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Merged
AdilZouitine merged 2 commits into from
Sep 18, 2025
Merged

feat(processor): implement migration detection and error handling for processor configurations #1968

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eb87e0a
feat(processor): implement migration detection and error handling for…
AdilZouitine Sep 18, 2025
a183b40
refactor(processor): simplify loading logic and enhance migration det…
AdilZouitine Sep 18, 2025
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852 changes: 700 additions & 152 deletions src/lerobot/processor/pipeline.py
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4 changes: 3 additions & 1 deletion tests/processor/test_act_processor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -239,7 +239,9 @@ def test_act_processor_save_and_load():
preprocessor.save_pretrained(tmpdir)

# Load preprocessor
loaded_preprocessor = DataProcessorPipeline.from_pretrained(tmpdir)
loaded_preprocessor = DataProcessorPipeline.from_pretrained(
tmpdir, config_filename="policy_preprocessor.json"
)

# Test that loaded processor works
observation = {OBS_STATE: torch.randn(7)}
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10 changes: 8 additions & 2 deletions tests/processor/test_batch_processor.py
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Expand Up @@ -290,7 +290,10 @@ def test_save_and_load_pretrained():

# Load pipeline
loaded_pipeline = DataProcessorPipeline.from_pretrained(
tmp_dir, to_transition=identity_transition, to_output=identity_transition
tmp_dir,
config_filename="batchpipeline.json",
to_transition=identity_transition,
to_output=identity_transition,
)

assert loaded_pipeline.name == "BatchPipeline"
Expand Down Expand Up @@ -325,7 +328,10 @@ def test_registry_based_save_load():
with tempfile.TemporaryDirectory() as tmp_dir:
pipeline.save_pretrained(tmp_dir)
loaded_pipeline = DataProcessorPipeline.from_pretrained(
tmp_dir, to_transition=identity_transition, to_output=identity_transition
tmp_dir,
config_filename="dataprocessorpipeline.json",
to_transition=identity_transition,
to_output=identity_transition,
)

# Verify the loaded processor works
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4 changes: 3 additions & 1 deletion tests/processor/test_classifier_processor.py
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Expand Up @@ -250,7 +250,9 @@ def test_classifier_processor_save_and_load():
preprocessor.save_pretrained(tmpdir)

# Load preprocessor
loaded_preprocessor = DataProcessorPipeline.from_pretrained(tmpdir)
loaded_preprocessor = DataProcessorPipeline.from_pretrained(
tmpdir, config_filename="classifier_preprocessor.json"
)

# Test that loaded processor works
observation = {
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4 changes: 3 additions & 1 deletion tests/processor/test_device_processor.py
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Expand Up @@ -324,7 +324,9 @@ def test_save_and_load_pretrained():
robot_processor.save_pretrained(tmpdir)

# Load
loaded_processor = DataProcessorPipeline.from_pretrained(tmpdir)
loaded_processor = DataProcessorPipeline.from_pretrained(
tmpdir, config_filename="device_test_processor.json"
)

assert len(loaded_processor.steps) == 1
loaded_device_processor = loaded_processor.steps[0]
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4 changes: 3 additions & 1 deletion tests/processor/test_diffusion_processor.py
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Expand Up @@ -258,7 +258,9 @@ def test_diffusion_processor_save_and_load():
preprocessor.save_pretrained(tmpdir)

# Load preprocessor
loaded_preprocessor = DataProcessorPipeline.from_pretrained(tmpdir)
loaded_preprocessor = DataProcessorPipeline.from_pretrained(
tmpdir, config_filename="policy_preprocessor.json"
)

# Test that loaded processor works
observation = {
Expand Down
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