https://huggingface.co/papers/2305.13245). If it is not specified, will default to
-            `num_attention_heads`.
-        head_dim (`int`, *optional*, defaults to 256):
-            The attention head dimension.
-        hidden_act (`str` or `function`, *optional*, defaults to `"gelu_pytorch_tanh"`):
-            The legacy activation function. It is overwritten by the `hidden_activation`.
-        hidden_activation (`str` or `function`, *optional*):
-            The non-linear activation function (function or string) in the decoder. Will default to `"gelu_pytorch_tanh"`
-            if not specified. `"gelu_pytorch_tanh"` uses an approximation of the `"gelu"` activation function.
-        max_position_embeddings (`int`, *optional*, defaults to 8192):
-            The maximum sequence length that this model might ever be used with.
-        initializer_range (`float`, *optional*, defaults to 0.02):
-            The standard deviation of the truncated_normal_initializer for initializing all weight matrices.
-        rms_norm_eps (`float`, *optional*, defaults to 1e-06):
-            The epsilon used by the rms normalization layers.
-        use_cache (`bool`, *optional*, defaults to `True`):
-            Whether or not the model should return the last key/values attentions (not used by all models). Only
-            relevant if `config.is_decoder=True`.
-        pad_token_id (`int`, *optional*, defaults to 0):
-            Padding token id.
-        eos_token_id (`int`, *optional*, defaults to 1):
-            End of stream token id.
-        bos_token_id (`int`, *optional*, defaults to 2):
-            Beginning of stream token id.
-        tie_word_embeddings (`bool`, *optional*, defaults to `True`):
-            Whether to tie weight embeddings
-        rope_theta (`float`, *optional*, defaults to 10000.0):
-            The base period of the RoPE embeddings.
-        attention_bias (`bool`, defaults to `False`, *optional*, defaults to `False`):
-            Whether to use a bias in the query, key, value and output projection layers during self-attention.
-        attention_dropout (`float`, *optional*, defaults to 0.0):
-            The dropout ratio for the attention probabilities.
-        use_adarms (`bool`, *optional*, defaults to `False`):
-            Whether to use ADARMS.
-        adarms_cond_dim (`int`, *optional*, defaults to `None`):
-            The dimension of the ADARMS condition.
-    ```python
-    >>> from transformers import GemmaModel, GemmaConfig
-    >>> # Initializing a Gemma gemma-7b style configuration
-    >>> configuration = GemmaConfig()
-    >>> # Initializing a model from the gemma-7b style configuration
-    >>> model = GemmaModel(configuration)
-    >>> # Accessing the model configuration
-    >>> configuration = model.config
-    ```"""
-
-    model_type = "gemma"
-    keys_to_ignore_at_inference = ["past_key_values"]
-    base_model_tp_plan = {
-        "layers.*.self_attn.q_proj": "colwise",
-        "layers.*.self_attn.k_proj": "colwise",
-        "layers.*.self_attn.v_proj": "colwise",
-        "layers.*.self_attn.o_proj": "rowwise",
-        "layers.*.mlp.gate_proj": "colwise",
-        "layers.*.mlp.up_proj": "colwise",
-        "layers.*.mlp.down_proj": "rowwise",
-    }
-    base_model_pp_plan = {
-        "embed_tokens": (["input_ids"], ["inputs_embeds"]),
-        "layers": (["hidden_states", "attention_mask"], ["hidden_states"]),
-        "norm": (["hidden_states"], ["hidden_states"]),
-    }
-
-    def __init__(
-        self,
-        vocab_size=256000,
-        hidden_size=3072,
-        intermediate_size=24576,
-        num_hidden_layers=28,
-        num_attention_heads=16,
-        num_key_value_heads=16,
-        head_dim=256,
-        hidden_act="gelu_pytorch_tanh",
-        hidden_activation=None,
-        max_position_embeddings=8192,
-        initializer_range=0.02,
-        rms_norm_eps=1e-6,
-        use_cache=True,
-        pad_token_id=0,
-        eos_token_id=1,
-        bos_token_id=2,
-        tie_word_embeddings=True,
-        rope_theta=10000.0,
-        attention_bias=False,
-        attention_dropout=0.0,
-        use_adarms: bool = False,
-        adarms_cond_dim: int | None = None,
-        **kwargs,
-    ):
-        self.vocab_size = vocab_size
-        self.max_position_embeddings = max_position_embeddings
-        self.hidden_size = hidden_size
-        self.intermediate_size = intermediate_size
-        self.num_hidden_layers = num_hidden_layers
-        self.num_attention_heads = num_attention_heads
-        self.head_dim = head_dim
-        self.num_key_value_heads = num_key_value_heads
-        self.hidden_act = hidden_act
-        self.hidden_activation = hidden_activation
-        self.initializer_range = initializer_range
-        self.rms_norm_eps = rms_norm_eps
-        self.use_cache = use_cache
-        self.rope_theta = rope_theta
-        self.attention_bias = attention_bias
-        self.attention_dropout = attention_dropout
-        self.use_adarms = use_adarms
-        self.adarms_cond_dim = adarms_cond_dim
-
-        # Set default for adarms_cond_dim if use_adarms is True
-        if self.use_adarms and self.adarms_cond_dim is None:
-            self.adarms_cond_dim = self.hidden_size
-
-        super().__init__(
-            pad_token_id=pad_token_id,
-            bos_token_id=bos_token_id,
-            eos_token_id=eos_token_id,
-            tie_word_embeddings=tie_word_embeddings,
-            **kwargs,
-        )
-
-
-__all__ = ["GemmaConfig"]
@@ -1,895 +0,0 @@
-#                🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨
-#           This file was automatically generated from src/transformers/models/gemma/modular_gemma.py.
-#               Do NOT edit this file manually as any edits will be overwritten by the generation of
-#             the file from the modular. If any change should be done, please apply the change to the
-#                          modular_gemma.py file directly. One of our CI enforces this.
-#                🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨
-# coding=utf-8
-# Copyright 2024 Google Inc. 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 collections.abc import Callable
-
-import torch
-from torch import nn
-
-from ...activations import ACT2FN
-from ...cache_utils import Cache, DynamicCache
-from ...generation import GenerationMixin
-from ...masking_utils import create_causal_mask
-from ...modeling_flash_attention_utils import FlashAttentionKwargs
-from ...modeling_layers import GradientCheckpointingLayer
-from ...modeling_outputs import (
-    BaseModelOutputWithPast,
-    CausalLMOutputWithPast,
-    SequenceClassifierOutputWithPast,
-    TokenClassifierOutput,
-)
-from ...modeling_rope_utils import ROPE_INIT_FUNCTIONS, dynamic_rope_update
-from ...modeling_utils import ALL_ATTENTION_FUNCTIONS, PreTrainedModel
-from ...processing_utils import Unpack
-from ...utils import LossKwargs, auto_docstring, can_return_tuple, logging
-from .configuration_gemma import GemmaConfig
-
-logger = logging.get_logger(__name__)
-
-
-# Workaround for Python 3.10+ UnionType compatibility with transformers auto_docstring
-def safe_auto_docstring(func=None, **kwargs):
-    """Auto docstring decorator that handles Python 3.10+ UnionType gracefully."""
-
-    def decorator(f):
-        try:
-            return auto_docstring(f, **kwargs) if kwargs else auto_docstring(f)
-        except (AttributeError, TypeError):
-            # If auto_docstring fails due to UnionType, just return the function unchanged
-            return f
-
-    if func is None:
-        # Called with arguments, return the decorator
-        return decorator
-    else:
-        # Called without arguments, apply directly
-        return decorator(func)
-
-
-class GemmaRMSNorm(nn.Module):
-    def __init__(self, dim: int, eps: float = 1e-6, cond_dim: int | None = None):
-        super().__init__()
-        self.eps = eps
-        self.dim = dim
-        self.cond_dim = cond_dim
-
-        # Dense layer for adaptive normalization (if cond_dim is provided)
-        if cond_dim is not None:
-            # self.dense = nn.Linear(cond_dim, dim * 3, bias=True, dtype=torch.bfloat16)
-            self.dense = nn.Linear(cond_dim, dim * 3, bias=True)
-            # Initialize with zeros (matches source implementation)
-            nn.init.zeros_(self.dense.weight)
-        else:
-            self.weight = nn.Parameter(torch.zeros(dim, dtype=torch.bfloat16))
-            self.dense = None
-
-    def _norm(self, x):
-        # Compute variance in float32 (like the source implementation)
-        var = torch.mean(torch.square(x.float()), dim=-1, keepdim=True)
-        # Compute normalization in float32
-        normed_inputs = x * torch.rsqrt(var + self.eps)
-        return normed_inputs
-
-    def forward(self, x, cond=None):
-        dtype = x.dtype  # original dtype, could be half-precision
-        normed_inputs = self._norm(x)
-
-        if cond is None or self.dense is None:
-            # regular RMSNorm
-            # scale by learned parameter in float32 (matches source implementation)
-            normed_inputs = normed_inputs * (1.0 + self.weight.float())
-            return normed_inputs.to(dtype), None  # return in original dtype with None gate
-
-        # adaptive RMSNorm (if cond is provided and dense layer exists)
-        if cond.shape[-1] != self.cond_dim:
-            raise ValueError(f"Expected cond dimension {self.cond_dim}, got {cond.shape[-1]}")
-
-        # self.dense.to(dtype=torch.bfloat16).to(dtype=torch.float32)
-        modulation = self.dense(cond)
-        # Reshape modulation to broadcast properly: [batch, 1, features] for [batch, seq, features]
-        if len(x.shape) == 3:  # [batch, seq, features]
-            modulation = modulation.unsqueeze(1)
-
-        scale, shift, gate = torch.chunk(modulation, 3, dim=-1)
-
-        # Apply adaptive normalization: use model weight dtype to ensure compatibility
-        # model_dtype = self.dense.weight.dtype  # Use the model's dtype (bfloat16)
-        # scale = scale.to(model_dtype)
-        # shift = shift.to(model_dtype)
-        # gate = gate.to(model_dtype)
-        # normed_inputs = normed_inputs.to(model_dtype)  # Convert normed_inputs to model dtype
-
-        normed_inputs = normed_inputs * (1 + scale.to(torch.float32)) + shift.to(torch.float32)
-
-        return normed_inputs.to(dtype), gate.to(dtype)
-
-    def extra_repr(self):
-        repr_str = f"{tuple(self.weight.shape)}, eps={self.eps}"
-        if self.dense is not None:
-            repr_str += f", adaptive=True, cond_dim={self.cond_dim}"
-        return repr_str
-
-
-class GemmaMLP(nn.Module):
-    def __init__(self, config):
-        super().__init__()
-        self.config = config
-        self.hidden_size = config.hidden_size
-        self.intermediate_size = config.intermediate_size
-        self.gate_proj = nn.Linear(self.hidden_size, self.intermediate_size, bias=False)
-        self.up_proj = nn.Linear(self.hidden_size, self.intermediate_size, bias=False)
-        self.down_proj = nn.Linear(self.intermediate_size, self.hidden_size, bias=False)
-        self.act_fn = ACT2FN[config.hidden_act]
-
-    def forward(self, x):
-        down_proj = self.down_proj(self.act_fn(self.gate_proj(x)) * self.up_proj(x))
-        return down_proj
-
-
-class GemmaRotaryEmbedding(nn.Module):
-    def __init__(self, config: GemmaConfig, device=None):
-        super().__init__()
-        # BC: "rope_type" was originally "type"
-        if hasattr(config, "rope_scaling") and config.rope_scaling is not None:
-            self.rope_type = config.rope_scaling.get("rope_type", config.rope_scaling.get("type"))
-        else:
-            self.rope_type = "default"
-        self.max_seq_len_cached = config.max_position_embeddings
-        self.original_max_seq_len = config.max_position_embeddings
-
-        self.config = config
-        self.rope_init_fn = ROPE_INIT_FUNCTIONS[self.rope_type]
-
-        inv_freq, self.attention_scaling = self.rope_init_fn(self.config, device)
-        self.register_buffer("inv_freq", inv_freq, persistent=False)
-        self.original_inv_freq = self.inv_freq
-
-    @torch.no_grad()
-    @dynamic_rope_update  # power user: used with advanced RoPE types (e.g. dynamic rope)
-    def forward(self, x, position_ids):
-        inv_freq_expanded = (
-            self.inv_freq[None, :, None].float().expand(position_ids.shape[0], -1, 1).to(x.device)
-        )
-        position_ids_expanded = position_ids[:, None, :].float()
-
-        device_type = x.device.type if isinstance(x.device.type, str) and x.device.type != "mps" else "cpu"
-        with torch.autocast(device_type=device_type, enabled=False):  # Force float32
-            freqs = (inv_freq_expanded.float() @ position_ids_expanded.float()).transpose(1, 2)
-            emb = torch.cat((freqs, freqs), dim=-1)
-            cos = emb.cos() * self.attention_scaling
-            sin = emb.sin() * self.attention_scaling
-
-        return cos.to(dtype=x.dtype), sin.to(dtype=x.dtype)
-
-
-def rotate_half(x):
-    """Rotates half the hidden dims of the input."""
-    x1 = x[..., : x.shape[-1] // 2]
-    x2 = x[..., x.shape[-1] // 2 :]
-    return torch.cat((-x2, x1), dim=-1)
-
-
-def apply_rotary_pos_emb(q, k, cos, sin, position_ids=None, unsqueeze_dim=1):
-    """Applies Rotary Position Embedding to the query and key tensors.
-
-    Args:
-        q (`torch.Tensor`): The query tensor.
-        k (`torch.Tensor`): The key tensor.
-        cos (`torch.Tensor`): The cosine part of the rotary embedding.
-        sin (`torch.Tensor`): The sine part of the rotary embedding.
-        position_ids (`torch.Tensor`, *optional*):
-            Deprecated and unused.
-        unsqueeze_dim (`int`, *optional*, defaults to 1):
-            The 'unsqueeze_dim' argument specifies the dimension along which to unsqueeze cos[position_ids] and
-            sin[position_ids] so that they can be properly broadcasted to the dimensions of q and k. For example, note
-            that cos[position_ids] and sin[position_ids] have the shape [batch_size, seq_len, head_dim]. Then, if q and
-            k have the shape [batch_size, heads, seq_len, head_dim], then setting unsqueeze_dim=1 makes
-            cos[position_ids] and sin[position_ids] broadcastable to the shapes of q and k. Similarly, if q and k have
-            the shape [batch_size, seq_len, heads, head_dim], then set unsqueeze_dim=2.
-    Returns:
-        `tuple(torch.Tensor)` comprising of the query and key tensors rotated using the Rotary Position Embedding.
-    """
-    cos = cos.unsqueeze(unsqueeze_dim)
-    sin = sin.unsqueeze(unsqueeze_dim)
-    q_embed = (q * cos) + (rotate_half(q) * sin)
-    k_embed = (k * cos) + (rotate_half(k) * sin)
-    return q_embed, k_embed
-
-
-def repeat_kv(hidden_states: torch.Tensor, n_rep: int) -> torch.Tensor:
-    """
-    This is the equivalent of torch.repeat_interleave(x, dim=1, repeats=n_rep). The hidden states go from (batch,
-    num_key_value_heads, seqlen, head_dim) to (batch, num_attention_heads, seqlen, head_dim)
-    """
-    batch, num_key_value_heads, slen, head_dim = hidden_states.shape
-    if n_rep == 1:
-        return hidden_states
-    hidden_states = hidden_states[:, :, None, :, :].expand(batch, num_key_value_heads, n_rep, slen, head_dim)
-    return hidden_states.reshape(batch, num_key_value_heads * n_rep, slen, head_dim)
-
-
-def _gated_residual(x, y, gate):
-    """
-    Applies gated residual connection with optional gate parameter.
-
-    Args:
-        x: Input tensor (residual)
-        y: Output tensor to be added
-        gate: Optional gate tensor to modulate the addition
-
-    Returns:
-        x + y if gate is None, otherwise x + y * gate
-    """
-    if x is None and y is None:
-        return None
-    if x is None or y is None:
-        return x if x is not None else y
-    if gate is None:
-        return x + y
-    return x + y * gate
-
-
-def eager_attention_forward(
-    module: nn.Module,
-    query: torch.Tensor,
-    key: torch.Tensor,
-    value: torch.Tensor,
-    attention_mask: torch.Tensor | None,
-    scaling: float,
-    dropout: float = 0.0,
-    **kwargs,
-):
-    key_states = repeat_kv(key, module.num_key_value_groups)
-    value_states = repeat_kv(value, module.num_key_value_groups)
-
-    attn_weights = torch.matmul(query, key_states.transpose(2, 3)) * scaling
-    if attention_mask is not None:
-        causal_mask = attention_mask[:, :, :, : key_states.shape[-2]]
-        attn_weights = attn_weights + causal_mask
-
-    attn_weights = nn.functional.softmax(attn_weights, dim=-1, dtype=torch.float32).to(query.dtype)
-    attn_weights = nn.functional.dropout(attn_weights, p=dropout, training=module.training)
-    attn_output = torch.matmul(attn_weights, value_states)
-    attn_output = attn_output.transpose(1, 2).contiguous()
-
-    return attn_output, attn_weights
-
-
-class GemmaAttention(nn.Module):
-    """Multi-headed attention from 'Attention Is All You Need' paper"""
-
-    def __init__(self, config: GemmaConfig, layer_idx: int):
-        super().__init__()
-        self.config = config
-        self.layer_idx = layer_idx
-        self.head_dim = getattr(config, "head_dim", config.hidden_size // config.num_attention_heads)
-        self.num_key_value_groups = config.num_attention_heads // config.num_key_value_heads
-        self.scaling = self.head_dim**-0.5
-        self.attention_dropout = config.attention_dropout
-        self.is_causal = True
-
-        self.q_proj = nn.Linear(
-            config.hidden_size, config.num_attention_heads * self.head_dim, bias=config.attention_bias
-        )
-        self.k_proj = nn.Linear(
-            config.hidden_size, config.num_key_value_heads * self.head_dim, bias=config.attention_bias
-        )
-        self.v_proj = nn.Linear(
-            config.hidden_size, config.num_key_value_heads * self.head_dim, bias=config.attention_bias
-        )
-        self.o_proj = nn.Linear(
-            config.num_attention_heads * self.head_dim, config.hidden_size, bias=config.attention_bias
-        )
-
-    def forward(
-        self,
-        hidden_states: torch.Tensor,
-        position_embeddings: tuple[torch.Tensor, torch.Tensor],
-        attention_mask: torch.Tensor | None,
-        past_key_value: Cache | None = None,
-        cache_position: torch.LongTensor | None = None,
-        use_cache: bool = False,
-        **kwargs: Unpack[FlashAttentionKwargs],
-    ) -> tuple[torch.Tensor, torch.Tensor | None, tuple[torch.Tensor] | None]:
-        input_shape = hidden_states.shape[:-1]
-        hidden_shape = (*input_shape, -1, self.head_dim)
-
-        query_states = self.q_proj(hidden_states).view(hidden_shape).transpose(1, 2)
-        key_states = self.k_proj(hidden_states).view(hidden_shape).transpose(1, 2)
-        value_states = self.v_proj(hidden_states).view(hidden_shape).transpose(1, 2)
-
-        cos, sin = position_embeddings
-        query_states, key_states = apply_rotary_pos_emb(query_states, key_states, cos, sin)
-
-        # Use cache if provided
-        if past_key_value is not None:
-            if use_cache:
-                # sin and cos are specific to RoPE models; cache_position needed for the static cache
-                cache_kwargs = {"sin": sin, "cos": cos, "cache_position": cache_position}
-                key_states, value_states = past_key_value.update(
-                    key_states, value_states, self.layer_idx, cache_kwargs
-                )
-            else:
-                key_states = torch.cat([past_key_value[self.layer_idx][0], key_states], dim=2)
-                value_states = torch.cat([past_key_value[self.layer_idx][1], value_states], dim=2)
-
-        attention_interface: Callable = eager_attention_forward
-        if self.config._attn_implementation != "eager":
-            attention_interface = ALL_ATTENTION_FUNCTIONS[self.config._attn_implementation]
-
-        attn_output, attn_weights = attention_interface(
-            self,
-            query_states,
-            key_states,
-            value_states,
-            attention_mask,
-            dropout=0.0 if not self.training else self.attention_dropout,
-            scaling=self.scaling,
-            **kwargs,
-        )
-
-        attn_output = attn_output.reshape(*input_shape, -1).contiguous()
-        attn_output = self.o_proj(attn_output)
-        return attn_output, attn_weights
-
-
-class GemmaDecoderLayer(GradientCheckpointingLayer):
-    def __init__(self, config: GemmaConfig, layer_idx: int):
-        super().__init__()
-        self.hidden_size = config.hidden_size
-
-        self.self_attn = GemmaAttention(config=config, layer_idx=layer_idx)
-
-        self.mlp = GemmaMLP(config)
-        cond_dim = getattr(config, "adarms_cond_dim", None) if getattr(config, "use_adarms", False) else None
-        self.input_layernorm = GemmaRMSNorm(config.hidden_size, eps=config.rms_norm_eps, cond_dim=cond_dim)
-        self.post_attention_layernorm = GemmaRMSNorm(
-            config.hidden_size, eps=config.rms_norm_eps, cond_dim=cond_dim
-        )
-
-    def forward(
-        self,
-        hidden_states: torch.Tensor,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_value: Cache | None = None,
-        output_attentions: bool | None = False,
-        use_cache: bool | None = False,
-        cache_position: torch.LongTensor | None = None,
-        position_embeddings: None
-        | (tuple[torch.Tensor, torch.Tensor]) = None,  # necessary, but kept here for BC
-        adarms_cond: torch.Tensor | None = None,
-        **kwargs: Unpack[FlashAttentionKwargs],
-    ) -> tuple[torch.FloatTensor, tuple[torch.FloatTensor, torch.FloatTensor] | None]:
-        residual = hidden_states
-        hidden_states, gate = self.input_layernorm(hidden_states, adarms_cond)
-
-        # Self Attention
-        hidden_states, self_attn_weights = self.self_attn(
-            hidden_states=hidden_states,
-            attention_mask=attention_mask,
-            position_ids=position_ids,
-            past_key_value=past_key_value,
-            output_attentions=output_attentions,
-            use_cache=use_cache,
-            cache_position=cache_position,
-            position_embeddings=position_embeddings,
-            **kwargs,
-        )
-        hidden_states = _gated_residual(residual, hidden_states, gate)
-
-        # Fully Connected
-        residual = hidden_states
-        hidden_states, gate = self.post_attention_layernorm(hidden_states, adarms_cond)
-        hidden_states = self.mlp(hidden_states)
-        hidden_states = _gated_residual(residual, hidden_states, gate)
-
-        outputs = (hidden_states,)
-        if output_attentions:
-            outputs += (self_attn_weights,)
-
-        return outputs
-
-
-@safe_auto_docstring
-class GemmaPreTrainedModel(PreTrainedModel):
-    config_class = GemmaConfig
-    base_model_prefix = "model"
-    supports_gradient_checkpointing = True
-    _no_split_modules = ["GemmaDecoderLayer"]
-    _skip_keys_device_placement = ["past_key_values"]
-    _supports_flash_attn_3 = True
-    _supports_flash_attn_2 = True
-    _supports_sdpa = True
-    _supports_flex_attn = True
-    _supports_cache_class = True
-    _supports_quantized_cache = True
-    _supports_static_cache = True
-    _supports_attention_backend = True
-
-    def _init_weights(self, module):
-        std = self.config.initializer_range
-        if isinstance(module, nn.Linear):
-            module.weight.data.normal_(mean=0.0, std=std)
-            if module.bias is not None:
-                module.bias.data.zero_()
-        elif isinstance(module, nn.Embedding):
-            module.weight.data.normal_(mean=0.0, std=std)
-            if module.padding_idx is not None:
-                module.weight.data[module.padding_idx].zero_()
-        elif isinstance(module, GemmaRMSNorm):
-            if hasattr(module, "weight"):
-                module.weight.data.fill_(1.0)
-
-
-@safe_auto_docstring
-class GemmaModel(GemmaPreTrainedModel):
-    def __init__(self, config: GemmaConfig):
-        super().__init__(config)
-        self.padding_idx = config.pad_token_id
-        self.vocab_size = config.vocab_size
-
-        self.embed_tokens = nn.Embedding(config.vocab_size, config.hidden_size, self.padding_idx)
-        self.layers = nn.ModuleList(
-            [GemmaDecoderLayer(config, layer_idx) for layer_idx in range(config.num_hidden_layers)]
-        )
-
-        cond_dim = getattr(config, "adarms_cond_dim", None) if getattr(config, "use_adarms", False) else None
-        self.norm = GemmaRMSNorm(config.hidden_size, eps=config.rms_norm_eps, cond_dim=cond_dim)
-        self.rotary_emb = GemmaRotaryEmbedding(config=config)
-        self.gradient_checkpointing = False
-
-        # Initialize weights and apply final processing
-        self.post_init()
-
-    def get_input_embeddings(self):
-        return self.embed_tokens
-
-    def set_input_embeddings(self, value):
-        self.embed_tokens = value
-
-    @can_return_tuple
-    @safe_auto_docstring
-    def forward(
-        self,
-        input_ids: torch.LongTensor | None = None,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_values: Cache | None = None,
-        inputs_embeds: torch.FloatTensor | None = None,
-        use_cache: bool | None = None,
-        output_attentions: bool | None = None,
-        output_hidden_states: bool | None = None,
-        cache_position: torch.LongTensor | None = None,
-        adarms_cond: torch.Tensor | None = None,
-        **kwargs: Unpack[FlashAttentionKwargs],
-    ) -> BaseModelOutputWithPast:
-        """
-        adarms_cond (`torch.Tensor` of shape `(batch_size, cond_dim)`, *optional*):
-            Condition for ADARMS.
-        """
-        output_attentions = (
-            output_attentions if output_attentions is not None else self.config.output_attentions
-        )
-        output_hidden_states = (
-            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
-        )
-        use_cache = use_cache if use_cache is not None else self.config.use_cache
-
-        if (input_ids is None) ^ (inputs_embeds is not None):
-            raise ValueError("You must specify exactly one of input_ids or inputs_embeds")
-
-        if self.gradient_checkpointing and self.training and use_cache:
-            logger.warning_once(
-                "`use_cache=True` is incompatible with gradient checkpointing. Setting `use_cache=False`."
-            )
-            use_cache = False
-
-        if inputs_embeds is None:
-            inputs_embeds = self.embed_tokens(input_ids)
-
-        if use_cache and past_key_values is None:
-            past_key_values = DynamicCache()
-
-        if cache_position is None:
-            past_seen_tokens = past_key_values.get_seq_length() if past_key_values is not None else 0
-            cache_position = torch.arange(
-                past_seen_tokens, past_seen_tokens + inputs_embeds.shape[1], device=inputs_embeds.device
-            )
-
-        if position_ids is None:
-            position_ids = cache_position.unsqueeze(0)
-
-        causal_mask = create_causal_mask(
-            config=self.config,
-            input_embeds=inputs_embeds,
-            attention_mask=attention_mask,
-            cache_position=cache_position,
-            past_key_values=past_key_values,
-            position_ids=position_ids,
-        )
-
-        # embed positions
-        hidden_states = inputs_embeds
-        # Convert to bfloat16 if the first layer uses bfloat16
-        if len(self.layers) > 0 and self.layers[0].self_attn.q_proj.weight.dtype == torch.bfloat16:
-            hidden_states = hidden_states.to(torch.bfloat16)
-
-        # create position embeddings to be shared across the decoder layers
-        position_embeddings = self.rotary_emb(hidden_states, position_ids)
-
-        # normalized
-        # Gemma downcasts the below to float16, causing sqrt(3072)=55.4256 to become 55.5
-        # See https://github.com/huggingface/transformers/pull/29402
-        _normalizer = torch.tensor(self.config.hidden_size**0.5, dtype=hidden_states.dtype)
-        # hidden_states = hidden_states * normalizer
-
-        # decoder layers
-        all_hidden_states = () if output_hidden_states else None
-        all_self_attns = () if output_attentions else None
-
-        for decoder_layer in self.layers[: self.config.num_hidden_layers]:
-            if output_hidden_states:
-                all_hidden_states += (hidden_states,)
-
-            layer_outputs = decoder_layer(
-                hidden_states,
-                attention_mask=causal_mask,
-                position_ids=position_ids,
-                past_key_value=past_key_values,
-                output_attentions=output_attentions,
-                use_cache=use_cache,
-                cache_position=cache_position,
-                position_embeddings=position_embeddings,
-                adarms_cond=adarms_cond,
-                **kwargs,
-            )
-
-            hidden_states = layer_outputs[0]
-
-            if output_attentions:
-                all_self_attns += (layer_outputs[1],)
-
-        hidden_states, _ = self.norm(hidden_states, adarms_cond)
-
-        # add hidden states from the last decoder layer
-        if output_hidden_states:
-            all_hidden_states += (hidden_states,)
-
-        return BaseModelOutputWithPast(
-            last_hidden_state=hidden_states,
-            past_key_values=past_key_values if use_cache else None,
-            hidden_states=all_hidden_states,
-            attentions=all_self_attns,
-        )
-
-
-class KwargsForCausalLM(FlashAttentionKwargs, LossKwargs): ...
-
-
-@safe_auto_docstring
-class GemmaForCausalLM(GemmaPreTrainedModel, GenerationMixin):
-    _tied_weights_keys = ["lm_head.weight"]
-    _tp_plan = {"lm_head": "colwise_rep"}
-    _pp_plan = {"lm_head": (["hidden_states"], ["logits"])}
-
-    def __init__(self, config):
-        super().__init__(config)
-        self.model = GemmaModel(config)
-        self.vocab_size = config.vocab_size
-        self.lm_head = nn.Linear(config.hidden_size, config.vocab_size, bias=False)
-
-        # Initialize weights and apply final processing
-        self.post_init()
-
-    def get_input_embeddings(self):
-        return self.model.embed_tokens
-
-    def set_input_embeddings(self, value):
-        self.model.embed_tokens = value
-
-    def get_output_embeddings(self):
-        return self.lm_head
-
-    def set_output_embeddings(self, new_embeddings):
-        self.lm_head = new_embeddings
-
-    def set_decoder(self, decoder):
-        self.model = decoder
-
-    def get_decoder(self):
-        return self.model
-
-    @can_return_tuple
-    @safe_auto_docstring
-    def forward(
-        self,
-        input_ids: torch.LongTensor | None = None,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_values: Cache | None = None,
-        inputs_embeds: torch.FloatTensor | None = None,
-        labels: torch.LongTensor | None = None,
-        use_cache: bool | None = None,
-        output_attentions: bool | None = None,
-        output_hidden_states: bool | None = None,
-        cache_position: torch.LongTensor | None = None,
-        logits_to_keep: int | torch.Tensor = 0,
-        adarms_cond: torch.Tensor | None = None,
-        **kwargs: Unpack[KwargsForCausalLM],
-    ) -> CausalLMOutputWithPast:
-        r"""
-        labels (`torch.LongTensor` of shape `(batch_size, sequence_length)`, *optional*):
-            Labels for computing the masked language modeling loss. Indices should either be in `[0, ...,
-            config.vocab_size]` or -100 (see `input_ids` docstring). Tokens with indices set to `-100` are ignored
-            (masked), the loss is only computed for the tokens with labels in `[0, ..., config.vocab_size]`.
-
-        adarms_cond (`torch.Tensor` of shape `(batch_size, cond_dim)`, *optional*):
-            Condition for ADARMS.
-
-        Example:
-
-        ```python
-        >>> from transformers import AutoTokenizer, GemmaForCausalLM
-
-        >>> model = GemmaForCausalLM.from_pretrained("google/gemma-7b")
-        >>> tokenizer = AutoTokenizer.from_pretrained("google/gemma-7b")
-
-        >>> prompt = "What is your favorite condiment?"
-        >>> inputs = tokenizer(prompt, return_tensors="pt")
-
-        >>> # Generate
-        >>> generate_ids = model.generate(inputs.input_ids, max_length=30)
-        >>> tokenizer.batch_decode(generate_ids, skip_special_tokens=True, clean_up_tokenization_spaces=False)[0]
-        "What is your favorite condiment?"
-        ```"""
-        output_attentions = (
-            output_attentions if output_attentions is not None else self.config.output_attentions
-        )
-        output_hidden_states = (
-            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
-        )
-
-        # decoder outputs consists of (dec_features, layer_state, dec_hidden, dec_attn)
-        outputs: BaseModelOutputWithPast = self.model(
-            input_ids=input_ids,
-            attention_mask=attention_mask,
-            position_ids=position_ids,
-            past_key_values=past_key_values,
-            inputs_embeds=inputs_embeds,
-            use_cache=use_cache,
-            output_attentions=output_attentions,
-            output_hidden_states=output_hidden_states,
-            cache_position=cache_position,
-            adarms_cond=adarms_cond,
-            **kwargs,
-        )
-
-        hidden_states = outputs.last_hidden_state
-        # Only compute necessary logits, and do not upcast them to float if we are not computing the loss
-        slice_indices = slice(-logits_to_keep, None) if isinstance(logits_to_keep, int) else logits_to_keep
-        logits = self.lm_head(hidden_states[:, slice_indices, :])
-
-        loss = None
-        if labels is not None:
-            loss = self.loss_function(
-                logits=logits, labels=labels, vocab_size=self.config.vocab_size, **kwargs
-            )
-
-        return CausalLMOutputWithPast(
-            loss=loss,
-            logits=logits,
-            past_key_values=outputs.past_key_values,
-            hidden_states=outputs.hidden_states,
-            attentions=outputs.attentions,
-        )
-
-
-@safe_auto_docstring(
-    custom_intro="""
-    The Gemma Model transformer with a sequence classification head on top (linear layer).
-
-    [`GemmaForSequenceClassification`] uses the last token in order to do the classification, as other causal models
-    (e.g. GPT-2) do.
-
-    Since it does classification on the last token, it requires to know the position of the last token. If a
-    `pad_token_id` is defined in the configuration, it finds the last token that is not a padding token in each row. If
-    no `pad_token_id` is defined, it simply takes the last value in each row of the batch. Since it cannot guess the
-    padding tokens when `inputs_embeds` are passed instead of `input_ids`, it does the same (take the last value in
-    each row of the batch).
-    """
-)
-class GemmaForSequenceClassification(GemmaPreTrainedModel):
-    def __init__(self, config):
-        super().__init__(config)
-        self.num_labels = config.num_labels
-        self.model = GemmaModel(config)
-        self.score = nn.Linear(config.hidden_size, self.num_labels, bias=False)
-
-        # Initialize weights and apply final processing
-        self.post_init()
-
-    def get_input_embeddings(self):
-        return self.model.embed_tokens
-
-    def set_input_embeddings(self, value):
-        self.model.embed_tokens = value
-
-    @can_return_tuple
-    @safe_auto_docstring
-    def forward(
-        self,
-        input_ids: torch.LongTensor | None = None,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_values: Cache | None = None,
-        inputs_embeds: torch.FloatTensor | None = None,
-        labels: torch.LongTensor | None = None,
-        use_cache: bool | None = None,
-        output_attentions: bool | None = None,
-        output_hidden_states: bool | None = None,
-        adarms_cond: torch.Tensor | None = None,
-    ) -> SequenceClassifierOutputWithPast:
-        r"""
-        labels (`torch.LongTensor` of shape `(batch_size,)`, *optional*):
-            Labels for computing the sequence classification/regression loss. Indices should be in `[0, ...,
-            config.num_labels - 1]`. If `config.num_labels == 1` a regression loss is computed (Mean-Square loss), If
-            `config.num_labels > 1` a classification loss is computed (Cross-Entropy).
-
-        adarms_cond (`torch.Tensor` of shape `(batch_size, cond_dim)`, *optional*):
-            Condition for ADARMS.
-        """
-
-        transformer_outputs: BaseModelOutputWithPast = self.model(
-            input_ids,
-            attention_mask=attention_mask,
-            position_ids=position_ids,
-            past_key_values=past_key_values,
-            inputs_embeds=inputs_embeds,
-            use_cache=use_cache,
-            output_attentions=output_attentions,
-            output_hidden_states=output_hidden_states,
-            adarms_cond=adarms_cond,
-        )
-        hidden_states = transformer_outputs.last_hidden_state
-        logits = self.score(hidden_states)
-
-        if input_ids is not None:
-            batch_size = input_ids.shape[0]
-        else:
-            batch_size = inputs_embeds.shape[0]
-
-        if self.config.pad_token_id is None and batch_size != 1:
-            raise ValueError("Cannot handle batch sizes > 1 if no padding token is defined.")
-        if self.config.pad_token_id is None:
-            last_non_pad_token = -1
-        elif input_ids is not None:
-            # To handle both left- and right- padding, we take the rightmost token that is not equal to pad_token_id
-            non_pad_mask = (input_ids != self.config.pad_token_id).to(logits.device, torch.int32)
-            token_indices = torch.arange(input_ids.shape[-1], device=logits.device, dtype=torch.int32)
-            last_non_pad_token = (token_indices * non_pad_mask).argmax(-1)
-        else:
-            last_non_pad_token = -1
-            logger.warning_once(
-                f"{self.__class__.__name__} will not detect padding tokens in `inputs_embeds`. Results may be "
-                "unexpected if using padding tokens in conjunction with `inputs_embeds.`"
-            )
-
-        pooled_logits = logits[torch.arange(batch_size, device=logits.device), last_non_pad_token]
-
-        loss = None
-        if labels is not None:
-            loss = self.loss_function(
-                logits=logits, labels=labels, pooled_logits=pooled_logits, config=self.config
-            )
-
-        return SequenceClassifierOutputWithPast(
-            loss=loss,
-            logits=pooled_logits,
-            past_key_values=transformer_outputs.past_key_values,
-            hidden_states=transformer_outputs.hidden_states,
-            attentions=transformer_outputs.attentions,
-        )
-
-
-@safe_auto_docstring
-class GemmaForTokenClassification(GemmaPreTrainedModel):
-    def __init__(self, config):
-        super().__init__(config)
-        self.num_labels = config.num_labels
-        self.model = GemmaModel(config)
-        if getattr(config, "classifier_dropout", None) is not None:
-            classifier_dropout = config.classifier_dropout
-        elif getattr(config, "hidden_dropout", None) is not None:
-            classifier_dropout = config.hidden_dropout
-        else:
-            classifier_dropout = 0.1
-        self.dropout = nn.Dropout(classifier_dropout)
-        self.score = nn.Linear(config.hidden_size, config.num_labels)
-
-        # Initialize weights and apply final processing
-        self.post_init()
-
-    def get_input_embeddings(self):
-        return self.model.embed_tokens
-
-    def set_input_embeddings(self, value):
-        self.model.embed_tokens = value
-
-    @can_return_tuple
-    @safe_auto_docstring
-    def forward(
-        self,
-        input_ids: torch.LongTensor | None = None,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_values: Cache | None = None,
-        inputs_embeds: torch.FloatTensor | None = None,
-        labels: torch.LongTensor | None = None,
-        use_cache: bool | None = None,
-        output_attentions: bool | None = None,
-        output_hidden_states: bool | None = None,
-        adarms_cond: torch.Tensor | None = None,
-    ) -> TokenClassifierOutput:
-        r"""
-        labels (`torch.LongTensor` of shape `(batch_size,)`, *optional*):
-            Labels for computing the sequence classification/regression loss. Indices should be in `[0, ...,
-            config.num_labels - 1]`. If `config.num_labels == 1` a regression loss is computed (Mean-Square loss), If
-            `config.num_labels > 1` a classification loss is computed (Cross-Entropy).
-
-        adarms_cond (`torch.Tensor` of shape `(batch_size, cond_dim)`, *optional*):
-            Condition for ADARMS.
-        """
-
-        outputs: BaseModelOutputWithPast = self.model(
-            input_ids,
-            attention_mask=attention_mask,
-            position_ids=position_ids,
-            past_key_values=past_key_values,
-            inputs_embeds=inputs_embeds,
-            use_cache=use_cache,
-            output_attentions=output_attentions,
-            output_hidden_states=output_hidden_states,
-            adarms_cond=adarms_cond,
-        )
-        sequence_output = outputs.last_hidden_state
-        sequence_output = self.dropout(sequence_output)
-        logits = self.score(sequence_output)
-
-        loss = None
-        if labels is not None:
-            loss = self.loss_function(logits, labels, self.config)
-
-        return TokenClassifierOutput(
-            loss=loss,
-            logits=logits,
-            hidden_states=outputs.hidden_states,
-            attentions=outputs.attentions,
-        )
-
-
-__all__ = [
-    "GemmaModel",
-    "GemmaForCausalLM",
-    "GemmaForSequenceClassification",
-    "GemmaForTokenClassification",
-    "GemmaPreTrainedModel",
-]
@@ -1,666 +0,0 @@
-# Copyright 2024 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.
-"""PyTorch PaliGemmamodel."""
-
-from dataclasses import dataclass
-
-import torch
-import torch.utils.checkpoint
-from torch import nn
-
-from ...cache_utils import Cache, HybridCache, StaticCache
-from ...generation import GenerationMixin
-from ...modeling_flash_attention_utils import FlashAttentionKwargs
-from ...modeling_outputs import BaseModelOutputWithPast
-from ...modeling_utils import PreTrainedModel
-from ...processing_utils import Unpack
-from ...utils import (
-    LossKwargs,
-    ModelOutput,
-    auto_docstring,
-    can_return_tuple,
-    is_torchdynamo_compiling,
-    logging,
-)
-from ..auto import AutoModel
-from .configuration_paligemma import PaliGemmaConfig
-
-logger = logging.get_logger(__name__)
-
-
-# Workaround for Python 3.10+ UnionType compatibility with transformers auto_docstring
-def safe_auto_docstring(func=None, **kwargs):
-    """Auto docstring decorator that handles Python 3.10+ UnionType gracefully."""
-
-    def decorator(f):
-        try:
-            return auto_docstring(f, **kwargs) if kwargs else auto_docstring(f)
-        except (AttributeError, TypeError):
-            # If auto_docstring fails due to UnionType, just return the function unchanged
-            return f
-
-    if func is None:
-        # Called with arguments, return the decorator
-        return decorator
-    else:
-        # Called without arguments, apply directly
-        return decorator(func)
-
-
-@dataclass
-@safe_auto_docstring(
-    custom_intro="""
-    Base class for Paligemma outputs, with hidden states and attentions.
-    """
-)
-class PaligemmaModelOutputWithPast(BaseModelOutputWithPast):
-    r"""
-    past_key_values (`tuple(tuple(torch.FloatTensor))`, *optional*, returned when `use_cache=True` is passed or when `config.use_cache=True`):
-        Tuple of `tuple(torch.FloatTensor)` of length `config.n_layers`, with each tuple having 2 tensors of shape
-        `(batch_size, num_heads, sequence_length, embed_size_per_head)`)
-
-        Contains pre-computed hidden-states (key and values in the self-attention blocks) that can be used (see
-        `past_key_values` input) to speed up sequential decoding.
-    image_hidden_states (`torch.FloatTensor`, *optional*):
-        A `torch.FloatTensor` of size `(batch_size, num_images, sequence_length, hidden_size)`.
-        image_hidden_states of the model produced by the vision encoder and after projecting the last hidden state.
-    """
-
-    image_hidden_states: torch.FloatTensor | None = None
-
-
-@dataclass
-@safe_auto_docstring(
-    custom_intro="""
-    Base class for PaliGemma causal language model (or autoregressive) outputs.
-    """
-)
-class PaliGemmaCausalLMOutputWithPast(ModelOutput):
-    r"""
-    loss (`torch.FloatTensor` of shape `(1,)`, *optional*, returned when `labels` is provided):
-        Language modeling loss (for next-token prediction).
-    logits (`torch.FloatTensor` of shape `(batch_size, sequence_length, config.text_config.vocab_size)`):
-        Prediction scores of the language modeling head (scores for each vocabulary token before SoftMax).
-    past_key_values (`tuple(tuple(torch.FloatTensor))`, *optional*, returned when `use_cache=True` is passed or when `config.use_cache=True`):
-        Tuple of `tuple(torch.FloatTensor)` of length `config.n_layers`, with each tuple having 2 tensors of shape
-        `(batch_size, num_heads, sequence_length, embed_size_per_head)`)
-
-        Contains pre-computed hidden-states (key and values in the self-attention blocks) that can be used (see
-        `past_key_values` input) to speed up sequential decoding.
-    image_hidden_states (`torch.FloatTensor`, *optional*):
-        A `torch.FloatTensor` of size `(batch_size, num_images, sequence_length, hidden_size)`.
-        image_hidden_states of the model produced by the vision encoder after projecting last hidden state.
-    """
-
-    loss: torch.FloatTensor | None = None
-    logits: torch.FloatTensor | None = None
-    past_key_values: list[torch.FloatTensor] | Cache | None = None
-    hidden_states: tuple[torch.FloatTensor] | None = None
-    attentions: tuple[torch.FloatTensor] | None = None
-    image_hidden_states: torch.FloatTensor | None = None
-
-
-class PaliGemmaMultiModalProjector(nn.Module):
-    def __init__(self, config: PaliGemmaConfig):
-        super().__init__()
-        self.linear = nn.Linear(
-            config.vision_config.hidden_size, config.vision_config.projection_dim, bias=True
-        )
-
-    def forward(self, image_features):
-        hidden_states = self.linear(image_features)
-
-        return hidden_states
-
-
-@safe_auto_docstring
-class PaliGemmaPreTrainedModel(PreTrainedModel):
-    config_class = PaliGemmaConfig
-    base_model_prefix = ""
-    supports_gradient_checkpointing = True
-    _no_split_modules = ["PaliGemmaMultiModalProjector"]
-    _skip_keys_device_placement = "past_key_values"
-    _supports_cache_class = True
-    _supports_quantized_cache = True
-    _supports_static_cache = True
-    _supports_flash_attn_2 = True
-    _supports_sdpa = True
-    _supports_flex_attn = True
-    _supports_attention_backend = True
-
-    def _init_weights(self, module):
-        # important: this ported version of PaliGemmaisn't meant for training from scratch - only
-        # inference and fine-tuning
-        std = getattr(self.config, "initializer_range", self.config.get_text_config().initializer_range)
-
-        if isinstance(module, nn.Linear):
-            module.weight.data.normal_(mean=0.0, std=std)
-            if module.bias is not None:
-                module.bias.data.zero_()
-
-
-@safe_auto_docstring(
-    custom_intro="""
-    The Base Paligemma model which consists of a vision backbone and a language model without language modeling head.,
-    """
-)
-class PaliGemmaModel(PaliGemmaPreTrainedModel):
-    _checkpoint_conversion_mapping = {"language_model.model": "language_model"}
-    # we are filtering the logits/labels so we shouldn't divide the loss based on num_items_in_batch
-    accepts_loss_kwargs = False
-
-    def __init__(self, config: PaliGemmaConfig):
-        super().__init__(config)
-        self.vision_tower = AutoModel.from_config(config=config.vision_config)
-        self.multi_modal_projector = PaliGemmaMultiModalProjector(config)
-        self.vocab_size = config.text_config.vocab_size
-
-        language_model = AutoModel.from_config(config=config.text_config)
-        self.language_model = language_model
-
-        self.pad_token_id = self.config.pad_token_id if self.config.pad_token_id is not None else -1
-        self.post_init()
-
-    # Copied from transformers.models.llava.modeling_llava.LlavaModel.get_input_embeddings with Llava->PaliGemma
-    def get_input_embeddings(self):
-        return self.language_model.get_input_embeddings()
-
-    # Copied from transformers.models.llava.modeling_llava.LlavaModel.set_input_embeddings with Llava->PaliGemma
-    def set_input_embeddings(self, value):
-        self.language_model.set_input_embeddings(value)
-
-    def set_decoder(self, decoder):
-        self.language_model = decoder
-
-    def get_decoder(self):
-        return self.language_model
-
-    def _update_causal_mask(
-        self,
-        attention_mask,
-        token_type_ids=None,
-        past_key_values=None,
-        cache_position=None,
-        input_tensor=None,
-        is_training: bool | None = None,
-    ):
-        if self.config.text_config._attn_implementation == "flash_attention_2":
-            if attention_mask is not None and 0.0 in attention_mask:
-                return attention_mask
-            return None
-        is_training = is_training if is_training is not None else self.training
-        using_static_cache = isinstance(past_key_values, StaticCache)
-        min_dtype = torch.finfo(self.dtype).min
-        if input_tensor is None:
-            input_tensor = attention_mask
-
-        inputs_lead_dim, sequence_length = input_tensor.shape[:2]
-        if using_static_cache:
-            target_length = past_key_values.get_max_cache_shape()
-        elif isinstance(past_key_values, HybridCache):
-            target_length = past_key_values.get_max_cache_shape()
-        else:
-            target_length = (
-                attention_mask.shape[-1]
-                if isinstance(attention_mask, torch.Tensor)
-                else cache_position[0] + sequence_length + 1
-            )
-
-        if attention_mask is not None and attention_mask.dim() == 4:
-            # In this case we assume that the mask comes already in inverted form and requires no inversion or slicing.
-            return attention_mask
-
-        causal_mask = torch.full(
-            (sequence_length, target_length),
-            fill_value=min_dtype,
-            dtype=self.dtype,
-            device=cache_position.device,
-        )
-        # Causal diagonal mask only if training, otherwise attend to the whole prefix. Training-specific attn for prefix is handled below
-        if sequence_length != 1:
-            if is_training:
-                causal_mask = torch.triu(causal_mask, diagonal=1)
-            else:
-                causal_mask[:, :sequence_length] = 0.0
-
-        causal_mask *= torch.arange(target_length, device=cache_position.device) > cache_position.reshape(
-            -1, 1
-        )
-        causal_mask = causal_mask[None, None, :, :].expand(inputs_lead_dim, 1, -1, -1)
-        if attention_mask is not None:
-            causal_mask = causal_mask.clone()  # copy to contiguous memory for in-place edit
-            mask_length = attention_mask.shape[-1]
-
-            # First unmask prefix tokens during training
-            if is_training:
-                if token_type_ids is None:
-                    raise ValueError("Token type ids must be provided during training")
-                causal_mask[:, :, :, :mask_length] = causal_mask[:, :, :, :mask_length].masked_fill(
-                    token_type_ids[:, None, None, :].to(causal_mask.device) == 0, 0
-                )
-
-            # Then apply padding mask (will mask pad tokens)
-            padding_mask = causal_mask[:, :, :, :mask_length] + attention_mask[:, None, None, :].to(
-                causal_mask.device
-            )
-            padding_mask = padding_mask == 0
-            causal_mask[:, :, :, :mask_length] = causal_mask[:, :, :, :mask_length].masked_fill(
-                padding_mask, min_dtype
-            )
-
-        return causal_mask
-
-    def get_image_features(self, pixel_values: torch.FloatTensor):
-        """
-        Obtains image last hidden states from the vision tower and apply multimodal projection.
-
-        Args:
-            pixel_values (`torch.FloatTensor]` of shape `(batch_size, channels, height, width)`)
-               The tensors corresponding to the input images.
-        Returns:
-            image_features (`torch.Tensor`): Image feature tensor of shape `(num_images, image_length, embed_dim)`).
-        """
-        image_outputs = self.vision_tower(pixel_values)
-        selected_image_feature = image_outputs.last_hidden_state
-        image_features = self.multi_modal_projector(selected_image_feature)
-        return image_features
-
-    @can_return_tuple
-    @safe_auto_docstring
-    def forward(
-        self,
-        input_ids: torch.LongTensor = None,
-        pixel_values: torch.FloatTensor = None,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_values: list[torch.FloatTensor] | Cache | None = None,
-        token_type_ids: torch.LongTensor | None = None,
-        cache_position: torch.LongTensor | None = None,
-        inputs_embeds: torch.FloatTensor | None = None,
-        labels: torch.LongTensor | None = None,
-        use_cache: bool | None = None,
-        output_attentions: bool | None = None,
-        output_hidden_states: bool | None = None,
-        return_dict: bool | None = None,
-        **kwargs: Unpack[FlashAttentionKwargs],
-    ) -> tuple | PaligemmaModelOutputWithPast:
-        r"""
-        labels (`torch.LongTensor` of shape `(batch_size, sequence_length)`, *optional*):
-            Labels for computing the masked language modeling loss. Indices should either be in `[0, ...,
-            config.text_config.vocab_size]` or -100 (see `input_ids` docstring). Tokens with indices set to `-100` are ignored
-            (masked), the loss is only computed for the tokens with labels in `[0, ..., config.text_config.vocab_size]`.
-
-        Example:
-
-        ```python
-        >>> from PIL import Image
-        >>> import requests
-        >>> from transformers import AutoProcessor, PaliGemmaForConditionalGeneration
-
-        >>> model = PaliGemmaForConditionalGeneration.from_pretrained("google/paligemma2-3b-mix-224")
-        >>> processor = AutoProcessor.from_pretrained("google/paligemma2-3b-mix-224")
-
-        >>> prompt = "Where is the cat standing?"
-        >>> url = "https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/pipeline-cat-chonk.jpeg"
-        >>> image = Image.open(requests.get(url, stream=True).raw)
-
-        >>> inputs = processor(images=image, text=prompt,  return_tensors="pt")
-
-        >>> # Generate
-        >>> generate_ids = model.generate(**inputs,)
-        >>> processor.batch_decode(generate_ids, skip_special_tokens=True, clean_up_tokenization_spaces=False)[0]
-        "Where is the cat standing?\nsnow"
-        ```"""
-
-        if (input_ids is None) ^ (inputs_embeds is not None):
-            raise ValueError("You must specify exactly one of input_ids or inputs_embeds")
-
-        output_attentions = (
-            output_attentions if output_attentions is not None else self.config.output_attentions
-        )
-        output_hidden_states = (
-            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
-        )
-        return_dict = return_dict if return_dict is not None else self.config.use_return_dict
-
-        is_training = token_type_ids is not None and labels is not None
-
-        # Replace image id with PAD if the image token if OOV, to avoid index-errors
-        if input_ids is not None and self.config.image_token_id >= self.vocab_size:
-            special_image_mask = input_ids == self.config.image_token_id
-            llm_input_ids = input_ids.clone()
-            llm_input_ids[special_image_mask] = 0
-        else:
-            llm_input_ids = input_ids
-
-        if inputs_embeds is None:
-            inputs_embeds = self.get_input_embeddings()(llm_input_ids)
-
-        if cache_position is None:
-            past_seen_tokens = past_key_values.get_seq_length() if past_key_values is not None else 0
-            cache_position = torch.arange(
-                past_seen_tokens, past_seen_tokens + inputs_embeds.shape[1], device=inputs_embeds.device
-            )
-
-        if position_ids is None:
-            position_ids = cache_position.unsqueeze(0) + 1  # Paligemma positions are 1-indexed
-
-        # Merge text and images
-        if pixel_values is not None:
-            image_features = self.get_image_features(pixel_values)
-
-            if input_ids is None:
-                special_image_mask = inputs_embeds == self.get_input_embeddings()(
-                    torch.tensor(self.config.image_token_id, dtype=torch.long, device=inputs_embeds.device)
-                )
-            else:
-                special_image_mask = (input_ids == self.config.image_token_id).unsqueeze(-1)
-                special_image_mask = special_image_mask.expand_as(inputs_embeds).to(inputs_embeds.device)
-
-            if (
-                not is_torchdynamo_compiling()
-                and inputs_embeds[special_image_mask].numel() != image_features.numel()
-            ):
-                image_tokens_in_text = (special_image_mask).sum(dim=1).sum(dim=0)[0]
-                raise ValueError(
-                    f"Number of images does not match number of special image tokens in the input text. "
-                    f"Got {image_tokens_in_text} image tokens in the text but {image_features.shape[0] * image_features.shape[1]} "
-                    "tokens from image embeddings."
-                )
-            image_features = image_features.to(inputs_embeds.device, inputs_embeds.dtype)
-            inputs_embeds = inputs_embeds.masked_scatter(special_image_mask, image_features)
-
-        causal_mask = self._update_causal_mask(
-            attention_mask, token_type_ids, past_key_values, cache_position, inputs_embeds, is_training
-        )
-        outputs = self.language_model(
-            attention_mask=causal_mask,
-            position_ids=position_ids,
-            past_key_values=past_key_values,
-            inputs_embeds=inputs_embeds,
-            use_cache=use_cache,
-            output_attentions=output_attentions,
-            output_hidden_states=output_hidden_states,
-            return_dict=True,
-            cache_position=cache_position,
-            **kwargs,
-        )
-
-        return PaligemmaModelOutputWithPast(
-            last_hidden_state=outputs.last_hidden_state,
-            past_key_values=outputs.past_key_values,
-            hidden_states=outputs.hidden_states,
-            attentions=outputs.attentions,
-            image_hidden_states=image_features if pixel_values is not None else None,
-        )
-
-
-class KwargsForCausalLM(FlashAttentionKwargs, LossKwargs): ...
-
-
-@safe_auto_docstring(
-    custom_intro="""
-    The Base Paligemma model which consists of a vision backbone and a language model without language modeling head.,
-    """
-)
-class PaliGemmaForConditionalGeneration(PaliGemmaPreTrainedModel, GenerationMixin):
-    _checkpoint_conversion_mapping = {
-        "^language_model.model": "model.language_model",
-        "^vision_tower": "model.vision_tower",
-        "^multi_modal_projector": "model.multi_modal_projector",
-        "^language_model.lm_head": "lm_head",
-    }
-    _tied_weights_keys = ["lm_head.weight"]
-
-    def __init__(self, config: PaliGemmaConfig):
-        super().__init__(config)
-        self.model = PaliGemmaModel(config)
-        self.lm_head = nn.Linear(config.text_config.hidden_size, config.text_config.vocab_size, bias=False)
-        self.post_init()
-
-    def get_input_embeddings(self):
-        return self.model.get_input_embeddings()
-
-    def set_input_embeddings(self, value):
-        self.model.set_input_embeddings(value)
-
-    def get_output_embeddings(self):
-        return self.lm_head
-
-    def set_output_embeddings(self, new_embeddings):
-        self.lm_head = new_embeddings
-
-    def set_decoder(self, decoder):
-        self.model.set_decoder(decoder)
-
-    def get_decoder(self):
-        return self.model.get_decoder()
-
-    def get_image_features(self, pixel_values):
-        return self.model.get_image_features(pixel_values)
-
-    # Make modules available through conditional class for BC
-    @property
-    def language_model(self):
-        return self.model.language_model
-
-    @property
-    def vision_tower(self):
-        return self.model.vision_tower
-
-    @property
-    def multi_modal_projector(self):
-        return self.model.multi_modal_projector
-
-    @can_return_tuple
-    @safe_auto_docstring
-    def forward(
-        self,
-        input_ids: torch.LongTensor = None,
-        pixel_values: torch.FloatTensor = None,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_values: list[torch.FloatTensor] | Cache | None = None,
-        token_type_ids: torch.LongTensor | None = None,
-        cache_position: torch.LongTensor | None = None,
-        inputs_embeds: torch.FloatTensor | None = None,
-        labels: torch.LongTensor | None = None,
-        use_cache: bool | None = None,
-        output_attentions: bool | None = None,
-        output_hidden_states: bool | None = None,
-        return_dict: bool | None = None,
-        logits_to_keep: int | torch.Tensor = 0,
-        **kwargs: Unpack[KwargsForCausalLM],
-    ) -> tuple | PaliGemmaCausalLMOutputWithPast:
-        r"""
-        labels (`torch.LongTensor` of shape `(batch_size, sequence_length)`, *optional*):
-            Labels for computing the masked language modeling loss. Indices should either be in `[0, ...,
-            config.text_config.vocab_size]` or -100 (see `input_ids` docstring). Tokens with indices set to `-100` are ignored
-            (masked), the loss is only computed for the tokens with labels in `[0, ..., config.text_config.vocab_size]`.
-
-        Example:
-
-        ```python
-        >>> from PIL import Image
-        >>> import requests
-        >>> from transformers import AutoProcessor, PaliGemmaForConditionalGeneration
-
-        >>> model = PaliGemmaForConditionalGeneration.from_pretrained("google/paligemma2-3b-mix-224")
-        >>> processor = AutoProcessor.from_pretrained("google/paligemma2-3b-mix-224")
-
-        >>> prompt = "Where is the cat standing?"
-        >>> url = "https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/pipeline-cat-chonk.jpeg"
-        >>> image = Image.open(requests.get(url, stream=True).raw)
-
-        >>> inputs = processor(images=image, text=prompt,  return_tensors="pt")
-
-        >>> # Generate
-        >>> generate_ids = model.generate(**inputs,)
-        >>> processor.batch_decode(generate_ids, skip_special_tokens=True, clean_up_tokenization_spaces=False)[0]
-        "Where is the cat standing?\nsnow"
-        ```"""
-        output_attentions = (
-            output_attentions if output_attentions is not None else self.config.output_attentions
-        )
-        output_hidden_states = (
-            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
-        )
-        return_dict = return_dict if return_dict is not None else self.config.use_return_dict
-
-        outputs = self.model(
-            input_ids=input_ids,
-            pixel_values=pixel_values,
-            token_type_ids=token_type_ids,
-            attention_mask=attention_mask,
-            position_ids=position_ids,
-            past_key_values=past_key_values,
-            inputs_embeds=inputs_embeds,
-            use_cache=use_cache,
-            labels=labels,
-            output_attentions=output_attentions,
-            output_hidden_states=output_hidden_states,
-            return_dict=True,
-            cache_position=cache_position,
-            **kwargs,
-        )
-
-        hidden_states = outputs[0]
-        # Only compute necessary logits, and do not upcast them to float if we are not computing the loss
-        slice_indices = slice(-logits_to_keep, None) if isinstance(logits_to_keep, int) else logits_to_keep
-        logits = self.lm_head(hidden_states[:, slice_indices, :])
-
-        loss = None
-        if labels is not None:
-            loss = self.loss_function(
-                logits=logits, labels=labels, vocab_size=self.config.text_config.vocab_size, **kwargs
-            )
-
-        return PaliGemmaCausalLMOutputWithPast(
-            loss=loss,
-            logits=logits,
-            past_key_values=outputs.past_key_values,
-            hidden_states=outputs.hidden_states,
-            attentions=outputs.attentions,
-            image_hidden_states=outputs.image_hidden_states,
-        )
-
-    def prepare_inputs_for_generation(
-        self,
-        input_ids,
-        past_key_values=None,
-        inputs_embeds=None,
-        cache_position=None,
-        position_ids=None,
-        pixel_values=None,
-        attention_mask=None,
-        token_type_ids=None,
-        use_cache=True,
-        logits_to_keep=None,
-        labels=None,
-        **kwargs,
-    ):
-        # Overwritten -- custom `position_ids` and `pixel_values` handling
-        model_inputs = super().prepare_inputs_for_generation(
-            input_ids,
-            past_key_values=past_key_values,
-            inputs_embeds=inputs_embeds,
-            attention_mask=attention_mask,
-            position_ids=position_ids,
-            cache_position=cache_position,
-            use_cache=use_cache,
-            logits_to_keep=logits_to_keep,
-            token_type_ids=token_type_ids,
-            **kwargs,
-        )
-
-        # position_ids in Paligemma are 1-indexed
-        if model_inputs.get("position_ids") is not None:
-            model_inputs["position_ids"] += 1
-        # If we're in cached decoding stage, pixel values should be None because input ids do not contain special image token anymore
-        # Otherwise we need pixel values to be passed to model. NOTE: use_cache=False needs pixel_values always
-        if cache_position[0] == 0:
-            model_inputs["pixel_values"] = pixel_values
-        is_training = token_type_ids is not None and labels is not None
-        if cache_position[0] == 0 and isinstance(past_key_values, HybridCache):
-            input_tensor = inputs_embeds if inputs_embeds is not None else input_ids
-            causal_mask = self.model._update_causal_mask(
-                attention_mask, token_type_ids, past_key_values, cache_position, input_tensor, is_training
-            )
-            model_inputs["attention_mask"] = causal_mask
-
-        return model_inputs
-
-    @staticmethod
-    # Copied from transformers.models.gptj.modeling_gptj.GPTJModel._prepare_4d_causal_attention_mask_with_cache_position
-    def _prepare_4d_causal_attention_mask_with_cache_position(
-        attention_mask: torch.Tensor,
-        sequence_length: int,
-        target_length: int,
-        dtype: torch.dtype,
-        cache_position: torch.Tensor,
-        batch_size: int,
-        **kwargs,
-    ):
-        """
-        Creates a causal 4D mask of shape `(batch_size, 1, query_length, key_value_length)` from a 2D mask of shape
-        `(batch_size, key_value_length)`, or if the input `attention_mask` is already 4D, do nothing.
-
-        Args:
-            attention_mask (`torch.Tensor`):
-                A 2D attention mask of shape `(batch_size, key_value_length)` or a 4D attention mask of shape
-                `(batch_size, 1, query_length, key_value_length)`.
-            sequence_length (`int`):
-                The sequence length being processed.
-            target_length (`int`):
-                The target length: when generating with static cache, the mask should be as long as the static cache,
-                to account for the 0 padding, the part of the cache that is not filled yet.
-            dtype (`torch.dtype`):
-                The dtype to use for the 4D attention mask.
-            cache_position (`torch.Tensor`):
-                Indices depicting the position of the input sequence tokens in the sequence.
-            batch_size (`torch.Tensor`):
-                Batch size.
-        """
-        if attention_mask is not None and attention_mask.dim() == 4:
-            # In this case we assume that the mask comes already in inverted form and requires no inversion or slicing.
-            causal_mask = attention_mask
-        else:
-            min_dtype = torch.finfo(dtype).min
-            causal_mask = torch.full(
-                (sequence_length, target_length),
-                fill_value=min_dtype,
-                dtype=dtype,
-                device=cache_position.device,
-            )
-            if sequence_length != 1:
-                causal_mask = torch.triu(causal_mask, diagonal=1)
-            causal_mask *= torch.arange(target_length, device=cache_position.device) > cache_position.reshape(
-                -1, 1
-            )
-            causal_mask = causal_mask[None, None, :, :].expand(batch_size, 1, -1, -1)
-            if attention_mask is not None:
-                causal_mask = causal_mask.clone()  # copy to contiguous memory for in-place edit
-                mask_length = attention_mask.shape[-1]
-                padding_mask = causal_mask[:, :, :, :mask_length] + attention_mask[:, None, None, :].to(
-                    causal_mask.device
-                )
-                padding_mask = padding_mask == 0
-                causal_mask[:, :, :, :mask_length] = causal_mask[:, :, :, :mask_length].masked_fill(
-                    padding_mask, min_dtype
-                )
-
-        return causal_mask
-
-
-__all__ = ["PaliGemmaForConditionalGeneration", "PaliGemmaPreTrainedModel", "PaliGemmaModel"]
@@ -1,5 +0,0 @@
-import transformers
-
-
-def check_whether_transformers_replace_is_installed_correctly():
-    return transformers.__version__ == "4.53.2"
@@ -1,92 +0,0 @@
-# π₀ (pi0)
-
-This repository contains the Hugging Face port of **π₀**, adapted from [OpenPI](https://github.com/Physical-Intelligence/openpi) by the Physical Intelligence.
-It is designed as a **Vision-Language-Action flow model for general robot control**.
-
---
-
-### ⚠️ WARNING ⚠️
-
-This project requires **patching the Hugging Face `transformers` library**.
-
-1. Make sure you have the exact version installed:
-
-```bash
-   pip show transformers
-```
-
-It must be version **4.53.2**.
-
-2. Apply the custom patches by copying the modified files into your environment:
-
-   ```bash
-   cp -r ./src/lerobot/policies/pi0_openpi/transformers_replace/* \
-     $(python -c "import transformers, os; print(os.path.dirname(transformers.__file__))")
-   ```
-
-   These patches overwrite parts of `transformers` to:
-   - Support the **AdaRMS optimizer**,
-   - Correctly control the precision of activations,
-   - Allow the KV cache to be used without updates.
-
-**Important:**
-
- This permanently modifies your `transformers` installation.
- The changes survive reinstalls unless you explicitly remove the patched files or recreate the environment.
-
-To undo and restore a clean state:
-
-```bash
-pip uninstall transformers
-pip install transformers==4.53.2
-```
-
---
-
-## Model Overview
-
-| Feature              | π₀                                                     | π₀.₅                                      |
-| -------------------- | ------------------------------------------------------ | ----------------------------------------- |
-| State Embedding      | Uses `state_proj` layer                                | No state embedding                        |
-| Time Conditioning    | Concatenates time with actions via `action_time_mlp_*` | Uses `time_mlp_*` for AdaRMS conditioning |
-| AdaRMS               | Not used                                               | Used in action expert                     |
-| Tokenizer Length     | 48 tokens                                              | 200 tokens                                |
-| Discrete State Input | False                                                  | True                                      |
-| Parameter Count      | Higher (includes state embedding)                      | Lower (no state embedding)                |
-
---
-
-## Citation
-
-If you use this work, please cite both **OpenPI** and the π₀ paper:
-
-```bibtex
-@misc{openpi2024,
-  author       = {Physical Intelligence Lab},
-  title        = {OpenPI: PyTorch Implementation of π0 and π0.5 Policies},
-  year         = {2024},
-  publisher    = {GitHub},
-  howpublished = {\url{https://github.com/Physical-Intelligence/openpi}},
-  license      = {Apache-2.0}
-}
-
-@misc{black2024pi0visionlanguageactionflowmodel,
-  title        = {π₀: A Vision-Language-Action Flow Model for General Robot Control},
-  author       = {Kevin Black and Noah Brown and Danny Driess and Adnan Esmail and Michael Equi and Chelsea Finn and Niccolo Fusai and Lachy Groom and Karol Hausman and Brian Ichter and Szymon Jakubczak and Tim Jones and Liyiming Ke and Sergey Levine and Adrian Li-Bell and Mohith Mothukuri and Suraj Nair and Karl Pertsch and Lucy Xiaoyang Shi and James Tanner and Quan Vuong and Anna Walling and Haohuan Wang and Ury Zhilinsky},
-  year         = {2024},
-  eprint       = {2410.24164},
-  archivePrefix= {arXiv},
-  primaryClass = {cs.LG},
-  url          = {https://arxiv.org/abs/2410.24164},
-}
-```
-
---
-
-## License
-
-This port follows the **Apache 2.0 License**, consistent with the original [OpenPI repository](https://github.com/Physical-Intelligence/openpi).
-
-```
-
-```
@@ -1,20 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 Physical Intelligence and 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 .configuration_pi0openpi import PI0OpenPIConfig
-from .modeling_pi0openpi import PI0OpenPIPolicy
-
-__all__ = ["PI0OpenPIConfig", "PI0OpenPIPolicy"]
@@ -1,134 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 Physical Intelligence and 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 AdamWConfig
-from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
-
-
-@PreTrainedConfig.register_subclass("pi0_openpi")
-@dataclass
-class PI0OpenPIConfig(PreTrainedConfig):
-    # Model architecture
-    paligemma_variant: str = "gemma_2b"
-    action_expert_variant: str = "gemma_300m"
-    dtype: str = "float32"  # Options: "bfloat16", "float32"
-
-    # Input / output structure
-    n_obs_steps: int = 1
-    chunk_size: int = 50  # Number of action steps to predict, in openpi called "action_horizon"
-    n_action_steps: int = 50  # Number of action steps to execute
-
-    # Shorter state and action vectors will be padded to these dimensions
-    max_state_dim: int = 32  # State dimension (will be padded to 32)
-    max_action_dim: int = 32  # Action dimension (will be padded to 32)
-
-    # Flow matching parameters: see openpi `PI0Pytorch`
-    num_inference_steps: int = 10  # Number of denoising steps during inference
-    time_sampling_beta_alpha: float = 1.5  # Beta distribution alpha parameter for time sampling
-    time_sampling_beta_beta: float = 1.0  # Beta distribution beta parameter for time sampling
-    min_period: float = 4e-3  # Min period for sinusoidal positional encoding
-    max_period: float = 4.0  # Max period for sinusoidal positional encoding
-
-    # Image preprocessing
-    image_resolution: tuple[int, int] = (224, 224)  # see openpi `preprocessing_pytorch.py`
-
-    # Normalization
-    normalization_mapping: dict[str, NormalizationMode] = field(
-        default_factory=lambda: {
-            "VISUAL": NormalizationMode.IDENTITY,  # Images are normalized to [-1, 1] in preprocessing
-            "STATE": NormalizationMode.MEAN_STD,
-            "ACTION": NormalizationMode.MEAN_STD,
-        }
-    )
-
-    # Training settings
-    gradient_checkpointing: bool = False  # Enable gradient checkpointing for memory optimization
-    compile_model: bool = False  # Whether to use torch.compile for model optimization
-    compile_mode: str = "max-autotune"  # Torch compile mode
-    device: str | None = None  # Device to use for the model (None = auto-detect)
-
-    # Optimizer settings: see openpi `AdamW` and
-    optimizer_lr: float = 2.5e-5  # see openpi `CosineDecaySchedule: peak_lr`
-    optimizer_betas: tuple[float, float] = (0.9, 0.95)
-    optimizer_eps: float = 1e-8
-    optimizer_weight_decay: float = 0.01
-    optimizer_grad_clip_norm: float = 1.0
-
-    # Scheduler settings: see openpi `CosineDecaySchedule`
-    scheduler_warmup_steps: int = 1_000
-    scheduler_decay_steps: int = 30_000
-    scheduler_decay_lr: float = 2.5e-6
-
-    tokenizer_max_length: int = 48  # pi0=48, see openpi `__post_init__`
-
-    def __post_init__(self):
-        super().__post_init__()
-
-        # Validate configuration
-        if self.n_action_steps > self.chunk_size:
-            raise ValueError(
-                f"n_action_steps ({self.n_action_steps}) cannot be greater than chunk_size ({self.chunk_size})"
-            )
-
-        if self.paligemma_variant not in ["gemma_300m", "gemma_2b"]:
-            raise ValueError(f"Invalid paligemma_variant: {self.paligemma_variant}")
-
-        if self.action_expert_variant not in ["gemma_300m", "gemma_2b"]:
-            raise ValueError(f"Invalid action_expert_variant: {self.action_expert_variant}")
-
-        if self.dtype not in ["bfloat16", "float32"]:
-            raise ValueError(f"Invalid dtype: {self.dtype}")
-
-    def validate_features(self) -> None:
-        """Validate and set up input/output features."""
-        # Image features are now handled dynamically through dataset configuration
-        # No need to auto-add hardcoded image keys
-
-        # State and action features are also handled dynamically through dataset configuration
-        # The actual dimensions come from the feature shapes, max dimensions are used for padding only
-        pass
-
-    def get_optimizer_preset(self) -> AdamWConfig:
-        return AdamWConfig(
-            lr=self.optimizer_lr,
-            betas=self.optimizer_betas,
-            eps=self.optimizer_eps,
-            weight_decay=self.optimizer_weight_decay,
-            grad_clip_norm=self.optimizer_grad_clip_norm,
-        )
-
-    def get_scheduler_preset(self):
-        return CosineDecayWithWarmupSchedulerConfig(
-            peak_lr=self.optimizer_lr,
-            decay_lr=self.scheduler_decay_lr,
-            num_warmup_steps=self.scheduler_warmup_steps,
-            num_decay_steps=self.scheduler_decay_steps,
-        )
-
-    @property
-    def observation_delta_indices(self) -> None:
-        return None
-
-    @property
-    def action_delta_indices(self) -> list:
-        return list(range(self.chunk_size))
-
-    @property
-    def reward_delta_indices(self) -> None:
-        return None
@@ -1,173 +0,0 @@
-#                🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨
-#           This file was automatically generated from src/transformers/models/gemma/modular_gemma.py.
-#               Do NOT edit this file manually as any edits will be overwritten by the generation of
-#             the file from the modular. If any change should be done, please apply the change to the
-#                          modular_gemma.py file directly. One of our CI enforces this.
-#                🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨
-# coding=utf-8
-# Copyright 2024 Google Inc. 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 ...configuration_utils import PretrainedConfig
-
-
-class GemmaConfig(PretrainedConfig):
-    r"""
-    This is the configuration class to store the configuration of a [`GemmaModel`]. It is used to instantiate an Gemma
-    model according to the specified arguments, defining the model architecture. Instantiating a configuration with the
-    defaults will yield a similar configuration to that of the Gemma-7B.
-    e.g. [google/gemma-7b](https://huggingface.co/google/gemma-7b)
-    Configuration objects inherit from [`PretrainedConfig`] and can be used to control the model outputs. Read the
-    documentation from [`PretrainedConfig`] for more information.
-    Args:
-        vocab_size (`int`, *optional*, defaults to 256000):
-            Vocabulary size of the Gemma model. Defines the number of different tokens that can be represented by the
-            `inputs_ids` passed when calling [`GemmaModel`]
-        hidden_size (`int`, *optional*, defaults to 3072):
-            Dimension of the hidden representations.
-        intermediate_size (`int`, *optional*, defaults to 24576):
-            Dimension of the MLP representations.
-        num_hidden_layers (`int`, *optional*, defaults to 28):
-            Number of hidden layers in the Transformer decoder.
-        num_attention_heads (`int`, *optional*, defaults to 16):
-            Number of attention heads for each attention layer in the Transformer decoder.
-        num_key_value_heads (`int`, *optional*, defaults to 16):
-            This is the number of key_value heads that should be used to implement Grouped Query Attention. If
-            `num_key_value_heads=num_attention_heads`, the model will use Multi Head Attention (MHA), if
-            `num_key_value_heads=1` the model will use Multi Query Attention (MQA) otherwise GQA is used. When
-            converting a multi-head checkpoint to a GQA checkpoint, each group key and value head should be constructed
-            by meanpooling all the original heads within that group. For more details, check out [this
-            paper](https://huggingface.co/papers/2305.13245). If it is not specified, will default to
-            `num_attention_heads`.
-        head_dim (`int`, *optional*, defaults to 256):
-            The attention head dimension.
-        hidden_act (`str` or `function`, *optional*, defaults to `"gelu_pytorch_tanh"`):
-            The legacy activation function. It is overwritten by the `hidden_activation`.
-        hidden_activation (`str` or `function`, *optional*):
-            The non-linear activation function (function or string) in the decoder. Will default to `"gelu_pytorch_tanh"`
-            if not specified. `"gelu_pytorch_tanh"` uses an approximation of the `"gelu"` activation function.
-        max_position_embeddings (`int`, *optional*, defaults to 8192):
-            The maximum sequence length that this model might ever be used with.
-        initializer_range (`float`, *optional*, defaults to 0.02):
-            The standard deviation of the truncated_normal_initializer for initializing all weight matrices.
-        rms_norm_eps (`float`, *optional*, defaults to 1e-06):
-            The epsilon used by the rms normalization layers.
-        use_cache (`bool`, *optional*, defaults to `True`):
-            Whether or not the model should return the last key/values attentions (not used by all models). Only
-            relevant if `config.is_decoder=True`.
-        pad_token_id (`int`, *optional*, defaults to 0):
-            Padding token id.
-        eos_token_id (`int`, *optional*, defaults to 1):
-            End of stream token id.
-        bos_token_id (`int`, *optional*, defaults to 2):
-            Beginning of stream token id.
-        tie_word_embeddings (`bool`, *optional*, defaults to `True`):
-            Whether to tie weight embeddings
-        rope_theta (`float`, *optional*, defaults to 10000.0):
-            The base period of the RoPE embeddings.
-        attention_bias (`bool`, defaults to `False`, *optional*, defaults to `False`):
-            Whether to use a bias in the query, key, value and output projection layers during self-attention.
-        attention_dropout (`float`, *optional*, defaults to 0.0):
-            The dropout ratio for the attention probabilities.
-        use_adarms (`bool`, *optional*, defaults to `False`):
-            Whether to use ADARMS.
-        adarms_cond_dim (`int`, *optional*, defaults to `None`):
-            The dimension of the ADARMS condition.
-    ```python
-    >>> from transformers import GemmaModel, GemmaConfig
-    >>> # Initializing a Gemma gemma-7b style configuration
-    >>> configuration = GemmaConfig()
-    >>> # Initializing a model from the gemma-7b style configuration
-    >>> model = GemmaModel(configuration)
-    >>> # Accessing the model configuration
-    >>> configuration = model.config
-    ```"""
-
-    model_type = "gemma"
-    keys_to_ignore_at_inference = ["past_key_values"]
-    base_model_tp_plan = {
-        "layers.*.self_attn.q_proj": "colwise",
-        "layers.*.self_attn.k_proj": "colwise",
-        "layers.*.self_attn.v_proj": "colwise",
-        "layers.*.self_attn.o_proj": "rowwise",
-        "layers.*.mlp.gate_proj": "colwise",
-        "layers.*.mlp.up_proj": "colwise",
-        "layers.*.mlp.down_proj": "rowwise",
-    }
-    base_model_pp_plan = {
-        "embed_tokens": (["input_ids"], ["inputs_embeds"]),
-        "layers": (["hidden_states", "attention_mask"], ["hidden_states"]),
-        "norm": (["hidden_states"], ["hidden_states"]),
-    }
-
-    def __init__(
-        self,
-        vocab_size=256000,
-        hidden_size=3072,
-        intermediate_size=24576,
-        num_hidden_layers=28,
-        num_attention_heads=16,
-        num_key_value_heads=16,
-        head_dim=256,
-        hidden_act="gelu_pytorch_tanh",
-        hidden_activation=None,
-        max_position_embeddings=8192,
-        initializer_range=0.02,
-        rms_norm_eps=1e-6,
-        use_cache=True,
-        pad_token_id=0,
-        eos_token_id=1,
-        bos_token_id=2,
-        tie_word_embeddings=True,
-        rope_theta=10000.0,
-        attention_bias=False,
-        attention_dropout=0.0,
-        use_adarms: bool = False,
-        adarms_cond_dim: int | None = None,
-        **kwargs,
-    ):
-        self.vocab_size = vocab_size
-        self.max_position_embeddings = max_position_embeddings
-        self.hidden_size = hidden_size
-        self.intermediate_size = intermediate_size
-        self.num_hidden_layers = num_hidden_layers
-        self.num_attention_heads = num_attention_heads
-        self.head_dim = head_dim
-        self.num_key_value_heads = num_key_value_heads
-        self.hidden_act = hidden_act
-        self.hidden_activation = hidden_activation
-        self.initializer_range = initializer_range
-        self.rms_norm_eps = rms_norm_eps
-        self.use_cache = use_cache
-        self.rope_theta = rope_theta
-        self.attention_bias = attention_bias
-        self.attention_dropout = attention_dropout
-        self.use_adarms = use_adarms
-        self.adarms_cond_dim = adarms_cond_dim
-
-        # Set default for adarms_cond_dim if use_adarms is True
-        if self.use_adarms and self.adarms_cond_dim is None:
-            self.adarms_cond_dim = self.hidden_size
-
-        super().__init__(
-            pad_token_id=pad_token_id,
-            bos_token_id=bos_token_id,
-            eos_token_id=eos_token_id,
-            tie_word_embeddings=tie_word_embeddings,
-            **kwargs,
-        )
-
-
-__all__ = ["GemmaConfig"]
@@ -1,895 +0,0 @@
-#                🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨
-#           This file was automatically generated from src/transformers/models/gemma/modular_gemma.py.
-#               Do NOT edit this file manually as any edits will be overwritten by the generation of
-#             the file from the modular. If any change should be done, please apply the change to the
-#                          modular_gemma.py file directly. One of our CI enforces this.
-#                🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨🚨
-# coding=utf-8
-# Copyright 2024 Google Inc. 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 collections.abc import Callable
-
-import torch
-from torch import nn
-
-from ...activations import ACT2FN
-from ...cache_utils import Cache, DynamicCache
-from ...generation import GenerationMixin
-from ...masking_utils import create_causal_mask
-from ...modeling_flash_attention_utils import FlashAttentionKwargs
-from ...modeling_layers import GradientCheckpointingLayer
-from ...modeling_outputs import (
-    BaseModelOutputWithPast,
-    CausalLMOutputWithPast,
-    SequenceClassifierOutputWithPast,
-    TokenClassifierOutput,
-)
-from ...modeling_rope_utils import ROPE_INIT_FUNCTIONS, dynamic_rope_update
-from ...modeling_utils import ALL_ATTENTION_FUNCTIONS, PreTrainedModel
-from ...processing_utils import Unpack
-from ...utils import LossKwargs, auto_docstring, can_return_tuple, logging
-from .configuration_gemma import GemmaConfig
-
-logger = logging.get_logger(__name__)
-
-
-# Workaround for Python 3.10+ UnionType compatibility with transformers auto_docstring
-def safe_auto_docstring(func=None, **kwargs):
-    """Auto docstring decorator that handles Python 3.10+ UnionType gracefully."""
-
-    def decorator(f):
-        try:
-            return auto_docstring(f, **kwargs) if kwargs else auto_docstring(f)
-        except (AttributeError, TypeError):
-            # If auto_docstring fails due to UnionType, just return the function unchanged
-            return f
-
-    if func is None:
-        # Called with arguments, return the decorator
-        return decorator
-    else:
-        # Called without arguments, apply directly
-        return decorator(func)
-
-
-class GemmaRMSNorm(nn.Module):
-    def __init__(self, dim: int, eps: float = 1e-6, cond_dim: int | None = None):
-        super().__init__()
-        self.eps = eps
-        self.dim = dim
-        self.cond_dim = cond_dim
-
-        # Dense layer for adaptive normalization (if cond_dim is provided)
-        if cond_dim is not None:
-            # self.dense = nn.Linear(cond_dim, dim * 3, bias=True, dtype=torch.bfloat16)
-            self.dense = nn.Linear(cond_dim, dim * 3, bias=True)
-            # Initialize with zeros (matches source implementation)
-            nn.init.zeros_(self.dense.weight)
-        else:
-            self.weight = nn.Parameter(torch.zeros(dim, dtype=torch.bfloat16))
-            self.dense = None
-
-    def _norm(self, x):
-        # Compute variance in float32 (like the source implementation)
-        var = torch.mean(torch.square(x.float()), dim=-1, keepdim=True)
-        # Compute normalization in float32
-        normed_inputs = x * torch.rsqrt(var + self.eps)
-        return normed_inputs
-
-    def forward(self, x, cond=None):
-        dtype = x.dtype  # original dtype, could be half-precision
-        normed_inputs = self._norm(x)
-
-        if cond is None or self.dense is None:
-            # regular RMSNorm
-            # scale by learned parameter in float32 (matches source implementation)
-            normed_inputs = normed_inputs * (1.0 + self.weight.float())
-            return normed_inputs.to(dtype), None  # return in original dtype with None gate
-
-        # adaptive RMSNorm (if cond is provided and dense layer exists)
-        if cond.shape[-1] != self.cond_dim:
-            raise ValueError(f"Expected cond dimension {self.cond_dim}, got {cond.shape[-1]}")
-
-        # self.dense.to(dtype=torch.bfloat16).to(dtype=torch.float32)
-        modulation = self.dense(cond)
-        # Reshape modulation to broadcast properly: [batch, 1, features] for [batch, seq, features]
-        if len(x.shape) == 3:  # [batch, seq, features]
-            modulation = modulation.unsqueeze(1)
-
-        scale, shift, gate = torch.chunk(modulation, 3, dim=-1)
-
-        # Apply adaptive normalization: use model weight dtype to ensure compatibility
-        # model_dtype = self.dense.weight.dtype  # Use the model's dtype (bfloat16)
-        # scale = scale.to(model_dtype)
-        # shift = shift.to(model_dtype)
-        # gate = gate.to(model_dtype)
-        # normed_inputs = normed_inputs.to(model_dtype)  # Convert normed_inputs to model dtype
-
-        normed_inputs = normed_inputs * (1 + scale.to(torch.float32)) + shift.to(torch.float32)
-
-        return normed_inputs.to(dtype), gate.to(dtype)
-
-    def extra_repr(self):
-        repr_str = f"{tuple(self.weight.shape)}, eps={self.eps}"
-        if self.dense is not None:
-            repr_str += f", adaptive=True, cond_dim={self.cond_dim}"
-        return repr_str
-
-
-class GemmaMLP(nn.Module):
-    def __init__(self, config):
-        super().__init__()
-        self.config = config
-        self.hidden_size = config.hidden_size
-        self.intermediate_size = config.intermediate_size
-        self.gate_proj = nn.Linear(self.hidden_size, self.intermediate_size, bias=False)
-        self.up_proj = nn.Linear(self.hidden_size, self.intermediate_size, bias=False)
-        self.down_proj = nn.Linear(self.intermediate_size, self.hidden_size, bias=False)
-        self.act_fn = ACT2FN[config.hidden_act]
-
-    def forward(self, x):
-        down_proj = self.down_proj(self.act_fn(self.gate_proj(x)) * self.up_proj(x))
-        return down_proj
-
-
-class GemmaRotaryEmbedding(nn.Module):
-    def __init__(self, config: GemmaConfig, device=None):
-        super().__init__()
-        # BC: "rope_type" was originally "type"
-        if hasattr(config, "rope_scaling") and config.rope_scaling is not None:
-            self.rope_type = config.rope_scaling.get("rope_type", config.rope_scaling.get("type"))
-        else:
-            self.rope_type = "default"
-        self.max_seq_len_cached = config.max_position_embeddings
-        self.original_max_seq_len = config.max_position_embeddings
-
-        self.config = config
-        self.rope_init_fn = ROPE_INIT_FUNCTIONS[self.rope_type]
-
-        inv_freq, self.attention_scaling = self.rope_init_fn(self.config, device)
-        self.register_buffer("inv_freq", inv_freq, persistent=False)
-        self.original_inv_freq = self.inv_freq
-
-    @torch.no_grad()
-    @dynamic_rope_update  # power user: used with advanced RoPE types (e.g. dynamic rope)
-    def forward(self, x, position_ids):
-        inv_freq_expanded = (
-            self.inv_freq[None, :, None].float().expand(position_ids.shape[0], -1, 1).to(x.device)
-        )
-        position_ids_expanded = position_ids[:, None, :].float()
-
-        device_type = x.device.type if isinstance(x.device.type, str) and x.device.type != "mps" else "cpu"
-        with torch.autocast(device_type=device_type, enabled=False):  # Force float32
-            freqs = (inv_freq_expanded.float() @ position_ids_expanded.float()).transpose(1, 2)
-            emb = torch.cat((freqs, freqs), dim=-1)
-            cos = emb.cos() * self.attention_scaling
-            sin = emb.sin() * self.attention_scaling
-
-        return cos.to(dtype=x.dtype), sin.to(dtype=x.dtype)
-
-
-def rotate_half(x):
-    """Rotates half the hidden dims of the input."""
-    x1 = x[..., : x.shape[-1] // 2]
-    x2 = x[..., x.shape[-1] // 2 :]
-    return torch.cat((-x2, x1), dim=-1)
-
-
-def apply_rotary_pos_emb(q, k, cos, sin, position_ids=None, unsqueeze_dim=1):
-    """Applies Rotary Position Embedding to the query and key tensors.
-
-    Args:
-        q (`torch.Tensor`): The query tensor.
-        k (`torch.Tensor`): The key tensor.
-        cos (`torch.Tensor`): The cosine part of the rotary embedding.
-        sin (`torch.Tensor`): The sine part of the rotary embedding.
-        position_ids (`torch.Tensor`, *optional*):
-            Deprecated and unused.
-        unsqueeze_dim (`int`, *optional*, defaults to 1):
-            The 'unsqueeze_dim' argument specifies the dimension along which to unsqueeze cos[position_ids] and
-            sin[position_ids] so that they can be properly broadcasted to the dimensions of q and k. For example, note
-            that cos[position_ids] and sin[position_ids] have the shape [batch_size, seq_len, head_dim]. Then, if q and
-            k have the shape [batch_size, heads, seq_len, head_dim], then setting unsqueeze_dim=1 makes
-            cos[position_ids] and sin[position_ids] broadcastable to the shapes of q and k. Similarly, if q and k have
-            the shape [batch_size, seq_len, heads, head_dim], then set unsqueeze_dim=2.
-    Returns:
-        `tuple(torch.Tensor)` comprising of the query and key tensors rotated using the Rotary Position Embedding.
-    """
-    cos = cos.unsqueeze(unsqueeze_dim)
-    sin = sin.unsqueeze(unsqueeze_dim)
-    q_embed = (q * cos) + (rotate_half(q) * sin)
-    k_embed = (k * cos) + (rotate_half(k) * sin)
-    return q_embed, k_embed
-
-
-def repeat_kv(hidden_states: torch.Tensor, n_rep: int) -> torch.Tensor:
-    """
-    This is the equivalent of torch.repeat_interleave(x, dim=1, repeats=n_rep). The hidden states go from (batch,
-    num_key_value_heads, seqlen, head_dim) to (batch, num_attention_heads, seqlen, head_dim)
-    """
-    batch, num_key_value_heads, slen, head_dim = hidden_states.shape
-    if n_rep == 1:
-        return hidden_states
-    hidden_states = hidden_states[:, :, None, :, :].expand(batch, num_key_value_heads, n_rep, slen, head_dim)
-    return hidden_states.reshape(batch, num_key_value_heads * n_rep, slen, head_dim)
-
-
-def _gated_residual(x, y, gate):
-    """
-    Applies gated residual connection with optional gate parameter.
-
-    Args:
-        x: Input tensor (residual)
-        y: Output tensor to be added
-        gate: Optional gate tensor to modulate the addition
-
-    Returns:
-        x + y if gate is None, otherwise x + y * gate
-    """
-    if x is None and y is None:
-        return None
-    if x is None or y is None:
-        return x if x is not None else y
-    if gate is None:
-        return x + y
-    return x + y * gate
-
-
-def eager_attention_forward(
-    module: nn.Module,
-    query: torch.Tensor,
-    key: torch.Tensor,
-    value: torch.Tensor,
-    attention_mask: torch.Tensor | None,
-    scaling: float,
-    dropout: float = 0.0,
-    **kwargs,
-):
-    key_states = repeat_kv(key, module.num_key_value_groups)
-    value_states = repeat_kv(value, module.num_key_value_groups)
-
-    attn_weights = torch.matmul(query, key_states.transpose(2, 3)) * scaling
-    if attention_mask is not None:
-        causal_mask = attention_mask[:, :, :, : key_states.shape[-2]]
-        attn_weights = attn_weights + causal_mask
-
-    attn_weights = nn.functional.softmax(attn_weights, dim=-1, dtype=torch.float32).to(query.dtype)
-    attn_weights = nn.functional.dropout(attn_weights, p=dropout, training=module.training)
-    attn_output = torch.matmul(attn_weights, value_states)
-    attn_output = attn_output.transpose(1, 2).contiguous()
-
-    return attn_output, attn_weights
-
-
-class GemmaAttention(nn.Module):
-    """Multi-headed attention from 'Attention Is All You Need' paper"""
-
-    def __init__(self, config: GemmaConfig, layer_idx: int):
-        super().__init__()
-        self.config = config
-        self.layer_idx = layer_idx
-        self.head_dim = getattr(config, "head_dim", config.hidden_size // config.num_attention_heads)
-        self.num_key_value_groups = config.num_attention_heads // config.num_key_value_heads
-        self.scaling = self.head_dim**-0.5
-        self.attention_dropout = config.attention_dropout
-        self.is_causal = True
-
-        self.q_proj = nn.Linear(
-            config.hidden_size, config.num_attention_heads * self.head_dim, bias=config.attention_bias
-        )
-        self.k_proj = nn.Linear(
-            config.hidden_size, config.num_key_value_heads * self.head_dim, bias=config.attention_bias
-        )
-        self.v_proj = nn.Linear(
-            config.hidden_size, config.num_key_value_heads * self.head_dim, bias=config.attention_bias
-        )
-        self.o_proj = nn.Linear(
-            config.num_attention_heads * self.head_dim, config.hidden_size, bias=config.attention_bias
-        )
-
-    def forward(
-        self,
-        hidden_states: torch.Tensor,
-        position_embeddings: tuple[torch.Tensor, torch.Tensor],
-        attention_mask: torch.Tensor | None,
-        past_key_value: Cache | None = None,
-        cache_position: torch.LongTensor | None = None,
-        use_cache: bool = False,
-        **kwargs: Unpack[FlashAttentionKwargs],
-    ) -> tuple[torch.Tensor, torch.Tensor | None, tuple[torch.Tensor] | None]:
-        input_shape = hidden_states.shape[:-1]
-        hidden_shape = (*input_shape, -1, self.head_dim)
-
-        query_states = self.q_proj(hidden_states).view(hidden_shape).transpose(1, 2)
-        key_states = self.k_proj(hidden_states).view(hidden_shape).transpose(1, 2)
-        value_states = self.v_proj(hidden_states).view(hidden_shape).transpose(1, 2)
-
-        cos, sin = position_embeddings
-        query_states, key_states = apply_rotary_pos_emb(query_states, key_states, cos, sin)
-
-        # Use cache if provided
-        if past_key_value is not None:
-            if use_cache:
-                # sin and cos are specific to RoPE models; cache_position needed for the static cache
-                cache_kwargs = {"sin": sin, "cos": cos, "cache_position": cache_position}
-                key_states, value_states = past_key_value.update(
-                    key_states, value_states, self.layer_idx, cache_kwargs
-                )
-            else:
-                key_states = torch.cat([past_key_value[self.layer_idx][0], key_states], dim=2)
-                value_states = torch.cat([past_key_value[self.layer_idx][1], value_states], dim=2)
-
-        attention_interface: Callable = eager_attention_forward
-        if self.config._attn_implementation != "eager":
-            attention_interface = ALL_ATTENTION_FUNCTIONS[self.config._attn_implementation]
-
-        attn_output, attn_weights = attention_interface(
-            self,
-            query_states,
-            key_states,
-            value_states,
-            attention_mask,
-            dropout=0.0 if not self.training else self.attention_dropout,
-            scaling=self.scaling,
-            **kwargs,
-        )
-
-        attn_output = attn_output.reshape(*input_shape, -1).contiguous()
-        attn_output = self.o_proj(attn_output)
-        return attn_output, attn_weights
-
-
-class GemmaDecoderLayer(GradientCheckpointingLayer):
-    def __init__(self, config: GemmaConfig, layer_idx: int):
-        super().__init__()
-        self.hidden_size = config.hidden_size
-
-        self.self_attn = GemmaAttention(config=config, layer_idx=layer_idx)
-
-        self.mlp = GemmaMLP(config)
-        cond_dim = getattr(config, "adarms_cond_dim", None) if getattr(config, "use_adarms", False) else None
-        self.input_layernorm = GemmaRMSNorm(config.hidden_size, eps=config.rms_norm_eps, cond_dim=cond_dim)
-        self.post_attention_layernorm = GemmaRMSNorm(
-            config.hidden_size, eps=config.rms_norm_eps, cond_dim=cond_dim
-        )
-
-    def forward(
-        self,
-        hidden_states: torch.Tensor,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_value: Cache | None = None,
-        output_attentions: bool | None = False,
-        use_cache: bool | None = False,
-        cache_position: torch.LongTensor | None = None,
-        position_embeddings: None
-        | (tuple[torch.Tensor, torch.Tensor]) = None,  # necessary, but kept here for BC
-        adarms_cond: torch.Tensor | None = None,
-        **kwargs: Unpack[FlashAttentionKwargs],
-    ) -> tuple[torch.FloatTensor, tuple[torch.FloatTensor, torch.FloatTensor] | None]:
-        residual = hidden_states
-        hidden_states, gate = self.input_layernorm(hidden_states, adarms_cond)
-
-        # Self Attention
-        hidden_states, self_attn_weights = self.self_attn(
-            hidden_states=hidden_states,
-            attention_mask=attention_mask,
-            position_ids=position_ids,
-            past_key_value=past_key_value,
-            output_attentions=output_attentions,
-            use_cache=use_cache,
-            cache_position=cache_position,
-            position_embeddings=position_embeddings,
-            **kwargs,
-        )
-        hidden_states = _gated_residual(residual, hidden_states, gate)
-
-        # Fully Connected
-        residual = hidden_states
-        hidden_states, gate = self.post_attention_layernorm(hidden_states, adarms_cond)
-        hidden_states = self.mlp(hidden_states)
-        hidden_states = _gated_residual(residual, hidden_states, gate)
-
-        outputs = (hidden_states,)
-        if output_attentions:
-            outputs += (self_attn_weights,)
-
-        return outputs
-
-
-@safe_auto_docstring
-class GemmaPreTrainedModel(PreTrainedModel):
-    config_class = GemmaConfig
-    base_model_prefix = "model"
-    supports_gradient_checkpointing = True
-    _no_split_modules = ["GemmaDecoderLayer"]
-    _skip_keys_device_placement = ["past_key_values"]
-    _supports_flash_attn_3 = True
-    _supports_flash_attn_2 = True
-    _supports_sdpa = True
-    _supports_flex_attn = True
-    _supports_cache_class = True
-    _supports_quantized_cache = True
-    _supports_static_cache = True
-    _supports_attention_backend = True
-
-    def _init_weights(self, module):
-        std = self.config.initializer_range
-        if isinstance(module, nn.Linear):
-            module.weight.data.normal_(mean=0.0, std=std)
-            if module.bias is not None:
-                module.bias.data.zero_()
-        elif isinstance(module, nn.Embedding):
-            module.weight.data.normal_(mean=0.0, std=std)
-            if module.padding_idx is not None:
-                module.weight.data[module.padding_idx].zero_()
-        elif isinstance(module, GemmaRMSNorm):
-            if hasattr(module, "weight"):
-                module.weight.data.fill_(1.0)
-
-
-@safe_auto_docstring
-class GemmaModel(GemmaPreTrainedModel):
-    def __init__(self, config: GemmaConfig):
-        super().__init__(config)
-        self.padding_idx = config.pad_token_id
-        self.vocab_size = config.vocab_size
-
-        self.embed_tokens = nn.Embedding(config.vocab_size, config.hidden_size, self.padding_idx)
-        self.layers = nn.ModuleList(
-            [GemmaDecoderLayer(config, layer_idx) for layer_idx in range(config.num_hidden_layers)]
-        )
-
-        cond_dim = getattr(config, "adarms_cond_dim", None) if getattr(config, "use_adarms", False) else None
-        self.norm = GemmaRMSNorm(config.hidden_size, eps=config.rms_norm_eps, cond_dim=cond_dim)
-        self.rotary_emb = GemmaRotaryEmbedding(config=config)
-        self.gradient_checkpointing = False
-
-        # Initialize weights and apply final processing
-        self.post_init()
-
-    def get_input_embeddings(self):
-        return self.embed_tokens
-
-    def set_input_embeddings(self, value):
-        self.embed_tokens = value
-
-    @can_return_tuple
-    @safe_auto_docstring
-    def forward(
-        self,
-        input_ids: torch.LongTensor | None = None,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_values: Cache | None = None,
-        inputs_embeds: torch.FloatTensor | None = None,
-        use_cache: bool | None = None,
-        output_attentions: bool | None = None,
-        output_hidden_states: bool | None = None,
-        cache_position: torch.LongTensor | None = None,
-        adarms_cond: torch.Tensor | None = None,
-        **kwargs: Unpack[FlashAttentionKwargs],
-    ) -> BaseModelOutputWithPast:
-        """
-        adarms_cond (`torch.Tensor` of shape `(batch_size, cond_dim)`, *optional*):
-            Condition for ADARMS.
-        """
-        output_attentions = (
-            output_attentions if output_attentions is not None else self.config.output_attentions
-        )
-        output_hidden_states = (
-            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
-        )
-        use_cache = use_cache if use_cache is not None else self.config.use_cache
-
-        if (input_ids is None) ^ (inputs_embeds is not None):
-            raise ValueError("You must specify exactly one of input_ids or inputs_embeds")
-
-        if self.gradient_checkpointing and self.training and use_cache:
-            logger.warning_once(
-                "`use_cache=True` is incompatible with gradient checkpointing. Setting `use_cache=False`."
-            )
-            use_cache = False
-
-        if inputs_embeds is None:
-            inputs_embeds = self.embed_tokens(input_ids)
-
-        if use_cache and past_key_values is None:
-            past_key_values = DynamicCache()
-
-        if cache_position is None:
-            past_seen_tokens = past_key_values.get_seq_length() if past_key_values is not None else 0
-            cache_position = torch.arange(
-                past_seen_tokens, past_seen_tokens + inputs_embeds.shape[1], device=inputs_embeds.device
-            )
-
-        if position_ids is None:
-            position_ids = cache_position.unsqueeze(0)
-
-        causal_mask = create_causal_mask(
-            config=self.config,
-            input_embeds=inputs_embeds,
-            attention_mask=attention_mask,
-            cache_position=cache_position,
-            past_key_values=past_key_values,
-            position_ids=position_ids,
-        )
-
-        # embed positions
-        hidden_states = inputs_embeds
-        # Convert to bfloat16 if the first layer uses bfloat16
-        if len(self.layers) > 0 and self.layers[0].self_attn.q_proj.weight.dtype == torch.bfloat16:
-            hidden_states = hidden_states.to(torch.bfloat16)
-
-        # create position embeddings to be shared across the decoder layers
-        position_embeddings = self.rotary_emb(hidden_states, position_ids)
-
-        # normalized
-        # Gemma downcasts the below to float16, causing sqrt(3072)=55.4256 to become 55.5
-        # See https://github.com/huggingface/transformers/pull/29402
-        _normalizer = torch.tensor(self.config.hidden_size**0.5, dtype=hidden_states.dtype)
-        # hidden_states = hidden_states * normalizer
-
-        # decoder layers
-        all_hidden_states = () if output_hidden_states else None
-        all_self_attns = () if output_attentions else None
-
-        for decoder_layer in self.layers[: self.config.num_hidden_layers]:
-            if output_hidden_states:
-                all_hidden_states += (hidden_states,)
-
-            layer_outputs = decoder_layer(
-                hidden_states,
-                attention_mask=causal_mask,
-                position_ids=position_ids,
-                past_key_value=past_key_values,
-                output_attentions=output_attentions,
-                use_cache=use_cache,
-                cache_position=cache_position,
-                position_embeddings=position_embeddings,
-                adarms_cond=adarms_cond,
-                **kwargs,
-            )
-
-            hidden_states = layer_outputs[0]
-
-            if output_attentions:
-                all_self_attns += (layer_outputs[1],)
-
-        hidden_states, _ = self.norm(hidden_states, adarms_cond)
-
-        # add hidden states from the last decoder layer
-        if output_hidden_states:
-            all_hidden_states += (hidden_states,)
-
-        return BaseModelOutputWithPast(
-            last_hidden_state=hidden_states,
-            past_key_values=past_key_values if use_cache else None,
-            hidden_states=all_hidden_states,
-            attentions=all_self_attns,
-        )
-
-
-class KwargsForCausalLM(FlashAttentionKwargs, LossKwargs): ...
-
-
-@safe_auto_docstring
-class GemmaForCausalLM(GemmaPreTrainedModel, GenerationMixin):
-    _tied_weights_keys = ["lm_head.weight"]
-    _tp_plan = {"lm_head": "colwise_rep"}
-    _pp_plan = {"lm_head": (["hidden_states"], ["logits"])}
-
-    def __init__(self, config):
-        super().__init__(config)
-        self.model = GemmaModel(config)
-        self.vocab_size = config.vocab_size
-        self.lm_head = nn.Linear(config.hidden_size, config.vocab_size, bias=False)
-
-        # Initialize weights and apply final processing
-        self.post_init()
-
-    def get_input_embeddings(self):
-        return self.model.embed_tokens
-
-    def set_input_embeddings(self, value):
-        self.model.embed_tokens = value
-
-    def get_output_embeddings(self):
-        return self.lm_head
-
-    def set_output_embeddings(self, new_embeddings):
-        self.lm_head = new_embeddings
-
-    def set_decoder(self, decoder):
-        self.model = decoder
-
-    def get_decoder(self):
-        return self.model
-
-    @can_return_tuple
-    @safe_auto_docstring
-    def forward(
-        self,
-        input_ids: torch.LongTensor | None = None,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_values: Cache | None = None,
-        inputs_embeds: torch.FloatTensor | None = None,
-        labels: torch.LongTensor | None = None,
-        use_cache: bool | None = None,
-        output_attentions: bool | None = None,
-        output_hidden_states: bool | None = None,
-        cache_position: torch.LongTensor | None = None,
-        logits_to_keep: int | torch.Tensor = 0,
-        adarms_cond: torch.Tensor | None = None,
-        **kwargs: Unpack[KwargsForCausalLM],
-    ) -> CausalLMOutputWithPast:
-        r"""
-        labels (`torch.LongTensor` of shape `(batch_size, sequence_length)`, *optional*):
-            Labels for computing the masked language modeling loss. Indices should either be in `[0, ...,
-            config.vocab_size]` or -100 (see `input_ids` docstring). Tokens with indices set to `-100` are ignored
-            (masked), the loss is only computed for the tokens with labels in `[0, ..., config.vocab_size]`.
-
-        adarms_cond (`torch.Tensor` of shape `(batch_size, cond_dim)`, *optional*):
-            Condition for ADARMS.
-
-        Example:
-
-        ```python
-        >>> from transformers import AutoTokenizer, GemmaForCausalLM
-
-        >>> model = GemmaForCausalLM.from_pretrained("google/gemma-7b")
-        >>> tokenizer = AutoTokenizer.from_pretrained("google/gemma-7b")
-
-        >>> prompt = "What is your favorite condiment?"
-        >>> inputs = tokenizer(prompt, return_tensors="pt")
-
-        >>> # Generate
-        >>> generate_ids = model.generate(inputs.input_ids, max_length=30)
-        >>> tokenizer.batch_decode(generate_ids, skip_special_tokens=True, clean_up_tokenization_spaces=False)[0]
-        "What is your favorite condiment?"
-        ```"""
-        output_attentions = (
-            output_attentions if output_attentions is not None else self.config.output_attentions
-        )
-        output_hidden_states = (
-            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
-        )
-
-        # decoder outputs consists of (dec_features, layer_state, dec_hidden, dec_attn)
-        outputs: BaseModelOutputWithPast = self.model(
-            input_ids=input_ids,
-            attention_mask=attention_mask,
-            position_ids=position_ids,
-            past_key_values=past_key_values,
-            inputs_embeds=inputs_embeds,
-            use_cache=use_cache,
-            output_attentions=output_attentions,
-            output_hidden_states=output_hidden_states,
-            cache_position=cache_position,
-            adarms_cond=adarms_cond,
-            **kwargs,
-        )
-
-        hidden_states = outputs.last_hidden_state
-        # Only compute necessary logits, and do not upcast them to float if we are not computing the loss
-        slice_indices = slice(-logits_to_keep, None) if isinstance(logits_to_keep, int) else logits_to_keep
-        logits = self.lm_head(hidden_states[:, slice_indices, :])
-
-        loss = None
-        if labels is not None:
-            loss = self.loss_function(
-                logits=logits, labels=labels, vocab_size=self.config.vocab_size, **kwargs
-            )
-
-        return CausalLMOutputWithPast(
-            loss=loss,
-            logits=logits,
-            past_key_values=outputs.past_key_values,
-            hidden_states=outputs.hidden_states,
-            attentions=outputs.attentions,
-        )
-
-
-@safe_auto_docstring(
-    custom_intro="""
-    The Gemma Model transformer with a sequence classification head on top (linear layer).
-
-    [`GemmaForSequenceClassification`] uses the last token in order to do the classification, as other causal models
-    (e.g. GPT-2) do.
-
-    Since it does classification on the last token, it requires to know the position of the last token. If a
-    `pad_token_id` is defined in the configuration, it finds the last token that is not a padding token in each row. If
-    no `pad_token_id` is defined, it simply takes the last value in each row of the batch. Since it cannot guess the
-    padding tokens when `inputs_embeds` are passed instead of `input_ids`, it does the same (take the last value in
-    each row of the batch).
-    """
-)
-class GemmaForSequenceClassification(GemmaPreTrainedModel):
-    def __init__(self, config):
-        super().__init__(config)
-        self.num_labels = config.num_labels
-        self.model = GemmaModel(config)
-        self.score = nn.Linear(config.hidden_size, self.num_labels, bias=False)
-
-        # Initialize weights and apply final processing
-        self.post_init()
-
-    def get_input_embeddings(self):
-        return self.model.embed_tokens
-
-    def set_input_embeddings(self, value):
-        self.model.embed_tokens = value
-
-    @can_return_tuple
-    @safe_auto_docstring
-    def forward(
-        self,
-        input_ids: torch.LongTensor | None = None,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_values: Cache | None = None,
-        inputs_embeds: torch.FloatTensor | None = None,
-        labels: torch.LongTensor | None = None,
-        use_cache: bool | None = None,
-        output_attentions: bool | None = None,
-        output_hidden_states: bool | None = None,
-        adarms_cond: torch.Tensor | None = None,
-    ) -> SequenceClassifierOutputWithPast:
-        r"""
-        labels (`torch.LongTensor` of shape `(batch_size,)`, *optional*):
-            Labels for computing the sequence classification/regression loss. Indices should be in `[0, ...,
-            config.num_labels - 1]`. If `config.num_labels == 1` a regression loss is computed (Mean-Square loss), If
-            `config.num_labels > 1` a classification loss is computed (Cross-Entropy).
-
-        adarms_cond (`torch.Tensor` of shape `(batch_size, cond_dim)`, *optional*):
-            Condition for ADARMS.
-        """
-
-        transformer_outputs: BaseModelOutputWithPast = self.model(
-            input_ids,
-            attention_mask=attention_mask,
-            position_ids=position_ids,
-            past_key_values=past_key_values,
-            inputs_embeds=inputs_embeds,
-            use_cache=use_cache,
-            output_attentions=output_attentions,
-            output_hidden_states=output_hidden_states,
-            adarms_cond=adarms_cond,
-        )
-        hidden_states = transformer_outputs.last_hidden_state
-        logits = self.score(hidden_states)
-
-        if input_ids is not None:
-            batch_size = input_ids.shape[0]
-        else:
-            batch_size = inputs_embeds.shape[0]
-
-        if self.config.pad_token_id is None and batch_size != 1:
-            raise ValueError("Cannot handle batch sizes > 1 if no padding token is defined.")
-        if self.config.pad_token_id is None:
-            last_non_pad_token = -1
-        elif input_ids is not None:
-            # To handle both left- and right- padding, we take the rightmost token that is not equal to pad_token_id
-            non_pad_mask = (input_ids != self.config.pad_token_id).to(logits.device, torch.int32)
-            token_indices = torch.arange(input_ids.shape[-1], device=logits.device, dtype=torch.int32)
-            last_non_pad_token = (token_indices * non_pad_mask).argmax(-1)
-        else:
-            last_non_pad_token = -1
-            logger.warning_once(
-                f"{self.__class__.__name__} will not detect padding tokens in `inputs_embeds`. Results may be "
-                "unexpected if using padding tokens in conjunction with `inputs_embeds.`"
-            )
-
-        pooled_logits = logits[torch.arange(batch_size, device=logits.device), last_non_pad_token]
-
-        loss = None
-        if labels is not None:
-            loss = self.loss_function(
-                logits=logits, labels=labels, pooled_logits=pooled_logits, config=self.config
-            )
-
-        return SequenceClassifierOutputWithPast(
-            loss=loss,
-            logits=pooled_logits,
-            past_key_values=transformer_outputs.past_key_values,
-            hidden_states=transformer_outputs.hidden_states,
-            attentions=transformer_outputs.attentions,
-        )
-
-
-@safe_auto_docstring
-class GemmaForTokenClassification(GemmaPreTrainedModel):
-    def __init__(self, config):
-        super().__init__(config)
-        self.num_labels = config.num_labels
-        self.model = GemmaModel(config)
-        if getattr(config, "classifier_dropout", None) is not None:
-            classifier_dropout = config.classifier_dropout
-        elif getattr(config, "hidden_dropout", None) is not None:
-            classifier_dropout = config.hidden_dropout
-        else:
-            classifier_dropout = 0.1
-        self.dropout = nn.Dropout(classifier_dropout)
-        self.score = nn.Linear(config.hidden_size, config.num_labels)
-
-        # Initialize weights and apply final processing
-        self.post_init()
-
-    def get_input_embeddings(self):
-        return self.model.embed_tokens
-
-    def set_input_embeddings(self, value):
-        self.model.embed_tokens = value
-
-    @can_return_tuple
-    @safe_auto_docstring
-    def forward(
-        self,
-        input_ids: torch.LongTensor | None = None,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_values: Cache | None = None,
-        inputs_embeds: torch.FloatTensor | None = None,
-        labels: torch.LongTensor | None = None,
-        use_cache: bool | None = None,
-        output_attentions: bool | None = None,
-        output_hidden_states: bool | None = None,
-        adarms_cond: torch.Tensor | None = None,
-    ) -> TokenClassifierOutput:
-        r"""
-        labels (`torch.LongTensor` of shape `(batch_size,)`, *optional*):
-            Labels for computing the sequence classification/regression loss. Indices should be in `[0, ...,
-            config.num_labels - 1]`. If `config.num_labels == 1` a regression loss is computed (Mean-Square loss), If
-            `config.num_labels > 1` a classification loss is computed (Cross-Entropy).
-
-        adarms_cond (`torch.Tensor` of shape `(batch_size, cond_dim)`, *optional*):
-            Condition for ADARMS.
-        """
-
-        outputs: BaseModelOutputWithPast = self.model(
-            input_ids,
-            attention_mask=attention_mask,
-            position_ids=position_ids,
-            past_key_values=past_key_values,
-            inputs_embeds=inputs_embeds,
-            use_cache=use_cache,
-            output_attentions=output_attentions,
-            output_hidden_states=output_hidden_states,
-            adarms_cond=adarms_cond,
-        )
-        sequence_output = outputs.last_hidden_state
-        sequence_output = self.dropout(sequence_output)
-        logits = self.score(sequence_output)
-
-        loss = None
-        if labels is not None:
-            loss = self.loss_function(logits, labels, self.config)
-
-        return TokenClassifierOutput(
-            loss=loss,
-            logits=logits,
-            hidden_states=outputs.hidden_states,
-            attentions=outputs.attentions,
-        )
-
-
-__all__ = [
-    "GemmaModel",
-    "GemmaForCausalLM",
-    "GemmaForSequenceClassification",
-    "GemmaForTokenClassification",
-    "GemmaPreTrainedModel",
-]
@@ -1,666 +0,0 @@
-# Copyright 2024 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.
-"""PyTorch PaliGemmamodel."""
-
-from dataclasses import dataclass
-
-import torch
-import torch.utils.checkpoint
-from torch import nn
-
-from ...cache_utils import Cache, HybridCache, StaticCache
-from ...generation import GenerationMixin
-from ...modeling_flash_attention_utils import FlashAttentionKwargs
-from ...modeling_outputs import BaseModelOutputWithPast
-from ...modeling_utils import PreTrainedModel
-from ...processing_utils import Unpack
-from ...utils import (
-    LossKwargs,
-    ModelOutput,
-    auto_docstring,
-    can_return_tuple,
-    is_torchdynamo_compiling,
-    logging,
-)
-from ..auto import AutoModel
-from .configuration_paligemma import PaliGemmaConfig
-
-logger = logging.get_logger(__name__)
-
-
-# Workaround for Python 3.10+ UnionType compatibility with transformers auto_docstring
-def safe_auto_docstring(func=None, **kwargs):
-    """Auto docstring decorator that handles Python 3.10+ UnionType gracefully."""
-
-    def decorator(f):
-        try:
-            return auto_docstring(f, **kwargs) if kwargs else auto_docstring(f)
-        except (AttributeError, TypeError):
-            # If auto_docstring fails due to UnionType, just return the function unchanged
-            return f
-
-    if func is None:
-        # Called with arguments, return the decorator
-        return decorator
-    else:
-        # Called without arguments, apply directly
-        return decorator(func)
-
-
-@dataclass
-@safe_auto_docstring(
-    custom_intro="""
-    Base class for Paligemma outputs, with hidden states and attentions.
-    """
-)
-class PaligemmaModelOutputWithPast(BaseModelOutputWithPast):
-    r"""
-    past_key_values (`tuple(tuple(torch.FloatTensor))`, *optional*, returned when `use_cache=True` is passed or when `config.use_cache=True`):
-        Tuple of `tuple(torch.FloatTensor)` of length `config.n_layers`, with each tuple having 2 tensors of shape
-        `(batch_size, num_heads, sequence_length, embed_size_per_head)`)
-
-        Contains pre-computed hidden-states (key and values in the self-attention blocks) that can be used (see
-        `past_key_values` input) to speed up sequential decoding.
-    image_hidden_states (`torch.FloatTensor`, *optional*):
-        A `torch.FloatTensor` of size `(batch_size, num_images, sequence_length, hidden_size)`.
-        image_hidden_states of the model produced by the vision encoder and after projecting the last hidden state.
-    """
-
-    image_hidden_states: torch.FloatTensor | None = None
-
-
-@dataclass
-@safe_auto_docstring(
-    custom_intro="""
-    Base class for PaliGemma causal language model (or autoregressive) outputs.
-    """
-)
-class PaliGemmaCausalLMOutputWithPast(ModelOutput):
-    r"""
-    loss (`torch.FloatTensor` of shape `(1,)`, *optional*, returned when `labels` is provided):
-        Language modeling loss (for next-token prediction).
-    logits (`torch.FloatTensor` of shape `(batch_size, sequence_length, config.text_config.vocab_size)`):
-        Prediction scores of the language modeling head (scores for each vocabulary token before SoftMax).
-    past_key_values (`tuple(tuple(torch.FloatTensor))`, *optional*, returned when `use_cache=True` is passed or when `config.use_cache=True`):
-        Tuple of `tuple(torch.FloatTensor)` of length `config.n_layers`, with each tuple having 2 tensors of shape
-        `(batch_size, num_heads, sequence_length, embed_size_per_head)`)
-
-        Contains pre-computed hidden-states (key and values in the self-attention blocks) that can be used (see
-        `past_key_values` input) to speed up sequential decoding.
-    image_hidden_states (`torch.FloatTensor`, *optional*):
-        A `torch.FloatTensor` of size `(batch_size, num_images, sequence_length, hidden_size)`.
-        image_hidden_states of the model produced by the vision encoder after projecting last hidden state.
-    """
-
-    loss: torch.FloatTensor | None = None
-    logits: torch.FloatTensor | None = None
-    past_key_values: list[torch.FloatTensor] | Cache | None = None
-    hidden_states: tuple[torch.FloatTensor] | None = None
-    attentions: tuple[torch.FloatTensor] | None = None
-    image_hidden_states: torch.FloatTensor | None = None
-
-
-class PaliGemmaMultiModalProjector(nn.Module):
-    def __init__(self, config: PaliGemmaConfig):
-        super().__init__()
-        self.linear = nn.Linear(
-            config.vision_config.hidden_size, config.vision_config.projection_dim, bias=True
-        )
-
-    def forward(self, image_features):
-        hidden_states = self.linear(image_features)
-
-        return hidden_states
-
-
-@safe_auto_docstring
-class PaliGemmaPreTrainedModel(PreTrainedModel):
-    config_class = PaliGemmaConfig
-    base_model_prefix = ""
-    supports_gradient_checkpointing = True
-    _no_split_modules = ["PaliGemmaMultiModalProjector"]
-    _skip_keys_device_placement = "past_key_values"
-    _supports_cache_class = True
-    _supports_quantized_cache = True
-    _supports_static_cache = True
-    _supports_flash_attn_2 = True
-    _supports_sdpa = True
-    _supports_flex_attn = True
-    _supports_attention_backend = True
-
-    def _init_weights(self, module):
-        # important: this ported version of PaliGemmaisn't meant for training from scratch - only
-        # inference and fine-tuning
-        std = getattr(self.config, "initializer_range", self.config.get_text_config().initializer_range)
-
-        if isinstance(module, nn.Linear):
-            module.weight.data.normal_(mean=0.0, std=std)
-            if module.bias is not None:
-                module.bias.data.zero_()
-
-
-@safe_auto_docstring(
-    custom_intro="""
-    The Base Paligemma model which consists of a vision backbone and a language model without language modeling head.,
-    """
-)
-class PaliGemmaModel(PaliGemmaPreTrainedModel):
-    _checkpoint_conversion_mapping = {"language_model.model": "language_model"}
-    # we are filtering the logits/labels so we shouldn't divide the loss based on num_items_in_batch
-    accepts_loss_kwargs = False
-
-    def __init__(self, config: PaliGemmaConfig):
-        super().__init__(config)
-        self.vision_tower = AutoModel.from_config(config=config.vision_config)
-        self.multi_modal_projector = PaliGemmaMultiModalProjector(config)
-        self.vocab_size = config.text_config.vocab_size
-
-        language_model = AutoModel.from_config(config=config.text_config)
-        self.language_model = language_model
-
-        self.pad_token_id = self.config.pad_token_id if self.config.pad_token_id is not None else -1
-        self.post_init()
-
-    # Copied from transformers.models.llava.modeling_llava.LlavaModel.get_input_embeddings with Llava->PaliGemma
-    def get_input_embeddings(self):
-        return self.language_model.get_input_embeddings()
-
-    # Copied from transformers.models.llava.modeling_llava.LlavaModel.set_input_embeddings with Llava->PaliGemma
-    def set_input_embeddings(self, value):
-        self.language_model.set_input_embeddings(value)
-
-    def set_decoder(self, decoder):
-        self.language_model = decoder
-
-    def get_decoder(self):
-        return self.language_model
-
-    def _update_causal_mask(
-        self,
-        attention_mask,
-        token_type_ids=None,
-        past_key_values=None,
-        cache_position=None,
-        input_tensor=None,
-        is_training: bool | None = None,
-    ):
-        if self.config.text_config._attn_implementation == "flash_attention_2":
-            if attention_mask is not None and 0.0 in attention_mask:
-                return attention_mask
-            return None
-        is_training = is_training if is_training is not None else self.training
-        using_static_cache = isinstance(past_key_values, StaticCache)
-        min_dtype = torch.finfo(self.dtype).min
-        if input_tensor is None:
-            input_tensor = attention_mask
-
-        inputs_lead_dim, sequence_length = input_tensor.shape[:2]
-        if using_static_cache:
-            target_length = past_key_values.get_max_cache_shape()
-        elif isinstance(past_key_values, HybridCache):
-            target_length = past_key_values.get_max_cache_shape()
-        else:
-            target_length = (
-                attention_mask.shape[-1]
-                if isinstance(attention_mask, torch.Tensor)
-                else cache_position[0] + sequence_length + 1
-            )
-
-        if attention_mask is not None and attention_mask.dim() == 4:
-            # In this case we assume that the mask comes already in inverted form and requires no inversion or slicing.
-            return attention_mask
-
-        causal_mask = torch.full(
-            (sequence_length, target_length),
-            fill_value=min_dtype,
-            dtype=self.dtype,
-            device=cache_position.device,
-        )
-        # Causal diagonal mask only if training, otherwise attend to the whole prefix. Training-specific attn for prefix is handled below
-        if sequence_length != 1:
-            if is_training:
-                causal_mask = torch.triu(causal_mask, diagonal=1)
-            else:
-                causal_mask[:, :sequence_length] = 0.0
-
-        causal_mask *= torch.arange(target_length, device=cache_position.device) > cache_position.reshape(
-            -1, 1
-        )
-        causal_mask = causal_mask[None, None, :, :].expand(inputs_lead_dim, 1, -1, -1)
-        if attention_mask is not None:
-            causal_mask = causal_mask.clone()  # copy to contiguous memory for in-place edit
-            mask_length = attention_mask.shape[-1]
-
-            # First unmask prefix tokens during training
-            if is_training:
-                if token_type_ids is None:
-                    raise ValueError("Token type ids must be provided during training")
-                causal_mask[:, :, :, :mask_length] = causal_mask[:, :, :, :mask_length].masked_fill(
-                    token_type_ids[:, None, None, :].to(causal_mask.device) == 0, 0
-                )
-
-            # Then apply padding mask (will mask pad tokens)
-            padding_mask = causal_mask[:, :, :, :mask_length] + attention_mask[:, None, None, :].to(
-                causal_mask.device
-            )
-            padding_mask = padding_mask == 0
-            causal_mask[:, :, :, :mask_length] = causal_mask[:, :, :, :mask_length].masked_fill(
-                padding_mask, min_dtype
-            )
-
-        return causal_mask
-
-    def get_image_features(self, pixel_values: torch.FloatTensor):
-        """
-        Obtains image last hidden states from the vision tower and apply multimodal projection.
-
-        Args:
-            pixel_values (`torch.FloatTensor]` of shape `(batch_size, channels, height, width)`)
-               The tensors corresponding to the input images.
-        Returns:
-            image_features (`torch.Tensor`): Image feature tensor of shape `(num_images, image_length, embed_dim)`).
-        """
-        image_outputs = self.vision_tower(pixel_values)
-        selected_image_feature = image_outputs.last_hidden_state
-        image_features = self.multi_modal_projector(selected_image_feature)
-        return image_features
-
-    @can_return_tuple
-    @safe_auto_docstring
-    def forward(
-        self,
-        input_ids: torch.LongTensor = None,
-        pixel_values: torch.FloatTensor = None,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_values: list[torch.FloatTensor] | Cache | None = None,
-        token_type_ids: torch.LongTensor | None = None,
-        cache_position: torch.LongTensor | None = None,
-        inputs_embeds: torch.FloatTensor | None = None,
-        labels: torch.LongTensor | None = None,
-        use_cache: bool | None = None,
-        output_attentions: bool | None = None,
-        output_hidden_states: bool | None = None,
-        return_dict: bool | None = None,
-        **kwargs: Unpack[FlashAttentionKwargs],
-    ) -> tuple | PaligemmaModelOutputWithPast:
-        r"""
-        labels (`torch.LongTensor` of shape `(batch_size, sequence_length)`, *optional*):
-            Labels for computing the masked language modeling loss. Indices should either be in `[0, ...,
-            config.text_config.vocab_size]` or -100 (see `input_ids` docstring). Tokens with indices set to `-100` are ignored
-            (masked), the loss is only computed for the tokens with labels in `[0, ..., config.text_config.vocab_size]`.
-
-        Example:
-
-        ```python
-        >>> from PIL import Image
-        >>> import requests
-        >>> from transformers import AutoProcessor, PaliGemmaForConditionalGeneration
-
-        >>> model = PaliGemmaForConditionalGeneration.from_pretrained("google/paligemma2-3b-mix-224")
-        >>> processor = AutoProcessor.from_pretrained("google/paligemma2-3b-mix-224")
-
-        >>> prompt = "Where is the cat standing?"
-        >>> url = "https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/pipeline-cat-chonk.jpeg"
-        >>> image = Image.open(requests.get(url, stream=True).raw)
-
-        >>> inputs = processor(images=image, text=prompt,  return_tensors="pt")
-
-        >>> # Generate
-        >>> generate_ids = model.generate(**inputs,)
-        >>> processor.batch_decode(generate_ids, skip_special_tokens=True, clean_up_tokenization_spaces=False)[0]
-        "Where is the cat standing?\nsnow"
-        ```"""
-
-        if (input_ids is None) ^ (inputs_embeds is not None):
-            raise ValueError("You must specify exactly one of input_ids or inputs_embeds")
-
-        output_attentions = (
-            output_attentions if output_attentions is not None else self.config.output_attentions
-        )
-        output_hidden_states = (
-            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
-        )
-        return_dict = return_dict if return_dict is not None else self.config.use_return_dict
-
-        is_training = token_type_ids is not None and labels is not None
-
-        # Replace image id with PAD if the image token if OOV, to avoid index-errors
-        if input_ids is not None and self.config.image_token_id >= self.vocab_size:
-            special_image_mask = input_ids == self.config.image_token_id
-            llm_input_ids = input_ids.clone()
-            llm_input_ids[special_image_mask] = 0
-        else:
-            llm_input_ids = input_ids
-
-        if inputs_embeds is None:
-            inputs_embeds = self.get_input_embeddings()(llm_input_ids)
-
-        if cache_position is None:
-            past_seen_tokens = past_key_values.get_seq_length() if past_key_values is not None else 0
-            cache_position = torch.arange(
-                past_seen_tokens, past_seen_tokens + inputs_embeds.shape[1], device=inputs_embeds.device
-            )
-
-        if position_ids is None:
-            position_ids = cache_position.unsqueeze(0) + 1  # Paligemma positions are 1-indexed
-
-        # Merge text and images
-        if pixel_values is not None:
-            image_features = self.get_image_features(pixel_values)
-
-            if input_ids is None:
-                special_image_mask = inputs_embeds == self.get_input_embeddings()(
-                    torch.tensor(self.config.image_token_id, dtype=torch.long, device=inputs_embeds.device)
-                )
-            else:
-                special_image_mask = (input_ids == self.config.image_token_id).unsqueeze(-1)
-                special_image_mask = special_image_mask.expand_as(inputs_embeds).to(inputs_embeds.device)
-
-            if (
-                not is_torchdynamo_compiling()
-                and inputs_embeds[special_image_mask].numel() != image_features.numel()
-            ):
-                image_tokens_in_text = (special_image_mask).sum(dim=1).sum(dim=0)[0]
-                raise ValueError(
-                    f"Number of images does not match number of special image tokens in the input text. "
-                    f"Got {image_tokens_in_text} image tokens in the text but {image_features.shape[0] * image_features.shape[1]} "
-                    "tokens from image embeddings."
-                )
-            image_features = image_features.to(inputs_embeds.device, inputs_embeds.dtype)
-            inputs_embeds = inputs_embeds.masked_scatter(special_image_mask, image_features)
-
-        causal_mask = self._update_causal_mask(
-            attention_mask, token_type_ids, past_key_values, cache_position, inputs_embeds, is_training
-        )
-        outputs = self.language_model(
-            attention_mask=causal_mask,
-            position_ids=position_ids,
-            past_key_values=past_key_values,
-            inputs_embeds=inputs_embeds,
-            use_cache=use_cache,
-            output_attentions=output_attentions,
-            output_hidden_states=output_hidden_states,
-            return_dict=True,
-            cache_position=cache_position,
-            **kwargs,
-        )
-
-        return PaligemmaModelOutputWithPast(
-            last_hidden_state=outputs.last_hidden_state,
-            past_key_values=outputs.past_key_values,
-            hidden_states=outputs.hidden_states,
-            attentions=outputs.attentions,
-            image_hidden_states=image_features if pixel_values is not None else None,
-        )
-
-
-class KwargsForCausalLM(FlashAttentionKwargs, LossKwargs): ...
-
-
-@safe_auto_docstring(
-    custom_intro="""
-    The Base Paligemma model which consists of a vision backbone and a language model without language modeling head.,
-    """
-)
-class PaliGemmaForConditionalGeneration(PaliGemmaPreTrainedModel, GenerationMixin):
-    _checkpoint_conversion_mapping = {
-        "^language_model.model": "model.language_model",
-        "^vision_tower": "model.vision_tower",
-        "^multi_modal_projector": "model.multi_modal_projector",
-        "^language_model.lm_head": "lm_head",
-    }
-    _tied_weights_keys = ["lm_head.weight"]
-
-    def __init__(self, config: PaliGemmaConfig):
-        super().__init__(config)
-        self.model = PaliGemmaModel(config)
-        self.lm_head = nn.Linear(config.text_config.hidden_size, config.text_config.vocab_size, bias=False)
-        self.post_init()
-
-    def get_input_embeddings(self):
-        return self.model.get_input_embeddings()
-
-    def set_input_embeddings(self, value):
-        self.model.set_input_embeddings(value)
-
-    def get_output_embeddings(self):
-        return self.lm_head
-
-    def set_output_embeddings(self, new_embeddings):
-        self.lm_head = new_embeddings
-
-    def set_decoder(self, decoder):
-        self.model.set_decoder(decoder)
-
-    def get_decoder(self):
-        return self.model.get_decoder()
-
-    def get_image_features(self, pixel_values):
-        return self.model.get_image_features(pixel_values)
-
-    # Make modules available through conditional class for BC
-    @property
-    def language_model(self):
-        return self.model.language_model
-
-    @property
-    def vision_tower(self):
-        return self.model.vision_tower
-
-    @property
-    def multi_modal_projector(self):
-        return self.model.multi_modal_projector
-
-    @can_return_tuple
-    @safe_auto_docstring
-    def forward(
-        self,
-        input_ids: torch.LongTensor = None,
-        pixel_values: torch.FloatTensor = None,
-        attention_mask: torch.Tensor | None = None,
-        position_ids: torch.LongTensor | None = None,
-        past_key_values: list[torch.FloatTensor] | Cache | None = None,
-        token_type_ids: torch.LongTensor | None = None,
-        cache_position: torch.LongTensor | None = None,
-        inputs_embeds: torch.FloatTensor | None = None,
-        labels: torch.LongTensor | None = None,
-        use_cache: bool | None = None,
-        output_attentions: bool | None = None,
-        output_hidden_states: bool | None = None,
-        return_dict: bool | None = None,
-        logits_to_keep: int | torch.Tensor = 0,
-        **kwargs: Unpack[KwargsForCausalLM],
-    ) -> tuple | PaliGemmaCausalLMOutputWithPast:
-        r"""
-        labels (`torch.LongTensor` of shape `(batch_size, sequence_length)`, *optional*):
-            Labels for computing the masked language modeling loss. Indices should either be in `[0, ...,
-            config.text_config.vocab_size]` or -100 (see `input_ids` docstring). Tokens with indices set to `-100` are ignored
-            (masked), the loss is only computed for the tokens with labels in `[0, ..., config.text_config.vocab_size]`.
-
-        Example:
-
-        ```python
-        >>> from PIL import Image
-        >>> import requests
-        >>> from transformers import AutoProcessor, PaliGemmaForConditionalGeneration
-
-        >>> model = PaliGemmaForConditionalGeneration.from_pretrained("google/paligemma2-3b-mix-224")
-        >>> processor = AutoProcessor.from_pretrained("google/paligemma2-3b-mix-224")
-
-        >>> prompt = "Where is the cat standing?"
-        >>> url = "https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/pipeline-cat-chonk.jpeg"
-        >>> image = Image.open(requests.get(url, stream=True).raw)
-
-        >>> inputs = processor(images=image, text=prompt,  return_tensors="pt")
-
-        >>> # Generate
-        >>> generate_ids = model.generate(**inputs,)
-        >>> processor.batch_decode(generate_ids, skip_special_tokens=True, clean_up_tokenization_spaces=False)[0]
-        "Where is the cat standing?\nsnow"
-        ```"""
-        output_attentions = (
-            output_attentions if output_attentions is not None else self.config.output_attentions
-        )
-        output_hidden_states = (
-            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
-        )
-        return_dict = return_dict if return_dict is not None else self.config.use_return_dict
-
-        outputs = self.model(
-            input_ids=input_ids,
-            pixel_values=pixel_values,
-            token_type_ids=token_type_ids,
-            attention_mask=attention_mask,
-            position_ids=position_ids,
-            past_key_values=past_key_values,
-            inputs_embeds=inputs_embeds,
-            use_cache=use_cache,
-            labels=labels,
-            output_attentions=output_attentions,
-            output_hidden_states=output_hidden_states,
-            return_dict=True,
-            cache_position=cache_position,
-            **kwargs,
-        )
-
-        hidden_states = outputs[0]
-        # Only compute necessary logits, and do not upcast them to float if we are not computing the loss
-        slice_indices = slice(-logits_to_keep, None) if isinstance(logits_to_keep, int) else logits_to_keep
-        logits = self.lm_head(hidden_states[:, slice_indices, :])
-
-        loss = None
-        if labels is not None:
-            loss = self.loss_function(
-                logits=logits, labels=labels, vocab_size=self.config.text_config.vocab_size, **kwargs
-            )
-
-        return PaliGemmaCausalLMOutputWithPast(
-            loss=loss,
-            logits=logits,
-            past_key_values=outputs.past_key_values,
-            hidden_states=outputs.hidden_states,
-            attentions=outputs.attentions,
-            image_hidden_states=outputs.image_hidden_states,
-        )
-
-    def prepare_inputs_for_generation(
-        self,
-        input_ids,
-        past_key_values=None,
-        inputs_embeds=None,
-        cache_position=None,
-        position_ids=None,
-        pixel_values=None,
-        attention_mask=None,
-        token_type_ids=None,
-        use_cache=True,
-        logits_to_keep=None,
-        labels=None,
-        **kwargs,
-    ):
-        # Overwritten -- custom `position_ids` and `pixel_values` handling
-        model_inputs = super().prepare_inputs_for_generation(
-            input_ids,
-            past_key_values=past_key_values,
-            inputs_embeds=inputs_embeds,
-            attention_mask=attention_mask,
-            position_ids=position_ids,
-            cache_position=cache_position,
-            use_cache=use_cache,
-            logits_to_keep=logits_to_keep,
-            token_type_ids=token_type_ids,
-            **kwargs,
-        )
-
-        # position_ids in Paligemma are 1-indexed
-        if model_inputs.get("position_ids") is not None:
-            model_inputs["position_ids"] += 1
-        # If we're in cached decoding stage, pixel values should be None because input ids do not contain special image token anymore
-        # Otherwise we need pixel values to be passed to model. NOTE: use_cache=False needs pixel_values always
-        if cache_position[0] == 0:
-            model_inputs["pixel_values"] = pixel_values
-        is_training = token_type_ids is not None and labels is not None
-        if cache_position[0] == 0 and isinstance(past_key_values, HybridCache):
-            input_tensor = inputs_embeds if inputs_embeds is not None else input_ids
-            causal_mask = self.model._update_causal_mask(
-                attention_mask, token_type_ids, past_key_values, cache_position, input_tensor, is_training
-            )
-            model_inputs["attention_mask"] = causal_mask
-
-        return model_inputs
-
-    @staticmethod
-    # Copied from transformers.models.gptj.modeling_gptj.GPTJModel._prepare_4d_causal_attention_mask_with_cache_position
-    def _prepare_4d_causal_attention_mask_with_cache_position(
-        attention_mask: torch.Tensor,
-        sequence_length: int,
-        target_length: int,
-        dtype: torch.dtype,
-        cache_position: torch.Tensor,
-        batch_size: int,
-        **kwargs,
-    ):
-        """
-        Creates a causal 4D mask of shape `(batch_size, 1, query_length, key_value_length)` from a 2D mask of shape
-        `(batch_size, key_value_length)`, or if the input `attention_mask` is already 4D, do nothing.
-
-        Args:
-            attention_mask (`torch.Tensor`):
-                A 2D attention mask of shape `(batch_size, key_value_length)` or a 4D attention mask of shape
-                `(batch_size, 1, query_length, key_value_length)`.
-            sequence_length (`int`):
-                The sequence length being processed.
-            target_length (`int`):
-                The target length: when generating with static cache, the mask should be as long as the static cache,
-                to account for the 0 padding, the part of the cache that is not filled yet.
-            dtype (`torch.dtype`):
-                The dtype to use for the 4D attention mask.
-            cache_position (`torch.Tensor`):
-                Indices depicting the position of the input sequence tokens in the sequence.
-            batch_size (`torch.Tensor`):
-                Batch size.
-        """
-        if attention_mask is not None and attention_mask.dim() == 4:
-            # In this case we assume that the mask comes already in inverted form and requires no inversion or slicing.
-            causal_mask = attention_mask
-        else:
-            min_dtype = torch.finfo(dtype).min
-            causal_mask = torch.full(
-                (sequence_length, target_length),
-                fill_value=min_dtype,
-                dtype=dtype,
-                device=cache_position.device,
-            )
-            if sequence_length != 1:
-                causal_mask = torch.triu(causal_mask, diagonal=1)
-            causal_mask *= torch.arange(target_length, device=cache_position.device) > cache_position.reshape(
-                -1, 1
-            )
-            causal_mask = causal_mask[None, None, :, :].expand(batch_size, 1, -1, -1)
-            if attention_mask is not None:
-                causal_mask = causal_mask.clone()  # copy to contiguous memory for in-place edit
-                mask_length = attention_mask.shape[-1]
-                padding_mask = causal_mask[:, :, :, :mask_length] + attention_mask[:, None, None, :].to(
-                    causal_mask.device
-                )
-                padding_mask = padding_mask == 0
-                causal_mask[:, :, :, :mask_length] = causal_mask[:, :, :, :mask_length].masked_fill(
-                    padding_mask, min_dtype
-                )
-
-        return causal_mask
-
-
-__all__ = ["PaliGemmaForConditionalGeneration", "PaliGemmaPreTrainedModel", "PaliGemmaModel"]
@@ -1,5 +0,0 @@
-import transformers
-
-
-def check_whether_transformers_replace_is_installed_correctly():
-    return transformers.__version__ == "4.53.2"
@@ -58,7 +58,6 @@ from transformers.cache_utils import HybridCache, StaticCache
 from transformers.models.auto import CONFIG_MAPPING

 from lerobot.constants import ACTION, OBS_STATE
-from lerobot.policies.normalize import Normalize, Unnormalize
 from lerobot.policies.pi0fast.configuration_pi0fast import PI0FASTConfig
 from lerobot.policies.pretrained import PreTrainedPolicy

@@ -146,14 +145,6 @@ class PI0FASTPolicy(PreTrainedPolicy):
        config.validate_features()
        self.config = config

-        self.normalize_inputs = Normalize(config.input_features, config.normalization_mapping, dataset_stats)
-        self.normalize_targets = Normalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-        self.unnormalize_outputs = Unnormalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-
        self.language_tokenizer = AutoProcessor.from_pretrained("google/paligemma-3b-pt-224")
        self.model = PI0FAST(config)

@@ -221,8 +212,6 @@ class PI0FASTPolicy(PreTrainedPolicy):
        if self.config.adapt_to_pi_aloha:
            batch[OBS_STATE] = self._pi_aloha_decode_state(batch[OBS_STATE])

-        batch = self.normalize_inputs(batch)
-
        # Action queue logic for n_action_steps > 1. When the action_queue is depleted, populate it by
        # querying the policy.
        if len(self._action_queue) == 0:
@@ -235,8 +224,6 @@ class PI0FASTPolicy(PreTrainedPolicy):
            ]  # self.config.max_action_dim  # self.config.action_feature.shape[0]
            actions = actions[:, :, :original_action_dim]

-            actions = self.unnormalize_outputs({"action": actions})["action"]
-
            if self.config.adapt_to_pi_aloha:
                actions = self._pi_aloha_encode_actions(actions)

@@ -249,8 +236,6 @@ class PI0FASTPolicy(PreTrainedPolicy):
        if self.config.adapt_to_pi_aloha:
            batch[OBS_STATE] = self._pi_aloha_decode_state(batch[OBS_STATE])
            batch[ACTION] = self._pi_aloha_encode_actions_inv(batch[ACTION])
-        batch = self.normalize_inputs(batch)
-        batch = self.normalize_targets(batch)
        loss_dict = self.model.forward(batch)
        return loss_dict["loss"], loss_dict

@@ -0,0 +1,70 @@
+#!/usr/bin/env python
+
+# Copyright 2025 Physical Intelligence and 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.
+
+import torch
+
+from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.policies.pi0.configuration_pi0 import PI0Config
+from lerobot.processor import (
+    AddBatchDimensionProcessorStep,
+    DeviceProcessorStep,
+    NormalizerProcessorStep,
+    PolicyProcessorPipeline,
+    ProcessorKwargs,
+    RenameProcessorStep,
+    UnnormalizerProcessorStep,
+)
+
+
+def make_pi0fast_pre_post_processors(
+    config: PI0Config,
+    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
+    preprocessor_kwargs: ProcessorKwargs | None = None,
+    postprocessor_kwargs: ProcessorKwargs | None = None,
+) -> tuple[PolicyProcessorPipeline, PolicyProcessorPipeline]:
+    if preprocessor_kwargs is None:
+        preprocessor_kwargs = {}
+    if postprocessor_kwargs is None:
+        postprocessor_kwargs = {}
+
+    input_steps = [
+        RenameProcessorStep(rename_map={}),  # To mimic the same processor as pretrained one
+        NormalizerProcessorStep(
+            features={**config.input_features, **config.output_features},
+            norm_map=config.normalization_mapping,
+            stats=dataset_stats,
+        ),
+        AddBatchDimensionProcessorStep(),
+        DeviceProcessorStep(device=config.device),
+    ]
+    output_steps = [
+        DeviceProcessorStep(device="cpu"),
+        UnnormalizerProcessorStep(
+            features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
+        ),
+    ]
+    return (
+        PolicyProcessorPipeline(
+            steps=input_steps,
+            name=PREPROCESSOR_DEFAULT_NAME,
+            **preprocessor_kwargs,
+        ),
+        PolicyProcessorPipeline(
+            steps=output_steps,
+            name=POSTPROCESSOR_DEFAULT_NAME,
+            **postprocessor_kwargs,
+        ),
+    )
@@ -28,7 +28,6 @@ import torch.nn.functional as F  # noqa: N812
 from torch import Tensor
 from torch.distributions import MultivariateNormal, TanhTransform, Transform, TransformedDistribution

-from lerobot.policies.normalize import NormalizeBuffer
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.sac.configuration_sac import SACConfig, is_image_feature
 from lerobot.policies.utils import get_device_from_parameters
@@ -45,7 +44,6 @@ class SACPolicy(
    def __init__(
        self,
        config: SACConfig | None = None,
-        dataset_stats: dict[str, dict[str, Tensor]] | None = None,
    ):
        super().__init__(config)
        config.validate_features()
@@ -53,7 +51,6 @@ class SACPolicy(

        # Determine action dimension and initialize all components
        continuous_action_dim = config.output_features["action"].shape[0]
-        self._init_normalization(dataset_stats)
        self._init_encoders()
        self._init_critics(continuous_action_dim)
        self._init_actor(continuous_action_dim)
@@ -88,8 +85,7 @@ class SACPolicy(

        observations_features = None
        if self.shared_encoder and self.actor.encoder.has_images:
-            # Cache and normalize image features
-            observations_features = self.actor.encoder.get_cached_image_features(batch, normalize=True)
+            observations_features = self.actor.encoder.get_cached_image_features(batch)

        actions, _, _ = self.actor(batch, observations_features)

@@ -391,28 +387,12 @@ class SACPolicy(
        actor_loss = ((self.temperature * log_probs) - min_q_preds).mean()
        return actor_loss

-    def _init_normalization(self, dataset_stats):
-        """Initialize input/output normalization modules."""
-        self.normalize_inputs = nn.Identity()
-        self.normalize_targets = nn.Identity()
-        if self.config.dataset_stats is not None:
-            params = _convert_normalization_params_to_tensor(self.config.dataset_stats)
-            self.normalize_inputs = NormalizeBuffer(
-                self.config.input_features, self.config.normalization_mapping, params
-            )
-            stats = dataset_stats or params
-            self.normalize_targets = NormalizeBuffer(
-                self.config.output_features, self.config.normalization_mapping, stats
-            )
-
    def _init_encoders(self):
        """Initialize shared or separate encoders for actor and critic."""
        self.shared_encoder = self.config.shared_encoder
-        self.encoder_critic = SACObservationEncoder(self.config, self.normalize_inputs)
+        self.encoder_critic = SACObservationEncoder(self.config)
        self.encoder_actor = (
-            self.encoder_critic
-            if self.shared_encoder
-            else SACObservationEncoder(self.config, self.normalize_inputs)
+            self.encoder_critic if self.shared_encoder else SACObservationEncoder(self.config)
        )

    def _init_critics(self, continuous_action_dim):
@@ -424,9 +404,7 @@ class SACPolicy(
            )
            for _ in range(self.config.num_critics)
        ]
-        self.critic_ensemble = CriticEnsemble(
-            encoder=self.encoder_critic, ensemble=heads, output_normalization=self.normalize_targets
-        )
+        self.critic_ensemble = CriticEnsemble(encoder=self.encoder_critic, ensemble=heads)
        target_heads = [
            CriticHead(
                input_dim=self.encoder_critic.output_dim + continuous_action_dim,
@@ -434,9 +412,7 @@ class SACPolicy(
            )
            for _ in range(self.config.num_critics)
        ]
-        self.critic_target = CriticEnsemble(
-            encoder=self.encoder_critic, ensemble=target_heads, output_normalization=self.normalize_targets
-        )
+        self.critic_target = CriticEnsemble(encoder=self.encoder_critic, ensemble=target_heads)
        self.critic_target.load_state_dict(self.critic_ensemble.state_dict())

        if self.config.use_torch_compile:
@@ -490,10 +466,9 @@ class SACPolicy(
 class SACObservationEncoder(nn.Module):
    """Encode image and/or state vector observations."""

-    def __init__(self, config: SACConfig, input_normalizer: nn.Module) -> None:
+    def __init__(self, config: SACConfig) -> None:
        super().__init__()
        self.config = config
-        self.input_normalization = input_normalizer
        self._init_image_layers()
        self._init_state_layers()
        self._compute_output_dim()
@@ -568,11 +543,10 @@ class SACObservationEncoder(nn.Module):
    def forward(
        self, obs: dict[str, Tensor], cache: dict[str, Tensor] | None = None, detach: bool = False
    ) -> Tensor:
-        obs = self.input_normalization(obs)
        parts = []
        if self.has_images:
            if cache is None:
-                cache = self.get_cached_image_features(obs, normalize=False)
+                cache = self.get_cached_image_features(obs)
            parts.append(self._encode_images(cache, detach))
        if self.has_env:
            parts.append(self.env_encoder(obs["observation.environment_state"]))
@@ -585,7 +559,7 @@ class SACObservationEncoder(nn.Module):
            "No parts to concatenate, you should have at least one image or environment state or state"
        )

-    def get_cached_image_features(self, obs: dict[str, Tensor], normalize: bool = False) -> dict[str, Tensor]:
+    def get_cached_image_features(self, obs: dict[str, Tensor]) -> dict[str, Tensor]:
        """Extract and optionally cache image features from observations.

        This function processes image observations through the vision encoder once and returns
@@ -597,26 +571,17 @@ class SACObservationEncoder(nn.Module):
        - The vision encoder forward pass is typically the main computational bottleneck during training and inference
        - Caching these features can provide 2-4x speedup in training and inference

-        Normalization behavior:
-        - When called from inside forward(): set normalize=False since inputs are already normalized
-        - When called from outside forward(): set normalize=True to ensure proper input normalization
-
        Usage patterns:
-        - Called in select_action() with normalize=True
+        - Called in select_action()
        - Called in learner.py's get_observation_features() to pre-compute features for all policy components
-        - Called internally by forward() with normalize=False
+        - Called internally by forward()

        Args:
            obs: Dictionary of observation tensors containing image keys
-            normalize: Whether to normalize observations before encoding
-                      Set to True when calling directly from outside the encoder's forward method
-                      Set to False when calling from within forward() where inputs are already normalized

        Returns:
            Dictionary mapping image keys to their corresponding encoded features
        """
-        if normalize:
-            obs = self.input_normalization(obs)
        batched = torch.cat([obs[k] for k in self.image_keys], dim=0)
        out = self.image_encoder(batched)
        chunks = torch.chunk(out, len(self.image_keys), dim=0)
@@ -747,7 +712,6 @@ class CriticEnsemble(nn.Module):
    Args:
        encoder (SACObservationEncoder): encoder for observations.
        ensemble (List[CriticHead]): list of critic heads.
-        output_normalization (nn.Module): normalization layer for actions.
        init_final (float | None): optional initializer scale for final layers.

    Forward returns a tensor of shape (num_critics, batch_size) containing Q-values.
@@ -757,13 +721,11 @@ class CriticEnsemble(nn.Module):
        self,
        encoder: SACObservationEncoder,
        ensemble: list[CriticHead],
-        output_normalization: nn.Module,
        init_final: float | None = None,
    ):
        super().__init__()
        self.encoder = encoder
        self.init_final = init_final
-        self.output_normalization = output_normalization
        self.critics = nn.ModuleList(ensemble)

    def forward(
@@ -775,11 +737,6 @@ class CriticEnsemble(nn.Module):
        device = get_device_from_parameters(self)
        # Move each tensor in observations to device
        observations = {k: v.to(device) for k, v in observations.items()}
-        # NOTE: We normalize actions it helps for sample efficiency
-        actions: dict[str, torch.tensor] = {"action": actions}
-        # NOTE: Normalization layer took dict in input and outputs a dict that why
-        actions = self.output_normalization(actions)["action"]
-        actions = actions.to(device)

        obs_enc = self.encoder(observations, cache=observation_features)

@@ -0,0 +1,71 @@
+#!/usr/bin/env python
+
+# Copyright 2024 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.
+
+import torch
+
+from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.policies.sac.configuration_sac import SACConfig
+from lerobot.processor import (
+    AddBatchDimensionProcessorStep,
+    DeviceProcessorStep,
+    NormalizerProcessorStep,
+    PolicyProcessorPipeline,
+    ProcessorKwargs,
+    RenameProcessorStep,
+    UnnormalizerProcessorStep,
+)
+
+
+def make_sac_pre_post_processors(
+    config: SACConfig,
+    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
+    preprocessor_kwargs: ProcessorKwargs | None = None,
+    postprocessor_kwargs: ProcessorKwargs | None = None,
+) -> tuple[PolicyProcessorPipeline, PolicyProcessorPipeline]:
+    if preprocessor_kwargs is None:
+        preprocessor_kwargs = {}
+    if postprocessor_kwargs is None:
+        postprocessor_kwargs = {}
+
+    input_steps = [
+        RenameProcessorStep(rename_map={}),
+        NormalizerProcessorStep(
+            features={**config.input_features, **config.output_features},
+            norm_map=config.normalization_mapping,
+            stats=dataset_stats,
+        ),
+        AddBatchDimensionProcessorStep(),
+        DeviceProcessorStep(device=config.device),
+    ]
+    output_steps = [
+        DeviceProcessorStep(device="cpu"),
+        UnnormalizerProcessorStep(
+            features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
+        ),
+    ]
+    return (
+        PolicyProcessorPipeline(
+            steps=input_steps,
+            name=PREPROCESSOR_DEFAULT_NAME,
+            **preprocessor_kwargs,
+        ),
+        PolicyProcessorPipeline(
+            steps=output_steps,
+            name=POSTPROCESSOR_DEFAULT_NAME,
+            **postprocessor_kwargs,
+        ),
+    )
@@ -20,7 +20,6 @@ import torch
 from torch import Tensor, nn

 from lerobot.constants import OBS_IMAGE, REWARD
-from lerobot.policies.normalize import Normalize, Unnormalize
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig

@@ -108,22 +107,12 @@ class Classifier(PreTrainedPolicy):
    def __init__(
        self,
        config: RewardClassifierConfig,
-        dataset_stats: dict[str, dict[str, Tensor]] | None = None,
    ):
        from transformers import AutoModel

        super().__init__(config)
        self.config = config

-        # Initialize normalization (standardized with the policy framework)
-        self.normalize_inputs = Normalize(config.input_features, config.normalization_mapping, dataset_stats)
-        self.normalize_targets = Normalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-        self.unnormalize_outputs = Unnormalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-
        # Set up encoder
        encoder = AutoModel.from_pretrained(self.config.model_name, trust_remote_code=True)
        # Extract vision model if we're given a multimodal model
@@ -247,10 +236,6 @@ class Classifier(PreTrainedPolicy):

    def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, dict[str, Tensor]]:
        """Standard forward pass for training compatible with train.py."""
-        # Normalize inputs if needed
-        batch = self.normalize_inputs(batch)
-        batch = self.normalize_targets(batch)
-
        # Extract images and labels
        images, labels = self.extract_images_and_labels(batch)

@@ -0,0 +1,61 @@
+# !/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.
+import torch
+
+from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
+from lerobot.processor import (
+    DeviceProcessorStep,
+    IdentityProcessorStep,
+    NormalizerProcessorStep,
+    PolicyProcessorPipeline,
+    ProcessorKwargs,
+)
+
+
+def make_classifier_processor(
+    config: RewardClassifierConfig,
+    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
+    preprocessor_kwargs: ProcessorKwargs | None = None,
+    postprocessor_kwargs: ProcessorKwargs | None = None,
+) -> tuple[PolicyProcessorPipeline, PolicyProcessorPipeline]:
+    if preprocessor_kwargs is None:
+        preprocessor_kwargs = {}
+    if postprocessor_kwargs is None:
+        postprocessor_kwargs = {}
+
+    input_steps = [
+        NormalizerProcessorStep(
+            features=config.input_features, norm_map=config.normalization_mapping, stats=dataset_stats
+        ),
+        NormalizerProcessorStep(
+            features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
+        ),
+        DeviceProcessorStep(device=config.device),
+    ]
+    output_steps = [DeviceProcessorStep(device="cpu"), IdentityProcessorStep()]
+
+    return (
+        PolicyProcessorPipeline(
+            steps=input_steps,
+            name="classifier_preprocessor",
+            **preprocessor_kwargs,
+        ),
+        PolicyProcessorPipeline(
+            steps=output_steps,
+            name="classifier_postprocessor",
+            **postprocessor_kwargs,
+        ),
+    )
@@ -53,21 +53,13 @@ policy = SmolVLAPolicy.from_pretrained("lerobot/smolvla_base")
 """

 import math
-import os
-import re
 from collections import deque

-import safetensors
 import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
-from transformers import AutoProcessor

-from lerobot.constants import ACTION, OBS_STATE
-from lerobot.policies.normalize import (
-    Normalize,
-    Unnormalize,
-)
+from lerobot.constants import ACTION, OBS_LANGUAGE, OBS_STATE
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
 from lerobot.policies.smolvla.smolvlm_with_expert import SmolVLMWithExpertModel
@@ -76,102 +68,6 @@ from lerobot.policies.utils import (
 )
 from lerobot.utils.utils import get_safe_dtype

-# Matches ".soNNN", optionally followed by "-something", up to the "_buffer_" marker
-_VARIANT_RE = re.compile(r"\.so\d+(?:-[\w]+)?_buffer_")
-
-
-def canonicalise(k: str) -> str:
-    """
-    Remove dataset-variant markers like '.so100-blue_' or '.so100_' from a
-    normalisation-buffer key.
-    """
-    return _VARIANT_RE.sub(".buffer_", k)
-
-
-def standardise_state_dict(
-    checkpoint: dict[str, torch.Tensor], ref_keys: set[str], *, verbose: bool = True
-) -> tuple[dict[str, torch.Tensor], list[str]]:
-    """
-    • Re-keys `checkpoint ` so that every entry matches the *reference* key set.
-    • If several variant keys collapse to the same canonical name we keep the
-      first one and log the collision.
-    • Returns the new dict + a list of entries that could not be matched.
-    """
-    out, collisions, unmatched = {}, {}, []
-
-    for k, v in checkpoint.items():
-        canon = canonicalise(k)
-        if canon in ref_keys:
-            if canon in out:  # duplicate after collapsing
-                collisions.setdefault(canon, []).append(k)
-            else:
-                out[canon] = v
-        else:
-            unmatched.append(k)
-
-    if verbose:
-        for canon, variants in collisions.items():
-            print(f"[standardise_state_dict] '{canon}'  ←  {variants}")
-        if unmatched:
-            print(f"[standardise_state_dict] kept {len(unmatched)} unmatched keys")
-
-    out.update({k: checkpoint[k] for k in unmatched})
-    return out, unmatched
-
-
-def rename_checkpoint_keys(checkpoint: dict, rename_str: str):
-    """
-    Renames keys in a checkpoint dictionary based on the given rename string.
-
-    Args:
-        checkpoint (dict): The checkpoint dictionary.
-        rename_str (str): A string specifying key mappings in the format "old1//new1,old2//new2".
-
-    Returns:
-        dict: The modified checkpoint with renamed keys.
-    """
-
-    rename_dict = dict(pair.split("//") for pair in rename_str.split(","))
-
-    new_checkpoint = {}
-    for k, v in checkpoint.items():
-        for old_key, new_key in rename_dict.items():
-            if old_key in k:
-                k = k.replace(old_key, new_key)
-        new_checkpoint[k] = v
-    return new_checkpoint
-
-
-def load_smolvla(
-    model: torch.nn.Module,
-    filename: str | os.PathLike,
-    *,
-    device: str = "cpu",
-    checkpoint_keys_mapping: str = "",
-) -> torch.nn.Module:
-    state_dict = safetensors.torch.load_file(filename, device=device)
-
-    # Optional user-supplied renames (e.g. "model._orig_mod.//model.")
-    if checkpoint_keys_mapping and "//" in checkpoint_keys_mapping:
-        state_dict = rename_checkpoint_keys(state_dict, checkpoint_keys_mapping)
-
-    state_dict, _ = standardise_state_dict(state_dict, set(model.state_dict().keys()))
-
-    # HACK(aliberts): to not overwrite normalization parameters as they should come from the dataset
-    norm_keys = ("normalize_inputs", "normalize_targets", "unnormalize_outputs")
-    state_dict = {k: v for k, v in state_dict.items() if not k.startswith(norm_keys)}
-
-    missing, unexpected = model.load_state_dict(state_dict, strict=False)
-
-    if not all(key.startswith(norm_keys) for key in missing) or unexpected:
-        raise RuntimeError(
-            "SmolVLA %d missing / %d unexpected keys",
-            len(missing),
-            len(unexpected),
-        )
-
-    return model
-

 def create_sinusoidal_pos_embedding(
    time: torch.tensor, dimension: int, min_period: float, max_period: float, device="cpu"
@@ -326,28 +222,17 @@ class SmolVLAPolicy(PreTrainedPolicy):
    def __init__(
        self,
        config: SmolVLAConfig,
-        dataset_stats: dict[str, dict[str, Tensor]] | None = None,
    ):
        """
        Args:
            config: Policy configuration class instance or None, in which case the default instantiation of
                    the configuration class is used.
-            dataset_stats: Dataset statistics to be used for normalization. If not passed here, it is expected
-                that they will be passed with a call to `load_state_dict` before the policy is used.
        """

        super().__init__(config)
        config.validate_features()
        self.config = config
-        self.normalize_inputs = Normalize(config.input_features, config.normalization_mapping, dataset_stats)
-        self.normalize_targets = Normalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-        self.unnormalize_outputs = Unnormalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )

-        self.language_tokenizer = AutoProcessor.from_pretrained(self.config.vlm_model_name).tokenizer
        self.model = VLAFlowMatching(config)
        self.reset()

@@ -357,23 +242,6 @@ class SmolVLAPolicy(PreTrainedPolicy):
            ACTION: deque(maxlen=self.config.n_action_steps),
        }

-    # HACK(aliberts, danaaubakirova): we overwrite this classmethod here to fix smolVLA-specific issues
-    @classmethod
-    def _load_as_safetensor(
-        cls,
-        model: "SmolVLAPolicy",
-        model_file: str,
-        map_location: str,
-        strict: bool,
-    ):
-        safetensors.torch.load_model(model, model_file, strict=strict, device=map_location)
-        return load_smolvla(
-            model,
-            model_file,
-            device=map_location,
-            checkpoint_keys_mapping="model._orig_mod.//model.",
-        )
-
    def get_optim_params(self) -> dict:
        return self.parameters()

@@ -389,7 +257,8 @@ class SmolVLAPolicy(PreTrainedPolicy):

        images, img_masks = self.prepare_images(batch)
        state = self.prepare_state(batch)
-        lang_tokens, lang_masks = self.prepare_language(batch)
+        lang_tokens = batch[f"{OBS_LANGUAGE}.tokens"]
+        lang_masks = batch[f"{OBS_LANGUAGE}.attention_mask"]

        actions = self.model.sample_actions(images, img_masks, lang_tokens, lang_masks, state, noise=noise)

@@ -397,8 +266,6 @@ class SmolVLAPolicy(PreTrainedPolicy):
        original_action_dim = self.config.action_feature.shape[0]
        actions = actions[:, :, :original_action_dim]

-        actions = self.unnormalize_outputs({ACTION: actions})[ACTION]
-
        if self.config.adapt_to_pi_aloha:
            actions = self._pi_aloha_encode_actions(actions)

@@ -408,8 +275,6 @@ class SmolVLAPolicy(PreTrainedPolicy):
        if self.config.adapt_to_pi_aloha:
            batch[OBS_STATE] = self._pi_aloha_decode_state(batch[OBS_STATE])

-        batch = self.normalize_inputs(batch)
-
        return batch

    @torch.no_grad()
@@ -450,11 +315,11 @@ class SmolVLAPolicy(PreTrainedPolicy):
        if self.config.adapt_to_pi_aloha:
            batch[OBS_STATE] = self._pi_aloha_decode_state(batch[OBS_STATE])
            batch[ACTION] = self._pi_aloha_encode_actions_inv(batch[ACTION])
-        batch = self.normalize_inputs(batch)
-        batch = self.normalize_targets(batch)
+
        images, img_masks = self.prepare_images(batch)
        state = self.prepare_state(batch)
-        lang_tokens, lang_masks = self.prepare_language(batch)
+        lang_tokens = batch[f"{OBS_LANGUAGE}.tokens"]
+        lang_masks = batch[f"{OBS_LANGUAGE}.attention_mask"]
        actions = self.prepare_action(batch)
        actions_is_pad = batch.get("actions_id_pad")
        loss_dict = {}
@@ -518,30 +383,6 @@ class SmolVLAPolicy(PreTrainedPolicy):
            img_masks.append(mask)
        return images, img_masks

-    def prepare_language(self, batch) -> tuple[Tensor, Tensor]:
-        """Tokenize the text input"""
-        device = batch[OBS_STATE].device
-        tasks = batch["task"]
-        if isinstance(tasks, str):
-            tasks = [tasks]
-
-        if len(tasks) == 1:
-            tasks = [tasks[0] for _ in range(batch[OBS_STATE].shape[0])]
-
-        tasks = [task if task.endswith("\n") else f"{task}\n" for task in tasks]
-
-        tokenized_prompt = self.language_tokenizer.__call__(
-            tasks,
-            padding=self.config.pad_language_to,
-            padding_side="right",
-            max_length=self.config.tokenizer_max_length,
-            return_tensors="pt",
-        )
-        lang_tokens = tokenized_prompt["input_ids"].to(device=device)
-        lang_masks = tokenized_prompt["attention_mask"].to(device=device, dtype=torch.bool)
-
-        return lang_tokens, lang_masks
-
    def _pi_aloha_decode_state(self, state):
        # Flip the joints.
        for motor_idx in [1, 2, 8, 9]:
@@ -0,0 +1,111 @@
+#!/usr/bin/env python
+
+# Copyright 2025 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.
+
+import torch
+
+from lerobot.configs.types import PolicyFeature
+from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
+from lerobot.processor import (
+    AddBatchDimensionProcessorStep,
+    ComplementaryDataProcessorStep,
+    DeviceProcessorStep,
+    NormalizerProcessorStep,
+    PolicyProcessorPipeline,
+    ProcessorKwargs,
+    ProcessorStepRegistry,
+    RenameProcessorStep,
+    TokenizerProcessorStep,
+    UnnormalizerProcessorStep,
+)
+
+
+def make_smolvla_pre_post_processors(
+    config: SmolVLAConfig,
+    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
+    preprocessor_kwargs: ProcessorKwargs | None = None,
+    postprocessor_kwargs: ProcessorKwargs | None = None,
+) -> tuple[PolicyProcessorPipeline, PolicyProcessorPipeline]:
+    if preprocessor_kwargs is None:
+        preprocessor_kwargs = {}
+    if postprocessor_kwargs is None:
+        postprocessor_kwargs = {}
+
+    input_steps = [
+        RenameProcessorStep(rename_map={}),  # To mimic the same processor as pretrained one
+        NormalizerProcessorStep(
+            features={**config.input_features, **config.output_features},
+            norm_map=config.normalization_mapping,
+            stats=dataset_stats,
+        ),
+        AddBatchDimensionProcessorStep(),
+        SmolVLANewLineProcessor(),
+        TokenizerProcessorStep(
+            tokenizer_name=config.vlm_model_name,
+            padding=config.pad_language_to,
+            padding_side="right",
+            max_length=config.tokenizer_max_length,
+        ),
+        DeviceProcessorStep(device=config.device),
+    ]
+    output_steps = [
+        DeviceProcessorStep(device="cpu"),
+        UnnormalizerProcessorStep(
+            features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
+        ),
+    ]
+    return (
+        PolicyProcessorPipeline(
+            steps=input_steps,
+            name=PREPROCESSOR_DEFAULT_NAME,
+            **preprocessor_kwargs,
+        ),
+        PolicyProcessorPipeline(
+            steps=output_steps,
+            name=POSTPROCESSOR_DEFAULT_NAME,
+            **postprocessor_kwargs,
+        ),
+    )
+
+
+@ProcessorStepRegistry.register(name="smolvla_new_line_processor")
+class SmolVLANewLineProcessor(ComplementaryDataProcessorStep):
+    """Add a new line to the end of the task if it doesn't have one."""
+
+    def complementary_data(self, complementary_data):
+        if "task" not in complementary_data:
+            return complementary_data
+
+        task = complementary_data["task"]
+        if task is None:
+            return complementary_data
+
+        new_complementary_data = dict(complementary_data)
+
+        # Handle both string and list of strings
+        if isinstance(task, str):
+            # Single string: add newline if not present
+            if not task.endswith("\n"):
+                new_complementary_data["task"] = f"{task}\n"
+        elif isinstance(task, list) and all(isinstance(t, str) for t in task):
+            # List of strings: add newline to each if not present
+            new_complementary_data["task"] = [t if t.endswith("\n") else f"{t}\n" for t in task]
+        # If task is neither string nor list of strings, leave unchanged
+
+        return new_complementary_data
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
@@ -36,7 +36,6 @@ import torch.nn.functional as F  # noqa: N812
 from torch import Tensor

 from lerobot.constants import ACTION, OBS_ENV_STATE, OBS_IMAGE, OBS_STATE, REWARD
-from lerobot.policies.normalize import Normalize, Unnormalize
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
 from lerobot.policies.utils import get_device_from_parameters, get_output_shape, populate_queues
@@ -63,26 +62,19 @@ class TDMPCPolicy(PreTrainedPolicy):
    config_class = TDMPCConfig
    name = "tdmpc"

-    def __init__(self, config: TDMPCConfig, dataset_stats: dict[str, dict[str, Tensor]] | None = None):
+    def __init__(
+        self,
+        config: TDMPCConfig,
+    ):
        """
        Args:
            config: Policy configuration class instance or None, in which case the default instantiation of
                the configuration class is used.
-            dataset_stats: Dataset statistics to be used for normalization. If not passed here, it is expected
-                that they will be passed with a call to `load_state_dict` before the policy is used.
        """
        super().__init__(config)
        config.validate_features()
        self.config = config

-        self.normalize_inputs = Normalize(config.input_features, config.normalization_mapping, dataset_stats)
-        self.normalize_targets = Normalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-        self.unnormalize_outputs = Unnormalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-
        self.model = TDMPCTOLD(config)
        self.model_target = deepcopy(self.model)
        for param in self.model_target.parameters():
@@ -137,7 +129,6 @@ class TDMPCPolicy(PreTrainedPolicy):

        actions = torch.clamp(actions, -1, +1)

-        actions = self.unnormalize_outputs({ACTION: actions})[ACTION]
        return actions

    @torch.no_grad()
@@ -147,11 +138,12 @@ class TDMPCPolicy(PreTrainedPolicy):
        if ACTION in batch:
            batch.pop(ACTION)

-        batch = self.normalize_inputs(batch)
-
        if self.config.image_features:
            batch = dict(batch)  # shallow copy so that adding a key doesn't modify the original
            batch[OBS_IMAGE] = batch[next(iter(self.config.image_features))]
+        # NOTE: for offline evaluation, we have action in the batch, so we need to pop it out
+        if ACTION in batch:
+            batch.pop(ACTION)

        self._queues = populate_queues(self._queues, batch)

@@ -320,11 +312,9 @@ class TDMPCPolicy(PreTrainedPolicy):
        """
        device = get_device_from_parameters(self)

-        batch = self.normalize_inputs(batch)
        if self.config.image_features:
            batch = dict(batch)  # shallow copy so that adding a key doesn't modify the original
            batch[OBS_IMAGE] = batch[next(iter(self.config.image_features))]
-        batch = self.normalize_targets(batch)

        info = {}

@@ -0,0 +1,70 @@
+#!/usr/bin/env python
+
+# Copyright 2024 Nicklas Hansen, Xiaolong Wang, Hao Su,
+# and 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.
+import torch
+
+from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
+from lerobot.processor import (
+    AddBatchDimensionProcessorStep,
+    DeviceProcessorStep,
+    NormalizerProcessorStep,
+    PolicyProcessorPipeline,
+    ProcessorKwargs,
+    RenameProcessorStep,
+    UnnormalizerProcessorStep,
+)
+
+
+def make_tdmpc_pre_post_processors(
+    config: TDMPCConfig,
+    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
+    preprocessor_kwargs: ProcessorKwargs | None = None,
+    postprocessor_kwargs: ProcessorKwargs | None = None,
+) -> tuple[PolicyProcessorPipeline, PolicyProcessorPipeline]:
+    if preprocessor_kwargs is None:
+        preprocessor_kwargs = {}
+    if postprocessor_kwargs is None:
+        postprocessor_kwargs = {}
+
+    input_steps = [
+        RenameProcessorStep(rename_map={}),
+        NormalizerProcessorStep(
+            features={**config.input_features, **config.output_features},
+            norm_map=config.normalization_mapping,
+            stats=dataset_stats,
+        ),
+        AddBatchDimensionProcessorStep(),
+        DeviceProcessorStep(device=config.device),
+    ]
+    output_steps = [
+        DeviceProcessorStep(device="cpu"),
+        UnnormalizerProcessorStep(
+            features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
+        ),
+    ]
+    return (
+        PolicyProcessorPipeline(
+            steps=input_steps,
+            name=PREPROCESSOR_DEFAULT_NAME,
+            **preprocessor_kwargs,
+        ),
+        PolicyProcessorPipeline(
+            steps=output_steps,
+            name=POSTPROCESSOR_DEFAULT_NAME,
+            **postprocessor_kwargs,
+        ),
+    )
@@ -28,7 +28,6 @@ import torchvision
 from torch import Tensor, nn

 from lerobot.constants import ACTION, OBS_IMAGES, OBS_STATE
-from lerobot.policies.normalize import Normalize, Unnormalize
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.utils import get_device_from_parameters, get_output_shape, populate_queues
 from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
@@ -48,7 +47,6 @@ class VQBeTPolicy(PreTrainedPolicy):
    def __init__(
        self,
        config: VQBeTConfig | None = None,
-        dataset_stats: dict[str, dict[str, Tensor]] | None = None,
    ):
        """
        Args:
@@ -61,14 +59,6 @@ class VQBeTPolicy(PreTrainedPolicy):
        config.validate_features()
        self.config = config

-        self.normalize_inputs = Normalize(config.input_features, config.normalization_mapping, dataset_stats)
-        self.normalize_targets = Normalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-        self.unnormalize_outputs = Unnormalize(
-            config.output_features, config.normalization_mapping, dataset_stats
-        )
-
        self.vqbet = VQBeTModel(config)

        self.reset()
@@ -128,7 +118,6 @@ class VQBeTPolicy(PreTrainedPolicy):
    def predict_action_chunk(self, batch: dict[str, Tensor]) -> Tensor:
        batch = {k: torch.stack(list(self._queues[k]), dim=1) for k in batch if k in self._queues}
        actions = self.vqbet(batch, rollout=True)[:, : self.config.action_chunk_size]
-        actions = self.unnormalize_outputs({ACTION: actions})[ACTION]
        return actions

    @torch.no_grad()
@@ -142,10 +131,12 @@ class VQBeTPolicy(PreTrainedPolicy):
        # NOTE: for offline evaluation, we have action in the batch, so we need to pop it out
        if ACTION in batch:
            batch.pop(ACTION)
-        batch = self.normalize_inputs(batch)
        batch = dict(batch)  # shallow copy so that adding a key doesn't modify the original
        # NOTE: It's important that this happens after stacking the images into a single key.
        batch["observation.images"] = torch.stack([batch[key] for key in self.config.image_features], dim=-4)
+        # NOTE: for offline evaluation, we have action in the batch, so we need to pop it out
+        if ACTION in batch:
+            batch.pop(ACTION)

        self._queues = populate_queues(self._queues, batch)

@@ -165,10 +156,8 @@ class VQBeTPolicy(PreTrainedPolicy):

    def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, dict]:
        """Run the batch through the model and compute the loss for training or validation."""
-        batch = self.normalize_inputs(batch)
        batch = dict(batch)  # shallow copy so that adding a key doesn't modify the original
        batch[OBS_IMAGES] = torch.stack([batch[key] for key in self.config.image_features], dim=-4)
-        batch = self.normalize_targets(batch)
        # VQ-BeT discretizes action using VQ-VAE before training BeT (please refer to section 3.2 in the VQ-BeT paper https://huggingface.co/papers/2403.03181)
        if not self.vqbet.action_head.vqvae_model.discretized.item():
            # loss: total loss of training RVQ
@@ -0,0 +1,71 @@
+#!/usr/bin/env python
+
+# Copyright 2024 Seungjae Lee and Yibin Wang and Haritheja Etukuru
+# and H. Jin Kim and Nur Muhammad Mahi Shafiullah and Lerrel Pinto
+# and 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.
+import torch
+
+from lerobot.constants import POSTPROCESSOR_DEFAULT_NAME, PREPROCESSOR_DEFAULT_NAME
+from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
+from lerobot.processor import (
+    AddBatchDimensionProcessorStep,
+    DeviceProcessorStep,
+    NormalizerProcessorStep,
+    PolicyProcessorPipeline,
+    ProcessorKwargs,
+    RenameProcessorStep,
+    UnnormalizerProcessorStep,
+)
+
+
+def make_vqbet_pre_post_processors(
+    config: VQBeTConfig,
+    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
+    preprocessor_kwargs: ProcessorKwargs | None = None,
+    postprocessor_kwargs: ProcessorKwargs | None = None,
+) -> tuple[PolicyProcessorPipeline, PolicyProcessorPipeline]:
+    if preprocessor_kwargs is None:
+        preprocessor_kwargs = {}
+    if postprocessor_kwargs is None:
+        postprocessor_kwargs = {}
+
+    input_steps = [
+        RenameProcessorStep(rename_map={}),  # Let the possibility to the user to rename the keys
+        NormalizerProcessorStep(
+            features={**config.input_features, **config.output_features},
+            norm_map=config.normalization_mapping,
+            stats=dataset_stats,
+        ),
+        AddBatchDimensionProcessorStep(),
+        DeviceProcessorStep(device=config.device),
+    ]
+    output_steps = [
+        DeviceProcessorStep(device="cpu"),
+        UnnormalizerProcessorStep(
+            features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
+        ),
+    ]
+    return (
+        PolicyProcessorPipeline(
+            steps=input_steps,
+            name=PREPROCESSOR_DEFAULT_NAME,
+            **preprocessor_kwargs,
+        ),
+        PolicyProcessorPipeline(
+            steps=output_steps,
+            name=POSTPROCESSOR_DEFAULT_NAME,
+            **postprocessor_kwargs,
+        ),
+    )
@@ -14,41 +14,90 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.

-from .device_processor import DeviceProcessor
-from .normalize_processor import NormalizerProcessor, UnnormalizerProcessor
-from .observation_processor import VanillaObservationProcessor
+from .batch_processor import AddBatchDimensionProcessorStep
+from .converters import (
+    batch_to_transition,
+    create_transition,
+    merge_transitions,
+    transition_to_batch,
+    transition_to_dataset_frame,
+)
+from .core import EnvTransition, TransitionKey
+from .delta_action_processor import MapDeltaActionToRobotActionStep, MapTensorToDeltaActionDictStep
+from .device_processor import DeviceProcessorStep
+from .gym_action_processor import Numpy2TorchActionProcessorStep, Torch2NumpyActionProcessorStep
+from .hil_processor import (
+    AddTeleopActionAsComplimentaryDataStep,
+    AddTeleopEventsAsInfoStep,
+    GripperPenaltyProcessorStep,
+    ImageCropResizeProcessorStep,
+    InterventionActionProcessorStep,
+    RewardClassifierProcessorStep,
+    TimeLimitProcessorStep,
+)
+from .joint_observations_processor import JointVelocityProcessorStep, MotorCurrentProcessorStep
+from .normalize_processor import NormalizerProcessorStep, UnnormalizerProcessorStep, hotswap_stats
+from .observation_processor import VanillaObservationProcessorStep
 from .pipeline import (
-    ActionProcessor,
-    DoneProcessor,
-    EnvTransition,
-    IdentityProcessor,
-    InfoProcessor,
-    ObservationProcessor,
+    ActionProcessorStep,
+    ComplementaryDataProcessorStep,
+    DataProcessorPipeline,
+    DoneProcessorStep,
+    IdentityProcessorStep,
+    InfoProcessorStep,
+    ObservationProcessorStep,
+    PolicyProcessorPipeline,
+    ProcessorKwargs,
    ProcessorStep,
    ProcessorStepRegistry,
-    RewardProcessor,
-    RobotProcessor,
-    TransitionKey,
-    TruncatedProcessor,
+    RewardProcessorStep,
+    RobotProcessorPipeline,
+    TruncatedProcessorStep,
 )
-from .rename_processor import RenameProcessor
+from .rename_processor import RenameProcessorStep
+from .tokenizer_processor import TokenizerProcessorStep

 __all__ = [
-    "ActionProcessor",
-    "DeviceProcessor",
-    "DoneProcessor",
+    "ActionProcessorStep",
+    "AddTeleopActionAsComplimentaryDataStep",
+    "AddTeleopEventsAsInfoStep",
+    "ComplementaryDataProcessorStep",
+    "batch_to_transition",
+    "create_transition",
+    "DeviceProcessorStep",
+    "DoneProcessorStep",
    "EnvTransition",
-    "IdentityProcessor",
-    "InfoProcessor",
-    "NormalizerProcessor",
-    "UnnormalizerProcessor",
-    "ObservationProcessor",
+    "GripperPenaltyProcessorStep",
+    "hotswap_stats",
+    "IdentityProcessorStep",
+    "ImageCropResizeProcessorStep",
+    "InfoProcessorStep",
+    "InterventionActionProcessorStep",
+    "JointVelocityProcessorStep",
+    "MapDeltaActionToRobotActionStep",
+    "MapTensorToDeltaActionDictStep",
+    "merge_transitions",
+    "MotorCurrentProcessorStep",
+    "NormalizerProcessorStep",
+    "Numpy2TorchActionProcessorStep",
+    "ObservationProcessorStep",
+    "PolicyProcessorPipeline",
+    "ProcessorKwargs",
    "ProcessorStep",
    "ProcessorStepRegistry",
-    "RenameProcessor",
-    "RewardProcessor",
-    "RobotProcessor",
+    "RenameProcessorStep",
+    "RewardClassifierProcessorStep",
+    "RewardProcessorStep",
+    "DataProcessorPipeline",
+    "TimeLimitProcessorStep",
+    "AddBatchDimensionProcessorStep",
+    "RobotProcessorPipeline",
+    "TokenizerProcessorStep",
+    "Torch2NumpyActionProcessorStep",
+    "transition_to_batch",
+    "transition_to_dataset_frame",
    "TransitionKey",
-    "TruncatedProcessor",
-    "VanillaObservationProcessor",
+    "TruncatedProcessorStep",
+    "UnnormalizerProcessorStep",
+    "VanillaObservationProcessorStep",
 ]
@@ -0,0 +1,159 @@
+# 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 torch import Tensor
+
+from lerobot.configs.types import PolicyFeature
+from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
+
+from .core import EnvTransition
+from .pipeline import (
+    ActionProcessorStep,
+    ComplementaryDataProcessorStep,
+    ObservationProcessorStep,
+    ProcessorStep,
+    ProcessorStepRegistry,
+)
+
+
+@dataclass
+@ProcessorStepRegistry.register(name="to_batch_processor_action")
+class AddBatchDimensionActionStep(ActionProcessorStep):
+    """Process action component in-place, adding batch dimension if needed."""
+
+    def action(self, action):
+        if not isinstance(action, Tensor) or action.dim() != 1:
+            return action
+
+        return action.unsqueeze(0)
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
+
+
+@dataclass
+@ProcessorStepRegistry.register(name="to_batch_processor_observation")
+class AddBatchDimensionObservationStep(ObservationProcessorStep):
+    """Process observation component in-place, adding batch dimensions where needed."""
+
+    def observation(self, observation):
+        # Process state observations - add batch dim if 1D
+        for state_key in [OBS_STATE, OBS_ENV_STATE]:
+            if state_key in observation:
+                state_value = observation[state_key]
+                if isinstance(state_value, Tensor) and state_value.dim() == 1:
+                    observation[state_key] = state_value.unsqueeze(0)
+
+        # Process single image observation - add batch dim if 3D
+        if OBS_IMAGE in observation:
+            image_value = observation[OBS_IMAGE]
+            if isinstance(image_value, Tensor) and image_value.dim() == 3:
+                observation[OBS_IMAGE] = image_value.unsqueeze(0)
+
+        # Process multiple image observations - add batch dim if 3D
+        for key, value in observation.items():
+            if key.startswith(f"{OBS_IMAGES}.") and isinstance(value, Tensor) and value.dim() == 3:
+                observation[key] = value.unsqueeze(0)
+        return observation
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
+
+
+@dataclass
+@ProcessorStepRegistry.register(name="to_batch_processor_complementary_data")
+class AddBatchDimensionComplementaryDataStep(ComplementaryDataProcessorStep):
+    """Process complementary data in-place, handling task field batching."""
+
+    def complementary_data(self, complementary_data):
+        # Process task field - wrap string in list to add batch dimension
+        if "task" in complementary_data:
+            task_value = complementary_data["task"]
+            if isinstance(task_value, str):
+                complementary_data["task"] = [task_value]
+
+        # Process index field - add batch dim if 0D
+        if "index" in complementary_data:
+            index_value = complementary_data["index"]
+            if isinstance(index_value, Tensor) and index_value.dim() == 0:
+                complementary_data["index"] = index_value.unsqueeze(0)
+
+        # Process task_index field - add batch dim if 0D
+        if "task_index" in complementary_data:
+            task_index_value = complementary_data["task_index"]
+            if isinstance(task_index_value, Tensor) and task_index_value.dim() == 0:
+                complementary_data["task_index"] = task_index_value.unsqueeze(0)
+        return complementary_data
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
+
+
+@dataclass
+@ProcessorStepRegistry.register(name="to_batch_processor")
+class AddBatchDimensionProcessorStep(ProcessorStep):
+    """Processor that adds batch dimensions to observations and actions when needed.
+
+    This processor ensures that observations and actions have proper batch dimensions for model processing:
+
+    - For state observations (observation.state, observation.environment_state):
+      Adds batch dimension (unsqueeze at dim=0) if tensor is 1-dimensional
+
+    - For image observations (observation.image, observation.images.*):
+      Adds batch dimension (unsqueeze at dim=0) if tensor is 3-dimensional (H, W, C)
+
+    - For actions:
+      Adds batch dimension (unsqueeze at dim=0) if tensor is 1-dimensional
+
+    - For task field in complementary data:
+      Wraps string task in a list to add batch dimension
+      (task must be a string or list of strings)
+
+    This is useful when processing single transitions that need to be batched for
+    model inference or when converting from unbatched environment outputs to
+    batched model inputs.
+
+    The processor only modifies tensors that need batching and leaves already
+    batched tensors unchanged.
+
+    Example:
+        ```python
+        # State: (7,) -> (1, 7)
+        # Image: (224, 224, 3) -> (1, 224, 224, 3)
+        # Action: (4,) -> (1, 4)
+        # Task: "pick_cube" -> ["pick_cube"]
+        # Already batched: (1, 7) -> (1, 7) [unchanged]
+        ```
+    """
+
+    to_batch_action_processor: AddBatchDimensionActionStep = field(
+        default_factory=AddBatchDimensionActionStep
+    )
+    to_batch_observation_processor: AddBatchDimensionObservationStep = field(
+        default_factory=AddBatchDimensionObservationStep
+    )
+    to_batch_complementary_data_processor: AddBatchDimensionComplementaryDataStep = field(
+        default_factory=AddBatchDimensionComplementaryDataStep
+    )
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        transition = self.to_batch_action_processor(transition)
+        transition = self.to_batch_observation_processor(transition)
+        transition = self.to_batch_complementary_data_processor(transition)
+        return transition
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        # NOTE: We ignore the batch dimension when transforming features
+        return features
@@ -0,0 +1,481 @@
+# !/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 __future__ import annotations
+
+from collections.abc import Sequence
+from copy import deepcopy
+from functools import singledispatch
+from typing import Any
+
+import numpy as np
+import torch
+from scipy.spatial.transform import Rotation
+
+from lerobot.constants import ACTION, DONE, OBS_IMAGES, OBS_STATE, REWARD, TRUNCATED
+
+from .core import EnvTransition, TransitionKey
+
+
+@singledispatch
+def to_tensor(
+    value: Any,
+    *,
+    dtype: torch.dtype | None = torch.float32,
+    device: torch.device | str | None = None,
+) -> torch.Tensor:
+    """
+    Convert various data types to PyTorch tensors with configurable options.
+
+    This is a unified tensor conversion function using single dispatch to handle
+    different input types appropriately.
+
+    Args:
+        value: Input value to convert (tensor, array, scalar, sequence, etc.)
+        dtype: Target tensor dtype. If None, preserves original dtype.
+        device: Target device for the tensor.
+
+    Returns:
+        PyTorch tensor.
+
+    Raises:
+        TypeError: If the input type is not supported.
+    """
+    raise TypeError(f"Unsupported type for tensor conversion: {type(value)}")
+
+
+@to_tensor.register(torch.Tensor)
+def _(value: torch.Tensor, *, dtype=torch.float32, device=None, **kwargs) -> torch.Tensor:
+    """Handle existing PyTorch tensors."""
+    if dtype is not None:
+        value = value.to(dtype=dtype)
+    if device is not None:
+        value = value.to(device=device)
+    return value
+
+
+@to_tensor.register(np.ndarray)
+def _(
+    value: np.ndarray,
+    *,
+    dtype=torch.float32,
+    device=None,
+    **kwargs,
+) -> torch.Tensor:
+    """Handle numpy arrays."""
+    # Check for numpy scalars (0-dimensional arrays) and treat them as scalars
+    if value.ndim == 0:
+        # Numpy scalars should be converted to 0-dimensional tensors
+        scalar_value = value.item()
+        return torch.tensor(scalar_value, dtype=dtype, device=device)
+
+    # Create tensor from numpy array (torch.from_numpy handles contiguity automatically)
+    tensor = torch.from_numpy(value)
+
+    # Apply dtype conversion if specified
+    if dtype is not None:
+        tensor = tensor.to(dtype=dtype)
+    if device is not None:
+        tensor = tensor.to(device=device)
+
+    return tensor
+
+
+@to_tensor.register(int)
+@to_tensor.register(float)
+@to_tensor.register(np.integer)
+@to_tensor.register(np.floating)
+def _(value, *, dtype=torch.float32, device=None, **kwargs) -> torch.Tensor:
+    """Handle scalar values including numpy scalars."""
+    return torch.tensor(value, dtype=dtype, device=device)
+
+
+@to_tensor.register(list)
+@to_tensor.register(tuple)
+def _(value: Sequence, *, dtype=torch.float32, device=None, **kwargs) -> torch.Tensor:
+    """Handle sequences (lists, tuples)."""
+    return torch.tensor(value, dtype=dtype, device=device)
+
+
+@to_tensor.register(dict)
+def _(value: dict, *, device=None, **kwargs) -> dict:
+    """Handle dictionaries by recursively converting values to tensors."""
+    if not value:
+        return {}
+
+    result = {}
+    for key, sub_value in value.items():
+        if sub_value is None:
+            continue
+
+        if isinstance(sub_value, dict):
+            # Recursively process nested dictionaries
+            result[key] = to_tensor(
+                sub_value,
+                device=device,
+                **kwargs,
+            )
+            continue
+
+        # Convert individual values to tensors
+        result[key] = to_tensor(
+            sub_value,
+            device=device,
+            **kwargs,
+        )
+    return result
+
+
+def _from_tensor(x: torch.Tensor | Any) -> np.ndarray | float | int | Any:
+    """Convert tensor to numpy/scalar if needed."""
+    if isinstance(x, torch.Tensor):
+        return x.item() if x.numel() == 1 else x.detach().cpu().numpy()
+    return x
+
+
+def _is_image(arr: Any) -> bool:
+    return isinstance(arr, np.ndarray) and arr.dtype == np.uint8 and arr.ndim == 3
+
+
+def _split_obs_to_state_and_images(obs: dict[str, Any]) -> tuple[dict[str, Any], dict[str, Any]]:
+    state, images = {}, {}
+    for k, v in obs.items():
+        if "image" in k.lower() or _is_image(v):
+            images[k] = v
+        else:
+            state[k] = v
+    return state, images
+
+
+# ============================================================================
+# Private Helper Functions (Common Logic)
+# ============================================================================
+
+
+def _extract_complementary_data(batch: dict[str, Any]) -> dict[str, Any]:
+    """Extract complementary data (pad flags, task, index, task_index)."""
+    pad_keys = {k: v for k, v in batch.items() if "_is_pad" in k}
+    task_key = {"task": batch["task"]} if "task" in batch else {}
+    index_key = {"index": batch["index"]} if "index" in batch else {}
+    task_index_key = {"task_index": batch["task_index"]} if "task_index" in batch else {}
+
+    return {**pad_keys, **task_key, **index_key, **task_index_key}
+
+
+def _merge_transitions(base: EnvTransition, other: EnvTransition) -> EnvTransition:
+    """Merge two transitions, with other taking precedence."""
+    out = deepcopy(base)
+
+    for key in (
+        TransitionKey.OBSERVATION,
+        TransitionKey.ACTION,
+        TransitionKey.INFO,
+        TransitionKey.COMPLEMENTARY_DATA,
+    ):
+        if other.get(key):
+            out.setdefault(key, {}).update(deepcopy(other[key]))
+
+    for k in (TransitionKey.REWARD, TransitionKey.DONE, TransitionKey.TRUNCATED):
+        if k in other:
+            out[k] = other[k]
+    return out
+
+
+# ============================================================================
+# Core Conversion Functions
+# ============================================================================
+
+
+def create_transition(
+    observation: dict[str, Any] | None = None,
+    action: dict[str, Any] | None = None,
+    reward: float = 0.0,
+    done: bool = False,
+    truncated: bool = False,
+    info: dict[str, Any] | None = None,
+    complementary_data: dict[str, Any] | None = None,
+) -> EnvTransition:
+    """Create an EnvTransition with sensible defaults.
+
+    Args:
+        observation: Observation dictionary.
+        action: Action dictionary.
+        reward: Scalar reward value.
+        done: Episode termination flag.
+        truncated: Episode truncation flag.
+        info: Additional info dictionary.
+        complementary_data: Complementary data dictionary.
+
+    Returns:
+        Complete EnvTransition dictionary.
+    """
+    return {
+        TransitionKey.OBSERVATION: observation,
+        TransitionKey.ACTION: action,
+        TransitionKey.REWARD: reward,
+        TransitionKey.DONE: done,
+        TransitionKey.TRUNCATED: truncated,
+        TransitionKey.INFO: info if info is not None else {},
+        TransitionKey.COMPLEMENTARY_DATA: complementary_data if complementary_data is not None else {},
+    }
+
+
+def action_to_transition(action: dict[str, Any]) -> EnvTransition:  # action_to_transition
+    """
+    Convert a raw teleop action dict into an EnvTransition under the ACTION TransitionKey.
+    """
+    act_dict: dict[str, Any] = {}
+    for k, v in action.items():
+        # Check if the value is a type that should not be converted to a tensor.
+        if isinstance(v, (Rotation, dict)):
+            act_dict[f"{ACTION}.{k}"] = v
+            continue
+
+        arr = np.array(v) if np.isscalar(v) else v
+        act_dict[f"{ACTION}.{k}"] = to_tensor(arr)
+
+    return create_transition(observation={}, action=act_dict)
+
+
+# TODO(Adil, Pepijn): Overtime we can maybe add these converters to pipeline.py itself
+def observation_to_transition(observation: dict[str, Any]) -> EnvTransition:
+    """
+    Convert a raw robot observation dict into an EnvTransition under the OBSERVATION TransitionKey.
+    """
+    state, images = _split_obs_to_state_and_images(observation)
+
+    obs_dict: dict[str, Any] = {}
+    for k, v in state.items():
+        arr = np.array(v) if np.isscalar(v) else v
+        obs_dict[f"{OBS_STATE}.{k}"] = to_tensor(arr)
+
+    for cam, img in images.items():
+        obs_dict[f"{OBS_IMAGES}.{cam}"] = img
+
+    return create_transition(observation=obs_dict, action={})
+
+
+def transition_to_robot_action(transition: EnvTransition) -> dict[str, Any]:
+    """
+    Converts a EnvTransition under the ACTION TransitionKey to a dict with keys ending in '.pos' for raw robot actions.
+    """
+    out: dict[str, Any] = {}
+    action_dict = transition.get(TransitionKey.ACTION) or {}
+
+    if action_dict is None:
+        return out
+
+    for k, v in action_dict.items():
+        if isinstance(k, str) and k.startswith(f"{ACTION}.") and k.endswith((".pos", ".vel")):
+            out_key = k[len(f"{ACTION}.") :]  # Strip the 'action.' prefix.
+            out[out_key] = float(v)
+
+    return out
+
+
+def merge_transitions(transitions: Sequence[EnvTransition] | EnvTransition) -> EnvTransition:
+    """Merge multiple transitions or return single transition.
+
+    Args:
+        transitions: Either a single transition or iterable of transitions.
+
+    Returns:
+        Merged EnvTransition.
+    """
+
+    if not isinstance(transitions, Sequence):  # Single transition
+        return transitions
+
+    items = list(transitions)
+    if not items:
+        raise ValueError("merge_transitions() requires a non-empty sequence of transitions")
+
+    result = items[0]
+    for t in items[1:]:
+        result = _merge_transitions(result, t)
+    return result
+
+
+def transition_to_dataset_frame(
+    transitions_or_transition: EnvTransition | Sequence[EnvTransition], features: dict[str, dict]
+) -> dict[str, Any]:
+    """Convert a single EnvTransition or an iterable of them into a flat, dataset-friendly dictionary for training or evaluation.
+
+    Processes transitions according to the provided feature specification and returns
+    data in the format expected by machine learning models and datasets.
+
+    Args:
+        transitions_or_transition: Either a single EnvTransition dict or an iterable of them
+            (which will be merged using merge_transitions).
+        features: Feature specification dictionary with the following structure:
+            - 'action': dict with 'names': list of action feature names
+            - 'observation.state': dict with 'names': list of state feature names
+            - keys starting with 'observation.images.' are passed through as-is
+
+    Returns:
+        Flat dictionary containing:
+        - numpy arrays for "observation.state" and "action" (vectorized from feature names)
+        - any image tensors defined in features (passed through unchanged)
+        - next.{reward,done,truncated} scalar values
+        - info dict
+        - *_is_pad flags and task from complementary_data
+    """
+    action_names = features.get(ACTION, {}).get("names", [])
+    obs_state_names = features.get(OBS_STATE, {}).get("names", [])
+    image_keys = [k for k in features if k.startswith(OBS_IMAGES)]
+
+    tr = merge_transitions(transitions_or_transition)
+    obs = tr.get(TransitionKey.OBSERVATION, {}) or {}
+    act = tr.get(TransitionKey.ACTION, {}) or {}
+    batch: dict[str, Any] = {}
+
+    # Images passthrough
+    for k in image_keys:
+        if k in obs:
+            batch[k] = obs[k]
+
+    # Observation.state vector
+    if obs_state_names:
+        vals = [_from_tensor(obs.get(f"{OBS_STATE}.{n}", 0.0)) for n in obs_state_names]
+        batch[OBS_STATE] = np.asarray(vals, dtype=np.float32)
+
+    # Action vector
+    if action_names:
+        vals = [_from_tensor(act.get(f"{ACTION}.{n}", 0.0)) for n in action_names]
+        batch[ACTION] = np.asarray(vals, dtype=np.float32)
+
+    # Add transition metadata
+    if tr.get(TransitionKey.REWARD) is not None:
+        reward_val = _from_tensor(tr[TransitionKey.REWARD])
+        # Check if features expect array format, otherwise keep as scalar
+        if REWARD in features and features[REWARD].get("shape") == (1,):
+            batch[REWARD] = np.array([reward_val], dtype=np.float32)
+        else:
+            batch[REWARD] = reward_val
+
+    if tr.get(TransitionKey.DONE) is not None:
+        done_val = _from_tensor(tr[TransitionKey.DONE])
+        if DONE in features and features[DONE].get("shape") == (1,):
+            batch[DONE] = np.array([done_val], dtype=bool)
+        else:
+            batch[DONE] = done_val
+
+    if tr.get(TransitionKey.TRUNCATED) is not None:
+        truncated_val = _from_tensor(tr[TransitionKey.TRUNCATED])
+        if TRUNCATED in features and features[TRUNCATED].get("shape") == (1,):
+            batch[TRUNCATED] = np.array([truncated_val], dtype=bool)
+        else:
+            batch[TRUNCATED] = truncated_val
+
+    # Complementary data flags and task
+    comp = tr.get(TransitionKey.COMPLEMENTARY_DATA) or {}
+    if comp:
+        # pad flags
+        for k, v in comp.items():
+            if k.endswith("_is_pad"):
+                batch[k] = v
+        # task label
+        if comp.get("task") is not None:
+            batch["task"] = comp["task"]
+
+    return batch
+
+
+def batch_to_transition(batch: dict[str, Any]) -> EnvTransition:
+    """Convert a batch dict coming from LeRobot replay/dataset code into an EnvTransition dictionary.
+
+    The function maps well known keys to the EnvTransition structure. Missing keys are
+    filled with sane defaults (None or 0.0/False).
+
+    Keys recognised (case-sensitive):
+    * "observation.*" (keys starting with "observation." are grouped into observation dict)
+    * "action"
+    * "next.reward"
+    * "next.done"
+    * "next.truncated"
+    * "info"
+    * "_is_pad" patterns (padding flags)
+    * "task", "index", "task_index" (complementary data)
+
+    Additional keys are ignored so that existing dataloaders can carry extra
+    metadata without breaking the processor.
+
+    Args:
+        batch: Batch dictionary from datasets or dataloaders containing the above keys.
+
+    Returns:
+        EnvTransition dictionary with properly structured transition data.
+    """
+
+    # Validate input type
+    if not isinstance(batch, dict):
+        raise ValueError(f"EnvTransition must be a dictionary. Got {type(batch).__name__}")
+
+    # Extract observation keys
+    observation_keys = {k: v for k, v in batch.items() if k.startswith("observation.")}
+    complementary_data = _extract_complementary_data(batch)
+
+    return create_transition(
+        observation=observation_keys if observation_keys else None,
+        action=batch.get("action"),
+        reward=batch.get("next.reward", 0.0),
+        done=batch.get("next.done", False),
+        truncated=batch.get("next.truncated", False),
+        info=batch.get("info", {}),
+        complementary_data=complementary_data if complementary_data else None,
+    )
+
+
+def transition_to_batch(transition: EnvTransition) -> dict[str, Any]:
+    """Inverse of batch_to_transition. Returns a dict with canonical field names used throughout LeRobot.
+
+    Converts an EnvTransition back to the batch format expected by datasets, dataloaders,
+    and other LeRobot components.
+
+    Output format:
+    * "action": Action data from transition
+    * "next.reward": Reward value (defaults to 0.0)
+    * "next.done": Done flag (defaults to False)
+    * "next.truncated": Truncated flag (defaults to False)
+    * "info": Info dictionary (defaults to {})
+    * Flattened observation keys (e.g., "observation.state", "observation.images.cam1")
+    * Complementary data fields ("task", "index", "task_index", padding flags)
+
+    Args:
+        transition: EnvTransition dictionary to convert.
+
+    Returns:
+        Batch dictionary with canonical LeRobot field names suitable for dataloaders.
+    """
+    batch = {
+        "action": transition.get(TransitionKey.ACTION),
+        "next.reward": transition.get(TransitionKey.REWARD, 0.0),
+        "next.done": transition.get(TransitionKey.DONE, False),
+        "next.truncated": transition.get(TransitionKey.TRUNCATED, False),
+        "info": transition.get(TransitionKey.INFO, {}),
+    }
+
+    # Add complementary data
+    comp_data = transition.get(TransitionKey.COMPLEMENTARY_DATA, {})
+    if comp_data:
+        batch.update(comp_data)
+
+    # Flatten observation dict
+    observation = transition.get(TransitionKey.OBSERVATION)
+    if isinstance(observation, dict):
+        batch.update(observation)
+
+    return batch
@@ -0,0 +1,49 @@
+#!/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 __future__ import annotations
+
+from enum import Enum
+from typing import Any, TypedDict
+
+import torch
+
+
+class TransitionKey(str, Enum):
+    """Keys for accessing EnvTransition dictionary components."""
+
+    # TODO(Steven): Use consts
+    OBSERVATION = "observation"
+    ACTION = "action"
+    REWARD = "reward"
+    DONE = "done"
+    TRUNCATED = "truncated"
+    INFO = "info"
+    COMPLEMENTARY_DATA = "complementary_data"
+
+
+EnvTransition = TypedDict(
+    "EnvTransition",
+    {
+        TransitionKey.OBSERVATION.value: dict[str, Any] | None,
+        TransitionKey.ACTION.value: Any | torch.Tensor | None,
+        TransitionKey.REWARD.value: float | torch.Tensor | None,
+        TransitionKey.DONE.value: bool | torch.Tensor | None,
+        TransitionKey.TRUNCATED.value: bool | torch.Tensor | None,
+        TransitionKey.INFO.value: dict[str, Any] | None,
+        TransitionKey.COMPLEMENTARY_DATA.value: dict[str, Any] | None,
+    },
+)
@@ -0,0 +1,145 @@
+# !/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
+
+from torch import Tensor
+
+from lerobot.configs.types import FeatureType, PolicyFeature
+from lerobot.constants import ACTION
+
+from .pipeline import ActionProcessorStep, ProcessorStepRegistry
+
+
+@ProcessorStepRegistry.register("map_tensor_to_delta_action_dict")
+@dataclass
+class MapTensorToDeltaActionDictStep(ActionProcessorStep):
+    """
+    Map a tensor to a delta action dictionary.
+    """
+
+    use_gripper: bool = True
+
+    def action(self, action: Tensor) -> dict:
+        if action.dim() > 1:
+            action = action.squeeze(0)
+
+        # TODO (maractingi): add rotation
+        delta_action = {
+            f"{ACTION}.delta_x": action[0],
+            f"{ACTION}.delta_y": action[1],
+            f"{ACTION}.delta_z": action[2],
+        }
+        if self.use_gripper:
+            delta_action[f"{ACTION}.gripper"] = action[3]
+        return delta_action
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        features[f"{ACTION}.delta_x"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.delta_y"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.delta_z"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        if self.use_gripper:
+            features[f"{ACTION}.gripper"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        return features
+
+
+@ProcessorStepRegistry.register("map_delta_action_to_robot_action")
+@dataclass
+class MapDeltaActionToRobotActionStep(ActionProcessorStep):
+    """
+    Map delta actions from teleoperators (gamepad, keyboard) to robot target actions
+    for use with inverse kinematics processors.
+
+    Expected input ACTION keys:
+    {
+        "action.delta_x": float,
+        "action.delta_y": float,
+        "action.delta_z": float,
+        "action.gripper": float (optional),
+    }
+
+    Output ACTION keys:
+    {
+        "action.enabled": bool,
+        "action.target_x": float,
+        "action.target_y": float,
+        "action.target_z": float,
+        "action.target_wx": float,
+        "action.target_wy": float,
+        "action.target_wz": float,
+        "action.gripper": float,
+    }
+    """
+
+    # Scale factors for delta movements
+    position_scale: float = 1.0
+    rotation_scale: float = 0.0  # No rotation deltas for gamepad/keyboard
+    noise_threshold: float = 1e-3  # 1 mm threshold to filter out noise
+
+    def action(self, action: dict) -> dict:
+        # NOTE (maractingi): Action can be a dict from the teleop_devices or a tensor from the policy
+        # TODO (maractingi): changing this target_xyz naming convention from the teleop_devices
+        delta_x = action.pop(f"{ACTION}.delta_x", 0.0)
+        delta_y = action.pop(f"{ACTION}.delta_y", 0.0)
+        delta_z = action.pop(f"{ACTION}.delta_z", 0.0)
+        gripper = action.pop(f"{ACTION}.gripper", 1.0)  # Default to "stay" (1.0)
+
+        # Determine if the teleoperator is actively providing input
+        # Consider enabled if any significant movement delta is detected
+        position_magnitude = (delta_x**2 + delta_y**2 + delta_z**2) ** 0.5  # Use Euclidean norm for position
+        enabled = position_magnitude > self.noise_threshold  # Small threshold to avoid noise
+
+        # Scale the deltas appropriately
+        scaled_delta_x = delta_x * self.position_scale
+        scaled_delta_y = delta_y * self.position_scale
+        scaled_delta_z = delta_z * self.position_scale
+
+        # For gamepad/keyboard, we don't have rotation input, so set to 0
+        # These could be extended in the future for more sophisticated teleoperators
+        target_wx = 0.0
+        target_wy = 0.0
+        target_wz = 0.0
+
+        # Update action with robot target format
+        action = {
+            f"{ACTION}.enabled": enabled,
+            f"{ACTION}.target_x": scaled_delta_x,
+            f"{ACTION}.target_y": scaled_delta_y,
+            f"{ACTION}.target_z": scaled_delta_z,
+            f"{ACTION}.target_wx": target_wx,
+            f"{ACTION}.target_wy": target_wy,
+            f"{ACTION}.target_wz": target_wz,
+            f"{ACTION}.gripper": float(gripper),
+        }
+
+        return action
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        """Transform features to match output format."""
+        features.pop(f"{ACTION}.delta_x", None)
+        features.pop(f"{ACTION}.delta_y", None)
+        features.pop(f"{ACTION}.delta_z", None)
+        features.pop(f"{ACTION}.gripper", None)
+
+        features[f"{ACTION}.enabled"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.target_x"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.target_y"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.target_z"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.target_wx"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.target_wy"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.target_wz"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.gripper"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        return features
@@ -19,64 +19,116 @@ from typing import Any
 import torch

 from lerobot.configs.types import PolicyFeature
-from lerobot.processor.pipeline import EnvTransition, TransitionKey
 from lerobot.utils.utils import get_safe_torch_device

+from .core import EnvTransition, TransitionKey
+from .pipeline import ProcessorStep, ProcessorStepRegistry

+
+@ProcessorStepRegistry.register("device_processor")
@dataclass
-class DeviceProcessor:
-    """Processes transitions by moving tensors to the specified device.
+class DeviceProcessorStep(ProcessorStep):
+    """Processes transitions by moving tensors to the specified device and optionally converting float dtypes.

    This processor ensures that all tensors in the transition are moved to the
-    specified device (CPU or GPU) before they are returned.
+    specified device (CPU or GPU) before they are returned. It can also convert
+    floating-point tensors to a specified dtype while preserving non-float types
+    (int, long, bool, etc.).
    """

-    device: torch.device = "cpu"
+    device: str = "cpu"
+    float_dtype: str | None = None
+
+    DTYPE_MAPPING = {
+        "float16": torch.float16,
+        "float32": torch.float32,
+        "float64": torch.float64,
+        "bfloat16": torch.bfloat16,
+        "half": torch.float16,
+        "float": torch.float32,
+        "double": torch.float64,
+    }

    def __post_init__(self):
-        self.device = get_safe_torch_device(self.device)
+        self.tensor_device: torch.device = get_safe_torch_device(self.device)
+        self.device = self.tensor_device.type  # cuda might have changed to cuda:1
        self.non_blocking = "cuda" in str(self.device)

+        # Validate and convert float_dtype string to torch dtype
+        if self.float_dtype is not None:
+            if self.float_dtype not in self.DTYPE_MAPPING:
+                raise ValueError(
+                    f"Invalid float_dtype '{self.float_dtype}'. Available options: {list(self.DTYPE_MAPPING.keys())}"
+                )
+
+            self._target_float_dtype = self.DTYPE_MAPPING[self.float_dtype]
+        else:
+            self._target_float_dtype = None
+
+    def _process_tensor(self, tensor: torch.Tensor) -> torch.Tensor:
+        """Process a tensor by moving to device and optionally converting float dtype.
+
+        If the tensor is already on a GPU and we're configured for a GPU, it preserves
+        that GPU placement (useful for multi-GPU training with Accelerate).
+        Otherwise, it moves to the configured device.
+        """
+        # Determine target device
+        if tensor.is_cuda and self.tensor_device.type == "cuda":
+            # Both tensor and target are on GPU - preserve tensor's GPU placement
+            # This handles multi-GPU scenarios where Accelerate has already placed
+            # tensors on the correct GPU for each process
+            target_device = tensor.device
+        else:
+            # Either tensor is on CPU, or we're configured for CPU
+            # In both cases, use the configured device
+            target_device = self.tensor_device
+
+        # Only move if necessary
+        if tensor.device != target_device:
+            tensor = tensor.to(target_device, non_blocking=self.non_blocking)
+
+        # Convert float dtype if specified and tensor is floating point
+        if self._target_float_dtype is not None and tensor.is_floating_point():
+            tensor = tensor.to(dtype=self._target_float_dtype)
+
+        return tensor
+
    def __call__(self, transition: EnvTransition) -> EnvTransition:
-        # Create a copy of the transition
        new_transition = transition.copy()

-        # Process observation tensors
-        observation = transition.get(TransitionKey.OBSERVATION)
-        if observation is not None:
-            new_observation = {
-                k: v.to(self.device, non_blocking=self.non_blocking) if isinstance(v, torch.Tensor) else v
-                for k, v in observation.items()
-            }
-            new_transition[TransitionKey.OBSERVATION] = new_observation
+        simple_tensor_keys = [
+            TransitionKey.ACTION,
+            TransitionKey.REWARD,
+            TransitionKey.DONE,
+            TransitionKey.TRUNCATED,
+        ]

-        # Process action tensor
-        action = transition.get(TransitionKey.ACTION)
-        if action is not None and isinstance(action, torch.Tensor):
-            new_transition[TransitionKey.ACTION] = action.to(self.device, non_blocking=self.non_blocking)
+        dict_tensor_keys = [
+            TransitionKey.OBSERVATION,
+            TransitionKey.COMPLEMENTARY_DATA,
+        ]

-        # Process reward tensor
-        reward = transition.get(TransitionKey.REWARD)
-        if reward is not None and isinstance(reward, torch.Tensor):
-            new_transition[TransitionKey.REWARD] = reward.to(self.device, non_blocking=self.non_blocking)
+        # Process simple tensors
+        for key in simple_tensor_keys:
+            value = transition.get(key)
+            if isinstance(value, torch.Tensor):
+                new_transition[key] = self._process_tensor(value)

-        # Process done tensor
-        done = transition.get(TransitionKey.DONE)
-        if done is not None and isinstance(done, torch.Tensor):
-            new_transition[TransitionKey.DONE] = done.to(self.device, non_blocking=self.non_blocking)
-
-        # Process truncated tensor
-        truncated = transition.get(TransitionKey.TRUNCATED)
-        if truncated is not None and isinstance(truncated, torch.Tensor):
-            new_transition[TransitionKey.TRUNCATED] = truncated.to(
-                self.device, non_blocking=self.non_blocking
-            )
+        # Process dictionary-like tensors
+        for key in dict_tensor_keys:
+            data_dict = transition.get(key)
+            if data_dict is not None:
+                new_data_dict = {
+                    k: self._process_tensor(v) if isinstance(v, torch.Tensor) else v
+                    for k, v in data_dict.items()
+                }
+                new_transition[key] = new_data_dict

        return new_transition

    def get_config(self) -> dict[str, Any]:
        """Return configuration for serialization."""
-        return {"device": self.device}
+        return {"device": self.device, "float_dtype": self.float_dtype}

-    def feature_contract(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
        return features
@@ -0,0 +1,72 @@
+#! /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,
+
+from dataclasses import dataclass
+
+import numpy as np
+import torch
+
+from lerobot.configs.types import PolicyFeature
+
+from .converters import to_tensor
+from .pipeline import ActionProcessorStep, ProcessorStepRegistry
+
+
+@ProcessorStepRegistry.register("torch2numpy_action_processor")
+@dataclass
+class Torch2NumpyActionProcessorStep(ActionProcessorStep):
+    """Convert PyTorch tensor actions to NumPy arrays."""
+
+    squeeze_batch_dim: bool = True
+
+    def action(self, action: torch.Tensor) -> np.ndarray:
+        if not isinstance(action, torch.Tensor):
+            raise TypeError(
+                f"Expected torch.Tensor or None, got {type(action).__name__}. "
+                "Use appropriate processor for non-tensor actions."
+            )
+
+        numpy_action = action.detach().cpu().numpy()
+
+        # Remove batch dimensions but preserve action dimensions
+        # Only squeeze if there's a batch dimension (first dim == 1)
+        if (
+            self.squeeze_batch_dim
+            and numpy_action.shape
+            and len(numpy_action.shape) > 1
+            and numpy_action.shape[0] == 1
+        ):
+            numpy_action = numpy_action.squeeze(0)
+
+        return numpy_action
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
+
+
+@ProcessorStepRegistry.register("numpy2torch_action_processor")
+@dataclass
+class Numpy2TorchActionProcessorStep(ActionProcessorStep):
+    """Convert NumPy array action to PyTorch tensor."""
+
+    def action(self, action: np.ndarray) -> torch.Tensor:
+        if not isinstance(action, np.ndarray):
+            raise TypeError(
+                f"Expected np.ndarray or None, got {type(action).__name__}. "
+                "Use appropriate processor for non-tensor actions."
+            )
+        torch_action = to_tensor(action, dtype=None)  # Preserve original dtype
+        return torch_action
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
@@ -0,0 +1,332 @@
+import math
+import time
+from dataclasses import dataclass
+from typing import Any
+
+import numpy as np
+import torch
+import torchvision.transforms.functional as F  # noqa: N812
+
+from lerobot.configs.types import PolicyFeature
+from lerobot.constants import ACTION
+from lerobot.teleoperators.teleoperator import Teleoperator
+from lerobot.teleoperators.utils import TeleopEvents
+
+from .core import EnvTransition, TransitionKey
+from .pipeline import (
+    ComplementaryDataProcessorStep,
+    InfoProcessorStep,
+    ObservationProcessorStep,
+    ProcessorStep,
+    ProcessorStepRegistry,
+    TruncatedProcessorStep,
+)
+
+GRIPPER_KEY = "gripper"
+DISCRETE_PENALTY_KEY = "discrete_penalty"
+TELEOP_ACTION_KEY = "teleop_action"
+
+
+@ProcessorStepRegistry.register("add_teleop_action_as_complementary_data")
+@dataclass
+class AddTeleopActionAsComplimentaryDataStep(ComplementaryDataProcessorStep):
+    """Add teleoperator action to transition complementary data."""
+
+    teleop_device: Teleoperator
+
+    def complementary_data(self, complementary_data: dict) -> dict:
+        new_complementary_data = dict(complementary_data)
+        new_complementary_data[TELEOP_ACTION_KEY] = self.teleop_device.get_action()
+        return new_complementary_data
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
+
+
+@ProcessorStepRegistry.register("add_teleop_action_as_info")
+@dataclass
+class AddTeleopEventsAsInfoStep(InfoProcessorStep):
+    """Add teleoperator control events to transition info."""
+
+    teleop_device: Teleoperator
+
+    def info(self, info: dict) -> dict:
+        new_info = dict(info)
+        teleop_events = getattr(self.teleop_device, "get_teleop_events", lambda: {})()
+        new_info.update(teleop_events)
+        return new_info
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
+
+
+@ProcessorStepRegistry.register("image_crop_resize_processor")
+@dataclass
+class ImageCropResizeProcessorStep(ObservationProcessorStep):
+    """Crop and resize image observations."""
+
+    crop_params_dict: dict[str, tuple[int, int, int, int]] | None = None
+    resize_size: tuple[int, int] | None = None
+
+    def observation(self, observation: dict) -> dict:
+        if self.resize_size is None and not self.crop_params_dict:
+            return observation
+
+        new_observation = dict(observation)
+
+        # Process all image keys in the observation
+        for key in observation:
+            if "image" not in key:
+                continue
+
+            image = observation[key]
+            device = image.device
+            # NOTE (maractingi): No mps kernel for crop and resize, so we need to move to cpu
+            if device.type == "mps":
+                image = image.cpu()
+            # Crop if crop params are provided for this key
+            if self.crop_params_dict is not None and key in self.crop_params_dict:
+                crop_params = self.crop_params_dict[key]
+                image = F.crop(image, *crop_params)
+            if self.resize_size is not None:
+                image = F.resize(image, self.resize_size)
+                image = image.clamp(0.0, 1.0)
+            new_observation[key] = image.to(device)
+
+        return new_observation
+
+    def get_config(self) -> dict[str, Any]:
+        return {
+            "crop_params_dict": self.crop_params_dict,
+            "resize_size": self.resize_size,
+        }
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        if self.resize_size is None:
+            return features
+        for key in features:
+            if "image" in key:
+                features[key] = PolicyFeature(type=features[key].type, shape=self.resize_size)
+        return features
+
+
+@dataclass
+@ProcessorStepRegistry.register("time_limit_processor")
+class TimeLimitProcessorStep(TruncatedProcessorStep):
+    """Track episode steps and enforce time limits."""
+
+    max_episode_steps: int
+    current_step: int = 0
+
+    def truncated(self, truncated):
+        self.current_step += 1
+        if self.current_step >= self.max_episode_steps:
+            truncated = True
+        # TODO (steven): missing an else truncated = False?
+        return truncated
+
+    def get_config(self) -> dict[str, Any]:
+        return {
+            "max_episode_steps": self.max_episode_steps,
+        }
+
+    def reset(self) -> None:
+        self.current_step = 0
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
+
+
+@dataclass
+@ProcessorStepRegistry.register("gripper_penalty_processor")
+class GripperPenaltyProcessorStep(ComplementaryDataProcessorStep):
+    """Apply penalty for inappropriate gripper usage."""
+
+    penalty: float = -0.01
+    max_gripper_pos: float = 30.0
+
+    def complementary_data(self, complementary_data):
+        """Calculate gripper penalty and add to complementary data."""
+        action = self.transition.get(TransitionKey.ACTION)
+
+        current_gripper_pos = complementary_data.get("raw_joint_positions", None).get(GRIPPER_KEY, None)
+        if current_gripper_pos is None:
+            return complementary_data
+
+        gripper_action = action[f"{ACTION}.{GRIPPER_KEY}.pos"]
+        gripper_action_normalized = gripper_action / self.max_gripper_pos
+
+        # Normalize gripper state and action
+        gripper_state_normalized = current_gripper_pos / self.max_gripper_pos
+
+        # Calculate penalty boolean as in original
+        gripper_penalty_bool = (gripper_state_normalized < 0.5 and gripper_action_normalized > 0.5) or (
+            gripper_state_normalized > 0.75 and gripper_action_normalized < 0.5
+        )
+
+        gripper_penalty = self.penalty * int(gripper_penalty_bool)
+
+        # Create new complementary data with penalty info
+        new_complementary_data = dict(complementary_data)
+        new_complementary_data[DISCRETE_PENALTY_KEY] = gripper_penalty
+
+        return new_complementary_data
+
+    def get_config(self) -> dict[str, Any]:
+        return {
+            "penalty": self.penalty,
+            "max_gripper_pos": self.max_gripper_pos,
+        }
+
+    def reset(self) -> None:
+        """Reset the processor state."""
+        self.last_gripper_state = None
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
+
+
+@dataclass
+@ProcessorStepRegistry.register("intervention_action_processor")
+class InterventionActionProcessorStep(ProcessorStep):
+    """Handle human intervention actions and episode termination."""
+
+    use_gripper: bool = False
+    terminate_on_success: bool = True
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        action = transition.get(TransitionKey.ACTION)
+        if action is None:
+            return transition
+
+        # Get intervention signals from complementary data
+        info = transition.get(TransitionKey.INFO, {})
+        complementary_data = transition.get(TransitionKey.COMPLEMENTARY_DATA, {})
+        teleop_action = complementary_data.get(TELEOP_ACTION_KEY, {})
+        is_intervention = info.get(TeleopEvents.IS_INTERVENTION, False)
+        terminate_episode = info.get(TeleopEvents.TERMINATE_EPISODE, False)
+        success = info.get(TeleopEvents.SUCCESS, False)
+        rerecord_episode = info.get(TeleopEvents.RERECORD_EPISODE, False)
+
+        new_transition = transition.copy()
+
+        # Override action if intervention is active
+        if is_intervention and teleop_action is not None:
+            if isinstance(teleop_action, dict):
+                # Convert teleop_action dict to tensor format
+                action_list = [
+                    teleop_action.get(f"{ACTION}.delta_x", 0.0),
+                    teleop_action.get(f"{ACTION}.delta_y", 0.0),
+                    teleop_action.get(f"{ACTION}.delta_z", 0.0),
+                ]
+                if self.use_gripper:
+                    action_list.append(teleop_action.get(GRIPPER_KEY, 1.0))
+            elif isinstance(teleop_action, np.ndarray):
+                action_list = teleop_action.tolist()
+            else:
+                action_list = teleop_action
+
+            teleop_action_tensor = torch.tensor(action_list, dtype=action.dtype, device=action.device)
+            new_transition[TransitionKey.ACTION] = teleop_action_tensor
+
+        # Handle episode termination
+        new_transition[TransitionKey.DONE] = bool(terminate_episode) or (
+            self.terminate_on_success and success
+        )
+        new_transition[TransitionKey.REWARD] = float(success)
+
+        # Update info with intervention metadata
+        info = new_transition.get(TransitionKey.INFO, {})
+        info[TeleopEvents.IS_INTERVENTION] = is_intervention
+        info[TeleopEvents.RERECORD_EPISODE] = rerecord_episode
+        info[TeleopEvents.SUCCESS] = success
+        new_transition[TransitionKey.INFO] = info
+
+        # Update complementary data with teleop action
+        complementary_data = new_transition.get(TransitionKey.COMPLEMENTARY_DATA, {})
+        complementary_data[TELEOP_ACTION_KEY] = new_transition.get(TransitionKey.ACTION)
+        new_transition[TransitionKey.COMPLEMENTARY_DATA] = complementary_data
+
+        return new_transition
+
+    def get_config(self) -> dict[str, Any]:
+        return {
+            "use_gripper": self.use_gripper,
+            "terminate_on_success": self.terminate_on_success,
+        }
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
+
+
+@dataclass
+@ProcessorStepRegistry.register("reward_classifier_processor")
+class RewardClassifierProcessorStep(ProcessorStep):
+    """Apply reward classification to image observations."""
+
+    pretrained_path: str | None = None
+    device: str = "cpu"
+    success_threshold: float = 0.5
+    success_reward: float = 1.0
+    terminate_on_success: bool = True
+
+    reward_classifier: Any = None
+
+    def __post_init__(self):
+        """Initialize the reward classifier after dataclass initialization."""
+        if self.pretrained_path is not None:
+            from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
+
+            self.reward_classifier = Classifier.from_pretrained(self.pretrained_path)
+            self.reward_classifier.to(self.device)
+            self.reward_classifier.eval()
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        new_transition = transition.copy()
+        observation = new_transition.get(TransitionKey.OBSERVATION)
+        if observation is None or self.reward_classifier is None:
+            return new_transition
+
+        # Extract images from observation
+        images = {key: value for key, value in observation.items() if "image" in key}
+
+        if not images:
+            return new_transition
+
+        # Run reward classifier
+        start_time = time.perf_counter()
+        with torch.inference_mode():
+            success = self.reward_classifier.predict_reward(images, threshold=self.success_threshold)
+
+        classifier_frequency = 1 / (time.perf_counter() - start_time)
+
+        # Calculate reward and termination
+        reward = new_transition.get(TransitionKey.REWARD, 0.0)
+        terminated = new_transition.get(TransitionKey.DONE, False)
+
+        if math.isclose(success, 1, abs_tol=1e-2):
+            reward = self.success_reward
+            if self.terminate_on_success:
+                terminated = True
+
+        # Update transition
+        new_transition[TransitionKey.REWARD] = reward
+        new_transition[TransitionKey.DONE] = terminated
+
+        # Update info with classifier frequency
+        info = new_transition.get(TransitionKey.INFO, {})
+        info["reward_classifier_frequency"] = classifier_frequency
+        new_transition[TransitionKey.INFO] = info
+
+        return new_transition
+
+    def get_config(self) -> dict[str, Any]:
+        return {
+            "device": self.device,
+            "success_threshold": self.success_threshold,
+            "success_reward": self.success_reward,
+            "terminate_on_success": self.terminate_on_success,
+        }
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
@@ -0,0 +1,109 @@
+from dataclasses import dataclass
+from typing import Any
+
+import torch
+
+from lerobot.configs.types import PolicyFeature
+from lerobot.constants import OBS_STATE
+from lerobot.processor.pipeline import (
+    ObservationProcessorStep,
+    ProcessorStepRegistry,
+)
+from lerobot.robots import Robot
+
+
+@dataclass
+@ProcessorStepRegistry.register("joint_velocity_processor")
+class JointVelocityProcessorStep(ObservationProcessorStep):
+    """Add joint velocity information to observations."""
+
+    dt: float = 0.1
+
+    last_joint_positions: torch.Tensor | None = None
+
+    def observation(self, observation: dict) -> dict:
+        # Get current joint positions (assuming they're in observation.state)
+        current_positions = observation.get(OBS_STATE)
+        if current_positions is None:
+            # TODO(steven): if we get here, then the transform_features method will not hold
+            raise ValueError(f"{OBS_STATE} is not in observation")
+
+        # Initialize last joint positions if not already set
+        if self.last_joint_positions is None:
+            self.last_joint_positions = current_positions.clone()
+            joint_velocities = torch.zeros_like(current_positions)
+        else:
+            # Compute velocities
+            joint_velocities = (current_positions - self.last_joint_positions) / self.dt
+
+        self.last_joint_positions = current_positions.clone()
+
+        # Extend observation with velocities
+        extended_state = torch.cat([current_positions, joint_velocities], dim=-1)
+
+        # Create new observation dict
+        new_observation = dict(observation)
+        new_observation[OBS_STATE] = extended_state
+
+        return new_observation
+
+    def get_config(self) -> dict[str, Any]:
+        return {
+            "dt": self.dt,
+        }
+
+    def reset(self) -> None:
+        self.last_joint_positions = None
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        if OBS_STATE in features:
+            original_feature = features[OBS_STATE]
+            # Double the shape to account for positions + velocities
+            new_shape = (original_feature.shape[0] * 2,) + original_feature.shape[1:]
+
+            features[OBS_STATE] = PolicyFeature(type=original_feature.type, shape=new_shape)
+        return features
+
+
+@dataclass
+@ProcessorStepRegistry.register("current_processor")
+class MotorCurrentProcessorStep(ObservationProcessorStep):
+    """Add motor current information to observations."""
+
+    robot: Robot | None = None
+
+    def observation(self, observation: dict) -> dict:
+        # Get current values from robot state
+        if self.robot is None:
+            raise ValueError("Robot is not set")
+
+        present_current_dict = self.robot.bus.sync_read("Present_Current")  # type: ignore[attr-defined]
+        motor_currents = torch.tensor(
+            [present_current_dict[name] for name in self.robot.bus.motors],  # type: ignore[attr-defined]
+            dtype=torch.float32,
+        ).unsqueeze(0)
+
+        current_state = observation.get(OBS_STATE)
+        if current_state is None:
+            return observation
+
+        extended_state = torch.cat([current_state, motor_currents], dim=-1)
+
+        # Create new observation dict
+        new_observation = dict(observation)
+        new_observation[OBS_STATE] = extended_state
+
+        return new_observation
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        if OBS_STATE in features and self.robot is not None:
+            original_feature = features[OBS_STATE]
+            # Add motor current dimensions to the original state shape
+            num_motors = 0
+            if hasattr(self.robot, "bus") and hasattr(self.robot.bus, "motors"):  # type: ignore[attr-defined]
+                num_motors = len(self.robot.bus.motors)  # type: ignore[attr-defined]
+
+            if num_motors > 0:
+                new_shape = (original_feature.shape[0] + num_motors,) + original_feature.shape[1:]
+                features[OBS_STATE] = PolicyFeature(type=original_feature.type, shape=new_shape)
+        return features
@@ -0,0 +1,503 @@
+#!/usr/bin/env python
+
+# Copyright 2024 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.
+
+"""
+Generic script to migrate any policy model with normalization layers to the new pipeline-based system.
+
+This script:
+1. Loads an existing pretrained policy model
+2. Extracts normalization statistics from the model
+3. Creates both preprocessor and postprocessor:
+   - Preprocessor: normalizes both inputs (observations) and outputs (actions) for training
+   - Postprocessor: unnormalizes outputs (actions) for inference
+4. Removes normalization layers from the model state_dict
+5. Saves the new model and both processors
+
+Usage:
+    python src/lerobot/processor/migrate_policy_normalization.py \
+        --pretrained-path lerobot/act_aloha_sim_transfer_cube_human \
+        --policy-type act \
+        --push-to-hub
+"""
+
+import argparse
+import importlib
+import json
+import os
+from copy import deepcopy
+from pathlib import Path
+from typing import Any
+
+import torch
+from huggingface_hub import hf_hub_download
+from safetensors.torch import load_file as load_safetensors
+
+from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
+
+from .batch_processor import AddBatchDimensionProcessorStep
+from .device_processor import DeviceProcessorStep
+from .normalize_processor import NormalizerProcessorStep, UnnormalizerProcessorStep
+from .pipeline import PolicyProcessorPipeline
+from .rename_processor import RenameProcessorStep
+
+# Policy type to class mapping
+POLICY_CLASSES = {
+    "act": "lerobot.policies.act.modeling_act.ACTPolicy",
+    "diffusion": "lerobot.policies.diffusion.modeling_diffusion.DiffusionPolicy",
+    "pi0": "lerobot.policies.pi0.modeling_pi0.PI0Policy",
+    "pi0fast": "lerobot.policies.pi0fast.modeling_pi0fast.PI0FASTPolicy",
+    "smolvla": "lerobot.policies.smolvla.modeling_smolvla.SmolVLAPolicy",
+    "tdmpc": "lerobot.policies.tdmpc.modeling_tdmpc.TDMPCPolicy",
+    "vqbet": "lerobot.policies.vqbet.modeling_vqbet.VQBeTPolicy",
+    "sac": "lerobot.policies.sac.modeling_sac.SACPolicy",
+    "classifier": "lerobot.policies.classifier.modeling_classifier.ClassifierPolicy",
+}
+
+
+def extract_normalization_stats(state_dict: dict[str, torch.Tensor]) -> dict[str, dict[str, torch.Tensor]]:
+    """Extract normalization statistics from model state_dict."""
+    stats = {}
+
+    # Define patterns to match and their prefixes to remove
+    normalization_patterns = [
+        "normalize_inputs.buffer_",
+        "unnormalize_outputs.buffer_",
+        "normalize_targets.buffer_",
+        "normalize.",  # Must come after normalize_* patterns
+        "unnormalize.",  # Must come after unnormalize_* patterns
+        "input_normalizer.",
+        "output_normalizer.",
+    ]
+
+    # Process each key in state_dict
+    for key, tensor in state_dict.items():
+        # Try each pattern
+        for pattern in normalization_patterns:
+            if key.startswith(pattern):
+                # Extract the remaining part after the pattern
+                remaining = key[len(pattern) :]
+                parts = remaining.split(".")
+
+                # Need at least feature name and stat type
+                if len(parts) >= 2:
+                    # Last part is the stat type (mean, std, min, max, etc.)
+                    stat_type = parts[-1]
+                    # Everything else is the feature name
+                    feature_name = ".".join(parts[:-1]).replace("_", ".")
+
+                    # Add to stats
+                    if feature_name not in stats:
+                        stats[feature_name] = {}
+                    stats[feature_name][stat_type] = tensor.clone()
+
+                # Only process the first matching pattern
+                break
+
+    return stats
+
+
+def detect_features_and_norm_modes(
+    config: dict[str, Any], stats: dict[str, dict[str, torch.Tensor]]
+) -> tuple[dict[str, PolicyFeature], dict[FeatureType, NormalizationMode]]:
+    """Detect features and normalization modes from config and stats."""
+    features = {}
+    norm_modes = {}
+
+    # First, check if there's a normalization_mapping in the config
+    if "normalization_mapping" in config:
+        print(f"Found normalization_mapping in config: {config['normalization_mapping']}")
+        # Extract normalization modes from config
+        for feature_name, mode_str in config["normalization_mapping"].items():
+            # Convert string to NormalizationMode enum
+            if mode_str == "mean_std":
+                mode = NormalizationMode.MEAN_STD
+            elif mode_str == "min_max":
+                mode = NormalizationMode.MIN_MAX
+            else:
+                print(f"Warning: Unknown normalization mode '{mode_str}' for feature '{feature_name}'")
+                continue
+
+            # Determine feature type from feature name
+            if "image" in feature_name or "visual" in feature_name:
+                feature_type = FeatureType.VISUAL
+            elif "state" in feature_name:
+                feature_type = FeatureType.STATE
+            elif "action" in feature_name:
+                feature_type = FeatureType.ACTION
+            else:
+                feature_type = FeatureType.STATE
+
+            norm_modes[feature_type] = mode
+
+    # Try to extract from config
+    if "features" in config:
+        for key, feature_config in config["features"].items():
+            shape = feature_config.get("shape", feature_config.get("dim"))
+            shape = (shape,) if isinstance(shape, int) else tuple(shape)
+
+            # Determine feature type
+            if "image" in key or "visual" in key:
+                feature_type = FeatureType.VISUAL
+            elif "state" in key:
+                feature_type = FeatureType.STATE
+            elif "action" in key:
+                feature_type = FeatureType.ACTION
+            else:
+                feature_type = FeatureType.STATE  # Default
+
+            features[key] = PolicyFeature(feature_type, shape)
+
+    # If no features in config, infer from stats
+    if not features:
+        for key, stat_dict in stats.items():
+            # Get shape from any stat tensor
+            tensor = next(iter(stat_dict.values()))
+            shape = tuple(tensor.shape)
+
+            # Determine feature type based on key
+            if "image" in key or "visual" in key or "pixels" in key:
+                feature_type = FeatureType.VISUAL
+            elif "state" in key or "joint" in key or "position" in key:
+                feature_type = FeatureType.STATE
+            elif "action" in key:
+                feature_type = FeatureType.ACTION
+            else:
+                feature_type = FeatureType.STATE
+
+            features[key] = PolicyFeature(feature_type, shape)
+
+    # If normalization modes weren't in config, determine based on available stats
+    if not norm_modes:
+        for key, stat_dict in stats.items():
+            if key in features:
+                if "mean" in stat_dict and "std" in stat_dict:
+                    feature_type = features[key].type
+                    if feature_type not in norm_modes:
+                        norm_modes[feature_type] = NormalizationMode.MEAN_STD
+                elif "min" in stat_dict and "max" in stat_dict:
+                    feature_type = features[key].type
+                    if feature_type not in norm_modes:
+                        norm_modes[feature_type] = NormalizationMode.MIN_MAX
+
+    # Default normalization modes if not detected
+    if FeatureType.VISUAL not in norm_modes:
+        norm_modes[FeatureType.VISUAL] = NormalizationMode.MEAN_STD
+    if FeatureType.STATE not in norm_modes:
+        norm_modes[FeatureType.STATE] = NormalizationMode.MIN_MAX
+    if FeatureType.ACTION not in norm_modes:
+        norm_modes[FeatureType.ACTION] = NormalizationMode.MEAN_STD
+
+    return features, norm_modes
+
+
+def remove_normalization_layers(state_dict: dict[str, torch.Tensor]) -> dict[str, torch.Tensor]:
+    """Remove normalization layers from state_dict."""
+    new_state_dict = {}
+
+    # Patterns to remove
+    remove_patterns = [
+        "normalize_inputs.",
+        "unnormalize_outputs.",
+        "normalize_targets.",  # Added pattern for target normalization
+        "normalize.",
+        "unnormalize.",
+        "input_normalizer.",
+        "output_normalizer.",
+        "normalizer.",
+    ]
+
+    for key, tensor in state_dict.items():
+        should_remove = any(pattern in key for pattern in remove_patterns)
+        if not should_remove:
+            new_state_dict[key] = tensor
+
+    return new_state_dict
+
+
+def convert_features_to_policy_features(features_dict: dict[str, dict]) -> dict[str, PolicyFeature]:
+    """Convert features from old format to PolicyFeature objects."""
+    converted_features = {}
+
+    for key, feature_dict in features_dict.items():
+        # Determine feature type based on key
+        if "image" in key or "visual" in key:
+            feature_type = FeatureType.VISUAL
+        elif "state" in key:
+            feature_type = FeatureType.STATE
+        elif "action" in key:
+            feature_type = FeatureType.ACTION
+        else:
+            feature_type = FeatureType.STATE
+
+        # Get shape from feature dict
+        shape = feature_dict.get("shape", feature_dict.get("dim"))
+        shape = (shape,) if isinstance(shape, int) else tuple(shape)
+
+        converted_features[key] = PolicyFeature(feature_type, shape)
+
+    return converted_features
+
+
+def load_model_from_hub(
+    repo_id: str, revision: str = None
+) -> tuple[dict[str, torch.Tensor], dict[str, Any], dict[str, Any]]:
+    """Load model state_dict and config from hub."""
+    # Download files
+    safetensors_path = hf_hub_download(repo_id=repo_id, filename="model.safetensors", revision=revision)
+
+    config_path = hf_hub_download(repo_id=repo_id, filename="config.json", revision=revision)
+    train_config_path = hf_hub_download(repo_id=repo_id, filename="train_config.json", revision=revision)
+
+    # Load state_dict
+    state_dict = load_safetensors(safetensors_path)
+
+    # Load config
+    with open(config_path) as f:
+        config = json.load(f)
+
+    with open(train_config_path) as f:
+        train_config = json.load(f)
+
+    return state_dict, config, train_config
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Migrate policy models with normalization layers to new pipeline system"
+    )
+    parser.add_argument(
+        "--pretrained-path",
+        type=str,
+        required=True,
+        help="Path to pretrained model (hub repo or local directory)",
+    )
+    parser.add_argument(
+        "--output-dir",
+        type=str,
+        default=None,
+        help="Output directory for migrated model (default: same as pretrained-path)",
+    )
+    parser.add_argument("--push-to-hub", action="store_true", help="Push migrated model to hub")
+    parser.add_argument(
+        "--hub-repo-id",
+        type=str,
+        default=None,
+        help="Hub repository ID for pushing (default: same as pretrained-path)",
+    )
+    parser.add_argument("--revision", type=str, default=None, help="Revision of the model to load")
+    parser.add_argument("--private", action="store_true", help="Make the hub repository private")
+
+    args = parser.parse_args()
+
+    # Load model and config
+    print(f"Loading model from {args.pretrained_path}...")
+    if os.path.isdir(args.pretrained_path):
+        # Local directory
+        state_dict = load_safetensors(os.path.join(args.pretrained_path, "model.safetensors"))
+        with open(os.path.join(args.pretrained_path, "config.json")) as f:
+            config = json.load(f)
+        with open(os.path.join(args.pretrained_path, "train_config.json")) as f:
+            train_config = json.load(f)
+    else:
+        # Hub repository
+        state_dict, config, train_config = load_model_from_hub(args.pretrained_path, args.revision)
+
+    # Extract normalization statistics
+    print("Extracting normalization statistics...")
+    stats = extract_normalization_stats(state_dict)
+
+    print(f"Found normalization statistics for: {list(stats.keys())}")
+
+    # Detect input features and normalization modes
+    print("Detecting features and normalization modes...")
+    features, norm_map = detect_features_and_norm_modes(config, stats)
+
+    print(f"Detected features: {list(features.keys())}")
+    print(f"Normalization modes: {norm_map}")
+
+    # Remove normalization layers from state_dict
+    print("Removing normalization layers from model...")
+    new_state_dict = remove_normalization_layers(state_dict)
+
+    removed_keys = set(state_dict.keys()) - set(new_state_dict.keys())
+    if removed_keys:
+        print(f"Removed {len(removed_keys)} normalization layer keys")
+
+    # Determine output path
+    if args.output_dir:
+        output_dir = Path(args.output_dir)
+    else:
+        if os.path.isdir(args.pretrained_path):
+            output_dir = Path(args.pretrained_path).parent / f"{Path(args.pretrained_path).name}_migrated"
+        else:
+            output_dir = Path(f"./{args.pretrained_path.replace('/', '_')}_migrated")
+
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    # Clean up config - remove normalization_mapping field
+    cleaned_config = dict(config)
+    if "normalization_mapping" in cleaned_config:
+        print("Removing 'normalization_mapping' field from config")
+        del cleaned_config["normalization_mapping"]
+    policy_type = deepcopy(cleaned_config["type"])
+
+    del cleaned_config["type"]
+
+    # Instantiate the policy model with cleaned config and load the cleaned state dict
+    print(f"Instantiating {policy_type} policy model...")
+    policy_class_path = POLICY_CLASSES[policy_type]
+    module_path, class_name = policy_class_path.rsplit(".", 1)
+
+    module = importlib.import_module(module_path)
+    policy_class = getattr(module, class_name)
+
+    # Create config class instance
+    config_module_path = module_path.replace("modeling", "configuration")
+    config_module = importlib.import_module(config_module_path)
+    # Handle special cases for config class names
+    config_class_names = {
+        "act": "ACTConfig",
+        "diffusion": "DiffusionConfig",
+        "pi0": "PI0Config",
+        "pi0fast": "PI0FASTConfig",
+        "smolvla": "SmolVLAConfig",
+        "tdmpc": "TDMPCConfig",
+        "vqbet": "VQBeTConfig",
+        "sac": "SACConfig",
+        "classifier": "ClassifierConfig",
+    }
+    config_class_name = config_class_names.get(policy_type, f"{policy_type.upper()}Config")
+    config_class = getattr(config_module, config_class_name)
+
+    # Convert input_features and output_features to PolicyFeature objects - these are mandatory
+    if "input_features" not in cleaned_config:
+        raise ValueError("Missing mandatory 'input_features' in config")
+    if "output_features" not in cleaned_config:
+        raise ValueError("Missing mandatory 'output_features' in config")
+
+    cleaned_config["input_features"] = convert_features_to_policy_features(cleaned_config["input_features"])
+    cleaned_config["output_features"] = convert_features_to_policy_features(cleaned_config["output_features"])
+
+    # Create config instance from cleaned config dict
+    policy_config = config_class(**cleaned_config)
+
+    # Create policy instance - some policies expect dataset_stats
+    policy = policy_class(policy_config)
+
+    # Load the cleaned state dict
+    policy.load_state_dict(new_state_dict, strict=True)
+    print("Successfully loaded cleaned state dict into policy model")
+
+    # Now create preprocessor and postprocessor with cleaned_config available
+    print("Creating preprocessor and postprocessor...")
+    # The pattern from existing processor factories:
+    # - Preprocessor has two NormalizerProcessorSteps: one for input_features, one for output_features
+    # - Postprocessor has one UnnormalizerProcessorStep for output_features only
+
+    # Get features from cleaned_config (now they're PolicyFeature objects)
+    input_features = cleaned_config.get("input_features", {})
+    output_features = cleaned_config.get("output_features", {})
+
+    # Create preprocessor with two normalizers (following the pattern from processor factories)
+    preprocessor_steps = [
+        RenameProcessorStep(rename_map={}),
+        NormalizerProcessorStep(
+            features={**input_features, **output_features},
+            norm_map=norm_map,
+            stats=stats,
+        ),
+        AddBatchDimensionProcessorStep(),
+        DeviceProcessorStep(device=policy_config.device),
+    ]
+    preprocessor = PolicyProcessorPipeline(steps=preprocessor_steps, name="robot_preprocessor")
+
+    # Create postprocessor with unnormalizer for outputs only
+    postprocessor_steps = [
+        DeviceProcessorStep(device="cpu"),
+        UnnormalizerProcessorStep(features=output_features, norm_map=norm_map, stats=stats),
+    ]
+    postprocessor = PolicyProcessorPipeline(steps=postprocessor_steps, name="robot_postprocessor")
+
+    # Determine hub repo ID if pushing to hub
+    if args.push_to_hub:
+        if args.hub_repo_id:
+            hub_repo_id = args.hub_repo_id
+        else:
+            if not os.path.isdir(args.pretrained_path):
+                # Use same repo with "_migrated" suffix
+                hub_repo_id = f"{args.pretrained_path}_migrated"
+            else:
+                raise ValueError("--hub-repo-id must be specified when pushing local model to hub")
+    else:
+        hub_repo_id = None
+
+    # Save preprocessor and postprocessor to root directory
+    print(f"Saving preprocessor to {output_dir}...")
+    preprocessor.save_pretrained(output_dir)
+    if args.push_to_hub:
+        preprocessor.push_to_hub(repo_id=hub_repo_id, private=args.private)
+
+    print(f"Saving postprocessor to {output_dir}...")
+    postprocessor.save_pretrained(output_dir)
+    if args.push_to_hub:
+        postprocessor.push_to_hub(repo_id=hub_repo_id, private=args.private)
+
+    # Save model using the policy's save_pretrained method
+    print(f"Saving model to {output_dir}...")
+    policy.save_pretrained(
+        output_dir, push_to_hub=args.push_to_hub, repo_id=hub_repo_id, private=args.private
+    )
+
+    # Generate and save model card
+    print("Generating model card...")
+    # Get metadata from original config
+    dataset_repo_id = train_config.get("repo_id", "unknown")
+    license = config.get("license", "apache-2.0")
+
+    tags = config.get("tags", ["robotics", "lerobot", policy_type]) or ["robotics", "lerobot", policy_type]
+    tags = set(tags).union({"robotics", "lerobot", policy_type})
+    tags = list(tags)
+
+    # Generate model card
+    card = policy.generate_model_card(
+        dataset_repo_id=dataset_repo_id, model_type=policy_type, license=license, tags=tags
+    )
+
+    # Save model card locally
+    card.save(str(output_dir / "README.md"))
+    print(f"Model card saved to {output_dir / 'README.md'}")
+    # Push model card to hub if requested
+    if args.push_to_hub:
+        from huggingface_hub import HfApi
+
+        api = HfApi()
+        api.upload_file(
+            path_or_fileobj=str(output_dir / "README.md"),
+            path_in_repo="README.md",
+            repo_id=hub_repo_id,
+            repo_type="model",
+            commit_message="Add model card for migrated model",
+        )
+        print("Model card pushed to hub")
+
+    print("\nMigration complete!")
+    print(f"Migrated model saved to: {output_dir}")
+    if args.push_to_hub:
+        print(f"Successfully pushed to https://huggingface.co/{hub_repo_id}")
+
+
+if __name__ == "__main__":
+    main()
@@ -1,179 +1,84 @@
 from __future__ import annotations

-from collections.abc import Mapping
+from copy import deepcopy
 from dataclasses import dataclass, field
 from typing import Any

-import numpy as np
 import torch
 from torch import Tensor

 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.processor.pipeline import EnvTransition, ProcessorStepRegistry, TransitionKey

-
-def _convert_stats_to_tensors(stats: dict[str, dict[str, Any]]) -> dict[str, dict[str, Tensor]]:
-    """Convert numpy arrays and other types to torch tensors."""
-    tensor_stats: dict[str, dict[str, Tensor]] = {}
-    for key, sub in stats.items():
-        tensor_stats[key] = {}
-        for stat_name, value in sub.items():
-            if isinstance(value, np.ndarray):
-                tensor_val = torch.from_numpy(value.astype(np.float32))
-            elif isinstance(value, torch.Tensor):
-                tensor_val = value.to(dtype=torch.float32)
-            elif isinstance(value, (int, float, list, tuple)):
-                tensor_val = torch.tensor(value, dtype=torch.float32)
-            else:
-                raise TypeError(f"Unsupported type for stats['{key}']['{stat_name}']: {type(value)}")
-            tensor_stats[key][stat_name] = tensor_val
-    return tensor_stats
+from .converters import to_tensor
+from .core import EnvTransition, TransitionKey
+from .pipeline import PolicyProcessorPipeline, ProcessorStep, ProcessorStepRegistry


@dataclass
-@ProcessorStepRegistry.register(name="normalizer_processor")
-class NormalizerProcessor:
-    """Normalizes observations and actions in a single processor step.
+class _NormalizationMixin:
+    """
+    A mixin class providing core functionality for normalization and unnormalization.

-    This processor handles normalization of both observation and action tensors
-    using either mean/std normalization or min/max scaling to a [-1, 1] range.
-
-    For each tensor key in the stats dictionary, the processor will:
-    - Use mean/std normalization if those statistics are provided: (x - mean) / std
-    - Use min/max scaling if those statistics are provided: 2 * (x - min) / (max - min) - 1
-
-    The processor can be configured to normalize only specific keys by setting
-    the normalize_keys parameter.
+    This class manages normalization statistics, their conversion to tensors, device placement,
+    and the application of normalization transformations. It is designed to be inherited by
+    concrete ProcessorStep implementations.
    """

-    # Features and normalisation map are mandatory to match the design of normalize.py
    features: dict[str, PolicyFeature]
    norm_map: dict[FeatureType, NormalizationMode]
-
-    # Pre-computed statistics coming from dataset.meta.stats for instance.
    stats: dict[str, dict[str, Any]] | None = None
-
-    # Explicit subset of keys to normalise. If ``None`` every key (except
-    # "action") found in ``stats`` will be normalised. Using a ``set`` makes
-    # membership checks O(1).
-    normalize_keys: set[str] | None = None
-
+    device: torch.device | str | None = None
    eps: float = 1e-8
+    normalize_observation_keys: set[str] | None = None

    _tensor_stats: dict[str, dict[str, Tensor]] = field(default_factory=dict, init=False, repr=False)

-    @classmethod
-    def from_lerobot_dataset(
-        cls,
-        dataset: LeRobotDataset,
-        features: dict[str, PolicyFeature],
-        norm_map: dict[FeatureType, NormalizationMode],
-        *,
-        normalize_keys: set[str] | None = None,
-        eps: float = 1e-8,
-    ) -> NormalizerProcessor:
-        """Factory helper that pulls statistics from a :class:`LeRobotDataset`.
-
-        The features and norm_map parameters are mandatory to match the design
-        pattern used in normalize.py.
-        """
-
-        return cls(
-            features=features,
-            norm_map=norm_map,
-            stats=dataset.meta.stats,
-            normalize_keys=normalize_keys,
-            eps=eps,
-        )
-
    def __post_init__(self):
-        # Handle deserialization from JSON config
-        if self.features and isinstance(list(self.features.values())[0], dict):
-            # Features came from JSON - need to reconstruct PolicyFeature objects
-            reconstructed_features = {}
-            for key, ft_dict in self.features.items():
-                reconstructed_features[key] = PolicyFeature(
-                    type=FeatureType(ft_dict["type"]), shape=tuple(ft_dict["shape"])
-                )
-            self.features = reconstructed_features
+        # Robust JSON deserialization handling (guard empty maps)
+        if self.features:
+            first_val = next(iter(self.features.values()))
+            if isinstance(first_val, dict):
+                reconstructed = {}
+                for key, ft_dict in self.features.items():
+                    reconstructed[key] = PolicyFeature(
+                        type=FeatureType(ft_dict["type"]), shape=tuple(ft_dict["shape"])
+                    )
+                self.features = reconstructed

-        if self.norm_map and isinstance(list(self.norm_map.keys())[0], str):
-            # norm_map came from JSON - need to reconstruct enum keys and values
-            reconstructed_norm_map = {}
-            for ft_type_str, norm_mode_str in self.norm_map.items():
-                reconstructed_norm_map[FeatureType(ft_type_str)] = NormalizationMode(norm_mode_str)
-            self.norm_map = reconstructed_norm_map
+        if self.norm_map:
+            # if keys are strings (JSON), rebuild enum map
+            if all(isinstance(k, str) for k in self.norm_map.keys()):
+                reconstructed = {}
+                for ft_type_str, norm_mode_str in self.norm_map.items():
+                    reconstructed[FeatureType(ft_type_str)] = NormalizationMode(norm_mode_str)
+                self.norm_map = reconstructed

-        # Convert statistics once so we avoid repeated numpy→Tensor conversions
-        # during runtime.
+        # Convert stats to tensors and move to the target device once during initialization.
        self.stats = self.stats or {}
-        self._tensor_stats = _convert_stats_to_tensors(self.stats)
+        self._tensor_stats = to_tensor(self.stats, device=self.device)

-        # Ensure *normalize_keys* is a set for fast look-ups and compare by
-        # value later when returning the configuration.
-        if self.normalize_keys is not None and not isinstance(self.normalize_keys, set):
-            self.normalize_keys = set(self.normalize_keys)
+    def to(self, device: torch.device | str) -> _NormalizationMixin:
+        """Moves the processor's normalization stats to the specified device and returns self."""
+        self.device = device
+        self._tensor_stats = to_tensor(self.stats, device=self.device)
+        return self

-    def _normalize_obs(self, observation):
-        if observation is None:
-            return None
+    def state_dict(self) -> dict[str, Tensor]:
+        flat: dict[str, Tensor] = {}
+        for key, sub in self._tensor_stats.items():
+            for stat_name, tensor in sub.items():
+                flat[f"{key}.{stat_name}"] = tensor.cpu()  # Always save to CPU
+        return flat

-        # Decide which keys should be normalised for this call.
-        if self.normalize_keys is not None:
-            keys_to_norm = self.normalize_keys
-        else:
-            # Use feature map to skip action keys.
-            keys_to_norm = {k for k, ft in self.features.items() if ft.type is not FeatureType.ACTION}
-
-        processed = dict(observation)
-        for key in keys_to_norm:
-            if key not in processed or key not in self._tensor_stats:
-                continue
-
-            orig_val = processed[key]
-            tensor = (
-                orig_val.to(dtype=torch.float32)
-                if isinstance(orig_val, torch.Tensor)
-                else torch.as_tensor(orig_val, dtype=torch.float32)
+    def load_state_dict(self, state: dict[str, Tensor]) -> None:
+        self._tensor_stats.clear()
+        for flat_key, tensor in state.items():
+            key, stat_name = flat_key.rsplit(".", 1)
+            # Load to the processor's configured device.
+            self._tensor_stats.setdefault(key, {})[stat_name] = tensor.to(
+                dtype=torch.float32, device=self.device
            )
-            stats = {k: v.to(tensor.device) for k, v in self._tensor_stats[key].items()}
-
-            if "mean" in stats and "std" in stats:
-                mean, std = stats["mean"], stats["std"]
-                processed[key] = (tensor - mean) / (std + self.eps)
-            elif "min" in stats and "max" in stats:
-                min_val, max_val = stats["min"], stats["max"]
-                processed[key] = 2 * (tensor - min_val) / (max_val - min_val + self.eps) - 1
-        return processed
-
-    def _normalize_action(self, action):
-        if action is None or "action" not in self._tensor_stats:
-            return action
-
-        tensor = (
-            action.to(dtype=torch.float32)
-            if isinstance(action, torch.Tensor)
-            else torch.as_tensor(action, dtype=torch.float32)
-        )
-        stats = {k: v.to(tensor.device) for k, v in self._tensor_stats["action"].items()}
-        if "mean" in stats and "std" in stats:
-            mean, std = stats["mean"], stats["std"]
-            return (tensor - mean) / (std + self.eps)
-        if "min" in stats and "max" in stats:
-            min_val, max_val = stats["min"], stats["max"]
-            return 2 * (tensor - min_val) / (max_val - min_val + self.eps) - 1
-        raise ValueError("Action stats must contain either ('mean','std') or ('min','max')")
-
-    def __call__(self, transition: EnvTransition) -> EnvTransition:
-        observation = self._normalize_obs(transition.get(TransitionKey.OBSERVATION))
-        action = self._normalize_action(transition.get(TransitionKey.ACTION))
-
-        # Create a new transition with normalized values
-        new_transition = transition.copy()
-        new_transition[TransitionKey.OBSERVATION] = observation
-        new_transition[TransitionKey.ACTION] = action
-        return new_transition

    def get_config(self) -> dict[str, Any]:
        config = {
@@ -183,45 +88,87 @@ class NormalizerProcessor:
            },
            "norm_map": {ft_type.value: norm_mode.value for ft_type, norm_mode in self.norm_map.items()},
        }
-        if self.normalize_keys is not None:
-            # Serialise as a list for YAML / JSON friendliness
-            config["normalize_keys"] = sorted(self.normalize_keys)
+        if self.normalize_observation_keys is not None:
+            config["normalize_observation_keys"] = sorted(self.normalize_observation_keys)
        return config

-    def state_dict(self) -> dict[str, Tensor]:
-        flat = {}
-        for key, sub in self._tensor_stats.items():
-            for stat_name, tensor in sub.items():
-                flat[f"{key}.{stat_name}"] = tensor
-        return flat
+    def _normalize_observation(self, observation: dict[str, Any], inverse: bool) -> dict[str, Tensor]:
+        new_observation = dict(observation)
+        for key, feature in self.features.items():
+            if self.normalize_observation_keys is not None and key not in self.normalize_observation_keys:
+                continue
+            if feature.type != FeatureType.ACTION and key in new_observation:
+                tensor = torch.as_tensor(new_observation[key], dtype=torch.float32)
+                new_observation[key] = self._apply_transform(tensor, key, feature.type, inverse=inverse)
+        return new_observation

-    def load_state_dict(self, state: Mapping[str, Tensor]) -> None:
-        self._tensor_stats.clear()
-        for flat_key, tensor in state.items():
-            key, stat_name = flat_key.rsplit(".", 1)
-            self._tensor_stats.setdefault(key, {})[stat_name] = tensor
+    def _normalize_action(self, action: Any, inverse: bool) -> Tensor:
+        tensor = torch.as_tensor(action, dtype=torch.float32)
+        processed_action = self._apply_transform(tensor, "action", FeatureType.ACTION, inverse=inverse)
+        return processed_action

-    def reset(self):
-        pass
+    def _apply_transform(
+        self, tensor: Tensor, key: str, feature_type: FeatureType, *, inverse: bool = False
+    ) -> Tensor:
+        """Core logic to apply normalization or unnormalization."""
+        norm_mode = self.norm_map.get(feature_type, NormalizationMode.IDENTITY)
+        if norm_mode == NormalizationMode.IDENTITY or key not in self._tensor_stats:
+            return tensor

-    def feature_contract(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
-        return features
+        if norm_mode not in (NormalizationMode.MEAN_STD, NormalizationMode.MIN_MAX):
+            raise ValueError(f"Unsupported normalization mode: {norm_mode}")
+
+        # Ensure input tensor is on the same device as the stats.
+        if self.device and tensor.device != self.device:
+            tensor = tensor.to(self.device)
+
+        # For Accelerate compatibility: move stats to match input tensor device
+        input_device = tensor.device
+        stats = self._tensor_stats[key]
+        tensor = tensor.to(dtype=torch.float32)
+
+        # Move stats to input device if needed
+        stats_device = next(iter(stats.values())).device
+        if stats_device != input_device:
+            stats = to_tensor({key: self._tensor_stats[key]}, device=input_device)[key]
+
+        if norm_mode == NormalizationMode.MEAN_STD and "mean" in stats and "std" in stats:
+            mean, std = stats["mean"], stats["std"]
+            # Avoid division by zero by adding a small epsilon.
+            denom = std + self.eps
+            if inverse:
+                return tensor * std + mean
+            return (tensor - mean) / denom
+
+        if norm_mode == NormalizationMode.MIN_MAX and "min" in stats and "max" in stats:
+            min_val, max_val = stats["min"], stats["max"]
+            denom = max_val - min_val
+            # When min_val == max_val, substitute the denominator with a small epsilon
+            # to prevent division by zero. This consistently maps an input equal to
+            # min_val to -1, ensuring a stable transformation.
+            denom = torch.where(
+                denom == 0, torch.tensor(self.eps, device=input_device, dtype=torch.float32), denom
+            )
+            if inverse:
+                # Map from [-1, 1] back to [min, max]
+                return (tensor + 1) / 2 * denom + min_val
+            # Map from [min, max] to [-1, 1]
+            return 2 * (tensor - min_val) / denom - 1
+
+        # If necessary stats are missing, return input unchanged.
+        return tensor


@dataclass
-@ProcessorStepRegistry.register(name="unnormalizer_processor")
-class UnnormalizerProcessor:
-    """Inverse normalisation for observations and actions.
-
-    Exactly mirrors :class:`NormalizerProcessor` but applies the inverse
-    transform.
+@ProcessorStepRegistry.register(name="normalizer_processor")
+class NormalizerProcessorStep(_NormalizationMixin, ProcessorStep):
    """
+    A processor that applies normalization to observations and actions in a transition.

-    features: dict[str, PolicyFeature]
-    norm_map: dict[FeatureType, NormalizationMode]
-    stats: dict[str, dict[str, Any]] | None = None
-
-    _tensor_stats: dict[str, dict[str, Tensor]] = field(default_factory=dict, init=False, repr=False)
+    This class directly implements the normalization logic for both observation and action
+    components of an `EnvTransition`, using statistics (mean/std or min/max) provided at
+    initialization.
+    """

    @classmethod
    def from_lerobot_dataset(
@@ -229,103 +176,97 @@ class UnnormalizerProcessor:
        dataset: LeRobotDataset,
        features: dict[str, PolicyFeature],
        norm_map: dict[FeatureType, NormalizationMode],
-    ) -> UnnormalizerProcessor:
-        return cls(features=features, norm_map=norm_map, stats=dataset.meta.stats)
-
-    def __post_init__(self):
-        # Handle deserialization from JSON config
-        if self.features and isinstance(list(self.features.values())[0], dict):
-            # Features came from JSON - need to reconstruct PolicyFeature objects
-            reconstructed_features = {}
-            for key, ft_dict in self.features.items():
-                reconstructed_features[key] = PolicyFeature(
-                    type=FeatureType(ft_dict["type"]), shape=tuple(ft_dict["shape"])
-                )
-            self.features = reconstructed_features
-
-        if self.norm_map and isinstance(list(self.norm_map.keys())[0], str):
-            # norm_map came from JSON - need to reconstruct enum keys and values
-            reconstructed_norm_map = {}
-            for ft_type_str, norm_mode_str in self.norm_map.items():
-                reconstructed_norm_map[FeatureType(ft_type_str)] = NormalizationMode(norm_mode_str)
-            self.norm_map = reconstructed_norm_map
-
-        self.stats = self.stats or {}
-        self._tensor_stats = _convert_stats_to_tensors(self.stats)
-
-    def _unnormalize_obs(self, observation):
-        if observation is None:
-            return None
-        keys = [k for k, ft in self.features.items() if ft.type is not FeatureType.ACTION]
-        processed = dict(observation)
-        for key in keys:
-            if key not in processed or key not in self._tensor_stats:
-                continue
-            orig_val = processed[key]
-            tensor = (
-                orig_val.to(dtype=torch.float32)
-                if isinstance(orig_val, torch.Tensor)
-                else torch.as_tensor(orig_val, dtype=torch.float32)
-            )
-            stats = {k: v.to(tensor.device) for k, v in self._tensor_stats[key].items()}
-            if "mean" in stats and "std" in stats:
-                mean, std = stats["mean"], stats["std"]
-                processed[key] = tensor * std + mean
-            elif "min" in stats and "max" in stats:
-                min_val, max_val = stats["min"], stats["max"]
-                processed[key] = (tensor + 1) / 2 * (max_val - min_val) + min_val
-        return processed
-
-    def _unnormalize_action(self, action):
-        if action is None or "action" not in self._tensor_stats:
-            return action
-        tensor = (
-            action.to(dtype=torch.float32)
-            if isinstance(action, torch.Tensor)
-            else torch.as_tensor(action, dtype=torch.float32)
+        *,
+        normalize_observation_keys: set[str] | None = None,
+        eps: float = 1e-8,
+        device: torch.device | str | None = None,
+    ) -> NormalizerProcessorStep:
+        return cls(
+            features=features,
+            norm_map=norm_map,
+            stats=dataset.meta.stats,
+            normalize_observation_keys=normalize_observation_keys,
+            eps=eps,
+            device=device,
        )
-        stats = {k: v.to(tensor.device) for k, v in self._tensor_stats["action"].items()}
-        if "mean" in stats and "std" in stats:
-            mean, std = stats["mean"], stats["std"]
-            return tensor * std + mean
-        if "min" in stats and "max" in stats:
-            min_val, max_val = stats["min"], stats["max"]
-            return (tensor + 1) / 2 * (max_val - min_val) + min_val
-        raise ValueError("Action stats must contain either ('mean','std') or ('min','max')")

    def __call__(self, transition: EnvTransition) -> EnvTransition:
-        observation = self._unnormalize_obs(transition.get(TransitionKey.OBSERVATION))
-        action = self._unnormalize_action(transition.get(TransitionKey.ACTION))
-
-        # Create a new transition with unnormalized values
        new_transition = transition.copy()
-        new_transition[TransitionKey.OBSERVATION] = observation
-        new_transition[TransitionKey.ACTION] = action
+
+        # Handle observation normalization.
+        observation = new_transition.get(TransitionKey.OBSERVATION)
+        if observation is not None:
+            new_transition[TransitionKey.OBSERVATION] = self._normalize_observation(
+                observation, inverse=False
+            )
+
+        # Handle action normalization.
+        action = new_transition.get(TransitionKey.ACTION)
+        if action is not None:
+            new_transition[TransitionKey.ACTION] = self._normalize_action(action, inverse=False)
+
        return new_transition

-    def get_config(self) -> dict[str, Any]:
-        return {
-            "features": {
-                key: {"type": ft.type.value, "shape": ft.shape} for key, ft in self.features.items()
-            },
-            "norm_map": {ft_type.value: norm_mode.value for ft_type, norm_mode in self.norm_map.items()},
-        }
-
-    def state_dict(self) -> dict[str, Tensor]:
-        flat = {}
-        for key, sub in self._tensor_stats.items():
-            for stat_name, tensor in sub.items():
-                flat[f"{key}.{stat_name}"] = tensor
-        return flat
-
-    def load_state_dict(self, state: Mapping[str, Tensor]) -> None:
-        self._tensor_stats.clear()
-        for flat_key, tensor in state.items():
-            key, stat_name = flat_key.rsplit(".", 1)
-            self._tensor_stats.setdefault(key, {})[stat_name] = tensor
-
-    def reset(self):
-        pass
-
-    def feature_contract(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
        return features
+
+
+@dataclass
+@ProcessorStepRegistry.register(name="unnormalizer_processor")
+class UnnormalizerProcessorStep(_NormalizationMixin, ProcessorStep):
+    """
+    A processor that applies unnormalization (the inverse of normalization) to
+    observations and actions in a transition.
+
+    This is typically used to transform actions from a normalized policy output back into
+    the original scale for execution in an environment.
+    """
+
+    @classmethod
+    def from_lerobot_dataset(
+        cls,
+        dataset: LeRobotDataset,
+        features: dict[str, PolicyFeature],
+        norm_map: dict[FeatureType, NormalizationMode],
+        *,
+        device: torch.device | str | None = None,
+    ) -> UnnormalizerProcessorStep:
+        return cls(features=features, norm_map=norm_map, stats=dataset.meta.stats, device=device)
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        new_transition = transition.copy()
+
+        # Handle observation unnormalization.
+        observation = new_transition.get(TransitionKey.OBSERVATION)
+        if observation is not None:
+            new_transition[TransitionKey.OBSERVATION] = self._normalize_observation(observation, inverse=True)
+
+        # Handle action unnormalization.
+        action = new_transition.get(TransitionKey.ACTION)
+        if action is not None:
+            new_transition[TransitionKey.ACTION] = self._normalize_action(action, inverse=True)
+
+        return new_transition
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
+
+
+def hotswap_stats(
+    policy_processor: PolicyProcessorPipeline, stats: dict[str, dict[str, Any]]
+) -> PolicyProcessorPipeline:
+    """
+    Replaces normalization statistics in a PolicyProcessor pipeline.
+
+    This function creates a deep copy of the provided `PolicyProcessorPipeline` and updates the
+    statistics of any `NormalizerProcessorStep` or `UnnormalizerProcessorStep` steps within it.
+    It's useful for adapting a trained policy to a new environment or dataset with
+    different data distributions.
+    """
+    rp = deepcopy(policy_processor)
+    for step in rp.steps:
+        if isinstance(step, _NormalizationMixin):
+            step.stats = stats
+            # Re-initialize tensor_stats on the correct device.
+            step._tensor_stats = to_tensor(stats, device=step.device)
+    return rp
@@ -22,12 +22,13 @@ from torch import Tensor

 from lerobot.configs.types import PolicyFeature
 from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
-from lerobot.processor.pipeline import ObservationProcessor, ProcessorStepRegistry
+
+from .pipeline import ObservationProcessorStep, ProcessorStepRegistry


@dataclass
@ProcessorStepRegistry.register(name="observation_processor")
-class VanillaObservationProcessor(ObservationProcessor):
+class VanillaObservationProcessorStep(ObservationProcessorStep):
    """
    Processes environment observations into the LeRobot format by handling both images and states.

@@ -106,9 +107,8 @@ class VanillaObservationProcessor(ObservationProcessor):
    def observation(self, observation):
        return self._process_observation(observation)

-    def feature_contract(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
        """Transforms feature keys to a standardized contract.
-
        This method handles several renaming patterns:
        - Exact matches (e.g., 'pixels' -> 'OBS_IMAGE').
        - Prefixed exact matches (e.g., 'observation.pixels' -> 'OBS_IMAGE').
@@ -13,19 +13,18 @@
 # 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 copy import deepcopy
 from dataclasses import dataclass, field
 from typing import Any

 from lerobot.configs.types import PolicyFeature
-from lerobot.processor.pipeline import (
-    ObservationProcessor,
-    ProcessorStepRegistry,
-)
+
+from .pipeline import ObservationProcessorStep, ProcessorStepRegistry


@dataclass
@ProcessorStepRegistry.register(name="rename_processor")
-class RenameProcessor(ObservationProcessor):
+class RenameProcessorStep(ObservationProcessorStep):
    """Rename processor that renames keys in the observation."""

    rename_map: dict[str, str] = field(default_factory=dict)
@@ -43,9 +42,20 @@ class RenameProcessor(ObservationProcessor):
    def get_config(self) -> dict[str, Any]:
        return {"rename_map": self.rename_map}

-    def feature_contract(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
        """Transforms:
        - Each key in the observation that appears in `rename_map` is renamed to its value.
        - Keys not in `rename_map` remain unchanged.
        """
        return {self.rename_map.get(k, k): v for k, v in features.items()}
+
+
+def rename_stats(stats: dict[str, dict[str, Any]], rename_map: dict[str, str]) -> dict[str, dict[str, Any]]:
+    """Rename keys in the stats dictionary according to rename_map (defensive copy)."""
+    if not stats:
+        return {}
+    renamed: dict[str, dict[str, Any]] = {}
+    for old_key, sub_stats in stats.items():
+        new_key = rename_map.get(old_key, old_key)
+        renamed[new_key] = deepcopy(sub_stats) if sub_stats is not None else {}
+    return renamed
@@ -0,0 +1,246 @@
+"""
+Tokenizer processor for handling text tokenization in robot transitions.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+from typing import TYPE_CHECKING, Any
+
+import torch
+
+from lerobot.configs.types import FeatureType, PolicyFeature
+from lerobot.constants import OBS_LANGUAGE_ATTENTION_MASK, OBS_LANGUAGE_TOKENS
+from lerobot.utils.import_utils import _transformers_available
+
+from .core import EnvTransition, TransitionKey
+from .pipeline import ObservationProcessorStep, ProcessorStepRegistry
+
+if TYPE_CHECKING or _transformers_available:
+    from transformers import AutoTokenizer
+else:
+    AutoTokenizer = None
+
+
+@dataclass
+@ProcessorStepRegistry.register(name="tokenizer_processor")
+class TokenizerProcessorStep(ObservationProcessorStep):
+    """Tokenizes text tasks in complementary data using a huggingface tokenizer.
+
+    This processor handles tokenization of task strings found in the complementary_data
+    using a specified pretrained tokenizer from Hugging Face. It adds tokenized versions
+    to the observation data for model processing while preserving the original task string.
+
+    The processor supports both single strings and lists of strings as task inputs.
+
+    Args:
+        tokenizer_name: Name of the pretrained tokenizer to load from Hugging Face Hub
+            (e.g., "bert-base-uncased", "microsoft/DialoGPT-medium"). This will be used
+            with AutoTokenizer.from_pretrained(). If tokenizer is provided, this is ignored.
+        tokenizer: A tokenizer object (e.g., from transformers library) that implements
+            the __call__ method. If provided, tokenizer_name is ignored. This parameter
+            is not serialized and must be provided via overrides when loading.
+        max_length: Maximum sequence length for tokenization. Defaults to 512.
+        task_key: Key in complementary_data containing the task text. Defaults to "task".
+        padding: Padding strategy for tokenization. Defaults to "max_length".
+        truncation: Whether to truncate sequences longer than max_length. Defaults to True.
+
+    Examples:
+        Using tokenizer name (auto-loaded):
+        ```python
+        processor = TokenizerProcessorStep(tokenizer_name="bert-base-uncased", max_length=128)
+        ```
+
+        Using custom tokenizer object:
+        ```python
+        from transformers import AutoTokenizer
+
+        custom_tokenizer = AutoTokenizer.from_pretrained("bert-base-uncased")
+        processor = TokenizerProcessorStep(tokenizer=custom_tokenizer, max_length=128)
+        ```
+    """
+
+    tokenizer_name: str | None = None
+    tokenizer: Any | None = None  # Otherwise transformers is not available in the core dependencies
+    max_length: int = 512
+    task_key: str = "task"
+    padding_side: str = "right"
+    padding: str = "max_length"
+    truncation: bool = True
+
+    # Internal tokenizer instance (not serialized)
+    input_tokenizer: Any = field(default=None, init=False, repr=False)
+
+    def __post_init__(self):
+        """Initialize the tokenizer from the provided tokenizer or tokenizer name."""
+        if not _transformers_available:
+            raise ImportError(
+                "The 'transformers' library is not installed. "
+                "Please install it with `pip install 'lerobot[transformers-dep]'` to use TokenizerProcessorStep."
+            )
+
+        if self.tokenizer is not None:
+            # Use provided tokenizer object directly
+            self.input_tokenizer = self.tokenizer
+        elif self.tokenizer_name is not None:
+            if AutoTokenizer is None:
+                raise ImportError("AutoTokenizer is not available")
+            self.input_tokenizer = AutoTokenizer.from_pretrained(self.tokenizer_name)
+        else:
+            raise ValueError(
+                "Either 'tokenizer' or 'tokenizer_name' must be provided. "
+                "Pass a tokenizer object directly or a tokenizer name to auto-load."
+            )
+
+    def get_task(self, transition: EnvTransition) -> list[str] | None:
+        """Extract and normalize task from complementary data.
+
+        Args:
+            transition: Input transition containing complementary_data.
+
+        Returns:
+            List of task strings if task is present, None otherwise.
+        """
+        complementary_data = transition.get(TransitionKey.COMPLEMENTARY_DATA)
+        if complementary_data is None:
+            return None
+
+        if self.task_key not in complementary_data:
+            return None
+
+        task = complementary_data[self.task_key]
+        if task is None:
+            return None
+
+        # Convert to list of strings
+        if isinstance(task, str):
+            return [task]
+        elif isinstance(task, list) and all(isinstance(t, str) for t in task):
+            return task
+
+        return None
+
+    def observation(self, observation):
+        """Process the transition by tokenizing the task text.
+
+        Args:
+            transition: Input transition containing complementary_data with task text.
+
+        Returns:
+            Modified transition with tokenized task added to observation.
+
+        Raises:
+            ValueError: If tokenizer initialization failed.
+        """
+        task = self.get_task(self.transition)
+        if task is None:
+            return observation
+
+        # Tokenize the task (creates CPU tensors)
+        tokenized_prompt = self._tokenize_text(task)
+
+        # Detect device from existing tensors in the transition
+        target_device = self._detect_device(self.transition)
+
+        # Move tokenized tensors to match the device of other data
+        if target_device is not None:
+            tokenized_prompt = {
+                k: v.to(target_device) if isinstance(v, torch.Tensor) else v
+                for k, v in tokenized_prompt.items()
+            }
+
+        # Get or create observation dict
+        new_observation = dict(observation)
+
+        # Add tokenized data to observation
+        new_observation[OBS_LANGUAGE_TOKENS] = tokenized_prompt["input_ids"]
+        new_observation[OBS_LANGUAGE_ATTENTION_MASK] = tokenized_prompt["attention_mask"].to(dtype=torch.bool)
+
+        return new_observation
+
+    def _detect_device(self, transition: EnvTransition) -> torch.device | None:
+        """Detect device from existing tensors in the transition.
+
+        This allows the tokenized tensors to match the device of other data,
+        which is especially important for multi-GPU training with Accelerate.
+
+        Args:
+            transition: The transition to search for existing tensors.
+
+        Returns:
+            The device of the first tensor found, or None if no tensors exist.
+        """
+        # Check observation tensors first (most likely to exist)
+        observation = transition.get(TransitionKey.OBSERVATION)
+        if observation:
+            for value in observation.values():
+                if isinstance(value, torch.Tensor):
+                    return value.device
+
+        # Check action tensor
+        action = transition.get(TransitionKey.ACTION)
+        if isinstance(action, torch.Tensor):
+            return action.device
+
+        return None  # No tensors found, keep on CPU
+
+    def _tokenize_text(self, text: str | list[str]) -> dict[str, torch.Tensor]:
+        """Tokenize text using the configured tokenizer.
+
+        Args:
+            text: Text string or list of strings to tokenize.
+
+        Returns:
+            Dictionary containing tokenized output with keys like 'input_ids', 'attention_mask'.
+        """
+        return self.input_tokenizer(
+            text,
+            max_length=self.max_length,
+            truncation=self.truncation,
+            padding=self.padding,
+            padding_side=self.padding_side,
+            return_tensors="pt",
+        )
+
+    def get_config(self) -> dict[str, Any]:
+        """Return configuration for serialization.
+
+        Note: Only tokenizer_name is saved, not the tokenizer object itself.
+        When loading, provide the tokenizer via overrides if needed.
+        """
+        config = {
+            "max_length": self.max_length,
+            "task_key": self.task_key,
+            "padding_side": self.padding_side,
+            "padding": self.padding,
+            "truncation": self.truncation,
+        }
+
+        # Only include tokenizer_name if it was used (not when tokenizer object was provided)
+        # TODO(steven): Consider saving the name of the _tokenizer if it was loaded
+        if self.tokenizer_name is not None and self.tokenizer is None:
+            config["tokenizer_name"] = self.tokenizer_name
+
+        return config
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        """Add tokenized task features to the feature contract.
+
+        Args:
+            features: Input feature dictionary.
+
+        Returns:
+            Updated feature dictionary with tokenized task features added.
+        """
+        # Add features for tokenized output if they don't exist
+        # Standard tokenizer output includes tokens and attention_mask
+
+        if OBS_LANGUAGE_TOKENS not in features:
+            features[OBS_LANGUAGE_TOKENS] = PolicyFeature(type=FeatureType.LANGUAGE, shape=(self.max_length,))
+
+        if OBS_LANGUAGE_ATTENTION_MASK not in features:
+            features[OBS_LANGUAGE_ATTENTION_MASK] = PolicyFeature(
+                type=FeatureType.LANGUAGE, shape=(self.max_length,)
+            )
+
+        return features
@@ -59,7 +59,7 @@ lerobot-record \

 import logging
 import time
-from dataclasses import asdict, dataclass
+from dataclasses import asdict, dataclass, field
 from pathlib import Path
 from pprint import pformat

@@ -72,10 +72,23 @@ from lerobot.configs import parser
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.datasets.image_writer import safe_stop_image_writer
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.utils import build_dataset_frame, hw_to_dataset_features
+from lerobot.datasets.utils import hw_to_dataset_features
 from lerobot.datasets.video_utils import VideoEncodingManager
-from lerobot.policies.factory import make_policy
+from lerobot.policies.factory import make_policy, make_pre_post_processors
 from lerobot.policies.pretrained import PreTrainedPolicy
+from lerobot.processor import (
+    IdentityProcessorStep,
+    PolicyProcessorPipeline,
+    RobotProcessorPipeline,
+    TransitionKey,
+)
+from lerobot.processor.converters import (
+    action_to_transition,
+    observation_to_transition,
+    transition_to_dataset_frame,
+    transition_to_robot_action,
+)
+from lerobot.processor.rename_processor import rename_stats
 from lerobot.robots import (  # noqa: F401
    Robot,
    RobotConfig,
@@ -149,6 +162,8 @@ class DatasetRecordConfig:
    # Number of episodes to record before batch encoding videos
    # Set to 1 for immediate encoding (default behavior), or higher for batched encoding
    video_encoding_batch_size: int = 1
+    # Rename map for the observation to override the image and state keys
+    rename_map: dict[str, str] = field(default_factory=dict)

    def __post_init__(self):
        if self.single_task is None:
@@ -187,6 +202,36 @@ class RecordConfig:
        return ["policy"]


+""" --------------- record_loop() data flow --------------------------
+       [ Robot ]
+           V
+     [ robot.get_observation() ] ---> raw_obs
+           V
+     [ robot_observation_processor ] ---> obs_transition
+           V
+     .-----( ACTION LOGIC )------------------.
+     V                                       V
+     [ From Teleoperator ]                   [ From Policy ]
+     |                                       |
+     |  [teleop.get_action] -> raw_action    |   [predict_action]
+     |          |                            |          |
+     |          V                            |          V
+     | [teleop_action_processor]             |          |
+     |          |                            |          |
+     '---> teleop_transition                 '---> policy_transition
+     |                                       |
+     '-------------------------.-------------'
+                               V
+                  [ robot_action_processor ] --> robot_action_to_send
+                               V
+                    [ robot.send_action() ] -- (Robot Executes)
+                               V
+        ( Transitions are merged & added to Dataset )
+                               V
+                  ( Rerun Log / Loop Wait )
+"""
+
+
@safe_stop_image_writer
 def record_loop(
    robot: Robot,
@@ -195,28 +240,38 @@ def record_loop(
    dataset: LeRobotDataset | None = None,
    teleop: Teleoperator | list[Teleoperator] | None = None,
    policy: PreTrainedPolicy | None = None,
+    preprocessor: PolicyProcessorPipeline | None = None,
+    postprocessor: PolicyProcessorPipeline | None = None,
    control_time_s: int | None = None,
+    teleop_action_processor: RobotProcessorPipeline | None = None,  # runs after teleop
+    robot_action_processor: RobotProcessorPipeline | None = None,  # runs before robot
+    robot_observation_processor: RobotProcessorPipeline | None = None,  # runs after robot
    single_task: str | None = None,
    display_data: bool = False,
 ):
+    teleop_action_processor = teleop_action_processor or RobotProcessorPipeline(
+        steps=[IdentityProcessorStep()], to_transition=action_to_transition, to_output=lambda tr: tr
+    )
+    robot_action_processor = robot_action_processor or RobotProcessorPipeline(
+        steps=[IdentityProcessorStep()], to_transition=lambda tr: tr, to_output=transition_to_robot_action
+    )
+    robot_observation_processor = robot_observation_processor or RobotProcessorPipeline(
+        steps=[IdentityProcessorStep()],
+        to_transition=observation_to_transition,
+        to_output=lambda tr: tr,
+    )
+
    if dataset is not None and dataset.fps != fps:
        raise ValueError(f"The dataset fps should be equal to requested fps ({dataset.fps} != {fps}).")

    teleop_arm = teleop_keyboard = None
-    if isinstance(teleop, list):
+    if isinstance(teleop, list):  # For LeKiwi
        teleop_keyboard = next((t for t in teleop if isinstance(t, KeyboardTeleop)), None)
        teleop_arm = next(
            (
                t
                for t in teleop
-                if isinstance(
-                    t,
-                    (
-                        so100_leader.SO100Leader,
-                        so101_leader.SO101Leader,
-                        koch_leader.KochLeader,
-                    ),
-                )
+                if isinstance(t, (so100_leader.SO100Leader, so101_leader.SO101Leader, koch_leader.KochLeader))
            ),
            None,
        )
@@ -226,9 +281,20 @@ def record_loop(
                "For multi-teleop, the list must contain exactly one KeyboardTeleop and one arm teleoperator. Currently only supported for LeKiwi robot."
            )

-    # if policy is given it needs cleaning up
-    if policy is not None:
+    # Reset policy and processor if they are provided
+    if policy is not None and preprocessor is not None and postprocessor is not None:
        policy.reset()
+        preprocessor.reset()
+        postprocessor.reset()
+
+    # Reset custom pipelines
+    teleop_action_processor.reset()
+    robot_action_processor.reset()
+    robot_observation_processor.reset()
+
+    policy_transition = None
+    teleop_transition = None
+    obs_transition = None

    timestamp = 0
    start_episode_t = time.perf_counter()
@@ -239,51 +305,88 @@ def record_loop(
            events["exit_early"] = False
            break

-        observation = robot.get_observation()
+        # Get robot observation
+        obs = robot.get_observation()

-        if policy is not None or dataset is not None:
-            observation_frame = build_dataset_frame(dataset.features, observation, prefix="observation")
+        # Applies a pipeline to the raw robot observation, default is IdentityProcessor
+        obs_transition = robot_observation_processor(obs)
+
+        # Get action from either policy or teleop
+        if policy is not None and preprocessor is not None and postprocessor is not None:
+            if dataset is not None:
+                observation_frame = transition_to_dataset_frame(
+                    obs_transition, dataset.features
+                )  # Convert the observation to the dataset format

-        if policy is not None:
            action_values = predict_action(
-                observation_frame,
-                policy,
-                get_safe_torch_device(policy.config.device),
-                policy.config.use_amp,
+                observation=observation_frame,
+                policy=policy,
+                device=get_safe_torch_device(policy.config.device),
+                preprocessor=preprocessor,
+                postprocessor=postprocessor,
+                use_amp=policy.config.use_amp,
                task=single_task,
                robot_type=robot.robot_type,
            )
-            action = {key: action_values[i].item() for i, key in enumerate(robot.action_features)}
-        elif policy is None and isinstance(teleop, Teleoperator):
-            action = teleop.get_action()
-        elif policy is None and isinstance(teleop, list):
-            # TODO(pepijn, steven): clean the record loop for use of multiple robots (possibly with pipeline)
+
+            action_names = dataset.features["action"]["names"]
+            policy_action = {f"action.{name}": float(action_values[i]) for i, name in enumerate(action_names)}
+            policy_transition = {
+                TransitionKey.ACTION: policy_action,
+                TransitionKey.COMPLEMENTARY_DATA: {},
+            }
+
+        elif isinstance(teleop, Teleoperator):
+            act = teleop.get_action()
+
+            # Applies a pipeline to the raw teleop action, default is IdentityProcessor
+            teleop_transition = teleop_action_processor(act)
+
+        elif isinstance(teleop, list):
            arm_action = teleop_arm.get_action()
            arm_action = {f"arm_{k}": v for k, v in arm_action.items()}
-
            keyboard_action = teleop_keyboard.get_action()
            base_action = robot._from_keyboard_to_base_action(keyboard_action)
-
-            action = {**arm_action, **base_action} if len(base_action) > 0 else arm_action
+            act = {**arm_action, **base_action} if len(base_action) > 0 else arm_action
+            teleop_transition = teleop_action_processor(act)
        else:
            logging.info(
-                "No policy or teleoperator provided, skipping action generation."
+                "No policy or teleoperator provided, skipping action generation. "
                "This is likely to happen when resetting the environment without a teleop device."
                "The robot won't be at its rest position at the start of the next episode."
            )
            continue

-        # Action can eventually be clipped using `max_relative_target`,
-        # so action actually sent is saved in the dataset.
-        sent_action = robot.send_action(action)
+        # Applies a pipeline to the action, default is IdentityProcessor
+        # IMPORTANT: action_pipeline.to_output must return a dict suitable for robot.send_action()
+        if policy is not None and policy_transition is not None:
+            robot_action_to_send = robot_action_processor(policy_transition)
+        else:
+            robot_action_to_send = robot_action_processor(teleop_transition)

+        # Send action to robot
+        # Action can eventually be clipped using `max_relative_target`,
+        # so action actually sent is saved in the dataset. action = postprocessor.process(action)
+        # TODO(pepijn, adil): we should use a pipeline step to clip the action, so the sent action is the action that we input to the robot.
+        _ = robot.send_action(robot_action_to_send)
+
+        # Write to dataset
        if dataset is not None:
-            action_frame = build_dataset_frame(dataset.features, sent_action, prefix="action")
-            frame = {**observation_frame, **action_frame}
+            # If transition_to_dataset_frame is provided, use it to merge the transitions.
+            merged = []
+            if obs_transition is not None:  # The observation from the robot
+                merged.append(obs_transition)
+            if teleop_transition is not None:  # The action from teleop
+                merged.append(teleop_transition)
+            if policy_transition is not None:  # The action from policy
+                merged.append(policy_transition)
+            frame = transition_to_dataset_frame(
+                merged if len(merged) > 1 else merged[0], dataset.features
+            )  # Convert the observation to the dataset format
            dataset.add_frame(frame, task=single_task)

        if display_data:
-            log_rerun_data(observation, action)
+            log_rerun_data([obs_transition, teleop_transition or policy_transition])

        dt_s = time.perf_counter() - start_loop_t
        busy_wait(1 / fps - dt_s)
@@ -303,7 +406,15 @@ def record(cfg: RecordConfig) -> LeRobotDataset:

    action_features = hw_to_dataset_features(robot.action_features, "action", cfg.dataset.video)
    obs_features = hw_to_dataset_features(robot.observation_features, "observation", cfg.dataset.video)
-    dataset_features = {**action_features, **obs_features}
+
+    # Add next.* features that are generated during recording
+    transition_features = {
+        "next.reward": {"dtype": "float32", "shape": (1,), "names": None},
+        "next.done": {"dtype": "bool", "shape": (1,), "names": None},
+        "next.truncated": {"dtype": "bool", "shape": (1,), "names": None},
+    }
+
+    dataset_features = {**action_features, **obs_features, **transition_features}

    if cfg.resume:
        dataset = LeRobotDataset(
@@ -335,6 +446,18 @@ def record(cfg: RecordConfig) -> LeRobotDataset:

    # Load pretrained policy
    policy = None if cfg.policy is None else make_policy(cfg.policy, ds_meta=dataset.meta)
+    preprocessor = None
+    postprocessor = None
+    if cfg.policy is not None:
+        preprocessor, postprocessor = make_pre_post_processors(
+            policy_cfg=cfg.policy,
+            pretrained_path=cfg.policy.pretrained_path,
+            dataset_stats=rename_stats(dataset.meta.stats, cfg.dataset.rename_map),
+            preprocessor_overrides={
+                "device_processor": {"device": cfg.policy.device},
+                "rename_processor": {"rename_map": cfg.dataset.rename_map},
+            },
+        )

    robot.connect()
    if teleop is not None:
@@ -352,6 +475,8 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
                fps=cfg.dataset.fps,
                teleop=teleop,
                policy=policy,
+                preprocessor=preprocessor,
+                postprocessor=postprocessor,
                dataset=dataset,
                control_time_s=cfg.dataset.episode_time_s,
                single_task=cfg.dataset.single_task,
@@ -45,9 +45,10 @@ from dataclasses import asdict, dataclass
 from pathlib import Path
 from pprint import pformat

-import draccus
-
+from lerobot.configs import parser
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.processor import IdentityProcessorStep, RobotProcessorPipeline
+from lerobot.processor.converters import action_to_transition, transition_to_robot_action
 from lerobot.robots import (  # noqa: F401
    Robot,
    RobotConfig,
@@ -55,7 +56,6 @@ from lerobot.robots import (  # noqa: F401
    hope_jr,
    koch_follower,
    make_robot_from_config,
-    reachy2,
    so100_follower,
    so101_follower,
 )
@@ -84,13 +84,25 @@ class ReplayConfig:
    dataset: DatasetReplayConfig
    # Use vocal synthesis to read events.
    play_sounds: bool = True
+    # Optional processor for actions before sending to robot
+    robot_action_processor: RobotProcessorPipeline | None = None


-@draccus.wrap()
+@parser.wrap()
 def replay(cfg: ReplayConfig):
    init_logging()
    logging.info(pformat(asdict(cfg)))

+    # Initialize robot action processor with default if not provided
+    robot_action_processor = cfg.robot_action_processor or RobotProcessorPipeline(
+        steps=[IdentityProcessorStep()],
+        to_transition=action_to_transition,
+        to_output=transition_to_robot_action,  # type: ignore[arg-type]
+    )
+
+    # Reset processor
+    robot_action_processor.reset()
+
    robot = make_robot_from_config(cfg.robot)
    dataset = LeRobotDataset(cfg.dataset.repo_id, root=cfg.dataset.root, episodes=[cfg.dataset.episode])
    actions = dataset.hf_dataset.select_columns("action")
@@ -105,7 +117,10 @@ def replay(cfg: ReplayConfig):
        for i, name in enumerate(dataset.features["action"]["names"]):
            action[name] = action_array[i]

-        robot.send_action(action)
+        # Process action through robot action processor
+        processed_action = robot_action_processor(action)
+
+        robot.send_action(processed_action)  # type: ignore[arg-type]

        dt_s = time.perf_counter() - start_episode_t
        busy_wait(1 / dataset.fps - dt_s)
@@ -29,10 +29,10 @@ class BiSO100FollowerConfig(RobotConfig):

    # Optional
    left_arm_disable_torque_on_disconnect: bool = True
-    left_arm_max_relative_target: float | dict[str, float] | None = None
+    left_arm_max_relative_target: int | None = None
    left_arm_use_degrees: bool = False
    right_arm_disable_torque_on_disconnect: bool = True
-    right_arm_max_relative_target: float | dict[str, float] | None = None
+    right_arm_max_relative_target: int | None = None
    right_arm_use_degrees: bool = False

    # cameras (shared between both arms)
@@ -44,8 +44,8 @@ class HopeJrArmConfig(RobotConfig):
    disable_torque_on_disconnect: bool = True

    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
-    max_relative_target: float | dict[str, float] | None = None
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None

    cameras: dict[str, CameraConfig] = field(default_factory=dict)
@@ -28,9 +28,9 @@ class KochFollowerConfig(RobotConfig):
    disable_torque_on_disconnect: bool = True

    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
-    max_relative_target: float | dict[str, float] | None = None
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None

    # cameras
    cameras: dict[str, CameraConfig] = field(default_factory=dict)
@@ -110,7 +110,6 @@ class KochFollower(Robot):
        return self.bus.is_calibrated

    def calibrate(self) -> None:
-        self.bus.disable_torque()
        if self.calibration:
            # Calibration file exists, ask user whether to use it or run new calibration
            user_input = input(
@@ -121,6 +120,7 @@ class KochFollower(Robot):
                self.bus.write_calibration(self.calibration)
                return
        logger.info(f"\nRunning calibration of {self}")
+        self.bus.disable_torque()
        for motor in self.bus.motors:
            self.bus.write("Operating_Mode", motor, OperatingMode.EXTENDED_POSITION.value)

@@ -39,9 +39,9 @@ class LeKiwiConfig(RobotConfig):
    disable_torque_on_disconnect: bool = True

    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
-    max_relative_target: float | dict[str, float] | None = None
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None

    cameras: dict[str, CameraConfig] = field(default_factory=lekiwi_cameras_config)

@@ -1,25 +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 .configuration_reachy2 import Reachy2RobotConfig
-from .robot_reachy2 import (
-    REACHY2_ANTENNAS_JOINTS,
-    REACHY2_L_ARM_JOINTS,
-    REACHY2_NECK_JOINTS,
-    REACHY2_R_ARM_JOINTS,
-    REACHY2_VEL,
-    Reachy2Robot,
-)
@@ -1,107 +0,0 @@
-# Copyright 2024 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.cameras import CameraConfig
-from lerobot.cameras.configs import ColorMode
-from lerobot.cameras.reachy2_camera import Reachy2CameraConfig
-
-from ..config import RobotConfig
-
-
-@RobotConfig.register_subclass("reachy2")
-@dataclass
-class Reachy2RobotConfig(RobotConfig):
-    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors.
-    max_relative_target: float | None = None
-
-    # IP address of the Reachy 2 robot
-    ip_address: str | None = "localhost"
-
-    # If True, turn_off_smoothly() will be sent to the robot before disconnecting.
-    disable_torque_on_disconnect: bool = False
-
-    # Tag for external commands control
-    # Set to True if you use an external commands system to control the robot,
-    # such as the official teleoperation application: https://github.com/pollen-robotics/Reachy2Teleoperation
-    # If True, robot.send_action() will not send commands to the robot.
-    use_external_commands: bool = False
-
-    # Robot parts
-    # Set to False to not add the corresponding joints part to the robot list of joints.
-    # By default, all parts are set to True.
-    with_mobile_base: bool = True
-    with_l_arm: bool = True
-    with_r_arm: bool = True
-    with_neck: bool = True
-    with_antennas: bool = True
-
-    # Robot cameras
-    # Set to True if you want to use the corresponding cameras in the observations.
-    # By default, only the teleop cameras are used.
-    with_left_teleop_camera: bool = True
-    with_right_teleop_camera: bool = True
-    with_torso_camera: bool = False
-
-    cameras: dict[str, CameraConfig] = field(default_factory=dict)
-
-    def __post_init__(self) -> None:
-        # Add cameras with same ip_address as the robot
-        if self.with_left_teleop_camera:
-            self.cameras["teleop_left"] = Reachy2CameraConfig(
-                name="teleop",
-                image_type="left",
-                ip_address=self.ip_address,
-                fps=15,
-                width=640,
-                height=480,
-                color_mode=ColorMode.RGB,
-            )
-        if self.with_right_teleop_camera:
-            self.cameras["teleop_right"] = Reachy2CameraConfig(
-                name="teleop",
-                image_type="right",
-                ip_address=self.ip_address,
-                fps=15,
-                width=640,
-                height=480,
-                color_mode=ColorMode.RGB,
-            )
-        if self.with_torso_camera:
-            self.cameras["torso_rgb"] = Reachy2CameraConfig(
-                name="depth",
-                image_type="rgb",
-                ip_address=self.ip_address,
-                fps=15,
-                width=640,
-                height=480,
-                color_mode=ColorMode.RGB,
-            )
-
-        super().__post_init__()
-
-        if not (
-            self.with_mobile_base
-            or self.with_l_arm
-            or self.with_r_arm
-            or self.with_neck
-            or self.with_antennas
-        ):
-            raise ValueError(
-                "No Reachy2Robot part used.\n"
-                "At least one part of the robot must be set to True "
-                "(with_mobile_base, with_l_arm, with_r_arm, with_neck, with_antennas)"
-            )
@@ -1,230 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 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.
-
-import time
-from typing import Any
-
-import numpy as np
-from reachy2_sdk import ReachySDK
-
-from lerobot.cameras.utils import make_cameras_from_configs
-
-from ..robot import Robot
-from ..utils import ensure_safe_goal_position
-from .configuration_reachy2 import Reachy2RobotConfig
-
-# {lerobot_keys: reachy2_sdk_keys}
-REACHY2_NECK_JOINTS = {
-    "neck_yaw.pos": "head.neck.yaw",
-    "neck_pitch.pos": "head.neck.pitch",
-    "neck_roll.pos": "head.neck.roll",
-}
-
-REACHY2_ANTENNAS_JOINTS = {
-    "l_antenna.pos": "head.l_antenna",
-    "r_antenna.pos": "head.r_antenna",
-}
-
-REACHY2_R_ARM_JOINTS = {
-    "r_shoulder_pitch.pos": "r_arm.shoulder.pitch",
-    "r_shoulder_roll.pos": "r_arm.shoulder.roll",
-    "r_elbow_yaw.pos": "r_arm.elbow.yaw",
-    "r_elbow_pitch.pos": "r_arm.elbow.pitch",
-    "r_wrist_roll.pos": "r_arm.wrist.roll",
-    "r_wrist_pitch.pos": "r_arm.wrist.pitch",
-    "r_wrist_yaw.pos": "r_arm.wrist.yaw",
-    "r_gripper.pos": "r_arm.gripper",
-}
-
-REACHY2_L_ARM_JOINTS = {
-    "l_shoulder_pitch.pos": "l_arm.shoulder.pitch",
-    "l_shoulder_roll.pos": "l_arm.shoulder.roll",
-    "l_elbow_yaw.pos": "l_arm.elbow.yaw",
-    "l_elbow_pitch.pos": "l_arm.elbow.pitch",
-    "l_wrist_roll.pos": "l_arm.wrist.roll",
-    "l_wrist_pitch.pos": "l_arm.wrist.pitch",
-    "l_wrist_yaw.pos": "l_arm.wrist.yaw",
-    "l_gripper.pos": "l_arm.gripper",
-}
-
-REACHY2_VEL = {
-    "mobile_base.vx": "vx",
-    "mobile_base.vy": "vy",
-    "mobile_base.vtheta": "vtheta",
-}
-
-
-class Reachy2Robot(Robot):
-    """
-    [Reachy 2](https://www.pollen-robotics.com/reachy/), by Pollen Robotics.
-    """
-
-    config_class = Reachy2RobotConfig
-    name = "reachy2"
-
-    def __init__(self, config: Reachy2RobotConfig):
-        super().__init__(config)
-
-        self.config = config
-        self.robot_type = self.config.type
-        self.use_external_commands = self.config.use_external_commands
-
-        self.reachy: None | ReachySDK = None
-        self.cameras = make_cameras_from_configs(config.cameras)
-
-        self.logs: dict[str, float] = {}
-
-        self.joints_dict: dict[str, str] = self._generate_joints_dict()
-
-    @property
-    def observation_features(self) -> dict[str, Any]:
-        return {**self.motors_features, **self.camera_features}
-
-    @property
-    def action_features(self) -> dict[str, type]:
-        return self.motors_features
-
-    @property
-    def camera_features(self) -> dict[str, tuple[int | None, int | None, int]]:
-        return {cam: (self.cameras[cam].height, self.cameras[cam].width, 3) for cam in self.cameras}
-
-    @property
-    def motors_features(self) -> dict[str, type]:
-        if self.config.with_mobile_base:
-            return {
-                **dict.fromkeys(
-                    self.joints_dict.keys(),
-                    float,
-                ),
-                **dict.fromkeys(
-                    REACHY2_VEL.keys(),
-                    float,
-                ),
-            }
-        else:
-            return dict.fromkeys(self.joints_dict.keys(), float)
-
-    @property
-    def is_connected(self) -> bool:
-        return self.reachy.is_connected() if self.reachy is not None else False
-
-    def connect(self, calibrate: bool = False) -> None:
-        self.reachy = ReachySDK(self.config.ip_address)
-        if not self.is_connected:
-            raise ConnectionError()
-
-        for cam in self.cameras.values():
-            cam.connect()
-
-        self.configure()
-
-    def configure(self) -> None:
-        if self.reachy is not None:
-            self.reachy.turn_on()
-            self.reachy.reset_default_limits()
-
-    @property
-    def is_calibrated(self) -> bool:
-        return True
-
-    def calibrate(self) -> None:
-        pass
-
-    def _generate_joints_dict(self) -> dict[str, str]:
-        joints = {}
-        if self.config.with_neck:
-            joints.update(REACHY2_NECK_JOINTS)
-        if self.config.with_l_arm:
-            joints.update(REACHY2_L_ARM_JOINTS)
-        if self.config.with_r_arm:
-            joints.update(REACHY2_R_ARM_JOINTS)
-        if self.config.with_antennas:
-            joints.update(REACHY2_ANTENNAS_JOINTS)
-        return joints
-
-    def _get_state(self) -> dict[str, float]:
-        if self.reachy is not None:
-            pos_dict = {k: self.reachy.joints[v].present_position for k, v in self.joints_dict.items()}
-            if not self.config.with_mobile_base:
-                return pos_dict
-            vel_dict = {k: self.reachy.mobile_base.odometry[v] for k, v in REACHY2_VEL.items()}
-            return {**pos_dict, **vel_dict}
-        else:
-            return {}
-
-    def get_observation(self) -> dict[str, np.ndarray]:
-        obs_dict: dict[str, Any] = {}
-
-        # Read Reachy 2 state
-        before_read_t = time.perf_counter()
-        obs_dict.update(self._get_state())
-        self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
-
-        # Capture images from cameras
-        for cam_key, cam in self.cameras.items():
-            obs_dict[cam_key] = cam.async_read()
-
-        return obs_dict
-
-    def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
-        if self.reachy is not None:
-            if not self.is_connected:
-                raise ConnectionError()
-
-            before_write_t = time.perf_counter()
-
-            vel = {}
-            goal_pos = {}
-            for key, val in action.items():
-                if key not in self.joints_dict:
-                    if key not in REACHY2_VEL:
-                        raise KeyError(f"Key '{key}' is not a valid motor key in Reachy 2.")
-                    else:
-                        vel[REACHY2_VEL[key]] = float(val)
-                else:
-                    if not self.use_external_commands and self.config.max_relative_target is not None:
-                        goal_pos[key] = float(val)
-                        goal_present_pos = {
-                            key: (
-                                goal_pos[key],
-                                self.reachy.joints[self.joints_dict[key]].present_position,
-                            )
-                        }
-                        safe_goal_pos = ensure_safe_goal_position(
-                            goal_present_pos, float(self.config.max_relative_target)
-                        )
-                        val = safe_goal_pos[key]
-                    self.reachy.joints[self.joints_dict[key]].goal_position = float(val)
-
-            if self.config.with_mobile_base:
-                self.reachy.mobile_base.set_goal_speed(vel["vx"], vel["vy"], vel["vtheta"])
-
-            # We don't send the goal positions if we control Reachy 2 externally
-            if not self.use_external_commands:
-                self.reachy.send_goal_positions()
-                if self.config.with_mobile_base:
-                    self.reachy.mobile_base.send_speed_command()
-
-            self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t
-        return action
-
-    def disconnect(self) -> None:
-        if self.reachy is not None:
-            for cam in self.cameras.values():
-                cam.disconnect()
-            if self.config.disable_torque_on_disconnect:
-                self.reachy.turn_off_smoothly()
-            self.reachy.disconnect()
@@ -14,6 +14,5 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.

-from .config_so100_follower import SO100FollowerConfig, SO100FollowerEndEffectorConfig
+from .config_so100_follower import SO100FollowerConfig
 from .so100_follower import SO100Follower
-from .so100_follower_end_effector import SO100FollowerEndEffector
@@ -30,44 +30,12 @@ class SO100FollowerConfig(RobotConfig):
    disable_torque_on_disconnect: bool = True

    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
-    max_relative_target: float | dict[str, float] | None = None
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None

    # cameras
    cameras: dict[str, CameraConfig] = field(default_factory=dict)

    # Set to `True` for backward compatibility with previous policies/dataset
    use_degrees: bool = False
-
-
-@RobotConfig.register_subclass("so100_follower_end_effector")
-@dataclass
-class SO100FollowerEndEffectorConfig(SO100FollowerConfig):
-    """Configuration for the SO100FollowerEndEffector robot."""
-
-    # Path to URDF file for kinematics
-    # NOTE: It is highly recommended to use the urdf in the SO-ARM100 repo:
-    # https://github.com/TheRobotStudio/SO-ARM100/blob/main/Simulation/SO101/so101_new_calib.urdf
-    urdf_path: str | None = None
-
-    # End-effector frame name in the URDF
-    target_frame_name: str = "gripper_frame_link"
-
-    # Default bounds for the end-effector position (in meters)
-    end_effector_bounds: dict[str, list[float]] = field(
-        default_factory=lambda: {
-            "min": [-1.0, -1.0, -1.0],  # min x, y, z
-            "max": [1.0, 1.0, 1.0],  # max x, y, z
-        }
-    )
-
-    max_gripper_pos: float = 50
-
-    end_effector_step_sizes: dict[str, float] = field(
-        default_factory=lambda: {
-            "x": 0.02,
-            "y": 0.02,
-            "z": 0.02,
-        }
-    )
@@ -0,0 +1,460 @@
+# !/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
+
+import numpy as np
+from scipy.spatial.transform import Rotation
+
+from lerobot.configs.types import FeatureType, PolicyFeature
+from lerobot.constants import ACTION, OBS_STATE
+from lerobot.model.kinematics import RobotKinematics
+from lerobot.processor import (
+    ActionProcessorStep,
+    ComplementaryDataProcessorStep,
+    EnvTransition,
+    ObservationProcessorStep,
+    ProcessorStep,
+    ProcessorStepRegistry,
+    TransitionKey,
+)
+from lerobot.robots.robot import Robot
+
+
+@ProcessorStepRegistry.register("ee_reference_and_delta")
+@dataclass
+class EEReferenceAndDelta(ActionProcessorStep):
+    """
+    Compute the desired end-effector pose from the target pose and the current pose.
+
+    Input ACTION keys:
+    {
+        "action.ee.{x,y,z,wx,wy,wz}" : float
+        "complementary_data.raw_joint_positions": dict,
+    }
+
+    Output ACTION keys:
+    {
+        "action.ee.{x,y,z,wx,wy,wz}" : float
+    }
+    """
+
+    kinematics: RobotKinematics
+    end_effector_step_sizes: dict
+    motor_names: list[str]
+    use_latched_reference: bool = (
+        True  # If True, latch reference on enable; if False, always use current pose
+    )
+
+    reference_ee_pose: np.ndarray | None = field(default=None, init=False, repr=False)
+    _prev_enabled: bool = field(default=False, init=False, repr=False)
+    _command_when_disabled: np.ndarray | None = field(default=None, init=False, repr=False)
+
+    def action(self, action):
+        new_action = action.copy()
+        comp = self.transition.get(TransitionKey.COMPLEMENTARY_DATA)
+
+        # Get joint positions from complimentary data
+        raw = comp.get("raw_joint_positions", None)
+        if raw is None:
+            raise ValueError(
+                "raw_joint_positions is not in complementary data and is required for EEReferenceAndDelta"
+            )
+
+        if "reference_joint_positions" in comp:
+            q = comp["reference_joint_positions"]
+        else:
+            q = np.array([float(raw[n]) for n in self.motor_names], dtype=float)
+
+        # Current pose from FK on measured joints
+        t_curr = self.kinematics.forward_kinematics(q)
+
+        enabled = bool(new_action.pop(f"{ACTION}.enabled", 0))
+        tx = float(new_action.pop(f"{ACTION}.target_x", 0.0))
+        ty = float(new_action.pop(f"{ACTION}.target_y", 0.0))
+        tz = float(new_action.pop(f"{ACTION}.target_z", 0.0))
+        wx = float(new_action.pop(f"{ACTION}.target_wx", 0.0))
+        wy = float(new_action.pop(f"{ACTION}.target_wy", 0.0))
+        wz = float(new_action.pop(f"{ACTION}.target_wz", 0.0))
+
+        desired = None
+
+        if enabled:
+            ref = t_curr
+            if self.use_latched_reference:
+                # Latched reference mode: latch reference at the rising edge
+                if not self._prev_enabled or self.reference_ee_pose is None:
+                    self.reference_ee_pose = t_curr.copy()
+                ref = self.reference_ee_pose if self.reference_ee_pose is not None else t_curr
+
+            delta_p = np.array(
+                [
+                    tx * self.end_effector_step_sizes["x"],
+                    ty * self.end_effector_step_sizes["y"],
+                    tz * self.end_effector_step_sizes["z"],
+                ],
+                dtype=float,
+            )
+            r_abs = Rotation.from_rotvec([wx, wy, wz]).as_matrix()
+            desired = np.eye(4, dtype=float)
+            desired[:3, :3] = ref[:3, :3] @ r_abs
+            desired[:3, 3] = ref[:3, 3] + delta_p
+
+            self._command_when_disabled = desired.copy()
+        else:
+            # While disabled, keep sending the same command to avoid drift.
+            if self._command_when_disabled is None:
+                # If we've never had an enabled command yet, freeze current FK pose once.
+                self._command_when_disabled = t_curr.copy()
+            desired = self._command_when_disabled.copy()
+
+        # Write action fields
+        pos = desired[:3, 3]
+        tw = Rotation.from_matrix(desired[:3, :3]).as_rotvec()
+        new_action[f"{ACTION}.ee.x"] = float(pos[0])
+        new_action[f"{ACTION}.ee.y"] = float(pos[1])
+        new_action[f"{ACTION}.ee.z"] = float(pos[2])
+        new_action[f"{ACTION}.ee.wx"] = float(tw[0])
+        new_action[f"{ACTION}.ee.wy"] = float(tw[1])
+        new_action[f"{ACTION}.ee.wz"] = float(tw[2])
+
+        self._prev_enabled = enabled
+        return new_action
+
+    def reset(self):
+        self._prev_enabled = False
+        self.reference_ee_pose = None
+        self._command_when_disabled = None
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        features.pop(f"{ACTION}.enabled", None)
+        features.pop(f"{ACTION}.target_x", None)
+        features.pop(f"{ACTION}.target_y", None)
+        features.pop(f"{ACTION}.target_z", None)
+        features.pop(f"{ACTION}.target_wx", None)
+        features.pop(f"{ACTION}.target_wy", None)
+        features.pop(f"{ACTION}.target_wz", None)
+
+        features[f"{ACTION}.ee.x"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.ee.y"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.ee.z"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.ee.wx"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.ee.wy"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{ACTION}.ee.wz"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        return features
+
+
+@ProcessorStepRegistry.register("ee_bounds_and_safety")
+@dataclass
+class EEBoundsAndSafety(ActionProcessorStep):
+    """
+    Clip the end-effector pose to the bounds and check for jumps.
+
+    Input ACTION keys:
+    {
+        "action.ee.{x,y,z,wx,wy,wz}" : float
+    }
+
+    Output ACTION keys:
+    {
+        "action.ee.{x,y,z,wx,wy,wz}" : float
+    }
+    """
+
+    end_effector_bounds: dict
+    max_ee_step_m: float = 0.05
+    max_ee_twist_step_rad: float = 0.20
+    _last_pos: np.ndarray | None = field(default=None, init=False, repr=False)
+    _last_twist: np.ndarray | None = field(default=None, init=False, repr=False)
+
+    def action(self, act: dict) -> dict:
+        x = act.get(f"{ACTION}.ee.x", None)
+        y = act.get(f"{ACTION}.ee.y", None)
+        z = act.get(f"{ACTION}.ee.z", None)
+        wx = act.get(f"{ACTION}.ee.wx", None)
+        wy = act.get(f"{ACTION}.ee.wy", None)
+        wz = act.get(f"{ACTION}.ee.wz", None)
+
+        if None in (x, y, z, wx, wy, wz):
+            raise ValueError(
+                "Missing required end-effector pose components: x, y, z, wx, wy, wz must all be present in action"
+            )
+
+        pos = np.array([x, y, z], dtype=float)
+        twist = np.array([wx, wy, wz], dtype=float)
+
+        # Clip position
+        pos = np.clip(pos, self.end_effector_bounds["min"], self.end_effector_bounds["max"])
+
+        # Check for jumps in position
+        if self._last_pos is not None:
+            dpos = pos - self._last_pos
+            n = float(np.linalg.norm(dpos))
+            if n > self.max_ee_step_m and n > 0:
+                pos = self._last_pos + dpos * (self.max_ee_step_m / n)
+                raise ValueError(f"EE jump {n:.3f}m > {self.max_ee_step_m}m")
+
+        self._last_pos = pos
+        self._last_twist = twist
+
+        act[f"{ACTION}.ee.x"] = float(pos[0])
+        act[f"{ACTION}.ee.y"] = float(pos[1])
+        act[f"{ACTION}.ee.z"] = float(pos[2])
+        act[f"{ACTION}.ee.wx"] = float(twist[0])
+        act[f"{ACTION}.ee.wy"] = float(twist[1])
+        act[f"{ACTION}.ee.wz"] = float(twist[2])
+        return act
+
+    def reset(self):
+        self._last_pos = None
+        self._last_twist = None
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        # check if features as f"{ACTION}.ee.{x,y,z,wx,wy,wz}"
+
+        return features
+
+
+@ProcessorStepRegistry.register("inverse_kinematics_ee_to_joints")
+@dataclass
+class InverseKinematicsEEToJoints(ProcessorStep):
+    """
+    Compute the desired joint positions from the desired end-effector pose.
+
+    Input ACTION keys:
+    {
+        "action.ee.{x,y,z,wx,wy,wz}" : float
+        "complementary_data.raw_joint_positions": dict,
+    }
+
+    Output ACTION keys:
+    {
+        "action.joint_name_1.pos": float,
+        "action.joint_name_2.pos": float,
+        ...
+        "action.joint_name_n.pos": float,
+    }
+    """
+
+    kinematics: RobotKinematics
+    motor_names: list[str]
+    q_curr: np.ndarray | None = field(default=None, init=False, repr=False)
+    initial_guess_current_joints: bool = True
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        new_transition = transition.copy()
+        act = new_transition.get(TransitionKey.ACTION) or {}
+        comp = new_transition.get(TransitionKey.COMPLEMENTARY_DATA) or {}
+
+        x = act.get(f"{ACTION}.ee.x", None)
+        y = act.get(f"{ACTION}.ee.y", None)
+        z = act.get(f"{ACTION}.ee.z", None)
+        wx = act.get(f"{ACTION}.ee.wx", None)
+        wy = act.get(f"{ACTION}.ee.wy", None)
+        wz = act.get(f"{ACTION}.ee.wz", None)
+
+        if None in (x, y, z, wx, wy, wz):
+            return new_transition
+
+        # Get joint positions from complimentary data
+        raw = comp.get("raw_joint_positions", None)
+        if raw is None:
+            raise ValueError(
+                "raw_joint_positions is not in complementary data and is required for EEReferenceAndDelta"
+            )
+
+        if self.initial_guess_current_joints:  # Use current joints as initial guess
+            self.q_curr = np.array([float(raw[n]) for n in self.motor_names], dtype=float)
+        else:  # Use previous ik solution as initial guess
+            if self.q_curr is None:
+                self.q_curr = np.array([float(raw[n]) for n in self.motor_names], dtype=float)
+
+        # Build desired 4x4 transform from pos + rotvec (twist)
+        t_des = np.eye(4, dtype=float)
+        t_des[:3, :3] = Rotation.from_rotvec([wx, wy, wz]).as_matrix()
+        t_des[:3, 3] = [x, y, z]
+
+        # Compute inverse kinematics
+        q_target = self.kinematics.inverse_kinematics(self.q_curr, t_des)
+        self.q_curr = q_target
+
+        new_act = dict(act)
+        for i, name in enumerate(self.motor_names):
+            if name == "gripper":
+                # TODO(pepijn): Investigate if this is correct
+                # Do we want an observation key in the action field?
+                new_act[f"{ACTION}.gripper.pos"] = float(raw["gripper"])
+            else:
+                new_act[f"{ACTION}.{name}.pos"] = float(q_target[i])
+        new_transition[TransitionKey.ACTION] = new_act
+        if not self.initial_guess_current_joints:
+            new_transition[TransitionKey.COMPLEMENTARY_DATA]["reference_joint_positions"] = q_target
+        return new_transition
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        features[f"{ACTION}.gripper.pos"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        for name in self.motor_names:
+            features[f"{ACTION}.{name}.pos"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+
+        return features
+
+    def reset(self):
+        self.q_curr = None
+
+
+@ProcessorStepRegistry.register("gripper_velocity_to_joint")
+@dataclass
+class GripperVelocityToJoint(ProcessorStep):
+    """
+    Convert the gripper velocity to a joint velocity.
+
+    Input ACTION keys:
+    {
+        "action.gripper": float,
+    }
+
+    Output ACTION keys:
+    {
+        "action.gripper.pos": float,
+    }
+    """
+
+    motor_names: list[str]
+    speed_factor: float = 20.0
+    clip_min: float = 0.0
+    clip_max: float = 100.0
+    discrete_gripper: bool = False
+
+    def __call__(self, transition: EnvTransition) -> EnvTransition:
+        new_transition = transition.copy()
+        obs = new_transition.get(TransitionKey.OBSERVATION) or {}
+        act = new_transition.get(TransitionKey.ACTION) or {}
+        comp = new_transition.get(TransitionKey.COMPLEMENTARY_DATA) or {}
+
+        if f"{ACTION}.gripper" not in act:
+            raise ValueError(f"Required action key '{ACTION}.gripper' not found in transition")
+
+        if "gripper" not in self.motor_names:
+            raise ValueError(
+                f"Required motor name 'gripper' not found in self.motor_names={self.motor_names}"
+            )
+
+        if self.discrete_gripper:
+            # Discrete gripper actions are in [0, 1, 2]
+            # 0: open, 1: close, 2: stay
+            # We need to shift them to [-1, 0, 1] and then scale them to clip_max
+            gripper_action = act.get(f"{ACTION}.gripper", 1.0)
+            gripper_action = gripper_action - 1.0
+            gripper_action *= self.clip_max
+            act[f"{ACTION}.gripper"] = gripper_action
+
+        # Get current gripper position from complementary data
+        raw = comp.get("raw_joint_positions") or {}
+        curr_pos = float(raw.get("gripper"))
+
+        # Compute desired gripper velocity
+        u = float(act.get(f"{ACTION}.gripper", 0.0))
+        delta = u * float(self.speed_factor)
+        gripper_pos = float(np.clip(curr_pos + delta, self.clip_min, self.clip_max))
+
+        new_act = dict(act)
+        new_act[f"{ACTION}.gripper.pos"] = gripper_pos
+        new_act.pop(f"{ACTION}.gripper", None)
+        new_transition[TransitionKey.ACTION] = new_act
+
+        obs[f"{OBS_STATE}.gripper.pos"] = curr_pos
+        new_transition[TransitionKey.OBSERVATION] = obs
+        return new_transition
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        features.pop(f"{ACTION}.gripper", None)
+        features[f"{ACTION}.gripper.pos"] = PolicyFeature(type=FeatureType.ACTION, shape=(1,))
+        features[f"{OBS_STATE}.gripper.pos"] = PolicyFeature(type=FeatureType.STATE, shape=(1,))
+
+        return features
+
+
+@ProcessorStepRegistry.register("forward_kinematics_joints_to_ee")
+@dataclass
+class ForwardKinematicsJointsToEE(ObservationProcessorStep):
+    """
+    Compute the end-effector pose from the joint positions.
+
+    Input OBSERVATION keys:
+    {
+        "observation.state.{joint_name_1,joint_name_2,...,joint_name_n}.pos": float,
+    }
+
+    Output OBSERVATION keys:
+    {
+        "observation.state.ee.{x,y,z,wx,wy,wz}" : float
+    }
+    """
+
+    kinematics: RobotKinematics
+    motor_names: list[str]
+
+    def observation(self, obs: dict) -> dict:
+        if not all(f"{OBS_STATE}.{n}.pos" in obs for n in self.motor_names):
+            raise ValueError(f"Missing required joint positions for motors: {self.motor_names}")
+
+        q = np.array([obs[f"{OBS_STATE}.{n}.pos"] for n in self.motor_names], dtype=float)
+        t = self.kinematics.forward_kinematics(q)
+        pos = t[:3, 3]
+        tw = Rotation.from_matrix(t[:3, :3]).as_rotvec()
+
+        obs[f"{OBS_STATE}.ee.x"] = float(pos[0])
+        obs[f"{OBS_STATE}.ee.y"] = float(pos[1])
+        obs[f"{OBS_STATE}.ee.z"] = float(pos[2])
+        obs[f"{OBS_STATE}.ee.wx"] = float(tw[0])
+        obs[f"{OBS_STATE}.ee.wy"] = float(tw[1])
+        obs[f"{OBS_STATE}.ee.wz"] = float(tw[2])
+        return obs
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        # We specify the dataset features of this step that we want to be stored in the dataset
+        for k in ["x", "y", "z", "wx", "wy", "wz"]:
+            features[f"{OBS_STATE}.ee.{k}"] = PolicyFeature(type=FeatureType.STATE, shape=(1,))
+        return features
+
+
+@ProcessorStepRegistry.register("add_robot_observation")
+@dataclass
+class AddRobotObservationAsComplimentaryData(ComplementaryDataProcessorStep):
+    """
+    Read the robot's current observation and insert it into the transition as complementary data.
+
+    - Joint positions are added under complementary_data["raw_joint_positions"] as a dict:
+        { "<motor_name>": <float position>, ... }
+    """
+
+    robot: Robot
+
+    def complementary_data(self, comp: dict | None) -> dict:
+        new_comp = dict(comp)
+        obs = (
+            self.robot.get_observation()
+        )  # todo(steven): why not self.trtansition.get(TransitionKey.OBSERVATION)?
+
+        new_comp["raw_joint_positions"] = {
+            k.removesuffix(".pos"): float(v)
+            for k, v in obs.items()
+            if isinstance(k, str) and k.endswith(".pos")
+        }
+        return new_comp
+
+    def transform_features(self, features: dict[str, PolicyFeature]) -> dict[str, PolicyFeature]:
+        return features
@@ -1,200 +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.
-
-import logging
-import time
-from typing import Any
-
-import numpy as np
-
-from lerobot.cameras import make_cameras_from_configs
-from lerobot.errors import DeviceNotConnectedError
-from lerobot.model.kinematics import RobotKinematics
-from lerobot.motors import Motor, MotorNormMode
-from lerobot.motors.feetech import FeetechMotorsBus
-
-from . import SO100Follower
-from .config_so100_follower import SO100FollowerEndEffectorConfig
-
-logger = logging.getLogger(__name__)
-
-
-class SO100FollowerEndEffector(SO100Follower):
-    """
-    SO100Follower robot with end-effector space control.
-
-    This robot inherits from SO100Follower but transforms actions from
-    end-effector space to joint space before sending them to the motors.
-    """
-
-    config_class = SO100FollowerEndEffectorConfig
-    name = "so100_follower_end_effector"
-
-    def __init__(self, config: SO100FollowerEndEffectorConfig):
-        super().__init__(config)
-        self.bus = FeetechMotorsBus(
-            port=self.config.port,
-            motors={
-                "shoulder_pan": Motor(1, "sts3215", MotorNormMode.DEGREES),
-                "shoulder_lift": Motor(2, "sts3215", MotorNormMode.DEGREES),
-                "elbow_flex": Motor(3, "sts3215", MotorNormMode.DEGREES),
-                "wrist_flex": Motor(4, "sts3215", MotorNormMode.DEGREES),
-                "wrist_roll": Motor(5, "sts3215", MotorNormMode.DEGREES),
-                "gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100),
-            },
-            calibration=self.calibration,
-        )
-
-        self.cameras = make_cameras_from_configs(config.cameras)
-
-        self.config = config
-
-        # Initialize the kinematics module for the so100 robot
-        if self.config.urdf_path is None:
-            raise ValueError(
-                "urdf_path must be provided in the configuration for end-effector control. "
-                "Please set urdf_path in your SO100FollowerEndEffectorConfig."
-            )
-
-        self.kinematics = RobotKinematics(
-            urdf_path=self.config.urdf_path,
-            target_frame_name=self.config.target_frame_name,
-        )
-
-        # Store the bounds for end-effector position
-        self.end_effector_bounds = self.config.end_effector_bounds
-
-        self.current_ee_pos = None
-        self.current_joint_pos = None
-
-    @property
-    def action_features(self) -> dict[str, Any]:
-        """
-        Define action features for end-effector control.
-        Returns dictionary with dtype, shape, and names.
-        """
-        return {
-            "dtype": "float32",
-            "shape": (4,),
-            "names": {"delta_x": 0, "delta_y": 1, "delta_z": 2, "gripper": 3},
-        }
-
-    def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
-        """
-        Transform action from end-effector space to joint space and send to motors.
-
-        Args:
-            action: Dictionary with keys 'delta_x', 'delta_y', 'delta_z' for end-effector control
-                   or a numpy array with [delta_x, delta_y, delta_z]
-
-        Returns:
-            The joint-space action that was sent to the motors
-        """
-
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-
-        # Convert action to numpy array if not already
-        if isinstance(action, dict):
-            if all(k in action for k in ["delta_x", "delta_y", "delta_z"]):
-                delta_ee = np.array(
-                    [
-                        action["delta_x"] * self.config.end_effector_step_sizes["x"],
-                        action["delta_y"] * self.config.end_effector_step_sizes["y"],
-                        action["delta_z"] * self.config.end_effector_step_sizes["z"],
-                    ],
-                    dtype=np.float32,
-                )
-                if "gripper" not in action:
-                    action["gripper"] = [1.0]
-                action = np.append(delta_ee, action["gripper"])
-            else:
-                logger.warning(
-                    f"Expected action keys 'delta_x', 'delta_y', 'delta_z', got {list(action.keys())}"
-                )
-                action = np.zeros(4, dtype=np.float32)
-
-        if self.current_joint_pos is None:
-            # Read current joint positions
-            current_joint_pos = self.bus.sync_read("Present_Position")
-            self.current_joint_pos = np.array([current_joint_pos[name] for name in self.bus.motors])
-
-        # Calculate current end-effector position using forward kinematics
-        if self.current_ee_pos is None:
-            self.current_ee_pos = self.kinematics.forward_kinematics(self.current_joint_pos)
-
-        # Set desired end-effector position by adding delta
-        desired_ee_pos = np.eye(4)
-        desired_ee_pos[:3, :3] = self.current_ee_pos[:3, :3]  # Keep orientation
-
-        # Add delta to position and clip to bounds
-        desired_ee_pos[:3, 3] = self.current_ee_pos[:3, 3] + action[:3]
-        if self.end_effector_bounds is not None:
-            desired_ee_pos[:3, 3] = np.clip(
-                desired_ee_pos[:3, 3],
-                self.end_effector_bounds["min"],
-                self.end_effector_bounds["max"],
-            )
-
-        # Compute inverse kinematics to get joint positions
-        target_joint_values_in_degrees = self.kinematics.inverse_kinematics(
-            self.current_joint_pos, desired_ee_pos
-        )
-
-        # Create joint space action dictionary
-        joint_action = {
-            f"{key}.pos": target_joint_values_in_degrees[i] for i, key in enumerate(self.bus.motors.keys())
-        }
-
-        # Handle gripper separately if included in action
-        # Gripper delta action is in the range 0 - 2,
-        # We need to shift the action to the range -1, 1 so that we can expand it to -Max_gripper_pos, Max_gripper_pos
-        joint_action["gripper.pos"] = np.clip(
-            self.current_joint_pos[-1] + (action[-1] - 1) * self.config.max_gripper_pos,
-            5,
-            self.config.max_gripper_pos,
-        )
-
-        self.current_ee_pos = desired_ee_pos.copy()
-        self.current_joint_pos = target_joint_values_in_degrees.copy()
-        self.current_joint_pos[-1] = joint_action["gripper.pos"]
-
-        # Send joint space action to parent class
-        return super().send_action(joint_action)
-
-    def get_observation(self) -> dict[str, Any]:
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-
-        # Read arm position
-        start = time.perf_counter()
-        obs_dict = self.bus.sync_read("Present_Position")
-        obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
-        dt_ms = (time.perf_counter() - start) * 1e3
-        logger.debug(f"{self} read state: {dt_ms:.1f}ms")
-
-        # Capture images from cameras
-        for cam_key, cam in self.cameras.items():
-            start = time.perf_counter()
-            obs_dict[cam_key] = cam.async_read()
-            dt_ms = (time.perf_counter() - start) * 1e3
-            logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
-
-        return obs_dict
-
-    def reset(self):
-        self.current_ee_pos = None
-        self.current_joint_pos = None
@@ -30,9 +30,9 @@ class SO101FollowerConfig(RobotConfig):
    disable_torque_on_disconnect: bool = True

    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
-    max_relative_target: float | dict[str, float] | None = None
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None

    # cameras
    cameras: dict[str, CameraConfig] = field(default_factory=dict)
@@ -24,6 +24,11 @@ from ..config import RobotConfig
@RobotConfig.register_subclass("stretch3")
@dataclass
 class Stretch3RobotConfig(RobotConfig):
+    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
+    max_relative_target: int | None = None
+
    # cameras
    cameras: dict[str, CameraConfig] = field(
        default_factory=lambda: {
@@ -29,10 +29,6 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
        from .so100_follower import SO100Follower

        return SO100Follower(config)
-    elif config.type == "so100_follower_end_effector":
-        from .so100_follower import SO100FollowerEndEffector
-
-        return SO100FollowerEndEffector(config)
    elif config.type == "so101_follower":
        from .so101_follower import SO101Follower

@@ -61,10 +57,6 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
        from .bi_so100_follower import BiSO100Follower

        return BiSO100Follower(config)
-    elif config.type == "reachy2":
-        from .reachy2 import Reachy2Robot
-
-        return Reachy2Robot(config)
    elif config.type == "mock_robot":
        from tests.mocks.mock_robot import MockRobot

@@ -73,8 +65,9 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
        raise ValueError(config.type)


+# TODO(pepijn): Move to pipeline step to make sure we don't have to do this in the robot code and send action to robot is clean for use in dataset
 def ensure_safe_goal_position(
-    goal_present_pos: dict[str, tuple[float, float]], max_relative_target: float | dict[str, float]
+    goal_present_pos: dict[str, tuple[float, float]], max_relative_target: float | dict[float]
 ) -> dict[str, float]:
    """Caps relative action target magnitude for safety."""

@@ -28,15 +28,15 @@ class ViperXConfig(RobotConfig):

    # /!\ FOR SAFETY, READ THIS /!\
    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
-    # Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
-    # names to the max_relative_target value for that motor.
+    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
+    # the number of motors in your follower arms.
    # For Aloha, for every goal position request, motor rotations are capped at 5 degrees by default.
    # When you feel more confident with teleoperation or running the policy, you can extend
    # this safety limit and even removing it by setting it to `null`.
    # Also, everything is expected to work safely out-of-the-box, but we highly advise to
    # first try to teleoperate the grippers only (by commenting out the rest of the motors in this yaml),
    # then to gradually add more motors (by uncommenting), until you can teleoperate both arms fully
-    max_relative_target: float | dict[str, float] = 5.0
+    max_relative_target: int | None = 5

    # cameras
    cameras: dict[str, CameraConfig] = field(default_factory=dict)
@@ -46,19 +46,16 @@ Note that in both examples, the repo/folder should contain at least `config.json
 You can learn about the CLI options for this script in the `EvalPipelineConfig` in lerobot/configs/eval.py
 """

-import concurrent.futures as cf
 import json
 import logging
 import threading
 import time
-from collections import defaultdict
-from collections.abc import Callable, Iterator
+from collections.abc import Callable
 from contextlib import nullcontext
 from copy import deepcopy
 from dataclasses import asdict
 from pathlib import Path
 from pprint import pformat
-from typing import TypedDict

 import einops
 import gymnasium as gym
@@ -71,11 +68,7 @@ from tqdm import trange
 from lerobot.configs import parser
 from lerobot.configs.eval import EvalPipelineConfig
 from lerobot.envs.factory import make_env
-from lerobot.envs.utils import (
-    add_envs_task,
-    check_env_attributes_and_types,
-    preprocess_observation,
-)
+from lerobot.envs.utils import add_envs_task, check_env_attributes_and_types, preprocess_observation
 from lerobot.policies.factory import make_policy
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.utils import get_device_from_parameters
@@ -152,7 +145,7 @@ def rollout(
        leave=False,
    )
    check_env_attributes_and_types(env)
-    while not np.all(done) and step < max_steps:
+    while not np.all(done):
        # Numpy array to tensor and changing dictionary keys to LeRobot policy format.
        observation = preprocess_observation(observation)
        if return_observations:
@@ -165,8 +158,10 @@ def rollout(
        # Infer "task" from attributes of environments.
        # TODO: works with SyncVectorEnv but not AsyncVectorEnv
        observation = add_envs_task(env, observation)
+
        with torch.inference_mode():
            action = policy.select_action(observation)
+
        # Convert to CPU / numpy.
        action = action.to("cpu").numpy()
        assert action.ndim == 2, "Action dimensions should be (batch, action_dim)"
@@ -184,12 +179,7 @@ def rollout(
            successes = [False] * env.num_envs

        # Keep track of which environments are done so far.
-        # Mark the episode as done if we reach the maximum step limit.
-        # This ensures that the rollout always terminates cleanly at `max_steps`,
-        # and allows logging/saving (e.g., videos) to be triggered consistently.
        done = terminated | truncated | done
-        if step + 1 == max_steps:
-            done = np.ones_like(done, dtype=bool)

        all_actions.append(torch.from_numpy(action))
        all_rewards.append(torch.from_numpy(reward))
@@ -412,6 +402,7 @@ def eval_policy(
            "eval_ep_s": (time.time() - start) / n_episodes,
        },
    }
+
    if return_episode_data:
        info["episodes"] = episode_data

@@ -472,9 +463,7 @@ def eval_main(cfg: EvalPipelineConfig):

    # Check device is available
    device = get_safe_torch_device(cfg.policy.device, log=True)
-    # login to hf

-    # login()
    torch.backends.cudnn.benchmark = True
    torch.backends.cuda.matmul.allow_tf32 = True
    set_seed(cfg.seed)
@@ -482,212 +471,40 @@ def eval_main(cfg: EvalPipelineConfig):
    logging.info(colored("Output dir:", "yellow", attrs=["bold"]) + f" {cfg.output_dir}")

    logging.info("Making environment.")
-    envs = make_env(cfg.env, n_envs=cfg.eval.batch_size, use_async_envs=cfg.eval.use_async_envs)
+    env = make_env(cfg.env, n_envs=cfg.eval.batch_size, use_async_envs=cfg.eval.use_async_envs)

    logging.info("Making policy.")
+
    policy = make_policy(
        cfg=cfg.policy,
        env_cfg=cfg.env,
    )
-
    policy.eval()
+
    with torch.no_grad(), torch.autocast(device_type=device.type) if cfg.policy.use_amp else nullcontext():
-        info = eval_policy_all(
-            envs,
+        info = eval_policy(
+            env,
            policy,
            cfg.eval.n_episodes,
            max_episodes_rendered=10,
            videos_dir=Path(cfg.output_dir) / "videos",
            start_seed=cfg.seed,
-            max_parallel_tasks=cfg.env.max_parallel_tasks,
-            verbose=False,
        )
-        print("Overall Aggregated Metrics:")
-        print(info["overall"]["aggregated"])
+    print(info["aggregated"])

-        # Print per-suite stats
-        for task_group, task_group_info in info.items():
-            if task_group == "overall":
-                continue  # Skip the overall stats since we already printed it
-            print(f"\nAggregated Metrics for {task_group}:")
-            print(task_group_info["aggregated"])
-    # Close all vec envs
-    for _suite, task_map in envs.items():
-        for _vec in task_map.values():
-            _vec.close()
    # Save info
    with open(Path(cfg.output_dir) / "eval_info.json", "w") as f:
        json.dump(info, f, indent=2)

+    env.close()
+
    logging.info("End of eval")


-# ---- typed payload returned by one task eval ----
-class TaskMetrics(TypedDict):
-    sum_rewards: list[float]
-    max_rewards: list[float]
-    successes: list[bool]
-    video_paths: list[str]
-
-
-ACC_KEYS = ("sum_rewards", "max_rewards", "successes", "video_paths")
-
-
-def eval_policy_all(
-    envs: dict[str, dict[int, gym.vector.VectorEnv]],
-    policy: PreTrainedPolicy,
-    n_episodes: int,
-    max_episodes_rendered: int = 0,
-    videos_dir: Path | None = None,
-    return_episode_data: bool = False,
-    start_seed: int | None = None,
-    max_parallel_tasks: int = 5,
-    verbose: bool = True,
-) -> dict:
-    """
-    Evaluate a policy over a dict-of-dicts of vectorized envs:
-    envs[suite_name][task_id] -> gym.vector.VectorEnv
-    Returns a dict with per-suite aggregates and an 'overall' block.
-    """
-    global_start = time.time()
-
-    # inner: evaluate a single (suite, task)
-    def eval_one(
-        task_group: str,
-        task_id: int,
-        env: gym.vector.VectorEnv,
-        *,
-        policy: PreTrainedPolicy,
-        n_episodes: int,
-        max_episodes_rendered: int,
-        videos_dir: Path | None,
-        return_episode_data: bool,
-        start_seed: int | None,
-    ) -> TaskMetrics:
-        """Evaluates one task_id of one suite using the provided vec env."""
-        if verbose:
-            print(f"Evaluating: task_group={task_group}, task_id={task_id} ...")
-
-        task_videos_dir = None
-        if videos_dir is not None:
-            task_videos_dir = videos_dir / f"{task_group}_{task_id}"
-            task_videos_dir.mkdir(parents=True, exist_ok=True)
-
-        task_result = eval_policy(
-            env=env,
-            policy=policy,
-            n_episodes=n_episodes,
-            max_episodes_rendered=max_episodes_rendered,
-            videos_dir=task_videos_dir,
-            return_episode_data=return_episode_data,
-            start_seed=start_seed,
-        )
-
-        per_episode = task_result["per_episode"]
-        return TaskMetrics(
-            sum_rewards=[ep["sum_reward"] for ep in per_episode],
-            max_rewards=[ep["max_reward"] for ep in per_episode],
-            successes=[ep["success"] for ep in per_episode],
-            video_paths=task_result.get("video_paths", []),
-        )
-
-    # result producer: sequential or threaded, same consumer
-    def iter_task_results() -> Iterator[tuple[str, int, TaskMetrics]]:
-        if max_parallel_tasks == 1:
-            for task_group, tasks in envs.items():
-                for task_id, vec in tasks.items():
-                    yield (
-                        task_group,
-                        task_id,
-                        eval_one(
-                            task_group,
-                            task_id,
-                            vec,
-                            policy=policy,
-                            n_episodes=n_episodes,
-                            max_episodes_rendered=max_episodes_rendered,
-                            videos_dir=videos_dir,
-                            return_episode_data=return_episode_data,
-                            start_seed=start_seed,
-                        ),
-                    )
-        else:
-            with cf.ThreadPoolExecutor(max_workers=max_parallel_tasks) as executor:
-                fut2key: dict[cf.Future, tuple[str, int]] = {}
-                for task_group, tasks in envs.items():
-                    for task_id, vec in tasks.items():
-                        fut = executor.submit(
-                            eval_one,
-                            task_group,
-                            task_id,
-                            vec,
-                            policy=policy,
-                            n_episodes=n_episodes,
-                            max_episodes_rendered=max_episodes_rendered,
-                            videos_dir=videos_dir,
-                            return_episode_data=return_episode_data,
-                            start_seed=start_seed,
-                        )
-                        fut2key[fut] = (task_group, task_id)
-                for fut in cf.as_completed(fut2key):
-                    task_group, task_id = fut2key[fut]
-                    yield task_group, task_id, fut.result()
-
-    # single accumulator path on the main thread
-    group_acc: dict[str, dict[str, list]] = defaultdict(lambda: {k: [] for k in ACC_KEYS})
-    overall: dict[str, list] = {k: [] for k in ACC_KEYS}
-
-    for task_group, task_id, metrics in iter_task_results():
-        acc = group_acc[task_group]
-        for k in ACC_KEYS:
-            acc[k].extend(metrics[k])
-            overall[k].extend(metrics[k])
-
-    # build outputs
-    results: dict[str, dict] = {}
-    for task_group, data in group_acc.items():
-        suite_rewards = data["sum_rewards"]
-        suite_max = data["max_rewards"]
-        suite_succ = data["successes"]
-        suite_vids = data["video_paths"]
-
-        suite_eval_s = time.time() - global_start
-        suite_eval_ep_s = suite_eval_s / max(1, len(suite_rewards))
-
-        results[task_group] = {
-            "aggregated": {
-                "avg_sum_reward": float(np.nanmean(suite_rewards)) if suite_rewards else float("nan"),
-                "avg_max_reward": float(np.nanmean(suite_max)) if suite_max else float("nan"),
-                "pc_success": float(np.nanmean(suite_succ) * 100) if suite_succ else float("nan"),
-                "eval_s": suite_eval_s,
-                "eval_ep_s": suite_eval_ep_s,
-            },
-            "video_paths": suite_vids,
-            "episodes": None,
-        }
-
-    global_eval_s = time.time() - global_start
-    global_eval_ep_s = global_eval_s / max(1, len(overall["sum_rewards"]))
-    results["overall"] = {
-        "aggregated": {
-            "avg_sum_reward": float(np.nanmean(overall["sum_rewards"]))
-            if overall["sum_rewards"]
-            else float("nan"),
-            "avg_max_reward": float(np.nanmean(overall["max_rewards"]))
-            if overall["max_rewards"]
-            else float("nan"),
-            "pc_success": float(np.nanmean(overall["successes"]) * 100)
-            if overall["successes"]
-            else float("nan"),
-            "eval_s": global_eval_s,
-            "eval_ep_s": global_eval_ep_s,
-        },
-        "video_paths": overall["video_paths"],
-        "episodes": None,
-    }
-    return results
+def main():
+    init_logging()
+    eval_main()


 if __name__ == "__main__":
-    init_logging()
-    eval_main()
+    main()
--- a/Show More
+++ b/Show More