mirror of
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69 lines
2.8 KiB
Python
69 lines
2.8 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from .act.configuration_act import ACTConfig as ACTConfig
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from .diffusion.configuration_diffusion import DiffusionConfig as DiffusionConfig
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from .factory import get_policy_class, make_policy, make_policy_config, make_pre_post_processors
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from .groot.configuration_groot import GrootConfig as GrootConfig
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from .multi_task_dit.configuration_multi_task_dit import MultiTaskDiTConfig as MultiTaskDiTConfig
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from .pi0.configuration_pi0 import PI0Config as PI0Config
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from .pi0_fast.configuration_pi0_fast import PI0FastConfig as PI0FastConfig
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from .pi05.configuration_pi05 import PI05Config as PI05Config
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from .pretrained import PreTrainedPolicy as PreTrainedPolicy
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from .rtc import ActionInterpolator as ActionInterpolator
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from .sac.configuration_sac import SACConfig as SACConfig
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from .sac.reward_model.configuration_classifier import RewardClassifierConfig as RewardClassifierConfig
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from .sarm.configuration_sarm import SARMConfig as SARMConfig
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from .smolvla.configuration_smolvla import SmolVLAConfig as SmolVLAConfig
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from .tdmpc.configuration_tdmpc import TDMPCConfig as TDMPCConfig
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from .utils import make_robot_action, prepare_observation_for_inference
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from .vqbet.configuration_vqbet import VQBeTConfig as VQBeTConfig
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from .wall_x.configuration_wall_x import WallXConfig as WallXConfig
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from .xvla.configuration_xvla import XVLAConfig as XVLAConfig
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# NOTE: Policy modeling classes (e.g., SACPolicy) are intentionally NOT re-exported here.
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# They have heavy optional dependencies and are loaded lazily via get_policy_class().
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# Import directly: ``from lerobot.policies.sac.modeling_sac import SACPolicy``
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__all__ = [
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# Configuration classes
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"ACTConfig",
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"DiffusionConfig",
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"GrootConfig",
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"MultiTaskDiTConfig",
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"PI0Config",
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"PI0FastConfig",
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"PI05Config",
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"RewardClassifierConfig",
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"SACConfig",
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"SARMConfig",
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"SmolVLAConfig",
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"TDMPCConfig",
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"VQBeTConfig",
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"WallXConfig",
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"XVLAConfig",
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# Base class
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"PreTrainedPolicy",
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# RTC utilities
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"ActionInterpolator",
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# Utility functions
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"make_robot_action",
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"prepare_observation_for_inference",
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# Factory functions
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"get_policy_class",
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"make_policy",
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"make_policy_config",
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"make_pre_post_processors",
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]
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