refactor import fixes

docs/source/il_robots.mdx

@@ -201,7 +201,7 @@ from lerobot.datasets.utils import hw_to_dataset_features
 from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 from lerobot.teleoperators.so_leader.config_so100_leader import SO100LeaderConfig
 from lerobot.teleoperators.so_leader.so100_leader import SO100Leader
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 from lerobot.scripts.lerobot_record import record_loop
@@ -540,7 +540,7 @@ from lerobot.policies.factory import make_pre_post_processors
 from lerobot.robots.so_follower.config_so100_follower import SO100FollowerConfig
 from lerobot.robots.so_follower.so100_follower import SO100Follower
 from lerobot.scripts.lerobot_record import record_loop
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/dataset/load_lerobot_dataset.py

@@ -31,17 +31,12 @@ from pprint import pprint
 import torch
 from huggingface_hub import HfApi
 
-import lerobot
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 
 
 def main():
-    # We ported a number of existing datasets ourselves, use this to see the list:
+    # Browse datasets created/ported by the community on the hub using the hub api:
-    print("List of available datasets:")
-    pprint(lerobot.available_datasets)
-
-    # You can also browse through the datasets created/ported by the community on the hub using the hub api:
     hub_api = HfApi()
     repo_ids = [info.id for info in hub_api.list_datasets(task_categories="robotics", tags=["LeRobot"])]
     pprint(repo_ids)

examples/hil/hil_data_collection.py

@@ -114,9 +114,9 @@ from hil_utils import (
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
+from lerobot.common.control_utils import is_headless, predict_action
 from lerobot.configs import parser
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.datasets.feature_utils import build_dataset_frame, combine_feature_dicts, hw_to_dataset_features
 from lerobot.datasets.image_writer import safe_stop_image_writer
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
@@ -141,8 +141,8 @@ from lerobot.teleoperators import Teleoperator, TeleoperatorConfig, make_teleope
 from lerobot.teleoperators.openarm_mini.config_openarm_mini import OpenArmMiniConfig  # noqa: F401
 from lerobot.teleoperators.so_leader.config_so_leader import SOLeaderTeleopConfig  # noqa: F401
 from lerobot.utils.constants import ACTION, OBS_STATE, OBS_STR
-from lerobot.utils.control_utils import is_headless, predict_action
 from lerobot.utils.device_utils import get_safe_torch_device
+from lerobot.utils.feature_utils import build_dataset_frame, combine_feature_dicts, hw_to_dataset_features
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import init_logging, log_say
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data

examples/hil/hil_utils.py

@@ -19,6 +19,7 @@ import time
 from dataclasses import dataclass, field
 from pathlib import Path
 
+from lerobot.common.control_utils import is_headless
 from lerobot.processor import (
     IdentityProcessorStep,
     RobotAction,
@@ -33,7 +34,6 @@ from lerobot.processor.converters import (
 )
 from lerobot.robots import Robot
 from lerobot.teleoperators import Teleoperator
-from lerobot.utils.control_utils import is_headless
 from lerobot.utils.robot_utils import precise_sleep
 
 logger = logging.getLogger(__name__)

examples/lekiwi/evaluate.py

@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.datasets.feature_utils import hw_to_dataset_features
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
@@ -22,7 +22,7 @@ from lerobot.processor import make_default_processors
 from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.utils.constants import ACTION, OBS_STR
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.feature_utils import hw_to_dataset_features
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/lekiwi/record.py

@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.datasets.feature_utils import hw_to_dataset_features
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.processor import make_default_processors
 from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
@@ -23,7 +23,7 @@ from lerobot.scripts.lerobot_record import record_loop
 from lerobot.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
 from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
 from lerobot.utils.constants import ACTION, OBS_STR
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.feature_utils import hw_to_dataset_features
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/phone_to_so100/evaluate.py

@@ -15,8 +15,8 @@
 # limitations under the License.
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.datasets.feature_utils import combine_feature_dicts
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
@@ -39,7 +39,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 )
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.types import RobotAction, RobotObservation
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.feature_utils import combine_feature_dicts
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/phone_to_so100/record.py

@@ -15,7 +15,7 @@
 # limitations under the License.
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.feature_utils import combine_feature_dicts
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
@@ -39,7 +39,7 @@ from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
 from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
 from lerobot.teleoperators.phone.teleop_phone import Phone
 from lerobot.types import RobotAction, RobotObservation
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.feature_utils import combine_feature_dicts
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/rtc/eval_with_real_robot.py

@@ -107,7 +107,6 @@ from lerobot.cameras.zmq.configuration_zmq import ZMQCameraConfig  # noqa: F401
 from lerobot.configs import parser
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import RTCAttentionSchedule
-from lerobot.datasets.feature_utils import build_dataset_frame, hw_to_dataset_features
 from lerobot.policies.factory import get_policy_class, make_pre_post_processors
 from lerobot.policies.rtc import ActionInterpolator, ActionQueue, LatencyTracker, RTCConfig
 from lerobot.processor import (
@@ -133,6 +132,7 @@ from lerobot.robots import (  # noqa: F401
 )
 from lerobot.robots.utils import make_robot_from_config
 from lerobot.utils.constants import OBS_IMAGES, OBS_STATE
+from lerobot.utils.feature_utils import build_dataset_frame, hw_to_dataset_features
 from lerobot.utils.hub import HubMixin
 from lerobot.utils.utils import init_logging
 

examples/so100_to_so100_EE/evaluate.py

@@ -15,8 +15,8 @@
 # limitations under the License.
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.datasets.feature_utils import combine_feature_dicts
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
@@ -39,7 +39,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 )
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.types import RobotAction, RobotObservation
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.feature_utils import combine_feature_dicts
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/so100_to_so100_EE/record.py

@@ -16,7 +16,7 @@
 
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.feature_utils import combine_feature_dicts
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
@@ -36,7 +36,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
 from lerobot.types import RobotAction, RobotObservation
-from lerobot.utils.control_utils import init_keyboard_listener
+from lerobot.utils.feature_utils import combine_feature_dicts
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/training/train_policy.py

@@ -20,11 +20,11 @@ import torch
 
 from lerobot.configs.types import FeatureType
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.feature_utils import dataset_to_policy_features
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
 from lerobot.policies.factory import make_pre_post_processors
+from lerobot.utils.feature_utils import dataset_to_policy_features
 
 
 def main():

examples/training/train_with_streaming.py

@@ -21,12 +21,12 @@ import torch
 
 from lerobot.configs.types import FeatureType
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.feature_utils import dataset_to_policy_features
 from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.utils.constants import ACTION
+from lerobot.utils.feature_utils import dataset_to_policy_features
 
 
 def main():

examples/tutorial/act/act_training_example.py

@@ -6,11 +6,11 @@ import torch
 
 from lerobot.configs.types import FeatureType
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.feature_utils import dataset_to_policy_features
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
+from lerobot.utils.feature_utils import dataset_to_policy_features
 
 
 def make_delta_timestamps(delta_indices: list[int] | None, fps: int) -> list[float]:

examples/tutorial/diffusion/diffusion_training_example.py

@@ -6,11 +6,11 @@ import torch
 
 from lerobot.configs.types import FeatureType
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.feature_utils import dataset_to_policy_features
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
 from lerobot.policies.factory import make_pre_post_processors
+from lerobot.utils.feature_utils import dataset_to_policy_features
 
 
 def make_delta_timestamps(delta_indices: list[int] | None, fps: int) -> list[float]:

examples/tutorial/pi0/using_pi0_example.py

@@ -1,11 +1,11 @@
 import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.feature_utils import hw_to_dataset_features
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.policies.pi0.modeling_pi0 import PI0Policy
 from lerobot.policies.utils import build_inference_frame, make_robot_action
 from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
+from lerobot.utils.feature_utils import hw_to_dataset_features
 
 MAX_EPISODES = 5
 MAX_STEPS_PER_EPISODE = 20

examples/tutorial/rl/hilserl_example.py

@@ -6,7 +6,6 @@ from queue import Empty, Full
 import torch
 import torch.optim as optim
 
-from lerobot.datasets.feature_utils import hw_to_dataset_features
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.envs.configs import HILSerlProcessorConfig, HILSerlRobotEnvConfig
 from lerobot.policies.sac.configuration_sac import SACConfig
@@ -17,6 +16,7 @@ from lerobot.rl.gym_manipulator import make_robot_env
 from lerobot.robots.so_follower import SO100FollowerConfig
 from lerobot.teleoperators.so_leader import SO100LeaderConfig
 from lerobot.teleoperators.utils import TeleopEvents
+from lerobot.utils.feature_utils import hw_to_dataset_features
 
 LOG_EVERY = 10
 SEND_EVERY = 10

examples/tutorial/smolvla/using_smolvla_example.py

@@ -1,11 +1,11 @@
 import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.feature_utils import hw_to_dataset_features
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy
 from lerobot.policies.utils import build_inference_frame, make_robot_action
 from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
+from lerobot.utils.feature_utils import hw_to_dataset_features
 
 MAX_EPISODES = 5
 MAX_STEPS_PER_EPISODE = 20

pyproject.toml

@@ -115,7 +115,8 @@ build = [
 # ── User-facing composite extras (map to CLI scripts) ─────
 # lerobot-record, lerobot-replay, lerobot-calibrate, lerobot-teleoperate, etc.
 robot = ["lerobot[dataset]", "lerobot[hardware]", "lerobot[viz]"]
-# lerobot-eval -- base evaluation framework. You also need the policy's extra (e.g., lerobot[pi]).
+# lerobot-eval -- base evaluation framework. You also need the policy's extra (e.g., lerobot[pi])
+# and the environment's extra (e.g., lerobot[pusht]) if evaluating in simulation.
 evaluation = ["lerobot[av-dep]"]
 # lerobot-dataset-viz, lerobot-imgtransform-viz
 dataset_viz = ["lerobot[dataset]", "lerobot[viz]"]
@@ -307,6 +308,8 @@ ignore = [
 "src/lerobot/policies/smolvla/smolvlm_with_expert.py" = ["E402"]
 "src/lerobot/policies/xvla/modeling_xvla.py" = ["E402"]
 "src/lerobot/policies/sarm/processor_sarm.py" = ["E402"]
+"src/lerobot/scripts/convert_dataset_v21_to_v30.py" = ["E402"]
+"src/lerobot/teleoperators/unitree_g1/exo_serial.py" = ["E402"]
 "src/lerobot/policies/wall_x/**" = ["N801", "N812", "SIM102", "SIM108", "SIM210", "SIM211", "B006", "B007", "SIM118"] # Supprese these as they are coming from original Qwen2_5_vl code TODO(pepijn): refactor original
 
 [tool.ruff.lint.isort]

src/lerobot/__init__.py

@@ -13,188 +13,24 @@
 # 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.
+
 """
-This file contains lists of available environments, dataset and policies to reflect the current state of LeRobot library.
+LeRobot -- PyTorch library for real-world robotics.
-We do not want to import all the dependencies, but instead we keep it lightweight to ensure fast access to these variables.
 
-Example:
+Provides datasets, pretrained policies, and tools for training, evaluation,
-    ```python
+data collection, and robot control. Integrates with Hugging Face Hub for
-        import lerobot
+model and dataset sharing.
-        print(lerobot.available_envs)
-        print(lerobot.available_tasks_per_env)
-        print(lerobot.available_datasets)
-        print(lerobot.available_datasets_per_env)
-        print(lerobot.available_real_world_datasets)
-        print(lerobot.available_policies)
-        print(lerobot.available_policies_per_env)
-        print(lerobot.available_robots)
-        print(lerobot.available_cameras)
-        print(lerobot.available_motors)
-    ```
 
-When implementing a new dataset loadable with LeRobotDataset follow these steps:
+The base install is intentionally lightweight. Feature-specific dependencies
-- Update `available_datasets_per_env` in `lerobot/__init__.py`
+are gated behind optional extras::
 
-When implementing a new environment (e.g. `gym_aloha`), follow these steps:
+    pip install 'lerobot[dataset]'   # dataset loading & creation
-- Update `available_tasks_per_env` and `available_datasets_per_env` in `lerobot/__init__.py`
+    pip install 'lerobot[training]'  # training loop + wandb
-
+    pip install 'lerobot[hardware]'  # real robot control
-When implementing a new policy class (e.g. `DiffusionPolicy`) follow these steps:
+    pip install 'lerobot[robot]'     # dataset + hardware + viz (recording)
-- Update `available_policies` and `available_policies_per_env`, in `lerobot/__init__.py`
+    pip install 'lerobot[all]'       # everything
-- Set the required `name` class attribute.
-- Update variables in `tests/test_available.py` by importing your new Policy class
 """
 
-import itertools
+from lerobot.__version__ import __version__
 
-from lerobot.__version__ import __version__  # noqa: F401
+__all__ = ["__version__"]
-
-# TODO(rcadene): Improve policies and envs. As of now, an item in `available_policies`
-# refers to a yaml file AND a modeling name. Same for `available_envs` which refers to
-# a yaml file AND a environment name. The difference should be more obvious.
-available_tasks_per_env = {
-    "aloha": [
-        "AlohaInsertion-v0",
-        "AlohaTransferCube-v0",
-    ],
-    "pusht": ["PushT-v0"],
-}
-available_envs = list(available_tasks_per_env.keys())
-
-available_datasets_per_env = {
-    "aloha": [
-        "lerobot/aloha_sim_insertion_human",
-        "lerobot/aloha_sim_insertion_scripted",
-        "lerobot/aloha_sim_transfer_cube_human",
-        "lerobot/aloha_sim_transfer_cube_scripted",
-        "lerobot/aloha_sim_insertion_human_image",
-        "lerobot/aloha_sim_insertion_scripted_image",
-        "lerobot/aloha_sim_transfer_cube_human_image",
-        "lerobot/aloha_sim_transfer_cube_scripted_image",
-    ],
-    # TODO(alexander-soare): Add "lerobot/pusht_keypoints". Right now we can't because this is too tightly
-    # coupled with tests.
-    "pusht": ["lerobot/pusht", "lerobot/pusht_image"],
-}
-
-available_real_world_datasets = [
-    "lerobot/aloha_mobile_cabinet",
-    "lerobot/aloha_mobile_chair",
-    "lerobot/aloha_mobile_elevator",
-    "lerobot/aloha_mobile_shrimp",
-    "lerobot/aloha_mobile_wash_pan",
-    "lerobot/aloha_mobile_wipe_wine",
-    "lerobot/aloha_static_battery",
-    "lerobot/aloha_static_candy",
-    "lerobot/aloha_static_coffee",
-    "lerobot/aloha_static_coffee_new",
-    "lerobot/aloha_static_cups_open",
-    "lerobot/aloha_static_fork_pick_up",
-    "lerobot/aloha_static_pingpong_test",
-    "lerobot/aloha_static_pro_pencil",
-    "lerobot/aloha_static_screw_driver",
-    "lerobot/aloha_static_tape",
-    "lerobot/aloha_static_thread_velcro",
-    "lerobot/aloha_static_towel",
-    "lerobot/aloha_static_vinh_cup",
-    "lerobot/aloha_static_vinh_cup_left",
-    "lerobot/aloha_static_ziploc_slide",
-    "lerobot/umi_cup_in_the_wild",
-    "lerobot/unitreeh1_fold_clothes",
-    "lerobot/unitreeh1_rearrange_objects",
-    "lerobot/unitreeh1_two_robot_greeting",
-    "lerobot/unitreeh1_warehouse",
-    "lerobot/nyu_rot_dataset",
-    "lerobot/utokyo_saytap",
-    "lerobot/imperialcollege_sawyer_wrist_cam",
-    "lerobot/utokyo_xarm_bimanual",
-    "lerobot/tokyo_u_lsmo",
-    "lerobot/utokyo_pr2_opening_fridge",
-    "lerobot/cmu_franka_exploration_dataset",
-    "lerobot/cmu_stretch",
-    "lerobot/asu_table_top",
-    "lerobot/utokyo_pr2_tabletop_manipulation",
-    "lerobot/utokyo_xarm_pick_and_place",
-    "lerobot/ucsd_kitchen_dataset",
-    "lerobot/austin_buds_dataset",
-    "lerobot/dlr_sara_grid_clamp",
-    "lerobot/conq_hose_manipulation",
-    "lerobot/columbia_cairlab_pusht_real",
-    "lerobot/dlr_sara_pour",
-    "lerobot/dlr_edan_shared_control",
-    "lerobot/ucsd_pick_and_place_dataset",
-    "lerobot/berkeley_cable_routing",
-    "lerobot/nyu_franka_play_dataset",
-    "lerobot/austin_sirius_dataset",
-    "lerobot/cmu_play_fusion",
-    "lerobot/berkeley_gnm_sac_son",
-    "lerobot/nyu_door_opening_surprising_effectiveness",
-    "lerobot/berkeley_fanuc_manipulation",
-    "lerobot/jaco_play",
-    "lerobot/viola",
-    "lerobot/kaist_nonprehensile",
-    "lerobot/berkeley_mvp",
-    "lerobot/uiuc_d3field",
-    "lerobot/berkeley_gnm_recon",
-    "lerobot/austin_sailor_dataset",
-    "lerobot/utaustin_mutex",
-    "lerobot/roboturk",
-    "lerobot/stanford_hydra_dataset",
-    "lerobot/berkeley_autolab_ur5",
-    "lerobot/stanford_robocook",
-    "lerobot/toto",
-    "lerobot/fmb",
-    "lerobot/droid_100",
-    "lerobot/berkeley_rpt",
-    "lerobot/stanford_kuka_multimodal_dataset",
-    "lerobot/iamlab_cmu_pickup_insert",
-    "lerobot/taco_play",
-    "lerobot/berkeley_gnm_cory_hall",
-    "lerobot/usc_cloth_sim",
-]
-
-available_datasets = sorted(
-    set(itertools.chain(*available_datasets_per_env.values(), available_real_world_datasets))
-)
-
-# lists all available policies from `lerobot/policies`
-available_policies = ["act", "diffusion", "tdmpc", "vqbet"]
-
-# lists all available robots from `lerobot/robots`
-available_robots = [
-    "koch",
-    "koch_bimanual",
-    "aloha",
-    "so100",
-    "so101",
-]
-
-# lists all available cameras from `lerobot/cameras`
-available_cameras = [
-    "opencv",
-    "intelrealsense",
-]
-
-# lists all available motors from `lerobot/motors`
-available_motors = [
-    "dynamixel",
-    "feetech",
-]
-
-# keys and values refer to yaml files
-available_policies_per_env = {
-    "aloha": ["act"],
-    "pusht": ["diffusion", "vqbet"],
-    "koch_real": ["act_koch_real"],
-    "aloha_real": ["act_aloha_real"],
-}
-
-env_task_pairs = [(env, task) for env, tasks in available_tasks_per_env.items() for task in tasks]
-env_dataset_pairs = [
-    (env, dataset) for env, datasets in available_datasets_per_env.items() for dataset in datasets
-]
-env_dataset_policy_triplets = [
-    (env, dataset, policy)
-    for env, datasets in available_datasets_per_env.items()
-    for dataset in datasets
-    for policy in available_policies_per_env[env]
-]

src/lerobot/cameras/reachy2_camera/__init__.py

@@ -14,3 +14,5 @@
 
 from .configuration_reachy2_camera import Reachy2CameraConfig
 from .reachy2_camera import Reachy2Camera
+
+__all__ = ["Reachy2Camera", "Reachy2CameraConfig"]

src/lerobot/cameras/realsense/__init__.py

@@ -14,3 +14,5 @@
 
 from .camera_realsense import RealSenseCamera
 from .configuration_realsense import RealSenseCameraConfig
+
+__all__ = ["RealSenseCamera", "RealSenseCameraConfig"]

src/lerobot/common/__init__.py

@@ -0,0 +1,8 @@
+"""
+Cross-cutting modules that bridge multiple lerobot packages.
+
+Unlike ``lerobot.utils`` (which must remain dependency-free), modules here
+are allowed to import from ``lerobot.policies``, ``lerobot.processor``,
+``lerobot.configs``, etc.  They are deliberately NOT re-exported from the
+top-level ``lerobot`` package.
+"""

src/lerobot/common/control_utils.py

@@ -217,12 +217,12 @@ def sanity_check_dataset_robot_compatibility(
     Raises:
         ValueError: If any of the checked metadata fields do not match.
     """
-    from .import_utils import require_package
+    from lerobot.utils.import_utils import require_package
 
     require_package("deepdiff", extra="hardware")
     from deepdiff import DeepDiff
 
-    from .constants import DEFAULT_FEATURES
+    from lerobot.utils.constants import DEFAULT_FEATURES
 
     fields = [
         ("robot_type", dataset.meta.robot_type, robot.robot_type),

src/lerobot/common/train_utils.py

@@ -27,16 +27,15 @@ from lerobot.optim import (
 )
 from lerobot.policies import PreTrainedPolicy
 from lerobot.processor import PolicyProcessorPipeline
-
+from lerobot.utils.constants import (
-from .constants import (
     CHECKPOINTS_DIR,
     LAST_CHECKPOINT_LINK,
     PRETRAINED_MODEL_DIR,
     TRAINING_STATE_DIR,
     TRAINING_STEP,
 )
-from .io_utils import load_json, write_json
+from lerobot.utils.io_utils import load_json, write_json
-from .random_utils import load_rng_state, save_rng_state
+from lerobot.utils.random_utils import load_rng_state, save_rng_state
 
 
 def get_step_identifier(step: int, total_steps: int) -> str:

src/lerobot/datasets/__init__.py

@@ -18,6 +18,7 @@
 from lerobot.utils.import_utils import require_package
 
 require_package("datasets", extra="dataset")
+require_package("av", extra="dataset")
 
 from .compute_stats import aggregate_stats, get_feature_stats
 from .dataset_metadata import CODEBASE_VERSION, LeRobotDatasetMetadata

src/lerobot/datasets/video_utils.py

@@ -263,7 +263,10 @@ class VideoDecoderCache:
         if importlib.util.find_spec("torchcodec"):
             from torchcodec.decoders import VideoDecoder
         else:
-            raise ImportError("torchcodec is required but not available.")
+            raise ImportError(
+                "'torchcodec' is required but not installed. "
+                "Install it with: pip install 'lerobot[dataset]' (or uv pip install 'lerobot[dataset]')"
+            )
 
         video_path = str(video_path)
 

src/lerobot/motors/damiao/__init__.py

@@ -15,4 +15,6 @@
 # limitations under the License.
 
 from .damiao import DamiaoMotorsBus
-from .tables import *
+from .tables import *  # noqa: F403 — hardware constant tables
+
+__all__ = ["DamiaoMotorsBus"]

src/lerobot/motors/dynamixel/__init__.py

@@ -19,4 +19,6 @@ from lerobot.utils.import_utils import require_package
 require_package("dynamixel-sdk", extra="dynamixel", import_name="dynamixel_sdk")
 
 from .dynamixel import DriveMode, DynamixelMotorsBus, OperatingMode, TorqueMode
-from .tables import *
+from .tables import *  # noqa: F403 — hardware constant tables
+
+__all__ = ["DriveMode", "DynamixelMotorsBus", "OperatingMode", "TorqueMode"]

src/lerobot/motors/feetech/__init__.py

@@ -19,4 +19,6 @@ from lerobot.utils.import_utils import require_package
 require_package("feetech-servo-sdk", extra="feetech", import_name="scservo_sdk")
 
 from .feetech import DriveMode, FeetechMotorsBus, OperatingMode, TorqueMode
-from .tables import *
+from .tables import *  # noqa: F403 — hardware constant tables
+
+__all__ = ["DriveMode", "FeetechMotorsBus", "OperatingMode", "TorqueMode"]

src/lerobot/motors/robstride/__init__.py

@@ -15,4 +15,6 @@
 # limitations under the License.
 
 from .robstride import RobstrideMotorsBus
-from .tables import *
+from .tables import *  # noqa: F403 — hardware constant tables
+
+__all__ = ["RobstrideMotorsBus"]

src/lerobot/policies/act/__init__.py

@@ -0,0 +1,5 @@
+from .configuration_act import ACTConfig
+from .modeling_act import ACTPolicy
+from .processor_act import make_act_pre_post_processors
+
+__all__ = ["ACTConfig", "ACTPolicy", "make_act_pre_post_processors"]

src/lerobot/policies/diffusion/__init__.py

@@ -0,0 +1,5 @@
+from .configuration_diffusion import DiffusionConfig
+from .modeling_diffusion import DiffusionPolicy
+from .processor_diffusion import make_diffusion_pre_post_processors
+
+__all__ = ["DiffusionConfig", "DiffusionPolicy", "make_diffusion_pre_post_processors"]

src/lerobot/policies/groot/__init__.py

@@ -14,10 +14,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.utils.import_utils import require_package
-
-require_package("transformers", extra="groot")
-
 from .configuration_groot import GrootConfig
 from .modeling_groot import GrootPolicy
 from .processor_groot import make_groot_pre_post_processors

src/lerobot/policies/sac/__init__.py

@@ -0,0 +1,5 @@
+from .configuration_sac import SACConfig
+from .modeling_sac import SACPolicy
+from .processor_sac import make_sac_pre_post_processors
+
+__all__ = ["SACConfig", "SACPolicy", "make_sac_pre_post_processors"]

src/lerobot/policies/sac/reward_model/__init__.py

@@ -0,0 +1,5 @@
+from .configuration_classifier import RewardClassifierConfig
+from .modeling_classifier import Classifier
+from .processor_classifier import make_classifier_processor
+
+__all__ = ["RewardClassifierConfig", "Classifier", "make_classifier_processor"]

src/lerobot/policies/smolvla/__init__.py

@@ -0,0 +1,7 @@
+from .configuration_smolvla import SmolVLAConfig
+from .processor_smolvla import (
+    SmolVLANewLineProcessor,
+    make_smolvla_pre_post_processors,
+)
+
+__all__ = ["SmolVLAConfig", "SmolVLANewLineProcessor", "make_smolvla_pre_post_processors"]

src/lerobot/policies/tdmpc/__init__.py

@@ -0,0 +1,5 @@
+from .configuration_tdmpc import TDMPCConfig
+from .modeling_tdmpc import TDMPCPolicy
+from .processor_tdmpc import make_tdmpc_pre_post_processors
+
+__all__ = ["TDMPCConfig", "TDMPCPolicy", "make_tdmpc_pre_post_processors"]

src/lerobot/policies/vqbet/__init__.py

@@ -0,0 +1,5 @@
+from .configuration_vqbet import VQBeTConfig
+from .modeling_vqbet import VQBeTPolicy
+from .processor_vqbet import make_vqbet_pre_post_processors
+
+__all__ = ["VQBeTConfig", "VQBeTPolicy", "make_vqbet_pre_post_processors"]

src/lerobot/policies/wall_x/__init__.py

@@ -15,5 +15,6 @@
 # limitations under the License.
 
 from .configuration_wall_x import WallXConfig
+from .processor_wall_x import make_wall_x_pre_post_processors
 
-__all__ = ["WallXConfig"]
+__all__ = ["WallXConfig", "make_wall_x_pre_post_processors"]

src/lerobot/policies/xvla/__init__.py

@@ -1,6 +1,13 @@
-# register the processor steps
+from .configuration_xvla import XVLAConfig
 from .processor_xvla import (
     XVLAAddDomainIdProcessorStep,
     XVLAImageNetNormalizeProcessorStep,
     XVLAImageToFloatProcessorStep,
 )
+
+__all__ = [
+    "XVLAConfig",
+    "XVLAAddDomainIdProcessorStep",
+    "XVLAImageNetNormalizeProcessorStep",
+    "XVLAImageToFloatProcessorStep",
+]

src/lerobot/rl/learner.py

@@ -60,6 +60,12 @@ from torch.multiprocessing import Queue
 from torch.optim.optimizer import Optimizer
 
 from lerobot.cameras import opencv  # noqa: F401
+from lerobot.common.train_utils import (
+    get_step_checkpoint_dir,
+    load_training_state as utils_load_training_state,
+    save_checkpoint,
+    update_last_checkpoint,
+)
 from lerobot.configs import parser
 from lerobot.configs.train import TrainRLServerPipelineConfig
 from lerobot.datasets import LeRobotDataset, make_dataset
@@ -84,12 +90,6 @@ from lerobot.utils.constants import (
 )
 from lerobot.utils.device_utils import get_safe_torch_device
 from lerobot.utils.random_utils import set_seed
-from lerobot.utils.train_utils import (
-    get_step_checkpoint_dir,
-    load_training_state as utils_load_training_state,
-    save_checkpoint,
-    update_last_checkpoint,
-)
 from lerobot.utils.transition import move_state_dict_to_device, move_transition_to_device
 from lerobot.utils.utils import (
     format_big_number,

src/lerobot/robots/bi_so_follower/__init__.py

@@ -16,3 +16,5 @@
 
 from .bi_so_follower import BiSOFollower
 from .config_bi_so_follower import BiSOFollowerConfig
+
+__all__ = ["BiSOFollower", "BiSOFollowerConfig"]

src/lerobot/robots/hope_jr/__init__.py

@@ -17,3 +17,5 @@
 from .config_hope_jr import HopeJrArmConfig, HopeJrHandConfig
 from .hope_jr_arm import HopeJrArm
 from .hope_jr_hand import HopeJrHand
+
+__all__ = ["HopeJrArm", "HopeJrArmConfig", "HopeJrHand", "HopeJrHandConfig"]

src/lerobot/robots/koch_follower/__init__.py

@@ -16,3 +16,5 @@
 
 from .config_koch_follower import KochFollowerConfig
 from .koch_follower import KochFollower
+
+__all__ = ["KochFollower", "KochFollowerConfig"]

src/lerobot/robots/lekiwi/__init__.py

@@ -14,10 +14,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.utils.import_utils import require_package
-
-require_package("pyzmq", extra="lekiwi", import_name="zmq")
-
 from .config_lekiwi import LeKiwiClientConfig, LeKiwiConfig
 from .lekiwi import LeKiwi
 from .lekiwi_client import LeKiwiClient
+
+__all__ = ["LeKiwi", "LeKiwiClient", "LeKiwiClientConfig", "LeKiwiConfig"]

src/lerobot/robots/omx_follower/__init__.py

@@ -19,3 +19,5 @@
 
 from .config_omx_follower import OmxFollowerConfig
 from .omx_follower import OmxFollower
+
+__all__ = ["OmxFollower", "OmxFollowerConfig"]

src/lerobot/robots/reachy2/__init__.py

@@ -23,3 +23,13 @@ from .robot_reachy2 import (
     REACHY2_VEL,
     Reachy2Robot,
 )
+
+__all__ = [
+    "REACHY2_ANTENNAS_JOINTS",
+    "REACHY2_L_ARM_JOINTS",
+    "REACHY2_NECK_JOINTS",
+    "REACHY2_R_ARM_JOINTS",
+    "REACHY2_VEL",
+    "Reachy2Robot",
+    "Reachy2RobotConfig",
+]

src/lerobot/robots/so_follower/__init__.py

@@ -21,3 +21,13 @@ from .config_so_follower import (
     SOFollowerRobotConfig,
 )
 from .so_follower import SO100Follower, SO101Follower, SOFollower
+
+__all__ = [
+    "SO100Follower",
+    "SO100FollowerConfig",
+    "SO101Follower",
+    "SO101FollowerConfig",
+    "SOFollower",
+    "SOFollowerConfig",
+    "SOFollowerRobotConfig",
+]

src/lerobot/scripts/convert_dataset_v21_to_v30.py

@@ -51,6 +51,10 @@ import shutil
 from pathlib import Path
 from typing import Any
 
+from lerobot.utils.import_utils import require_package
+
+require_package("jsonlines", extra="dataset")
+
 import jsonlines
 import pandas as pd
 import pyarrow as pa

src/lerobot/scripts/lerobot_record.py

@@ -81,6 +81,13 @@ from lerobot.cameras.opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.reachy2_camera import Reachy2CameraConfig  # noqa: F401
 from lerobot.cameras.realsense import RealSenseCameraConfig  # noqa: F401
 from lerobot.cameras.zmq import ZMQCameraConfig  # noqa: F401
+from lerobot.common.control_utils import (
+    init_keyboard_listener,
+    is_headless,
+    predict_action,
+    sanity_check_dataset_name,
+    sanity_check_dataset_robot_compatibility,
+)
 from lerobot.configs import PreTrainedConfig, parser
 from lerobot.datasets import (
     LeRobotDataset,
@@ -137,13 +144,6 @@ from lerobot.teleoperators import (  # noqa: F401
 )
 from lerobot.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop
 from lerobot.utils.constants import ACTION, OBS_STR
-from lerobot.utils.control_utils import (
-    init_keyboard_listener,
-    is_headless,
-    predict_action,
-    sanity_check_dataset_name,
-    sanity_check_dataset_robot_compatibility,
-)
 from lerobot.utils.device_utils import get_safe_torch_device
 from lerobot.utils.feature_utils import build_dataset_frame, combine_feature_dicts
 from lerobot.utils.import_utils import register_third_party_plugins

src/lerobot/scripts/lerobot_train.py

@@ -28,6 +28,13 @@ from termcolor import colored
 from torch.optim import Optimizer
 from tqdm import tqdm
 
+from lerobot.common.train_utils import (
+    get_step_checkpoint_dir,
+    get_step_identifier,
+    load_training_state,
+    save_checkpoint,
+    update_last_checkpoint,
+)
 from lerobot.configs import parser
 from lerobot.configs.train import TrainPipelineConfig
 from lerobot.datasets import EpisodeAwareSampler, make_dataset
@@ -38,13 +45,6 @@ from lerobot.rl.wandb_utils import WandBLogger
 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 (
-    get_step_checkpoint_dir,
-    get_step_identifier,
-    load_training_state,
-    save_checkpoint,
-    update_last_checkpoint,
-)
 from lerobot.utils.utils import (
     cycle,
     format_big_number,

src/lerobot/teleoperators/bi_so_leader/__init__.py

@@ -15,3 +15,5 @@
 # limitations under the License.
 
 from .bi_so_leader import BiSOLeader, BiSOLeaderConfig
+
+__all__ = ["BiSOLeader", "BiSOLeaderConfig"]

src/lerobot/teleoperators/gamepad/__init__.py

@@ -16,3 +16,5 @@
 
 from .configuration_gamepad import GamepadTeleopConfig
 from .teleop_gamepad import GamepadTeleop
+
+__all__ = ["GamepadTeleop", "GamepadTeleopConfig"]

src/lerobot/teleoperators/homunculus/__init__.py

@@ -18,3 +18,11 @@ from .config_homunculus import HomunculusArmConfig, HomunculusGloveConfig
 from .homunculus_arm import HomunculusArm
 from .homunculus_glove import HomunculusGlove
 from .joints_translation import homunculus_glove_to_hope_jr_hand
+
+__all__ = [
+    "HomunculusArm",
+    "HomunculusArmConfig",
+    "HomunculusGlove",
+    "HomunculusGloveConfig",
+    "homunculus_glove_to_hope_jr_hand",
+]

src/lerobot/teleoperators/keyboard/teleop_keyboard.py

@@ -23,6 +23,7 @@ from typing import Any
 
 from lerobot.types import RobotAction
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
+from lerobot.utils.import_utils import is_package_available
 
 from ..teleoperator import Teleoperator
 from ..utils import TeleopEvents
@@ -32,20 +33,18 @@ from .configuration_keyboard import (
     KeyboardTeleopConfig,
 )
 
-PYNPUT_AVAILABLE = True
+PYNPUT_AVAILABLE = is_package_available("pynput")
-try:
+keyboard = None
-    if ("DISPLAY" not in os.environ) and ("linux" in sys.platform):
+if PYNPUT_AVAILABLE:
-        logging.info("No DISPLAY set. Skipping pynput import.")
+    try:
-        raise ImportError("pynput blocked intentionally due to no display.")
+        if ("DISPLAY" not in os.environ) and ("linux" in sys.platform):
-
+            logging.info("No DISPLAY set. Skipping pynput import.")
-    from pynput import keyboard
+            PYNPUT_AVAILABLE = False
-except ImportError:
+        else:
-    keyboard = None
+            from pynput import keyboard
-    PYNPUT_AVAILABLE = False
+    except Exception as e:
-except Exception as e:
+        PYNPUT_AVAILABLE = False
-    keyboard = None
+        logging.info(f"Could not import pynput: {e}")
-    PYNPUT_AVAILABLE = False
-    logging.info(f"Could not import pynput: {e}")
 
 
 class KeyboardTeleop(Teleoperator):

src/lerobot/teleoperators/koch_leader/__init__.py

@@ -16,3 +16,5 @@
 
 from .config_koch_leader import KochLeaderConfig
 from .koch_leader import KochLeader
+
+__all__ = ["KochLeader", "KochLeaderConfig"]

src/lerobot/teleoperators/omx_leader/__init__.py

@@ -16,3 +16,5 @@
 
 from .config_omx_leader import OmxLeaderConfig
 from .omx_leader import OmxLeader
+
+__all__ = ["OmxLeader", "OmxLeaderConfig"]

src/lerobot/teleoperators/phone/__init__.py

@@ -16,3 +16,5 @@
 
 from .config_phone import PhoneConfig
 from .teleop_phone import Phone
+
+__all__ = ["Phone", "PhoneConfig"]

src/lerobot/teleoperators/reachy2_teleoperator/__init__.py

@@ -23,3 +23,13 @@ from .reachy2_teleoperator import (
     REACHY2_VEL,
     Reachy2Teleoperator,
 )
+
+__all__ = [
+    "REACHY2_ANTENNAS_JOINTS",
+    "REACHY2_L_ARM_JOINTS",
+    "REACHY2_NECK_JOINTS",
+    "REACHY2_R_ARM_JOINTS",
+    "REACHY2_VEL",
+    "Reachy2Teleoperator",
+    "Reachy2TeleoperatorConfig",
+]

src/lerobot/teleoperators/so_leader/__init__.py

@@ -21,3 +21,13 @@ from .config_so_leader import (
     SOLeaderTeleopConfig,
 )
 from .so_leader import SO100Leader, SO101Leader, SOLeader
+
+__all__ = [
+    "SO100Leader",
+    "SO100LeaderConfig",
+    "SO101Leader",
+    "SO101LeaderConfig",
+    "SOLeader",
+    "SOLeaderConfig",
+    "SOLeaderTeleopConfig",
+]

src/lerobot/teleoperators/unitree_g1/exo_serial.py

@@ -19,6 +19,10 @@ import logging
 from dataclasses import dataclass
 from pathlib import Path
 
+from lerobot.utils.import_utils import require_package
+
+require_package("pyserial", extra="hardware", import_name="serial")
+
 import serial
 
 from .exo_calib import ExoskeletonCalibration, exo_raw_to_angles, run_exo_calibration

src/lerobot/utils/__init__.py

@@ -15,10 +15,9 @@
 """
 Public API for lightweight, base-dependency-only utilities.
 
-Heavy utility modules (train_utils, control_utils, visualization_utils)
+Heavy cross-cutting modules (train_utils, control_utils) have been moved
-are intentionally NOT re-exported here to avoid pulling in optional
+to ``lerobot.common``. ``visualization_utils`` remains here but is
-dependencies. Import them directly, e.g.:
+intentionally NOT re-exported to avoid pulling in optional dependencies.
-``from lerobot.utils.train_utils import save_checkpoint``
 """
 
 from .constants import (

tests/datasets/test_datasets.py

@@ -26,7 +26,6 @@ from PIL import Image
 from safetensors.torch import load_file
 from torchvision.transforms import v2
 
-import lerobot
 from lerobot.configs.default import DatasetConfig
 from lerobot.configs.train import TrainPipelineConfig
 from lerobot.datasets import make_dataset
@@ -494,13 +493,28 @@ def test_tmp_mixed_deletion(tmp_path, empty_lerobot_dataset_factory):
 # - [ ] remove old tests
 
 
+ENV_DATASET_POLICY_TRIPLETS = [
+    ("aloha", dataset, "act")
+    for dataset in [
+        "lerobot/aloha_sim_insertion_human",
+        "lerobot/aloha_sim_insertion_scripted",
+        "lerobot/aloha_sim_transfer_cube_human",
+        "lerobot/aloha_sim_transfer_cube_scripted",
+        "lerobot/aloha_sim_insertion_human_image",
+        "lerobot/aloha_sim_insertion_scripted_image",
+        "lerobot/aloha_sim_transfer_cube_human_image",
+        "lerobot/aloha_sim_transfer_cube_scripted_image",
+    ]
+] + [
+    ("pusht", dataset, policy)
+    for dataset in ["lerobot/pusht", "lerobot/pusht_image"]
+    for policy in ["diffusion", "vqbet"]
+]
+
+
 @pytest.mark.parametrize(
     "env_name, repo_id, policy_name",
-    # Single dataset
+    ENV_DATASET_POLICY_TRIPLETS,
-    lerobot.env_dataset_policy_triplets,
-    # Multi-dataset
-    # TODO after fix multidataset
-    # + [("aloha", ["lerobot/aloha_sim_insertion_human", "lerobot/aloha_sim_transfer_cube_human"], "act")],
 )
 def test_factory(env_name, repo_id, policy_name):
     """

tests/envs/test_envs.py

@@ -23,7 +23,6 @@ import torch
 from gymnasium.envs.registration import register, registry as gym_registry
 from gymnasium.utils.env_checker import check_env
 
-import lerobot
 from lerobot.configs.types import PolicyFeature
 from lerobot.envs.configs import EnvConfig
 from lerobot.envs.factory import make_env, make_env_config
@@ -36,9 +35,16 @@ from tests.utils import require_env
 
 OBS_TYPES = ["state", "pixels", "pixels_agent_pos"]
 
+ENV_TASK_PAIRS = [
+    ("aloha", "AlohaInsertion-v0"),
+    ("aloha", "AlohaTransferCube-v0"),
+    ("pusht", "PushT-v0"),
+]
+AVAILABLE_ENVS = ["aloha", "pusht"]
+
 
 @pytest.mark.parametrize("obs_type", OBS_TYPES)
-@pytest.mark.parametrize("env_name, env_task", lerobot.env_task_pairs)
+@pytest.mark.parametrize("env_name, env_task", ENV_TASK_PAIRS)
 @require_env
 def test_env(env_name, env_task, obs_type):
     if env_name == "aloha" and obs_type == "state":
@@ -51,7 +57,7 @@ def test_env(env_name, env_task, obs_type):
     env.close()
 
 
-@pytest.mark.parametrize("env_name", lerobot.available_envs)
+@pytest.mark.parametrize("env_name", AVAILABLE_ENVS)
 @require_env
 def test_factory(env_name):
     cfg = make_env_config(env_name)

tests/policies/test_policies.py

@@ -23,7 +23,6 @@ import torch
 from packaging import version
 from safetensors.torch import load_file
 
-from lerobot import available_policies
 from lerobot.configs.default import DatasetConfig
 from lerobot.configs.train import TrainPipelineConfig
 from lerobot.configs.types import FeatureType, PolicyFeature
@@ -49,6 +48,8 @@ from lerobot.utils.utils import cycle
 from tests.artifacts.policies.save_policy_to_safetensors import get_policy_stats
 from tests.utils import DEVICE, require_cpu, require_env, require_x86_64_kernel
 
+AVAILABLE_POLICIES = ["act", "diffusion", "tdmpc", "vqbet"]
+
 
 @pytest.fixture
 def dummy_dataset_metadata(lerobot_dataset_metadata_factory, info_factory, tmp_path):
@@ -84,7 +85,7 @@ def dummy_dataset_metadata(lerobot_dataset_metadata_factory, info_factory, tmp_p
     return ds_meta
 
 
-@pytest.mark.parametrize("policy_name", available_policies)
+@pytest.mark.parametrize("policy_name", AVAILABLE_POLICIES)
 def test_get_policy_and_config_classes(policy_name: str):
     """Check that the correct policy and config classes are returned."""
     policy_cls = get_policy_class(policy_name)
@@ -255,7 +256,7 @@ def test_act_backbone_lr():
     assert len(optimizer.param_groups[1]["params"]) == 20
 
 
-@pytest.mark.parametrize("policy_name", available_policies)
+@pytest.mark.parametrize("policy_name", AVAILABLE_POLICIES)
 def test_policy_defaults(dummy_dataset_metadata, policy_name: str):
     """Check that the policy can be instantiated with defaults."""
     policy_cls = get_policy_class(policy_name)
@@ -268,7 +269,7 @@ def test_policy_defaults(dummy_dataset_metadata, policy_name: str):
     policy_cls(policy_cfg)
 
 
-@pytest.mark.parametrize("policy_name", available_policies)
+@pytest.mark.parametrize("policy_name", AVAILABLE_POLICIES)
 def test_save_and_load_pretrained(dummy_dataset_metadata, tmp_path, policy_name: str):
     policy_cls = get_policy_class(policy_name)
     policy_cfg = make_policy_config(policy_name)

tests/test_available.py

@@ -13,48 +13,11 @@
 # 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.
-import importlib
-
-import gymnasium as gym
-import pytest
 
 import lerobot
-from lerobot.policies.act.modeling_act import ACTPolicy
-from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
-from lerobot.policies.tdmpc.modeling_tdmpc import TDMPCPolicy
-from lerobot.policies.vqbet.modeling_vqbet import VQBeTPolicy
-from tests.utils import require_env
 
 
-@pytest.mark.parametrize("env_name, task_name", lerobot.env_task_pairs)
+def test_version():
-@require_env
+    """Verify the package exposes a version string."""
-def test_available_env_task(env_name: str, task_name: list):
+    assert isinstance(lerobot.__version__, str)
-    """
+    assert len(lerobot.__version__) > 0
-    This test verifies that all environments listed in `lerobot/__init__.py` can
-    be successfully imported — if they're installed — and that their
-    `available_tasks_per_env` are valid.
-    """
-    package_name = f"gym_{env_name}"
-    importlib.import_module(package_name)
-    gym_handle = f"{package_name}/{task_name}"
-    assert gym_handle in gym.envs.registry, gym_handle
-
-
-def test_available_policies():
-    """
-    This test verifies that the class attribute `name` for all policies is
-    consistent with those listed in `lerobot/__init__.py`.
-    """
-    policy_classes = [ACTPolicy, DiffusionPolicy, TDMPCPolicy, VQBeTPolicy]
-    policies = [pol_cls.name for pol_cls in policy_classes]
-    assert set(policies) == set(lerobot.available_policies), policies
-
-
-def test_print():
-    print(lerobot.available_envs)
-    print(lerobot.available_tasks_per_env)
-    print(lerobot.available_datasets)
-    print(lerobot.available_datasets_per_env)
-    print(lerobot.available_real_world_datasets)
-    print(lerobot.available_policies)
-    print(lerobot.available_policies_per_env)

tests/utils.py

@@ -20,22 +20,37 @@ from functools import wraps
 import pytest
 import torch
 
-from lerobot import available_cameras, available_motors, available_robots
 from lerobot.utils.device_utils import auto_select_torch_device
 from lerobot.utils.import_utils import is_package_available
 
 DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", str(auto_select_torch_device()))
 
+AVAILABLE_ROBOTS = [
+    "koch",
+    "koch_bimanual",
+    "aloha",
+    "so100",
+    "so101",
+]
+AVAILABLE_CAMERAS = [
+    "opencv",
+    "intelrealsense",
+]
+AVAILABLE_MOTORS = [
+    "dynamixel",
+    "feetech",
+]
+
 TEST_ROBOT_TYPES = []
-for robot_type in available_robots:
+for robot_type in AVAILABLE_ROBOTS:
     TEST_ROBOT_TYPES += [(robot_type, True), (robot_type, False)]
 
 TEST_CAMERA_TYPES = []
-for camera_type in available_cameras:
+for camera_type in AVAILABLE_CAMERAS:
     TEST_CAMERA_TYPES += [(camera_type, True), (camera_type, False)]
 
 TEST_MOTOR_TYPES = []
-for motor_type in available_motors:
+for motor_type in AVAILABLE_MOTORS:
     TEST_MOTOR_TYPES += [(motor_type, True), (motor_type, False)]
 
 # Camera indices used for connecting physical cameras

tests/utils/test_train_utils.py

@@ -17,6 +17,16 @@
 from pathlib import Path
 from unittest.mock import Mock, patch
 
+from lerobot.common.train_utils import (
+    get_step_checkpoint_dir,
+    get_step_identifier,
+    load_training_state,
+    load_training_step,
+    save_checkpoint,
+    save_training_state,
+    save_training_step,
+    update_last_checkpoint,
+)
 from lerobot.utils.constants import (
     CHECKPOINTS_DIR,
     LAST_CHECKPOINT_LINK,
@@ -27,16 +37,6 @@ from lerobot.utils.constants import (
     TRAINING_STATE_DIR,
     TRAINING_STEP,
 )
-from lerobot.utils.train_utils import (
-    get_step_checkpoint_dir,
-    get_step_identifier,
-    load_training_state,
-    load_training_step,
-    save_checkpoint,
-    save_training_state,
-    save_training_step,
-    update_last_checkpoint,
-)
 
 
 def test_get_step_identifier():
@@ -72,7 +72,7 @@ def test_update_last_checkpoint(tmp_path):
     assert last_checkpoint.resolve() == checkpoint
 
 
-@patch("lerobot.utils.train_utils.save_training_state")
+@patch("lerobot.common.train_utils.save_training_state")
 def test_save_checkpoint(mock_save_training_state, tmp_path, optimizer):
     policy = Mock()
     cfg = Mock()
@@ -82,7 +82,7 @@ def test_save_checkpoint(mock_save_training_state, tmp_path, optimizer):
     mock_save_training_state.assert_called_once()
 
 
-@patch("lerobot.utils.train_utils.save_training_state")
+@patch("lerobot.common.train_utils.save_training_state")
 def test_save_checkpoint_peft(mock_save_training_state, tmp_path, optimizer):
     policy = Mock()
     policy.config = Mock()