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Merge remote-tracking branch 'origin/main' into user/khalil-meftah/2026-02-16-rl-stack-refactor

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# Conflicts:
#	uv.lock
This commit is contained in:
Khalil Meftah
2026-05-11 15:06:16 +02:00
parent 28ee32f721 9e83510c99
commit 1873668521
8 changed files with 350 additions and 292 deletions
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.github/workflows/stale.yml
+2 -2
View File
@@ -19,8 +19,8 @@ on:
workflow_dispatch:
# Runs at 02:00
schedule:
- cron: "0 2 * * *"
# schedule:
# - cron: "0 2 * * *"
env:
CLOSE_ISSUE_MESSAGE: >
pyproject.toml
+3 -3
View File
@@ -59,8 +59,8 @@ keywords = ["lerobot", "huggingface", "robotics", "machine learning", "artifici
dependencies = [
# Core ML
"torch>=2.7,<2.11.0",
"torchvision>=0.22.0,<0.26.0",
"torch>=2.7,<2.13.0",
"torchvision>=0.22.0,<0.28.0",
"numpy>=2.0.0,<2.3.0", # NOTE: Explicitly listing numpy helps the resolver converge faster. Upper bound imposed by opencv-python-headless.
"opencv-python-headless>=4.9.0,<4.14.0",
"Pillow>=10.0.0,<13.0.0",
@@ -99,7 +99,7 @@ dataset = [
"pandas>=2.0.0,<3.0.0", # NOTE: Transitive dependency of datasets
"pyarrow>=21.0.0,<30.0.0", # NOTE: Transitive dependency of datasets
"lerobot[av-dep]",
"torchcodec>=0.3.0,<0.11.0; 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).
"torchcodec>=0.3.0,<0.13.0; 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.
"jsonlines>=4.0.0,<5.0.0",
]
training = [
src/lerobot/configs/train.py
+3 -1
View File
@@ -256,7 +256,9 @@ class TrainPipelineConfig(HubMixin):
) from e
cli_args = kwargs.pop("cli_args", [])
if config_file is not None:
# Legacy RA-BC migration only applies to framework-saved checkpoints (always JSON).
# Hand-written YAML/TOML configs are expected to use the current sample_weighting schema.
if config_file is not None and config_file.endswith(".json"):
with open(config_file) as f:
config = json.load(f)
migrated_config = _migrate_legacy_rabc_fields(config)
src/lerobot/datasets/video_utils.py
+5 -1
View File
@@ -282,7 +282,11 @@ class VideoDecoderCache:
with self._lock:
if video_path not in self._cache:
file_handle = fsspec.open(video_path).__enter__()
decoder = VideoDecoder(file_handle, seek_mode="approximate")
try:
decoder = VideoDecoder(file_handle, seek_mode="approximate")
except Exception:
file_handle.close()
raise
self._cache[video_path] = (decoder, file_handle)
return self._cache[video_path][0]
src/lerobot/policies/wall_x/qwen_model/qwen2_5_vl_moe.py
+1 -1
View File
@@ -939,7 +939,7 @@ class Qwen2_5_VLFlashAttention2(Qwen2_5_VLAttention):
input_dtype = query_states.dtype
if input_dtype == torch.float32:
if torch.is_autocast_enabled():
target_dtype = torch.get_autocast_gpu_dtype()
target_dtype = torch.get_autocast_dtype(query_states.device.type)
# Handle the case where the model is quantized
elif hasattr(self.config, "_pre_quantization_dtype"):
target_dtype = self.config._pre_quantization_dtype
src/lerobot/policies/xvla/modeling_florence2.py
+1 -1
View File
@@ -985,7 +985,7 @@ class Florence2FlashAttention2(Florence2Attention):
input_dtype = query_states.dtype
if input_dtype == torch.float32:
if torch.is_autocast_enabled():
target_dtype = torch.get_autocast_gpu_dtype()
target_dtype = torch.get_autocast_dtype(query_states.device.type)
# Handle the case where the model is quantized
elif hasattr(self.config, "_pre_quantization_dtype"):
target_dtype = self.config._pre_quantization_dtype
src/lerobot/robots/lekiwi/config_lekiwi.py
+1 -1
View File
@@ -46,7 +46,7 @@ class LeKiwiConfig(RobotConfig):
cameras: dict[str, CameraConfig] = field(default_factory=lekiwi_cameras_config)
# Set to `True` for backward compatibility with previous policies/dataset
use_degrees: bool = False
use_degrees: bool = True
@dataclass
uv.lock
Generated
+334 -282
View File
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