Pepijn 171e06c6ba refactor(runtime): make language runtime policy-agnostic; drop VQA viz ...

Set up the runtime so a second language-conditioned policy reuses the
CLI/REPL/UI instead of copying pi052's. The tick loop, REPL, panel, and
interactive CLI are now policy-independent in lerobot/runtime/; a policy
plugs in only a LanguageConditionedPolicyAdapter.

- Move repl.py, ui.py, and runtime_cli.py (-> cli.py) from
  pi052/inference/ into lerobot/runtime/. Generalize labels/titles
  (panel_label param, [runtime] prefixes).
- lerobot.runtime.cli.run(argv, *, adapter_factory, panel_label, prog)
  is the shared entry; policy loading already dispatches generically via
  the factory on cfg.type.
- lerobot-pi052-runtime is now a thin entry (scripts/lerobot_pi052_runtime.py)
  that passes PI052PolicyAdapter into run(). pi052/inference/ keeps only
  the adapter.
- Drop PI052Runtime back-compat wrapper (no consumers).
- Drop VQA visualization: delete inference/vqa.py + test_pi052_vqa_loc.py,
  remove answer_vqa/VQAResult from the Protocol + adapter, and the
  /question command + overlay paths from the CLI/REPL.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

2026-07-02 15:12:33 +02:00

..

test_language_runtime.py

refactor(runtime): make language runtime policy-agnostic; drop VQA viz

2026-07-02 15:12:33 +02:00