minor docs fixes and dependencies

pyproject.toml

@@ -119,6 +119,7 @@ intelrealsense = [
 
 # Policies
 pi0 = ["lerobot[transformers-dep]"]
+pi05 = ["lerobot[transformers-dep]"]
 smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14", "accelerate>=1.7.0", "safetensors>=0.4.3"]
 hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.9", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
 
@@ -145,6 +146,7 @@ all = [
     "lerobot[kinematics]",
     "lerobot[intelrealsense]",
     "lerobot[pi0]",
+    "lerobot[pi05]",
     "lerobot[smolvla]",
     "lerobot[hilserl]",
     "lerobot[async]",

src/lerobot/policies/pi05_openpi/README.md

@@ -47,11 +47,10 @@ pip install transformers==4.53.2
 
 | Feature              | π₀                                                     | π₀.₅                                      |
 | -------------------- | ------------------------------------------------------ | ----------------------------------------- |
-| State Embedding      | Uses `state_proj` layer                                | No state embedding                        |
 | Time Conditioning    | Concatenates time with actions via `action_time_mlp_*` | Uses `time_mlp_*` for AdaRMS conditioning |
 | AdaRMS               | Not used                                               | Used in action expert                     |
 | Tokenizer Length     | 48 tokens                                              | 200 tokens                                |
-| Discrete State Input | False                                                  | True                                      |
+| Discrete State Input | False (Uses `state_proj` layer)                        | True                                      |
 | Parameter Count      | Higher (includes state embedding)                      | Lower (no state embedding)                |
 
 ---
@@ -86,7 +85,3 @@ If you use this work, please cite both **OpenPI** and the π₀.₅ paper:
 ## License
 
 This port follows the **Apache 2.0 License**, consistent with the original [OpenPI repository](https://github.com/Physical-Intelligence/openpi).
-
-```
-
-```

src/lerobot/policies/pi05_openpi/configuration_pi05openpi.py

@@ -13,6 +13,7 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
 from dataclasses import dataclass, field
 
 from lerobot.configs.policies import PreTrainedConfig

src/lerobot/policies/pi0_openpi/README.md

@@ -47,11 +47,10 @@ pip install transformers==4.53.2
 
 | Feature              | π₀                                                     | π₀.₅                                      |
 | -------------------- | ------------------------------------------------------ | ----------------------------------------- |
-| State Embedding      | Uses `state_proj` layer                                | No state embedding                        |
 | Time Conditioning    | Concatenates time with actions via `action_time_mlp_*` | Uses `time_mlp_*` for AdaRMS conditioning |
 | AdaRMS               | Not used                                               | Used in action expert                     |
 | Tokenizer Length     | 48 tokens                                              | 200 tokens                                |
-| Discrete State Input | False                                                  | True                                      |
+| Discrete State Input | False (Uses `state_proj` layer)                        | True                                      |
 | Parameter Count      | Higher (includes state embedding)                      | Lower (no state embedding)                |
 
 ---
@@ -86,7 +85,3 @@ If you use this work, please cite both **OpenPI** and the π₀ paper:
 ## License
 
 This port follows the **Apache 2.0 License**, consistent with the original [OpenPI repository](https://github.com/Physical-Intelligence/openpi).
-
-```
-
-```

src/lerobot/policies/pi0_openpi/configuration_pi0openpi.py

@@ -13,6 +13,7 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
 from dataclasses import dataclass, field
 
 from lerobot.configs.policies import PreTrainedConfig

tests/policies/test_pi0_original_vs_lerobot.py

@@ -2,7 +2,12 @@
 
 import os
 
+import pytest
 import torch
+
+# Skip entire module if openpi is not available
+pytest.importorskip("openpi")
+
 from openpi.models_pytorch import preprocessing_pytorch as openpi_preprocessing
 
 # NOTE: Assumes PYTHONPATH is set to include OpenPI src as per instructions.