Merge branch 'main' into feat/add_pi

tests/async_inference/test_e2e.py

@@ -48,11 +48,11 @@ def test_async_inference_e2e(monkeypatch):
     # Import grpc-dependent modules inside the test function
     import grpc
 
+    from lerobot.async_inference.configs import PolicyServerConfig, RobotClientConfig
+    from lerobot.async_inference.helpers import map_robot_keys_to_lerobot_features
+    from lerobot.async_inference.policy_server import PolicyServer
+    from lerobot.async_inference.robot_client import RobotClient
     from lerobot.robots.utils import make_robot_from_config
-    from lerobot.scripts.server.configs import PolicyServerConfig, RobotClientConfig
-    from lerobot.scripts.server.helpers import map_robot_keys_to_lerobot_features
-    from lerobot.scripts.server.policy_server import PolicyServer
-    from lerobot.scripts.server.robot_client import RobotClient
     from lerobot.transport import (
         services_pb2,  # type: ignore
         services_pb2_grpc,  # type: ignore

tests/async_inference/test_helpers.py

@@ -19,8 +19,7 @@ import time
 import numpy as np
 import torch
 
-from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.scripts.server.helpers import (
+from lerobot.async_inference.helpers import (
     FPSTracker,
     TimedAction,
     TimedObservation,
@@ -30,6 +29,7 @@ from lerobot.scripts.server.helpers import (
     raw_observation_to_observation,
     resize_robot_observation_image,
 )
+from lerobot.configs.types import FeatureType, PolicyFeature
 
 # ---------------------------------------------------------------------
 # FPSTracker

tests/async_inference/test_policy_server.py

@@ -65,8 +65,8 @@ class MockPolicy:
 def policy_server():
     """Fresh `PolicyServer` instance with a stubbed-out policy model."""
     # Import only when the test actually runs (after decorator check)
-    from lerobot.scripts.server.configs import PolicyServerConfig
-    from lerobot.scripts.server.policy_server import PolicyServer
+    from lerobot.async_inference.configs import PolicyServerConfig
+    from lerobot.async_inference.policy_server import PolicyServer
 
     test_config = PolicyServerConfig(host="localhost", port=9999)
     server = PolicyServer(test_config)
@@ -95,7 +95,7 @@ def policy_server():
 def _make_obs(state: torch.Tensor, timestep: int = 0, must_go: bool = False):
     """Create a TimedObservation with a given state vector."""
     # Import only when needed
-    from lerobot.scripts.server.helpers import TimedObservation
+    from lerobot.async_inference.helpers import TimedObservation
 
     return TimedObservation(
         observation={
@@ -191,7 +191,7 @@ def test_obs_sanity_checks(policy_server):
 def test_predict_action_chunk(monkeypatch, policy_server):
     """End-to-end test of `_predict_action_chunk` with a stubbed _get_action_chunk."""
     # Import only when needed
-    from lerobot.scripts.server.policy_server import PolicyServer
+    from lerobot.async_inference.policy_server import PolicyServer
 
     # Force server to act-style policy; patch method to return deterministic tensor
     policy_server.policy_type = "act"

tests/async_inference/test_robot_client.py

@@ -38,8 +38,8 @@ def robot_client():
     """Fresh `RobotClient` instance for each test case (no threads started).
     Uses DummyRobot."""
     # Import only when the test actually runs (after decorator check)
-    from lerobot.scripts.server.configs import RobotClientConfig
-    from lerobot.scripts.server.robot_client import RobotClient
+    from lerobot.async_inference.configs import RobotClientConfig
+    from lerobot.async_inference.robot_client import RobotClient
     from tests.mocks.mock_robot import MockRobotConfig
 
     test_config = MockRobotConfig()
@@ -73,7 +73,7 @@ def robot_client():
 
 def _make_actions(start_ts: float, start_t: int, count: int):
     """Generate `count` consecutive TimedAction objects starting at timestep `start_t`."""
-    from lerobot.scripts.server.helpers import TimedAction
+    from lerobot.async_inference.helpers import TimedAction
 
     fps = 30  # emulates most common frame-rate
     actions = []
@@ -124,7 +124,7 @@ def test_aggregate_action_queues_combines_actions_in_overlap(
 ):
     """`_aggregate_action_queues` must combine actions on overlapping timesteps according
     to the provided aggregate_fn, here tested with multiple coefficients."""
-    from lerobot.scripts.server.helpers import TimedAction
+    from lerobot.async_inference.helpers import TimedAction
 
     robot_client.chunks_received = 0
 

tests/cameras/test_opencv.py

@@ -26,7 +26,7 @@ import pytest
 
 from lerobot.cameras.configs import Cv2Rotation
 from lerobot.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 # NOTE(Steven): more tests + assertions?
 TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras"

tests/cameras/test_reachy2_camera.py

@@ -21,7 +21,7 @@ import numpy as np
 import pytest
 
 from lerobot.cameras.reachy2_camera import Reachy2Camera, Reachy2CameraConfig
-from lerobot.errors import DeviceNotConnectedError
+from lerobot.utils.errors import DeviceNotConnectedError
 
 PARAMS = [
     ("teleop", "left"),

tests/cameras/test_realsense.py

@@ -26,7 +26,7 @@ import numpy as np
 import pytest
 
 from lerobot.cameras.configs import Cv2Rotation
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 pytest.importorskip("pyrealsense2")
 

tests/datasets/test_datasets.py

@@ -112,7 +112,7 @@ def test_dataset_initialization(tmp_path, lerobot_dataset_factory):
 # and test the small resulting function that validates the features
 def test_dataset_feature_with_forward_slash_raises_error():
     # make sure dir does not exist
-    from lerobot.constants import HF_LEROBOT_HOME
+    from lerobot.utils.constants import HF_LEROBOT_HOME
 
     dataset_dir = HF_LEROBOT_HOME / "lerobot/test/with/slash"
     # make sure does not exist

tests/datasets/test_image_transforms.py

@@ -29,7 +29,7 @@ from lerobot.datasets.transforms import (
     SharpnessJitter,
     make_transform_from_config,
 )
-from lerobot.scripts.visualize_image_transforms import (
+from lerobot.scripts.lerobot_imgtransform_viz import (
     save_all_transforms,
     save_each_transform,
 )

tests/datasets/test_visualize_dataset.py

@@ -15,7 +15,7 @@
 # limitations under the License.
 import pytest
 
-from lerobot.scripts.visualize_dataset import visualize_dataset
+from lerobot.scripts.lerobot_dataset_viz import visualize_dataset
 
 
 @pytest.mark.skip("TODO: add dummy videos")

tests/fixtures/constants.py

@@ -11,7 +11,7 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-from lerobot.constants import HF_LEROBOT_HOME
+from lerobot.utils.constants import HF_LEROBOT_HOME
 
 LEROBOT_TEST_DIR = HF_LEROBOT_HOME / "_testing"
 DUMMY_REPO_ID = "dummy/repo"

tests/mocks/mock_robot.py

@@ -20,8 +20,8 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras import CameraConfig, make_cameras_from_configs
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.robots import Robot, RobotConfig
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 
 @RobotConfig.register_subclass("mock_robot")

tests/mocks/mock_teleop.py

@@ -19,8 +19,8 @@ from dataclasses import dataclass
 from functools import cached_property
 from typing import Any
 
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.teleoperators import Teleoperator, TeleoperatorConfig
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 
 @TeleoperatorConfig.register_subclass("mock_teleop")

tests/motors/test_dynamixel.py

@@ -24,7 +24,7 @@ import pytest
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.dynamixel import MODEL_NUMBER_TABLE, DynamixelMotorsBus
 from lerobot.motors.dynamixel.tables import X_SERIES_CONTROL_TABLE
-from lerobot.utils.encoding_utils import encode_twos_complement
+from lerobot.motors.encoding_utils import encode_twos_complement
 
 try:
     import dynamixel_sdk as dxl

tests/motors/test_feetech.py

@@ -22,9 +22,9 @@ from unittest.mock import MagicMock, patch
 import pytest
 
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
+from lerobot.motors.encoding_utils import encode_sign_magnitude
 from lerobot.motors.feetech import MODEL_NUMBER, MODEL_NUMBER_TABLE, FeetechMotorsBus
 from lerobot.motors.feetech.tables import STS_SMS_SERIES_CONTROL_TABLE
-from lerobot.utils.encoding_utils import encode_sign_magnitude
 
 try:
     import scservo_sdk as scs

tests/optim/test_optimizers.py

@@ -14,10 +14,6 @@
 import pytest
 import torch
 
-from lerobot.constants import (
-    OPTIMIZER_PARAM_GROUPS,
-    OPTIMIZER_STATE,
-)
 from lerobot.optim.optimizers import (
     AdamConfig,
     AdamWConfig,
@@ -26,6 +22,10 @@ from lerobot.optim.optimizers import (
     load_optimizer_state,
     save_optimizer_state,
 )
+from lerobot.utils.constants import (
+    OPTIMIZER_PARAM_GROUPS,
+    OPTIMIZER_STATE,
+)
 
 
 @pytest.mark.parametrize(

tests/optim/test_schedulers.py

@@ -13,7 +13,6 @@
 # limitations under the License.
 from torch.optim.lr_scheduler import LambdaLR
 
-from lerobot.constants import SCHEDULER_STATE
 from lerobot.optim.schedulers import (
     CosineDecayWithWarmupSchedulerConfig,
     DiffuserSchedulerConfig,
@@ -21,6 +20,7 @@ from lerobot.optim.schedulers import (
     load_scheduler_state,
     save_scheduler_state,
 )
+from lerobot.utils.constants import SCHEDULER_STATE
 
 
 def test_diffuser_scheduler(optimizer):

tests/policies/test_policies.py

@@ -27,7 +27,6 @@ from lerobot import available_policies
 from lerobot.configs.default import DatasetConfig
 from lerobot.configs.train import TrainPipelineConfig
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.constants import ACTION, OBS_STATE
 from lerobot.datasets.factory import make_dataset
 from lerobot.datasets.utils import cycle, dataset_to_policy_features
 from lerobot.envs.factory import make_env, make_env_config
@@ -42,6 +41,7 @@ from lerobot.policies.factory import (
     make_pre_post_processors,
 )
 from lerobot.policies.pretrained import PreTrainedPolicy
+from lerobot.utils.constants import ACTION, OBS_STATE
 from lerobot.utils.random_utils import seeded_context
 from tests.artifacts.policies.save_policy_to_safetensors import get_policy_stats
 from tests.utils import DEVICE, require_cpu, require_env, require_x86_64_kernel

tests/processor/test_act_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import ACTION, OBS_STATE
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.policies.act.processor_act import make_act_pre_post_processors
 from lerobot.processor import (
@@ -34,6 +33,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_STATE
 
 
 def create_default_config():

tests/processor/test_batch_processor.py

@@ -21,7 +21,6 @@ import numpy as np
 import pytest
 import torch
 
-from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
     DataProcessorPipeline,
@@ -29,6 +28,7 @@ from lerobot.processor import (
     TransitionKey,
 )
 from lerobot.processor.converters import create_transition, identity_transition
+from lerobot.utils.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 
 
 def test_state_1d_to_2d():

tests/processor/test_classifier_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import OBS_IMAGE, OBS_STATE
 from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
 from lerobot.policies.sac.reward_model.processor_classifier import make_classifier_processor
 from lerobot.processor import (
@@ -32,6 +31,7 @@ from lerobot.processor import (
     TransitionKey,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import OBS_IMAGE, OBS_STATE
 
 
 def create_default_config():

tests/processor/test_device_processor.py

@@ -284,8 +284,8 @@ def test_features():
 
 def test_integration_with_robot_processor():
     """Test integration with RobotProcessor."""
-    from lerobot.constants import OBS_STATE
     from lerobot.processor import AddBatchDimensionProcessorStep
+    from lerobot.utils.constants import OBS_STATE
 
     # Create a pipeline with DeviceProcessorStep
     device_processor = DeviceProcessorStep(device="cpu")
@@ -948,12 +948,12 @@ def test_simulated_accelerate_scenario():
 def test_policy_processor_integration():
     """Test integration with policy processors - input on GPU, output on CPU."""
     from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-    from lerobot.constants import ACTION, OBS_STATE
     from lerobot.processor import (
         AddBatchDimensionProcessorStep,
         NormalizerProcessorStep,
         UnnormalizerProcessorStep,
     )
+    from lerobot.utils.constants import ACTION, OBS_STATE
 
     # Create features and stats
     features = {

tests/processor/test_diffusion_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import ACTION, OBS_IMAGE, OBS_STATE
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.policies.diffusion.processor_diffusion import make_diffusion_pre_post_processors
 from lerobot.processor import (
@@ -34,6 +33,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 
 
 def create_default_config():

tests/processor/test_observation_processor.py

@@ -19,9 +19,9 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, PipelineFeatureType
-from lerobot.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 from lerobot.processor import TransitionKey, VanillaObservationProcessorStep
 from lerobot.processor.converters import create_transition
+from lerobot.utils.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 from tests.conftest import assert_contract_is_typed
 
 

tests/processor/test_sac_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import ACTION, OBS_STATE
 from lerobot.policies.sac.configuration_sac import SACConfig
 from lerobot.policies.sac.processor_sac import make_sac_pre_post_processors
 from lerobot.processor import (
@@ -34,6 +33,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_STATE
 
 
 def create_default_config():

tests/processor/test_smolvla_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PipelineFeatureType, PolicyFeature
-from lerobot.constants import ACTION, OBS_IMAGE, OBS_STATE
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
 from lerobot.policies.smolvla.processor_smolvla import (
     SmolVLANewLineProcessor,
@@ -38,6 +37,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 
 
 class MockTokenizerProcessorStep(ProcessorStep):

tests/processor/test_tdmpc_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import ACTION, OBS_IMAGE, OBS_STATE
 from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
 from lerobot.policies.tdmpc.processor_tdmpc import make_tdmpc_pre_post_processors
 from lerobot.processor import (
@@ -34,6 +33,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 
 
 def create_default_config():

tests/processor/test_tokenizer_processor.py

@@ -9,9 +9,9 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
-from lerobot.constants import OBS_LANGUAGE
 from lerobot.processor import DataProcessorPipeline, TokenizerProcessorStep, TransitionKey
 from lerobot.processor.converters import create_transition, identity_transition
+from lerobot.utils.constants import OBS_LANGUAGE
 from tests.utils import require_package
 
 

tests/processor/test_vqbet_processor.py

@@ -21,7 +21,6 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.constants import ACTION, OBS_IMAGE, OBS_STATE
 from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
 from lerobot.policies.vqbet.processor_vqbet import make_vqbet_pre_post_processors
 from lerobot.processor import (
@@ -34,6 +33,7 @@ from lerobot.processor import (
     UnnormalizerProcessorStep,
 )
 from lerobot.processor.converters import create_transition, transition_to_batch
+from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 
 
 def create_default_config():

tests/rl/test_actor.py

@@ -65,7 +65,7 @@ def close_service_stub(channel, server):
 
 @require_package("grpc")
 def test_establish_learner_connection_success():
-    from lerobot.scripts.rl.actor import establish_learner_connection
+    from lerobot.rl.actor import establish_learner_connection
 
     """Test successful connection establishment."""
     stub, _servicer, channel, server = create_learner_service_stub()
@@ -82,7 +82,7 @@ def test_establish_learner_connection_success():
 
 @require_package("grpc")
 def test_establish_learner_connection_failure():
-    from lerobot.scripts.rl.actor import establish_learner_connection
+    from lerobot.rl.actor import establish_learner_connection
 
     """Test connection failure."""
     stub, servicer, channel, server = create_learner_service_stub()
@@ -101,7 +101,7 @@ def test_establish_learner_connection_failure():
 
 @require_package("grpc")
 def test_push_transitions_to_transport_queue():
-    from lerobot.scripts.rl.actor import push_transitions_to_transport_queue
+    from lerobot.rl.actor import push_transitions_to_transport_queue
     from lerobot.transport.utils import bytes_to_transitions
     from tests.transport.test_transport_utils import assert_transitions_equal
 
@@ -137,7 +137,7 @@ def test_push_transitions_to_transport_queue():
 @require_package("grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_transitions_stream():
-    from lerobot.scripts.rl.actor import transitions_stream
+    from lerobot.rl.actor import transitions_stream
 
     """Test transitions stream functionality."""
     shutdown_event = Event()
@@ -169,7 +169,7 @@ def test_transitions_stream():
 @require_package("grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_interactions_stream():
-    from lerobot.scripts.rl.actor import interactions_stream
+    from lerobot.rl.actor import interactions_stream
     from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
 
     """Test interactions stream functionality."""

tests/rl/test_actor_learner.py

@@ -90,13 +90,13 @@ def cfg():
 @require_package("grpc")
 @pytest.mark.timeout(10)  # force cross-platform watchdog
 def test_end_to_end_transitions_flow(cfg):
-    from lerobot.scripts.rl.actor import (
+    from lerobot.rl.actor import (
         establish_learner_connection,
         learner_service_client,
         push_transitions_to_transport_queue,
         send_transitions,
     )
-    from lerobot.scripts.rl.learner import start_learner
+    from lerobot.rl.learner import start_learner
     from lerobot.transport.utils import bytes_to_transitions
     from tests.transport.test_transport_utils import assert_transitions_equal
 
@@ -152,12 +152,12 @@ def test_end_to_end_transitions_flow(cfg):
 @require_package("grpc")
 @pytest.mark.timeout(10)
 def test_end_to_end_interactions_flow(cfg):
-    from lerobot.scripts.rl.actor import (
+    from lerobot.rl.actor import (
         establish_learner_connection,
         learner_service_client,
         send_interactions,
     )
-    from lerobot.scripts.rl.learner import start_learner
+    from lerobot.rl.learner import start_learner
     from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
 
     """Test complete interactions flow from actor to learner."""
@@ -226,8 +226,8 @@ def test_end_to_end_interactions_flow(cfg):
 @pytest.mark.parametrize("data_size", ["small", "large"])
 @pytest.mark.timeout(10)
 def test_end_to_end_parameters_flow(cfg, data_size):
-    from lerobot.scripts.rl.actor import establish_learner_connection, learner_service_client, receive_policy
-    from lerobot.scripts.rl.learner import start_learner
+    from lerobot.rl.actor import establish_learner_connection, learner_service_client, receive_policy
+    from lerobot.rl.learner import start_learner
     from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
 
     """Test complete parameter flow from learner to actor, with small and large data."""

tests/rl/test_learner_service.py

@@ -50,7 +50,7 @@ def create_learner_service_stub(
 ):
     import grpc
 
-    from lerobot.scripts.rl.learner_service import LearnerService
+    from lerobot.rl.learner_service import LearnerService
     from lerobot.transport import services_pb2_grpc  # generated from .proto
 
     """Fixture to start a LearnerService gRPC server and provide a connected stub."""

tests/rl/test_queue.py

@@ -20,7 +20,7 @@ from queue import Queue
 
 from torch.multiprocessing import Queue as TorchMPQueue
 
-from lerobot.utils.queue import get_last_item_from_queue
+from lerobot.rl.queue import get_last_item_from_queue
 
 
 def test_get_last_item_single_item():

tests/test_control_robot.py

@@ -16,10 +16,10 @@
 
 from unittest.mock import patch
 
-from lerobot.calibrate import CalibrateConfig, calibrate
-from lerobot.record import DatasetRecordConfig, RecordConfig, record
-from lerobot.replay import DatasetReplayConfig, ReplayConfig, replay
-from lerobot.teleoperate import TeleoperateConfig, teleoperate
+from lerobot.scripts.lerobot_calibrate import CalibrateConfig, calibrate
+from lerobot.scripts.lerobot_record import DatasetRecordConfig, RecordConfig, record
+from lerobot.scripts.lerobot_replay import DatasetReplayConfig, ReplayConfig, replay
+from lerobot.scripts.lerobot_teleoperate import TeleoperateConfig, teleoperate
 from tests.fixtures.constants import DUMMY_REPO_ID
 from tests.mocks.mock_robot import MockRobotConfig
 from tests.mocks.mock_teleop import MockTeleopConfig

tests/utils/test_encoding_utils.py

@@ -16,7 +16,7 @@
 
 import pytest
 
-from lerobot.utils.encoding_utils import (
+from lerobot.motors.encoding_utils import (
     decode_sign_magnitude,
     decode_twos_complement,
     encode_sign_magnitude,

tests/utils/test_process.py

@@ -22,7 +22,7 @@ from unittest.mock import patch
 
 import pytest
 
-from lerobot.utils.process import ProcessSignalHandler
+from lerobot.rl.process import ProcessSignalHandler
 
 
 # Fixture to reset shutdown_event_counter and original signal handlers before and after each test

tests/utils/test_replay_buffer.py

@@ -21,7 +21,7 @@ import pytest
 import torch
 
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.utils.buffer import BatchTransition, ReplayBuffer, random_crop_vectorized
+from lerobot.rl.buffer import BatchTransition, ReplayBuffer, random_crop_vectorized
 from tests.fixtures.constants import DUMMY_REPO_ID
 
 

tests/utils/test_train_utils.py

@@ -14,7 +14,7 @@
 from pathlib import Path
 from unittest.mock import Mock, patch
 
-from lerobot.constants import (
+from lerobot.utils.constants import (
     CHECKPOINTS_DIR,
     LAST_CHECKPOINT_LINK,
     OPTIMIZER_PARAM_GROUPS,