Merge branch 'main' into main

.pre-commit-config.yaml

@@ -36,8 +36,8 @@ repos:
       - id: end-of-file-fixer
       - id: trailing-whitespace
 
-  - repo: https://github.com/crate-ci/typos
+  - repo: https://github.com/adhtruong/mirrors-typos
-    rev: v1.30.2
+    rev: v1.31.1
     hooks:
       - id: typos
         args: [--force-exclude]
@@ -48,7 +48,7 @@ repos:
     -   id: pyupgrade
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.9.10
+    rev: v0.11.4
     hooks:
       - id: ruff
         args: [--fix]
@@ -57,12 +57,12 @@ repos:
 
   ##### Security #####
   - repo: https://github.com/gitleaks/gitleaks
-    rev: v8.24.0
+    rev: v8.24.2
     hooks:
       - id: gitleaks
 
   - repo: https://github.com/woodruffw/zizmor-pre-commit
-    rev: v1.4.1
+    rev: v1.5.2
     hooks:
       - id: zizmor
 

examples/1_load_lerobot_dataset.py

@@ -119,7 +119,7 @@ print(dataset.features[camera_key]["shape"])
 delta_timestamps = {
     # loads 4 images: 1 second before current frame, 500 ms before, 200 ms before, and current frame
     camera_key: [-1, -0.5, -0.20, 0],
-    # loads 8 state vectors: 1.5 seconds before, 1 second before, ... 200 ms, 100 ms, and current frame
+    # loads 6 state vectors: 1.5 seconds before, 1 second before, ... 200 ms, 100 ms, and current frame
     "observation.state": [-1.5, -1, -0.5, -0.20, -0.10, 0],
     # loads 64 action vectors: current frame, 1 frame in the future, 2 frames, ... 63 frames in the future
     "action": [t / dataset.fps for t in range(64)],
@@ -143,6 +143,6 @@ dataloader = torch.utils.data.DataLoader(
 
 for batch in dataloader:
     print(f"{batch[camera_key].shape=}")  # (32, 4, c, h, w)
-    print(f"{batch['observation.state'].shape=}")  # (32, 5, c)
+    print(f"{batch['observation.state'].shape=}")  # (32, 6, c)
     print(f"{batch['action'].shape=}")  # (32, 64, c)
     break

lerobot/common/datasets/lerobot_dataset.py

@@ -1053,7 +1053,7 @@ class MultiLeRobotDataset(torch.utils.data.Dataset):
         super().__init__()
         self.repo_ids = repo_ids
         self.root = Path(root) if root else HF_LEROBOT_HOME
-        self.tolerances_s = tolerances_s if tolerances_s else {repo_id: 1e-4 for repo_id in repo_ids}
+        self.tolerances_s = tolerances_s if tolerances_s else dict.fromkeys(repo_ids, 0.0001)
         # Construct the underlying datasets passing everything but `transform` and `delta_timestamps` which
         # are handled by this class.
         self._datasets = [

lerobot/common/datasets/utils.py

@@ -240,7 +240,7 @@ def load_episodes_stats(local_dir: Path) -> dict:
 def backward_compatible_episodes_stats(
     stats: dict[str, dict[str, np.ndarray]], episodes: list[int]
 ) -> dict[str, dict[str, np.ndarray]]:
-    return {ep_idx: stats for ep_idx in episodes}
+    return dict.fromkeys(episodes, stats)
 
 
 def load_image_as_numpy(

lerobot/common/datasets/v2/convert_dataset_v1_to_v2.py

@@ -481,7 +481,7 @@ def convert_dataset(
 
     # Tasks
     if single_task:
-        tasks_by_episodes = {ep_idx: single_task for ep_idx in episode_indices}
+        tasks_by_episodes = dict.fromkeys(episode_indices, single_task)
         dataset, tasks = add_task_index_by_episodes(dataset, tasks_by_episodes)
         tasks_by_episodes = {ep_idx: [task] for ep_idx, task in tasks_by_episodes.items()}
     elif tasks_path:

lerobot/common/utils/logging_utils.py

@@ -94,7 +94,7 @@ class MetricsTracker:
         metrics: dict[str, AverageMeter],
         initial_step: int = 0,
     ):
-        self.__dict__.update({k: None for k in self.__keys__})
+        self.__dict__.update(dict.fromkeys(self.__keys__))
         self._batch_size = batch_size
         self._num_frames = num_frames
         self._avg_samples_per_ep = num_frames / num_episodes