Merge remote-tracking branch 'origin/main' into user/khalil-meftah/2026-02-16-rl-stack-refactor

examples/tutorial/act/act_training_example.py

@@ -4,13 +4,11 @@ from pathlib import Path
 
 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.configs import FeatureType
+from lerobot.datasets import LeRobotDataset, LeRobotDatasetMetadata
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.act import ACTConfig, ACTPolicy
+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/act/act_using_example.py

@@ -1,9 +1,9 @@
 import torch
 
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.policies.act.modeling_act import ACTPolicy
-from lerobot.policies.factory import make_pre_post_processors
+from lerobot.cameras.opencv import OpenCVCameraConfig
+from lerobot.datasets import LeRobotDatasetMetadata
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.act import ACTPolicy
 from lerobot.policies.utils import build_inference_frame, make_robot_action
 from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 

examples/tutorial/async-inf/robot_client.py

@@ -3,7 +3,7 @@ import threading
 from lerobot.async_inference.configs import RobotClientConfig
 from lerobot.async_inference.helpers import visualize_action_queue_size
 from lerobot.async_inference.robot_client import RobotClient
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.robots.so_follower import SO100FollowerConfig
 
 

examples/tutorial/diffusion/diffusion_training_example.py

@@ -4,13 +4,11 @@ from pathlib import Path
 
 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.configs import FeatureType
+from lerobot.datasets import LeRobotDataset, LeRobotDatasetMetadata
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.diffusion import DiffusionConfig, DiffusionPolicy
+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_using_example.py

@@ -1,9 +1,9 @@
 import torch
 
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
-from lerobot.policies.factory import make_pre_post_processors
+from lerobot.cameras.opencv import OpenCVCameraConfig
+from lerobot.datasets import LeRobotDatasetMetadata
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.diffusion import DiffusionPolicy
 from lerobot.policies.utils import build_inference_frame, make_robot_action
 from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 

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.cameras.opencv import OpenCVCameraConfig
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.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

@@ -5,18 +5,18 @@ from queue import Empty, Full
 
 import torch
 
-from lerobot.datasets.feature_utils import hw_to_dataset_features
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 from lerobot.envs.configs import HILSerlProcessorConfig, HILSerlRobotEnvConfig
-from lerobot.policies.sac.configuration_sac import SACConfig
+from lerobot.policies import SACConfig
 from lerobot.policies.sac.modeling_sac import SACPolicy
 from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
 from lerobot.rl.algorithms.sac import SACAlgorithm, SACAlgorithmConfig
 from lerobot.rl.buffer import ReplayBuffer
 from lerobot.rl.gym_manipulator import make_robot_env
 from lerobot.robots.so_follower import SO100FollowerConfig
+from lerobot.teleoperators import TeleopEvents
 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/rl/reward_classifier_example.py

@@ -1,8 +1,7 @@
 import torch
 
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.policies.factory import make_policy, make_pre_post_processors
-from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
+from lerobot.datasets import LeRobotDataset
+from lerobot.policies import RewardClassifierConfig, make_policy, make_pre_post_processors
 
 
 def main():

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.cameras.opencv import OpenCVCameraConfig
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.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