Add LeRobot LIBERO policy rollout#2667
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| @dataclass(frozen=True) | ||
| class RobotLearningSample: |
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This is a bad name. if it's an input sample it should be named better. a bunch of ids that's not really used within module is added. also episode_id is a benchmark specific thing, should not be here at all. And, what's the performance of using lcm to transmit a large dictionary of images? is there a way to do it without serialization?
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Partially addressed in 072b32f: renamed RobotLearningSample to RobotPolicyObservation, removed benchmark-specific ids and top-level task from the policy observation, and keep language in metadata/observations for the contract. I left the image dictionary transport/performance question for a separate design pass rather than mixing transport redesign into this cleanup.
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Problem
DimOS had LIBERO runtime plumbing for scripted motor-surface demos, but no policy rollout path that exercised a real LeRobot policy through DimOS-owned inference, contract conversion, native runtime actions, and benchmark evaluation artifacts.
The official LeRobot LIBERO checkpoints use a native relative end-effector delta + gripper action surface, not the existing joint-position motor frame path. That left the policy benchmark blocked on overloaded motor semantics, missing rollout ownership boundaries, and manual environment setup.
Solution
StepRequestaction unions.RobotPolicyModulePolicyBackendLeRobotBackendVlaJepaLiberoRobotContractBenchmarkPolicyEvalRunnerlibero_objectmatrixsuccess_rate > 0.50gateVerification
uv run ruff check scripts/benchmarks/demo_lerobot_libero_policy_rollout.py dimos/robot_learning/policy_rollout packages/dimos-libero-pro-sidecar/src/dimos_libero_pro_sidecar/server.py packages/dimos-runtime-protocol/src/dimos_runtime_protocol packages/dimos-runtime-protocol/tests/test_models.py dimos/benchmark/runtime/test_libero_pro_sidecar_profile.pyuv run pytest packages/dimos-runtime-protocol/tests/test_models.py dimos/benchmark/runtime/test_libero_pro_sidecar_profile.py dimos/benchmark/runtime/test_sidecar_import_boundaries.py dimos/robot_learning/policy_rollout/test_robot_policy_module.py dimos/robot_learning/policy_rollout/test_evaluation.py dimos/robot_learning/policy_rollout/test_lerobot_backend.py dimos/robot_learning/policy_rollout/test_vla_jepa_libero_contract.py -qopenspec validate --allsuccess_rate=0.900, gate threshold> 0.50.