[Async Inference] Add gRPC retry mechanism to Async client

src/lerobot/scripts/rl/actor.py

@@ -63,12 +63,12 @@
 from lerobot.policies.factory import make_policy
 from lerobot.policies.sac.modeling_sac import SACPolicy
 from lerobot.robots import so100_follower  # noqa: F401
-from lerobot.scripts.rl import learner_service
 from lerobot.scripts.rl.gym_manipulator import make_robot_env
 from lerobot.teleoperators import gamepad, so101_leader  # noqa: F401
 from lerobot.transport import services_pb2, services_pb2_grpc
 from lerobot.transport.utils import (
     bytes_to_state_dict,
+    grpc_channel_options,
     python_object_to_bytes,
     receive_bytes_in_chunks,
     send_bytes_in_chunks,
@@ -399,43 +399,16 @@ def learner_service_client(
     host: str = "127.0.0.1",
     port: int = 50051,
 ) -> tuple[services_pb2_grpc.LearnerServiceStub, grpc.Channel]:
-    import json
-
     """
     Returns a client for the learner service.
 
     GRPC uses HTTP/2, which is a binary protocol and multiplexes requests over a single connection.
     So we need to create only one client and reuse it.
     """
 
-    service_config = {
-        "methodConfig": [
-            {
-                "name": [{}],  # Applies to ALL methods in ALL services
-                "retryPolicy": {
-                    "maxAttempts": 5,  # Max retries (total attempts = 5)
-                    "initialBackoff": "0.1s",  # First retry after 0.1s
-                    "maxBackoff": "2s",  # Max wait time between retries
-                    "backoffMultiplier": 2,  # Exponential backoff factor
-                    "retryableStatusCodes": [
-                        "UNAVAILABLE",
-                        "DEADLINE_EXCEEDED",
-                    ],  # Retries on network failures
-                },
-            }
-        ]
-    }
-
-    service_config_json = json.dumps(service_config)
-
     channel = grpc.insecure_channel(
         f"{host}:{port}",
-        options=[
-            ("grpc.max_receive_message_length", learner_service.MAX_MESSAGE_SIZE),
-            ("grpc.max_send_message_length", learner_service.MAX_MESSAGE_SIZE),
-            ("grpc.enable_retries", 1),
-            ("grpc.service_config", service_config_json),
-        ],
+        grpc_channel_options(),
     )
     stub = services_pb2_grpc.LearnerServiceStub(channel)
     logging.info("[ACTOR] Learner service client created")

src/lerobot/scripts/rl/learner.py

@@ -77,6 +77,7 @@
 from lerobot.teleoperators import gamepad, so101_leader  # noqa: F401
 from lerobot.transport import services_pb2_grpc
 from lerobot.transport.utils import (
+    MAX_MESSAGE_SIZE,
     bytes_to_python_object,
     bytes_to_transitions,
     state_to_bytes,
@@ -658,8 +659,8 @@ def start_learner(
     server = grpc.server(
         ThreadPoolExecutor(max_workers=learner_service.MAX_WORKERS),
         options=[
-            ("grpc.max_receive_message_length", learner_service.MAX_MESSAGE_SIZE),
-            ("grpc.max_send_message_length", learner_service.MAX_MESSAGE_SIZE),
+            ("grpc.max_receive_message_length", MAX_MESSAGE_SIZE),
+            ("grpc.max_send_message_length", MAX_MESSAGE_SIZE),
         ],
     )
 

src/lerobot/scripts/rl/learner_service.py

@@ -23,7 +23,6 @@
 from lerobot.transport.utils import receive_bytes_in_chunks, send_bytes_in_chunks
 from lerobot.utils.queue import get_last_item_from_queue
 
-MAX_MESSAGE_SIZE = 4 * 1024 * 1024  # 4 MB
 MAX_WORKERS = 3  # Stream parameters, send transitions and interactions
 SHUTDOWN_TIMEOUT = 10
 

src/lerobot/scripts/server/robot_client.py

@@ -76,6 +76,7 @@
     async_inference_pb2,  # type: ignore
     async_inference_pb2_grpc,  # type: ignore
 )
+from lerobot.transport.utils import grpc_channel_options
 
 
 class RobotClient:
@@ -113,7 +114,9 @@ def __init__(self, config: RobotClientConfig):
             config.actions_per_chunk,
             config.policy_device,
         )
-        self.channel = grpc.insecure_channel(self.server_address)
+        self.channel = grpc.insecure_channel(
+            self.server_address, grpc_channel_options(initial_backoff=f"{config.environment_dt:.4f}s")
+        )
         self.stub = async_inference_pb2_grpc.AsyncInferenceStub(self.channel)
         self.logger.info(f"Initializing client to connect to server at {self.server_address}")
 

src/lerobot/transport/utils.py

@@ -16,6 +16,7 @@
 # limitations under the License.
 
 import io
+import json
 import logging
 import pickle  # nosec B403: Safe usage for internal serialization only
 from multiprocessing import Event, Queue
@@ -27,6 +28,7 @@
 from lerobot.utils.transition import Transition
 
 CHUNK_SIZE = 2 * 1024 * 1024  # 2 MB
+MAX_MESSAGE_SIZE = 4 * 1024 * 1024  # 4 MB
 
 
 def bytes_buffer_size(buffer: io.BytesIO) -> int:
@@ -139,3 +141,42 @@ def transitions_to_bytes(transitions: list[Transition]) -> bytes:
     buffer = io.BytesIO()
     torch.save(transitions, buffer)
     return buffer.getvalue()
+
+
+def grpc_channel_options(
+    max_receive_message_length: int = MAX_MESSAGE_SIZE,
+    max_send_message_length: int = MAX_MESSAGE_SIZE,
+    enable_retries: bool = True,
+    initial_backoff: str = "0.1s",
+    max_attempts: int = 5,
+    backoff_multiplier: float = 2,
+    max_backoff: str = "2s",
+):
+    service_config = {
+        "methodConfig": [
+            {
+                "name": [{}],  # Applies to ALL methods in ALL services
+                "retryPolicy": {
+                    "maxAttempts": max_attempts,  # Max retries (total attempts = 5)
+                    "initialBackoff": initial_backoff,  # First retry after 0.1s
+                    "maxBackoff": max_backoff,  # Max wait time between retries
+                    "backoffMultiplier": backoff_multiplier,  # Exponential backoff factor
+                    "retryableStatusCodes": [
+                        "UNAVAILABLE",
+                        "DEADLINE_EXCEEDED",
+                    ],  # Retries on network failures
+                },
+            }
+        ]
+    }
+
+    service_config_json = json.dumps(service_config)
+
+    retries_option = 1 if enable_retries else 0
+
+    return [
+        ("grpc.max_receive_message_length", max_receive_message_length),
+        ("grpc.max_send_message_length", max_send_message_length),
+        ("grpc.enable_retries", retries_option),
+        ("grpc.service_config", service_config_json),
+    ]