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

src/lerobot/policies/pi05/configuration_pi05.py

@@ -16,13 +16,12 @@
 
 from dataclasses import dataclass, field
 
-from lerobot.configs.policies import PreTrainedConfig
-from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.optim.optimizers import AdamWConfig
-from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
-from lerobot.policies.rtc.configuration_rtc import RTCConfig
+from lerobot.configs import FeatureType, NormalizationMode, PolicyFeature, PreTrainedConfig
+from lerobot.optim import AdamWConfig, CosineDecayWithWarmupSchedulerConfig
 from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE
 
+from ..rtc.configuration_rtc import RTCConfig
+
 DEFAULT_IMAGE_SIZE = 224
 
 

src/lerobot/policies/pi05/modeling_pi05.py

@@ -33,7 +33,7 @@ if TYPE_CHECKING or _transformers_available:
     from transformers.models.auto import CONFIG_MAPPING
     from transformers.models.gemma import modeling_gemma
 
-    from lerobot.policies.pi_gemma import (
+    from ..pi_gemma import (
         PaliGemmaForConditionalGenerationWithPiGemma,
         PiGemmaForCausalLM,
         _gated_residual,
@@ -46,10 +46,7 @@ else:
     _gated_residual = None
     layernorm_forward = None
     PaliGemmaForConditionalGenerationWithPiGemma = None
-from lerobot.configs.policies import PreTrainedConfig
-from lerobot.policies.pi05.configuration_pi05 import DEFAULT_IMAGE_SIZE, PI05Config
-from lerobot.policies.pretrained import PreTrainedPolicy, T
-from lerobot.policies.rtc.modeling_rtc import RTCProcessor
+from lerobot.configs import PreTrainedConfig
 from lerobot.utils.constants import (
     ACTION,
     OBS_LANGUAGE_ATTENTION_MASK,
@@ -57,6 +54,10 @@ from lerobot.utils.constants import (
     OPENPI_ATTENTION_MASK_VALUE,
 )
 
+from ..pretrained import PreTrainedPolicy, T
+from ..rtc.modeling_rtc import RTCProcessor
+from .configuration_pi05 import DEFAULT_IMAGE_SIZE, PI05Config
+
 
 class ActionSelectKwargs(TypedDict, total=False):
     inference_delay: int | None

src/lerobot/policies/pi05/processor_pi05.py

@@ -21,8 +21,7 @@ from typing import Any
 import numpy as np
 import torch
 
-from lerobot.configs.types import PipelineFeatureType, PolicyFeature
-from lerobot.policies.pi05.configuration_pi05 import PI05Config
+from lerobot.configs import PipelineFeatureType, PolicyFeature
 from lerobot.processor import (
     AbsoluteActionsProcessorStep,
     AddBatchDimensionProcessorStep,
@@ -36,8 +35,9 @@ from lerobot.processor import (
     RenameObservationsProcessorStep,
     TokenizerProcessorStep,
     UnnormalizerProcessorStep,
+    policy_action_to_transition,
+    transition_to_policy_action,
 )
-from lerobot.processor.converters import policy_action_to_transition, transition_to_policy_action
 from lerobot.types import EnvTransition, TransitionKey
 from lerobot.utils.constants import (
     OBS_STATE,
@@ -45,6 +45,8 @@ from lerobot.utils.constants import (
     POLICY_PREPROCESSOR_DEFAULT_NAME,
 )
 
+from .configuration_pi05 import PI05Config
+
 
 @ProcessorStepRegistry.register(name="pi05_prepare_state_tokenizer_processor_step")
 @dataclass