mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-06 09:37:06 +00:00
Pepijn
171e06c6ba
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>
68 lines
2.0 KiB
Python
68 lines
2.0 KiB
Python
from lerobot.runtime import (
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LanguageConditionedRuntime,
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RuntimeState,
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)
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class FakeAdapter:
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def __init__(self):
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self.updated = False
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self.text_calls = []
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def select_action(self, observation, state):
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assert observation == {"observation.state": 1}
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assert state.task == "clean"
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return ["a0", "a1"]
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def select_text(self, kind, observation, state, user_text=None):
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self.text_calls.append((kind, user_text))
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return "new plan"
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def update_language_state(self, observation, state):
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self.updated = True
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state.set_context("subtask", "pick cup", label="subtask")
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def test_runtime_tick_updates_language_enqueues_and_dispatches_action():
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adapter = FakeAdapter()
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executed = []
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runtime = LanguageConditionedRuntime(
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policy_adapter=adapter,
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observation_provider=lambda: {"observation.state": 1},
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action_executor=executed.append,
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)
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runtime.set_task("clean")
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logs = runtime.step_once()
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assert adapter.updated
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assert runtime.state.language_context["subtask"] == "pick cup"
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assert executed == ["a0"]
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assert list(runtime.state.action_queue) == ["a1"]
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assert " subtask: pick cup" in logs
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def test_runtime_handles_user_interjection():
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adapter = FakeAdapter()
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runtime = LanguageConditionedRuntime(
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policy_adapter=adapter,
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observation_provider=lambda: {"observation.state": 1},
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)
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runtime.set_task("clean")
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runtime.state.extra["recent_interjection"] = "please say ok"
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runtime.state.emit("user_interjection")
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runtime.step_once()
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assert ("interjection", "please say ok") in adapter.text_calls
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assert runtime.state.language_context["plan"] == "new plan"
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def test_runtime_state_aliases_legacy_keys_to_language_context():
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state = RuntimeState()
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state["current_subtask"] = "open drawer"
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state["current_memory"] = "drawer open"
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assert state.get("current_subtask") == "open drawer"
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assert state.language_context == {"subtask": "open drawer", "memory": "drawer open"}
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