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lerobot/lerobot/scripts/server/hilserl.proto
Eugene Mironov db78fee9de [HIL-SERL] Migrate threading to multiprocessing (#759)
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
2025-03-28 17:18:48 +00:00

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// !/usr/bin/env python
// Copyright 2024 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.
syntax = "proto3";
package hil_serl;
// LearnerService: the Actor calls this to push transitions.
// The Learner implements this service.
service LearnerService {
// Actor -> Learner to store transitions
rpc SendInteractionMessage(InteractionMessage) returns (Empty);
rpc StreamParameters(Empty) returns (stream Parameters);
rpc SendTransitions(stream Transition) returns (Empty);
rpc SendInteractions(stream InteractionMessage) returns (Empty);
rpc Ready(Empty) returns (Empty);
}
enum TransferState {
TRANSFER_UNKNOWN = 0;
TRANSFER_BEGIN = 1;
TRANSFER_MIDDLE = 2;
TRANSFER_END = 3;
}
// Messages
message Transition {
TransferState transfer_state = 1;
bytes data = 2;
}
message Parameters {
TransferState transfer_state = 1;
bytes data = 2;
}
message InteractionMessage {
TransferState transfer_state = 1;
bytes data = 2;
}
message Empty {}