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Merge branch 'main' into feature/add-multitask-dit

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This commit is contained in:
Bryson Jones
2025-12-25 04:15:37 -08:00
committed by GitHub
parent f5f9833540 12043b3b5c
commit 634e3924b8
9 changed files with 49 additions and 55 deletions
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.github/workflows/fast_tests.yml
+1 -1
View File
@@ -62,7 +62,7 @@ jobs:
HF_HOME: /mnt/cache/.cache/huggingface
HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
steps:
- uses: actions/checkout@v4
- uses: actions/checkout@v6
with:
persist-credentials: false
lfs: true
.github/workflows/full_tests.yml
+2 -2
View File
@@ -61,7 +61,7 @@ jobs:
HF_HOME: /mnt/cache/.cache/huggingface
HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
steps:
- uses: actions/checkout@v4
- uses: actions/checkout@v6
with:
lfs: true
persist-credentials: false
@@ -127,7 +127,7 @@ jobs:
sudo apt-get update
sudo apt-get install git-lfs
git lfs install
- uses: actions/checkout@v4
- uses: actions/checkout@v6
with:
lfs: true
persist-credentials: false
.github/workflows/issue_labeler.yml
+16 -28
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@@ -42,38 +42,26 @@ jobs:
// Keyword Heuristics
// Domain Specific
if (matches(/\b(bug|error|issue|fault|crash|exception)\b/i)) labelsToAdd.add('bug');
if (matches(/\b(feature|enhancement|improvement|support|implement|proposal)\b/i)) labelsToAdd.add('enhancement');
if (matches(/\b(question|help|how to||clarify|explain|unclear)\b/i)) labelsToAdd.add('question');
if (matches(/\b(maintenance|documentation|docs|readme|tutorial|guide|wiki)\b/i)) labelsToAdd.add('documentation');
if (matches(/\b(example|script|sample|demo|notebook)s?\b/i)) labelsToAdd.add('examples');
if (matches(/\b(bug|error|crash|exception)\b/i)) labelsToAdd.add('bug');
if (matches(/\b(new feature|enhancement|improvement|proposal|feature request)\b/i)) labelsToAdd.add('enhancement');
if (matches(/\b(question|how to|clarify|explain|how do i|help me|question about)\b/i)) labelsToAdd.add('question');
if (matches(/\b(documentation|docs?|readme|tutorial|wiki|typo|docstring)\b/i)) labelsToAdd.add('documentation');
if (matches(/\b(example|sample|demo|notebook)s?\b/i)) labelsToAdd.add('examples');
if (matches(/\b(datasets?|data loader|data augmentation|data preprocessing)\b/i)) labelsToAdd.add('dataset');
if (matches(/\b(mujoco|isaac|simulation|sim)\b/i)) labelsToAdd.add('simulation');
if (matches(/\b(train|training|loss|optimizer|backward|gradient|wandb|sac)\b/i)) labelsToAdd.add('training');
if (matches(/\b(rerun|plot|video|render|visualiz|gif)/i)) labelsToAdd.add('visualization');
if (matches(/\b(camera|realsense|lidar|depth|sensor|imu|microphone|rgbd)\b/i)) labelsToAdd.add('sensors');
if (matches(/\b(aloha|koch|so-100|so100|mobile|teleop|manipulator|robots?)\b/i)) labelsToAdd.add('robots');
if (matches(/\b(train|training|optimizer|gradient|wandb|sac)\b/i)) labelsToAdd.add('training');
if (matches(/\b(rerun|plot|render|rendering|visualizer)/i)) labelsToAdd.add('visualization');
if (matches(/\b(cameras?|opencv|realsense|lidars?|sensors?|imus?|microphones?|rgbd|encoders?)\b/i)) labelsToAdd.add('sensors');
if (matches(/\b(urdf|actuators?|calibration|end-effector|kinematics)\b/i)) labelsToAdd.add('robots');
if (matches(/\b(teleop|teleoperator|controller|leader|follower|joystick|gamepad)\b/i)) labelsToAdd.add('teleoperators');
if (matches(/\b(policy|policies|p0licy)\b/i)) labelsToAdd.add('policies');
if (matches(/\b(processors?|pipeline)\b/i)) labelsToAdd.add('processor');
if (matches(/\b(eval|evaluate|evaluation|metrics?|score|benchmark)\b/i)) labelsToAdd.add('evaluation');
// Infrastructure & Code Quality
if (matches(/\b(policy|policies|model?)\b/i)) labelsToAdd.add('policies');
if (matches(/\b(processor|pipeline|preprocessor|postprocessor)s?\b/i)) labelsToAdd.add('processor');
if (matches(/\b(eval|evaluate|evaluation|metrics?|score|benchmarks?)\b/i)) labelsToAdd.add('evaluation');
if (matches(/\b(tests?|pytest|unittest|failing test)\b/i)) labelsToAdd.add('tests');
if (matches(/\b(ci|github actions|workflow|gha|actions?|pipeline)\b/i)) {
labelsToAdd.add('CI');
labelsToAdd.add('github_actions');
}
if (matches(/\b(perf|latency|throughput|fps|speed|performance)\b/i)) labelsToAdd.add('performance');
if (matches(/\b(dependency|requirements|pip|conda|install error|importerror|package not found)\b/i)) labelsToAdd.add('dependencies');
if (matches(/\b(python|pyproject|requirements(\.txt)?|pip install|typing error)\b/i)) labelsToAdd.add('python');
// Documentation & Meta
if (matches(/\b(doc|documentation|docs|readme|typo|how to)\b/i)) labelsToAdd.add('documentation');
if (matches(/\b(refactor|cleanup|restructure|rename|modernize code)\b/i)) labelsToAdd.add('refactor');
if (matches(/\b(release|changelog|version bump|cut a release|tag v)\b/i)) labelsToAdd.add('release');
if (matches(/\b(breaking change|major change)\b/i)) labelsToAdd.add('breaking change');
if (matches(/\b(ci|github actions?|github workflows?|gha|docker|pypi)\b/i)) labelsToAdd.add('CI');
if (matches(/\b(perf|latency|throughput|fps|speed|performance|slow|fast|slower|faster|memory usage)\b/i)) labelsToAdd.add('performance');
if (matches(/\b(dependency|dependencies|pip|install error|importerror|package not found|pyproject)\b/i)) labelsToAdd.add('dependencies');
if (matches(/\b(configuration|config|arguments?|input feature|dracuss)\b/i)) labelsToAdd.add('configuration');
// Apply Labels
const labels = Array.from(labelsToAdd).filter(Boolean);
.github/workflows/nightly.yml
+2 -2
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@@ -52,7 +52,7 @@ jobs:
sudo apt-get update
sudo apt-get install git-lfs
git lfs install
- uses: actions/checkout@v4
- uses: actions/checkout@v6
with:
lfs: true
persist-credentials: false
@@ -87,7 +87,7 @@ jobs:
sudo apt-get update
sudo apt-get install git-lfs
git lfs install
- uses: actions/checkout@v4
- uses: actions/checkout@v6
with:
lfs: true
persist-credentials: false
.github/workflows/quality.yml
+2 -2
View File
@@ -43,12 +43,12 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Checkout code
uses: actions/checkout@v4
uses: actions/checkout@v6
with:
persist-credentials: false
- name: Set up Python
uses: actions/setup-python@v5
uses: actions/setup-python@v6
with:
python-version: '3.10'
.github/workflows/release.yml
+3 -3
View File
@@ -38,12 +38,12 @@ jobs:
steps:
- name: Checkout code
uses: actions/checkout@v4
uses: actions/checkout@v6
with:
persist-credentials: false
- name: Set up Python
uses: actions/setup-python@v5
uses: actions/setup-python@v6
with:
python-version: '3.10'
@@ -135,7 +135,7 @@ jobs:
env:
MUJOCO_GL: egl
steps:
- uses: actions/checkout@v4
- uses: actions/checkout@v6
with:
lfs: true
persist-credentials: false
.github/workflows/security.yml
+1 -1
View File
@@ -43,7 +43,7 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Checkout code
uses: actions/checkout@v4 # zizmor: ignore[unpinned-uses]
uses: actions/checkout@v6 # zizmor: ignore[unpinned-uses]
with:
fetch-depth: 0
persist-credentials: false
.github/workflows/unbound_deps_tests.yml
+2 -2
View File
@@ -49,7 +49,7 @@ jobs:
HF_HOME: /mnt/cache/.cache/huggingface
HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
steps:
- uses: actions/checkout@v4
- uses: actions/checkout@v6
with:
lfs: true
persist-credentials: false
@@ -101,7 +101,7 @@ jobs:
sudo apt-get update
sudo apt-get install git-lfs
git lfs install
- uses: actions/checkout@v4
- uses: actions/checkout@v6
with:
lfs: true
persist-credentials: false
src/lerobot/utils/import_utils.py
+20 -14
View File
@@ -14,8 +14,8 @@
# See the License for the specific language governing permissions and
# limitations under the License.
import importlib
import importlib.metadata
import logging
import pkgutil
from typing import Any
from draccus.choice_types import ChoiceRegistry
@@ -132,24 +132,30 @@ def make_device_from_device_class(config: ChoiceRegistry) -> Any:
def register_third_party_plugins() -> None:
"""
Discover and import third-party lerobot_* plugins so they can register themselves.
Discover and import third-party LeRobot plugins so they can register themselves.
Scans top-level modules on sys.path for packages starting with
'lerobot_robot_', 'lerobot_camera_', 'lerobot_teleoperator_' or 'lerobot_policy_' and imports them.
This function uses `importlib.metadata` to find packages installed in the environment
(including editable installs) starting with 'lerobot_robot_', 'lerobot_camera_',
'lerobot_teleoperator_', or 'lerobot_policy_' and imports them.
"""
prefixes = ("lerobot_robot_", "lerobot_camera_", "lerobot_teleoperator_", "lerobot_policy_")
imported: list[str] = []
failed: list[str] = []
for module_info in pkgutil.iter_modules():
name = module_info.name
if name.startswith(prefixes):
try:
importlib.import_module(name)
imported.append(name)
logging.info("Imported third-party plugin: %s", name)
except Exception:
logging.exception("Could not import third-party plugin: %s", name)
failed.append(name)
def attempt_import(module_name: str):
try:
importlib.import_module(module_name)
imported.append(module_name)
logging.info("Imported third-party plugin: %s", module_name)
except Exception:
logging.exception("Could not import third-party plugin: %s", module_name)
failed.append(module_name)
for dist in importlib.metadata.distributions():
dist_name = dist.metadata.get("Name")
if not dist_name:
continue
if dist_name.startswith(prefixes):
attempt_import(dist_name)
logging.debug("Third-party plugin import summary: imported=%s failed=%s", imported, failed)