mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-15 08:39:49 +00:00
Steven Palma
15724826dd
* chore: use alias and constants * fix(rl): solve circular dependecy * chore: nit right constant * chore: pre-commit * chore(script): conflict tokenizer train --------- Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
57 lines
1.7 KiB
Python
57 lines
1.7 KiB
Python
#!/usr/bin/env python
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# 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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from __future__ import annotations
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from enum import Enum
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from typing import Any, TypeAlias, TypedDict
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import numpy as np
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import torch
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class TransitionKey(str, Enum):
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"""Keys for accessing EnvTransition dictionary components."""
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# TODO(Steven): Use consts
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OBSERVATION = "observation"
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ACTION = "action"
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REWARD = "reward"
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DONE = "done"
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TRUNCATED = "truncated"
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INFO = "info"
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COMPLEMENTARY_DATA = "complementary_data"
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PolicyAction: TypeAlias = torch.Tensor
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RobotAction: TypeAlias = dict[str, Any]
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EnvAction: TypeAlias = np.ndarray
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RobotObservation: TypeAlias = dict[str, Any]
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EnvTransition = TypedDict(
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"EnvTransition",
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{
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TransitionKey.OBSERVATION.value: RobotObservation | None,
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TransitionKey.ACTION.value: PolicyAction | RobotAction | EnvAction | None,
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TransitionKey.REWARD.value: float | torch.Tensor | None,
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TransitionKey.DONE.value: bool | torch.Tensor | None,
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TransitionKey.TRUNCATED.value: bool | torch.Tensor | None,
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TransitionKey.INFO.value: dict[str, Any] | None,
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TransitionKey.COMPLEMENTARY_DATA.value: dict[str, Any] | None,
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},
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)
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