fix: auto-migrate old Hub models missing processor configs#3001
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sattyamjjain wants to merge 1 commit intohuggingface:mainfrom
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fix: auto-migrate old Hub models missing processor configs#3001sattyamjjain wants to merge 1 commit intohuggingface:mainfrom
sattyamjjain wants to merge 1 commit intohuggingface:mainfrom
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Old pre-trained models on HuggingFace Hub (e.g., lerobot/diffusion_pusht) lack the policy_preprocessor.json and policy_postprocessor.json files required by the new processor pipeline system (0.4.4+). This causes a FileNotFoundError when loading these models with `lerobot-eval`. This commit adds two layers of backward compatibility: Layer 1 - Detection (pipeline.py): - Add `_is_old_hub_model()` to detect repos with config.json but no processor configs - Raise `ProcessorMigrationError` with actionable migration command instead of a cryptic FileNotFoundError Layer 2 - Auto-migration (factory.py): - Catch `ProcessorMigrationError` in `make_pre_post_processors()` - Download model.safetensors and extract normalization stats from the old built-in normalization layers - Auto-create processor pipelines using the existing policy factory - Log a warning suggesting the permanent migration script Tested end-to-end: `lerobot-eval --policy.path=lerobot/diffusion_pusht` now works directly on main without manual migration. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Summary
lerobot/diffusion_pusht) lack thepolicy_preprocessor.jsonandpolicy_postprocessor.jsonfiles required by the new processor pipeline system (0.4.4+), causingFileNotFoundErroronlerobot-eval_is_old_hub_model()toDataProcessorPipelinethat detects repos withconfig.jsonbut no processor configs, raisingProcessorMigrationErrorwith an actionable migration command instead of a cryptic errormake_pre_post_processors()infactory.pycatchesProcessorMigrationError, downloadsmodel.safetensors, extracts normalization stats from the old built-in normalization layers, and auto-creates processor pipelines — with a warning suggesting the permanent migration scriptFiles Changed
src/lerobot/processor/pipeline.py_is_old_hub_model()classmethod + migration detection in_load_config()Hub pathsrc/lerobot/policies/factory.pyProcessorMigrationErrorcatch +_auto_create_processors_from_pretrained()helpertests/processor/test_pipeline_from_pretrained_helpers.pyTest plan
lerobot-eval --policy.path=lerobot/diffusion_pushtworks end-to-end (33.3% success, avg_sum_reward 94.5)test_pipeline_from_pretrained_helpers.pyextract_normalization_statsfrom migration module)🤖 Generated with Claude Code