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feat(dependencies): minimal default tag install (#3362)
This commit is contained in:
Steven Palma
+82
-39
@@ -58,45 +58,74 @@ classifiers = [
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keywords = ["lerobot", "huggingface", "robotics", "machine learning", "artificial intelligence"]
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dependencies = [
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# Hugging Face dependencies
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"datasets>=4.0.0,<5.0.0",
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"diffusers>=0.27.2,<0.36.0",
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"huggingface-hub>=1.0.0,<2.0.0",
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"accelerate>=1.10.0,<2.0.0",
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# Core dependencies
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"numpy>=2.0.0,<2.3.0", # NOTE: Explicitly listing numpy helps the resolver converge faster. Upper bound imposed by opencv-python-headless.
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"setuptools>=71.0.0,<81.0.0",
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"cmake>=3.29.0.1,<4.2.0",
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"packaging>=24.2,<26.0",
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# Core ML
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"torch>=2.7,<2.11.0",
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"torchcodec>=0.3.0,<0.11.0; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')", # NOTE: Windows support starts at version 0.7 (needs torch==2.8), ffmpeg>=8 support starts at version 0.8.1 (needs torch==2.9), system-wide ffmpeg support starts at version 0.10 (needs torch==2.10).
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"torchvision>=0.22.0,<0.26.0",
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"einops>=0.8.0,<0.9.0",
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"numpy>=2.0.0,<2.3.0", # NOTE: Explicitly listing numpy helps the resolver converge faster. Upper bound imposed by opencv-python-headless.
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"opencv-python-headless>=4.9.0,<4.14.0",
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"av>=15.0.0,<16.0.0",
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"jsonlines>=4.0.0,<5.0.0",
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"pynput>=1.7.8,<1.9.0",
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"pyserial>=3.5,<4.0",
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"Pillow>=10.0.0,<13.0.0",
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"einops>=0.8.0,<0.9.0",
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"wandb>=0.24.0,<0.25.0",
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# Config & Hub
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"draccus==0.10.0", # TODO: Relax version constraint
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"gymnasium>=1.1.1,<2.0.0",
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"rerun-sdk>=0.24.0,<0.27.0",
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"huggingface-hub>=1.0.0,<2.0.0",
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"requests>=2.32.0,<3.0.0",
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# Support dependencies
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"deepdiff>=7.0.1,<9.0.0",
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"imageio[ffmpeg]>=2.34.0,<3.0.0",
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# Environments
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# NOTE: gymnasium is used in lerobot.envs (lerobot-train, lerobot-eval), policies/factory,
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# and robots/unitree. Moving it to an optional extra would require import guards across many
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# tightly-coupled modules. Candidate for a future refactor to decouple envs from the core.
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"gymnasium>=1.1.1,<2.0.0",
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# Serialization & checkpointing
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"safetensors>=0.4.3,<1.0.0",
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# Lightweight utilities
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"packaging>=24.2,<26.0",
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"termcolor>=2.4.0,<4.0.0",
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"tqdm>=4.66.0,<5.0.0",
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# Build tools (required by opencv-python-headless on some platforms)
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"cmake>=3.29.0.1,<4.2.0",
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"setuptools>=71.0.0,<81.0.0",
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]
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# Optional dependencies
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[project.optional-dependencies]
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# ── Feature-scoped extras ──────────────────────────────────
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dataset = [
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"datasets>=4.0.0,<5.0.0",
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"pandas>=2.0.0,<3.0.0", # NOTE: Transitive dependency of datasets
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"pyarrow>=21.0.0,<30.0.0", # NOTE: Transitive dependency of datasets
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"lerobot[av-dep]",
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"torchcodec>=0.3.0,<0.11.0; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')", # NOTE: Windows support starts at version 0.7 (needs torch==2.8), ffmpeg>=8 support starts at version 0.8.1 (needs torch==2.9), system-wide ffmpeg support starts at version 0.10 (needs torch==2.10).
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"jsonlines>=4.0.0,<5.0.0",
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]
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training = [
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"lerobot[dataset]",
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"accelerate>=1.10.0,<2.0.0",
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"wandb>=0.24.0,<0.25.0",
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]
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hardware = [
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"pynput>=1.7.8,<1.9.0",
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"pyserial>=3.5,<4.0",
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"deepdiff>=7.0.1,<9.0.0",
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]
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viz = [
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"rerun-sdk>=0.24.0,<0.27.0",
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]
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# ── User-facing composite extras (map to CLI scripts) ─────
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# lerobot-record, lerobot-replay, lerobot-calibrate, lerobot-teleoperate, etc.
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core_scripts = ["lerobot[dataset]", "lerobot[hardware]", "lerobot[viz]"]
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# lerobot-eval -- base evaluation framework. You also need the policy's extra (e.g., lerobot[pi])
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# and the environment's extra (e.g., lerobot[pusht]) if evaluating in simulation.
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evaluation = ["lerobot[av-dep]"]
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# lerobot-dataset-viz, lerobot-imgtransform-viz
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dataset_viz = ["lerobot[dataset]", "lerobot[viz]"]
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# Common
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av-dep = ["av>=15.0.0,<16.0.0"]
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pygame-dep = ["pygame>=2.5.1,<2.7.0"]
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placo-dep = ["placo>=0.9.6,<0.9.17"]
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transformers-dep = ["transformers==5.3.0"] # TODO(Steven): https://github.com/huggingface/lerobot/pull/3249
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@@ -104,6 +133,7 @@ grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
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can-dep = ["python-can>=4.2.0,<5.0.0"]
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peft-dep = ["peft>=0.18.0,<1.0.0"]
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scipy-dep = ["scipy>=1.14.0,<2.0.0"]
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diffusers-dep = ["diffusers>=0.27.2,<0.36.0"]
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qwen-vl-utils-dep = ["qwen-vl-utils>=0.0.11,<0.1.0"]
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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.
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@@ -136,28 +166,28 @@ intelrealsense = [
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phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0", "fastapi<1.0", "lerobot[scipy-dep]"]
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# Policies
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diffusion = ["lerobot[diffusers-dep]"]
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wallx = [
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"lerobot[transformers-dep]",
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"lerobot[peft]",
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"lerobot[peft-dep]",
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"lerobot[scipy-dep]",
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"torchdiffeq>=0.2.4,<0.3.0",
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"lerobot[qwen-vl-utils-dep]",
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]
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pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]"]
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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"]
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multi_task_dit = ["lerobot[transformers-dep]"]
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smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>=1.7.0,<2.0.0"]
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multi_task_dit = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]"]
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groot = [
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"lerobot[transformers-dep]",
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"lerobot[peft]",
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"lerobot[peft-dep]",
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"lerobot[diffusers-dep]",
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"dm-tree>=0.1.8,<1.0.0",
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"timm>=1.0.0,<1.1.0",
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"safetensors>=0.4.3,<1.0.0",
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"Pillow>=10.0.0,<13.0.0",
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"decord>=0.6.0,<1.0.0; (platform_machine == 'AMD64' or platform_machine == 'x86_64')",
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"ninja>=1.11.1,<2.0.0",
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"flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
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]
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sarm = ["lerobot[transformers-dep]", "faker>=33.0.0,<35.0.0", "lerobot[matplotlib-dep]", "lerobot[qwen-vl-utils-dep]"]
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sarm = ["lerobot[transformers-dep]", "pydantic>=2.0.0,<3.0.0", "faker>=33.0.0,<35.0.0", "lerobot[matplotlib-dep]", "lerobot[qwen-vl-utils-dep]"]
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xvla = ["lerobot[transformers-dep]"]
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hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
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@@ -166,31 +196,42 @@ async = ["lerobot[grpcio-dep]", "lerobot[matplotlib-dep]"]
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peft = ["lerobot[transformers-dep]", "lerobot[peft-dep]"]
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# Development
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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"]
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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", "ruff>=0.14.1"]
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test = ["pytest>=8.1.0,<9.0.0", "pytest-timeout>=2.4.0,<3.0.0", "pytest-cov>=5.0.0,<8.0.0", "mock-serial>=0.0.1,<0.1.0 ; sys_platform != 'win32'"]
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video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
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# Simulation
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# NOTE: Explicitly listing scipy helps flatten the dependecy tree.
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aloha = ["gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
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pusht = ["gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
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libero = ["lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
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metaworld = ["metaworld==3.0.0", "lerobot[scipy-dep]"]
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aloha = ["lerobot[dataset]", "gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
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pusht = ["lerobot[dataset]", "gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
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libero = ["lerobot[dataset]", "lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
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metaworld = ["lerobot[dataset]", "metaworld==3.0.0", "lerobot[scipy-dep]"]
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# All
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all = [
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# Feature-scoped extras
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"lerobot[dataset]",
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"lerobot[training]",
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"lerobot[hardware]",
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"lerobot[viz]",
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# NOTE(resolver hint): scipy is pulled in transitively via lerobot[scipy-dep] through
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# multiple extras (aloha, metaworld, pi, wallx, phone). Listing it explicitly
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# helps pip's resolver converge by constraining scipy early, before it encounters
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# the loose scipy requirements from transitive deps like dm-control and metaworld.
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"scipy>=1.14.0,<2.0.0",
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"lerobot[dynamixel]",
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"lerobot[feetech]",
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"lerobot[damiao]",
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"lerobot[robstride]",
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"lerobot[gamepad]",
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"lerobot[hopejr]",
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"lerobot[lekiwi]",
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"lerobot[openarms]",
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"lerobot[reachy2]",
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"lerobot[kinematics]",
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"lerobot[intelrealsense]",
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"lerobot[diffusion]",
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"lerobot[multi_task_dit]",
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"lerobot[wallx]",
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"lerobot[pi]",
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"lerobot[smolvla]",
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@@ -267,7 +308,9 @@ ignore = [
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]
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[tool.ruff.lint.per-file-ignores]
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"__init__.py" = ["F401", "F403"]
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"__init__.py" = ["F401", "F403", "E402"]
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# E402: conditional-import guards (TYPE_CHECKING / is_package_available) must precede the imports they protect
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"src/lerobot/scripts/convert_dataset_v21_to_v30.py" = ["E402"]
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"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
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[tool.ruff.lint.isort]
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