mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-18 23:41:55 +00:00
Merge branch 'main' into feat/implement_evo1
This commit is contained in:
Steven Palma
+81
-15
@@ -95,17 +95,28 @@ dependencies = [
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# ── Feature-scoped extras ──────────────────────────────────
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dataset = [
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"datasets>=4.0.0,<5.0.0",
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"datasets>=4.7.0,<5.0.0",
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"pandas>=2.0.0,<3.0.0", # NOTE: Transitive dependency of datasets
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"pyarrow>=21.0.0,<30.0.0", # NOTE: Transitive dependency of datasets
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"lerobot[av-dep]",
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"torchcodec>=0.3.0,<0.12.0; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')", # NOTE: Windows support starts at version 0.7 (needs torch==2.8), ffmpeg>=8 support starts at version 0.8.1 (needs torch==2.9), system-wide ffmpeg support starts at version 0.10 (needs torch==2.10), 0.11 needs torch==2.11, 0.12 needs torch==2.12.
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# NOTE: torchcodec wheel availability matrix (PyPI):
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# - linux x86_64/amd64 + macOS arm64 : wheels since 0.3.0 (the historic supported set).
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# - win32 x86_64 : wheels since 0.7.0 (needs torch>=2.8).
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# - linux aarch64/arm64 : wheels since 0.11.0 (needs torch>=2.11).
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# - macOS x86_64 (Intel) and linux armv7l: no wheels in any released version -> fall through to the PyAV decoder.
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# Each platform gets its own line so the resolver picks the minimum version that has a wheel for it.
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# Other torch/torchcodec pairings (informational): 0.8.1 = ffmpeg>=8 support, 0.10 = system-wide ffmpeg support, 0.12 needs torch==2.12.
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"torchcodec>=0.3.0,<0.12.0; (sys_platform == 'linux' and (platform_machine == 'x86_64' or platform_machine == 'AMD64')) or (sys_platform == 'darwin' and platform_machine == 'arm64')",
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"torchcodec>=0.7.0,<0.12.0; sys_platform == 'win32'",
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"torchcodec>=0.11.0,<0.12.0; sys_platform == 'linux' and (platform_machine == 'aarch64' or platform_machine == 'arm64')",
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"jsonlines>=4.0.0,<5.0.0",
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]
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training = [
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"lerobot[dataset]",
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"accelerate>=1.10.0,<2.0.0",
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"wandb>=0.24.0,<0.25.0",
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"wandb>=0.24.0,<0.28.0",
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"lerobot[accelerate-dep]",
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]
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hardware = [
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"lerobot[pynput-dep]",
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@@ -113,7 +124,8 @@ hardware = [
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"lerobot[deepdiff-dep]",
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]
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viz = [
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"rerun-sdk>=0.24.0,<0.27.0",
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"rerun-sdk>=0.24.0,<0.34.0",
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"foxglove-sdk>=0.25.1,<0.26.0",
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]
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# ── User-facing composite extras (map to CLI scripts) ─────
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# lerobot-record, lerobot-replay, lerobot-calibrate, lerobot-teleoperate, etc.
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@@ -127,9 +139,19 @@ dataset_viz = ["lerobot[dataset]", "lerobot[viz]"]
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# Common
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av-dep = ["av>=15.0.0,<16.0.0"]
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pygame-dep = ["pygame>=2.5.1,<2.7.0"]
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placo-dep = ["placo>=0.9.6,<0.9.17"]
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# NOTE: 0.9.16 links against liburdfdom_sensor.so.4, which is unavailable on Ubuntu 24.04
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# (noble ships urdfdom 3.x). Cap below 0.9.16 until system urdfdom 4.x is broadly available.
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#
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# NOTE: placo pulls in pin (Pinocchio), whose binary wheels dlopen specific cmeel sonames
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# (liburdfdom_sensor.so.4.0, libtinyxml2.so.10) but declare only `>=` floors on their cmeel
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# packages. The 2026-05-21 major bumps (cmeel-urdfdom 6.0.0 -> .so.6, cmeel-tinyxml2 11.0.0
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# -> .so.11) ship newer sonames, so left unpinned the resolver grabs them and `import placo`
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# fails at load with "liburdfdom_sensor.so.4.0: cannot open shared object file" (see #3755).
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# There is no cmeel-urdfdom 5.x; <5 selects the 4.x ABI the placo/pin wheels are built against.
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placo-dep = ["placo>=0.9.6,<0.9.16", "cmeel-urdfdom>=4,<5", "cmeel-tinyxml2<11"]
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transformers-dep = ["transformers>=5.4.0,<5.6.0"]
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grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
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grpcio-dep = ["grpcio>=1.73.1,<2.0.0", "protobuf>=6.31.1,<8.0.0"]
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accelerate-dep = ["accelerate>=1.14.0,<2.0.0"]
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can-dep = ["python-can>=4.2.0,<5.0.0"]
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peft-dep = ["peft>=0.18.0,<1.0.0"]
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scipy-dep = ["scipy>=1.14.0,<2.0.0"]
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@@ -140,6 +162,8 @@ pyserial-dep = ["pyserial>=3.5,<4.0"]
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deepdiff-dep = ["deepdiff>=7.0.1,<9.0.0"]
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pynput-dep = ["pynput>=1.7.8,<1.9.0"]
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pyzmq-dep = ["pyzmq>=26.2.1,<28.0.0"]
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motorbridge-dep = ["motorbridge>=0.3.2,<0.4.0"]
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motorbridge-smart-servo-dep = ["motorbridge-smart-servo>=0.0.4,<0.1.0"]
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timm-dep = ["timm>=1.0.0,<1.1.0"]
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# Motors
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@@ -163,7 +187,15 @@ unitree_g1 = [
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"lerobot[matplotlib-dep]",
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"lerobot[pygame-dep]",
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]
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reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
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# reachy2-sdk caps grpcio<=1.73.1 and protobuf<=6.32.0; quarantined here so downstream users aren't held back. reachy2-sdk is unlikely to release new versions.
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reachy2 = [
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"reachy2_sdk>=1.0.15,<1.1.0",
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"grpcio<=1.73.1",
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"protobuf<=6.32.0",
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]
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# Seeed Studio reBot B601-DM follower (motorbridge / CAN) + StarArm102 / reBot Arm 102
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# leader (motorbridge-smart-servo / FashionStar UART servos).
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rebot = ["lerobot[motorbridge-dep]", "lerobot[motorbridge-smart-servo-dep]"]
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kinematics = ["lerobot[placo-dep]"]
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intelrealsense = [
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"pyrealsense2>=2.55.1.6486,<2.57.0 ; sys_platform != 'darwin'",
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@@ -181,7 +213,8 @@ wallx = [
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"lerobot[qwen-vl-utils-dep]",
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]
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pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]"]
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smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>=1.7.0,<2.0.0"]
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molmoact2 = ["lerobot[transformers-dep]", "lerobot[peft-dep]", "lerobot[scipy-dep]"]
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smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "lerobot[accelerate-dep]"]
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multi_task_dit = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]"]
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groot = [
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"lerobot[transformers-dep]",
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@@ -194,26 +227,48 @@ groot = [
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"flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
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]
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sarm = ["lerobot[transformers-dep]", "pydantic>=2.0.0,<3.0.0", "faker>=33.0.0,<35.0.0", "lerobot[matplotlib-dep]", "lerobot[qwen-vl-utils-dep]"]
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robometer = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]", "lerobot[peft-dep]"]
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topreward = ["lerobot[transformers-dep]"]
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xvla = ["lerobot[transformers-dep]"]
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eo1 = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]"]
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fastwam = [
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"lerobot[transformers-dep]",
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"lerobot[diffusers-dep]",
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]
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evo1 = ["lerobot[transformers-dep]", "lerobot[timm-dep]"]
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hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
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hilserl = ["lerobot[transformers-dep]", "lerobot[dataset]", "gym-hil>=0.1.14,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
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vla_jepa = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]", "lerobot[qwen-vl-utils-dep]"]
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# Features
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async = ["lerobot[grpcio-dep]", "lerobot[matplotlib-dep]"]
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peft = ["lerobot[transformers-dep]", "lerobot[peft-dep]"]
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# Annotation pipeline (lerobot-annotate). The only backend is ``openai``,
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# which talks to any OpenAI-compatible server (``vllm serve`` /
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# ``transformers serve`` / hosted). Distributed runs use Hugging Face Jobs
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# (see examples/annotations/run_hf_job.py).
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annotations = [
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"lerobot[dataset]",
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"lerobot[transformers-dep]",
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"openai>=1.40,<2.0",
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# ``vllm`` is intentionally NOT a hard dep: it pins an older torch, and
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# uv's single unified lock would then cap ``torch`` for every extra
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# (e.g. forcing 2.8 while ``torchcodec`` in [dataset] needs 2.11 -> ABI
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# break in CI). The HF Jobs image (``vllm/vllm-openai``) provides vLLM;
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# install it locally only if you run your own ``vllm serve``.
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]
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# Development
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dev = ["pre-commit>=3.7.0,<5.0.0", "debugpy>=1.8.1,<1.9.0", "lerobot[grpcio-dep]", "grpcio-tools==1.73.1", "mypy>=1.19.1", "ruff>=0.14.1", "lerobot[notebook]"]
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dev = ["pre-commit>=3.7.0,<5.0.0", "debugpy>=1.8.1,<1.9.0", "lerobot[grpcio-dep]", "grpcio-tools>=1.73.1,<2.0.0", "mypy>=1.19.1", "ruff>=0.14.1", "lerobot[notebook]"]
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notebook = ["jupyter>=1.0.0,<2.0.0", "ipykernel>=6.0.0,<7.0.0"]
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test = ["pytest>=8.1.0,<9.0.0", "pytest-timeout>=2.4.0,<3.0.0", "pytest-cov>=5.0.0,<8.0.0", "mock-serial>=0.0.1,<0.1.0 ; sys_platform != 'win32'"]
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video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
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# Simulation
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# NOTE: Explicitly listing scipy helps flatten the dependecy tree.
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aloha = ["lerobot[dataset]", "gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
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aloha = ["lerobot[dataset]", "gym-aloha>=0.1.4,<0.2.0", "lerobot[scipy-dep]"]
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pusht = ["lerobot[dataset]", "gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
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libero = ["lerobot[dataset]", "lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
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libero = ["lerobot[dataset]", "lerobot[transformers-dep]", "hf-libero>=0.1.4,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
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metaworld = ["lerobot[dataset]", "metaworld==3.0.0", "lerobot[scipy-dep]"]
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# NOTE: vlabench is NOT exposed as a `lerobot` extra. Its only distribution
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# is the OpenMOSS/VLABench GitHub repo (package name `VLABench`, no PyPI
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@@ -251,17 +306,21 @@ all = [
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"lerobot[lekiwi]",
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"lerobot[openarms]",
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"lerobot[reachy2]",
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"lerobot[rebot]",
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"lerobot[kinematics]",
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"lerobot[intelrealsense]",
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"lerobot[diffusion]",
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"lerobot[multi_task_dit]",
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"lerobot[wallx]",
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"lerobot[pi]",
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"lerobot[molmoact2]",
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"lerobot[smolvla]",
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"lerobot[fastwam]",
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# "lerobot[groot]", TODO(Steven): Gr00t requires specific installation instructions for flash-attn
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"lerobot[xvla]",
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"lerobot[evo1]",
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"lerobot[hilserl]",
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"lerobot[vla_jepa]",
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"lerobot[async]",
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"lerobot[dev]",
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"lerobot[test]",
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@@ -272,6 +331,8 @@ all = [
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"lerobot[libero]; sys_platform == 'linux'",
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"lerobot[metaworld]",
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"lerobot[sarm]",
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"lerobot[robometer]",
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"lerobot[topreward]",
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"lerobot[peft]",
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# "lerobot[unitree_g1]", TODO: Unitree requires specific installation instructions for unitree_sdk2
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]
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@@ -293,6 +354,7 @@ lerobot-find-joint-limits="lerobot.scripts.lerobot_find_joint_limits:main"
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lerobot-imgtransform-viz="lerobot.scripts.lerobot_imgtransform_viz:main"
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lerobot-edit-dataset="lerobot.scripts.lerobot_edit_dataset:main"
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lerobot-setup-can="lerobot.scripts.lerobot_setup_can:main"
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lerobot-annotate="lerobot.scripts.lerobot_annotate:main"
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lerobot-rollout="lerobot.scripts.lerobot_rollout:main"
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# ---------------- Tool Configurations ----------------
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@@ -311,7 +373,7 @@ torch = [{ index = "pytorch-cu128", marker = "sys_platform == 'linux'" }]
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torchvision = [{ index = "pytorch-cu128", marker = "sys_platform == 'linux'" }]
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[tool.setuptools.package-data]
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lerobot = ["envs/*.json"]
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lerobot = ["envs/*.json", "annotations/steerable_pipeline/prompts/*.txt"]
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[tool.setuptools.packages.find]
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where = ["src"]
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@@ -387,8 +449,12 @@ default.extend-ignore-identifiers-re = [
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"ein",
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"thw",
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"inpt",
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"arange",
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"is_compileable",
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"ROBOTIS",
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"OT_VALUE"
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"OT_VALUE",
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"VanderBilt",
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"seperated_timestep",
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]
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# TODO: Uncomment when ready to use
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