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Merge branch 'main' into feat/audio_dataset

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CarolinePascal
2026-04-01 17:16:58 +02:00
parent 8b9451b585 15934d8d08
commit 9d42de328e
351 changed files with 26219 additions and 7470 deletions
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pyproject.toml
+69 -122
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@@ -25,11 +25,11 @@ discord = "https://discord.gg/s3KuuzsPFb"
[project]
name = "lerobot"
version = "0.4.3"
version = "0.5.1"
description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
dynamic = ["readme"]
license = { text = "Apache-2.0" }
requires-python = ">=3.10"
requires-python = ">=3.12"
authors = [
{ name = "Rémi Cadène", email = "re.cadene@gmail.com" },
{ name = "Simon Alibert", email = "alibert.sim@gmail.com" },
@@ -50,7 +50,8 @@ classifiers = [
"Intended Audience :: Education",
"Intended Audience :: Science/Research",
"License :: OSI Approved :: Apache Software License",
"Programming Language :: Python :: 3.10",
"Programming Language :: Python :: 3.12",
"Programming Language :: Python :: 3.13",
"Topic :: Software Development :: Build Tools",
"Topic :: Scientific/Engineering :: Artificial Intelligence",
]
@@ -59,28 +60,30 @@ keywords = ["lerobot", "huggingface", "robotics", "machine learning", "artifici
dependencies = [
# Hugging Face dependencies
"datasets>=4.0.0,<4.2.0",
"datasets>=4.0.0,<5.0.0",
"diffusers>=0.27.2,<0.36.0",
"huggingface-hub[hf-transfer,cli]>=0.34.2,<0.36.0",
"huggingface-hub>=1.0.0,<2.0.0",
"accelerate>=1.10.0,<2.0.0",
# Core dependencies
"numpy>=2.0.0,<2.3.0", # NOTE: Explicitly listing numpy helps the resolver converge faster. Upper bound imposed by opencv-python-headless.
"setuptools>=71.0.0,<81.0.0",
"cmake>=3.29.0.1,<4.2.0",
"packaging>=24.2,<26.0",
"torch>=2.2.1,<2.11.0",
"torchcodec>=0.2.1,<0.11.0; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')",
"torchvision>=0.21.0,<0.26.0",
"einops>=0.8.0,<0.9.0",
"opencv-python-headless>=4.9.0,<4.13.0",
"opencv-python-headless>=4.9.0,<4.14.0",
"av>=15.0.0,<16.0.0",
"jsonlines>=4.0.0,<5.0.0",
"packaging>=24.2,<26.0",
"pynput>=1.7.7,<1.9.0",
"pynput>=1.7.8,<1.9.0",
"pyserial>=3.5,<4.0",
"wandb>=0.24.0,<0.25.0",
"torch>=2.2.1,<2.8.0", # TODO: Bumb dependency
"torchcodec>=0.2.1,<0.6.0; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')", # TODO: Bumb dependency
"torchvision>=0.21.0,<0.23.0", # TODO: Bumb dependency
"draccus==0.10.0", # TODO: Remove ==
"draccus==0.10.0", # TODO: Relax version constraint
"gymnasium>=1.1.1,<2.0.0",
"rerun-sdk>=0.24.0,<0.27.0",
@@ -95,43 +98,57 @@ dependencies = [
# Common
pygame-dep = ["pygame>=2.5.1,<2.7.0"]
placo-dep = ["placo>=0.9.6,<0.10.0"]
transformers-dep = ["transformers>=4.57.1,<5.0.0"]
placo-dep = ["placo>=0.9.6,<0.9.17"]
transformers-dep = ["transformers==5.3.0"] # TODO(Steven): https://github.com/huggingface/lerobot/pull/3249
grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
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"]
qwen-vl-utils-dep = ["qwen-vl-utils>=0.0.11,<0.1.0"]
matplotlib-dep = ["matplotlib>=3.10.3,<4.0.0", "contourpy>=1.3.0,<2.0.0"] # NOTE: Explicitly listing contourpy helps the resolver converge faster.
# Motors
feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0"]
dynamixel = ["dynamixel-sdk>=3.7.31,<3.9.0"]
damiao = ["lerobot[can-dep]"]
robstride = ["lerobot[can-dep]"]
# Robots
openarms = ["lerobot[damiao]"]
gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0,<0.15.0"]
hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1,<28.0.0"]
unitree_g1 = [
# "unitree-sdk2==1.0.1",
"pyzmq>=26.2.1,<28.0.0",
"onnxruntime>=1.16.0,<2.0.0"
"onnxruntime>=1.16.0,<2.0.0",
"onnx>=1.16.0,<2.0.0",
"meshcat>=0.3.0,<0.4.0",
"lerobot[matplotlib-dep]",
"lerobot[pygame-dep]",
]
reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
kinematics = ["lerobot[placo-dep]"]
intelrealsense = [
"pyrealsense2>=2.55.1.6486,<2.57.0 ; sys_platform != 'darwin'",
"pyrealsense2-macosx>=2.54,<2.55.0 ; sys_platform == 'darwin'",
"pyrealsense2-macosx>=2.54,<2.57.0 ; sys_platform == 'darwin'",
]
phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0", "fastapi<1.0"]
phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0", "fastapi<1.0", "lerobot[scipy-dep]"]
# Policies
wallx = [
"transformers==4.49.0",
"peft==0.17.1",
"scipy==1.15.3",
"torchdiffeq==0.2.5",
"qwen_vl_utils==0.0.11"
"lerobot[transformers-dep]",
"lerobot[peft]",
"lerobot[scipy-dep]",
"torchdiffeq>=0.2.4,<0.3.0",
"lerobot[qwen-vl-utils-dep]",
]
pi = ["transformers @ git+https://github.com/huggingface/transformers.git@fix/lerobot_openpi", "scipy>=1.10.1,<1.15"]
pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]"]
smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>=1.7.0,<2.0.0", "safetensors>=0.4.3,<1.0.0"]
multi_task_dit = ["lerobot[transformers-dep]"]
groot = [
"lerobot[transformers-dep]",
"peft>=0.13.0,<1.0.0",
"lerobot[peft]",
"dm-tree>=0.1.8,<1.0.0",
"timm>=1.0.0,<1.1.0",
"safetensors>=0.4.3,<1.0.0",
@@ -140,13 +157,13 @@ groot = [
"ninja>=1.11.1,<2.0.0",
"flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
]
sarm = ["lerobot[transformers-dep]", "faker>=33.0.0,<35.0.0", "matplotlib>=3.10.3,<4.0.0", "qwen-vl-utils>=0.0.14,<0.1.0"]
sarm = ["lerobot[transformers-dep]", "faker>=33.0.0,<35.0.0", "lerobot[matplotlib-dep]", "lerobot[qwen-vl-utils-dep]"]
xvla = ["lerobot[transformers-dep]"]
hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
# Features
async = ["lerobot[grpcio-dep]", "matplotlib>=3.10.3,<4.0.0"]
peft = ["lerobot[transformers-dep]", "peft>=0.18.0,<1.0.0"]
async = ["lerobot[grpcio-dep]", "lerobot[matplotlib-dep]"]
peft = ["lerobot[transformers-dep]", "lerobot[peft-dep]"]
audio = ["sounddevice>=0.5.1,<0.6.0", "soundfile>=0.13.1,<0.14.0", "librosa>=0.11.0,<0.12.0", "torchaudio>=2.6.0,<2.10.0"]
# Development
@@ -155,13 +172,19 @@ test = ["pytest>=8.1.0,<9.0.0", "pytest-timeout>=2.4.0,<3.0.0", "pytest-cov>=5.0
video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
# Simulation
aloha = ["gym-aloha>=0.1.2,<0.2.0"]
# NOTE: Explicitly listing scipy helps flatten the dependecy tree.
aloha = ["gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
pusht = ["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[transformers-dep]", "hf-libero>=0.1.3,<0.2.0"]
metaworld = ["metaworld==3.0.0"]
libero = ["lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
metaworld = ["metaworld==3.0.0", "lerobot[scipy-dep]"]
# All
all = [
# 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
# the loose scipy requirements from transitive deps like dm-control and metaworld.
"scipy>=1.14.0,<2.0.0",
"lerobot[dynamixel]",
"lerobot[gamepad]",
"lerobot[hopejr]",
@@ -169,8 +192,8 @@ all = [
"lerobot[reachy2]",
"lerobot[kinematics]",
"lerobot[intelrealsense]",
# "lerobot[wallx]",
# "lerobot[pi]", TODO(Pepijn): Update pi to transformers v5
"lerobot[wallx]",
"lerobot[pi]",
"lerobot[smolvla]",
# "lerobot[groot]", TODO(Steven): Gr00t requires specific installation instructions for flash-attn
"lerobot[xvla]",
@@ -183,10 +206,11 @@ all = [
"lerobot[aloha]",
"lerobot[pusht]",
"lerobot[phone]",
"lerobot[libero]",
"lerobot[libero]; sys_platform == 'linux'",
"lerobot[metaworld]",
"lerobot[sarm]",
"lerobot[peft]",
# "lerobot[unitree_g1]", TODO: Unitree requires specific installation instructions for unitree_sdk2
]
[project.scripts]
@@ -205,13 +229,17 @@ lerobot-info="lerobot.scripts.lerobot_info:main"
lerobot-find-joint-limits="lerobot.scripts.lerobot_find_joint_limits:main"
lerobot-imgtransform-viz="lerobot.scripts.lerobot_imgtransform_viz:main"
lerobot-edit-dataset="lerobot.scripts.lerobot_edit_dataset:main"
lerobot-setup-can="lerobot.scripts.lerobot_setup_can:main"
# ---------------- Tool Configurations ----------------
[tool.setuptools.package-data]
lerobot = ["envs/*.json"]
[tool.setuptools.packages.find]
where = ["src"]
[tool.ruff]
target-version = "py310"
target-version = "py312"
line-length = 110
exclude = ["tests/artifacts/**/*.safetensors", "*_pb2.py", "*_pb2_grpc.py"]
@@ -280,6 +308,7 @@ default.extend-ignore-identifiers-re = [
"thw",
"inpt",
"ROBOTIS",
"OT_VALUE"
]
# TODO: Uncomment when ready to use
@@ -302,7 +331,7 @@ default.extend-ignore-identifiers-re = [
# Uncomment [tool.mypy] first, then uncomment individual module overrides as they get proper type annotations
[tool.mypy]
python_version = "3.10"
python_version = "3.12"
ignore_missing_imports = true
follow_imports = "skip"
# warn_return_any = true
@@ -354,9 +383,9 @@ ignore_errors = false
module = "lerobot.cameras.*"
ignore_errors = false
# [[tool.mypy.overrides]]
# module = "lerobot.motors.*"
# ignore_errors = false
[[tool.mypy.overrides]]
module = "lerobot.motors.*"
ignore_errors = false
# [[tool.mypy.overrides]]
# module = "lerobot.robots.*"
@@ -386,85 +415,3 @@ ignore_errors = false
# [[tool.mypy.overrides]]
# module = "lerobot.scripts.*"
# ignore_errors = false
[tool.uv]
# wallx requires transformers==4.49.0 which conflicts with other extras that need >=4.53.0
conflicts = [
[
{ extra = "wallx" },
{ extra = "transformers-dep" },
],
[
{ extra = "wallx" },
{ extra = "pi" },
],
[
{ extra = "wallx" },
{ extra = "smolvla" },
],
[
{ extra = "wallx" },
{ extra = "groot" },
],
[
{ extra = "wallx" },
{ extra = "xvla" },
],
[
{ extra = "wallx" },
{ extra = "sarm" },
],
[
{ extra = "wallx" },
{ extra = "hilserl" },
],
[
{ extra = "wallx" },
{ extra = "libero" },
],
[
{ extra = "wallx" },
{ extra = "peft" },
],
[
{ extra = "wallx" },
{ extra = "all" },
],
# pi uses custom branch which conflicts with transformers-dep
[
{ extra = "pi" },
{ extra = "transformers-dep" },
],
[
{ extra = "pi" },
{ extra = "smolvla" },
],
[
{ extra = "pi" },
{ extra = "groot" },
],
[
{ extra = "pi" },
{ extra = "xvla" },
],
[
{ extra = "pi" },
{ extra = "sarm" },
],
[
{ extra = "pi" },
{ extra = "hilserl" },
],
[
{ extra = "pi" },
{ extra = "libero" },
],
[
{ extra = "pi" },
{ extra = "peft" },
],
[
{ extra = "pi" },
{ extra = "all" },
],
]