mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-25 18:56:09 +00:00
Steven Palma
ce665160ae
* [Port codebase pipeline] General fixes for RL and scripts (#1748) * Refactor dataset configuration in documentation and codebase - Updated dataset configuration keys from `dataset_root` to `root` and `num_episodes` to `num_episodes_to_record` for consistency. - Adjusted replay episode handling by renaming `episode` to `replay_episode`. - Enhanced documentation - added specific processor to transform from policy actions to delta actions * Added Robot action to tensor processor Added new processor script for dealing with gym specific action processing * removed RobotAction2Tensor processor; imrpoved choosing observations in actor * nit in delta action * added missing reset functions to kinematics * Adapt teleoperate and replay to pipeline similar to record * refactor(processors): move to inheritance (#1750) * fix(teleoperator): improvements phone implementation (#1752) * fix(teleoperator): protect shared state in phone implementation * refactor(teleop): separate classes in phone * fix: solve breaking changes (#1753) * refactor(policies): multiple improvements (#1754) * refactor(processor): simpler logic in device processor (#1755) * refactor(processor): euclidean distance in delta action processor (#1757) * refactor(processor): improvements to joint observations processor migration (#1758) * refactor(processor): improvements to tokenizer migration (#1759) * refactor(processor): improvements to tokenizer migration * fix(tests): tokenizer tests regression from #1750 * fix(processors): fix float comparison and config in hil processors (#1760) * chore(teleop): remove unnecessary callbacks in KeyboardEndEffectorTeleop (#1761) * refactor(processor): improvements normalize pipeline migration (#1756) * refactor(processor): several improvements normalize processor step * refactor(processor): more improvements normalize processor * refactor(processor): more changes to normalizer * refactor(processor): take a different approach to DRY * refactor(processor): final design * chore(record): revert comment and continue deleted (#1764) * refactor(examples): pipeline phone examples (#1769) * refactor(examples): phone teleop + teleop script * refactor(examples): phone replay + replay * chore(examples): rename phone example files & folders * feat(processor): fix improvements to the pipeline porting (#1796) * refactor(processor): enhance tensor device handling in normalization process (#1795) * refactor(tests): remove unsupported device detection test for complementary data (#1797) * chore(tests): update ToBatchProcessor test (#1798) * refactor(tests): remove in-place mutation tests for actions and complementary data in batch processor * test(tests): add tests for action and task processing in batch processor * add names for android and ios phone (#1799) * use _tensor_stats in normalize processor (#1800) * fix(normalize_processor): correct device reference for tensor epsilon handling (#1801) * add point 5 add missing feature contracts (#1806) * Fix PR comments 1452 (#1807) * use key to determine image * Address rest of PR comments * use PolicyFeatures in transform_features --------- Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> --------- Co-authored-by: Michel Aractingi <michel.aractingi@huggingface.co> Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com> Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
86 lines
2.7 KiB
Python
86 lines
2.7 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from .batch_processor import ToBatchProcessor
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from .delta_action_processor import MapDeltaActionToRobotAction, MapTensorToDeltaActionDict
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from .device_processor import DeviceProcessor
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from .gym_action_processor import Numpy2TorchActionProcessor, Torch2NumpyActionProcessor
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from .hil_processor import (
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AddTeleopActionAsComplimentaryData,
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AddTeleopEventsAsInfo,
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GripperPenaltyProcessor,
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ImageCropResizeProcessor,
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InterventionActionProcessor,
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RewardClassifierProcessor,
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TimeLimitProcessor,
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)
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from .joint_observations_processor import JointVelocityProcessor, MotorCurrentProcessor
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from .normalize_processor import NormalizerProcessor, UnnormalizerProcessor, hotswap_stats
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from .observation_processor import VanillaObservationProcessor
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from .pipeline import (
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ActionProcessor,
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DoneProcessor,
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EnvTransition,
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IdentityProcessor,
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InfoProcessor,
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ObservationProcessor,
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ProcessorStep,
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ProcessorStepRegistry,
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RewardProcessor,
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RobotProcessor,
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TransitionKey,
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TruncatedProcessor,
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)
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from .rename_processor import RenameProcessor
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from .tokenizer_processor import TokenizerProcessor
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__all__ = [
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"ActionProcessor",
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"AddTeleopActionAsComplimentaryData",
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"AddTeleopEventsAsInfo",
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"DeviceProcessor",
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"DoneProcessor",
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"MapDeltaActionToRobotAction",
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"MapTensorToDeltaActionDict",
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"EnvTransition",
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"GripperPenaltyProcessor",
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"IdentityProcessor",
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"ImageCropResizeProcessor",
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"InfoProcessor",
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"InterventionActionProcessor",
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"JointVelocityProcessor",
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"MapDeltaActionToRobotAction",
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"MotorCurrentProcessor",
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"NormalizerProcessor",
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"UnnormalizerProcessor",
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"hotswap_stats",
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"ObservationProcessor",
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"ProcessorStep",
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"ProcessorStepRegistry",
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"RenameProcessor",
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"RewardClassifierProcessor",
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"RewardProcessor",
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"RobotProcessor",
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"ToBatchProcessor",
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"TokenizerProcessor",
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"TimeLimitProcessor",
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"Numpy2TorchActionProcessor",
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"Torch2NumpyActionProcessor",
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"TransitionKey",
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"TruncatedProcessor",
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"VanillaObservationProcessor",
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]
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