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https://github.com/huggingface/lerobot.git
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e489ba24fc
* feat(dependecies): upgrade to python3.12 * fix(test): processor regex message * fix(test): processor regex message * fix(dependecies): resolve all tags in python 3.12 * fix(dependecies): add more hints to faster resolve * chore(dependecies): remove cli tag huggingface-hub dep * refactor(policy): update eagle for python3.12 * chore(docs): update policy creation for python 3.12 * chore(test): skip failing tests in macos
57 lines
1.7 KiB
Python
57 lines
1.7 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 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 __future__ import annotations
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from enum import Enum
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from typing import Any, TypedDict
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import numpy as np
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import torch
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class TransitionKey(str, Enum):
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"""Keys for accessing EnvTransition dictionary components."""
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# TODO(Steven): Use consts
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OBSERVATION = "observation"
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ACTION = "action"
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REWARD = "reward"
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DONE = "done"
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TRUNCATED = "truncated"
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INFO = "info"
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COMPLEMENTARY_DATA = "complementary_data"
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PolicyAction = torch.Tensor
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RobotAction = dict[str, Any]
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EnvAction = np.ndarray
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RobotObservation = dict[str, Any]
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EnvTransition = TypedDict(
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"EnvTransition",
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{
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TransitionKey.OBSERVATION.value: RobotObservation | None,
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TransitionKey.ACTION.value: PolicyAction | RobotAction | EnvAction | None,
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TransitionKey.REWARD.value: float | torch.Tensor | None,
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TransitionKey.DONE.value: bool | torch.Tensor | None,
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TransitionKey.TRUNCATED.value: bool | torch.Tensor | None,
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TransitionKey.INFO.value: dict[str, Any] | None,
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TransitionKey.COMPLEMENTARY_DATA.value: dict[str, Any] | None,
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},
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)
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