mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-17 09:39:47 +00:00
AdilZouitine
aeb70812c1
- Updated imports in various files to include RobotAction and PolicyAction directly from the processor module, improving clarity and consistency. - Removed redundant imports from core, streamlining the codebase and enhancing maintainability. - Adjusted type annotations and references in the RobotProcessorPipeline and related components to align with the new import structure, ensuring better type safety and readability.
93 lines
3.4 KiB
Python
93 lines
3.4 KiB
Python
#!/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.
|
|
from typing import Any
|
|
|
|
import torch
|
|
|
|
from lerobot.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
|
|
from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
|
|
from lerobot.processor import (
|
|
AddBatchDimensionProcessorStep,
|
|
DeviceProcessorStep,
|
|
NormalizerProcessorStep,
|
|
PolicyAction,
|
|
PolicyProcessorPipeline,
|
|
RenameObservationsProcessorStep,
|
|
UnnormalizerProcessorStep,
|
|
)
|
|
from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
|
|
|
|
|
|
def make_diffusion_pre_post_processors(
|
|
config: DiffusionConfig,
|
|
dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
|
|
) -> tuple[
|
|
PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
|
|
PolicyProcessorPipeline[PolicyAction, PolicyAction],
|
|
]:
|
|
"""
|
|
Constructs pre-processor and post-processor pipelines for a diffusion policy.
|
|
|
|
The pre-processing pipeline prepares the input data for the model by:
|
|
1. Renaming features.
|
|
2. Normalizing the input and output features based on dataset statistics.
|
|
3. Adding a batch dimension.
|
|
4. Moving the data to the specified device.
|
|
|
|
The post-processing pipeline handles the model's output by:
|
|
1. Moving the data to the CPU.
|
|
2. Unnormalizing the output features to their original scale.
|
|
|
|
Args:
|
|
config: The configuration object for the diffusion policy,
|
|
containing feature definitions, normalization mappings, and device information.
|
|
dataset_stats: A dictionary of statistics used for normalization.
|
|
Defaults to None.
|
|
|
|
Returns:
|
|
A tuple containing the configured pre-processor and post-processor pipelines.
|
|
"""
|
|
|
|
input_steps = [
|
|
RenameObservationsProcessorStep(rename_map={}),
|
|
AddBatchDimensionProcessorStep(),
|
|
DeviceProcessorStep(device=config.device),
|
|
NormalizerProcessorStep(
|
|
features={**config.input_features, **config.output_features},
|
|
norm_map=config.normalization_mapping,
|
|
stats=dataset_stats,
|
|
),
|
|
]
|
|
output_steps = [
|
|
DeviceProcessorStep(device="cpu"),
|
|
UnnormalizerProcessorStep(
|
|
features=config.output_features, norm_map=config.normalization_mapping, stats=dataset_stats
|
|
),
|
|
]
|
|
return (
|
|
PolicyProcessorPipeline[dict[str, Any], dict[str, Any]](
|
|
steps=input_steps,
|
|
name=POLICY_PREPROCESSOR_DEFAULT_NAME,
|
|
),
|
|
PolicyProcessorPipeline[PolicyAction, PolicyAction](
|
|
steps=output_steps,
|
|
name=POLICY_POSTPROCESSOR_DEFAULT_NAME,
|
|
to_transition=policy_action_to_transition,
|
|
to_output=transition_to_policy_action,
|
|
),
|
|
)
|