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Pepijn
edc3a5eb4f
Make the policy adapter architecturally clean and set up a single general entry point for any language-conditioned policy. Adapter architecture (Template Method): - New lerobot/runtime/adapter.py: BaseLanguageAdapter owns the generic control loop (throttle → generate → gibberish/empty reject → subtask→memory cascade → diagnostics) and plan_from_text/handle_interjection. A policy supplies only select_action + generate_text + build_messages. The subtask→memory cascade is an overridable hook (_regenerate_context). - GenerationConfig (typed, constructor-time) replaces config smuggled through RuntimeState.extra (temperature/top_p/min_new_tokens/chunks_per_regen). - LanguageDiagnostics (typed, keyed by kind) replaces ~8 loose state.extra counter keys; the panel reads it via the adapter. - looks_like_gibberish + split_plan_and_say move to runtime (generic). Contract: - LanguageConditionedPolicyAdapter protocol now states the true contract (select_action, update_language_state, handle_interjection); the runtime drops both getattr fallbacks. - PI052PolicyAdapter shrinks to just its primitives (132 → ~half). General entry point: - lerobot/runtime/registry.py maps policy type → adapter (lazy import). - run() resolves the adapter from the registry by policy type and defaults the panel label to it, so one CLI serves every policy. - Rename lerobot-pi052-runtime → lerobot-language-runtime (general script); a new policy just registers its adapter, no new script. Tests: new tests/runtime/test_adapter.py covers throttle/reject/cascade/ interjection; adapter + runtime + CLI-smoke tests updated for the new shape. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
55 lines
2.1 KiB
Python
55 lines
2.1 KiB
Python
from types import SimpleNamespace
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from lerobot.policies.pi052.inference.pi052_adapter import PI052PolicyAdapter
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from lerobot.runtime import RuntimeState
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from lerobot.runtime.adapter import split_plan_and_say
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def test_pi052_adapter_builds_recipe_prompts_from_runtime_state():
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adapter = PI052PolicyAdapter(policy=object())
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state = RuntimeState(
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task="clean the kitchen",
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language_context={"memory": "cup moved", "plan": "pick then place"},
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extra={"prior_subtask": "pick the cup"},
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)
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assert adapter.build_messages("subtask", state) == [{"role": "user", "content": "clean the kitchen"}]
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assert adapter.build_messages("memory", state) == [
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{"role": "user", "content": "clean the kitchen"},
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{"role": "assistant", "content": "Previous memory: cup moved"},
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{"role": "user", "content": "Completed subtask: pick the cup"},
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]
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assert adapter.build_messages("interjection", state, user_text="wait") == [
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{"role": "user", "content": "clean the kitchen"},
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{"role": "assistant", "content": "Previous plan:\npick then place"},
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{"role": "user", "content": "wait"},
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]
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def test_pi052_adapter_strips_say_markers_from_plan_text():
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adapter = PI052PolicyAdapter(policy=object())
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text = "Move to the sink. <say>heading to the sink</say>"
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assert split_plan_and_say(text) == ("Move to the sink.", "heading to the sink")
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assert adapter.plan_from_text(text) == "Move to the sink."
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def test_language_runtime_cli_smoke_does_not_load_model(monkeypatch):
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"""The general entry resolves the pi052 adapter from the registry by policy type."""
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from lerobot.runtime import cli
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from lerobot.scripts import lerobot_language_runtime
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fake_policy = SimpleNamespace(config=SimpleNamespace(device="cpu", type="pi052"))
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monkeypatch.setattr(
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cli,
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"_load_policy_and_preprocessor",
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lambda policy_path, dataset_repo_id: (fake_policy, None, None, None),
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)
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monkeypatch.setattr(cli, "_run_repl", lambda runtime, **kwargs: 0)
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assert (
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lerobot_language_runtime.main(["--policy.path=fake", "--no_robot", "--task=clean", "--max_ticks=0"])
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== 0
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)
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