feat(rollout): decouple policy deployment from data recording with new lerobot-rollout CLI (#3413)

* feat(scripts): lerobot-rollout * fix(rollout) require dataset in dagger + use duration too * fix(docs): dagger num_episodes * test(rollout): fix expectations * fix(rollout): features check * fix(rollout): device and task propagation + feature pos + warn fps + move rename_map config * docs(rollout): edit rename_map instructions * chore(rollout): multiple minor improvements * chore(rollout): address coments + minor improvements * fix(rollout): enable default * fix(tests): default value RTCConfig * fix(rollout): robot_observation_processor and notify_observation at policy frequency instead of interpolator rate Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> * fix(rollout): prevent relativeactions with sync inference engine Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> * fix(rollout): rtc reanchor to non normalized state Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> * fix(rollout): fixing the episode length to use hwc (#3469) also reducing default length to 5 minutes * feat(rollout): go back to initial position is now a config * fix(rollout): properly propagating video_files_size_in_mb to lerobot_dataset (#3470) * chore(rollout): note about dagger correction stage * chore(docs): update comments and docstring * fix(test): move rtc relative out of rollout module * fix(rollout): address the review comments --------- Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Maxime Ellerbach <maxime.ellerbach@huggingface.co>
2026-07-25 10:46:01 +00:00 · 2026-04-28 00:57:35 +02:00
parent 77352c495c
commit ca87ccd941
62 changed files with 5577 additions and 2847 deletions
@@ -0,0 +1,45 @@
+# Copyright 2025 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.
+
+"""Strategy factory: config type-name → strategy class dispatch."""
+
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+from .base import BaseStrategy
+from .core import RolloutStrategy
+from .dagger import DAggerStrategy
+from .highlight import HighlightStrategy
+from .sentry import SentryStrategy
+
+if TYPE_CHECKING:
+    from ..configs import RolloutStrategyConfig
+
+
+def create_strategy(config: RolloutStrategyConfig) -> RolloutStrategy:
+    """Instantiate the appropriate strategy from a config object.
+
+    Dispatches on ``config.type`` (the name registered via
+    ``draccus.ChoiceRegistry``).
+    """
+    if config.type == "base":
+        return BaseStrategy(config)
+    if config.type == "sentry":
+        return SentryStrategy(config)
+    if config.type == "highlight":
+        return HighlightStrategy(config)
+    if config.type == "dagger":
+        return DAggerStrategy(config)
+    raise ValueError(f"Unknown strategy type '{config.type}'. Available: base, sentry, highlight, dagger")