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refactor(runtime): remove compatibility aliases

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Pepijn
2026-07-15 14:04:12 +02:00
parent 6094058203
commit 07e75d94be
11 changed files with 21 additions and 142 deletions
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docs/source/inference.mdx
+1 -2
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@@ -239,8 +239,7 @@ MUJOCO_GL=egl lerobot-rollout \
Open `http://localhost:8010` for the live simulator view. Add
`--sim.direct_subtask` to bypass the language planner and make each typed prompt
the action policy's current subtask. The legacy `lerobot-language-runtime`
command remains as a compatibility alias.
the action policy's current subtask.
---
pyproject.toml
-2
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@@ -358,8 +358,6 @@ lerobot-edit-dataset="lerobot.scripts.lerobot_edit_dataset:main"
lerobot-setup-can="lerobot.scripts.lerobot_setup_can:main"
lerobot-annotate="lerobot.scripts.lerobot_annotate:main"
lerobot-rollout="lerobot.scripts.lerobot_rollout:main"
# Backward-compatible alias; interactive language deployment is part of lerobot-rollout.
lerobot-language-runtime="lerobot.scripts.lerobot_language_runtime:main"
# ---------------- Tool Configurations ----------------
src/lerobot/policies/pi052/configuration_pi052.py
-9
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@@ -146,15 +146,6 @@ class PI052Config(PI05Config):
Degrades gracefully to BF16 if ``kernels`` / the FlashRT packages are
missing. Default off keeps behaviour identical to the BF16 path."""
use_hf_kernels: bool = True
"""Deprecated. Liger HF kernels are patched unconditionally by
``_enable_hf_kernels`` — this field is retained as a no-op for
backward compatibility with checkpoints saved before commit
d70c8104 (which still serialize ``use_hf_kernels: true`` into
``config.json``). Loading those configs would otherwise raise
``DecodingError: The fields use_hf_kernels are not valid for
PI052Config`` (job 22164492). Remove in a future major bump."""
use_flex_attention: bool = False
"""Accepted for checkpoint-config compatibility only — no-op in this branch.
Newer training runs serialize ``use_flex_attention`` into ``config.json`` to
src/lerobot/policies/pi052/modeling_pi052.py
+1 -14
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@@ -979,15 +979,11 @@ class PI052Policy(PreTrainedPolicy):
"PI052: knowledge insulation enabled — action→VLM K/V gradients are blocked in attention."
)
# Size per-environment inference state lazily; the scalar mirrors env 0 for compatibility.
# Size per-environment inference state lazily.
self.last_subtasks: list[str] | None = None
self.last_subtasks_raw: list[str] | None = None
self.last_subtasks_source: list[str] | None = None
self._last_good_subtasks: list[str | None] | None = None
self.last_subtask: str | None = None
self.last_subtask_raw: str | None = None
self.last_subtask_source: str = "unset"
self.last_subtask_debug: str = ""
def reset(self):
"""Reset action and high-level inference state."""
@@ -1000,10 +996,6 @@ class PI052Policy(PreTrainedPolicy):
self.last_subtasks_raw = None
self.last_subtasks_source = None
self._last_good_subtasks = None
self.last_subtask = None
self.last_subtask_raw = None
self.last_subtask_source = "unset"
self.last_subtask_debug = ""
# Counts action chunks since the last subtask (re)generation, so the
# subtask can be held across several chunks (see subtask_replan_steps).
self._subtask_chunk_counter = 0
@@ -1828,11 +1820,6 @@ class PI052Policy(PreTrainedPolicy):
tokens, masks = self._stack_token_rows(rows, tokenizer)
# Scalar aliases mirror env 0 for back-compat / single-env overlays.
self.last_subtask = self.last_subtasks[0] if self.last_subtasks else None
self.last_subtask_raw = self.last_subtasks_raw[0] if self.last_subtasks_raw else None
self.last_subtask_source = self.last_subtasks_source[0] if self.last_subtasks_source else "unset"
out = dict(batch)
out[OBS_LANGUAGE_TOKENS] = tokens
out[OBS_LANGUAGE_ATTENTION_MASK] = masks
src/lerobot/runtime/cli.py
+17 -19
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@@ -27,7 +27,6 @@ from typing import Any
from .adapter import GenerationConfig
from .language_runtime import LanguageConditionedPolicyAdapter, LanguageConditionedRuntime
from .repl import _emit
logger = logging.getLogger("lerobot.runtime")
@@ -586,7 +585,7 @@ def _handle_slash_command(runtime: Any, line: str) -> bool:
runtime.set_task(rest)
# New task → drop the stale subtask so the high-level
# loop regenerates one for the new goal.
runtime.state["current_subtask"] = None
runtime.state.set_context("subtask", None)
print(f"[runtime] action — task: {rest!r}", flush=True)
elif runtime.state.get("task"):
print(
@@ -643,17 +642,16 @@ def _make_state_panel_renderer(
console.print(
" [dim]commands:[/] [bold]/action[/] <task> run · [bold]/help[/] · [bold]stop[/]"
)
for key, label in (
("task", "task"),
("current_subtask", "subtask"),
("current_plan", "plan"),
("current_memory", "memory"),
):
value = st.get(key)
display_values = {
"task": st.get("task"),
**(st.get("language_context") or {}),
}
for key in ("task", "subtask", "plan", "memory"):
value = display_values.get(key)
if value:
console.print(f" [bold cyan]{label:<8}[/] {value}")
console.print(f" [bold cyan]{key:<8}[/] {value}")
else:
console.print(f" [dim]{label:<8} (not set)[/]")
console.print(f" [dim]{key:<8} (not set)[/]")
queue_len = (
len(st["action_queue"])
if isinstance(st.get("action_queue"), (list, tuple)) or hasattr(st.get("action_queue"), "__len__")
@@ -728,7 +726,7 @@ def run(
*,
adapter_factory: Callable[[Any, GenerationConfig], LanguageConditionedPolicyAdapter] | None = None,
panel_label: str | None = None,
prog: str = "lerobot-language-runtime",
prog: str = "lerobot-rollout",
) -> int:
"""Run the interactive language-conditioned runtime CLI.
@@ -821,7 +819,7 @@ def run(
rt = runtime_box.get("rt")
if rt is None:
return args.task
return rt.state.get("current_subtask") or rt.state.get("task") or args.task
return rt.state.language_context.get("subtask") or rt.state.task or args.task
if sim_mode:
from lerobot.runtime.sim_robocasa import RoboCasaSimBackend # noqa: PLC0415
@@ -936,7 +934,7 @@ def _run_sim_interactive(
runtime.set_task(initial_task)
# In direct-subtask mode the typed text IS the subtask; otherwise clear
# it so the model generates one.
runtime.state["current_subtask"] = initial_task if direct_subtask else None
runtime.state.set_context("subtask", initial_task if direct_subtask else None)
runtime.state["mode"] = "action"
# Keep the terminal quiet while the browser renders the rollout.
@@ -985,7 +983,7 @@ def _run_sim_interactive(
elif low in {"/reset", "reset"}:
sim_backend.reset_scene()
_clear_action_queue(runtime)
runtime.state["current_subtask"] = None
runtime.state.set_context("subtask", None)
if hasattr(runtime.policy, "reset"):
runtime.policy.reset()
print("[reset] new kitchen scene", flush=True)
@@ -994,7 +992,7 @@ def _run_sim_interactive(
runtime.set_task(cmd)
# Direct mode: the typed text is the subtask itself;
# otherwise clear it so the model regenerates one.
runtime.state["current_subtask"] = cmd if direct_subtask else None
runtime.state.set_context("subtask", cmd if direct_subtask else None)
_clear_action_queue(runtime)
adapter = getattr(runtime, "policy_adapter", None)
if adapter is not None and hasattr(adapter, "_chunks_until_regen"):
@@ -1043,7 +1041,7 @@ def _run_robot_interactive(
if initial_task:
runtime.set_task(initial_task)
runtime.state["current_subtask"] = initial_task if direct_subtask else None
runtime.state.set_context("subtask", initial_task if direct_subtask else None)
# An explicit initial task starts immediately; otherwise the robot stays paused.
runtime.state["mode"] = "action"
@@ -1092,7 +1090,7 @@ def _run_robot_interactive(
else:
# New command: switch task/subtask immediately and regenerate.
runtime.set_task(line)
runtime.state["current_subtask"] = line if direct_subtask else None
runtime.state.set_context("subtask", line if direct_subtask else None)
_clear_action_queue(runtime)
adapter = getattr(runtime, "policy_adapter", None)
if adapter is not None and hasattr(adapter, "_chunks_until_regen"):
@@ -1172,7 +1170,7 @@ def _run_repl(
_redraw(last_logs)
continue
runtime.state["recent_interjection"] = line
_emit(runtime.state, "user_interjection")
runtime.state.emit("user_interjection")
last_logs = runtime.step_once() or []
_redraw(last_logs)
src/lerobot/runtime/language_runtime.py
-23
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@@ -42,14 +42,6 @@ class RuntimeState:
action_deadline: float | None = None
extra: dict[str, Any] = field(default_factory=dict)
_ALIASES = {
"current_plan": ("language_context", "plan"),
"current_subtask": ("language_context", "subtask"),
"current_memory": ("language_context", "memory"),
"events_this_tick": ("events", None),
"_tick": ("tick", None),
}
def emit(self, event_name: str) -> None:
self.events.add(event_name)
@@ -88,11 +80,6 @@ class RuntimeState:
return default
def __getitem__(self, key: str) -> Any:
alias = self._ALIASES.get(key)
if alias is not None:
target, subkey = alias
value = getattr(self, target)
return value if subkey is None else value.get(subkey)
if hasattr(self, key):
return getattr(self, key)
if key in self.extra:
@@ -100,16 +87,6 @@ class RuntimeState:
raise KeyError(key)
def __setitem__(self, key: str, value: Any) -> None:
alias = self._ALIASES.get(key)
if alias is not None:
target, subkey = alias
if subkey is None:
setattr(self, target, value)
elif value is None:
getattr(self, target).pop(subkey, None)
else:
getattr(self, target)[subkey] = value
return
if hasattr(self, key):
setattr(self, key, value)
else:
src/lerobot/runtime/repl.py
-25
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@@ -1,25 +0,0 @@
# Copyright 2026 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.
"""Small event helper shared by the language-runtime command loops."""
from __future__ import annotations
from typing import Any
def _emit(state: Any, event_name: str) -> None:
if hasattr(state, "emit"):
state.emit(event_name)
else:
state.setdefault("events_this_tick", []).append(event_name)
src/lerobot/runtime/sim_robocasa.py
+1 -1
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@@ -211,7 +211,7 @@ class RoboCasaSimBackend:
def bind_runtime(self, runtime: Any) -> None:
"""Wire live task/subtask/memory getters from the runtime state."""
self._task_getter = lambda: runtime.state.get("task")
self._subtask_getter = lambda: runtime.state.get("current_subtask")
self._subtask_getter = lambda: runtime.state.language_context.get("subtask")
self._memory_getter = lambda: (runtime.state.get("language_context") or {}).get("memory")
def _scene_description(self) -> str:
src/lerobot/scripts/lerobot_eval.py
+1 -4
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@@ -505,13 +505,10 @@ def eval_policy(
tasks = list(env.call("task"))
except (AttributeError, NotImplementedError):
tasks = None
# Per-env subtasks when available (batched hierarchical policies);
# fall back to the scalar last_subtask for single-env / other policies.
subtasks = getattr(policy, "last_subtasks", None)
subtask_scalar = getattr(policy, "last_subtask", None)
annotated = []
for i in range(frames.shape[0]):
subtask_i = subtasks[i] if subtasks is not None and i < len(subtasks) else subtask_scalar
subtask_i = subtasks[i] if subtasks is not None and i < len(subtasks) else None
annotated.append(
_annotate_eval_frames(
frames[i : i + 1],
src/lerobot/scripts/lerobot_language_runtime.py
-33
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@@ -1,33 +0,0 @@
#!/usr/bin/env python
# Copyright 2026 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.
"""Compatibility entry point for ``lerobot-language-runtime``.
New commands should use ``lerobot-rollout --language`` or ``--sim``.
"""
from __future__ import annotations
import sys
def main(argv: list[str] | None = None) -> int:
from lerobot.runtime.cli import run
return run(argv)
if __name__ == "__main__":
sys.exit(main())
tests/runtime/test_language_runtime.py
-10
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@@ -14,7 +14,6 @@
from lerobot.runtime import (
LanguageConditionedRuntime,
RuntimeState,
)
@@ -70,12 +69,3 @@ def test_runtime_handles_user_interjection():
assert "please say ok" in adapter.interjections
assert runtime.state.language_context["plan"] == "new plan"
def test_runtime_state_aliases_legacy_keys_to_language_context():
state = RuntimeState()
state["current_subtask"] = "open drawer"
state["current_memory"] = "drawer open"
assert state.get("current_subtask") == "open drawer"
assert state.language_context == {"subtask": "open drawer", "memory": "drawer open"}