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CarolinePascal
cc5759c003
Wave 4 (training & eval) kickoff: brings src/lerobot/rollout/ to 100% public docstring coverage, following the standard in docs/source/writing_docstrings.mdx. Picked as the smallest of the five Wave 4 modules (scripts/envs/rewards/rl/rollout) to validate the workflow before the larger ones. - Documents the remaining gaps across configs.py (RolloutConfig, the RolloutStrategyConfig hierarchy, DAggerKeyboardConfig/DAggerPedalConfig), inference/ (InferenceEngineConfig hierarchy, RTCInferenceEngine.__init__, SyncInferenceEngine.__init__), ring_buffer.py, robot_wrapper.py, and every strategy's __init__ (core/dagger/episodic/highlight/sentry), converting RolloutConfig's and the strategy configs' inline `#` field comments into type-annotated Args: blocks and RolloutRingBuffer's numpydoc Parameters section into Google-style Args:. - Also documents two dunder methods (RolloutConfig.__get_path_fields__, RolloutRingBuffer.__len__) that a naive "skip all underscore-prefixed names" gap scan misses but interrogate's ignore-magic=false requires. - Removes "src/lerobot/rollout/**" = ["D"] from pyproject.toml's ruff ignore list — the whole module is now checked, no deferred internals (unlike the policies module, rollout has no per-family split to narrow the scope of). - Adds lerobot.rollout to check_docstrings.py's MODULES_TO_CHECK ratchet. - Creates docs/source/api/rollout.mdx from scratch (strategies, inference backends, RolloutContext and its sub-contexts, ThreadSafeRobot, RolloutRingBuffer) and wires it into _toctree.yml under API Reference. 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 55.6% with this PR). Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
119 lines
2.7 KiB
Plaintext
119 lines
2.7 KiB
Plaintext
# Rollout
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`lerobot.rollout` is the policy deployment engine behind [`lerobot-rollout`](../inference): it wires up a
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policy, an inference backend, and a pluggable recording strategy, then runs the robot control loop. See
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[Policy Deployment (lerobot-rollout)](../inference) for CLI usage and [Real-Time Chunking (RTC)](../rtc)
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for the async inference backend.
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## RolloutConfig
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Top-level configuration for the `lerobot-rollout` CLI.
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[[autodoc]] lerobot.rollout.RolloutConfig
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## Strategies
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Strategies implement the control loop and are selected via `--strategy.type=<name>`.
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[[autodoc]] lerobot.rollout.RolloutStrategy
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- setup
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- run
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- teardown
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[[autodoc]] lerobot.rollout.RolloutStrategyConfig
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[[autodoc]] lerobot.rollout.BaseStrategy
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- all
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[[autodoc]] lerobot.rollout.BaseStrategyConfig
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[[autodoc]] lerobot.rollout.SentryStrategy
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- all
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[[autodoc]] lerobot.rollout.SentryStrategyConfig
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[[autodoc]] lerobot.rollout.HighlightStrategy
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- all
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[[autodoc]] lerobot.rollout.HighlightStrategyConfig
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[[autodoc]] lerobot.rollout.EpisodicStrategy
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- all
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[[autodoc]] lerobot.rollout.EpisodicStrategyConfig
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[[autodoc]] lerobot.rollout.DAggerStrategy
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- all
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[[autodoc]] lerobot.rollout.DAggerStrategyConfig
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[[autodoc]] lerobot.rollout.DAggerKeyboardConfig
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[[autodoc]] lerobot.rollout.DAggerPedalConfig
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## create_strategy
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[[autodoc]] lerobot.rollout.create_strategy
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## Inference backends
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Inference backends produce actions during the control loop and are selected via
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`--inference.type=<name>`.
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[[autodoc]] lerobot.rollout.InferenceEngine
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- start
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- stop
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- reset
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- get_action
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- notify_observation
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- pause
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- resume
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[[autodoc]] lerobot.rollout.InferenceEngineConfig
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[[autodoc]] lerobot.rollout.SyncInferenceEngine
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- all
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[[autodoc]] lerobot.rollout.SyncInferenceConfig
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[[autodoc]] lerobot.rollout.RTCInferenceEngine
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- all
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[[autodoc]] lerobot.rollout.RTCInferenceConfig
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## create_inference_engine
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[[autodoc]] lerobot.rollout.create_inference_engine
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## build_rollout_context
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Wires up policy, processors, hardware, dataset, and inference engine before strategy dispatch.
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[[autodoc]] lerobot.rollout.build_rollout_context
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## RolloutContext
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[[autodoc]] lerobot.rollout.RolloutContext
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[[autodoc]] lerobot.rollout.RuntimeContext
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[[autodoc]] lerobot.rollout.HardwareContext
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[[autodoc]] lerobot.rollout.PolicyContext
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[[autodoc]] lerobot.rollout.ProcessorContext
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[[autodoc]] lerobot.rollout.DatasetContext
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## ThreadSafeRobot
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[[autodoc]] lerobot.rollout.robot_wrapper.ThreadSafeRobot
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- all
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## RolloutRingBuffer
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Memory-bounded ring buffer used by the Highlight strategy for on-demand recording.
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[[autodoc]] lerobot.rollout.ring_buffer.RolloutRingBuffer
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- all
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