Second module of Wave 4 (training & eval): brings src/lerobot/rl/ to 100%
public docstring coverage, following the standard in
docs/source/writing_docstrings.mdx.
- Documents the remaining gaps across the SAC algorithm (SACAlgorithm.__init__,
CriticHead, CriticEnsemble.__init__/forward, get_optimizers), the
RLAlgorithm/RLAlgorithmConfig base contract (optimization_step setter,
from_pretrained), SACAlgorithmConfig (converts inline `#` field comments to
a proper Args: block), ReplayBuffer/BatchTransition, OnlineOfflineMixer,
TrainRLServerPipelineConfig (documents every inherited TrainPipelineConfig
field, since the base class itself is undocumented and out of scope), and
the actor/learner gRPC entry points (actor_cli, train_cli,
transitions_stream/interactions_stream, LearnerService's 5 servicer
methods) and their smaller helpers (queue.get_last_item_from_queue,
crop_dataset_roi.mouse_callback, eval_policy).
- Also documents 3 dunder methods (RLTrainer's _PreprocessedIterator.__iter__/
__next__, ReplayBuffer.__len__) that a naive "skip all underscore-prefixed
names" gap scan misses but interrogate's ignore-magic=false requires.
- Removing the D-ignore surfaced ~30 pre-existing docstrings with D205/D415/
D417 issues (missing blank line after summary, missing punctuation, stale
Args entries that didn't match the real signature) across actor.py,
crop_dataset_roi.py, gym_manipulator.py, learner.py, and
learner_service.py — all fixed as part of this PR.
- Removes "src/lerobot/rl/**" = ["D"] from pyproject.toml's ruff ignore list;
the whole module is now checked (no per-family split to narrow, unlike
policies).
- Adds lerobot.rl to check_docstrings.py's MODULES_TO_CHECK ratchet.
- Creates docs/source/api/rl.mdx from scratch (algorithm base contract, SAC,
replay buffer, data mixers, trainer, actor/learner CLIs and gRPC service)
and wires it into _toctree.yml, cross-linked from the existing hilserl.mdx/
hilserl_sim.mdx guides. Verified via a full doc-builder build — no dead
cross-references, no leftover placeholder text.
- Ratchets interrogate's fail-under from 55 to 55.5 (measured 55.9% with this
PR).
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
CarolinePascal