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chore(docs): update doctrines pipeline files (#1872)

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* docs(processor): update docstrings batch_processor

* docs(processor): update docstrings device_processor

* docs(processor): update docstrings tokenizer_processor

* update docstrings processor_act

* update docstrings for pipeline_features

* update docstrings for utils

* update docstring for processor_diffusion

* update docstrings factory

* add docstrings to pi0 processor

* add docstring to pi0fast processor

* add docstring classifier processor

* add docstring to sac processor

* add docstring smolvla processor

* add docstring to tdmpc processor

* add docstring to vqbet processor

* add docstrings to converters

* add docstrings for delta_action_processor

* add docstring to gym action processor

* update hil processor

* add docstring to joint obs processor

* add docstring to migrate_normalize_processor

* update docstrings normalize processor

* update docstring normalize processor

* update docstrings observation processor

* update docstrings rename_processor

* add docstrings robot_kinematic_processor

* cleanup rl comments

* add docstring to train.py

* add docstring to teleoperate.py

* add docstrings to phone_processor.py

* add docstrings to teleop_phone.py

* add docstrings to control_utils.py

* add docstrings to visualization_utils.py

---------

Co-authored-by: Pepijn <pepijn@huggingface.co>
This commit is contained in:
Steven Palma
2025-09-08 18:44:15 +02:00
committed by GitHub
parent d32006440c
commit af9ddcf9a2
33 changed files with 2325 additions and 519 deletions
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20
src/lerobot/scripts/rl/actor.py
View File

@@ -98,9 +98,7 @@ from lerobot.utils.utils import (
ACTOR_SHUTDOWN_TIMEOUT = 30
#################################################
# Main entry point #
#################################################
# Main entry point
@parser.wrap()
@@ -207,9 +205,7 @@ def actor_cli(cfg: TrainRLServerPipelineConfig):
logging.info("[ACTOR] queues closed")
#################################################
# Core algorithm functions #
#################################################
# Core algorithm functions
def act_with_policy(
@@ -406,9 +402,7 @@ def act_with_policy(
busy_wait(1 / cfg.env.fps - dt_time)
#################################################
# Communication Functions - Group all gRPC/messaging functions #
#################################################
# Communication Functions - Group all gRPC/messaging functions
def establish_learner_connection(
@@ -653,9 +647,7 @@ def interactions_stream(
return services_pb2.Empty()
#################################################
# Policy functions #
#################################################
# Policy functions
def update_policy_parameters(policy: SACPolicy, parameters_queue: Queue, device):
@@ -687,9 +679,7 @@ def update_policy_parameters(policy: SACPolicy, parameters_queue: Queue, device)
logging.info("[ACTOR] Loaded discrete critic parameters from Learner.")
#################################################
# Utilities functions #
#################################################
# Utilities functions
def push_transitions_to_transport_queue(transitions: list, transitions_queue):

17
src/lerobot/scripts/rl/learner.py
View File

@@ -103,11 +103,6 @@ from lerobot.utils.wandb_utils import WandBLogger
LOG_PREFIX = "[LEARNER]"
#################################################
# MAIN ENTRY POINTS AND CORE ALGORITHM FUNCTIONS #
#################################################
@parser.wrap()
def train_cli(cfg: TrainRLServerPipelineConfig):
if not use_threads(cfg):
@@ -250,9 +245,7 @@ def start_learner_threads(
logging.info("[LEARNER] queues closed")
#################################################
# Core algorithm functions #
#################################################
# Core algorithm functions
def add_actor_information_and_train(
@@ -820,9 +813,7 @@ def make_optimizers_and_scheduler(cfg: TrainRLServerPipelineConfig, policy: nn.M
return optimizers, lr_scheduler
#################################################
# Training setup functions #
#################################################
# Training setup functions
def handle_resume_logic(cfg: TrainRLServerPipelineConfig) -> TrainRLServerPipelineConfig:
@@ -1023,9 +1014,7 @@ def initialize_offline_replay_buffer(
return offline_replay_buffer
#################################################
# Utilities/Helpers functions #
#################################################
# Utilities/Helpers functions
def get_observation_features(