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fix(async): Add pre and post processing to async inference and update docs (#2132)

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* Add pre and post processing to async inference and update docs

* precommit fix typo

* fix tests

* refactor(async): no None branching for processors in _predict_action_chunk

---------

Co-authored-by: Steven Palma <steven.palma@huggingface.co>
This commit is contained in:
Pepijn
2025-10-07 15:10:31 +02:00
committed by GitHub
parent fcaa0ea5f9
commit 9f32e00f90
8 changed files with 103 additions and 76 deletions
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16
docs/source/async.mdx
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@@ -31,15 +31,15 @@ Then, spin up a policy server (in one terminal, or in a separate machine) specif
You can spin up a policy server running:
```shell
python src/lerobot/async_inference/policy_server.py \
--host=127.0.0.1 \
--port=8080 \
python -m lerobot.async_inference.policy_server \
--host=127.0.0.1 \
--port=8080
```
This will start a policy server listening on `127.0.0.1:8080` (`localhost`, port 8080). At this stage, the policy server is empty, as all information related to which policy to run and with which parameters are specified during the first handshake with the client. Spin up a client with:
```shell
python src/lerobot/async_inference/robot_client.py \
python -m lerobot.async_inference.robot_client \
--server_address=127.0.0.1:8080 \ # SERVER: the host address and port of the policy server
--robot.type=so100_follower \ # ROBOT: your robot type
--robot.port=/dev/tty.usbmodem585A0076841 \ # ROBOT: your robot port
@@ -113,9 +113,9 @@ As such, spinning up a policy server is as easy as specifying the host address a
<hfoptions id="start_policy_server">
<hfoption id="Command">
```bash
python -m lerobot.scripts.server.policy_server \
--host="localhost" \
--port=8080
python -m lerobot.async_inference.policy_server \
--host=127.0.0.1 \
--port=8080
```
</hfoption>
<hfoption id="API example">
@@ -148,7 +148,7 @@ The `RobotClient` streams observations to the `PolicyServer`, and receives actio
<hfoptions id="start_robot_client">
<hfoption id="Command">
```bash
python src/lerobot/async_inference/robot_client.py \
python -m lerobot.async_inference.robot_client \
--server_address=127.0.0.1:8080 \ # SERVER: the host address and port of the policy server
--robot.type=so100_follower \ # ROBOT: your robot type
--robot.port=/dev/tty.usbmodem585A0076841 \ # ROBOT: your robot port