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Merge remote-tracking branch 'upstream/main' into feature/add-multitask-dit

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# Conflicts:
#	pyproject.toml
#	src/lerobot/policies/pi_gemma.py
#	tests/policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py
#	tests/policies/pi0_pi05/test_pi0.py
#	tests/policies/pi0_pi05/test_pi05.py
This commit is contained in:
Bryson Jones
2026-03-05 07:32:09 -08:00
parent cb296ee58f 92fba37225
commit b2a32b8076
65 changed files with 952 additions and 275 deletions
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pyproject.toml
+16 -10
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@@ -25,7 +25,7 @@ discord = "https://discord.gg/s3KuuzsPFb"
[project]
name = "lerobot"
version = "0.4.4"
version = "0.4.5"
description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
dynamic = ["readme"]
license = { text = "Apache-2.0" }
@@ -96,9 +96,12 @@ dependencies = [
# Common
pygame-dep = ["pygame>=2.5.1,<2.7.0"]
placo-dep = ["placo>=0.9.6,<0.10.0"]
transformers-dep = ["transformers>=5.1.0,<6.0.0"]
transformers-dep = ["transformers>=5.3.0,<6.0.0"]
grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
can-dep = ["python-can>=4.2.0,<5.0.0"]
peft-dep = ["peft>=0.18.0,<1.0.0"]
scipy-dep = ["scipy>=1.14.0,<2.0.0"]
qwen-vl-utils-dep = ["qwen-vl-utils>=0.0.11,<0.1.0"]
# Motors
feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0"]
@@ -130,17 +133,17 @@ phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0", "fastapi<1.0"]
# Policies
wallx = [
"lerobot[transformers-dep]",
"peft>=0.18.0,<1.0.0",
"scipy==1.15.3", # TODO: Relax version
"torchdiffeq==0.2.5", # TODO: Relax version
"qwen-vl-utils==0.0.11" # TODO: Relax version
"lerobot[peft]",
"lerobot[scipy-dep]",
"torchdiffeq>=0.2.4,<0.3.0",
"lerobot[qwen-vl-utils-dep]",
]
pi = ["lerobot[transformers-dep]", "scipy==1.15.3"] # TODO: Relax scipy version
pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]"]
smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>=1.7.0,<2.0.0", "safetensors>=0.4.3,<1.0.0"]
multi_task_dit = ["lerobot[transformers-dep]"]
groot = [
"lerobot[transformers-dep]",
"peft>=0.13.0,<1.0.0",
"lerobot[peft]",
"dm-tree>=0.1.8,<1.0.0",
"timm>=1.0.0,<1.1.0",
"safetensors>=0.4.3,<1.0.0",
@@ -149,13 +152,13 @@ groot = [
"ninja>=1.11.1,<2.0.0",
"flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
]
sarm = ["lerobot[transformers-dep]", "faker>=33.0.0,<35.0.0", "matplotlib>=3.10.3,<4.0.0", "qwen-vl-utils>=0.0.11,<0.1.0"]
sarm = ["lerobot[transformers-dep]", "faker>=33.0.0,<35.0.0", "matplotlib>=3.10.3,<4.0.0", "lerobot[qwen-vl-utils-dep]"]
xvla = ["lerobot[transformers-dep]"]
hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
# Features
async = ["lerobot[grpcio-dep]", "matplotlib>=3.10.3,<4.0.0"]
peft = ["lerobot[transformers-dep]", "peft>=0.18.0,<1.0.0"]
peft = ["lerobot[transformers-dep]", "lerobot[peft-dep]"]
# Development
dev = ["pre-commit>=3.7.0,<5.0.0", "debugpy>=1.8.1,<1.9.0", "lerobot[grpcio-dep]", "grpcio-tools==1.73.1", "mypy>=1.19.1"]
@@ -215,6 +218,9 @@ lerobot-edit-dataset="lerobot.scripts.lerobot_edit_dataset:main"
lerobot-setup-can="lerobot.scripts.lerobot_setup_can:main"
# ---------------- Tool Configurations ----------------
[tool.setuptools.package-data]
lerobot = ["envs/*.json"]
[tool.setuptools.packages.find]
where = ["src"]