refactor(rl): expose public API in rl/__init__ and use relative imports in sub-packages

src/lerobot/rl/__init__.py

@@ -16,19 +16,29 @@
 Reinforcement learning modules.
 
 Requires: ``pip install 'lerobot[hilserl]'``
-
-Available modules (import directly)::
-
-    from lerobot.rl.actor import ...
-    from lerobot.rl.learner import ...
-    from lerobot.rl.learner_service import ...
-    from lerobot.rl.buffer import ...
-    from lerobot.rl.eval_policy import ...
-    from lerobot.rl.gym_manipulator import ...
 """
 
 from lerobot.utils.import_utils import require_package
 
 require_package("grpcio", extra="hilserl", import_name="grpc")
 
-__all__: list[str] = []
+from .algorithms.base import RLAlgorithm as RLAlgorithm
+from .algorithms.configs import RLAlgorithmConfig as RLAlgorithmConfig, TrainingStats as TrainingStats
+from .algorithms.factory import make_algorithm as make_algorithm
+from .algorithms.sac import SACAlgorithm as SACAlgorithm, SACAlgorithmConfig as SACAlgorithmConfig
+from .buffer import ReplayBuffer as ReplayBuffer
+from .data_sources import DataMixer as DataMixer, OnlineOfflineMixer as OnlineOfflineMixer
+from .trainer import RLTrainer as RLTrainer
+
+__all__ = [
+    "RLAlgorithm",
+    "RLAlgorithmConfig",
+    "TrainingStats",
+    "make_algorithm",
+    "SACAlgorithm",
+    "SACAlgorithmConfig",
+    "RLTrainer",
+    "ReplayBuffer",
+    "DataMixer",
+    "OnlineOfflineMixer",
+]

src/lerobot/rl/algorithms/__init__.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.rl.algorithms.sac import SACAlgorithm as SACAlgorithm, SACAlgorithmConfig as SACAlgorithmConfig
+from .sac import SACAlgorithm as SACAlgorithm, SACAlgorithmConfig as SACAlgorithmConfig
 
 __all__ = [
     "SACAlgorithm",

src/lerobot/rl/data_sources/__init__.py

@@ -12,6 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.rl.data_sources.data_mixer import BatchType, DataMixer, OnlineOfflineMixer
+from .data_mixer import BatchType, DataMixer, OnlineOfflineMixer
 
 __all__ = ["BatchType", "DataMixer", "OnlineOfflineMixer"]

tests/rl/test_queue.py

@@ -22,9 +22,9 @@ import pytest
 
 pytest.importorskip("grpc")
 
-from torch.multiprocessing import Queue as TorchMPQueue  # noqa: E402
+from torch.multiprocessing import Queue as TorchMPQueue
 
-from lerobot.rl.queue import get_last_item_from_queue  # noqa: E402
+from lerobot.rl.queue import get_last_item_from_queue
 
 
 def test_get_last_item_single_item():

tests/utils/test_process.py

@@ -24,7 +24,7 @@ import pytest
 
 pytest.importorskip("grpc")
 
-from lerobot.rl.process import ProcessSignalHandler  # noqa: E402
+from lerobot.rl.process import ProcessSignalHandler
 
 
 # Fixture to reset shutdown_event_counter and original signal handlers before and after each test