src/lerobot/configs/types.py

# 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.
# Note: We subclass str so that serialization is straightforward
# https://stackoverflow.com/questions/24481852/serialising-an-enum-member-to-json
from dataclasses import dataclass
from enum import Enum


class FeatureType(str, Enum):
    STATE = "STATE"
    VISUAL = "VISUAL"
    ENV = "ENV"
    ACTION = "ACTION"
    REWARD = "REWARD"
    LANGUAGE = "LANGUAGE"


class PipelineFeatureType(str, Enum):
    ACTION = "ACTION"
    OBSERVATION = "OBSERVATION"


class NormalizationMode(str, Enum):
    MIN_MAX = "MIN_MAX"
    MEAN_STD = "MEAN_STD"
    IDENTITY = "IDENTITY"
    QUANTILES = "QUANTILES"
    QUANTILE10 = "QUANTILE10"


@dataclass
class PolicyFeature:
    type: FeatureType
    shape: tuple[int, ...]


class RTCAttentionSchedule(str, Enum):
    ZEROS = "ZEROS"
    ONES = "ONES"
    LINEAR = "LINEAR"
    EXP = "EXP"