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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_train.py
+2
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@@ -36,6 +36,7 @@ from lerobot.policies.factory import make_policy, make_pre_post_processors
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.rl.wandb_utils import WandBLogger
from lerobot.scripts.lerobot_eval import eval_policy_all
from lerobot.utils.import_utils import register_third_party_plugins
from lerobot.utils.logging_utils import AverageMeter, MetricsTracker
from lerobot.utils.random_utils import set_seed
from lerobot.utils.train_utils import (
@@ -446,6 +447,7 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
def main():
register_third_party_plugins()
train()