mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-22 01:11:57 +00:00
Maxime Ellerbach
09808183ca
* feat(rollout): adding legacy strategy * adding legacy to existing tests * updating docs and docstring * changing misleading docstring Signed-off-by: Maxime Ellerbach <maxime@ellerbach.net> * adding extra guard like dagged with try except finally * Potential fix for pull request finding Signed-off-by: Maxime Ellerbach <maxime@ellerbach.net> * adding reset to initial position * moving smooth teleop handover to control_utils and adding this behavior to legacy strategy * reducing duration of the handover * * renaming to episodic * changing semantics of the docstring * fixing leader - follower handover disable torque * adding optionnal config to disable handover * wiring the smooth_leader_follower_handover config * renaming config smooth_leader_to_follower_handover --------- Signed-off-by: Maxime Ellerbach <maxime@ellerbach.net>
92 lines
2.3 KiB
Python
92 lines
2.3 KiB
Python
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Policy deployment engine with pluggable rollout strategies."""
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from lerobot.utils.import_utils import require_package
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require_package("datasets", extra="dataset")
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from .configs import (
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BaseStrategyConfig,
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DAggerKeyboardConfig,
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DAggerPedalConfig,
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DAggerStrategyConfig,
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EpisodicStrategyConfig,
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HighlightStrategyConfig,
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RolloutConfig,
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RolloutStrategyConfig,
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SentryStrategyConfig,
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)
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from .context import (
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DatasetContext,
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HardwareContext,
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PolicyContext,
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ProcessorContext,
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RolloutContext,
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RuntimeContext,
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build_rollout_context,
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)
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from .inference import (
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InferenceEngine,
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InferenceEngineConfig,
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RTCInferenceConfig,
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RTCInferenceEngine,
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SyncInferenceConfig,
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SyncInferenceEngine,
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create_inference_engine,
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)
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from .strategies import (
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BaseStrategy,
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DAggerStrategy,
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EpisodicStrategy,
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HighlightStrategy,
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RolloutStrategy,
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SentryStrategy,
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create_strategy,
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)
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__all__ = [
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"BaseStrategy",
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"BaseStrategyConfig",
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"DAggerKeyboardConfig",
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"DAggerPedalConfig",
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"DAggerStrategy",
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"DAggerStrategyConfig",
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"DatasetContext",
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"HardwareContext",
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"HighlightStrategy",
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"HighlightStrategyConfig",
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"EpisodicStrategy",
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"EpisodicStrategyConfig",
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"InferenceEngine",
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"InferenceEngineConfig",
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"PolicyContext",
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"ProcessorContext",
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"RTCInferenceConfig",
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"RTCInferenceEngine",
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"RolloutConfig",
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"RolloutContext",
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"RolloutStrategy",
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"RolloutStrategyConfig",
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"RuntimeContext",
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"SentryStrategy",
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"SentryStrategyConfig",
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"SyncInferenceConfig",
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"SyncInferenceEngine",
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"build_rollout_context",
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"create_inference_engine",
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"create_strategy",
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]
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