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

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>

pyproject.toml

@@ -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).
+# Interactive high/low-level runtime for language-conditioned policies (pi052, ...).
-lerobot-pi052-runtime="lerobot.scripts.lerobot_pi052_runtime:main"
+lerobot-language-runtime="lerobot.scripts.lerobot_language_runtime:main"
 
 # ---------------- Tool Configurations ----------------
 

src/lerobot/policies/pi052/configuration_pi052.py

@@ -33,7 +33,7 @@ This is the dual-head co-training pattern from the paper:
 with α = 10.0 per § IV.D of arxiv:2504.16054. The π0.5 model splits
 inference into a text-prediction step followed by an action-prediction
 step, which the multi-rate runtime (``lerobot.runtime``, via the
-``lerobot-pi052-runtime`` CLI) drives at separate rates.
+``lerobot-language-runtime`` CLI) drives at separate rates.
 """
 
 from dataclasses import dataclass

src/lerobot/policies/pi052/inference/__init__.py

@@ -16,7 +16,7 @@
 
 The runtime, REPL, and CLI are policy-agnostic and live in
 :mod:`lerobot.runtime`. PI052 supplies only :class:`PI052PolicyAdapter`;
-the ``lerobot-pi052-runtime`` entry point wires it into
+the ``lerobot-language-runtime`` entry point wires it into
 :func:`lerobot.runtime.cli.run`.
 """
 

src/lerobot/policies/pi052/inference/pi052_adapter.py

@@ -12,28 +12,34 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""PI052 adapter for the generic language-conditioned runtime."""
+"""PI052 adapter for the generic language-conditioned runtime.
+
+Supplies only the PI052-specific primitives — acting, text generation,
+and prompt templates. The high-level control loop (throttling, output
+rejection, the subtask -> memory cascade) is inherited from
+:class:`lerobot.runtime.adapter.BaseLanguageAdapter`.
+"""
 
 from __future__ import annotations
 
 import logging
-import re
-from dataclasses import dataclass
 from typing import Any
 
 from lerobot.runtime import RuntimeState
+from lerobot.runtime.adapter import BaseLanguageAdapter
 
 logger = logging.getLogger(__name__)
 
 _LOC_TOKENIZER_CACHE: dict[str, Any] = {}
-_SAY_RE = re.compile(r"<\s*say\s*>(.*?)<\s*/\s*say\s*>", re.IGNORECASE | re.DOTALL)
 
 
-@dataclass
+class PI052PolicyAdapter(BaseLanguageAdapter):
-class PI052PolicyAdapter:
     """Runtime bridge for PI052 policies."""
 
-    policy: Any
+    # PaliGemma's ``<locDDDD>`` prior dominates the first token on a small
+    # text-CE budget; suppress it for prose kinds (VQA would keep it, but
+    # the runtime no longer does interactive VQA).
+    LOC_SUPPRESS_KINDS = frozenset({"subtask", "memory", "interjection"})
 
     def select_action(self, observation: dict[str, Any], state: RuntimeState) -> Any:
         subtask = state.language_context.get("subtask") or state.task or ""
@@ -49,99 +55,40 @@ class PI052PolicyAdapter:
         batch[OBS_LANGUAGE_ATTENTION_MASK] = text_batch["lang_masks"]
         return self.policy.predict_action_chunk(batch)
 
-    def select_text(
+    def generate_text(
         self,
         kind: str,
         observation: dict[str, Any] | None,
         state: RuntimeState,
         user_text: str | None = None,
     ) -> str:
-        messages = self.messages_for(kind, state, user_text=user_text)
+        messages = self.build_messages(kind, state, user_text=user_text)
         return _generate_with_policy(
             self.policy,
             messages,
             observation=observation,
             state=state,
             label=f"{kind} gen",
-            min_new_tokens=int(state.extra.get("text_gen_min_new_tokens") or 0),
+            min_new_tokens=self.gen.min_new_tokens,
-            temperature=float(state.extra.get("text_gen_temperature") or 0.0),
+            temperature=self.gen.temperature,
-            top_p=float(state.extra.get("text_top_p") or 1.0),
+            top_p=self.gen.top_p,
-            suppress_loc_tokens=kind in {"subtask", "memory", "interjection"},
+            suppress_loc_tokens=kind in self.LOC_SUPPRESS_KINDS,
         )
 
-    def plan_from_text(self, text: str) -> str:
+    def build_messages(
-        plan, _speech = split_plan_and_say(text)
-        return "" if looks_like_gibberish(plan) else plan
-
-    def update_language_state(self, observation: dict[str, Any] | None, state: RuntimeState) -> None:
-        chunks_per_gen = max(1, int(state.extra.get("subtask_chunks_per_gen", 1) or 1))
-        if "_hl_chunks_until_gen" not in state.extra:
-            state.extra["_hl_chunks_until_gen"] = 0
-        if state.extra["_hl_chunks_until_gen"] > 0:
-            state.extra["_hl_chunks_until_gen"] -= 1
-            return
-        state.extra["_hl_chunks_until_gen"] = chunks_per_gen - 1
-
-        msg = self.select_text("subtask", observation, state)
-        state.extra["last_subtask_raw"] = msg or ""
-        if not msg:
-            empties = int(state.extra.get("subtask_empty_count") or 0) + 1
-            state.extra["subtask_empty_count"] = empties
-            if empties == 1 or empties % 5 == 0:
-                debug = getattr(self.policy, "_last_select_message_debug", "") or ""
-                state.log(
-                    f"  [info] subtask gen empty (x{empties}); {debug}"
-                    if debug
-                    else f"  [info] subtask gen returned empty (x{empties})"
-                )
-            return
-        if looks_like_gibberish(msg):
-            count = int(state.extra.get("subtask_gibberish_count") or 0) + 1
-            state.extra["subtask_gibberish_count"] = count
-            if count == 1 or count % 30 == 0:
-                state.log(f"  [info] subtask gen rejected (gibberish x{count}): {msg[:60]!r}")
-            return
-
-        previous = state.language_context.get("subtask")
-        changed = state.set_context("subtask", msg, label="subtask")
-        if not changed:
-            state.extra["subtask_repeat_count"] = int(state.extra.get("subtask_repeat_count") or 0) + 1
-            return
-
-        state.extra["subtask_repeat_count"] = 0
-        if previous:
-            state.extra["prior_subtask"] = previous
-        self._update_memory(observation, state)
-
-    def _update_memory(self, observation: dict[str, Any] | None, state: RuntimeState) -> None:
-        new_memory = self.select_text("memory", observation, state)
-        state.extra["last_memory_raw"] = new_memory or ""
-        if not new_memory:
-            return
-        if looks_like_gibberish(new_memory):
-            count = int(state.extra.get("memory_gibberish_count") or 0) + 1
-            state.extra["memory_gibberish_count"] = count
-            state.log(f"  [info] memory gen rejected (gibberish x{count}): {new_memory[:60]!r}")
-            return
-        state.set_context("memory", new_memory, label="memory")
-
-    def messages_for(
         self,
         kind: str,
         state: RuntimeState,
         *,
         user_text: str | None = None,
     ) -> list[dict[str, Any]]:
-        if kind == "subtask":
+        if kind in ("subtask", "plan"):
             return [{"role": "user", "content": state.task or ""}]
         if kind == "memory":
             messages = [{"role": "user", "content": state.task or ""}]
             if state.language_context.get("memory"):
                 messages.append(
-                    {
+                    {"role": "assistant", "content": f"Previous memory: {state.language_context['memory']}"}
-                        "role": "assistant",
-                        "content": f"Previous memory: {state.language_context['memory']}",
-                    }
                 )
             if state.extra.get("prior_subtask"):
                 messages.append(
@@ -157,8 +104,6 @@ class PI052PolicyAdapter:
             if user_text:
                 messages.append({"role": "user", "content": user_text})
             return messages
-        if kind == "plan":
-            return [{"role": "user", "content": state.task or ""}]
         raise ValueError(f"Unknown PI052 text kind: {kind}")
 
 
@@ -254,36 +199,3 @@ def _generate_with_policy(
         if state is not None:
             state.log(f"  [warn] {label} failed: {type(exc).__name__}: {exc}")
         return ""
-
-
-def looks_like_gibberish(text: str) -> bool:
-    if not text or not text.strip():
-        return True
-    stripped = text.strip()
-    alpha = sum(1 for c in stripped if c.isalpha())
-    if alpha < max(3, len(stripped) // 8):
-        return True
-    if stripped.startswith('":') and stripped.count('"') > stripped.count(" "):
-        return True
-    if len(set(stripped)) <= 2 and len(stripped) > 4:
-        return True
-    cleaned = stripped.replace("\n", " ").replace(":", " ")
-    for marker in ("Assistant", "User", "Ass "):
-        if marker in cleaned and len(cleaned.split()) < 4:
-            return True
-    tokens = [t for t in cleaned.split() if any(c.isalpha() for c in t)]
-    unique_alpha = {t.lower() for t in tokens}
-    if len(unique_alpha) < 3 and len(stripped) < 80:
-        return True
-    return len(tokens) >= 8 and len(unique_alpha) <= max(3, len(tokens) // 10)
-
-
-def split_plan_and_say(text: str) -> tuple[str, str]:
-    if not text:
-        return "", ""
-    match = _SAY_RE.search(text)
-    if not match:
-        return text.strip(), ""
-    speech = match.group(1).strip().strip('"').strip("'")
-    plan = (text[: match.start()] + text[match.end() :]).strip()
-    return plan, speech

src/lerobot/policies/pi052/modeling_pi052.py

@@ -18,7 +18,7 @@
 ``text_labels`` next to the flow loss (L = H(x, f_θ_text) + α·flow, α via
 ``config.flow_loss_weight``) and :meth:`select_message` for AR text
 generation. The multi-rate runtime in ``lerobot.policies.pi052.inference``
-(``lerobot-pi052-runtime`` CLI) drives ``predict_action_chunk`` +
+(``lerobot-language-runtime`` CLI) drives ``predict_action_chunk`` +
 ``select_message``. See :class:`PI052Config` for the knobs.
 """
 
@@ -2014,10 +2014,9 @@ class PI052Policy(PreTrainedPolicy):
         return out
 
     def _generate_low_level_subtask(self, obs_i: dict[str, Tensor], task: str, i: int) -> str:
-        from .inference.pi052_adapter import (  # noqa: PLC0415
+        from lerobot.runtime.adapter import looks_like_gibberish as _looks_like_gibberish  # noqa: PLC0415
-            _generate_with_policy,
+
-            looks_like_gibberish as _looks_like_gibberish,
+        from .inference.pi052_adapter import _generate_with_policy  # noqa: PLC0415
-        )
 
         msg = ""
         if task:

src/lerobot/runtime/__init__.py

@@ -14,11 +14,13 @@
 
 """Policy-agnostic high/low-level runtime for language-conditioned policies.
 
-The tick loop, REPL, and interactive CLI here are policy-independent; a
+The tick loop, REPL, and interactive CLI here are policy-independent. A
-policy plugs in by implementing :class:`LanguageConditionedPolicyAdapter`
+policy plugs in by subclassing :class:`BaseLanguageAdapter` (or satisfying
-and calling :func:`lerobot.runtime.cli.run` with an adapter factory.
+:class:`LanguageConditionedPolicyAdapter` directly) and registering it in
+:mod:`lerobot.runtime.registry`; ``lerobot-language-runtime`` then serves it.
 """
 
+from .adapter import BaseLanguageAdapter, GenerationConfig, LanguageDiagnostics
 from .language_runtime import (
     LanguageConditionedPolicyAdapter,
     LanguageConditionedRuntime,
@@ -28,8 +30,11 @@ from .language_runtime import (
 )
 
 __all__ = [
+    "BaseLanguageAdapter",
+    "GenerationConfig",
     "LanguageConditionedPolicyAdapter",
     "LanguageConditionedRuntime",
+    "LanguageDiagnostics",
     "RuntimeState",
     "Tick",
     "TickClock",

src/lerobot/runtime/adapter.py

@@ -0,0 +1,195 @@
+# 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.
+
+"""Policy adapter base class for the language-conditioned runtime.
+
+The runtime loop drives the *control algorithm* (throttling, output
+rejection, the subtask -> memory cascade, diagnostics) and delegates the
+*policy primitives* (act, generate text) to an adapter. :class:`BaseLanguageAdapter`
+implements the algorithm once; a policy subclasses it and supplies:
+
+* :meth:`select_action` — observation + language context -> action chunk
+* :meth:`generate_text` — a text stream (``kind``) -> decoded string
+* :meth:`build_messages` — the prompt for each ``kind``
+
+A policy that needs full control can instead satisfy the
+:class:`LanguageConditionedPolicyAdapter` protocol directly.
+"""
+
+from __future__ import annotations
+
+import re
+from abc import ABC, abstractmethod
+from dataclasses import dataclass, field
+from typing import Any
+
+from .language_runtime import RuntimeState
+
+_SAY_RE = re.compile(r"<\s*say\s*>(.*?)<\s*/\s*say\s*>", re.IGNORECASE | re.DOTALL)
+
+
+@dataclass
+class GenerationConfig:
+    """Text-generation knobs, fixed for the lifetime of an adapter.
+
+    These are configuration (set once from the CLI), not per-tick runtime
+    state — they live on the adapter, never in :class:`RuntimeState`.
+    """
+
+    min_new_tokens: int = 0
+    temperature: float = 0.0
+    top_p: float = 1.0
+    chunks_per_regen: int = 1  # regenerate the language context every N action chunks
+
+
+@dataclass
+class LanguageDiagnostics:
+    """Rejection / repeat counters surfaced in the runtime panel.
+
+    Keyed by text ``kind`` (``subtask`` / ``memory`` / ...) so the same
+    accounting works for any cascade shape.
+    """
+
+    last_raw: dict[str, str] = field(default_factory=dict)
+    empty: dict[str, int] = field(default_factory=dict)
+    gibberish: dict[str, int] = field(default_factory=dict)
+    repeat: int = 0
+
+    def _bump(self, table: dict[str, int], kind: str) -> int:
+        table[kind] = table.get(kind, 0) + 1
+        return table[kind]
+
+
+class BaseLanguageAdapter(ABC):
+    """Batteries-included adapter: generic high-level control, policy primitives abstract."""
+
+    def __init__(self, policy: Any, gen: GenerationConfig | None = None) -> None:
+        self.policy = policy
+        self.gen = gen or GenerationConfig()
+        self.diag = LanguageDiagnostics()
+        self._chunks_until_regen = 0
+
+    # --- policy primitives (subclass supplies) ---------------------------
+
+    @abstractmethod
+    def select_action(self, observation: dict[str, Any], state: RuntimeState) -> Any:
+        """Produce an action chunk from the observation + current language context."""
+
+    @abstractmethod
+    def generate_text(
+        self,
+        kind: str,
+        observation: dict[str, Any] | None,
+        state: RuntimeState,
+        user_text: str | None = None,
+    ) -> str:
+        """Generate one text stream (``kind``) and return the decoded string."""
+
+    # --- generic control algorithm (runtime calls these) ----------------
+
+    def update_language_state(self, observation: dict[str, Any] | None, state: RuntimeState) -> None:
+        """Throttled regeneration of the language context (subtask / memory / ...)."""
+        if self._chunks_until_regen > 0:
+            self._chunks_until_regen -= 1
+            return
+        self._chunks_until_regen = max(1, self.gen.chunks_per_regen) - 1
+        self._regenerate_context(observation, state)
+
+    def handle_interjection(
+        self, user_text: str, observation: dict[str, Any] | None, state: RuntimeState
+    ) -> None:
+        """React to a mid-run user message by regenerating the plan."""
+        out = self.generate_text("interjection", observation, state, user_text=user_text)
+        plan = self.plan_from_text(out)
+        if plan:
+            state.set_context("plan", plan, label="plan")
+
+    def plan_from_text(self, text: str) -> str:
+        """Strip ``<say>`` speech markers and reject gibberish plans."""
+        plan, _speech = split_plan_and_say(text)
+        return "" if looks_like_gibberish(plan) else plan
+
+    # --- overridable cascade + shared helpers ---------------------------
+
+    def _regenerate_context(self, observation: dict[str, Any] | None, state: RuntimeState) -> None:
+        """Default hierarchy: regenerate the subtask, then memory when it changes.
+
+        Override for a policy with a different language hierarchy.
+        """
+        subtask = self._generate_filtered("subtask", observation, state)
+        if subtask is None:
+            return
+        previous = state.language_context.get("subtask")
+        if not state.set_context("subtask", subtask, label="subtask"):
+            self.diag.repeat += 1
+            return
+        self.diag.repeat = 0
+        if previous:
+            state.extra["prior_subtask"] = previous
+        memory = self._generate_filtered("memory", observation, state)
+        if memory is not None:
+            state.set_context("memory", memory, label="memory")
+
+    def _generate_filtered(
+        self, kind: str, observation: dict[str, Any] | None, state: RuntimeState
+    ) -> str | None:
+        """Generate one ``kind``, record diagnostics, drop empty / gibberish output."""
+        text = self.generate_text(kind, observation, state)
+        self.diag.last_raw[kind] = text or ""
+        if not text:
+            count = self.diag._bump(self.diag.empty, kind)
+            if count == 1 or count % 5 == 0:
+                state.log(f"  [info] {kind} gen returned empty (x{count})")
+            return None
+        if looks_like_gibberish(text):
+            count = self.diag._bump(self.diag.gibberish, kind)
+            if count == 1 or count % 30 == 0:
+                state.log(f"  [info] {kind} gen rejected (gibberish x{count}): {text[:60]!r}")
+            return None
+        return text
+
+
+def looks_like_gibberish(text: str) -> bool:
+    """Heuristic filter for malformed / collapsed LM-head output."""
+    if not text or not text.strip():
+        return True
+    stripped = text.strip()
+    alpha = sum(1 for c in stripped if c.isalpha())
+    if alpha < max(3, len(stripped) // 8):
+        return True
+    if stripped.startswith('":') and stripped.count('"') > stripped.count(" "):
+        return True
+    if len(set(stripped)) <= 2 and len(stripped) > 4:
+        return True
+    cleaned = stripped.replace("\n", " ").replace(":", " ")
+    for marker in ("Assistant", "User", "Ass "):
+        if marker in cleaned and len(cleaned.split()) < 4:
+            return True
+    tokens = [t for t in cleaned.split() if any(c.isalpha() for c in t)]
+    unique_alpha = {t.lower() for t in tokens}
+    if len(unique_alpha) < 3 and len(stripped) < 80:
+        return True
+    return len(tokens) >= 8 and len(unique_alpha) <= max(3, len(tokens) // 10)
+
+
+def split_plan_and_say(text: str) -> tuple[str, str]:
+    """Split ``plan <say>speech</say>`` into ``(plan, speech)``."""
+    if not text:
+        return "", ""
+    match = _SAY_RE.search(text)
+    if not match:
+        return text.strip(), ""
+    speech = match.group(1).strip().strip('"').strip("'")
+    plan = (text[: match.start()] + text[match.end() :]).strip()
+    return plan, speech

src/lerobot/runtime/cli.py

@@ -17,7 +17,7 @@
 Policy-agnostic CLI over :class:`lerobot.runtime.LanguageConditionedRuntime`.
 A policy wires it up with :func:`run`, passing an adapter factory
 (``policy -> LanguageConditionedPolicyAdapter``); see
-``lerobot.scripts.lerobot_pi052_runtime`` for the PI052 entry point.
+``lerobot.scripts.lerobot_language_runtime`` for the entry point.
 
 Stdin is the user channel: type a task, then natural-language
 interjections. The runtime prints state changes (plan / subtask /
@@ -29,7 +29,7 @@ Examples
 Dry run on a Hub checkpoint, no robot connected — useful for sanity-
 checking text generation::
 
-    uv run lerobot-pi052-runtime \\
+    uv run lerobot-language-runtime \\
         --policy.path=<repo-or-dir> \\
         --no_robot \\
         --task="please clean the kitchen"
@@ -37,7 +37,7 @@ checking text generation::
 Same, but feed real frames from an annotated dataset so plan / subtask
 / memory generation runs against actual video + state::
 
-    uv run lerobot-pi052-runtime \\
+    uv run lerobot-language-runtime \\
         --policy.path=<repo-or-dir> \\
         --dataset.repo_id=<annotated-dataset> \\
         --dataset.episode=0 \\
@@ -46,7 +46,7 @@ Same, but feed real frames from an annotated dataset so plan / subtask
 
 With a real robot::
 
-    uv run lerobot-pi052-runtime \\
+    uv run lerobot-language-runtime \\
         --policy.path=... \\
         --robot.type=so101 --robot.port=/dev/tty.usbmodem...
 
@@ -63,6 +63,7 @@ from collections.abc import Callable
 from contextlib import suppress
 from typing import Any
 
+from .adapter import GenerationConfig
 from .language_runtime import LanguageConditionedPolicyAdapter, LanguageConditionedRuntime
 from .repl import _emit
 
@@ -1201,22 +1202,15 @@ def _make_state_panel_renderer(
         dispatched = int(st.get("actions_dispatched") or 0)
         console.print(f"  [dim]queued actions: {queue_len}    dispatched: {dispatched}[/]")
 
-        # Overfit / memorisation diagnostics. The high-level steps
+        # Overfit / memorisation diagnostics from the adapter. High repeat
-        # surface the raw generation each time they fire (even when
+        # + fully cycling queue ⇒ stuck on one subtask (memorised a phase);
-        # rejected as gibberish or unchanged), plus repeat/rejection
+        # climbing gibberish ⇒ LM head collapsed to chat-template salads.
-        # counters. Rule of thumb:
+        diag = getattr(runtime.policy_adapter, "diag", None)
-        #
+        if diag is not None:
-        #   * subtask repeat ≥ ~5 and queue_len cycles fully → model
+            raw_subtask = diag.last_raw.get("subtask")
-        #     can't move past current subtask (memorised one phase
+            sub_rep = int(diag.repeat)
-        #     of the task — classic overfit signature)
+            sub_gib = int(diag.gibberish.get("subtask", 0))
-        #   * subtask gibberish climbing → LM head collapsed to
+            sub_empty = int(diag.empty.get("subtask", 0))
-        #     chat-template fragments / one-token salads
-        #   * last raw differs from accepted → at least the LM is
-        #     varying, the gibberish filter is doing its job
-        raw_subtask = st.get("last_subtask_raw")
-        sub_rep = int(st.get("subtask_repeat_count") or 0)
-        sub_gib = int(st.get("subtask_gibberish_count") or 0)
-        sub_empty = int(st.get("subtask_empty_count") or 0)
             if raw_subtask is not None or sub_rep or sub_gib or sub_empty:
                 raw_display = (raw_subtask or "(empty)")[:80]
                 color = "yellow" if (sub_rep >= 3 or sub_gib >= 3 or sub_empty >= 3) else "dim"
@@ -1225,12 +1219,9 @@ def _make_state_panel_renderer(
                     f"gibberish:{sub_gib}  empty:{sub_empty}  "
                     f"last_raw: {raw_display!r}[/]"
                 )
-
+            mem_gib = int(diag.gibberish.get("memory", 0))
-        # Same diagnostics for memory and plan when available.
+            if mem_gib:
-        mem_gib = int(st.get("memory_gibberish_count") or 0)
+                console.print(f"  [dim]gen rejects     memory:{mem_gib}[/]")
-        plan_gib = int(st.get("plan_gibberish_count") or 0)
-        if mem_gib or plan_gib:
-            console.print(f"  [dim]gen rejects     memory:{mem_gib}  plan:{plan_gib}[/]")
         console.rule(style="cyan")
         # Runtime scrollback — log lines pushed from generation steps
         # (warnings, gibberish rejections, plan speech). Last N lines,
@@ -1294,16 +1285,18 @@ def _silence_noisy_loggers() -> None:
 def run(
     argv: list[str] | None = None,
     *,
-    adapter_factory: Callable[[Any], LanguageConditionedPolicyAdapter],
+    adapter_factory: Callable[[Any, GenerationConfig], LanguageConditionedPolicyAdapter] | None = None,
-    panel_label: str = "Runtime",
+    panel_label: str | None = None,
-    prog: str | None = None,
+    prog: str = "lerobot-language-runtime",
 ) -> int:
     """Run the interactive language-conditioned runtime CLI.
 
-    A policy wires this up by passing ``adapter_factory`` — a callable
+    ``adapter_factory`` turns ``(policy, GenerationConfig)`` into a
-    that turns a loaded policy into a :class:`LanguageConditionedPolicyAdapter`
+    :class:`LanguageConditionedPolicyAdapter` (typically the adapter class).
-    (typically the adapter class itself). ``panel_label`` names the state
+    When ``None`` it is resolved from :mod:`lerobot.runtime.registry` by the
-    panel; ``prog`` sets the argparse program name for ``--help``.
+    loaded policy's type, so a single ``lerobot-language-runtime`` entry
+    point serves every registered policy. ``panel_label`` defaults to the
+    policy type.
     """
     args = _parse_args(argv, prog=prog)
     logging.basicConfig(
@@ -1327,6 +1320,14 @@ def run(
         args.policy_path, args.dataset_repo_id
     )
 
+    policy_type = getattr(policy.config, "type", None)
+    if adapter_factory is None:
+        from .registry import get_language_adapter_factory  # noqa: PLC0415
+
+        adapter_factory = get_language_adapter_factory(policy_type)
+    if panel_label is None:
+        panel_label = str(policy_type or "runtime").upper()
+
     # Bootstrap the canonical task from the dataset whenever one is
     # provided, so the interactive picker below can offer it as the
     # default. The model is memorised on the exact training wording, so
@@ -1406,8 +1407,18 @@ def run(
             augment=getattr(args, "dataset_augment_at_inference", False),
         )
 
+    # Text-generation knobs are fixed config, passed to the adapter at
+    # construction — not smuggled through per-tick runtime state. Lets the
+    # operator try e.g. ``--text_temperature=0.6 --subtask_chunks_per_gen=5``
+    # on an under-trained checkpoint without recompiling.
+    gen_config = GenerationConfig(
+        min_new_tokens=int(args.text_min_new_tokens or 0),
+        temperature=float(args.text_temperature or 0.0),
+        top_p=float(args.text_top_p or 1.0),
+        chunks_per_regen=max(1, int(args.subtask_chunks_per_gen or 1)),
+    )
     runtime = LanguageConditionedRuntime(
-        policy_adapter=adapter_factory(policy),
+        policy_adapter=adapter_factory(policy, gen_config),
         observation_provider=observation_provider,
         action_executor=robot_executor,
         # No background event collector — the REPL drives ticks
@@ -1419,20 +1430,6 @@ def run(
         ctrl_hz=args.ctrl_hz,
         high_level_hz=args.high_level_hz,
     )
-    # Stash text-gen knobs on the state dict so the high-level steps
-    # (which read state) can pick them up and forward them to
-    # policy.select_message. Letting the operator try
-    # ``--text_min_new_tokens=5 --text_temperature=0.6`` on an
-    # under-trained checkpoint without recompiling.
-    runtime.state["text_gen_min_new_tokens"] = int(getattr(args, "text_min_new_tokens", 0) or 0)
-    runtime.state["text_gen_temperature"] = float(getattr(args, "text_temperature", 0.0) or 0.0)
-    runtime.state["text_gen_top_p"] = float(getattr(args, "text_top_p", 1.0) or 1.0)
-    # Subtask throttle: the adapter updates language state only once every N
-    # action-chunk boundaries. Lets you run N action chunks per LM-head
-    # subtask gen (e.g. ``--subtask_chunks_per_gen=5`` ≈ 5 flow-matching
-    # chunks per subtask refresh) so the subtask doesn't churn while
-    # the previous one is still being executed.
-    runtime.state["subtask_chunks_per_gen"] = max(1, int(getattr(args, "subtask_chunks_per_gen", 1) or 1))
     # Apply the startup mode chosen above the task picker.
     runtime.state["mode"] = startup_mode
     if args.task:

src/lerobot/runtime/language_runtime.py

@@ -117,17 +117,20 @@ class RuntimeState:
 
 
 class LanguageConditionedPolicyAdapter(Protocol):
-    """Policy-specific bridge used by :class:`LanguageConditionedRuntime`."""
+    """The contract the runtime loop depends on.
+
+    :class:`lerobot.runtime.adapter.BaseLanguageAdapter` provides a
+    batteries-included implementation; a policy can satisfy this protocol
+    directly for full control.
+    """
 
     def select_action(self, observation: dict[str, Any], state: RuntimeState) -> Any: ...
 
-    def select_text(
+    def update_language_state(self, observation: dict[str, Any] | None, state: RuntimeState) -> None: ...
-        self,
+
-        kind: str,
+    def handle_interjection(
-        observation: dict[str, Any] | None,
+        self, user_text: str, observation: dict[str, Any] | None, state: RuntimeState
-        state: RuntimeState,
+    ) -> None: ...
-        user_text: str | None = None,
-    ) -> str: ...
 
 
 @dataclass
@@ -260,12 +263,9 @@ class LanguageConditionedRuntime:
             return
         if self.state.tick is None or not self._language_gate.due(self.state.tick, force=force):
             return
-        update = getattr(self.policy_adapter, "update_language_state", None)
-        if update is None:
-            return
         observation = self._current_observation()
         try:
-            update(observation, self.state)
+            self.policy_adapter.update_language_state(observation, self.state)
         except Exception as exc:  # noqa: BLE001
             logger.warning("language update failed: %s", exc, exc_info=logger.isEnabledFor(logging.DEBUG))
             self.state.log(f"  [warn] language update failed: {type(exc).__name__}: {exc}")
@@ -279,12 +279,7 @@ class LanguageConditionedRuntime:
         if not text:
             return
         observation = self._current_observation()
-        out = self.policy_adapter.select_text("interjection", observation, self.state, user_text=text)
+        self.policy_adapter.handle_interjection(text, observation, self.state)
-        if not out:
-            return
-        plan = getattr(self.policy_adapter, "plan_from_text", lambda value: value)(out)
-        if plan:
-            self.state.set_context("plan", plan, label="plan")
         self.state.extra["recent_interjection"] = None
 
     def maybe_enqueue_action_chunk(self, *, force: bool = False) -> None:

src/lerobot/runtime/registry.py

@@ -0,0 +1,42 @@
+# 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.
+
+"""Registry mapping a policy type to its language-runtime adapter.
+
+Kept as import strings (resolved lazily) so ``lerobot-language-runtime``
+never imports a policy package until it actually loads that policy — the
+same pattern as :mod:`lerobot.policies.factory`.
+"""
+
+from __future__ import annotations
+
+import importlib
+from collections.abc import Callable
+from typing import Any
+
+_ADAPTERS: dict[str, str] = {
+    "pi052": "lerobot.policies.pi052.inference.pi052_adapter:PI052PolicyAdapter",
+}
+
+
+def get_language_adapter_factory(policy_type: str) -> Callable[..., Any]:
+    """Return the adapter class registered for ``policy_type``."""
+    spec = _ADAPTERS.get(policy_type)
+    if spec is None:
+        raise ValueError(
+            f"No language-runtime adapter registered for policy type {policy_type!r}. "
+            f"Registered: {sorted(_ADAPTERS)}. Add an entry to lerobot.runtime.registry."
+        )
+    module_path, class_name = spec.split(":")
+    return getattr(importlib.import_module(module_path), class_name)

src/lerobot/scripts/lerobot_language_runtime.py

@@ -13,11 +13,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Entry point for ``lerobot-pi052-runtime``.
+"""Entry point for ``lerobot-language-runtime``.
 
-Wires PI052's adapter into the generic runtime CLI. A new
+Policy-agnostic: the runtime resolves the right adapter from the loaded
-language-conditioned policy adds its own such entry point with its
+policy's type via :mod:`lerobot.runtime.registry`. A new
-adapter — no runtime/REPL code to copy.
+language-conditioned policy just registers its adapter there — no new
+script needed.
 """
 
 from __future__ import annotations
@@ -26,15 +27,9 @@ import sys
 
 
 def main(argv: list[str] | None = None) -> int:
-    from lerobot.policies.pi052.inference import PI052PolicyAdapter
     from lerobot.runtime.cli import run
 
-    return run(
+    return run(argv)
-        argv,
-        adapter_factory=PI052PolicyAdapter,
-        panel_label="PI052",
-        prog="lerobot-pi052-runtime",
-    )
 
 
 if __name__ == "__main__":

tests/policies/pi052/test_pi052_runtime_adapter.py

@@ -1,7 +1,8 @@
 from types import SimpleNamespace
 
-from lerobot.policies.pi052.inference.pi052_adapter import PI052PolicyAdapter, split_plan_and_say
+from lerobot.policies.pi052.inference.pi052_adapter import PI052PolicyAdapter
 from lerobot.runtime import RuntimeState
+from lerobot.runtime.adapter import split_plan_and_say
 
 
 def test_pi052_adapter_builds_recipe_prompts_from_runtime_state():
@@ -12,13 +13,13 @@ def test_pi052_adapter_builds_recipe_prompts_from_runtime_state():
         extra={"prior_subtask": "pick the cup"},
     )
 
-    assert adapter.messages_for("subtask", state) == [{"role": "user", "content": "clean the kitchen"}]
+    assert adapter.build_messages("subtask", state) == [{"role": "user", "content": "clean the kitchen"}]
-    assert adapter.messages_for("memory", state) == [
+    assert adapter.build_messages("memory", state) == [
         {"role": "user", "content": "clean the kitchen"},
         {"role": "assistant", "content": "Previous memory: cup moved"},
         {"role": "user", "content": "Completed subtask: pick the cup"},
     ]
-    assert adapter.messages_for("interjection", state, user_text="wait") == [
+    assert adapter.build_messages("interjection", state, user_text="wait") == [
         {"role": "user", "content": "clean the kitchen"},
         {"role": "assistant", "content": "Previous plan:\npick then place"},
         {"role": "user", "content": "wait"},
@@ -33,12 +34,12 @@ def test_pi052_adapter_strips_say_markers_from_plan_text():
     assert adapter.plan_from_text(text) == "Move to the sink."
 
 
-def test_pi052_runtime_cli_smoke_does_not_load_model(monkeypatch):
+def test_language_runtime_cli_smoke_does_not_load_model(monkeypatch):
-    """The pi052 entry wires its adapter into the generic runtime CLI."""
+    """The general entry resolves the pi052 adapter from the registry by policy type."""
     from lerobot.runtime import cli
-    from lerobot.scripts import lerobot_pi052_runtime
+    from lerobot.scripts import lerobot_language_runtime
 
-    fake_policy = SimpleNamespace(config=SimpleNamespace(device="cpu"))
+    fake_policy = SimpleNamespace(config=SimpleNamespace(device="cpu", type="pi052"))
 
     monkeypatch.setattr(
         cli,
@@ -48,5 +49,6 @@ def test_pi052_runtime_cli_smoke_does_not_load_model(monkeypatch):
     monkeypatch.setattr(cli, "_run_repl", lambda runtime, **kwargs: 0)
 
     assert (
-        lerobot_pi052_runtime.main(["--policy.path=fake", "--no_robot", "--task=clean", "--max_ticks=0"]) == 0
+        lerobot_language_runtime.main(["--policy.path=fake", "--no_robot", "--task=clean", "--max_ticks=0"])
+        == 0
     )

tests/runtime/test_adapter.py

@@ -0,0 +1,74 @@
+from lerobot.runtime import RuntimeState
+from lerobot.runtime.adapter import BaseLanguageAdapter, GenerationConfig, looks_like_gibberish
+
+
+class ScriptedAdapter(BaseLanguageAdapter):
+    """Base adapter whose text generation returns queued strings per kind."""
+
+    def __init__(self, scripts, gen=None):
+        super().__init__(policy=object(), gen=gen)
+        self.scripts = {k: list(v) for k, v in scripts.items()}
+        self.calls = []
+
+    def select_action(self, observation, state):
+        return None
+
+    def generate_text(self, kind, observation, state, user_text=None):
+        self.calls.append(kind)
+        queue = self.scripts.get(kind, [])
+        return queue.pop(0) if queue else ""
+
+
+def test_cascade_sets_subtask_then_memory():
+    adapter = ScriptedAdapter({"subtask": ["pick the red cup"], "memory": ["the cup is grasped"]})
+    state = RuntimeState(task="clean")
+
+    adapter.update_language_state(None, state)
+
+    assert state.language_context["subtask"] == "pick the red cup"
+    assert state.language_context["memory"] == "the cup is grasped"
+    assert adapter.calls == ["subtask", "memory"]
+
+
+def test_gibberish_subtask_is_rejected_and_counted():
+    adapter = ScriptedAdapter({"subtask": [":::: ::"], "memory": ["should not run"]})
+    state = RuntimeState(task="clean")
+
+    adapter.update_language_state(None, state)
+
+    assert "subtask" not in state.language_context
+    assert adapter.diag.gibberish.get("subtask") == 1
+    assert adapter.calls == ["subtask"]  # memory never generated when subtask is rejected
+
+
+def test_throttle_regenerates_every_n_chunks():
+    adapter = ScriptedAdapter(
+        {
+            "subtask": ["pick the first cup", "pick the second cup"],
+            "memory": ["memory one two three", "memory four five six"],
+        },
+        gen=GenerationConfig(chunks_per_regen=2),
+    )
+    state = RuntimeState(task="clean")
+
+    adapter.update_language_state(None, state)  # generates
+    assert state.language_context["subtask"] == "pick the first cup"
+    adapter.update_language_state(None, state)  # throttled — no generation
+    assert state.language_context["subtask"] == "pick the first cup"
+    adapter.update_language_state(None, state)  # generates again
+    assert state.language_context["subtask"] == "pick the second cup"
+
+
+def test_handle_interjection_sets_plan_and_strips_say():
+    adapter = ScriptedAdapter({"interjection": ["turn to the left now <say>heading left</say>"]})
+    state = RuntimeState(task="clean")
+
+    adapter.handle_interjection("turn", None, state)
+
+    assert state.language_context["plan"] == "turn to the left now"
+
+
+def test_looks_like_gibberish_basic():
+    assert looks_like_gibberish("")
+    assert looks_like_gibberish(":::: ::")
+    assert not looks_like_gibberish("pick up the red cube")

tests/runtime/test_language_runtime.py

@@ -7,21 +7,21 @@ from lerobot.runtime import (
 class FakeAdapter:
     def __init__(self):
         self.updated = False
-        self.text_calls = []
+        self.interjections = []
 
     def select_action(self, observation, state):
         assert observation == {"observation.state": 1}
         assert state.task == "clean"
         return ["a0", "a1"]
 
-    def select_text(self, kind, observation, state, user_text=None):
-        self.text_calls.append((kind, user_text))
-        return "new plan"
-
     def update_language_state(self, observation, state):
         self.updated = True
         state.set_context("subtask", "pick cup", label="subtask")
 
+    def handle_interjection(self, user_text, observation, state):
+        self.interjections.append(user_text)
+        state.set_context("plan", "new plan", label="plan")
+
 
 def test_runtime_tick_updates_language_enqueues_and_dispatches_action():
     adapter = FakeAdapter()
@@ -54,7 +54,7 @@ def test_runtime_handles_user_interjection():
 
     runtime.step_once()
 
-    assert ("interjection", "please say ok") in adapter.text_calls
+    assert "please say ok" in adapter.interjections
     assert runtime.state.language_context["plan"] == "new plan"