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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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151
lerobot/scripts/server/hilserl_pb2_grpc.py
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@@ -36,16 +36,21 @@ class LearnerServiceStub(object):
Args:
channel: A grpc.Channel.
"""
self.SendTransition = channel.unary_unary(
'/hil_serl.LearnerService/SendTransition',
request_serializer=hilserl__pb2.Transition.SerializeToString,
response_deserializer=hilserl__pb2.Empty.FromString,
_registered_method=True)
self.SendInteractionMessage = channel.unary_unary(
'/hil_serl.LearnerService/SendInteractionMessage',
request_serializer=hilserl__pb2.InteractionMessage.SerializeToString,
response_deserializer=hilserl__pb2.Empty.FromString,
_registered_method=True)
self.StreamParameters = channel.unary_stream(
'/hil_serl.LearnerService/StreamParameters',
request_serializer=hilserl__pb2.Empty.SerializeToString,
response_deserializer=hilserl__pb2.Parameters.FromString,
_registered_method=True)
self.ReceiveTransitions = channel.stream_unary(
'/hil_serl.LearnerService/ReceiveTransitions',
request_serializer=hilserl__pb2.ActorInformation.SerializeToString,
response_deserializer=hilserl__pb2.Empty.FromString,
_registered_method=True)
class LearnerServiceServicer(object):
@@ -53,14 +58,20 @@ class LearnerServiceServicer(object):
The Learner implements this service.
"""
def SendTransition(self, request, context):
def SendInteractionMessage(self, request, context):
"""Actor -> Learner to store transitions
"""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def SendInteractionMessage(self, request, context):
def StreamParameters(self, request, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def ReceiveTransitions(self, request_iterator, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
@@ -69,16 +80,21 @@ class LearnerServiceServicer(object):
def add_LearnerServiceServicer_to_server(servicer, server):
rpc_method_handlers = {
'SendTransition': grpc.unary_unary_rpc_method_handler(
servicer.SendTransition,
request_deserializer=hilserl__pb2.Transition.FromString,
response_serializer=hilserl__pb2.Empty.SerializeToString,
),
'SendInteractionMessage': grpc.unary_unary_rpc_method_handler(
servicer.SendInteractionMessage,
request_deserializer=hilserl__pb2.InteractionMessage.FromString,
response_serializer=hilserl__pb2.Empty.SerializeToString,
),
'StreamParameters': grpc.unary_stream_rpc_method_handler(
servicer.StreamParameters,
request_deserializer=hilserl__pb2.Empty.FromString,
response_serializer=hilserl__pb2.Parameters.SerializeToString,
),
'ReceiveTransitions': grpc.stream_unary_rpc_method_handler(
servicer.ReceiveTransitions,
request_deserializer=hilserl__pb2.ActorInformation.FromString,
response_serializer=hilserl__pb2.Empty.SerializeToString,
),
}
generic_handler = grpc.method_handlers_generic_handler(
'hil_serl.LearnerService', rpc_method_handlers)
@@ -92,33 +108,6 @@ class LearnerService(object):
The Learner implements this service.
"""
@staticmethod
def SendTransition(request,
target,
options=(),
channel_credentials=None,
call_credentials=None,
insecure=False,
compression=None,
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.unary_unary(
request,
target,
'/hil_serl.LearnerService/SendTransition',
hilserl__pb2.Transition.SerializeToString,
hilserl__pb2.Empty.FromString,
options,
channel_credentials,
insecure,
call_credentials,
compression,
wait_for_ready,
timeout,
metadata,
_registered_method=True)
@staticmethod
def SendInteractionMessage(request,
target,
@@ -146,76 +135,8 @@ class LearnerService(object):
metadata,
_registered_method=True)
class ActorServiceStub(object):
"""ActorService: the Learner calls this to push parameters.
The Actor implements this service.
"""
def __init__(self, channel):
"""Constructor.
Args:
channel: A grpc.Channel.
"""
self.StreamTransition = channel.unary_stream(
'/hil_serl.ActorService/StreamTransition',
request_serializer=hilserl__pb2.Empty.SerializeToString,
response_deserializer=hilserl__pb2.ActorInformation.FromString,
_registered_method=True)
self.SendParameters = channel.unary_unary(
'/hil_serl.ActorService/SendParameters',
request_serializer=hilserl__pb2.Parameters.SerializeToString,
response_deserializer=hilserl__pb2.Empty.FromString,
_registered_method=True)
class ActorServiceServicer(object):
"""ActorService: the Learner calls this to push parameters.
The Actor implements this service.
"""
def StreamTransition(self, request, context):
"""Learner -> Actor to send new parameters
"""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def SendParameters(self, request, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')
def add_ActorServiceServicer_to_server(servicer, server):
rpc_method_handlers = {
'StreamTransition': grpc.unary_stream_rpc_method_handler(
servicer.StreamTransition,
request_deserializer=hilserl__pb2.Empty.FromString,
response_serializer=hilserl__pb2.ActorInformation.SerializeToString,
),
'SendParameters': grpc.unary_unary_rpc_method_handler(
servicer.SendParameters,
request_deserializer=hilserl__pb2.Parameters.FromString,
response_serializer=hilserl__pb2.Empty.SerializeToString,
),
}
generic_handler = grpc.method_handlers_generic_handler(
'hil_serl.ActorService', rpc_method_handlers)
server.add_generic_rpc_handlers((generic_handler,))
server.add_registered_method_handlers('hil_serl.ActorService', rpc_method_handlers)
# This class is part of an EXPERIMENTAL API.
class ActorService(object):
"""ActorService: the Learner calls this to push parameters.
The Actor implements this service.
"""
@staticmethod
def StreamTransition(request,
def StreamParameters(request,
target,
options=(),
channel_credentials=None,
@@ -228,9 +149,9 @@ class ActorService(object):
return grpc.experimental.unary_stream(
request,
target,
'/hil_serl.ActorService/StreamTransition',
'/hil_serl.LearnerService/StreamParameters',
hilserl__pb2.Empty.SerializeToString,
hilserl__pb2.ActorInformation.FromString,
hilserl__pb2.Parameters.FromString,
options,
channel_credentials,
insecure,
@@ -242,7 +163,7 @@ class ActorService(object):
_registered_method=True)
@staticmethod
def SendParameters(request,
def ReceiveTransitions(request_iterator,
target,
options=(),
channel_credentials=None,
@@ -252,11 +173,11 @@ class ActorService(object):
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.unary_unary(
request,
return grpc.experimental.stream_unary(
request_iterator,
target,
'/hil_serl.ActorService/SendParameters',
hilserl__pb2.Parameters.SerializeToString,
'/hil_serl.LearnerService/ReceiveTransitions',
hilserl__pb2.ActorInformation.SerializeToString,
hilserl__pb2.Empty.FromString,
options,
channel_credentials,