license + peft-dep + init groot + flat import layering utils dataset

pyproject.toml

@@ -169,7 +169,7 @@ phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0", "fastapi<1.0", "lerob
 diffusion = ["lerobot[diffusers-dep]"]
 wallx = [
     "lerobot[transformers-dep]",
-    "lerobot[peft]",
+    "lerobot[peft-dep]",
     "lerobot[scipy-dep]",
     "torchdiffeq>=0.2.4,<0.3.0",
     "lerobot[qwen-vl-utils-dep]",
@@ -179,7 +179,7 @@ smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>
 multi_task_dit = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]"]
 groot = [
     "lerobot[transformers-dep]",
-    "lerobot[peft]",
+    "lerobot[peft-dep]",
     "lerobot[diffusers-dep]",
     "dm-tree>=0.1.8,<1.0.0",
     "timm>=1.0.0,<1.1.0",

src/lerobot/async_inference/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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.
+
 """
 Async inference server/client.
 

src/lerobot/common/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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.
+
 """
 Cross-cutting modules that bridge multiple lerobot packages.
 

src/lerobot/datasets/dataset_metadata.py

@@ -25,6 +25,7 @@ from huggingface_hub import snapshot_download
 
 from lerobot.utils.constants import DEFAULT_FEATURES, HF_LEROBOT_HOME, HF_LEROBOT_HUB_CACHE
 from lerobot.utils.feature_utils import _validate_feature_names
+from lerobot.utils.utils import flatten_dict
 
 from .compute_stats import aggregate_stats
 from .feature_utils import create_empty_dataset_info
@@ -44,7 +45,6 @@ from .utils import (
     DEFAULT_EPISODES_PATH,
     INFO_PATH,
     check_version_compatibility,
-    flatten_dict,
     get_safe_version,
     has_legacy_hub_download_metadata,
     is_valid_version,

src/lerobot/datasets/io_utils.py

@@ -29,7 +29,7 @@ from PIL import Image as PILImage
 from torchvision import transforms
 
 from lerobot.utils.io_utils import load_json, write_json
-from lerobot.utils.utils import SuppressProgressBars
+from lerobot.utils.utils import SuppressProgressBars, flatten_dict, unflatten_dict
 
 from .utils import (
     DEFAULT_DATA_FILE_SIZE_IN_MB,
@@ -39,9 +39,7 @@ from .utils import (
     EPISODES_DIR,
     INFO_PATH,
     STATS_PATH,
-    flatten_dict,
     serialize_dict,
-    unflatten_dict,
 )
 
 

src/lerobot/model/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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.
+
 # Kinematics utilities for robot modeling.
 
 from .kinematics import RobotKinematics as RobotKinematics

src/lerobot/policies/act/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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 .configuration_act import ACTConfig
 from .modeling_act import ACTPolicy
 from .processor_act import make_act_pre_post_processors

src/lerobot/policies/diffusion/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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 .configuration_diffusion import DiffusionConfig
 from .modeling_diffusion import DiffusionPolicy
 from .processor_diffusion import make_diffusion_pre_post_processors

src/lerobot/policies/groot/action_head/__init__.py

@@ -12,3 +12,5 @@
 # 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.
+
+__all__: list[str] = []

src/lerobot/policies/sac/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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 .configuration_sac import SACConfig
 from .modeling_sac import SACPolicy
 from .processor_sac import make_sac_pre_post_processors

src/lerobot/policies/sac/reward_model/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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 .configuration_classifier import RewardClassifierConfig
 from .modeling_classifier import Classifier
 from .processor_classifier import make_classifier_processor

src/lerobot/policies/sarm/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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 .configuration_sarm import SARMConfig
 from .modeling_sarm import SARMRewardModel
 

src/lerobot/policies/smolvla/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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 .configuration_smolvla import SmolVLAConfig
 from .modeling_smolvla import SmolVLAPolicy
 from .processor_smolvla import make_smolvla_pre_post_processors

src/lerobot/policies/tdmpc/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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 .configuration_tdmpc import TDMPCConfig
 from .modeling_tdmpc import TDMPCPolicy
 from .processor_tdmpc import make_tdmpc_pre_post_processors

src/lerobot/policies/vqbet/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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 .configuration_vqbet import VQBeTConfig
 from .modeling_vqbet import VQBeTPolicy
 from .processor_vqbet import make_vqbet_pre_post_processors

src/lerobot/rl/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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.
+
 """
 Reinforcement learning modules.
 

src/lerobot/transport/__init__.py

@@ -1,3 +1,17 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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.
+
 """
 gRPC transport layer for async inference.
 

tests/utils.py

@@ -25,33 +25,6 @@ from lerobot.utils.import_utils import is_package_available
 
 DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", str(auto_select_torch_device()))
 
-AVAILABLE_ROBOTS = [
-    "koch",
-    "koch_bimanual",
-    "aloha",
-    "so100",
-    "so101",
-]
-AVAILABLE_CAMERAS = [
-    "opencv",
-    "intelrealsense",
-]
-AVAILABLE_MOTORS = [
-    "dynamixel",
-    "feetech",
-]
-
-TEST_ROBOT_TYPES = []
-for robot_type in AVAILABLE_ROBOTS:
-    TEST_ROBOT_TYPES += [(robot_type, True), (robot_type, False)]
-
-TEST_CAMERA_TYPES = []
-for camera_type in AVAILABLE_CAMERAS:
-    TEST_CAMERA_TYPES += [(camera_type, True), (camera_type, False)]
-
-TEST_MOTOR_TYPES = []
-for motor_type in AVAILABLE_MOTORS:
-    TEST_MOTOR_TYPES += [(motor_type, True), (motor_type, False)]
 
 # Camera indices used for connecting physical cameras
 OPENCV_CAMERA_INDEX = int(os.environ.get("LEROBOT_TEST_OPENCV_CAMERA_INDEX", 0))

uv.lock

@@ -2615,9 +2615,9 @@ requires-dist = [
     { name = "lerobot", extras = ["multi-task-dit"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["openarms"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["peft"], marker = "extra == 'all'" },
-    { name = "lerobot", extras = ["peft"], marker = "extra == 'groot'" },
+    { name = "lerobot", extras = ["peft-dep"], marker = "extra == 'groot'" },
-    { name = "lerobot", extras = ["peft"], marker = "extra == 'wallx'" },
     { name = "lerobot", extras = ["peft-dep"], marker = "extra == 'peft'" },
+    { name = "lerobot", extras = ["peft-dep"], marker = "extra == 'wallx'" },
     { name = "lerobot", extras = ["phone"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["pi"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["placo-dep"], marker = "extra == 'hilserl'" },