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

tests/policies/wall_x/test_wallx.py

@@ -21,9 +21,10 @@ import os
 import pytest
 import torch
 
-# Skip if openpi or transformers is not available
+# Skip if required dependencies are not available
 pytest.importorskip("peft")
-pytest.importorskip("transformers==4.49.0")
+pytest.importorskip("transformers")
+pytest.importorskip("torchdiffeq")
 
 # Skip this entire module in CI
 pytestmark = pytest.mark.skipif(

tests/test_cli.py

@@ -208,7 +208,7 @@ def test_peft_record_loads_policy(policy_type, tmp_path):
         loaded_policy = kwargs["policy"]
 
     with (
-        patch("lerobot.robots.make_robot_from_config", dummy_make_robot_from_config),
+        patch("lerobot.scripts.lerobot_record.make_robot_from_config", dummy_make_robot_from_config),
         # disable record loop since we're only interested in successful loading of the policy.
         patch("lerobot.scripts.lerobot_record.record_loop", dummy_record_loop),
         # disable speech output