big imports refactor

pyproject.toml

@@ -98,7 +98,6 @@ training = [
     "lerobot[dataset]",
     "accelerate>=1.10.0,<2.0.0",
     "wandb>=0.24.0,<0.25.0",
-    "diffusers>=0.27.2,<0.36.0",
 ]
 hardware = [
     "pynput>=1.7.8,<1.9.0",
@@ -116,7 +115,7 @@ 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
+# lerobot-eval -- base evaluation framework. You also need the policy's extra (e.g., lerobot[pi]).
 evaluation = ["lerobot[av-dep]"]
 # lerobot-dataset-viz, lerobot-imgtransform-viz
 dataset_viz = ["lerobot[dataset]", "lerobot[viz]"]
@@ -130,6 +129,7 @@ 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"]
+diffusers-dep = ["diffusers>=0.27.2,<0.36.0"]
 qwen-vl-utils-dep = ["qwen-vl-utils>=0.0.11,<0.1.0"]
 matplotlib-dep = ["matplotlib>=3.10.3,<4.0.0", "contourpy>=1.3.0,<2.0.0"] # NOTE: Explicitly listing contourpy helps the resolver converge faster.
 
@@ -162,6 +162,7 @@ intelrealsense = [
 phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0", "fastapi<1.0", "lerobot[scipy-dep]"]
 
 # Policies
+diffusion = ["lerobot[diffusers-dep]"]
 wallx = [
     "lerobot[transformers-dep]",
     "lerobot[peft]",
@@ -171,10 +172,11 @@ wallx = [
 ]
 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"]
-multi_task_dit = ["lerobot[transformers-dep]"]
+multi_task_dit = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]"]
 groot = [
     "lerobot[transformers-dep]",
     "lerobot[peft]",
+    "lerobot[diffusers-dep]",
     "dm-tree>=0.1.8,<1.0.0",
     "timm>=1.0.0,<1.1.0",
     "Pillow>=10.0.0,<13.0.0",
@@ -222,6 +224,7 @@ all = [
     "lerobot[reachy2]",
     "lerobot[kinematics]",
     "lerobot[intelrealsense]",
+    "lerobot[diffusion]",
     "lerobot[wallx]",
     "lerobot[pi]",
     "lerobot[smolvla]",
@@ -299,6 +302,11 @@ ignore = [
 
 [tool.ruff.lint.per-file-ignores]
 "__init__.py" = ["F401", "F403", "E402"]
+# E402: require_package() guards must precede the imports they protect
+"src/lerobot/policies/wall_x/modeling_wall_x.py" = ["E402"]
+"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/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]