mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-24 18:26:11 +00:00
Steven Palma
ca87ccd941
* feat(scripts): lerobot-rollout * fix(rollout) require dataset in dagger + use duration too * fix(docs): dagger num_episodes * test(rollout): fix expectations * fix(rollout): features check * fix(rollout): device and task propagation + feature pos + warn fps + move rename_map config * docs(rollout): edit rename_map instructions * chore(rollout): multiple minor improvements * chore(rollout): address coments + minor improvements * fix(rollout): enable default * fix(tests): default value RTCConfig * fix(rollout): robot_observation_processor and notify_observation at policy frequency instead of interpolator rate Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> * fix(rollout): prevent relativeactions with sync inference engine Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> * fix(rollout): rtc reanchor to non normalized state Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> * fix(rollout): fixing the episode length to use hwc (#3469) also reducing default length to 5 minutes * feat(rollout): go back to initial position is now a config * fix(rollout): properly propagating video_files_size_in_mb to lerobot_dataset (#3470) * chore(rollout): note about dagger correction stage * chore(docs): update comments and docstring * fix(test): move rtc relative out of rollout module * fix(rollout): address the review comments --------- Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Maxime Ellerbach <maxime.ellerbach@huggingface.co>
46 lines
1.6 KiB
Python
46 lines
1.6 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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"""Strategy factory: config type-name → strategy class dispatch."""
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from __future__ import annotations
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from typing import TYPE_CHECKING
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from .base import BaseStrategy
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from .core import RolloutStrategy
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from .dagger import DAggerStrategy
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from .highlight import HighlightStrategy
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from .sentry import SentryStrategy
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if TYPE_CHECKING:
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from ..configs import RolloutStrategyConfig
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def create_strategy(config: RolloutStrategyConfig) -> RolloutStrategy:
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"""Instantiate the appropriate strategy from a config object.
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Dispatches on ``config.type`` (the name registered via
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``draccus.ChoiceRegistry``).
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"""
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if config.type == "base":
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return BaseStrategy(config)
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if config.type == "sentry":
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return SentryStrategy(config)
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if config.type == "highlight":
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return HighlightStrategy(config)
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if config.type == "dagger":
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return DAggerStrategy(config)
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raise ValueError(f"Unknown strategy type '{config.type}'. Available: base, sentry, highlight, dagger")
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