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feat(dependencies): minimal default tag install (#3362)

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Steven Palma
2026-04-12 20:03:04 +02:00
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@@ -116,6 +116,8 @@ brew install ffmpeg
## Step 3: Install LeRobot 🤗
The base `lerobot` install is intentionally **lightweight** — it includes only core ML dependencies (PyTorch, torchvision, numpy, opencv, einops, draccus, huggingface-hub, gymnasium, safetensors). Heavier dependencies are gated behind optional extras so you only install what you need.
### From Source
First, clone the repository and navigate into the directory:
@@ -131,12 +133,16 @@ Then, install the library in editable mode. This is useful if you plan to contri
<hfoptions id="install_lerobot_src">
<hfoption id="conda">
```bash
pip install -e .
pip install -e ".[core_scripts]" # For robot workflows (recording, replaying, calibrate)
pip install -e ".[training]" # For training policies
pip install -e ".[all]" # Everything (all policies, envs, hardware, dev tools)
```
</hfoption>
<hfoption id="uv">
```bash
uv pip install -e .
uv pip install -e ".[core_scripts]" # For robot workflows (recording, replaying, calibrate)
uv pip install -e ".[training]" # For training policies
uv pip install -e ".[all]" # Everything (all policies, envs, hardware, dev tools)
```
</hfoption>
</hfoptions>
@@ -162,26 +168,48 @@ uv pip install lerobot
</hfoptions>
<!-- prettier-ignore-end -->
_This installs only the default dependencies._
_This installs only the core ML dependencies. You will need to add extras for most workflows._
**Extra Features:**
To install additional functionality, use one of the following (If you are using `uv`, replace `pip install` with `uv pip install` in the commands below.):
**Feature Extras:**
LeRobot provides **feature-scoped extras** that map to common workflows. If you are using `uv`, replace `pip install` with `uv pip install` in the commands below.
| Extra | What it adds | Typical use case |
| ---------- | ------------------------------------------- | ----------------------------------- |
| `dataset` | `datasets`, `av`, `torchcodec`, `jsonlines` | Loading & creating datasets |
| `training` | `dataset` + `accelerate`, `wandb` | Training policies |
| `hardware` | `pynput`, `pyserial`, `deepdiff` | Connecting to real robots |
| `viz` | `rerun-sdk` | Visualization during recording/eval |
**Composite Extras** combine feature extras for common CLI scripts:
| Extra | Includes | Typical use case |
| -------------- | ------------------------------ | ------------------------------------------------------- |
| `core_scripts` | `dataset` + `hardware` + `viz` | `lerobot-record`, `lerobot-replay`, `lerobot-calibrate` |
| `evaluation` | `av` | `lerobot-eval` (add policy + env extras as needed) |
| `dataset_viz` | `dataset` + `viz` | `lerobot-dataset-viz`, `lerobot-imgtransform-viz` |
```bash
pip install 'lerobot[all]' # All available features
pip install 'lerobot[aloha,pusht]' # Specific features (Aloha & Pusht)
pip install 'lerobot[feetech]' # Feetech motor support
pip install 'lerobot[core_scripts]' # Record, replay, calibrate
pip install 'lerobot[training]' # Train policies
pip install 'lerobot[core_scripts,training]' # Record + train
pip install 'lerobot[all]' # Everything
```
_Replace `[...]` with your desired features._
**Policy, environment, and hardware extras** are still available for specific dependencies:
**Available Tags:**
For a full list of optional dependencies, see:
https://pypi.org/project/lerobot/
```bash
pip install 'lerobot[pi]' # Pi0/Pi0.5/Pi0-FAST policy deps
pip install 'lerobot[smolvla]' # SmolVLA policy deps
pip install 'lerobot[diffusion]' # Diffusion policy deps (diffusers)
pip install 'lerobot[aloha,pusht]' # Simulation environments
pip install 'lerobot[feetech]' # Feetech motor support
```
_Multiple extras can be combined (e.g., `.[core_scripts,pi,pusht]`). For a full list of available extras, refer to `pyproject.toml`._
### Troubleshooting
If you encounter build errors, you may need to install additional dependencies: `cmake`, `build-essential`, and `ffmpeg libs`.
If you encounter build errors, you may need to install additional system dependencies: `cmake`, `build-essential`, and `ffmpeg libs`.
To install these for Linux run:
```bash
@@ -196,8 +224,8 @@ LeRobot provides optional extras for specific functionalities. Multiple extras c
### Simulations
Install environment packages: `aloha` ([gym-aloha](https://github.com/huggingface/gym-aloha)), or `pusht` ([gym-pusht](https://github.com/huggingface/gym-pusht))
Example:
Install environment packages: `aloha` ([gym-aloha](https://github.com/huggingface/gym-aloha)), or `pusht` ([gym-pusht](https://github.com/huggingface/gym-pusht)).
These automatically include the `dataset` extra.
```bash
pip install -e ".[aloha]" # or "[pusht]" for example
@@ -213,7 +241,7 @@ pip install -e ".[feetech]" # or "[dynamixel]" for example
### Experiment Tracking
To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with
Weights and Biases is included in the `training` extra. To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with:
```bash
wandb login