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Fix typehint and address the mypy errors of src/lerobot/configs (#1746)

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* fix: update policy handling and type annotations
added typehint and addressed the error of mypy

* fix: rename should_push_to_hub to push_to_hub
I find that there are other dependencies of push_to_hub so I fix the property name back to original one.

* fix: typo

* fix: changed the position of try-except block
As the copilot said, use raise before `hf_hub_download` would stop program even it is able to download

* fix: update pre-commit configuration and mypy settings
add args: --follow-imports=silent to pass error which have no relationship with src/lerobot/configs

* fix: remove the specific path in .pre-commit-config.yaml

* feat: enhance typehint to adapt mypy strict mode.

* fix: remove duplicate FileNotFoundError check in PreTrainedConfig

* fix: make "pre-commit run --all-files" pass

* fix: replace logging with logger for better logging practices

* fix: fixed extra changes of lint and  format changes

* fix: fixed extra changes out of "configs" module

* Update src/lerobot/configs/policies.py

Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Signed-off-by: tetsugo02 <131431116+tetsugo02@users.noreply.github.com>

* fix: add logging for scratch job

---------

Signed-off-by: Adil Zouitine <adilzouitinegm@gmail.com>
Signed-off-by: tetsugo02 <131431116+tetsugo02@users.noreply.github.com>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
tetsugo02
2025-10-20 19:57:32 +09:00
committed by GitHub
parent c54cd529a2
commit eff8a6fd12
7 changed files with 90 additions and 50 deletions
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src/lerobot/configs/policies.py
+23 -16
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@@ -14,12 +14,12 @@
import abc
import builtins
import json
import logging
import os
import tempfile
from dataclasses import dataclass, field
from logging import getLogger
from pathlib import Path
from typing import TypeVar
from typing import Any, TypeVar
import draccus
from huggingface_hub import hf_hub_download
@@ -34,10 +34,11 @@ from lerobot.utils.hub import HubMixin
from lerobot.utils.utils import auto_select_torch_device, is_amp_available, is_torch_device_available
T = TypeVar("T", bound="PreTrainedConfig")
logger = getLogger(__name__)
@dataclass
class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC): # type: ignore[misc,name-defined] #TODO: draccus issue
"""
Base configuration class for policy models.
@@ -62,7 +63,7 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
# automatic gradient scaling is used.
use_amp: bool = False
push_to_hub: bool = True
push_to_hub: bool = True # type: ignore[assignment] # TODO: use a different name to avoid override
repo_id: str | None = None
# Upload on private repository on the Hugging Face hub.
@@ -73,38 +74,41 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
license: str | None = None
# Either the repo ID of a model hosted on the Hub or a path to a directory containing weights
# saved using `Policy.save_pretrained`. If not provided, the policy is initialized from scratch.
pretrained_path: str | None = None
pretrained_path: Path | None = None
def __post_init__(self):
def __post_init__(self) -> None:
if not self.device or not is_torch_device_available(self.device):
auto_device = auto_select_torch_device()
logging.warning(f"Device '{self.device}' is not available. Switching to '{auto_device}'.")
logger.warning(f"Device '{self.device}' is not available. Switching to '{auto_device}'.")
self.device = auto_device.type
# Automatically deactivate AMP if necessary
if self.use_amp and not is_amp_available(self.device):
logging.warning(
logger.warning(
f"Automatic Mixed Precision (amp) is not available on device '{self.device}'. Deactivating AMP."
)
self.use_amp = False
@property
def type(self) -> str:
return self.get_choice_name(self.__class__)
choice_name = self.get_choice_name(self.__class__)
if not isinstance(choice_name, str):
raise TypeError(f"Expected string from get_choice_name, got {type(choice_name)}")
return choice_name
@property
@abc.abstractmethod
def observation_delta_indices(self) -> list | None:
def observation_delta_indices(self) -> list | None: # type: ignore[type-arg] #TODO: No implementation
raise NotImplementedError
@property
@abc.abstractmethod
def action_delta_indices(self) -> list | None:
def action_delta_indices(self) -> list | None: # type: ignore[type-arg] #TODO: No implementation
raise NotImplementedError
@property
@abc.abstractmethod
def reward_delta_indices(self) -> list | None:
def reward_delta_indices(self) -> list | None: # type: ignore[type-arg] #TODO: No implementation
raise NotImplementedError
@abc.abstractmethod
@@ -154,13 +158,13 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
pretrained_name_or_path: str | Path,
*,
force_download: bool = False,
resume_download: bool = None,
proxies: dict | None = None,
resume_download: bool | None = None,
proxies: dict[Any, Any] | None = None,
token: str | bool | None = None,
cache_dir: str | Path | None = None,
local_files_only: bool = False,
revision: str | None = None,
**policy_kwargs,
**policy_kwargs: Any,
) -> T:
model_id = str(pretrained_name_or_path)
config_file: str | None = None
@@ -168,7 +172,7 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
if CONFIG_NAME in os.listdir(model_id):
config_file = os.path.join(model_id, CONFIG_NAME)
else:
print(f"{CONFIG_NAME} not found in {Path(model_id).resolve()}")
logger.error(f"{CONFIG_NAME} not found in {Path(model_id).resolve()}")
else:
try:
config_file = hf_hub_download(
@@ -194,6 +198,9 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
with draccus.config_type("json"):
orig_config = draccus.parse(cls, config_file, args=[])
if config_file is None:
raise FileNotFoundError(f"{CONFIG_NAME} not found in {model_id}")
with open(config_file) as f:
config = json.load(f)