fix leaking imports in minimal testing

docs/source/installation.mdx

@@ -179,7 +179,6 @@ LeRobot provides **feature-scoped extras** that map to common workflows. If you
 | `training` | `dataset` + `accelerate`, `wandb`           | Training policies                   |
 | `hardware` | `pynput`, `pyserial`, `deepdiff`            | Connecting to real robots           |
 | `viz`      | `rerun-sdk`                                 | Visualization during recording/eval |
-| `build`    | `cmake`, `setuptools`                       | Building native extensions          |
 
 **Composite Extras** combine feature extras for common CLI scripts:
 

pyproject.toml

@@ -84,6 +84,10 @@ dependencies = [
     "packaging>=24.2,<26.0",
     "termcolor>=2.4.0,<4.0.0",
     "tqdm>=4.66.0,<5.0.0",
+
+    # Build tools (required by opencv-python-headless on some platforms)
+    "cmake>=3.29.0.1,<4.2.0",
+    "setuptools>=71.0.0,<81.0.0",
 ]
 
 # Optional dependencies
@@ -111,11 +115,6 @@ hardware = [
 viz = [
     "rerun-sdk>=0.24.0,<0.27.0",
 ]
-build = [
-    "cmake>=3.29.0.1,<4.2.0",
-    "setuptools>=71.0.0,<81.0.0",
-]
-
 # ── User-facing composite extras (map to CLI scripts) ─────
 # lerobot-record, lerobot-replay, lerobot-calibrate, lerobot-teleoperate, etc.
 core_scripts = ["lerobot[dataset]", "lerobot[hardware]", "lerobot[viz]"]
@@ -197,8 +196,8 @@ async = ["lerobot[grpcio-dep]", "lerobot[matplotlib-dep]"]
 peft = ["lerobot[transformers-dep]", "lerobot[peft-dep]"]
 
 # Development
-dev = ["lerobot[dataset]", "lerobot[training]", "lerobot[hardware]", "lerobot[viz]", "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"]
-test = ["lerobot[dataset]", "lerobot[training]", "lerobot[hardware]", "lerobot[viz]", "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'"]
+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"]
+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'"]
 video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
 
 # Simulation
@@ -215,7 +214,6 @@ all = [
     "lerobot[training]",
     "lerobot[hardware]",
     "lerobot[viz]",
-    "lerobot[build]",
     # NOTE(resolver hint): scipy is pulled in transitively via lerobot[scipy-dep] through
     # multiple extras (aloha, metaworld, pi, wallx, phone). Listing it explicitly
     # helps pip's resolver converge by constraining scipy early, before it encounters
@@ -311,13 +309,8 @@ ignore = [
 
 [tool.ruff.lint.per-file-ignores]
 "__init__.py" = ["F401", "F403", "E402"]
-# E402: require_package() guards must precede the imports they protect
-"src/lerobot/policies/wall_x/modeling_wall_x.py" = ["E402"]
-"src/lerobot/policies/smolvla/smolvlm_with_expert.py" = ["E402"]
-"src/lerobot/policies/xvla/modeling_xvla.py" = ["E402"]
-"src/lerobot/policies/sarm/processor_sarm.py" = ["E402"]
+# E402: conditional-import guards (TYPE_CHECKING / is_package_available) must precede the imports they protect
 "src/lerobot/scripts/convert_dataset_v21_to_v30.py" = ["E402"]
-"src/lerobot/teleoperators/unitree_g1/exo_serial.py" = ["E402"]
 "src/lerobot/policies/wall_x/**" = ["N801", "N812", "SIM102", "SIM108", "SIM210", "SIM211", "B006", "B007", "SIM118"] # Supprese these as they are coming from original Qwen2_5_vl code TODO(pepijn): refactor original
 
 [tool.ruff.lint.isort]

src/lerobot/motors/motors_bus.py

@@ -29,12 +29,22 @@ from dataclasses import dataclass
 from enum import Enum
 from functools import cached_property
 from pprint import pformat
-from typing import Protocol
+from typing import TYPE_CHECKING, Protocol
 
-import serial
-from deepdiff import DeepDiff
 from tqdm import tqdm
 
+from lerobot.utils.import_utils import _deepdiff_available, _serial_available, require_package
+
+if TYPE_CHECKING or _serial_available:
+    import serial
+else:
+    serial = None  # type: ignore[assignment]
+
+if TYPE_CHECKING or _deepdiff_available:
+    from deepdiff import DeepDiff
+else:
+    DeepDiff = None  # type: ignore[assignment, misc]
+
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 from lerobot.utils.utils import enter_pressed, move_cursor_up
 
@@ -346,6 +356,8 @@ class SerialMotorsBus(MotorsBusBase):
         motors: dict[str, Motor],
         calibration: dict[str, MotorCalibration] | None = None,
     ):
+        require_package("pyserial", extra="hardware", import_name="serial")
+        require_package("deepdiff", extra="hardware")
         super().__init__(port, motors, calibration)
 
         self.port_handler: PortHandler

src/lerobot/policies/sarm/processor_sarm.py

@@ -16,20 +16,37 @@
 
 """SARM Processor for encoding images/text and generating stage+tau targets."""
 
+from __future__ import annotations
+
 import random
-from typing import Any
+from typing import TYPE_CHECKING, Any
 
 import numpy as np
-import pandas as pd
 import torch
-from faker import Faker
 from PIL import Image
 
-from lerobot.utils.import_utils import require_package
+from lerobot.utils.import_utils import (
+    _faker_available,
+    _pandas_available,
+    _transformers_available,
+    require_package,
+)
 
-require_package("transformers", extra="sarm")
+if TYPE_CHECKING or _transformers_available:
+    from transformers import CLIPModel, CLIPProcessor
+else:
+    CLIPModel = None  # type: ignore[assignment, misc]
+    CLIPProcessor = None  # type: ignore[assignment, misc]
 
-from transformers import CLIPModel, CLIPProcessor
+if TYPE_CHECKING or _pandas_available:
+    import pandas as pd
+else:
+    pd = None  # type: ignore[assignment]
+
+if TYPE_CHECKING or _faker_available:
+    from faker import Faker
+else:
+    Faker = None  # type: ignore[assignment, misc]
 
 from lerobot.configs import FeatureType, PipelineFeatureType, PolicyFeature
 from lerobot.processor import (
@@ -65,6 +82,9 @@ class SARMEncodingProcessorStep(ProcessorStep):
         dataset_meta=None,
         dataset_stats: dict | None = None,
     ):
+        require_package("transformers", extra="sarm")
+        require_package("faker", extra="sarm")
+        require_package("pandas", extra="dataset")
         super().__init__()
         self.config = config
         self.image_key = image_key or config.image_key

src/lerobot/policies/wall_x/modeling_wall_x.py

@@ -51,10 +51,7 @@ from torch.nn import CrossEntropyLoss
 
 from lerobot.utils.constants import ACTION, OBS_STATE
 from lerobot.utils.import_utils import (
-    _peft_available,
-    _qwen_vl_utils_available,
-    _torchdiffeq_available,
-    _transformers_available,
+    _wallx_deps_available,
     require_package,
 )
 
@@ -72,10 +69,6 @@ from .constant import (
     TOKENIZER_MAX_LENGTH,
 )
 
-_wallx_deps_available = (
-    _transformers_available and _peft_available and _torchdiffeq_available and _qwen_vl_utils_available
-)
-
 if TYPE_CHECKING or _wallx_deps_available:
     from peft import LoraConfig, get_peft_model
     from qwen_vl_utils.vision_process import smart_resize

src/lerobot/teleoperators/homunculus/homunculus_arm.py

@@ -18,11 +18,16 @@ import logging
 import threading
 from collections import deque
 from pprint import pformat
-
-import serial
+from typing import TYPE_CHECKING
 
 from lerobot.motors.motors_bus import MotorCalibration, MotorNormMode
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
+from lerobot.utils.import_utils import _serial_available, require_package
+
+if TYPE_CHECKING or _serial_available:
+    import serial
+else:
+    serial = None  # type: ignore[assignment]
 from lerobot.utils.utils import enter_pressed, move_cursor_up
 
 from ..teleoperator import Teleoperator
@@ -40,6 +45,7 @@ class HomunculusArm(Teleoperator):
     name = "homunculus_arm"
 
     def __init__(self, config: HomunculusArmConfig):
+        require_package("pyserial", extra="hardware", import_name="serial")
         super().__init__(config)
         self.config = config
         self.serial = serial.Serial(config.port, config.baud_rate, timeout=1)

src/lerobot/teleoperators/homunculus/homunculus_glove.py

@@ -18,12 +18,17 @@ import logging
 import threading
 from collections import deque
 from pprint import pformat
-
-import serial
+from typing import TYPE_CHECKING
 
 from lerobot.motors import MotorCalibration
 from lerobot.motors.motors_bus import MotorNormMode
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
+from lerobot.utils.import_utils import _serial_available, require_package
+
+if TYPE_CHECKING or _serial_available:
+    import serial
+else:
+    serial = None  # type: ignore[assignment]
 from lerobot.utils.utils import enter_pressed, move_cursor_up
 
 from ..teleoperator import Teleoperator
@@ -66,6 +71,7 @@ class HomunculusGlove(Teleoperator):
     name = "homunculus_glove"
 
     def __init__(self, config: HomunculusGloveConfig):
+        require_package("pyserial", extra="hardware", import_name="serial")
         super().__init__(config)
         self.config = config
         self.serial = serial.Serial(config.port, config.baud_rate, timeout=1)

src/lerobot/teleoperators/unitree_g1/exo_calib.py

@@ -22,15 +22,24 @@ and calculate arctan2 of the unit circle to get the joint angle.
 We then store the ellipse parameters and the zero offset for each joint to be used at runtime.
 """
 
+from __future__ import annotations
+
 import json
 import logging
 import time
 from collections import deque
 from dataclasses import dataclass, field
 from pathlib import Path
+from typing import TYPE_CHECKING
 
 import numpy as np
-import serial
+
+from lerobot.utils.import_utils import _serial_available
+
+if TYPE_CHECKING or _serial_available:
+    import serial
+else:
+    serial = None  # type: ignore[assignment]
 
 logger = logging.getLogger(__name__)
 
@@ -82,7 +91,7 @@ class ExoskeletonCalibration:
         }
 
     @classmethod
-    def from_dict(cls, data: dict) -> "ExoskeletonCalibration":
+    def from_dict(cls, data: dict) -> ExoskeletonCalibration:
         joints = [
             ExoskeletonJointCalibration(
                 name=j["name"],

src/lerobot/teleoperators/unitree_g1/exo_serial.py

@@ -14,16 +14,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 import json
 import logging
 from dataclasses import dataclass
 from pathlib import Path
+from typing import TYPE_CHECKING
 
-from lerobot.utils.import_utils import require_package
+from lerobot.utils.import_utils import _serial_available, require_package
 
-require_package("pyserial", extra="hardware", import_name="serial")
-
-import serial
+if TYPE_CHECKING or _serial_available:
+    import serial
+else:
+    serial = None  # type: ignore[assignment]
 
 from .exo_calib import ExoskeletonCalibration, exo_raw_to_angles, run_exo_calibration
 
@@ -72,6 +76,7 @@ class ExoskeletonArm:
     calibration: ExoskeletonCalibration | None = None
 
     def __post_init__(self):
+        require_package("pyserial", extra="hardware", import_name="serial")
         if self.calibration_fpath.is_file():
             self._load_calibration()
 

src/lerobot/utils/import_utils.py

@@ -108,16 +108,25 @@ _diffusers_available = is_package_available("diffusers")
 _torchdiffeq_available = is_package_available("torchdiffeq")
 
 # Hardware SDKs
+_serial_available = is_package_available("pyserial", import_name="serial")
+_deepdiff_available = is_package_available("deepdiff")
 _dynamixel_sdk_available = is_package_available("dynamixel-sdk", import_name="dynamixel_sdk")
 _feetech_sdk_available = is_package_available("feetech-servo-sdk", import_name="scservo_sdk")
 _reachy2_sdk_available = is_package_available("reachy2_sdk")
 _can_available = is_package_available("python-can", "can")
 _unitree_sdk_available = is_package_available("unitree-sdk2py", "unitree_sdk2py")
 
+# Data / serialization
+_pandas_available = is_package_available("pandas")
+_faker_available = is_package_available("faker")
+
 # Misc
 _pynput_available = is_package_available("pynput")
 _pygame_available = is_package_available("pygame")
 _qwen_vl_utils_available = is_package_available("qwen-vl-utils", import_name="qwen_vl_utils")
+_wallx_deps_available = (
+    _transformers_available and _peft_available and _torchdiffeq_available and _qwen_vl_utils_available
+)
 
 
 def make_device_from_device_class(config: ChoiceRegistry) -> Any:

tests/async_inference/test_e2e.py

@@ -35,8 +35,10 @@ from concurrent import futures
 import pytest
 import torch
 
-# Skip entire module if grpc is not available
+# Skip entire module if required deps are not available
 pytest.importorskip("grpc")
+pytest.importorskip("serial", reason="pyserial is required (install lerobot[hardware])")
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
 
 # -----------------------------------------------------------------------------
 # End-to-end test

tests/async_inference/test_robot_client.py

@@ -25,8 +25,10 @@ from queue import Queue
 import pytest
 import torch
 
-# Skip entire module if grpc is not available
+# Skip entire module if required deps are not available
 pytest.importorskip("grpc")
+pytest.importorskip("serial", reason="pyserial is required (install lerobot[hardware])")
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
 
 # -----------------------------------------------------------------------------
 # Test fixtures

tests/conftest.py

@@ -17,24 +17,39 @@
 import traceback
 
 import pytest
-from serial import SerialException
 
 from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
+from lerobot.utils.import_utils import is_package_available
 from tests.utils import DEVICE
 
-# Import fixture modules as plugins
+# Import fixture modules as plugins.
+# Fixtures that depend on optional packages are only registered when those packages are available,
+# so that tests can be collected and run even with a minimal install.
 pytest_plugins = [
-    "tests.fixtures.dataset_factories",
-    "tests.fixtures.files",
-    "tests.fixtures.hub",
     "tests.fixtures.optimizers",
 ]
 
+if is_package_available("datasets"):
+    pytest_plugins += [
+        "tests.fixtures.dataset_factories",
+        "tests.fixtures.files",
+        "tests.fixtures.hub",
+    ]
+
 
 def pytest_collection_finish():
     print(f"\nTesting with {DEVICE=}")
 
 
+def _is_serial_exception(exc: Exception) -> bool:
+    """Check if an exception is a SerialException without requiring pyserial."""
+    if not is_package_available("pyserial", import_name="serial"):
+        return False
+    from serial import SerialException
+
+    return isinstance(exc, SerialException)
+
+
 def _check_component_availability(component_type, available_components, make_component):
     """Generic helper to check if a hardware component is available"""
     if component_type not in available_components:
@@ -53,7 +68,7 @@ def _check_component_availability(component_type, available_components, make_com
 
         if isinstance(e, ModuleNotFoundError):
             print(f"\nInstall module '{e.name}'")
-        elif isinstance(e, SerialException):
+        elif _is_serial_exception(e):
             print("\nNo physical device detected.")
         elif isinstance(e, ValueError) and "camera_index" in str(e):
             print("\nNo physical camera detected.")

tests/datasets/test_aggregate.py

@@ -16,7 +16,11 @@
 
 from unittest.mock import patch
 
-import datasets
+import pytest
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
+import datasets  # noqa: E402
 import torch
 
 from lerobot.datasets.aggregate import aggregate_datasets

tests/datasets/test_compute_stats.py

@@ -18,6 +18,8 @@ from unittest.mock import patch
 import numpy as np
 import pytest
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.compute_stats import (
     RunningQuantileStats,
     _assert_type_and_shape,

tests/datasets/test_dataset_metadata.py

@@ -20,6 +20,8 @@ import json
 import numpy as np
 import pytest
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
 from lerobot.datasets.utils import INFO_PATH
 from tests.fixtures.constants import DEFAULT_FPS, DUMMY_ROBOT_TYPE

tests/datasets/test_dataset_reader.py

@@ -15,6 +15,10 @@
 # limitations under the License.
 """Contract tests for DatasetReader."""
 
+import pytest
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.dataset_reader import DatasetReader
 from lerobot.utils.import_utils import get_safe_default_codec
 

tests/datasets/test_dataset_tools.py

@@ -21,6 +21,8 @@ import numpy as np
 import pytest
 import torch
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.dataset_tools import (
     add_features,
     delete_episodes,

tests/datasets/test_dataset_utils.py

@@ -16,7 +16,10 @@
 
 import pytest
 import torch
-from datasets import Dataset
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
+from datasets import Dataset  # noqa: E402
 from huggingface_hub import DatasetCard
 
 from lerobot.datasets.io_utils import hf_transform_to_torch

tests/datasets/test_dataset_writer.py

@@ -23,6 +23,8 @@ import pytest
 import torch
 from PIL import Image
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.dataset_writer import _encode_video_worker
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.utils import DEFAULT_IMAGE_PATH

tests/datasets/test_datasets.py

@@ -21,6 +21,9 @@ from pathlib import Path
 import numpy as np
 import pytest
 import torch
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from huggingface_hub import HfApi
 from PIL import Image
 from safetensors.torch import load_file

tests/datasets/test_delta_timestamps.py

@@ -13,6 +13,8 @@
 # limitations under the License.
 import pytest
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.feature_utils import (
     check_delta_timestamps,
     get_delta_indices,

tests/datasets/test_image_transforms.py

@@ -21,6 +21,8 @@ from safetensors.torch import load_file
 from torchvision.transforms import v2
 from torchvision.transforms.v2 import functional as F  # noqa: N812
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.scripts.lerobot_imgtransform_viz import (
     save_all_transforms,
     save_each_transform,

tests/datasets/test_image_writer.py

@@ -20,6 +20,8 @@ import numpy as np
 import pytest
 from PIL import Image
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.image_writer import (
     AsyncImageWriter,
     image_array_to_pil_image,

tests/datasets/test_lerobot_dataset.py

@@ -25,6 +25,8 @@ from unittest.mock import Mock
 import pytest
 import torch
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 import lerobot.datasets.dataset_metadata as dataset_metadata_module
 import lerobot.datasets.lerobot_dataset as lerobot_dataset_module
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata

tests/datasets/test_quantiles_dataset_integration.py

@@ -19,6 +19,8 @@
 import numpy as np
 import pytest
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 
 

tests/datasets/test_sampler.py

@@ -17,7 +17,10 @@ import logging
 
 import pytest
 import torch
-from datasets import Dataset
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
+from datasets import Dataset  # noqa: E402
 
 from lerobot.datasets.io_utils import (
     hf_transform_to_torch,

tests/datasets/test_streaming.py

@@ -17,6 +17,8 @@ import numpy as np
 import pytest
 import torch
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
 from lerobot.datasets.utils import safe_shard
 from lerobot.utils.constants import ACTION

tests/datasets/test_streaming_video_encoder.py

@@ -20,10 +20,13 @@ import queue
 import threading
 from unittest.mock import patch
 
-import av
 import numpy as np
 import pytest
 
+pytest.importorskip("av", reason="av is required (install lerobot[dataset])")
+
+import av  # noqa: E402
+
 from lerobot.datasets.video_utils import (
     VALID_VIDEO_CODECS,
     StreamingVideoEncoder,

tests/datasets/test_subtask_dataset.py

@@ -23,8 +23,11 @@ These tests verify that:
 - Subtask handling gracefully handles missing data
 """
 
-import pandas as pd
 import pytest
+
+pytest.importorskip("pandas", reason="pandas is required (install lerobot[dataset])")
+
+import pandas as pd  # noqa: E402
 import torch
 
 from lerobot.datasets.lerobot_dataset import LeRobotDataset

tests/datasets/test_visualize_dataset.py

@@ -15,6 +15,8 @@
 # limitations under the License.
 import pytest
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.scripts.lerobot_dataset_viz import visualize_dataset
 
 

tests/motors/test_motors_bus.py

@@ -19,6 +19,8 @@ from unittest.mock import patch
 
 import pytest
 
+pytest.importorskip("serial", reason="pyserial is required (install lerobot[hardware])")
+
 from lerobot.motors.motors_bus import (
     Motor,
     MotorNormMode,

tests/policies/groot/test_groot_lerobot.py

@@ -31,7 +31,7 @@ from lerobot.policies.groot.processor_groot import make_groot_pre_post_processor
 from lerobot.processor import PolicyProcessorPipeline
 from lerobot.types import PolicyAction
 from lerobot.utils.device_utils import auto_select_torch_device
-from tests.utils import require_cuda  # noqa: E402
+from tests.utils import require_cuda
 
 pytest.importorskip("transformers")
 

tests/policies/smolvla/test_smolvla_rtc.py

@@ -19,12 +19,12 @@
 import pytest
 import torch
 
-from lerobot.configs.types import FeatureType, PolicyFeature, RTCAttentionSchedule  # noqa: E402
-from lerobot.policies.factory import make_pre_post_processors  # noqa: E402
-from lerobot.policies.rtc.configuration_rtc import RTCConfig  # noqa: E402
+from lerobot.configs.types import FeatureType, PolicyFeature, RTCAttentionSchedule
+from lerobot.policies.factory import make_pre_post_processors
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig  # noqa: F401
-from lerobot.utils.random_utils import set_seed  # noqa: E402
-from tests.utils import require_cuda, skip_if_package_missing  # noqa: E402
+from lerobot.utils.random_utils import set_seed
+from tests.utils import require_cuda, skip_if_package_missing
 
 
 @skip_if_package_missing("transformers")

tests/policies/test_policies.py

@@ -20,6 +20,9 @@ from pathlib import Path
 import einops
 import pytest
 import torch
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from packaging import version
 from safetensors.torch import load_file
 

tests/policies/test_relative_actions.py

@@ -10,6 +10,8 @@ import numpy as np
 import pytest
 import torch
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
 from lerobot.datasets.compute_stats import get_feature_stats
 from lerobot.datasets.lerobot_dataset import LeRobotDataset

tests/processor/test_pipeline.py

@@ -25,6 +25,8 @@ import pytest
 import torch
 import torch.nn as nn
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features
 from lerobot.processor import (

tests/rl/test_actor.py

@@ -19,6 +19,9 @@ from unittest.mock import patch
 
 import pytest
 import torch
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from torch.multiprocessing import Event, Queue
 
 from lerobot.utils.constants import OBS_STR

tests/rl/test_actor_learner.py

@@ -20,6 +20,9 @@ import time
 
 import pytest
 import torch
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from torch.multiprocessing import Event, Queue
 
 from lerobot.configs.train import TrainRLServerPipelineConfig

tests/scripts/test_edit_dataset_parsing.py

@@ -17,6 +17,8 @@
 import draccus
 import pytest
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.scripts.lerobot_edit_dataset import (
     ConvertImageToVideoConfig,
     DeleteEpisodesConfig,

tests/test_control_robot.py

@@ -16,6 +16,10 @@
 
 from unittest.mock import patch
 
+import pytest
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 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

tests/training/test_multi_gpu.py

@@ -33,6 +33,8 @@ from pathlib import Path
 import pytest
 import torch
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 
 

tests/training/test_visual_validation.py

@@ -31,6 +31,8 @@ from pathlib import Path
 import numpy as np
 import pytest
 
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
 from lerobot.configs.default import DatasetConfig
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.train import TrainPipelineConfig

tests/utils/test_replay_buffer.py

@@ -20,6 +20,7 @@ from collections.abc import Callable
 import pytest
 
 pytest.importorskip("grpc")
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
 
 import torch  # noqa: E402
 

tests/utils/test_visualization_utils.py

@@ -21,6 +21,8 @@ from types import SimpleNamespace
 import numpy as np
 import pytest
 
+pytest.importorskip("rerun", reason="rerun-sdk is required (install lerobot[viz])")
+
 from lerobot.types import TransitionKey
 from lerobot.utils.constants import OBS_STATE
 

uv.lock

@@ -829,7 +829,7 @@ name = "cuda-bindings"
 version = "12.9.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cuda-pathfinder", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "cuda-pathfinder", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/a9/c1/dabe88f52c3e3760d861401bb994df08f672ec893b8f7592dc91626adcf3/cuda_bindings-12.9.4-cp312-cp312-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:fda147a344e8eaeca0c6ff113d2851ffca8f7dfc0a6c932374ee5c47caa649c8", size = 12151019, upload-time = "2025-10-21T14:51:43.167Z" },
@@ -916,7 +916,7 @@ name = "decord"
 version = "0.6.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x') or (platform_machine != 's390x' and sys_platform != 'linux')" },
+    { name = "numpy", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l') or sys_platform != 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/11/79/936af42edf90a7bd4e41a6cac89c913d4b47fa48a26b042d5129a9242ee3/decord-0.6.0-py3-none-manylinux2010_x86_64.whl", hash = "sha256:51997f20be8958e23b7c4061ba45d0efcd86bffd5fe81c695d0befee0d442976", size = 13602299, upload-time = "2021-06-14T21:30:55.486Z" },
@@ -2205,6 +2205,7 @@ name = "lerobot"
 version = "0.5.2"
 source = { editable = "." }
 dependencies = [
+    { name = "cmake" },
     { name = "draccus" },
     { name = "einops" },
     { name = "gymnasium" },
@@ -2215,6 +2216,7 @@ dependencies = [
     { name = "pillow" },
     { name = "requests" },
     { name = "safetensors" },
+    { name = "setuptools" },
     { name = "termcolor" },
     { name = "torch" },
     { name = "torchvision" },
@@ -2225,7 +2227,6 @@ dependencies = [
 all = [
     { name = "accelerate" },
     { name = "av" },
-    { name = "cmake" },
     { name = "contourpy" },
     { name = "datasets" },
     { name = "debugpy" },
@@ -2270,9 +2271,9 @@ all = [
     { name = "qwen-vl-utils" },
     { name = "reachy2-sdk" },
     { name = "rerun-sdk" },
+    { name = "ruff" },
     { name = "scikit-image" },
     { name = "scipy" },
-    { name = "setuptools" },
     { name = "teleop" },
     { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
     { name = "torchdiffeq" },
@@ -2298,10 +2299,6 @@ async = [
 av-dep = [
     { name = "av" },
 ]
-build = [
-    { name = "cmake" },
-    { name = "setuptools" },
-]
 can-dep = [
     { name = "python-can" },
 ]
@@ -2338,24 +2335,13 @@ dataset-viz = [
     { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
 ]
 dev = [
-    { name = "accelerate" },
-    { name = "av" },
-    { name = "datasets" },
     { name = "debugpy" },
-    { name = "deepdiff" },
     { name = "grpcio" },
     { name = "grpcio-tools" },
-    { name = "jsonlines" },
     { name = "mypy" },
-    { name = "pandas" },
     { name = "pre-commit" },
     { name = "protobuf" },
-    { name = "pyarrow" },
-    { name = "pynput" },
-    { name = "pyserial" },
-    { name = "rerun-sdk" },
-    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
-    { name = "wandb" },
+    { name = "ruff" },
 ]
 diffusers-dep = [
     { name = "diffusers" },
@@ -2509,22 +2495,10 @@ smolvla = [
     { name = "transformers" },
 ]
 test = [
-    { name = "accelerate" },
-    { name = "av" },
-    { name = "datasets" },
-    { name = "deepdiff" },
-    { name = "jsonlines" },
     { name = "mock-serial", marker = "sys_platform != 'win32'" },
-    { name = "pandas" },
-    { name = "pyarrow" },
-    { name = "pynput" },
-    { name = "pyserial" },
     { name = "pytest" },
     { name = "pytest-cov" },
     { name = "pytest-timeout" },
-    { name = "rerun-sdk" },
-    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
-    { name = "wandb" },
 ]
 training = [
     { name = "accelerate" },
@@ -2571,7 +2545,7 @@ requires-dist = [
     { name = "accelerate", marker = "extra == 'smolvla'", specifier = ">=1.7.0,<2.0.0" },
     { name = "accelerate", marker = "extra == 'training'", specifier = ">=1.10.0,<2.0.0" },
     { name = "av", marker = "extra == 'av-dep'", specifier = ">=15.0.0,<16.0.0" },
-    { name = "cmake", marker = "extra == 'build'", specifier = ">=3.29.0.1,<4.2.0" },
+    { name = "cmake", specifier = ">=3.29.0.1,<4.2.0" },
     { name = "contourpy", marker = "extra == 'matplotlib-dep'", specifier = ">=1.3.0,<2.0.0" },
     { name = "datasets", marker = "extra == 'dataset'", specifier = ">=4.0.0,<5.0.0" },
     { name = "debugpy", marker = "extra == 'dev'", specifier = ">=1.8.1,<1.9.0" },
@@ -2601,7 +2575,6 @@ requires-dist = [
     { name = "lerobot", extras = ["async"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["av-dep"], marker = "extra == 'dataset'" },
     { name = "lerobot", extras = ["av-dep"], marker = "extra == 'evaluation'" },
-    { name = "lerobot", extras = ["build"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["can-dep"], marker = "extra == 'damiao'" },
     { name = "lerobot", extras = ["can-dep"], marker = "extra == 'robstride'" },
     { name = "lerobot", extras = ["damiao"], marker = "extra == 'all'" },
@@ -2610,11 +2583,9 @@ requires-dist = [
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'aloha'" },
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'core-scripts'" },
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'dataset-viz'" },
-    { name = "lerobot", extras = ["dataset"], marker = "extra == 'dev'" },
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'libero'" },
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'metaworld'" },
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'pusht'" },
-    { name = "lerobot", extras = ["dataset"], marker = "extra == 'test'" },
     { name = "lerobot", extras = ["dataset"], marker = "extra == 'training'" },
     { name = "lerobot", extras = ["dev"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["diffusers-dep"], marker = "extra == 'diffusion'" },
@@ -2631,8 +2602,6 @@ requires-dist = [
     { name = "lerobot", extras = ["grpcio-dep"], marker = "extra == 'hilserl'" },
     { name = "lerobot", extras = ["hardware"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["hardware"], marker = "extra == 'core-scripts'" },
-    { name = "lerobot", extras = ["hardware"], marker = "extra == 'dev'" },
-    { name = "lerobot", extras = ["hardware"], marker = "extra == 'test'" },
     { name = "lerobot", extras = ["hilserl"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["hopejr"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["intelrealsense"], marker = "extra == 'all'" },
@@ -2671,8 +2640,6 @@ requires-dist = [
     { name = "lerobot", extras = ["smolvla"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["test"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["training"], marker = "extra == 'all'" },
-    { name = "lerobot", extras = ["training"], marker = "extra == 'dev'" },
-    { name = "lerobot", extras = ["training"], marker = "extra == 'test'" },
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'groot'" },
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'hilserl'" },
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'libero'" },
@@ -2687,8 +2654,6 @@ requires-dist = [
     { name = "lerobot", extras = ["viz"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["viz"], marker = "extra == 'core-scripts'" },
     { name = "lerobot", extras = ["viz"], marker = "extra == 'dataset-viz'" },
-    { name = "lerobot", extras = ["viz"], marker = "extra == 'dev'" },
-    { name = "lerobot", extras = ["viz"], marker = "extra == 'test'" },
     { name = "lerobot", extras = ["wallx"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["xvla"], marker = "extra == 'all'" },
     { name = "matplotlib", marker = "extra == 'matplotlib-dep'", specifier = ">=3.10.3,<4.0.0" },
@@ -2728,11 +2693,12 @@ requires-dist = [
     { name = "reachy2-sdk", marker = "extra == 'reachy2'", specifier = ">=1.0.15,<1.1.0" },
     { name = "requests", specifier = ">=2.32.0,<3.0.0" },
     { name = "rerun-sdk", marker = "extra == 'viz'", specifier = ">=0.24.0,<0.27.0" },
+    { name = "ruff", marker = "extra == 'dev'", specifier = ">=0.14.1" },
     { name = "safetensors", specifier = ">=0.4.3,<1.0.0" },
     { name = "scikit-image", marker = "extra == 'video-benchmark'", specifier = ">=0.23.2,<0.26.0" },
     { name = "scipy", marker = "extra == 'all'", specifier = ">=1.14.0,<2.0.0" },
     { name = "scipy", marker = "extra == 'scipy-dep'", specifier = ">=1.14.0,<2.0.0" },
-    { name = "setuptools", marker = "extra == 'build'", specifier = ">=71.0.0,<81.0.0" },
+    { name = "setuptools", specifier = ">=71.0.0,<81.0.0" },
     { name = "teleop", marker = "extra == 'phone'", specifier = ">=0.1.0,<0.2.0" },
     { name = "termcolor", specifier = ">=2.4.0,<4.0.0" },
     { name = "timm", marker = "extra == 'groot'", specifier = ">=1.0.0,<1.1.0" },
@@ -2744,7 +2710,7 @@ requires-dist = [
     { name = "transformers", marker = "extra == 'transformers-dep'", specifier = "==5.3.0" },
     { name = "wandb", marker = "extra == 'training'", specifier = ">=0.24.0,<0.25.0" },
 ]
-provides-extras = ["dataset", "training", "hardware", "viz", "build", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "can-dep", "peft-dep", "scipy-dep", "diffusers-dep", "qwen-vl-utils-dep", "matplotlib-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "kinematics", "intelrealsense", "phone", "diffusion", "wallx", "pi", "smolvla", "multi-task-dit", "groot", "sarm", "xvla", "hilserl", "async", "peft", "dev", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"]
+provides-extras = ["dataset", "training", "hardware", "viz", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "can-dep", "peft-dep", "scipy-dep", "diffusers-dep", "qwen-vl-utils-dep", "matplotlib-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "kinematics", "intelrealsense", "phone", "diffusion", "wallx", "pi", "smolvla", "multi-task-dit", "groot", "sarm", "xvla", "hilserl", "async", "peft", "dev", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"]
 
 [[package]]
 name = "librt"
@@ -3529,7 +3495,7 @@ name = "nvidia-cudnn-cu12"
 version = "9.10.2.21"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/ba/51/e123d997aa098c61d029f76663dedbfb9bc8dcf8c60cbd6adbe42f76d049/nvidia_cudnn_cu12-9.10.2.21-py3-none-manylinux_2_27_x86_64.whl", hash = "sha256:949452be657fa16687d0930933f032835951ef0892b37d2d53824d1a84dc97a8", size = 706758467, upload-time = "2025-06-06T21:54:08.597Z" },
@@ -3540,7 +3506,7 @@ name = "nvidia-cufft-cu12"
 version = "11.3.3.83"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/1f/13/ee4e00f30e676b66ae65b4f08cb5bcbb8392c03f54f2d5413ea99a5d1c80/nvidia_cufft_cu12-11.3.3.83-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:4d2dd21ec0b88cf61b62e6b43564355e5222e4a3fb394cac0db101f2dd0d4f74", size = 193118695, upload-time = "2025-03-07T01:45:27.821Z" },
@@ -3567,9 +3533,9 @@ name = "nvidia-cusolver-cu12"
 version = "11.7.3.90"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
-    { name = "nvidia-cusparse-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
-    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
+    { name = "nvidia-cusparse-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/85/48/9a13d2975803e8cf2777d5ed57b87a0b6ca2cc795f9a4f59796a910bfb80/nvidia_cusolver_cu12-11.7.3.90-py3-none-manylinux_2_27_x86_64.whl", hash = "sha256:4376c11ad263152bd50ea295c05370360776f8c3427b30991df774f9fb26c450", size = 267506905, upload-time = "2025-03-07T01:47:16.273Z" },
@@ -3580,7 +3546,7 @@ name = "nvidia-cusparse-cu12"
 version = "12.5.8.93"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/c2/f5/e1854cb2f2bcd4280c44736c93550cc300ff4b8c95ebe370d0aa7d2b473d/nvidia_cusparse_cu12-12.5.8.93-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:1ec05d76bbbd8b61b06a80e1eaf8cf4959c3d4ce8e711b65ebd0443bb0ebb13b", size = 288216466, upload-time = "2025-03-07T01:48:13.779Z" },
@@ -4401,10 +4367,10 @@ name = "pyobjc-framework-applicationservices"
 version = "12.1"
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