mirror of
https://github.com/huggingface/lerobot.git
synced 2026-08-08 17:39:44 +00:00
CarolinePascal
1834f819a6
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>
221 lines
5.2 KiB
YAML
221 lines
5.2 KiB
YAML
- sections:
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- local: index
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title: LeRobot
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- local: installation
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title: Installation
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- local: cheat-sheet
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title: Cheat sheet
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title: Get started
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- sections:
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- local: il_robots
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title: Imitation Learning for Robots
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- local: lelab
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title: LeLab - Lerobot GUI
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- local: bring_your_own_policies
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title: Adding a Policy
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- local: integrate_hardware
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title: Bring Your Own Hardware
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- local: hilserl
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title: Train a Robot with RL
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- local: hilserl_sim
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title: Train RL in Simulation
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- local: multi_gpu_training
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title: Multi GPU training
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- local: hil_data_collection
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title: Human In the Loop Data Collection
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- local: peft_training
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title: Training with PEFT (e.g., LoRA)
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- local: rename_map
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title: Using Rename Map and Empty Cameras
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title: "Tutorials"
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- sections:
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- local: hardware_guide
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title: Compute Hardware Guide
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- local: torch_accelerators
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title: PyTorch accelerators
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title: "Compute & Hardware"
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- sections:
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- local: lerobot-dataset-v3
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title: Using LeRobotDataset
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- local: porting_datasets_v3
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title: Porting Large Datasets
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- local: using_dataset_tools
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title: Using the Dataset Tools
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- local: language_and_recipes
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title: Language Columns and Recipes
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- local: tools
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title: Tools
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- local: annotation_pipeline
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title: Annotation Pipeline
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- local: video_encoding_parameters
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title: Video encoding parameters
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- local: streaming_video_encoding
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title: Streaming Video Encoding
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title: "Datasets"
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- sections:
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- local: act
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title: ACT
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- local: smolvla
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title: SmolVLA
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- local: pi0
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title: π₀ (Pi0)
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- local: pi0fast
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title: π₀-FAST (Pi0Fast)
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- local: pi05
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title: π₀.₅ (Pi05)
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- local: molmoact2
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title: MolmoAct2
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- local: vla_jepa
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title: VLA-JEPA
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- local: eo1
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title: EO-1
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- local: lingbot_va
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title: LingBot-VA
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- local: fastwam
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title: FastWAM
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- local: evo1
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title: EVO1
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- local: groot
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title: NVIDIA GR00T
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- local: xvla
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title: X-VLA
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- local: multi_task_dit
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title: Multitask DiT Policy
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- local: walloss
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title: WALL-OSS
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title: "Policies"
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- sections:
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- local: sarm
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title: SARM
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- local: robometer
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title: ROBOMETER
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- local: topreward
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title: TOPReward
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title: "Reward Models"
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- sections:
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- local: inference
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title: Policy Deployment (lerobot-rollout)
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- local: async
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title: Use Async Inference
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- local: rtc
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title: Real-Time Chunking (RTC)
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title: "Inference"
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- sections:
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- local: envhub
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title: Environments from the Hub
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- local: envhub_leisaac
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title: Control & Train Robots in Sim (LeIsaac)
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title: "Simulation"
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- sections:
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- local: adding_benchmarks
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title: Adding a New Benchmark
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- local: libero
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title: LIBERO
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- local: libero_plus
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title: LIBERO-plus
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- local: metaworld
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title: Meta-World
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- local: robotwin
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title: RoboTwin 2.0
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- local: robocasa
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title: RoboCasa365
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- local: robocerebra
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title: RoboCerebra
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- local: robomme
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title: RoboMME
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- local: envhub_isaaclab_arena
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title: NVIDIA IsaacLab Arena Environments
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- local: vlabench
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title: VLABench
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title: "Benchmarks"
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- sections:
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- local: introduction_processors
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title: Introduction to Robot Processors
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- local: debug_processor_pipeline
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title: Debug your processor pipeline
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- local: implement_your_own_processor
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title: Implement your own processor
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- local: processors_robots_teleop
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title: Processors for Robots and Teleoperators
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- local: env_processor
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title: Environment Processors
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- local: action_representations
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title: Action Representations
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title: "Robot Processors"
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- sections:
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- local: so101
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title: SO-101
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- local: so100
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title: SO-100
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- local: koch
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title: Koch v1.1
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- local: lekiwi
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title: LeKiwi
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- local: hope_jr
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title: Hope Jr
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- local: reachy2
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title: Reachy 2
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- local: unitree_g1
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title: Unitree G1
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- local: earthrover_mini_plus
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title: Earth Rover Mini
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- local: omx
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title: OMX
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- local: openarm
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title: OpenArm
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- local: rebot_b601
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title: reBot B601-DM
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- local: third_party_robots
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title: Third-Party Robots & Teleoperators
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title: "Robots"
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- sections:
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- local: phone_teleop
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title: Phone
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- local: isaac_teleop
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title: Isaac Teleop
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title: "Teleoperators"
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- sections:
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- local: cameras
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title: Cameras
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- local: third_party_sensors
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title: Third-Party Cameras & Sensors
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title: "Sensors"
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- sections:
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- local: notebooks
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title: Notebooks
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- local: feetech
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title: Updating Feetech Firmware
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- local: damiao
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title: Damiao Motors and CAN Bus
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title: "Resources"
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- sections:
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- local: contributing
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title: Contribute to LeRobot
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- local: writing_docstrings
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title: Writing docstrings
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- local: backwardcomp
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title: Backward compatibility
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title: "About"
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- sections:
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- local: api/robots
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title: Robots
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- local: api/teleoperators
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title: Teleoperators
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- local: api/cameras
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title: Cameras
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- local: api/motors
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title: Motors
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- local: api/datasets
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title: Datasets
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- local: api/policies
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title: Policies
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- local: api/processor
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title: Processors
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- local: api/envs
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title: Environments
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- local: api/configs
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title: Configuration
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- local: api/rl
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title: Reinforcement Learning
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title: "API Reference"
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