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refactor(runtime): template-method adapter base + policy registry; rename CLI

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Make the policy adapter architecturally clean and set up a single general
entry point for any language-conditioned policy.

Adapter architecture (Template Method):
- New lerobot/runtime/adapter.py: BaseLanguageAdapter owns the generic
  control loop (throttle → generate → gibberish/empty reject → subtask→memory
  cascade → diagnostics) and plan_from_text/handle_interjection. A policy
  supplies only select_action + generate_text + build_messages. The
  subtask→memory cascade is an overridable hook (_regenerate_context).
- GenerationConfig (typed, constructor-time) replaces config smuggled through
  RuntimeState.extra (temperature/top_p/min_new_tokens/chunks_per_regen).
- LanguageDiagnostics (typed, keyed by kind) replaces ~8 loose state.extra
  counter keys; the panel reads it via the adapter.
- looks_like_gibberish + split_plan_and_say move to runtime (generic).

Contract:
- LanguageConditionedPolicyAdapter protocol now states the true contract
  (select_action, update_language_state, handle_interjection); the runtime
  drops both getattr fallbacks.
- PI052PolicyAdapter shrinks to just its primitives (132 → ~half).

General entry point:
- lerobot/runtime/registry.py maps policy type → adapter (lazy import).
- run() resolves the adapter from the registry by policy type and defaults
  the panel label to it, so one CLI serves every policy.
- Rename lerobot-pi052-runtime → lerobot-language-runtime (general script);
  a new policy just registers its adapter, no new script.

Tests: new tests/runtime/test_adapter.py covers throttle/reject/cascade/
interjection; adapter + runtime + CLI-smoke tests updated for the new shape.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-07-02 15:34:41 +02:00
parent 171e06c6ba
commit edc3a5eb4f
14 changed files with 438 additions and 222 deletions
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pyproject.toml
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@@ -346,8 +346,8 @@ 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"
# Interactive hierarchical-VLA runtime for PI052 (PaliGemma backbone).
lerobot-pi052-runtime="lerobot.scripts.lerobot_pi052_runtime:main"
# Interactive high/low-level runtime for language-conditioned policies (pi052, ...).
lerobot-language-runtime="lerobot.scripts.lerobot_language_runtime:main"
# ---------------- Tool Configurations ----------------