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feat(policies): Allow users to register 3rd party policies - pip install lerobot_policy_mypolicy (#2308)

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* feat: Register external policies

* ruff fix

* move policy util functions to policy factory

* refactor register_third_party_devices -> register_third_party_plugins

* feat: Update docs with bring your own policies

* Improve docs for new policies

* fix: Inconsistent quotation marks

* fix: Remove print statement

* fix: wrong base class name in documentation

* fix: Handle better how the models are parsed

* fix: precommit passing

* Update docs/source/bring_your_own_policies.mdx

Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Signed-off-by: Daniel San José Pro <42489409+danielsanjosepro@users.noreply.github.com>

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Signed-off-by: Daniel San José Pro <42489409+danielsanjosepro@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Daniel San José Pro
2025-12-03 12:09:24 +01:00
committed by GitHub
parent 0b497fc37d
commit 9ec9ee781a
10 changed files with 271 additions and 14 deletions
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src/lerobot/scripts/lerobot_record.py
+2 -2
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@@ -118,7 +118,7 @@ from lerobot.utils.control_utils import (
sanity_check_dataset_name,
sanity_check_dataset_robot_compatibility,
)
from lerobot.utils.import_utils import register_third_party_devices
from lerobot.utils.import_utils import register_third_party_plugins
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import (
get_safe_torch_device,
@@ -512,7 +512,7 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
def main():
register_third_party_devices()
register_third_party_plugins()
record()