mirror of
https://github.com/huggingface/lerobot.git
synced 2026-06-04 21:01:26 +00:00
92 lines
2.3 KiB
Python
92 lines
2.3 KiB
Python
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
"""Policy deployment engine with pluggable rollout strategies."""
|
|
|
|
from lerobot.utils.import_utils import require_package
|
|
|
|
require_package("datasets", extra="dataset")
|
|
|
|
from .configs import (
|
|
BaseStrategyConfig,
|
|
DAggerKeyboardConfig,
|
|
DAggerPedalConfig,
|
|
DAggerStrategyConfig,
|
|
HighlightStrategyConfig,
|
|
LegacyStrategyConfig,
|
|
RolloutConfig,
|
|
RolloutStrategyConfig,
|
|
SentryStrategyConfig,
|
|
)
|
|
from .context import (
|
|
DatasetContext,
|
|
HardwareContext,
|
|
PolicyContext,
|
|
ProcessorContext,
|
|
RolloutContext,
|
|
RuntimeContext,
|
|
build_rollout_context,
|
|
)
|
|
from .inference import (
|
|
InferenceEngine,
|
|
InferenceEngineConfig,
|
|
RTCInferenceConfig,
|
|
RTCInferenceEngine,
|
|
SyncInferenceConfig,
|
|
SyncInferenceEngine,
|
|
create_inference_engine,
|
|
)
|
|
from .strategies import (
|
|
BaseStrategy,
|
|
DAggerStrategy,
|
|
HighlightStrategy,
|
|
LegacyStrategy,
|
|
RolloutStrategy,
|
|
SentryStrategy,
|
|
create_strategy,
|
|
)
|
|
|
|
__all__ = [
|
|
"BaseStrategy",
|
|
"BaseStrategyConfig",
|
|
"DAggerKeyboardConfig",
|
|
"DAggerPedalConfig",
|
|
"DAggerStrategy",
|
|
"DAggerStrategyConfig",
|
|
"DatasetContext",
|
|
"HardwareContext",
|
|
"HighlightStrategy",
|
|
"HighlightStrategyConfig",
|
|
"LegacyStrategy",
|
|
"LegacyStrategyConfig",
|
|
"InferenceEngine",
|
|
"InferenceEngineConfig",
|
|
"PolicyContext",
|
|
"ProcessorContext",
|
|
"RTCInferenceConfig",
|
|
"RTCInferenceEngine",
|
|
"RolloutConfig",
|
|
"RolloutContext",
|
|
"RolloutStrategy",
|
|
"RolloutStrategyConfig",
|
|
"RuntimeContext",
|
|
"SentryStrategy",
|
|
"SentryStrategyConfig",
|
|
"SyncInferenceConfig",
|
|
"SyncInferenceEngine",
|
|
"build_rollout_context",
|
|
"create_inference_engine",
|
|
"create_strategy",
|
|
]
|