Update Wall-X to 1.1.0 (#104)

wall_x/_vendor/harrix/adapters/base.py

@@ -0,0 +1,51 @@
+"""Common inference adapter abstraction.
+
+The adapter owns all architecture-specific model setup and exposes a single
+``predict_batch`` entry point. Environment drivers pass payloads through without
+interpreting the env-adapter schema.
+"""
+
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+
+import numpy as np
+
+from wall_x._vendor.harrix.eval_config import EvalConfig
+
+
+class BaseInferAdapter(ABC):
+    @abstractmethod
+    def __init__(self, cfg: EvalConfig) -> None:
+        """Load processors, model config, checkpoints, and normalizers.
+
+        Subclasses should reject unsupported ``cfg.model.action_mode`` values
+        during construction.
+        """
+
+    @property
+    @abstractmethod
+    def chunk_horizon(self) -> int:
+        """Number of action steps returned by each ``predict_batch`` call."""
+
+    @property
+    @abstractmethod
+    def action_mode(self) -> str:
+        """Configured inference algorithm, fixed at construction time."""
+
+    @abstractmethod
+    def predict_batch(self, payloads: list[dict]) -> list[np.ndarray]:
+        """Run one batched inference call and return one chunk per payload.
+
+        ``payloads[i]`` schema is defined by the env-adapter pair:
+            {
+                "observation": dict[str, np.ndarray],
+                    # Env-defined ndarray bundle, for example LIBERO:
+                    # {"eef_pos":(3,), "eef_axisangle":(3,), "gripper":(1,),
+                    #  "face_view":(H,W,3), "wrist_view":(H,W,3)}
+                "instruction": str,
+                "noise":       np.ndarray | None,
+                    # Flow may pass (chunk_horizon, action_dim); other modes
+                    # may leave this as None.
+            }
+        """