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chore(rl): move rl related code to its directory at top level (#2002)

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* chore(rl): move rl related code to its directory at top level

* chore(style): apply pre-commit to renamed headers

* test(rl): fix rl imports

* docs(rl): update rl headers doc
This commit is contained in:
Steven Palma
2025-09-23 16:32:34 +02:00
committed by GitHub
parent 9d0cf64da6
commit d6a32e9742
12 changed files with 44 additions and 41 deletions
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10
tests/rl/test_actor.py
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@@ -65,7 +65,7 @@ def close_service_stub(channel, server):
@require_package("grpc")
def test_establish_learner_connection_success():
from lerobot.scripts.rl.actor import establish_learner_connection
from lerobot.rl.actor import establish_learner_connection
"""Test successful connection establishment."""
stub, _servicer, channel, server = create_learner_service_stub()
@@ -82,7 +82,7 @@ def test_establish_learner_connection_success():
@require_package("grpc")
def test_establish_learner_connection_failure():
from lerobot.scripts.rl.actor import establish_learner_connection
from lerobot.rl.actor import establish_learner_connection
"""Test connection failure."""
stub, servicer, channel, server = create_learner_service_stub()
@@ -101,7 +101,7 @@ def test_establish_learner_connection_failure():
@require_package("grpc")
def test_push_transitions_to_transport_queue():
from lerobot.scripts.rl.actor import push_transitions_to_transport_queue
from lerobot.rl.actor import push_transitions_to_transport_queue
from lerobot.transport.utils import bytes_to_transitions
from tests.transport.test_transport_utils import assert_transitions_equal
@@ -137,7 +137,7 @@ def test_push_transitions_to_transport_queue():
@require_package("grpc")
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_transitions_stream():
from lerobot.scripts.rl.actor import transitions_stream
from lerobot.rl.actor import transitions_stream
"""Test transitions stream functionality."""
shutdown_event = Event()
@@ -169,7 +169,7 @@ def test_transitions_stream():
@require_package("grpc")
@pytest.mark.timeout(3) # force cross-platform watchdog
def test_interactions_stream():
from lerobot.scripts.rl.actor import interactions_stream
from lerobot.rl.actor import interactions_stream
from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
"""Test interactions stream functionality."""

12
tests/rl/test_actor_learner.py
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@@ -90,13 +90,13 @@ def cfg():
@require_package("grpc")
@pytest.mark.timeout(10) # force cross-platform watchdog
def test_end_to_end_transitions_flow(cfg):
from lerobot.scripts.rl.actor import (
from lerobot.rl.actor import (
establish_learner_connection,
learner_service_client,
push_transitions_to_transport_queue,
send_transitions,
)
from lerobot.scripts.rl.learner import start_learner
from lerobot.rl.learner import start_learner
from lerobot.transport.utils import bytes_to_transitions
from tests.transport.test_transport_utils import assert_transitions_equal
@@ -152,12 +152,12 @@ def test_end_to_end_transitions_flow(cfg):
@require_package("grpc")
@pytest.mark.timeout(10)
def test_end_to_end_interactions_flow(cfg):
from lerobot.scripts.rl.actor import (
from lerobot.rl.actor import (
establish_learner_connection,
learner_service_client,
send_interactions,
)
from lerobot.scripts.rl.learner import start_learner
from lerobot.rl.learner import start_learner
from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
"""Test complete interactions flow from actor to learner."""
@@ -226,8 +226,8 @@ def test_end_to_end_interactions_flow(cfg):
@pytest.mark.parametrize("data_size", ["small", "large"])
@pytest.mark.timeout(10)
def test_end_to_end_parameters_flow(cfg, data_size):
from lerobot.scripts.rl.actor import establish_learner_connection, learner_service_client, receive_policy
from lerobot.scripts.rl.learner import start_learner
from lerobot.rl.actor import establish_learner_connection, learner_service_client, receive_policy
from lerobot.rl.learner import start_learner
from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
"""Test complete parameter flow from learner to actor, with small and large data."""

2
tests/rl/test_learner_service.py
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@@ -50,7 +50,7 @@ def create_learner_service_stub(
):
import grpc
from lerobot.scripts.rl.learner_service import LearnerService
from lerobot.rl.learner_service import LearnerService
from lerobot.transport import services_pb2_grpc # generated from .proto
"""Fixture to start a LearnerService gRPC server and provide a connected stub."""