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>
Pepijn