Merge branch 'main' into aloha_hd5_to_dataset_v2

.github/workflows/build-docker-images.yml

@@ -8,6 +8,8 @@ on:
   schedule:
     - cron: "0 1 * * *"
 
+permissions: {}
+
 env:
   PYTHON_VERSION: "3.10"
 
@@ -25,11 +27,14 @@ jobs:
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          cache-binary: false
 
       - name: Check out code
         uses: actions/checkout@v4
         with:
           lfs: true
+          persist-credentials: false
 
       - name: Login to DockerHub
         uses: docker/login-action@v3
@@ -60,11 +65,14 @@ jobs:
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          cache-binary: false
 
       - name: Check out code
         uses: actions/checkout@v4
         with:
           lfs: true
+          persist-credentials: false
 
       - name: Login to DockerHub
         uses: docker/login-action@v3
@@ -89,9 +97,13 @@ jobs:
     steps:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          cache-binary: false
 
       - name: Check out code
         uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Login to DockerHub
         uses: docker/login-action@v3

.github/workflows/nightly-tests.yml

@@ -7,6 +7,8 @@ on:
   schedule:
     - cron: "0 2 * * *"
 
+permissions: {}
+
 # env:
   # SLACK_API_TOKEN: ${{ secrets.SLACK_API_TOKEN }}
 jobs:

.github/workflows/quality.yml

@@ -8,6 +8,8 @@ on:
     branches:
       - main
 
+permissions: {}
+
 env:
   PYTHON_VERSION: "3.10"
 
@@ -17,7 +19,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout Repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Set up Python
         uses: actions/setup-python@v4
@@ -34,49 +38,7 @@ jobs:
         run: python -m pip install "ruff==${{ env.RUFF_VERSION }}"
 
       - name: Ruff check
-        run: ruff check
+        run: ruff check --output-format=github
 
       - name: Ruff format
         run: ruff format --diff
-
-
-  poetry_check:
-    name: Poetry check
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v3
-
-      - name: Install poetry
-        run: pipx install "poetry<2.0.0"
-
-      - name: Poetry check
-        run: poetry check
-
-
-  poetry_relax:
-    name: Poetry relax
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v3
-
-      - name: Install poetry
-        run: pipx install "poetry<2.0.0"
-
-      - name: Install poetry-relax
-        run: poetry self add poetry-relax
-
-      - name: Poetry relax
-        id: poetry_relax
-        run: |
-          output=$(poetry relax --check 2>&1)
-          if echo "$output" | grep -q "Proposing updates"; then
-            echo "$output"
-            echo ""
-            echo "Some dependencies have caret '^' version requirement added by poetry by default."
-            echo "Please replace them with '>='. You can do this by hand or use poetry-relax to do this."
-            exit 1
-          else
-            echo "$output"
-          fi

.github/workflows/test-docker-build.yml

@@ -8,6 +8,8 @@ on:
       # Run only when DockerFile files are modified
       - "docker/**"
 
+permissions: {}
+
 env:
   PYTHON_VERSION: "3.10"
 
@@ -20,6 +22,8 @@ jobs:
     steps:
       - name: Check out code
         uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Get changed files
         id: changed-files
@@ -28,15 +32,12 @@ jobs:
           files: docker/**
           json: "true"
 
-      - name: Run step if only the files listed above change
+      - name: Run step if only the files listed above change  # zizmor: ignore[template-injection]
         if: steps.changed-files.outputs.any_changed == 'true'
         id: set-matrix
-        env:
-          ALL_CHANGED_FILES: ${{ steps.changed-files.outputs.all_changed_files }}
         run: |
           echo "matrix=${{ steps.changed-files.outputs.all_changed_files}}" >> $GITHUB_OUTPUT
 
-
   build_modified_dockerfiles:
     name: Build modified Docker images
     needs: get_changed_files
@@ -50,9 +51,13 @@ jobs:
     steps:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          cache-binary: false
 
       - name: Check out code
         uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Build Docker image
         uses: docker/build-push-action@v5

.github/workflows/test.yml

@@ -7,7 +7,8 @@ on:
       - "tests/**"
       - "examples/**"
       - ".github/**"
-      - "poetry.lock"
+      - "pyproject.toml"
+      - ".pre-commit-config.yaml"
       - "Makefile"
       - ".cache/**"
   push:
@@ -18,10 +19,16 @@ on:
       - "tests/**"
       - "examples/**"
       - ".github/**"
-      - "poetry.lock"
+      - "pyproject.toml"
+      - ".pre-commit-config.yaml"
       - "Makefile"
       - ".cache/**"
 
+permissions: {}
+
+env:
+  UV_VERSION: "0.6.0"
+
 jobs:
   pytest:
     name: Pytest
@@ -32,6 +39,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           lfs: true  # Ensure LFS files are pulled
+          persist-credentials: false
 
       - name: Install apt dependencies
       # portaudio19-dev is needed to install pyaudio
@@ -39,25 +47,19 @@ jobs:
           sudo apt-get update && \
           sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev
 
-      - name: Install poetry
+      - name: Install uv and python
-        run: |
+        uses: astral-sh/setup-uv@v5
-          pipx install poetry && poetry config virtualenvs.in-project true
-          echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
-
-      # TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10
-      - name: Set up Python 3.10
-        uses: actions/setup-python@v5
         with:
+          enable-cache: true
+          version: ${{ env.UV_VERSION }}
           python-version: "3.10"
-          cache: "poetry"
 
-      - name: Install poetry dependencies
+      - name: Install lerobot (all extras)
-        run: |
+        run: uv sync --all-extras
-          poetry install --all-extras
 
       - name: Test with pytest
         run: |
-          pytest tests -v --cov=./lerobot --durations=0 \
+          uv run pytest tests -v --cov=./lerobot --durations=0 \
             -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
             -W ignore::UserWarning:torch.utils.data.dataloader:558 \
             -W ignore::UserWarning:gymnasium.utils.env_checker:247 \
@@ -72,28 +74,24 @@ jobs:
       - uses: actions/checkout@v4
         with:
           lfs: true  # Ensure LFS files are pulled
+          persist-credentials: false
 
       - name: Install apt dependencies
         run: sudo apt-get update && sudo apt-get install -y ffmpeg
 
-      - name: Install poetry
+      - name: Install uv and python
-        run: |
+        uses: astral-sh/setup-uv@v5
-          pipx install poetry && poetry config virtualenvs.in-project true
-          echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
-
-      # TODO(rcadene, aliberts): python 3.12 seems to be used in the tests, not python 3.10
-      - name: Set up Python 3.10
-        uses: actions/setup-python@v5
         with:
+          enable-cache: true
+          version: ${{ env.UV_VERSION }}
           python-version: "3.10"
 
-      - name: Install poetry dependencies
+      - name: Install lerobot
-        run: |
+        run: uv sync --extra "test"
-          poetry install --extras "test"
 
       - name: Test with pytest
         run: |
-          pytest tests -v --cov=./lerobot --durations=0 \
+          uv run pytest tests -v --cov=./lerobot --durations=0 \
             -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
             -W ignore::UserWarning:torch.utils.data.dataloader:558 \
             -W ignore::UserWarning:gymnasium.utils.env_checker:247 \
@@ -108,6 +106,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           lfs: true  # Ensure LFS files are pulled
+          persist-credentials: false
 
       - name: Install apt dependencies
       # portaudio19-dev is needed to install pyaudio
@@ -115,20 +114,21 @@ jobs:
           sudo apt-get update && \
           sudo apt-get install -y libegl1-mesa-dev portaudio19-dev
 
-      - name: Install poetry
+      - name: Install uv and python
-        run: |
+        uses: astral-sh/setup-uv@v5
-          pipx install poetry && poetry config virtualenvs.in-project true
-          echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
-
-      - name: Set up Python 3.10
-        uses: actions/setup-python@v5
         with:
+          enable-cache: true
+          version: ${{ env.UV_VERSION }}
           python-version: "3.10"
-          cache: "poetry"
 
-      - name: Install poetry dependencies
+      - name: Install lerobot (all extras)
         run: |
-          poetry install --all-extras
+          uv venv
+          uv sync --all-extras
+
+      - name: venv
+        run: |
+          echo "PYTHON_PATH=${{ github.workspace }}/.venv/bin/python" >> $GITHUB_ENV
 
       - name: Test end-to-end
         run: |

.github/workflows/trufflehog.yml

@@ -3,8 +3,7 @@ on:
 
 name: Secret Leaks
 
-permissions:
+permissions: {}
-  contents: read
 
 jobs:
   trufflehog:
@@ -14,6 +13,8 @@ jobs:
       uses: actions/checkout@v4
       with:
         fetch-depth: 0
+        persist-credentials: false
+
     - name: Secret Scanning
       uses: trufflesecurity/trufflehog@main
       with:

.gitignore

@@ -49,6 +49,10 @@ share/python-wheels/
 *.egg
 MANIFEST
 
+# uv/poetry lock files
+poetry.lock
+uv.lock
+
 # PyInstaller
 #  Usually these files are written by a python script from a template
 #  before PyInstaller builds the exe, so as to inject date/other infos into it.

.pre-commit-config.yaml

@@ -14,24 +14,20 @@ repos:
       - id: end-of-file-fixer
       - id: trailing-whitespace
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.19.0
+    rev: v3.19.1
     hooks:
     -   id: pyupgrade
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.8.2
+    rev: v0.9.6
     hooks:
       - id: ruff
         args: [--fix]
       - id: ruff-format
-  - repo: https://github.com/python-poetry/poetry
-    rev: 1.8.0
-    hooks:
-      - id: poetry-check
-      - id: poetry-lock
-        args:
-          - "--check"
-          - "--no-update"
   - repo: https://github.com/gitleaks/gitleaks
-    rev: v8.21.2
+    rev: v8.23.3
     hooks:
       - id: gitleaks
+  - repo: https://github.com/woodruffw/zizmor-pre-commit
+    rev: v1.3.1
+    hooks:
+      - id: zizmor

CONTRIBUTING.md

@@ -129,38 +129,71 @@ Follow these steps to start contributing:
 
    🚨 **Do not** work on the `main` branch.
 
-4. for development, we use `poetry` instead of just `pip` to easily track our dependencies.
+4. for development, we advise to use a tool like `poetry` or `uv` instead of just `pip` to easily track our dependencies.
-   If you don't have it already, follow the [instructions](https://python-poetry.org/docs/#installation) to install it.
+   Follow the instructions to [install poetry](https://python-poetry.org/docs/#installation) (use a version >=2.1.0) or to [install uv](https://docs.astral.sh/uv/getting-started/installation/#installation-methods) if you don't have one of them already.
 
    Set up a development environment with conda or miniconda:
    ```bash
    conda create -y -n lerobot-dev python=3.10 && conda activate lerobot-dev
    ```
 
-   To develop on 🤗 LeRobot, you will at least need to install the `dev` and `test` extras dependencies along with the core library:
+   If you're using `uv`, it can manage python versions so you can instead do:
    ```bash
-   poetry install --sync --extras "dev test"
+   uv venv --python 3.10 && source .venv/bin/activate
+   ```
+
+   To develop on 🤗 LeRobot, you will at least need to install the `dev` and `test` extras dependencies along with the core library:
+
+   using `poetry`
+   ```bash
+   poetry sync --extras "dev test"
+   ```
+
+   using `uv`
+   ```bash
+   uv sync --extra dev --extra test
    ```
 
    You can also install the project with all its dependencies (including environments):
+
+   using `poetry`
    ```bash
-   poetry install --sync --all-extras
+   poetry sync --all-extras
+   ```
+
+   using `uv`
+   ```bash
+   uv sync --all-extras
    ```
 
    > **Note:** If you don't install simulation environments with `--all-extras`, the tests that require them will be skipped when running the pytest suite locally. However, they *will* be tested in the CI. In general, we advise you to install everything and test locally before pushing.
 
-   Whichever command you chose to install the project (e.g. `poetry install --sync --all-extras`), you should run it again when pulling code with an updated version of `pyproject.toml` and `poetry.lock` in order to synchronize your virtual environment with the new dependencies.
+   Whichever command you chose to install the project (e.g. `poetry sync --all-extras`), you should run it again when pulling code with an updated version of `pyproject.toml` and `poetry.lock` in order to synchronize your virtual environment with the new dependencies.
 
    The equivalent of `pip install some-package`, would just be:
+
+   using `poetry`
    ```bash
    poetry add some-package
    ```
 
-   When making changes to the poetry sections of the `pyproject.toml`, you should run the following command to lock dependencies.
+   using `uv`
    ```bash
-   poetry lock --no-update
+   uv add some-package
    ```
 
+   When making changes to the poetry sections of the `pyproject.toml`, you should run the following command to lock dependencies.
+   using `poetry`
+   ```bash
+   poetry lock
+   ```
+
+   using `uv`
+   ```bash
+   uv lock
+   ```
+
+
 5. Develop the features on your branch.
 
    As you work on the features, you should make sure that the test suite

Makefile

@@ -2,10 +2,10 @@
 
 PYTHON_PATH := $(shell which python)
 
-# If Poetry is installed, redefine PYTHON_PATH to use the Poetry-managed Python
+# If uv is installed and a virtual environment exists, use it
-POETRY_CHECK := $(shell command -v poetry)
+UV_CHECK := $(shell command -v uv)
-ifneq ($(POETRY_CHECK),)
+ifneq ($(UV_CHECK),)
-	PYTHON_PATH := $(shell poetry run which python)
+	PYTHON_PATH := $(shell .venv/bin/python)
 endif
 
 export PATH := $(dir $(PYTHON_PATH)):$(PATH)

docker/lerobot-gpu-dev/Dockerfile

@@ -58,7 +58,7 @@ RUN (type -p wget >/dev/null || (apt update && apt-get install wget -y)) \
 RUN ln -s /usr/bin/python3 /usr/bin/python
 
 # Install poetry
-RUN curl -sSL https://install.python-poetry.org | python - --version 1.8.5
+RUN curl -sSL https://install.python-poetry.org | python -
 ENV PATH="/root/.local/bin:$PATH"
 RUN echo 'if [ "$HOME" != "/root" ]; then ln -sf /root/.local/bin/poetry $HOME/.local/bin/poetry; fi' >> /root/.bashrc
 RUN poetry config virtualenvs.create false

examples/7_get_started_with_real_robot.md

@@ -36,9 +36,14 @@ Using `pip`:
 pip install -e ".[dynamixel]"
 ```
 
-Or using `poetry`:
+Using `poetry`:
 ```bash
-poetry install --sync --extras "dynamixel"
+poetry sync --extras "dynamixel"
+```
+
+Using `uv`:
+```bash
+uv sync --extra "dynamixel"
 ```
 
 /!\ For Linux only, ffmpeg and opencv requires conda install for now. Run this exact sequence of commands:

lerobot/common/datasets/factory.py

@@ -104,7 +104,7 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
         )
         logging.info(
             "Multiple datasets were provided. Applied the following index mapping to the provided datasets: "
-            f"{pformat(dataset.repo_id_to_index , indent=2)}"
+            f"{pformat(dataset.repo_id_to_index, indent=2)}"
         )
 
     if cfg.dataset.use_imagenet_stats:

lerobot/common/datasets/push_dataset_to_hub/dora_parquet_format.py

@@ -72,7 +72,7 @@ def load_from_raw(raw_dir: Path, videos_dir: Path, fps: int, video: bool, episod
             # However, note that "nearest" might synchronize the reference camera with other cameras on slightly future timestamps.
             # are too far appart.
             direction="nearest",
-            tolerance=pd.Timedelta(f"{1/fps} seconds"),
+            tolerance=pd.Timedelta(f"{1 / fps} seconds"),
         )
     # Remove rows with episode_index -1 which indicates data that correspond to in-between episodes
     df = df[df["episode_index"] != -1]

lerobot/common/policies/act/modeling_act.py

@@ -409,9 +409,9 @@ class ACT(nn.Module):
             latent dimension.
         """
         if self.config.use_vae and self.training:
-            assert (
+            assert "action" in batch, (
-                "action" in batch
+                "actions must be provided when using the variational objective in training mode."
-            ), "actions must be provided when using the variational objective in training mode."
+            )
 
         batch_size = (
             batch["observation.images"]

lerobot/common/policies/diffusion/configuration_diffusion.py

@@ -221,7 +221,7 @@ class DiffusionConfig(PreTrainedConfig):
         for key, image_ft in self.image_features.items():
             if image_ft.shape != first_image_ft.shape:
                 raise ValueError(
-                    f"`{key}` does not match `{first_image_key}`, but we " "expect all image shapes to match."
+                    f"`{key}` does not match `{first_image_key}`, but we expect all image shapes to match."
                 )
 
     @property

lerobot/common/policies/pi0/modeling_pi0.py

@@ -300,7 +300,7 @@ class PI0Policy(PreTrainedPolicy):
             self._action_queue.extend(actions.transpose(0, 1))
         return self._action_queue.popleft()
 
-    def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> dict[str, Tensor]:
+    def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> tuple[Tensor, dict[str, Tensor]]:
         """Do a full training forward pass to compute the loss"""
         if self.config.adapt_to_pi_aloha:
             batch[OBS_ROBOT] = self._pi_aloha_decode_state(batch[OBS_ROBOT])
@@ -328,12 +328,12 @@ class PI0Policy(PreTrainedPolicy):
         losses = losses[:, :, : self.config.max_action_dim]
         loss_dict["losses_after_rm_padding"] = losses.clone()
 
-        loss = losses.mean()
         # For backward pass
-        loss_dict["loss"] = loss
+        loss = losses.mean()
         # For logging
         loss_dict["l2_loss"] = loss.item()
-        return loss_dict
+
+        return loss, loss_dict
 
     def prepare_images(self, batch):
         """Apply Pi0 preprocessing to the images, like resizing to 224x224 and padding to keep aspect ratio, and

lerobot/common/policies/tdmpc/modeling_tdmpc.py

@@ -594,9 +594,9 @@ class TDMPCTOLD(nn.Module):
 
         self.apply(_apply_fn)
         for m in [self._reward, *self._Qs]:
-            assert isinstance(
+            assert isinstance(m[-1], nn.Linear), (
-                m[-1], nn.Linear
+                "Sanity check. The last linear layer needs 0 initialization on weights."
-            ), "Sanity check. The last linear layer needs 0 initialization on weights."
+            )
             nn.init.zeros_(m[-1].weight)
             nn.init.zeros_(m[-1].bias)  # this has already been done, but keep this line here for good measure
 

lerobot/common/policies/vqbet/configuration_vqbet.py

@@ -184,7 +184,7 @@ class VQBeTConfig(PreTrainedConfig):
         for key, image_ft in self.image_features.items():
             if image_ft.shape != first_image_ft.shape:
                 raise ValueError(
-                    f"`{key}` does not match `{first_image_key}`, but we " "expect all image shapes to match."
+                    f"`{key}` does not match `{first_image_key}`, but we expect all image shapes to match."
                 )
 
     @property

lerobot/common/policies/vqbet/vqbet_utils.py

@@ -203,9 +203,9 @@ class GPT(nn.Module):
     def forward(self, input, targets=None):
         device = input.device
         b, t, d = input.size()
-        assert (
+        assert t <= self.config.gpt_block_size, (
-            t <= self.config.gpt_block_size
+            f"Cannot forward sequence of length {t}, block size is only {self.config.gpt_block_size}"
-        ), f"Cannot forward sequence of length {t}, block size is only {self.config.gpt_block_size}"
+        )
 
         # positional encodings that are added to the input embeddings
         pos = torch.arange(0, t, dtype=torch.long, device=device).unsqueeze(0)  # shape (1, t)
@@ -273,11 +273,11 @@ class GPT(nn.Module):
         assert len(inter_params) == 0, "parameters {} made it into both decay/no_decay sets!".format(
             str(inter_params)
         )
-        assert (
+        assert len(param_dict.keys() - union_params) == 0, (
-            len(param_dict.keys() - union_params) == 0
+            "parameters {} were not separated into either decay/no_decay set!".format(
-        ), "parameters {} were not separated into either decay/no_decay set!".format(
                 str(param_dict.keys() - union_params),
             )
+        )
 
         decay = [param_dict[pn] for pn in sorted(decay)]
         no_decay = [param_dict[pn] for pn in sorted(no_decay)]
@@ -419,9 +419,9 @@ class ResidualVQ(nn.Module):
         # and the network should be able to reconstruct
 
         if quantize_dim < self.num_quantizers:
-            assert (
+            assert self.quantize_dropout > 0.0, (
-                self.quantize_dropout > 0.0
+                "quantize dropout must be greater than 0 if you wish to reconstruct from a signal with less fine quantizations"
-            ), "quantize dropout must be greater than 0 if you wish to reconstruct from a signal with less fine quantizations"
+            )
             indices = F.pad(indices, (0, self.num_quantizers - quantize_dim), value=-1)
 
         # get ready for gathering
@@ -472,9 +472,9 @@ class ResidualVQ(nn.Module):
         all_indices = []
 
         if return_loss:
-            assert not torch.any(
+            assert not torch.any(indices == -1), (
-                indices == -1
+                "some of the residual vq indices were dropped out. please use indices derived when the module is in eval mode to derive cross entropy loss"
-            ), "some of the residual vq indices were dropped out. please use indices derived when the module is in eval mode to derive cross entropy loss"
+            )
             ce_losses = []
 
         should_quantize_dropout = self.training and self.quantize_dropout and not return_loss
@@ -887,9 +887,9 @@ class VectorQuantize(nn.Module):
                 # only calculate orthogonal loss for the activated codes for this batch
 
                 if self.orthogonal_reg_active_codes_only:
-                    assert not (
+                    assert not (is_multiheaded and self.separate_codebook_per_head), (
-                        is_multiheaded and self.separate_codebook_per_head
+                        "orthogonal regularization for only active codes not compatible with multi-headed with separate codebooks yet"
-                    ), "orthogonal regularization for only active codes not compatible with multi-headed with separate codebooks yet"
+                    )
                     unique_code_ids = torch.unique(embed_ind)
                     codebook = codebook[:, unique_code_ids]
 
@@ -999,9 +999,9 @@ def gumbel_sample(
     ind = sampling_logits.argmax(dim=dim)
     one_hot = F.one_hot(ind, size).type(dtype)
 
-    assert not (
+    assert not (reinmax and not straight_through), (
-        reinmax and not straight_through
+        "reinmax can only be turned on if using straight through gumbel softmax"
-    ), "reinmax can only be turned on if using straight through gumbel softmax"
+    )
 
     if not straight_through or temperature <= 0.0 or not training:
         return ind, one_hot
@@ -1209,9 +1209,9 @@ class EuclideanCodebook(nn.Module):
         self.gumbel_sample = gumbel_sample
         self.sample_codebook_temp = sample_codebook_temp
 
-        assert not (
+        assert not (use_ddp and num_codebooks > 1 and kmeans_init), (
-            use_ddp and num_codebooks > 1 and kmeans_init
+            "kmeans init is not compatible with multiple codebooks in distributed environment for now"
-        ), "kmeans init is not compatible with multiple codebooks in distributed environment for now"
+        )
 
         self.sample_fn = sample_vectors_distributed if use_ddp and sync_kmeans else batched_sample_vectors
         self.kmeans_all_reduce_fn = distributed.all_reduce if use_ddp and sync_kmeans else noop

lerobot/common/robot_devices/control_utils.py

@@ -33,7 +33,7 @@ def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, f
 
     def log_dt(shortname, dt_val_s):
         nonlocal log_items, fps
-        info_str = f"{shortname}:{dt_val_s * 1000:5.2f} ({1/ dt_val_s:3.1f}hz)"
+        info_str = f"{shortname}:{dt_val_s * 1000:5.2f} ({1 / dt_val_s:3.1f}hz)"
         if fps is not None:
             actual_fps = 1 / dt_val_s
             if actual_fps < fps - 1:

lerobot/common/utils/io_utils.py

@@ -58,7 +58,7 @@ def deserialize_json_into_object(fpath: Path, obj: T) -> T:
             # Check that they have exactly the same set of keys.
             if target.keys() != source.keys():
                 raise ValueError(
-                    f"Dictionary keys do not match.\n" f"Expected: {target.keys()}, got: {source.keys()}"
+                    f"Dictionary keys do not match.\nExpected: {target.keys()}, got: {source.keys()}"
                 )
 
             # Recursively update each key.

lerobot/common/utils/wandb_utils.py

@@ -102,7 +102,7 @@ class WandBLogger:
         self._wandb.log_artifact(artifact)
 
     def log_dict(self, d: dict, step: int, mode: str = "train"):
-        if mode in {"train", "eval"}:
+        if mode not in {"train", "eval"}:
             raise ValueError(mode)
 
         for k, v in d.items():
@@ -114,7 +114,7 @@ class WandBLogger:
             self._wandb.log({f"{mode}/{k}": v}, step=step)
 
     def log_video(self, video_path: str, step: int, mode: str = "train"):
-        if mode in {"train", "eval"}:
+        if mode not in {"train", "eval"}:
             raise ValueError(mode)
 
         wandb_video = self._wandb.Video(video_path, fps=self.env_fps, format="mp4")

lerobot/configs/train.py

@@ -85,6 +85,11 @@ class TrainPipelineConfig(HubMixin):
             config_path = parser.parse_arg("config_path")
             if not config_path:
                 raise ValueError("A config_path is expected when resuming a run.")
+            if not Path(config_path).resolve().exists():
+                raise NotADirectoryError(
+                    f"{config_path=} is expected to be a local path. "
+                    "Resuming from the hub is not supported for now."
+                )
             policy_path = Path(config_path).parent
             self.policy.pretrained_path = policy_path
             self.checkpoint_path = policy_path.parent

lerobot/scripts/eval.py

@@ -151,7 +151,9 @@ def rollout(
         if return_observations:
             all_observations.append(deepcopy(observation))
 
-        observation = {key: observation[key].to(device, non_blocking=True) for key in observation}
+        observation = {
+            key: observation[key].to(device, non_blocking=device.type == "cuda") for key in observation
+        }
 
         with torch.inference_mode():
             action = policy.select_action(observation)

lerobot/scripts/train.py

@@ -232,8 +232,10 @@ def train(cfg: TrainPipelineConfig):
         if is_log_step:
             logging.info(train_tracker)
             if wandb_logger:
-                wandb_log_dict = {**train_tracker.to_dict(), **output_dict}
+                wandb_log_dict = train_tracker.to_dict()
-                wandb_logger.log_dict(wandb_log_dict)
+                if output_dict:
+                    wandb_log_dict.update(output_dict)
+                wandb_logger.log_dict(wandb_log_dict, step)
             train_tracker.reset_averages()
 
         if cfg.save_checkpoint and is_saving_step:
@@ -271,6 +273,7 @@ def train(cfg: TrainPipelineConfig):
             logging.info(eval_tracker)
             if wandb_logger:
                 wandb_log_dict = {**eval_tracker.to_dict(), **eval_info}
+                wandb_logger.log_dict(wandb_log_dict, step, mode="eval")
                 wandb_logger.log_video(eval_info["video_paths"][0], step, mode="eval")
 
     if eval_env:

lerobot/scripts/visualize_dataset.py

@@ -111,9 +111,9 @@ def visualize_dataset(
     output_dir: Path | None = None,
 ) -> Path | None:
     if save:
-        assert (
+        assert output_dir is not None, (
-            output_dir is not None
+            "Set an output directory where to write .rrd files with `--output-dir path/to/directory`."
-        ), "Set an output directory where to write .rrd files with `--output-dir path/to/directory`."
+        )
 
     repo_id = dataset.repo_id
 

pyproject.toml

@@ -1,18 +1,24 @@
-[tool.poetry]
+[project.urls]
+homepage = "https://github.com/huggingface/lerobot"
+issues = "https://github.com/huggingface/lerobot/issues"
+discord = "https://discord.gg/s3KuuzsPFb"
+
+[project]
 name = "lerobot"
 version = "0.1.0"
 description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
 authors = [
-    "Rémi Cadène <re.cadene@gmail.com>",
+    {name = "Rémi Cadène", email = "re.cadene@gmail.com"},
-    "Simon Alibert <alibert.sim@gmail.com>",
+    {name = "Simon Alibert", email = "alibert.sim@gmail.com"},
-    "Alexander Soare <alexander.soare159@gmail.com>",
+    {name = "Alexander Soare", email = "alexander.soare159@gmail.com"},
-    "Quentin Gallouédec <quentin.gallouedec@ec-lyon.fr>",
+    {name = "Quentin Gallouédec", email = "quentin.gallouedec@ec-lyon.fr"},
-    "Adil Zouitine <adilzouitinegm@gmail.com>",
+    {name = "Adil Zouitine", email = "adilzouitinegm@gmail.com"},
-    "Thomas Wolf <thomaswolfcontact@gmail.com>",
+    {name = "Thomas Wolf", email = "thomaswolfcontact@gmail.com"},
 ]
-repository = "https://github.com/huggingface/lerobot"
 readme = "README.md"
-license = "Apache-2.0"
+license = {text = "Apache-2.0"}
+requires-python = ">=3.10"
+keywords = ["robotics", "deep learning", "pytorch"]
 classifiers=[
     "Development Status :: 3 - Alpha",
     "Intended Audience :: Developers",
@@ -23,70 +29,56 @@ classifiers=[
     "License :: OSI Approved :: Apache Software License",
     "Programming Language :: Python :: 3.10",
 ]
-packages = [{include = "lerobot"}]
+dependencies = [
+    "cmake>=3.29.0.1",
+    "datasets>=2.19.0",
+    "deepdiff>=7.0.1",
+    "diffusers>=0.27.2",
+    "draccus>=0.10.0",
+    "einops>=0.8.0",
+    "flask>=3.0.3",
+    "gdown>=5.1.0",
+    "gymnasium==0.29.1",  # TODO(rcadene, aliberts): Make gym 1.0.0 work
+    "h5py>=3.10.0",
+    "huggingface-hub[hf-transfer,cli]>=0.27.1 ; python_version < '4.0'",
+    "hydra-core>=1.3.2",
+    "imageio[ffmpeg]>=2.34.0",
+    "jsonlines>=4.0.0",
+    "numba>=0.59.0",
+    "omegaconf>=2.3.0",
+    "opencv-python>=4.9.0",
+    "pyav>=12.0.5",
+    "pymunk>=6.6.0",
+    "rerun-sdk>=0.21.0",
+    "termcolor>=2.4.0",
+    "torch>=2.2.1",
+    "torchvision>=0.21.0",
+    "wandb>=0.16.3",
+    "zarr>=2.17.0"
+]
 
+[project.optional-dependencies]
+aloha = ["gym-aloha>=0.1.1 ; python_version < '4.0'"]
+dev = ["pre-commit>=3.7.0", "debugpy>=1.8.1"]
+dora = ["gym-dora @ git+https://github.com/dora-rs/dora-lerobot.git#subdirectory=gym_dora ; python_version < '4.0'"]
+dynamixel = ["dynamixel-sdk>=3.7.31", "pynput>=1.7.7"]
+feetech = ["feetech-servo-sdk>=1.0.0", "pynput>=1.7.7"]
+intelrealsense = ["pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'"]
+pi0 = ["transformers>=4.48.0"]
+pusht = ["gym-pusht>=0.1.5 ; python_version < '4.0'"]
+stretch = [
+    "hello-robot-stretch-body>=0.7.27 ; python_version < '4.0' and sys_platform == 'linux'",
+    "pyrender @ git+https://github.com/mmatl/pyrender.git ; sys_platform == 'linux'",
+    "pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'",
+    "pynput>=1.7.7"
+]
+test = ["pytest>=8.1.0", "pytest-cov>=5.0.0", "pyserial>=3.5"]
+umi = ["imagecodecs>=2024.1.1"]
+video_benchmark = ["scikit-image>=0.23.2", "pandas>=2.2.2"]
+xarm = ["gym-xarm>=0.1.1 ; python_version < '4.0'"]
 
-[tool.poetry.dependencies]
+[tool.poetry]
-python = ">=3.10,<3.13"
+requires-poetry = ">=2.1"
-termcolor = ">=2.4.0"
-wandb = ">=0.16.3"
-imageio = {extras = ["ffmpeg"], version = ">=2.34.0"}
-gdown = ">=5.1.0"
-einops = ">=0.8.0"
-pymunk = ">=6.6.0"
-zarr = ">=2.17.0"
-numba = ">=0.59.0"
-torch = ">=2.2.1"
-opencv-python = ">=4.9.0"
-diffusers = ">=0.27.2"
-torchvision = ">=0.21.0"
-h5py = ">=3.10.0"
-huggingface-hub = {extras = ["hf-transfer", "cli"], version = ">=0.27.1"}
-gymnasium = "==0.29.1" # TODO(rcadene, aliberts): Make gym 1.0.0 work
-cmake = ">=3.29.0.1"
-gym-dora = { git = "https://github.com/dora-rs/dora-lerobot.git", subdirectory = "gym_dora", optional = true }
-gym-pusht = { version = ">=0.1.5", optional = true}
-gym-xarm = { version = ">=0.1.1", optional = true}
-gym-aloha = { version = ">=0.1.1", optional = true}
-pre-commit = {version = ">=3.7.0", optional = true}
-debugpy = {version = ">=1.8.1", optional = true}
-pytest = {version = ">=8.1.0", optional = true}
-pytest-cov = {version = ">=5.0.0", optional = true}
-datasets = ">=2.19.0"
-imagecodecs = { version = ">=2024.1.1", optional = true }
-pyav = ">=12.0.5"
-rerun-sdk = ">=0.21.0"
-deepdiff = ">=7.0.1"
-flask = ">=3.0.3"
-pandas = {version = ">=2.2.2", optional = true}
-scikit-image = {version = ">=0.23.2", optional = true}
-dynamixel-sdk = {version = ">=3.7.31", optional = true}
-pynput = {version = ">=1.7.7", optional = true}
-feetech-servo-sdk = {version = ">=1.0.0", optional = true}
-setuptools = {version = "!=71.0.1", optional = true}  # TODO(rcadene, aliberts): 71.0.1 has a bug
-pyrealsense2 = {version = ">=2.55.1.6486", markers = "sys_platform != 'darwin'", optional = true}  # TODO(rcadene, aliberts): Fix on Mac
-pyrender = {git = "https://github.com/mmatl/pyrender.git", markers = "sys_platform == 'linux'", optional = true}
-hello-robot-stretch-body = {version = ">=0.7.27", markers = "sys_platform == 'linux'", optional = true}
-pyserial = {version = ">=3.5", optional = true}
-jsonlines = ">=4.0.0"
-transformers = {version = ">=4.48.0", optional = true}
-draccus = ">=0.10.0"
-
-
-[tool.poetry.extras]
-dora = ["gym-dora"]
-pusht = ["gym-pusht"]
-xarm = ["gym-xarm"]
-aloha = ["gym-aloha"]
-dev = ["pre-commit", "debugpy"]
-test = ["pytest", "pytest-cov", "pyserial"]
-umi = ["imagecodecs"]
-video_benchmark = ["scikit-image", "pandas"]
-dynamixel = ["dynamixel-sdk", "pynput"]
-feetech = ["feetech-servo-sdk", "pynput"]
-intelrealsense = ["pyrealsense2"]
-stretch = ["hello-robot-stretch-body", "pyrender", "pyrealsense2", "pynput"]
-pi0 = ["transformers"]
 
 [tool.ruff]
 line-length = 110

tests/scripts/save_dataset_to_safetensors.py

@@ -49,17 +49,17 @@ def save_dataset_to_safetensors(output_dir, repo_id="lerobot/pusht"):
     # save 2 first frames of first episode
     i = dataset.episode_data_index["from"][0].item()
     save_file(dataset[i], repo_dir / f"frame_{i}.safetensors")
-    save_file(dataset[i + 1], repo_dir / f"frame_{i+1}.safetensors")
+    save_file(dataset[i + 1], repo_dir / f"frame_{i + 1}.safetensors")
 
     # save 2 frames at the middle of first episode
     i = int((dataset.episode_data_index["to"][0].item() - dataset.episode_data_index["from"][0].item()) / 2)
     save_file(dataset[i], repo_dir / f"frame_{i}.safetensors")
-    save_file(dataset[i + 1], repo_dir / f"frame_{i+1}.safetensors")
+    save_file(dataset[i + 1], repo_dir / f"frame_{i + 1}.safetensors")
 
     # save 2 last frames of first episode
     i = dataset.episode_data_index["to"][0].item()
-    save_file(dataset[i - 2], repo_dir / f"frame_{i-2}.safetensors")
+    save_file(dataset[i - 2], repo_dir / f"frame_{i - 2}.safetensors")
-    save_file(dataset[i - 1], repo_dir / f"frame_{i-1}.safetensors")
+    save_file(dataset[i - 1], repo_dir / f"frame_{i - 1}.safetensors")
 
     # TODO(rcadene): Enable testing on second and last episode
     # We currently cant because our test dataset only contains the first episode

tests/test_datasets.py

@@ -336,9 +336,9 @@ def test_backward_compatibility(repo_id):
         assert new_keys == old_keys, f"{new_keys=} and {old_keys=} are not the same"
 
         for key in new_frame:
-            assert torch.isclose(
+            assert torch.isclose(new_frame[key], old_frame[key]).all(), (
-                new_frame[key], old_frame[key]
+                f"{key=} for index={i} does not contain the same value"
-            ).all(), f"{key=} for index={i} does not contain the same value"
+            )
 
     # test2 first frames of first episode
     i = dataset.episode_data_index["from"][0].item()

tests/test_image_transforms.py

@@ -343,13 +343,13 @@ def test_save_all_transforms(img_tensor_factory, tmp_path):
     # Check if the combined transforms directory exists and contains the right files
     combined_transforms_dir = tmp_path / "all"
     assert combined_transforms_dir.exists(), "Combined transforms directory was not created."
-    assert any(
+    assert any(combined_transforms_dir.iterdir()), (
-        combined_transforms_dir.iterdir()
+        "No transformed images found in combined transforms directory."
-    ), "No transformed images found in combined transforms directory."
+    )
     for i in range(1, n_examples + 1):
-        assert (
+        assert (combined_transforms_dir / f"{i}.png").exists(), (
-            combined_transforms_dir / f"{i}.png"
+            f"Combined transform image {i}.png was not found."
-        ).exists(), f"Combined transform image {i}.png was not found."
+        )
 
 
 def test_save_each_transform(img_tensor_factory, tmp_path):
@@ -369,6 +369,6 @@ def test_save_each_transform(img_tensor_factory, tmp_path):
         # Check for specific files within each transform directory
         expected_files = [f"{i}.png" for i in range(1, n_examples + 1)] + ["min.png", "max.png", "mean.png"]
         for file_name in expected_files:
-            assert (
+            assert (transform_dir / file_name).exists(), (
-                transform_dir / file_name
+                f"{file_name} was not found in {transform} directory."
-            ).exists(), f"{file_name} was not found in {transform} directory."
+            )

tests/test_online_buffer.py

@@ -132,9 +132,9 @@ def test_fifo():
     buffer.add_data(new_data)
     n_more_episodes = 2
     # Developer sanity check (in case someone changes the global `buffer_capacity`).
-    assert (
+    assert (n_episodes + n_more_episodes) * n_frames_per_episode > buffer_capacity, (
-        n_episodes + n_more_episodes
+        "Something went wrong with the test code."
-    ) * n_frames_per_episode > buffer_capacity, "Something went wrong with the test code."
+    )
     more_new_data = make_spoof_data_frames(n_more_episodes, n_frames_per_episode)
     buffer.add_data(more_new_data)
     assert len(buffer) == buffer_capacity, "The buffer should be full."
@@ -203,9 +203,9 @@ def test_delta_timestamps_outside_tolerance_outside_episode_range():
     item = buffer[2]
     data, is_pad = item["index"], item["index_is_pad"]
     assert torch.equal(data, torch.tensor([0, 0, 2, 4, 4])), "Data does not match expected values"
-    assert torch.equal(
+    assert torch.equal(is_pad, torch.tensor([True, False, False, True, True])), (
-        is_pad, torch.tensor([True, False, False, True, True])
+        "Padding does not match expected values"
-    ), "Padding does not match expected values"
+    )
 
 
 # Arbitrarily set small dataset sizes, making sure to have uneven sizes.

tests/test_policies.py

@@ -193,12 +193,12 @@ def test_policy(ds_repo_id, env_name, env_kwargs, policy_name, policy_kwargs):
     observation_ = deepcopy(observation)
     with torch.inference_mode():
         action = policy.select_action(observation).cpu().numpy()
-    assert set(observation) == set(
+    assert set(observation) == set(observation_), (
-        observation_
+        "Observation batch keys are not the same after a forward pass."
-    ), "Observation batch keys are not the same after a forward pass."
+    )
-    assert all(
+    assert all(torch.equal(observation[k], observation_[k]) for k in observation), (
-        torch.equal(observation[k], observation_[k]) for k in observation
+        "Observation batch values are not the same after a forward pass."
-    ), "Observation batch values are not the same after a forward pass."
+    )
 
     # Test step through policy
     env.step(action)