mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-15 08:39:49 +00:00
Adil Zouitine
5326ffe77e
* feat(tokenizer): Introduce TokenizerProcessor for text tokenization - Added TokenizerProcessor class to handle tokenization of task strings using Hugging Face's AutoTokenizer. - Supports both string and list inputs, with customizable parameters for task key, output key, and tokenization settings. - Implemented comprehensive unit tests to validate functionality, including handling of various input scenarios and integration with RobotProcessor. - Updated types.py to include LANGUAGE feature type and modified __init__.py to register the new processor. * feat(language): Enhance language processing in TokenizerProcessor - Added OBS_LANGUAGE constant to define the observation language key. - Updated TokenizerProcessor to store tokenized task data in the observation dictionary, ensuring compatibility with the new language feature. - Introduced Pi0NewLineProcessor to append newlines to tasks for proper tokenization. - Modified tests to validate the integration of language tokens and attention masks in the observation structure. * feat(tokenizer): Add padding configuration to TokenizerProcessor - Introduced `padding_side` parameter to the TokenizerProcessor for customizable padding direction. - Updated the `make_pi0_processor` function to include the new padding configuration. - Enhanced unit tests to validate the functionality of the `padding_side` parameter in various scenarios. * feat(processor): Add state management methods to Pi0NewLineProcessor * feat(normalization): Track normalization and unnormalization info in complementary data - Updated NormalizerProcessor and UnnormalizerProcessor to accept additional parameters for tracking normalization modes. - Enhanced the __call__ methods to store normalization and unnormalization information in the complementary data of transitions. - Added unit tests to verify the correct tracking of normalization info, including scenarios with missing stats and selective normalization keys. * feat(factory): Add preprocessor and postprocessor overrides to ProcessorConfigKwargs - Updated ProcessorConfigKwargs to include optional overrides for preprocessor and postprocessor configurations. - Enhanced the make_processor function to utilize the new overrides, allowing for more flexible processor initialization. * feat(processors): Integrate RenameProcessor into various processor configurations - Added RenameProcessor to the input steps of multiple processor functions, including make_act_processor, make_diffusion_processor, make_pi0_processor, make_sac_processor, make_tdmpc_processor, make_vqbet_processor, and make_smolvla_processor. - Consolidated normalization features from input and output into a single NormalizerProcessor for improved efficiency. - Updated the input steps to ensure compatibility with the new RenameProcessor integration. * feat(smolvla): Refactor language processing and introduce new line processor (#1658) - Removed the prepare_language method and directly accessed language tokens and masks from the batch using the OBS_LANGUAGE constant. - Added SmolVLANewLineProcessor to ensure tasks end with a newline, enhancing tokenization compatibility. - Updated the make_smolvla_processor function to include the new line processor and tokenizer processor for improved input handling. * feture(policies): add device processor (#1659) * feat(processors): Integrate DeviceProcessor into multiple processor configurations - Added DeviceProcessor to the input and output steps of various processor functions, including make_act_processor, make_diffusion_processor, make_pi0_processor, make_pi0fast_processor, make_sac_processor, make_tdmpc_processor, make_vqbet_processor, and make_smolvla_processor. - Enhanced the DeviceProcessor class with state management methods and ensured compatibility with existing processor pipelines. - Introduced unit tests for DeviceProcessor to validate functionality across different scenarios, including CPU and CUDA operations. * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * refactor(pipeline): Remove to() method for device management - Eliminated the to() method from RobotProcessor, which was responsible for moving tensor states to specified devices. - Removed associated unit tests that validated the functionality of the to() method across various scenarios. - Streamlined the pipeline code by focusing on other device management strategies. * feat(processor): Enhance DeviceProcessor with float dtype conversion - Added support for optional float dtype conversion in DeviceProcessor, allowing tensors to be converted to specified floating-point types while preserving non-float types. - Implemented validation for float dtype input and updated the processor's configuration methods to include float dtype. - Refactored tensor processing logic to streamline device movement and dtype conversion. - Introduced comprehensive unit tests to validate the new float dtype functionality across various scenarios. * feat(policies): Add new line processors and update module exports * feat(processor): Enhance batch and device processors to handle index and task_index fields - Added logic to ToBatchProcessor for unsqueezing 0D tensors for index and task_index fields, ensuring they are processed as 1D tensors. - Updated DeviceProcessor to process index and task_index fields in complementary data, preserving their tensor types and ensuring non-tensor fields remain unchanged. - Enhanced unit tests to validate the correct handling of index and task_index fields across various scenarios, including device compatibility and dtype preservation.