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[Port HIL-SERL] Adjust Actor-Learner architecture & clean up dependency management for HIL-SERL (#722)

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This commit is contained in:
Eugene Mironov
2025-02-21 16:29:00 +07:00
committed by GitHub
parent ff82367c62
commit 3ffe0cf0f4
17 changed files with 1925 additions and 474 deletions
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8
pyproject.toml
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@@ -73,6 +73,9 @@ pyserial = {version = ">=3.5", optional = true}
jsonlines = ">=4.0.0"
transformers = {version = ">=4.47.0", optional = true}
torchmetrics = {version = ">=1.6.0", optional = true}
grpcio = { version = "^1.70.0", optional = true }
protobuf = { version = "^5.29.3", optional = true }
mani-skill = { version = "^3.0.0b18", optional = true }
[tool.poetry.extras]
@@ -88,7 +91,8 @@ dynamixel = ["dynamixel-sdk", "pynput"]
feetech = ["feetech-servo-sdk", "pynput"]
intelrealsense = ["pyrealsense2"]
stretch = ["hello-robot-stretch-body", "pyrender", "pyrealsense2", "pynput"]
hilserl = ["transformers", "torchmetrics"]
hilserl = ["transformers", "torchmetrics", "grpcio", "protobuf"]
mani_skill = ["mani-skill"]
[tool.ruff]
line-length = 110
@@ -116,6 +120,8 @@ exclude = [
"dist",
"node_modules",
"venv",
"*_pb2.py",
"*_pb2_grpc.py",
]