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Merge remote-tracking branch 'origin/main' into feat/smolvla-on-steerable

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# Conflicts:
#	docs/source/annotation_pipeline.mdx
#	examples/annotations/run_hf_job.py
#	pyproject.toml
#	src/lerobot/annotations/steerable_pipeline/config.py
#	src/lerobot/annotations/steerable_pipeline/frames.py
#	src/lerobot/annotations/steerable_pipeline/modules/plan_subtasks_memory.py
#	src/lerobot/annotations/steerable_pipeline/vlm_client.py
#	src/lerobot/annotations/steerable_pipeline/writer.py
#	src/lerobot/datasets/__init__.py
#	src/lerobot/datasets/sampler.py
#	src/lerobot/scripts/lerobot_annotate.py
#	src/lerobot/scripts/lerobot_train.py
#	tests/annotations/test_frames.py
#	tests/annotations/test_modules.py
#	tests/annotations/test_writer.py
#	tests/datasets/test_sampler.py
#	tests/scripts/test_lerobot_annotate.py
#	uv.lock
This commit is contained in:
Pepijn
2026-06-23 11:07:53 +02:00
parent 3427499212 73782447f2
commit 4dbe83d3bc
91 changed files with 4267 additions and 2012 deletions
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pyproject.toml
+15 -9
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@@ -120,8 +120,8 @@ dataset = [
]
training = [
"lerobot[dataset]",
"accelerate>=1.10.0,<2.0.0",
"wandb>=0.24.0,<0.25.0",
"wandb>=0.24.0,<0.28.0",
"lerobot[accelerate-dep]",
]
hardware = [
"lerobot[pynput-dep]",
@@ -148,7 +148,8 @@ pygame-dep = ["pygame>=2.5.1,<2.7.0"]
placo-dep = ["placo>=0.9.6,<0.9.16"]
transformers-dep = ["transformers>=5.4.0,<5.6.0"]
sentencepiece-dep = ["sentencepiece>=0.2.0,<0.3.0"] # FAST action tokenizer backend (pi052, pi0_fast)
grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
grpcio-dep = ["grpcio>=1.73.1,<2.0.0", "protobuf>=6.31.1,<8.0.0"]
accelerate-dep = ["accelerate>=1.14.0,<2.0.0"]
can-dep = ["python-can>=4.2.0,<5.0.0"]
peft-dep = ["peft>=0.18.0,<1.0.0"]
scipy-dep = ["scipy>=1.14.0,<2.0.0"]
@@ -183,7 +184,12 @@ unitree_g1 = [
"lerobot[matplotlib-dep]",
"lerobot[pygame-dep]",
]
reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
# 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.
reachy2 = [
"reachy2_sdk>=1.0.15,<1.1.0",
"grpcio<=1.73.1",
"protobuf<=6.32.0",
]
# Seeed Studio reBot B601-DM follower (motorbridge / CAN) + StarArm102 / reBot Arm 102
# leader (motorbridge-smart-servo / FashionStar UART servos).
rebot = ["lerobot[motorbridge-dep]", "lerobot[motorbridge-smart-servo-dep]"]
@@ -205,7 +211,7 @@ wallx = [
]
pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]", "lerobot[sentencepiece-dep]"]
molmoact2 = ["lerobot[transformers-dep]", "lerobot[peft-dep]", "lerobot[scipy-dep]"]
smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>=1.7.0,<2.0.0"]
smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "lerobot[accelerate-dep]"]
multi_task_dit = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]"]
groot = [
"lerobot[transformers-dep]",
@@ -222,7 +228,7 @@ robometer = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]", "lerobot
topreward = ["lerobot[transformers-dep]"]
xvla = ["lerobot[transformers-dep]"]
eo1 = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]"]
hilserl = ["lerobot[transformers-dep]", "lerobot[dataset]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
hilserl = ["lerobot[transformers-dep]", "lerobot[dataset]", "gym-hil>=0.1.14,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
vla_jepa = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]", "lerobot[qwen-vl-utils-dep]"]
# Features
@@ -253,16 +259,16 @@ tools = [
]
# Development
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]"]
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]"]
notebook = ["jupyter>=1.0.0,<2.0.0", "ipykernel>=6.0.0,<7.0.0"]
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
# NOTE: Explicitly listing scipy helps flatten the dependecy tree.
aloha = ["lerobot[dataset]", "gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
aloha = ["lerobot[dataset]", "gym-aloha>=0.1.4,<0.2.0", "lerobot[scipy-dep]"]
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
libero = ["lerobot[dataset]", "lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
libero = ["lerobot[dataset]", "lerobot[transformers-dep]", "hf-libero>=0.1.4,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
metaworld = ["lerobot[dataset]", "metaworld==3.0.0", "lerobot[scipy-dep]"]
# NOTE: vlabench is NOT exposed as a `lerobot` extra. Its only distribution
# is the OpenMOSS/VLABench GitHub repo (package name `VLABench`, no PyPI