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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/utils/import_utils.py
+3 -3
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@@ -130,14 +130,14 @@ def make_device_from_device_class(config: ChoiceRegistry) -> Any:
)
def register_third_party_devices() -> None:
def register_third_party_plugins() -> None:
"""
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_' or 'lerobot_teleoperator_' and imports them.
'lerobot_robot_', 'lerobot_camera_', 'lerobot_teleoperator_' or 'lerobot_policy_' and imports them.
"""
prefixes = ("lerobot_robot_", "lerobot_camera_", "lerobot_teleoperator_")
prefixes = ("lerobot_robot_", "lerobot_camera_", "lerobot_teleoperator_", "lerobot_policy_")
imported: list[str] = []
failed: list[str] = []