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Pepijn
99 lines
3.5 KiB
Python
99 lines
3.5 KiB
Python
from lerobot.runtime import RuntimeState
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from lerobot.runtime.adapter import (
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BaseLanguageAdapter,
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DirectTaskPolicyAdapter,
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GenerationConfig,
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looks_like_gibberish,
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)
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class ScriptedAdapter(BaseLanguageAdapter):
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"""Base adapter whose text generation returns queued strings per kind."""
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def __init__(self, scripts, gen=None):
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super().__init__(policy=object(), gen=gen)
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self.scripts = {k: list(v) for k, v in scripts.items()}
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self.calls = []
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def select_action(self, observation, state):
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return None
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def generate_text(self, kind, observation, state, user_text=None):
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self.calls.append(kind)
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queue = self.scripts.get(kind, [])
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return queue.pop(0) if queue else ""
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def test_cascade_sets_subtask_then_memory():
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adapter = ScriptedAdapter({"subtask": ["pick the red cup"], "memory": ["the cup is grasped"]})
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state = RuntimeState(task="clean")
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adapter.update_language_state(None, state)
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assert state.language_context["subtask"] == "pick the red cup"
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assert state.language_context["memory"] == "the cup is grasped"
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assert adapter.calls == ["subtask", "memory"]
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def test_gibberish_subtask_is_rejected_and_counted():
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adapter = ScriptedAdapter({"subtask": [":::: ::"], "memory": ["should not run"]})
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state = RuntimeState(task="clean")
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adapter.update_language_state(None, state)
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assert "subtask" not in state.language_context
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assert adapter.diag.gibberish.get("subtask") == 1
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assert adapter.calls == ["subtask"] # memory never generated when subtask is rejected
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def test_throttle_regenerates_every_n_chunks():
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adapter = ScriptedAdapter(
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{
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"subtask": ["pick the first cup", "pick the second cup"],
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"memory": ["memory one two three", "memory four five six"],
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},
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gen=GenerationConfig(chunks_per_regen=2),
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)
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state = RuntimeState(task="clean")
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adapter.update_language_state(None, state) # generates
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assert state.language_context["subtask"] == "pick the first cup"
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adapter.update_language_state(None, state) # throttled — no generation
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assert state.language_context["subtask"] == "pick the first cup"
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adapter.update_language_state(None, state) # generates again
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assert state.language_context["subtask"] == "pick the second cup"
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def test_handle_interjection_sets_plan_and_strips_say():
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adapter = ScriptedAdapter({"interjection": ["turn to the left now <say>heading left</say>"]})
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state = RuntimeState(task="clean")
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adapter.handle_interjection("turn", None, state)
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assert state.language_context["plan"] == "turn to the left now"
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def test_looks_like_gibberish_basic():
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assert looks_like_gibberish("")
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assert looks_like_gibberish(":::: ::")
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assert not looks_like_gibberish("pick up the red cube")
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def test_direct_task_adapter_delegates_action_chunk():
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class Policy:
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def predict_action_chunk(self, observation):
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return ("chunk", observation)
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observation = {"task": "pick up the cube"}
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adapter = DirectTaskPolicyAdapter(Policy())
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assert adapter.select_action(observation, RuntimeState()) == ("chunk", observation)
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assert adapter.generate_text("subtask", observation, RuntimeState()) == ""
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def test_flat_policy_registry_reuses_direct_task_adapter():
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from lerobot.runtime.registry import get_language_adapter_factory
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assert get_language_adapter_factory("pi05") is DirectTaskPolicyAdapter
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assert get_language_adapter_factory("molmoact2") is DirectTaskPolicyAdapter
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