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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>
75 lines
2.7 KiB
Python
75 lines
2.7 KiB
Python
from lerobot.runtime import RuntimeState
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from lerobot.runtime.adapter import BaseLanguageAdapter, GenerationConfig, looks_like_gibberish
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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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