feat(dependecies): minimal default tag install

docs/source/lerobot-dataset-v3.mdx

@@ -168,7 +168,7 @@ Use the `image_transforms` parameter when loading a dataset for training:
 
 ```python
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.transforms import ImageTransforms, ImageTransformsConfig, ImageTransformConfig
+from lerobot.transforms import ImageTransforms, ImageTransformsConfig, ImageTransformConfig
 
 # Option 1: Use default transform configuration (disabled by default)
 transforms_config = ImageTransformsConfig(

examples/dataset/use_dataset_image_transforms.py

@@ -27,7 +27,7 @@ from torchvision.transforms import v2
 from torchvision.transforms.functional import to_pil_image
 
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.transforms import ImageTransformConfig, ImageTransforms, ImageTransformsConfig
+from lerobot.transforms import ImageTransformConfig, ImageTransforms, ImageTransformsConfig
 
 
 def save_image(tensor, filename):

pyproject.toml

@@ -58,44 +58,64 @@ classifiers = [
 keywords = ["lerobot", "huggingface", "robotics",  "machine learning", "artificial intelligence"]
 
 dependencies = [
-
+    # Core ML
-    # Hugging Face dependencies
-    "datasets>=4.0.0,<5.0.0",
-    "diffusers>=0.27.2,<0.36.0",
-    "huggingface-hub>=1.0.0,<2.0.0",
-    "accelerate>=1.10.0,<2.0.0",
-
-    # Core dependencies
-    "numpy>=2.0.0,<2.3.0", # NOTE: Explicitly listing numpy helps the resolver converge faster. Upper bound imposed by opencv-python-headless.
-    "setuptools>=71.0.0,<81.0.0",
-    "cmake>=3.29.0.1,<4.2.0",
-    "packaging>=24.2,<26.0",
-
     "torch>=2.7,<2.11.0",
-    "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).
     "torchvision>=0.22.0,<0.26.0",
-
+    "numpy>=2.0.0,<2.3.0", # NOTE: Explicitly listing numpy helps the resolver converge faster. Upper bound imposed by opencv-python-headless.
-    "einops>=0.8.0,<0.9.0",
     "opencv-python-headless>=4.9.0,<4.14.0",
-    "av>=15.0.0,<16.0.0",
+    "einops>=0.8.0,<0.9.0",
-    "jsonlines>=4.0.0,<5.0.0",
-    "pynput>=1.7.8,<1.9.0",
-    "pyserial>=3.5,<4.0",
 
-    "wandb>=0.24.0,<0.25.0",
+    # Config & Hub
     "draccus==0.10.0", # TODO: Relax version constraint
-    "gymnasium>=1.1.1,<2.0.0",
+    "huggingface-hub>=1.0.0,<2.0.0",
-    "rerun-sdk>=0.24.0,<0.27.0",
 
-    # Support dependencies
+    # Environments
-    "deepdiff>=7.0.1,<9.0.0",
+    "gymnasium>=1.1.1,<2.0.0",
-    "imageio[ffmpeg]>=2.34.0,<3.0.0",
+
+    # Lightweight utilities
+    "packaging>=24.2,<26.0",
     "termcolor>=2.4.0,<4.0.0",
 ]
 
 # Optional dependencies
 [project.optional-dependencies]
 
+# ── Feature-scoped extras ──────────────────────────────────
+dataset = [
+    "datasets>=4.0.0,<5.0.0",
+    "av>=15.0.0,<16.0.0",
+    "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).
+    "jsonlines>=4.0.0,<5.0.0",
+]
+train = [
+    "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",
+    "pyserial>=3.5,<4.0",
+    "deepdiff>=7.0.1,<9.0.0",
+]
+viz = [
+    "rerun-sdk>=0.24.0,<0.27.0",
+]
+build = [
+    "cmake>=3.29.0.1,<4.2.0",
+    "setuptools>=71.0.0,<81.0.0",
+]
+
+# ── 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
+evaluation = ["av>=15.0.0,<16.0.0"]
+# lerobot-train
+training = ["lerobot[train]"]
+# lerobot-dataset-viz, lerobot-imgtransform-viz
+dataset_viz = ["lerobot[dataset]", "lerobot[viz]"]
+
 # Common
 pygame-dep = ["pygame>=2.5.1,<2.7.0"]
 placo-dep = ["placo>=0.9.6,<0.9.17"]
@@ -166,19 +186,25 @@ async = ["lerobot[grpcio-dep]", "lerobot[matplotlib-dep]"]
 peft = ["lerobot[transformers-dep]", "lerobot[peft-dep]"]
 
 # Development
-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"]
+dev = ["lerobot[dataset]", "lerobot[train]", "lerobot[hardware]", "lerobot[viz]", "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"]
-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'"]
+test = ["lerobot[dataset]", "lerobot[train]", "lerobot[hardware]", "lerobot[viz]", "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'"]
 video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
 
 # Simulation
 # NOTE: Explicitly listing scipy helps flatten the dependecy tree.
-aloha = ["gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
+aloha = ["lerobot[dataset]", "gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
-pusht = ["gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
+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
-libero = ["lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
+libero = ["lerobot[dataset]", "lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'", "lerobot[scipy-dep]"]
-metaworld = ["metaworld==3.0.0", "lerobot[scipy-dep]"]
+metaworld = ["lerobot[dataset]", "metaworld==3.0.0", "lerobot[scipy-dep]"]
 
 # All
 all = [
+    # Feature-scoped extras
+    "lerobot[dataset]",
+    "lerobot[train]",
+    "lerobot[hardware]",
+    "lerobot[viz]",
+    "lerobot[build]",
     # NOTE(resolver hint): scipy is pulled in transitively via lerobot[scipy-dep] through
     # multiple extras (aloha, metaworld, pi, wallx, phone). Listing it explicitly
     # helps pip's resolver converge by constraining scipy early, before it encounters
@@ -267,7 +293,8 @@ ignore = [
 ]
 
 [tool.ruff.lint.per-file-ignores]
-"__init__.py" = ["F401", "F403"]
+"__init__.py" = ["F401", "F403", "E402"]
+"src/lerobot/scripts/*" = ["E402"] # require_package gates before imports
 "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]

src/lerobot/configs/default.py

@@ -16,8 +16,8 @@
 
 from dataclasses import dataclass, field
 
-from lerobot.datasets.transforms import ImageTransformsConfig
+from lerobot.transforms import ImageTransformsConfig
-from lerobot.datasets.video_utils import get_safe_default_codec
+from lerobot.utils.import_utils import get_safe_default_codec
 
 
 @dataclass

src/lerobot/datasets/__init__.py

@@ -15,17 +15,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from lerobot.utils.import_utils import require_package
+
+require_package("datasets", extra="dataset")
+
 from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.multi_dataset import MultiLeRobotDataset
 from lerobot.datasets.sampler import EpisodeAwareSampler
 from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
-from lerobot.datasets.transforms import ImageTransforms, ImageTransformsConfig
 
 __all__ = [
     "EpisodeAwareSampler",
-    "ImageTransforms",
-    "ImageTransformsConfig",
     "LeRobotDataset",
     "LeRobotDatasetMetadata",
     "MultiLeRobotDataset",

src/lerobot/datasets/dataset_tools.py

@@ -829,7 +829,7 @@ def _copy_and_reindex_episodes_metadata(
         data_metadata: Dict mapping new episode index to its data file metadata
         video_metadata: Optional dict mapping new episode index to its video metadata
     """
-    from lerobot.datasets.utils import flatten_dict
+    from lerobot.utils.utils import flatten_dict
 
     if src_dataset.meta.episodes is None:
         src_dataset.meta.episodes = load_episodes(src_dataset.meta.root)

src/lerobot/datasets/factory.py

@@ -24,7 +24,7 @@ from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.multi_dataset import MultiLeRobotDataset
 from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
-from lerobot.datasets.transforms import ImageTransforms
+from lerobot.transforms import ImageTransforms
 from lerobot.utils.constants import ACTION, OBS_PREFIX, REWARD
 
 IMAGENET_STATS = {

src/lerobot/datasets/io_utils.py

@@ -13,7 +13,6 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-import json
 from pathlib import Path
 from typing import Any
 
@@ -41,6 +40,7 @@ from lerobot.datasets.utils import (
     serialize_dict,
     unflatten_dict,
 )
+from lerobot.utils.io_utils import load_json, write_json
 from lerobot.utils.utils import SuppressProgressBars
 
 
@@ -116,33 +116,6 @@ def embed_images(dataset: datasets.Dataset) -> datasets.Dataset:
     return dataset
 
 
-def load_json(fpath: Path) -> Any:
-    """Load data from a JSON file.
-
-    Args:
-        fpath (Path): Path to the JSON file.
-
-    Returns:
-        Any: The data loaded from the JSON file.
-    """
-    with open(fpath) as f:
-        return json.load(f)
-
-
-def write_json(data: dict, fpath: Path) -> None:
-    """Write data to a JSON file.
-
-    Creates parent directories if they don't exist.
-
-    Args:
-        data (dict): The dictionary to write.
-        fpath (Path): The path to the output JSON file.
-    """
-    fpath.parent.mkdir(exist_ok=True, parents=True)
-    with open(fpath, "w") as f:
-        json.dump(data, f, indent=4, ensure_ascii=False)
-
-
 def write_info(info: dict, local_dir: Path) -> None:
     write_json(info, local_dir / INFO_PATH)
 

src/lerobot/datasets/utils.py

@@ -28,6 +28,8 @@ import torch
 from huggingface_hub import DatasetCard, DatasetCardData, HfApi
 from huggingface_hub.errors import RevisionNotFoundError
 
+from lerobot.utils.utils import flatten_dict, unflatten_dict
+
 V30_MESSAGE = """
 The dataset you requested ({repo_id}) is in {version} format.
 
@@ -123,59 +125,6 @@ def update_chunk_file_indices(chunk_idx: int, file_idx: int, chunks_size: int) -
     return chunk_idx, file_idx
 
 
-def flatten_dict(d: dict, parent_key: str = "", sep: str = "/") -> dict:
-    """Flatten a nested dictionary by joining keys with a separator.
-
-    Example:
-        >>> dct = {"a": {"b": 1, "c": {"d": 2}}, "e": 3}
-        >>> print(flatten_dict(dct))
-        {'a/b': 1, 'a/c/d': 2, 'e': 3}
-
-    Args:
-        d (dict): The dictionary to flatten.
-        parent_key (str): The base key to prepend to the keys in this level.
-        sep (str): The separator to use between keys.
-
-    Returns:
-        dict: A flattened dictionary.
-    """
-    items = []
-    for k, v in d.items():
-        new_key = f"{parent_key}{sep}{k}" if parent_key else k
-        if isinstance(v, dict):
-            items.extend(flatten_dict(v, new_key, sep=sep).items())
-        else:
-            items.append((new_key, v))
-    return dict(items)
-
-
-def unflatten_dict(d: dict, sep: str = "/") -> dict:
-    """Unflatten a dictionary with delimited keys into a nested dictionary.
-
-    Example:
-        >>> flat_dct = {"a/b": 1, "a/c/d": 2, "e": 3}
-        >>> print(unflatten_dict(flat_dct))
-        {'a': {'b': 1, 'c': {'d': 2}}, 'e': 3}
-
-    Args:
-        d (dict): A dictionary with flattened keys.
-        sep (str): The separator used in the keys.
-
-    Returns:
-        dict: A nested dictionary.
-    """
-    outdict = {}
-    for key, value in d.items():
-        parts = key.split(sep)
-        d = outdict
-        for part in parts[:-1]:
-            if part not in d:
-                d[part] = {}
-            d = d[part]
-        d[parts[-1]] = value
-    return outdict
-
-
 def serialize_dict(stats: dict[str, torch.Tensor | np.ndarray | dict]) -> dict:
     """Serialize a dictionary containing tensors or numpy arrays to be JSON-compatible.
 

src/lerobot/datasets/video_utils.py

@@ -37,6 +37,8 @@ import torchvision
 from datasets.features.features import register_feature
 from PIL import Image
 
+from lerobot.utils.import_utils import get_safe_default_codec
+
 logger = logging.getLogger(__name__)
 
 # List of hardware encoders to probe for auto-selection. Availability depends on the platform and FFmpeg build.
@@ -116,16 +118,6 @@ def resolve_vcodec(vcodec: str) -> str:
     return "libsvtav1"
 
 
-def get_safe_default_codec():
-    if importlib.util.find_spec("torchcodec"):
-        return "torchcodec"
-    else:
-        logger.warning(
-            "'torchcodec' is not available in your platform, falling back to 'pyav' as a default decoder"
-        )
-        return "pyav"
-
-
 def decode_video_frames(
     video_path: Path | str,
     timestamps: list[float],

src/lerobot/optim/optimizers.py

@@ -23,13 +23,12 @@ import draccus
 import torch
 from safetensors.torch import load_file, save_file
 
-from lerobot.datasets.io_utils import write_json
-from lerobot.datasets.utils import flatten_dict, unflatten_dict
 from lerobot.utils.constants import (
     OPTIMIZER_PARAM_GROUPS,
     OPTIMIZER_STATE,
 )
-from lerobot.utils.io_utils import deserialize_json_into_object
+from lerobot.utils.io_utils import deserialize_json_into_object, write_json
+from lerobot.utils.utils import flatten_dict, unflatten_dict
 
 # Type alias for parameters accepted by optimizer build() methods.
 # This matches PyTorch's optimizer signature while also supporting:

src/lerobot/optim/schedulers.py

@@ -23,9 +23,8 @@ import draccus
 from torch.optim import Optimizer
 from torch.optim.lr_scheduler import LambdaLR, LRScheduler
 
-from lerobot.datasets.io_utils import write_json
 from lerobot.utils.constants import SCHEDULER_STATE
-from lerobot.utils.io_utils import deserialize_json_into_object
+from lerobot.utils.io_utils import deserialize_json_into_object, write_json
 
 
 @dataclass

src/lerobot/policies/factory.py

@@ -18,14 +18,15 @@ from __future__ import annotations
 
 import importlib
 import logging
-from typing import Any, TypedDict, Unpack
+from typing import TYPE_CHECKING, Any, TypedDict, Unpack
 
 import torch
 
+if TYPE_CHECKING:
+    from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
+
 from lerobot.configs.policies import PreTrainedConfig
 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.envs.configs import EnvConfig
 from lerobot.envs.utils import env_to_policy_features
 from lerobot.policies.act.configuration_act import ACTConfig
@@ -494,6 +495,8 @@ def make_policy(
 
     kwargs = {}
     if ds_meta is not None:
+        from lerobot.datasets.feature_utils import dataset_to_policy_features
+
         features = dataset_to_policy_features(ds_meta.features)
     else:
         if not cfg.pretrained_path:

src/lerobot/policies/utils.py

@@ -23,7 +23,6 @@ from torch import nn
 
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.datasets.feature_utils import build_dataset_frame
 from lerobot.types import PolicyAction, RobotAction, RobotObservation
 from lerobot.utils.constants import ACTION, OBS_STR
 
@@ -163,6 +162,8 @@ def build_inference_frame(
     Returns:
         A dictionary of preprocessed tensors ready for model inference.
     """
+    from lerobot.datasets.feature_utils import build_dataset_frame
+
     # Extracts the correct keys from the incoming raw observation
     observation = build_dataset_frame(ds_features, observation, prefix=OBS_STR)
 

src/lerobot/processor/normalize_processor.py

@@ -19,14 +19,17 @@ from __future__ import annotations
 
 from copy import deepcopy
 from dataclasses import dataclass, field
-from typing import Any
+from typing import TYPE_CHECKING, Any
 
 import torch
 from torch import Tensor
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PipelineFeatureType, PolicyFeature
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.types import EnvTransition, PolicyAction, TransitionKey
+
+if TYPE_CHECKING:
+    from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
 from lerobot.utils.constants import ACTION
 
 from .converters import from_tensor_to_numpy, to_tensor

src/lerobot/scripts/lerobot_dataset_viz.py

@@ -66,7 +66,6 @@ import time
 from pathlib import Path
 
 import numpy as np
-import rerun as rr
 import torch
 import torch.utils.data
 import tqdm
@@ -117,6 +116,11 @@ def visualize_dataset(
     if mode not in ["local", "distant"]:
         raise ValueError(mode)
 
+    from lerobot.utils.import_utils import require_package
+
+    require_package("rerun-sdk", extra="viz", import_name="rerun")
+    import rerun as rr
+
     spawn_local_viewer = mode == "local" and not save
     rr.init(f"{repo_id}/episode_{episode_index}", spawn=spawn_local_viewer)
 

src/lerobot/scripts/lerobot_find_port.py

@@ -28,7 +28,10 @@ from pathlib import Path
 
 
 def find_available_ports():
-    from serial.tools import list_ports  # Part of pyserial library
+    from lerobot.utils.import_utils import require_package
+
+    require_package("pyserial", extra="hardware", import_name="serial")
+    from serial.tools import list_ports
 
     if platform.system() == "Windows":
         # List COM ports using pyserial

src/lerobot/scripts/lerobot_imgtransform_viz.py

@@ -37,7 +37,7 @@ from torchvision.transforms import ToPILImage
 
 from lerobot.configs.default import DatasetConfig
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.transforms import (
+from lerobot.transforms import (
     ImageTransforms,
     ImageTransformsConfig,
     make_transform_from_config,

src/lerobot/scripts/lerobot_teleoperate.py

@@ -56,8 +56,6 @@ import time
 from dataclasses import asdict, dataclass
 from pprint import pformat
 
-import rerun as rr
-
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
 from lerobot.cameras.zmq.configuration_zmq import ZMQCameraConfig  # noqa: F401
@@ -103,7 +101,7 @@ from lerobot.teleoperators import (  # noqa: F401
 from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import init_logging, move_cursor_up
-from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
+from lerobot.utils.visualization_utils import init_rerun, log_rerun_data, shutdown_rerun
 
 
 @dataclass
@@ -240,7 +238,7 @@ def teleoperate(cfg: TeleoperateConfig):
         pass
     finally:
         if cfg.display_data:
-            rr.rerun_shutdown()
+            shutdown_rerun()
         teleop.disconnect()
         robot.disconnect()
 

src/lerobot/scripts/lerobot_train.py

@@ -20,6 +20,10 @@ from contextlib import nullcontext
 from pprint import pformat
 from typing import Any
 
+from lerobot.utils.import_utils import require_package
+
+require_package("accelerate", extra="training")
+
 import torch
 from accelerate import Accelerator
 from termcolor import colored

src/lerobot/utils/control_utils.py

@@ -12,25 +12,25 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 ########################################################################################
 # Utilities
 ########################################################################################
-
-
 import logging
 import traceback
 from contextlib import nullcontext
 from copy import copy
 from functools import cache
-from typing import Any
+from typing import TYPE_CHECKING, Any
 
 import numpy as np
 import torch
-from deepdiff import DeepDiff
 
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.utils import DEFAULT_FEATURES
 from lerobot.policies.pretrained import PreTrainedPolicy
+
+if TYPE_CHECKING:
+    from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.policies.utils import prepare_observation_for_inference
 from lerobot.processor import PolicyProcessorPipeline
 from lerobot.robots import Robot
@@ -218,6 +218,13 @@ def sanity_check_dataset_robot_compatibility(
     Raises:
         ValueError: If any of the checked metadata fields do not match.
     """
+    from lerobot.utils.import_utils import require_package
+
+    require_package("deepdiff", extra="hardware")
+    from deepdiff import DeepDiff
+
+    from lerobot.datasets.utils import DEFAULT_FEATURES
+
     fields = [
         ("robot_type", dataset.meta.robot_type, robot.robot_type),
         ("fps", dataset.fps, fps),

src/lerobot/utils/import_utils.py

@@ -69,6 +69,24 @@ def is_package_available(
         return package_exists
 
 
+def get_safe_default_codec():
+    if importlib.util.find_spec("torchcodec"):
+        return "torchcodec"
+    else:
+        logging.warning(
+            "'torchcodec' is not available in your platform, falling back to 'pyav' as a default decoder"
+        )
+        return "pyav"
+
+
+def require_package(pkg_name: str, extra: str, import_name: str | None = None) -> None:
+    """Raise an informative ImportError if a package required by an optional feature is missing."""
+    if not is_package_available(pkg_name, import_name):
+        raise ImportError(
+            f"'{pkg_name}' is required but not installed. Install it with: pip install 'lerobot[{extra}]'"
+        )
+
+
 _transformers_available = is_package_available("transformers")
 _peft_available = is_package_available("peft")
 _scipy_available = is_package_available("scipy")

src/lerobot/utils/io_utils.py

@@ -14,21 +14,64 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import json
-import warnings
 from pathlib import Path
-
+from typing import Any
-import imageio
 
 JsonLike = str | int | float | bool | None | list["JsonLike"] | dict[str, "JsonLike"] | tuple["JsonLike", ...]
 
 
-def write_video(video_path, stacked_frames, fps):
+def load_json(fpath: Path) -> Any:
-    # Filter out DeprecationWarnings raised from pkg_resources
+    """Load data from a JSON file.
-    with warnings.catch_warnings():
+
-        warnings.filterwarnings(
+    Args:
-            "ignore", "pkg_resources is deprecated as an API", category=DeprecationWarning
+        fpath (Path): Path to the JSON file.
-        )
+
-        imageio.mimsave(video_path, stacked_frames, fps=fps)
+    Returns:
+        Any: The data loaded from the JSON file.
+    """
+    with open(fpath) as f:
+        return json.load(f)
+
+
+def write_json(data: dict, fpath: Path) -> None:
+    """Write data to a JSON file.
+
+    Creates parent directories if they don't exist.
+
+    Args:
+        data (dict): The dictionary to write.
+        fpath (Path): The path to the output JSON file.
+    """
+    fpath.parent.mkdir(exist_ok=True, parents=True)
+    with open(fpath, "w") as f:
+        json.dump(data, f, indent=4, ensure_ascii=False)
+
+
+def write_video(video_path: str | Path, stacked_frames: list, fps: int) -> None:
+    """Write a sequence of RGB frames to an MP4 video file using libx264.
+
+    Args:
+        video_path: Output file path.
+        stacked_frames: List of HWC uint8 numpy arrays (RGB).
+        fps: Frames per second for the output video.
+    """
+    import av
+
+    with av.open(str(video_path), mode="w") as container:
+        height, width = stacked_frames[0].shape[:2]
+        # Ensure dimensions are even for yuv420p compatibility
+        height = height if height % 2 == 0 else height - 1
+        width = width if width % 2 == 0 else width - 1
+        stream = container.add_stream("libx264", rate=fps)
+        stream.width = width
+        stream.height = height
+        stream.pix_fmt = "yuv420p"
+        for frame_array in stacked_frames:
+            frame = av.VideoFrame.from_ndarray(frame_array, format="rgb24")
+            for packet in stream.encode(frame):
+                container.mux(packet)
+        for packet in stream.encode():
+            container.mux(packet)
 
 
 def deserialize_json_into_object[T: JsonLike](fpath: Path, obj: T) -> T:

src/lerobot/utils/random_utils.py

@@ -23,8 +23,8 @@ import numpy as np
 import torch
 from safetensors.torch import load_file, save_file
 
-from lerobot.datasets.utils import flatten_dict, unflatten_dict
 from lerobot.utils.constants import RNG_STATE
+from lerobot.utils.utils import flatten_dict, unflatten_dict
 
 
 def serialize_python_rng_state() -> dict[str, torch.Tensor]:

src/lerobot/utils/train_utils.py

@@ -19,7 +19,6 @@ from torch.optim import Optimizer
 from torch.optim.lr_scheduler import LRScheduler
 
 from lerobot.configs.train import TrainPipelineConfig
-from lerobot.datasets.io_utils import load_json, write_json
 from lerobot.optim.optimizers import load_optimizer_state, save_optimizer_state
 from lerobot.optim.schedulers import load_scheduler_state, save_scheduler_state
 from lerobot.policies.pretrained import PreTrainedPolicy
@@ -31,6 +30,7 @@ from lerobot.utils.constants import (
     TRAINING_STATE_DIR,
     TRAINING_STEP,
 )
+from lerobot.utils.io_utils import load_json, write_json
 from lerobot.utils.random_utils import load_rng_state, save_rng_state
 
 

src/lerobot/utils/utils.py

@@ -199,6 +199,59 @@ def get_elapsed_time_in_days_hours_minutes_seconds(elapsed_time_s: float):
     return days, hours, minutes, seconds
 
 
+def flatten_dict(d: dict, parent_key: str = "", sep: str = "/") -> dict:
+    """Flatten a nested dictionary by joining keys with a separator.
+
+    Example:
+        >>> dct = {"a": {"b": 1, "c": {"d": 2}}, "e": 3}
+        >>> print(flatten_dict(dct))
+        {'a/b': 1, 'a/c/d': 2, 'e': 3}
+
+    Args:
+        d (dict): The dictionary to flatten.
+        parent_key (str): The base key to prepend to the keys in this level.
+        sep (str): The separator to use between keys.
+
+    Returns:
+        dict: A flattened dictionary.
+    """
+    items = []
+    for k, v in d.items():
+        new_key = f"{parent_key}{sep}{k}" if parent_key else k
+        if isinstance(v, dict):
+            items.extend(flatten_dict(v, new_key, sep=sep).items())
+        else:
+            items.append((new_key, v))
+    return dict(items)
+
+
+def unflatten_dict(d: dict, sep: str = "/") -> dict:
+    """Unflatten a dictionary with delimited keys into a nested dictionary.
+
+    Example:
+        >>> flat_dct = {"a/b": 1, "a/c/d": 2, "e": 3}
+        >>> print(unflatten_dict(flat_dct))
+        {'a': {'b': 1, 'c': {'d': 2}}, 'e': 3}
+
+    Args:
+        d (dict): A dictionary with flattened keys.
+        sep (str): The separator used in the keys.
+
+    Returns:
+        dict: A nested dictionary.
+    """
+    outdict = {}
+    for key, value in d.items():
+        parts = key.split(sep)
+        d_inner = outdict
+        for part in parts[:-1]:
+            if part not in d_inner:
+                d_inner[part] = {}
+            d_inner = d_inner[part]
+        d_inner[parts[-1]] = value
+    return outdict
+
+
 class SuppressProgressBars:
     """
     Context manager to suppress progress bars.

src/lerobot/utils/visualization_utils.py

@@ -16,11 +16,16 @@ import numbers
 import os
 
 import numpy as np
-import rerun as rr
 
-from lerobot.types import RobotAction, RobotObservation
+from lerobot.utils.import_utils import require_package
 
-from .constants import ACTION, ACTION_PREFIX, OBS_PREFIX, OBS_STR
+require_package("rerun-sdk", extra="viz", import_name="rerun")
+
+import rerun as rr  # noqa: E402
+
+from lerobot.types import RobotAction, RobotObservation  # noqa: E402
+
+from .constants import ACTION, ACTION_PREFIX, OBS_PREFIX, OBS_STR  # noqa: E402
 
 
 def init_rerun(
@@ -44,6 +49,11 @@ def init_rerun(
         rr.spawn(memory_limit=memory_limit)
 
 
+def shutdown_rerun() -> None:
+    """Shuts down the Rerun SDK gracefully."""
+    rr.rerun_shutdown()
+
+
 def _is_scalar(x):
     return isinstance(x, (float | numbers.Real | np.integer | np.floating)) or (
         isinstance(x, np.ndarray) and x.ndim == 0

tests/artifacts/image_transforms/save_image_transforms_to_safetensors.py

@@ -19,7 +19,7 @@ import torch
 from safetensors.torch import save_file
 
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.transforms import (
+from lerobot.transforms import (
     ImageTransformConfig,
     ImageTransforms,
     ImageTransformsConfig,

tests/async_inference/test_policy_server.py

@@ -24,7 +24,7 @@ import torch
 
 from lerobot.configs.types import PolicyFeature
 from lerobot.utils.constants import OBS_STATE
-from tests.utils import require_package
+from tests.utils import skip_if_package_missing
 
 # -----------------------------------------------------------------------------
 # Test fixtures
@@ -62,7 +62,7 @@ class MockPolicy:
 
 
 @pytest.fixture
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def policy_server():
     """Fresh `PolicyServer` instance with a stubbed-out policy model."""
     # Import only when the test actually runs (after decorator check)

tests/datasets/test_dataset_reader.py

@@ -16,7 +16,7 @@
 """Contract tests for DatasetReader."""
 
 from lerobot.datasets.dataset_reader import DatasetReader
-from lerobot.datasets.video_utils import get_safe_default_codec
+from lerobot.utils.import_utils import get_safe_default_codec
 
 # ── Loading ──────────────────────────────────────────────────────────
 

tests/datasets/test_datasets.py

@@ -35,7 +35,6 @@ from lerobot.datasets.image_writer import image_array_to_pil_image
 from lerobot.datasets.io_utils import hf_transform_to_torch
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.multi_dataset import MultiLeRobotDataset
-from lerobot.datasets.transforms import ImageTransforms, ImageTransformsConfig
 from lerobot.datasets.utils import (
     DEFAULT_CHUNK_SIZE,
     DEFAULT_DATA_FILE_SIZE_IN_MB,
@@ -46,6 +45,7 @@ from lerobot.datasets.video_utils import VALID_VIDEO_CODECS
 from lerobot.envs.factory import make_env_config
 from lerobot.policies.factory import make_policy_config
 from lerobot.robots import make_robot_from_config
+from lerobot.transforms import ImageTransforms, ImageTransformsConfig
 from lerobot.utils.constants import ACTION, DONE, OBS_IMAGES, OBS_STATE, OBS_STR, REWARD
 from tests.fixtures.constants import DUMMY_CHW, DUMMY_HWC, DUMMY_REPO_ID
 from tests.mocks.mock_robot import MockRobotConfig

tests/datasets/test_image_transforms.py

@@ -21,7 +21,11 @@ from safetensors.torch import load_file
 from torchvision.transforms import v2
 from torchvision.transforms.v2 import functional as F  # noqa: N812
 
-from lerobot.datasets.transforms import (
+from lerobot.scripts.lerobot_imgtransform_viz import (
+    save_all_transforms,
+    save_each_transform,
+)
+from lerobot.transforms import (
     ImageTransformConfig,
     ImageTransforms,
     ImageTransformsConfig,
@@ -29,10 +33,6 @@ from lerobot.datasets.transforms import (
     SharpnessJitter,
     make_transform_from_config,
 )
-from lerobot.scripts.lerobot_imgtransform_viz import (
-    save_all_transforms,
-    save_each_transform,
-)
 from lerobot.utils.random_utils import seeded_context
 from tests.artifacts.image_transforms.save_image_transforms_to_safetensors import ARTIFACT_DIR
 from tests.utils import require_x86_64_kernel

tests/policies/hilserl/test_modeling_classifier.py

@@ -21,7 +21,7 @@ from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
 from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
 from lerobot.policies.sac.reward_model.modeling_classifier import ClassifierOutput
 from lerobot.utils.constants import OBS_IMAGE, REWARD
-from tests.utils import require_package
+from tests.utils import skip_if_package_missing
 
 
 def test_classifier_output():
@@ -37,7 +37,7 @@ def test_classifier_output():
     )
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @pytest.mark.skip(
     reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
 )
@@ -81,7 +81,7 @@ def test_binary_classifier_with_default_params():
     assert not torch.isnan(output.hidden_states).any(), "Tensor contains NaN values"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @pytest.mark.skip(
     reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
 )
@@ -123,7 +123,7 @@ def test_multiclass_classifier():
     assert not torch.isnan(output.hidden_states).any(), "Tensor contains NaN values"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @pytest.mark.skip(
     reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
 )
@@ -138,7 +138,7 @@ def test_default_device():
         assert p.device == torch.device("cpu")
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @pytest.mark.skip(
     reason="helper2424/resnet10 needs to be updated to work with the latest version of transformers"
 )

tests/policies/smolvla/test_smolvla_rtc.py

@@ -24,10 +24,10 @@ from lerobot.policies.factory import make_pre_post_processors  # noqa: E402
 from lerobot.policies.rtc.configuration_rtc import RTCConfig  # noqa: E402
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig  # noqa: F401
 from lerobot.utils.random_utils import set_seed  # noqa: E402
-from tests.utils import require_cuda, require_package  # noqa: E402
+from tests.utils import require_cuda, skip_if_package_missing  # noqa: E402
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @require_cuda
 def test_smolvla_rtc_initialization():
     from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy  # noqa: F401
@@ -65,7 +65,7 @@ def test_smolvla_rtc_initialization():
     print("✓ SmolVLA RTC initialization: Test passed")
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @require_cuda
 def test_smolvla_rtc_initialization_without_rtc_config():
     from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy  # noqa: F401
@@ -87,7 +87,7 @@ def test_smolvla_rtc_initialization_without_rtc_config():
     print("✓ SmolVLA RTC initialization without RTC config: Test passed")
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @require_cuda
 @pytest.mark.skipif(True, reason="Requires pretrained SmolVLA model weights")
 def test_smolvla_rtc_inference_with_prev_chunk():
@@ -170,7 +170,7 @@ def test_smolvla_rtc_inference_with_prev_chunk():
     print("✓ SmolVLA RTC inference with prev_chunk: Test passed")
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @require_cuda
 @pytest.mark.skipif(True, reason="Requires pretrained SmolVLA model weights")
 def test_smolvla_rtc_inference_without_prev_chunk():
@@ -244,7 +244,7 @@ def test_smolvla_rtc_inference_without_prev_chunk():
     print("✓ SmolVLA RTC inference without prev_chunk: Test passed")
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @require_cuda
 @pytest.mark.skipif(True, reason="Requires pretrained SmolVLA model weights")
 def test_smolvla_rtc_validation_rules():

tests/processor/test_tokenizer_processor.py

@@ -36,7 +36,7 @@ from lerobot.utils.constants import (
     OBS_LANGUAGE_SUBTASK_TOKENS,
     OBS_STATE,
 )
-from tests.utils import require_package
+from tests.utils import skip_if_package_missing
 
 
 class MockTokenizer:
@@ -94,7 +94,7 @@ def mock_tokenizer():
     return MockTokenizer(vocab_size=100)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_basic_tokenization(mock_auto_tokenizer):
     """Test basic string tokenization functionality."""
@@ -129,7 +129,7 @@ def test_basic_tokenization(mock_auto_tokenizer):
     assert attention_mask.shape == (10,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_basic_tokenization_with_tokenizer_object():
     """Test basic string tokenization functionality using tokenizer object directly."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -161,7 +161,7 @@ def test_basic_tokenization_with_tokenizer_object():
     assert attention_mask.shape == (10,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_list_of_strings_tokenization(mock_auto_tokenizer):
     """Test tokenization of a list of strings."""
@@ -189,7 +189,7 @@ def test_list_of_strings_tokenization(mock_auto_tokenizer):
     assert attention_mask.shape == (2, 8)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_tuple_of_strings_tokenization(mock_auto_tokenizer):
     """Test tokenization of a tuple of strings (returned by VectorEnv.call())."""
@@ -213,7 +213,7 @@ def test_tuple_of_strings_tokenization(mock_auto_tokenizer):
     assert attention_mask.shape == (2, 8)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_custom_keys(mock_auto_tokenizer):
     """Test using custom task_key."""
@@ -239,7 +239,7 @@ def test_custom_keys(mock_auto_tokenizer):
     assert tokens.shape == (5,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_none_complementary_data(mock_auto_tokenizer):
     """Test handling of None complementary_data."""
@@ -255,7 +255,7 @@ def test_none_complementary_data(mock_auto_tokenizer):
         processor(transition)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_missing_task_key(mock_auto_tokenizer):
     """Test handling when task key is missing."""
@@ -270,7 +270,7 @@ def test_missing_task_key(mock_auto_tokenizer):
         processor(transition)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_none_task_value(mock_auto_tokenizer):
     """Test handling when task value is None."""
@@ -285,7 +285,7 @@ def test_none_task_value(mock_auto_tokenizer):
         processor(transition)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_unsupported_task_type(mock_auto_tokenizer):
     """Test handling of unsupported task types."""
@@ -307,14 +307,14 @@ def test_unsupported_task_type(mock_auto_tokenizer):
         processor(transition)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_no_tokenizer_error():
     """Test that ValueError is raised when neither tokenizer nor tokenizer_name is provided."""
     with pytest.raises(ValueError, match="Either 'tokenizer' or 'tokenizer_name' must be provided"):
         TokenizerProcessorStep()
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_invalid_tokenizer_name_error():
     """Test that error is raised when invalid tokenizer_name is provided."""
     with patch("lerobot.processor.tokenizer_processor.AutoTokenizer") as mock_auto_tokenizer:
@@ -325,7 +325,7 @@ def test_invalid_tokenizer_name_error():
             TokenizerProcessorStep(tokenizer_name="invalid-tokenizer")
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_get_config_with_tokenizer_name(mock_auto_tokenizer):
     """Test configuration serialization when using tokenizer_name."""
@@ -354,7 +354,7 @@ def test_get_config_with_tokenizer_name(mock_auto_tokenizer):
     assert config == expected
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_config_with_tokenizer_object():
     """Test configuration serialization when using tokenizer object."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -382,7 +382,7 @@ def test_get_config_with_tokenizer_object():
     assert "tokenizer_name" not in config
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_state_dict_methods(mock_auto_tokenizer):
     """Test state_dict and load_state_dict methods."""
@@ -399,7 +399,7 @@ def test_state_dict_methods(mock_auto_tokenizer):
     processor.load_state_dict({})
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_reset_method(mock_auto_tokenizer):
     """Test reset method."""
@@ -412,7 +412,7 @@ def test_reset_method(mock_auto_tokenizer):
     processor.reset()
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_integration_with_robot_processor(mock_auto_tokenizer):
     """Test integration with RobotProcessor."""
@@ -449,7 +449,7 @@ def test_integration_with_robot_processor(mock_auto_tokenizer):
     assert torch.equal(result[TransitionKey.ACTION], transition[TransitionKey.ACTION])
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_save_and_load_pretrained_with_tokenizer_name(mock_auto_tokenizer):
     """Test saving and loading processor with tokenizer_name."""
@@ -489,7 +489,7 @@ def test_save_and_load_pretrained_with_tokenizer_name(mock_auto_tokenizer):
         assert f"{OBS_LANGUAGE}.attention_mask" in result[TransitionKey.OBSERVATION]
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_save_and_load_pretrained_with_tokenizer_object():
     """Test saving and loading processor with tokenizer object using overrides."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -528,7 +528,7 @@ def test_save_and_load_pretrained_with_tokenizer_object():
         assert f"{OBS_LANGUAGE}.attention_mask" in result[TransitionKey.OBSERVATION]
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_registry_functionality():
     """Test that the processor is properly registered."""
     from lerobot.processor import ProcessorStepRegistry
@@ -541,7 +541,7 @@ def test_registry_functionality():
     assert retrieved_class is TokenizerProcessorStep
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_features_basic():
     """Test basic feature contract functionality."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -574,7 +574,7 @@ def test_features_basic():
     assert attention_mask_feature.shape == (128,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_features_with_custom_max_length():
     """Test feature contract with custom max_length."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -596,7 +596,7 @@ def test_features_with_custom_max_length():
     assert attention_mask_feature.shape == (64,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_features_existing_features():
     """Test feature contract when tokenized features already exist."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -618,7 +618,7 @@ def test_features_existing_features():
     assert output_features[PipelineFeatureType.OBSERVATION][f"{OBS_LANGUAGE}.attention_mask"].shape == (100,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_tokenization_parameters(mock_auto_tokenizer):
     """Test that tokenization parameters are correctly passed to tokenizer."""
@@ -666,7 +666,7 @@ def test_tokenization_parameters(mock_auto_tokenizer):
     assert tracking_tokenizer.last_call_kwargs["return_tensors"] == "pt"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_preserves_other_complementary_data(mock_auto_tokenizer):
     """Test that other complementary data fields are preserved."""
@@ -701,7 +701,7 @@ def test_preserves_other_complementary_data(mock_auto_tokenizer):
     assert f"{OBS_LANGUAGE}.attention_mask" in observation
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_deterministic_tokenization(mock_auto_tokenizer):
     """Test that tokenization is deterministic for the same input."""
@@ -729,7 +729,7 @@ def test_deterministic_tokenization(mock_auto_tokenizer):
     assert torch.equal(attention_mask1, attention_mask2)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_empty_string_task(mock_auto_tokenizer):
     """Test handling of empty string task."""
@@ -753,7 +753,7 @@ def test_empty_string_task(mock_auto_tokenizer):
     assert tokens.shape == (8,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_very_long_task(mock_auto_tokenizer):
     """Test handling of very long task strings."""
@@ -779,7 +779,7 @@ def test_very_long_task(mock_auto_tokenizer):
     assert attention_mask.shape == (5,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_custom_padding_side(mock_auto_tokenizer):
     """Test using custom padding_side parameter."""
@@ -833,7 +833,7 @@ def test_custom_padding_side(mock_auto_tokenizer):
     assert tracking_tokenizer.padding_side_calls[-1] == "right"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_cpu():
     """Test that tokenized tensors stay on CPU when other tensors are on CPU."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -857,7 +857,7 @@ def test_device_detection_cpu():
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_cuda():
     """Test that tokenized tensors are moved to CUDA when other tensors are on CUDA."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -882,7 +882,7 @@ def test_device_detection_cuda():
 
 
 @pytest.mark.skipif(torch.cuda.device_count() < 2, reason="Requires at least 2 GPUs")
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_multi_gpu():
     """Test that tokenized tensors match device in multi-GPU setup."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -906,7 +906,7 @@ def test_device_detection_multi_gpu():
     assert attention_mask.device == device
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_no_tensors():
     """Test that tokenized tensors stay on CPU when no other tensors exist."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -928,7 +928,7 @@ def test_device_detection_no_tensors():
     assert attention_mask.device.type == "cpu"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_mixed_devices():
     """Test device detection when tensors are on different devices (uses first found)."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -956,7 +956,7 @@ def test_device_detection_mixed_devices():
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_from_action():
     """Test that device is detected from action tensor when no observation tensors exist."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -979,7 +979,7 @@ def test_device_detection_from_action():
     assert attention_mask.device.type == "cuda"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_device_detection_preserves_dtype():
     """Test that device detection doesn't affect dtype of tokenized tensors."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1000,7 +1000,7 @@ def test_device_detection_preserves_dtype():
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_integration_with_device_processor(mock_auto_tokenizer):
     """Test that TokenizerProcessorStep works correctly with DeviceProcessorStep in pipeline."""
@@ -1039,7 +1039,7 @@ def test_integration_with_device_processor(mock_auto_tokenizer):
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_simulated_accelerate_scenario():
     """Test scenario simulating Accelerate with data already on GPU."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1077,7 +1077,7 @@ def test_simulated_accelerate_scenario():
 # =============================================================================
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_missing_key():
     """Test get_subtask returns None when subtask key is missing from complementary_data."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1093,7 +1093,7 @@ def test_get_subtask_missing_key():
     assert result is None
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_none_value():
     """Test get_subtask returns None when subtask value is None."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1109,7 +1109,7 @@ def test_get_subtask_none_value():
     assert result is None
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_none_complementary_data():
     """Test get_subtask returns None when complementary_data is None."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1125,7 +1125,7 @@ def test_get_subtask_none_complementary_data():
     assert result is None
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_string():
     """Test get_subtask returns list with single string when subtask is a string."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1143,7 +1143,7 @@ def test_get_subtask_string():
     assert len(result) == 1
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_list_of_strings():
     """Test get_subtask returns the list when subtask is already a list of strings."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1162,7 +1162,7 @@ def test_get_subtask_list_of_strings():
     assert len(result) == 3
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_unsupported_type_integer():
     """Test get_subtask returns None when subtask is an unsupported type (integer)."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1178,7 +1178,7 @@ def test_get_subtask_unsupported_type_integer():
     assert result is None
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_unsupported_type_mixed_list():
     """Test get_subtask returns None when subtask is a list with mixed types."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1194,7 +1194,7 @@ def test_get_subtask_unsupported_type_mixed_list():
     assert result is None
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_unsupported_type_dict():
     """Test get_subtask returns None when subtask is a dictionary."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1210,7 +1210,7 @@ def test_get_subtask_unsupported_type_dict():
     assert result is None
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_empty_string():
     """Test get_subtask with empty string returns list with empty string."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1226,7 +1226,7 @@ def test_get_subtask_empty_string():
     assert result == [""]
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_get_subtask_empty_list():
     """Test get_subtask with empty list returns empty list."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1247,7 +1247,7 @@ def test_get_subtask_empty_list():
 # =============================================================================
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_when_present():
     """Test that subtask is tokenized and added to observation when present."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1276,7 +1276,7 @@ def test_subtask_tokenization_when_present():
     assert subtask_attention_mask.dtype == torch.bool
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_not_added_when_none():
     """Test that subtask tokens are NOT added to observation when subtask is None."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1300,7 +1300,7 @@ def test_subtask_tokenization_not_added_when_none():
     assert f"{OBS_LANGUAGE}.attention_mask" in observation
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_not_added_when_subtask_value_is_none():
     """Test that subtask tokens are NOT added when subtask value is explicitly None."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1320,7 +1320,7 @@ def test_subtask_tokenization_not_added_when_subtask_value_is_none():
     assert OBS_LANGUAGE_SUBTASK_ATTENTION_MASK not in observation
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_list_of_strings():
     """Test subtask tokenization with list of strings."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1346,7 +1346,7 @@ def test_subtask_tokenization_list_of_strings():
     assert subtask_attention_mask.shape == (2, 8)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_device_cpu():
     """Test that subtask tokens are on CPU when other tensors are on CPU."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1372,7 +1372,7 @@ def test_subtask_tokenization_device_cpu():
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_device_cuda():
     """Test that subtask tokens are moved to CUDA when other tensors are on CUDA."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1397,7 +1397,7 @@ def test_subtask_tokenization_device_cuda():
     assert subtask_attention_mask.device.type == "cuda"
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_preserves_other_observation_data():
     """Test that subtask tokenization preserves other observation data."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1423,7 +1423,7 @@ def test_subtask_tokenization_preserves_other_observation_data():
     assert OBS_LANGUAGE_SUBTASK_ATTENTION_MASK in observation
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_attention_mask_dtype():
     """Test that subtask attention mask has correct dtype (bool)."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1442,7 +1442,7 @@ def test_subtask_attention_mask_dtype():
     assert subtask_attention_mask.dtype == torch.bool
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_tokenization_deterministic():
     """Test that subtask tokenization is deterministic for the same input."""
     mock_tokenizer = MockTokenizer(vocab_size=100)
@@ -1467,7 +1467,7 @@ def test_subtask_tokenization_deterministic():
     assert torch.equal(subtask_mask1, subtask_mask2)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 @patch("lerobot.processor.tokenizer_processor.AutoTokenizer")
 def test_subtask_tokenization_integration_with_pipeline(mock_auto_tokenizer):
     """Test subtask tokenization works correctly with DataProcessorPipeline."""
@@ -1504,7 +1504,7 @@ def test_subtask_tokenization_integration_with_pipeline(mock_auto_tokenizer):
     assert observation[OBS_LANGUAGE_SUBTASK_TOKENS].shape == (6,)
 
 
-@require_package("transformers")
+@skip_if_package_missing("transformers")
 def test_subtask_not_added_for_unsupported_types():
     """Test that subtask tokens are not added when subtask has unsupported type."""
     mock_tokenizer = MockTokenizer(vocab_size=100)

tests/rl/test_actor.py

@@ -23,7 +23,7 @@ from torch.multiprocessing import Event, Queue
 
 from lerobot.utils.constants import OBS_STR
 from lerobot.utils.transition import Transition
-from tests.utils import require_package
+from tests.utils import skip_if_package_missing
 
 
 def create_learner_service_stub():
@@ -64,7 +64,7 @@ def close_service_stub(channel, server):
     server.stop(None)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_establish_learner_connection_success():
     from lerobot.rl.actor import establish_learner_connection
 
@@ -81,7 +81,7 @@ def test_establish_learner_connection_success():
     close_service_stub(channel, server)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_establish_learner_connection_failure():
     from lerobot.rl.actor import establish_learner_connection
 
@@ -100,7 +100,7 @@ def test_establish_learner_connection_failure():
     close_service_stub(channel, server)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_push_transitions_to_transport_queue():
     from lerobot.rl.actor import push_transitions_to_transport_queue
     from lerobot.transport.utils import bytes_to_transitions
@@ -135,7 +135,7 @@ def test_push_transitions_to_transport_queue():
         assert_transitions_equal(deserialized_transition, transitions[i])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_transitions_stream():
     from lerobot.rl.actor import transitions_stream
@@ -167,7 +167,7 @@ def test_transitions_stream():
     assert streamed_data[2].data == b"transition_data_3"
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_interactions_stream():
     from lerobot.rl.actor import interactions_stream

tests/rl/test_actor_learner.py

@@ -26,7 +26,7 @@ from lerobot.configs.train import TrainRLServerPipelineConfig
 from lerobot.policies.sac.configuration_sac import SACConfig
 from lerobot.utils.constants import OBS_STR
 from lerobot.utils.transition import Transition
-from tests.utils import require_package
+from tests.utils import skip_if_package_missing
 
 
 def create_test_transitions(count: int = 3) -> list[Transition]:
@@ -88,7 +88,7 @@ def cfg():
     return cfg
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(10)  # force cross-platform watchdog
 def test_end_to_end_transitions_flow(cfg):
     from lerobot.rl.actor import (
@@ -150,7 +150,7 @@ def test_end_to_end_transitions_flow(cfg):
         assert_transitions_equal(transition, input_transitions[i])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(10)
 def test_end_to_end_interactions_flow(cfg):
     from lerobot.rl.actor import (
@@ -223,7 +223,7 @@ def test_end_to_end_interactions_flow(cfg):
         assert received == expected
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.parametrize("data_size", ["small", "large"])
 @pytest.mark.timeout(10)
 def test_end_to_end_parameters_flow(cfg, data_size):

tests/rl/test_learner_service.py

@@ -20,7 +20,7 @@ from multiprocessing import Event, Queue
 
 import pytest
 
-from tests.utils import require_package  # our gRPC servicer class
+from tests.utils import skip_if_package_missing  # our gRPC servicer class
 
 
 @pytest.fixture(scope="function")
@@ -39,7 +39,7 @@ def learner_service_stub():
     close_learner_service_stub(channel, server)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def create_learner_service_stub(
     shutdown_event: Event,
     parameters_queue: Queue,
@@ -75,7 +75,7 @@ def create_learner_service_stub(
     return services_pb2_grpc.LearnerServiceStub(channel), channel, server
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def close_learner_service_stub(channel, server):
     channel.close()
     server.stop(None)
@@ -91,7 +91,7 @@ def test_ready_method(learner_service_stub):
     assert response == services_pb2.Empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_send_interactions():
     from lerobot.transport import services_pb2
@@ -135,7 +135,7 @@ def test_send_interactions():
     assert interactions == [b"123", b"4", b"5", b"678"]
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_send_transitions():
     from lerobot.transport import services_pb2
@@ -181,7 +181,7 @@ def test_send_transitions():
     assert transitions == [b"transition_1transition_2transition_3", b"batch_1batch_2"]
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_send_transitions_empty_stream():
     from lerobot.transport import services_pb2
@@ -209,7 +209,7 @@ def test_send_transitions_empty_stream():
     assert transitions_queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(10)  # force cross-platform watchdog
 def test_stream_parameters():
     import time
@@ -267,7 +267,7 @@ def test_stream_parameters():
     assert time_diff == pytest.approx(seconds_between_pushes, abs=0.1)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_stream_parameters_with_shutdown():
     from lerobot.transport import services_pb2
@@ -319,7 +319,7 @@ def test_stream_parameters_with_shutdown():
     assert received_params == [b"param_batch_1", b"stop"]
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 @pytest.mark.timeout(3)  # force cross-platform watchdog
 def test_stream_parameters_waits_and_retries_on_empty_queue():
     import threading

tests/test_cli_peft.py

@@ -5,7 +5,7 @@ from unittest.mock import MagicMock, patch
 import pytest
 from safetensors.torch import load_file
 
-from .utils import require_package
+from .utils import skip_if_package_missing
 
 # Skip this entire module in CI
 pytestmark = pytest.mark.skipif(
@@ -37,7 +37,7 @@ def resolve_model_id_for_peft_training(policy_type):
 
 
 @pytest.mark.parametrize("policy_type", ["smolvla"])
-@require_package("peft")
+@skip_if_package_missing("peft")
 def test_peft_training_push_to_hub_works(policy_type, tmp_path):
     """Ensure that push to hub stores PEFT only the adapter, not the full model weights."""
     output_dir = tmp_path / f"output_{policy_type}"
@@ -76,7 +76,7 @@ def test_peft_training_push_to_hub_works(policy_type, tmp_path):
 
 
 @pytest.mark.parametrize("policy_type", ["smolvla"])
-@require_package("peft")
+@skip_if_package_missing("peft")
 def test_peft_training_works(policy_type, tmp_path):
     """Check whether the standard case of fine-tuning a (partially) pre-trained policy with PEFT works."""
     output_dir = tmp_path / f"output_{policy_type}"
@@ -125,7 +125,7 @@ def test_peft_training_works(policy_type, tmp_path):
 
 
 @pytest.mark.parametrize("policy_type", ["smolvla"])
-@require_package("peft")
+@skip_if_package_missing("peft")
 def test_peft_training_params_are_fewer(policy_type, tmp_path):
     """Check whether the standard case of fine-tuning a (partially) pre-trained policy with PEFT works."""
     output_dir = tmp_path / f"output_{policy_type}"
@@ -176,7 +176,7 @@ def dummy_make_robot_from_config(*args, **kwargs):
 
 
 @pytest.mark.parametrize("policy_type", ["smolvla"])
-@require_package("peft")
+@skip_if_package_missing("peft")
 def test_peft_record_loads_policy(policy_type, tmp_path):
     """Train a policy with PEFT and attempt to load it with `lerobot-record`."""
     from peft import PeftModel

tests/transport/test_transport_utils.py

@@ -23,10 +23,10 @@ import torch
 
 from lerobot.utils.constants import ACTION
 from lerobot.utils.transition import Transition
-from tests.utils import require_cuda, require_package
+from tests.utils import require_cuda, skip_if_package_missing
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_bytes_buffer_size_empty_buffer():
     from lerobot.transport.utils import bytes_buffer_size
 
@@ -37,7 +37,7 @@ def test_bytes_buffer_size_empty_buffer():
     assert buffer.tell() == 0
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_bytes_buffer_size_small_buffer():
     from lerobot.transport.utils import bytes_buffer_size
 
@@ -47,7 +47,7 @@ def test_bytes_buffer_size_small_buffer():
     assert buffer.tell() == 0
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_bytes_buffer_size_large_buffer():
     from lerobot.transport.utils import CHUNK_SIZE, bytes_buffer_size
 
@@ -58,7 +58,7 @@ def test_bytes_buffer_size_large_buffer():
     assert buffer.tell() == 0
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_send_bytes_in_chunks_empty_data():
     from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
 
@@ -68,7 +68,7 @@ def test_send_bytes_in_chunks_empty_data():
     assert len(chunks) == 0
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_single_chunk_small_data():
     from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
 
@@ -82,7 +82,7 @@ def test_single_chunk_small_data():
     assert chunks[0].transfer_state == services_pb2.TransferState.TRANSFER_END
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_not_silent_mode():
     from lerobot.transport.utils import send_bytes_in_chunks, services_pb2
 
@@ -94,7 +94,7 @@ def test_not_silent_mode():
     assert chunks[0].data == b"Some data"
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_send_bytes_in_chunks_large_data():
     from lerobot.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
 
@@ -111,7 +111,7 @@ def test_send_bytes_in_chunks_large_data():
     assert chunks[2].transfer_state == services_pb2.TransferState.TRANSFER_END
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_send_bytes_in_chunks_large_data_with_exact_chunk_size():
     from lerobot.transport.utils import CHUNK_SIZE, send_bytes_in_chunks, services_pb2
 
@@ -124,7 +124,7 @@ def test_send_bytes_in_chunks_large_data_with_exact_chunk_size():
     assert chunks[0].transfer_state == services_pb2.TransferState.TRANSFER_END
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_empty_data():
     from lerobot.transport.utils import receive_bytes_in_chunks
 
@@ -138,7 +138,7 @@ def test_receive_bytes_in_chunks_empty_data():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_single_chunk():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -157,7 +157,7 @@ def test_receive_bytes_in_chunks_single_chunk():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_single_not_end_chunk():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -175,7 +175,7 @@ def test_receive_bytes_in_chunks_single_not_end_chunk():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_multiple_chunks():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -199,7 +199,7 @@ def test_receive_bytes_in_chunks_multiple_chunks():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_multiple_messages():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -235,7 +235,7 @@ def test_receive_bytes_in_chunks_multiple_messages():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_shutdown_during_receive():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -259,7 +259,7 @@ def test_receive_bytes_in_chunks_shutdown_during_receive():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_only_begin_chunk():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -279,7 +279,7 @@ def test_receive_bytes_in_chunks_only_begin_chunk():
     assert queue.empty()
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_missing_begin():
     from lerobot.transport.utils import receive_bytes_in_chunks, services_pb2
 
@@ -303,7 +303,7 @@ def test_receive_bytes_in_chunks_missing_begin():
 
 
 # Tests for state_to_bytes and bytes_to_state_dict
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_state_to_bytes_empty_dict():
     from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
 
@@ -314,7 +314,7 @@ def test_state_to_bytes_empty_dict():
     assert reconstructed == state_dict
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_bytes_to_state_dict_empty_data():
     from lerobot.transport.utils import bytes_to_state_dict
 
@@ -323,7 +323,7 @@ def test_bytes_to_state_dict_empty_data():
         bytes_to_state_dict(b"")
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_state_to_bytes_simple_dict():
     from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
 
@@ -347,7 +347,7 @@ def test_state_to_bytes_simple_dict():
         assert torch.allclose(state_dict[key], reconstructed[key])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_state_to_bytes_various_dtypes():
     from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
 
@@ -372,7 +372,7 @@ def test_state_to_bytes_various_dtypes():
             assert torch.allclose(state_dict[key], reconstructed[key])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_bytes_to_state_dict_invalid_data():
     from lerobot.transport.utils import bytes_to_state_dict
 
@@ -382,7 +382,7 @@ def test_bytes_to_state_dict_invalid_data():
 
 
 @require_cuda
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_state_to_bytes_various_dtypes_cuda():
     from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
 
@@ -407,7 +407,7 @@ def test_state_to_bytes_various_dtypes_cuda():
             assert torch.allclose(state_dict[key], reconstructed[key])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_python_object_to_bytes_none():
     from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
 
@@ -439,7 +439,7 @@ def test_python_object_to_bytes_none():
         (1, 2, 3),
     ],
 )
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_python_object_to_bytes_simple_types(obj):
     from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
 
@@ -450,7 +450,7 @@ def test_python_object_to_bytes_simple_types(obj):
     assert type(reconstructed) is type(obj)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_python_object_to_bytes_with_tensors():
     from lerobot.transport.utils import bytes_to_python_object, python_object_to_bytes
 
@@ -475,7 +475,7 @@ def test_python_object_to_bytes_with_tensors():
     assert torch.equal(obj["nested"]["tensor2"], reconstructed["nested"]["tensor2"])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_transitions_to_bytes_empty_list():
     from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
 
@@ -487,7 +487,7 @@ def test_transitions_to_bytes_empty_list():
     assert isinstance(reconstructed, list)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_transitions_to_bytes_single_transition():
     from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
 
@@ -509,7 +509,7 @@ def test_transitions_to_bytes_single_transition():
     assert_transitions_equal(transitions[0], reconstructed[0])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def assert_transitions_equal(t1: Transition, t2: Transition):
     """Helper to assert two transitions are equal."""
     assert_observation_equal(t1["state"], t2["state"])
@@ -519,7 +519,7 @@ def assert_transitions_equal(t1: Transition, t2: Transition):
     assert_observation_equal(t1["next_state"], t2["next_state"])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def assert_observation_equal(o1: dict, o2: dict):
     """Helper to assert two observations are equal."""
     assert set(o1.keys()) == set(o2.keys())
@@ -527,7 +527,7 @@ def assert_observation_equal(o1: dict, o2: dict):
         assert torch.allclose(o1[key], o2[key])
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_transitions_to_bytes_multiple_transitions():
     from lerobot.transport.utils import bytes_to_transitions, transitions_to_bytes
 
@@ -551,7 +551,7 @@ def test_transitions_to_bytes_multiple_transitions():
         assert_transitions_equal(original, reconstructed_item)
 
 
-@require_package("grpcio", "grpc")
+@skip_if_package_missing("grpcio", "grpc")
 def test_receive_bytes_in_chunks_unknown_state():
     from lerobot.transport.utils import receive_bytes_in_chunks
 

tests/utils.py

@@ -152,7 +152,7 @@ def require_env(func):
     return wrapper
 
 
-def require_package_arg(func):
+def skip_if_package_arg_missing(func):
     """
     Decorator that skips the test if the required package is not installed.
     This is similar to `require_env` but more general in that it can check any package (not just environments).
@@ -184,7 +184,7 @@ def require_package_arg(func):
     return wrapper
 
 
-def require_package(package_name, import_name=None):
+def skip_if_package_missing(package_name, import_name=None):
     """
     Decorator that skips the test if the specified package is not installed.
     """

tests/utils/test_visualization_utils.py

@@ -48,6 +48,9 @@ def mock_rerun(monkeypatch):
         calls.append((key, obj, kwargs))
 
     dummy_rr = SimpleNamespace(
+        __name__="rerun",
+        __package__="rerun",
+        __spec__=SimpleNamespace(name="rerun", submodule_search_locations=None),
         Scalars=DummyScalar,
         Image=DummyImage,
         log=dummy_log,

uv.lock

@@ -2,11 +2,14 @@ version = 1
 revision = 3
 requires-python = ">=3.12"
 resolution-markers = [
-    "python_full_version >= '3.14' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "python_full_version >= '3.14' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.14' and platform_machine == 'arm64' and sys_platform == 'linux') or (python_full_version >= '3.14' and platform_machine == 'armv7l' and sys_platform == 'linux')",
     "python_full_version >= '3.14' and platform_machine == 's390x' and sys_platform == 'linux'",
-    "python_full_version == '3.13.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "python_full_version == '3.13.*' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and platform_machine == 'arm64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and platform_machine == 'armv7l' and sys_platform == 'linux')",
     "python_full_version == '3.13.*' and platform_machine == 's390x' and sys_platform == 'linux'",
-    "python_full_version < '3.13' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "python_full_version < '3.13' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version < '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.13' and platform_machine == 'arm64' and sys_platform == 'linux') or (python_full_version < '3.13' and platform_machine == 'armv7l' and sys_platform == 'linux')",
     "python_full_version < '3.13' and platform_machine == 's390x' and sys_platform == 'linux'",
     "python_full_version >= '3.14' and platform_machine != 's390x' and sys_platform != 'emscripten' and sys_platform != 'linux'",
     "python_full_version >= '3.14' and platform_machine == 's390x' and sys_platform != 'emscripten' and sys_platform != 'linux'",
@@ -820,7 +823,7 @@ name = "cuda-bindings"
 version = "12.9.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cuda-pathfinder", marker = "sys_platform == 'linux'" },
+    { name = "cuda-pathfinder", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/a9/c1/dabe88f52c3e3760d861401bb994df08f672ec893b8f7592dc91626adcf3/cuda_bindings-12.9.4-cp312-cp312-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:fda147a344e8eaeca0c6ff113d2851ffca8f7dfc0a6c932374ee5c47caa649c8", size = 12151019, upload-time = "2025-10-21T14:51:43.167Z" },
@@ -907,7 +910,7 @@ name = "decord"
 version = "0.6.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x') or (platform_machine != 's390x' and sys_platform != 'linux')" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/11/79/936af42edf90a7bd4e41a6cac89c913d4b47fa48a26b042d5129a9242ee3/decord-0.6.0-py3-none-manylinux2010_x86_64.whl", hash = "sha256:51997f20be8958e23b7c4061ba45d0efcd86bffd5fe81c695d0befee0d442976", size = 13602299, upload-time = "2021-06-14T21:30:55.486Z" },
@@ -1010,7 +1013,8 @@ name = "dm-tree"
 version = "0.1.9"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version >= '3.14' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "python_full_version >= '3.14' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version >= '3.14' and platform_machine == 'aarch64' and sys_platform == 'linux') or (python_full_version >= '3.14' and platform_machine == 'arm64' and sys_platform == 'linux') or (python_full_version >= '3.14' and platform_machine == 'armv7l' and sys_platform == 'linux')",
     "python_full_version >= '3.14' and platform_machine == 's390x' and sys_platform == 'linux'",
     "python_full_version >= '3.14' and platform_machine != 's390x' and sys_platform != 'emscripten' and sys_platform != 'linux'",
     "python_full_version >= '3.14' and platform_machine == 's390x' and sys_platform != 'emscripten' and sys_platform != 'linux'",
@@ -1043,9 +1047,11 @@ name = "dm-tree"
 version = "0.1.10"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version == '3.13.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "python_full_version == '3.13.*' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.13.*' and platform_machine == 'aarch64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and platform_machine == 'arm64' and sys_platform == 'linux') or (python_full_version == '3.13.*' and platform_machine == 'armv7l' and sys_platform == 'linux')",
     "python_full_version == '3.13.*' and platform_machine == 's390x' and sys_platform == 'linux'",
-    "python_full_version < '3.13' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "python_full_version < '3.13' and platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version < '3.13' and platform_machine == 'aarch64' and sys_platform == 'linux') or (python_full_version < '3.13' and platform_machine == 'arm64' and sys_platform == 'linux') or (python_full_version < '3.13' and platform_machine == 'armv7l' and sys_platform == 'linux')",
     "python_full_version < '3.13' and platform_machine == 's390x' and sys_platform == 'linux'",
     "python_full_version == '3.13.*' and platform_machine != 's390x' and sys_platform != 'emscripten' and sys_platform != 'linux'",
     "python_full_version == '3.13.*' and platform_machine == 's390x' and sys_platform != 'emscripten' and sys_platform != 'linux'",
@@ -2187,37 +2193,28 @@ name = "lerobot"
 version = "0.5.2"
 source = { editable = "." }
 dependencies = [
-    { name = "accelerate" },
-    { name = "av" },
-    { name = "cmake" },
-    { name = "datasets" },
-    { name = "deepdiff" },
-    { name = "diffusers" },
     { name = "draccus" },
     { name = "einops" },
     { name = "gymnasium" },
     { name = "huggingface-hub" },
-    { name = "imageio", extra = ["ffmpeg"] },
-    { name = "jsonlines" },
     { name = "numpy" },
     { name = "opencv-python-headless" },
     { name = "packaging" },
-    { name = "pynput" },
-    { name = "pyserial" },
-    { name = "rerun-sdk" },
-    { name = "setuptools" },
     { name = "termcolor" },
     { name = "torch" },
-    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
     { name = "torchvision" },
-    { name = "wandb" },
 ]
 
 [package.optional-dependencies]
 all = [
     { name = "accelerate" },
+    { name = "av" },
+    { name = "cmake" },
     { name = "contourpy" },
+    { name = "datasets" },
     { name = "debugpy" },
+    { name = "deepdiff" },
+    { name = "diffusers" },
     { name = "dynamixel-sdk" },
     { name = "faker" },
     { name = "fastapi" },
@@ -2230,6 +2227,7 @@ all = [
     { name = "hebi-py" },
     { name = "hf-libero", marker = "sys_platform == 'linux'" },
     { name = "hidapi" },
+    { name = "jsonlines" },
     { name = "matplotlib" },
     { name = "metaworld" },
     { name = "mock-serial", marker = "sys_platform != 'win32'" },
@@ -2242,24 +2240,34 @@ all = [
     { name = "protobuf" },
     { name = "pygame" },
     { name = "pymunk" },
+    { name = "pynput" },
     { name = "pyrealsense2", marker = "sys_platform != 'darwin'" },
     { name = "pyrealsense2-macosx", marker = "sys_platform == 'darwin'" },
+    { name = "pyserial" },
     { name = "pytest" },
     { name = "pytest-cov" },
     { name = "pytest-timeout" },
     { name = "pyzmq" },
     { name = "qwen-vl-utils" },
     { name = "reachy2-sdk" },
+    { name = "rerun-sdk" },
     { name = "safetensors" },
     { name = "scikit-image" },
     { name = "scipy" },
+    { name = "setuptools" },
     { name = "teleop" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
     { name = "torchdiffeq" },
     { name = "transformers" },
+    { name = "wandb" },
 ]
 aloha = [
+    { name = "av" },
+    { name = "datasets" },
     { name = "gym-aloha" },
+    { name = "jsonlines" },
     { name = "scipy" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
 ]
 async = [
     { name = "contourpy" },
@@ -2267,23 +2275,54 @@ async = [
     { name = "matplotlib" },
     { name = "protobuf" },
 ]
+build = [
+    { name = "cmake" },
+    { name = "setuptools" },
+]
 can-dep = [
     { name = "python-can" },
 ]
 damiao = [
     { name = "python-can" },
 ]
+dataset = [
+    { name = "av" },
+    { name = "datasets" },
+    { name = "jsonlines" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
+]
+dataset-viz = [
+    { name = "av" },
+    { name = "datasets" },
+    { name = "jsonlines" },
+    { name = "rerun-sdk" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
+]
 dev = [
+    { name = "accelerate" },
+    { name = "av" },
+    { name = "datasets" },
     { name = "debugpy" },
+    { name = "deepdiff" },
+    { name = "diffusers" },
     { name = "grpcio" },
     { name = "grpcio-tools" },
+    { name = "jsonlines" },
     { name = "mypy" },
     { name = "pre-commit" },
     { name = "protobuf" },
+    { name = "pynput" },
+    { name = "pyserial" },
+    { name = "rerun-sdk" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "wandb" },
 ]
 dynamixel = [
     { name = "dynamixel-sdk" },
 ]
+evaluation = [
+    { name = "av" },
+]
 feetech = [
     { name = "feetech-servo-sdk" },
 ]
@@ -2307,6 +2346,11 @@ grpcio-dep = [
     { name = "grpcio" },
     { name = "protobuf" },
 ]
+hardware = [
+    { name = "deepdiff" },
+    { name = "pynput" },
+    { name = "pyserial" },
+]
 hilserl = [
     { name = "grpcio" },
     { name = "gym-hil" },
@@ -2330,8 +2374,12 @@ lekiwi = [
     { name = "pyzmq" },
 ]
 libero = [
+    { name = "av" },
+    { name = "datasets" },
     { name = "hf-libero", marker = "sys_platform == 'linux'" },
+    { name = "jsonlines" },
     { name = "scipy" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
     { name = "transformers" },
 ]
 matplotlib-dep = [
@@ -2339,8 +2387,12 @@ matplotlib-dep = [
     { name = "matplotlib" },
 ]
 metaworld = [
+    { name = "av" },
+    { name = "datasets" },
+    { name = "jsonlines" },
     { name = "metaworld" },
     { name = "scipy" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
 ]
 multi-task-dit = [
     { name = "transformers" },
@@ -2369,8 +2421,12 @@ placo-dep = [
     { name = "placo" },
 ]
 pusht = [
+    { name = "av" },
+    { name = "datasets" },
     { name = "gym-pusht" },
+    { name = "jsonlines" },
     { name = "pymunk" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
 ]
 pygame-dep = [
     { name = "pygame" },
@@ -2381,6 +2437,16 @@ qwen-vl-utils-dep = [
 reachy2 = [
     { name = "reachy2-sdk" },
 ]
+robot = [
+    { name = "av" },
+    { name = "datasets" },
+    { name = "deepdiff" },
+    { name = "jsonlines" },
+    { name = "pynput" },
+    { name = "pyserial" },
+    { name = "rerun-sdk" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
+]
 robstride = [
     { name = "python-can" },
 ]
@@ -2401,10 +2467,39 @@ smolvla = [
     { name = "transformers" },
 ]
 test = [
+    { name = "accelerate" },
+    { name = "av" },
+    { name = "datasets" },
+    { name = "deepdiff" },
+    { name = "diffusers" },
+    { name = "jsonlines" },
     { name = "mock-serial", marker = "sys_platform != 'win32'" },
+    { name = "pynput" },
+    { name = "pyserial" },
     { name = "pytest" },
     { name = "pytest-cov" },
     { name = "pytest-timeout" },
+    { name = "rerun-sdk" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "wandb" },
+]
+train = [
+    { name = "accelerate" },
+    { name = "av" },
+    { name = "datasets" },
+    { name = "diffusers" },
+    { name = "jsonlines" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "wandb" },
+]
+training = [
+    { name = "accelerate" },
+    { name = "av" },
+    { name = "datasets" },
+    { name = "diffusers" },
+    { name = "jsonlines" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')" },
+    { name = "wandb" },
 ]
 transformers-dep = [
     { name = "transformers" },
@@ -2422,6 +2517,9 @@ video-benchmark = [
     { name = "pandas" },
     { name = "scikit-image" },
 ]
+viz = [
+    { name = "rerun-sdk" },
+]
 wallx = [
     { name = "peft" },
     { name = "qwen-vl-utils" },
@@ -2435,16 +2533,17 @@ xvla = [
 
 [package.metadata]
 requires-dist = [
-    { name = "accelerate", specifier = ">=1.10.0,<2.0.0" },
     { name = "accelerate", marker = "extra == 'smolvla'", specifier = ">=1.7.0,<2.0.0" },
-    { name = "av", specifier = ">=15.0.0,<16.0.0" },
+    { name = "accelerate", marker = "extra == 'train'", specifier = ">=1.10.0,<2.0.0" },
-    { name = "cmake", specifier = ">=3.29.0.1,<4.2.0" },
+    { name = "av", marker = "extra == 'dataset'", specifier = ">=15.0.0,<16.0.0" },
+    { name = "av", marker = "extra == 'evaluation'", specifier = ">=15.0.0,<16.0.0" },
+    { name = "cmake", marker = "extra == 'build'", specifier = ">=3.29.0.1,<4.2.0" },
     { name = "contourpy", marker = "extra == 'matplotlib-dep'", specifier = ">=1.3.0,<2.0.0" },
-    { name = "datasets", specifier = ">=4.0.0,<5.0.0" },
+    { name = "datasets", marker = "extra == 'dataset'", specifier = ">=4.0.0,<5.0.0" },
     { name = "debugpy", marker = "extra == 'dev'", specifier = ">=1.8.1,<1.9.0" },
     { name = "decord", marker = "(platform_machine == 'AMD64' and extra == 'groot') or (platform_machine == 'x86_64' and extra == 'groot')", specifier = ">=0.6.0,<1.0.0" },
-    { name = "deepdiff", specifier = ">=7.0.1,<9.0.0" },
+    { name = "deepdiff", marker = "extra == 'hardware'", specifier = ">=7.0.1,<9.0.0" },
-    { name = "diffusers", specifier = ">=0.27.2,<0.36.0" },
+    { name = "diffusers", marker = "extra == 'train'", specifier = ">=0.27.2,<0.36.0" },
     { name = "dm-tree", marker = "extra == 'groot'", specifier = ">=0.1.8,<1.0.0" },
     { name = "draccus", specifier = "==0.10.0" },
     { name = "dynamixel-sdk", marker = "extra == 'dynamixel'", specifier = ">=3.7.31,<3.9.0" },
@@ -2463,13 +2562,23 @@ requires-dist = [
     { name = "hf-libero", marker = "sys_platform == 'linux' and extra == 'libero'", specifier = ">=0.1.3,<0.2.0" },
     { name = "hidapi", marker = "extra == 'gamepad'", specifier = ">=0.14.0,<0.15.0" },
     { name = "huggingface-hub", specifier = ">=1.0.0,<2.0.0" },
-    { name = "imageio", extras = ["ffmpeg"], specifier = ">=2.34.0,<3.0.0" },
+    { name = "jsonlines", marker = "extra == 'dataset'", specifier = ">=4.0.0,<5.0.0" },
-    { name = "jsonlines", specifier = ">=4.0.0,<5.0.0" },
     { name = "lerobot", extras = ["aloha"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["async"], marker = "extra == 'all'" },
+    { name = "lerobot", extras = ["build"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["can-dep"], marker = "extra == 'damiao'" },
     { name = "lerobot", extras = ["can-dep"], marker = "extra == 'robstride'" },
     { name = "lerobot", extras = ["damiao"], marker = "extra == 'openarms'" },
+    { name = "lerobot", extras = ["dataset"], marker = "extra == 'all'" },
+    { name = "lerobot", extras = ["dataset"], marker = "extra == 'aloha'" },
+    { name = "lerobot", extras = ["dataset"], marker = "extra == 'dataset-viz'" },
+    { name = "lerobot", extras = ["dataset"], marker = "extra == 'dev'" },
+    { name = "lerobot", extras = ["dataset"], marker = "extra == 'libero'" },
+    { name = "lerobot", extras = ["dataset"], marker = "extra == 'metaworld'" },
+    { name = "lerobot", extras = ["dataset"], marker = "extra == 'pusht'" },
+    { name = "lerobot", extras = ["dataset"], marker = "extra == 'robot'" },
+    { name = "lerobot", extras = ["dataset"], marker = "extra == 'test'" },
+    { name = "lerobot", extras = ["dataset"], marker = "extra == 'train'" },
     { name = "lerobot", extras = ["dev"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["dynamixel"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["feetech"], marker = "extra == 'hopejr'" },
@@ -2478,6 +2587,10 @@ requires-dist = [
     { name = "lerobot", extras = ["grpcio-dep"], marker = "extra == 'async'" },
     { name = "lerobot", extras = ["grpcio-dep"], marker = "extra == 'dev'" },
     { name = "lerobot", extras = ["grpcio-dep"], marker = "extra == 'hilserl'" },
+    { name = "lerobot", extras = ["hardware"], marker = "extra == 'all'" },
+    { name = "lerobot", extras = ["hardware"], marker = "extra == 'dev'" },
+    { name = "lerobot", extras = ["hardware"], marker = "extra == 'robot'" },
+    { name = "lerobot", extras = ["hardware"], marker = "extra == 'test'" },
     { name = "lerobot", extras = ["hilserl"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["hopejr"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["intelrealsense"], marker = "extra == 'all'" },
@@ -2512,6 +2625,10 @@ requires-dist = [
     { name = "lerobot", extras = ["scipy-dep"], marker = "extra == 'wallx'" },
     { name = "lerobot", extras = ["smolvla"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["test"], marker = "extra == 'all'" },
+    { name = "lerobot", extras = ["train"], marker = "extra == 'all'" },
+    { name = "lerobot", extras = ["train"], marker = "extra == 'dev'" },
+    { name = "lerobot", extras = ["train"], marker = "extra == 'test'" },
+    { name = "lerobot", extras = ["train"], marker = "extra == 'training'" },
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'groot'" },
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'hilserl'" },
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'libero'" },
@@ -2523,6 +2640,11 @@ requires-dist = [
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'wallx'" },
     { name = "lerobot", extras = ["transformers-dep"], marker = "extra == 'xvla'" },
     { name = "lerobot", extras = ["video-benchmark"], marker = "extra == 'all'" },
+    { name = "lerobot", extras = ["viz"], marker = "extra == 'all'" },
+    { name = "lerobot", extras = ["viz"], marker = "extra == 'dataset-viz'" },
+    { name = "lerobot", extras = ["viz"], marker = "extra == 'dev'" },
+    { name = "lerobot", extras = ["viz"], marker = "extra == 'robot'" },
+    { name = "lerobot", extras = ["viz"], marker = "extra == 'test'" },
     { name = "lerobot", extras = ["wallx"], marker = "extra == 'all'" },
     { name = "lerobot", extras = ["xvla"], marker = "extra == 'all'" },
     { name = "matplotlib", marker = "extra == 'matplotlib-dep'", specifier = ">=3.10.3,<4.0.0" },
@@ -2545,10 +2667,10 @@ requires-dist = [
     { name = "protobuf", marker = "extra == 'grpcio-dep'", specifier = ">=6.31.1,<6.32.0" },
     { name = "pygame", marker = "extra == 'pygame-dep'", specifier = ">=2.5.1,<2.7.0" },
     { name = "pymunk", marker = "extra == 'pusht'", specifier = ">=6.6.0,<7.0.0" },
-    { name = "pynput", specifier = ">=1.7.8,<1.9.0" },
+    { name = "pynput", marker = "extra == 'hardware'", specifier = ">=1.7.8,<1.9.0" },
     { name = "pyrealsense2", marker = "sys_platform != 'darwin' and extra == 'intelrealsense'", specifier = ">=2.55.1.6486,<2.57.0" },
     { name = "pyrealsense2-macosx", marker = "sys_platform == 'darwin' and extra == 'intelrealsense'", specifier = ">=2.54,<2.57.0" },
-    { name = "pyserial", specifier = ">=3.5,<4.0" },
+    { name = "pyserial", marker = "extra == 'hardware'", specifier = ">=3.5,<4.0" },
     { name = "pytest", marker = "extra == 'test'", specifier = ">=8.1.0,<9.0.0" },
     { name = "pytest-cov", marker = "extra == 'test'", specifier = ">=5.0.0,<8.0.0" },
     { name = "pytest-timeout", marker = "extra == 'test'", specifier = ">=2.4.0,<3.0.0" },
@@ -2557,24 +2679,24 @@ requires-dist = [
     { name = "pyzmq", marker = "extra == 'unitree-g1'", specifier = ">=26.2.1,<28.0.0" },
     { name = "qwen-vl-utils", marker = "extra == 'qwen-vl-utils-dep'", specifier = ">=0.0.11,<0.1.0" },
     { name = "reachy2-sdk", marker = "extra == 'reachy2'", specifier = ">=1.0.15,<1.1.0" },
-    { name = "rerun-sdk", specifier = ">=0.24.0,<0.27.0" },
+    { name = "rerun-sdk", marker = "extra == 'viz'", specifier = ">=0.24.0,<0.27.0" },
     { name = "safetensors", marker = "extra == 'groot'", specifier = ">=0.4.3,<1.0.0" },
     { name = "safetensors", marker = "extra == 'smolvla'", specifier = ">=0.4.3,<1.0.0" },
     { name = "scikit-image", marker = "extra == 'video-benchmark'", specifier = ">=0.23.2,<0.26.0" },
     { name = "scipy", marker = "extra == 'all'", specifier = ">=1.14.0,<2.0.0" },
     { name = "scipy", marker = "extra == 'scipy-dep'", specifier = ">=1.14.0,<2.0.0" },
-    { name = "setuptools", specifier = ">=71.0.0,<81.0.0" },
+    { name = "setuptools", marker = "extra == 'build'", specifier = ">=71.0.0,<81.0.0" },
     { name = "teleop", marker = "extra == 'phone'", specifier = ">=0.1.0,<0.2.0" },
     { name = "termcolor", specifier = ">=2.4.0,<4.0.0" },
     { name = "timm", marker = "extra == 'groot'", specifier = ">=1.0.0,<1.1.0" },
     { name = "torch", specifier = ">=2.7,<2.11.0" },
-    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux') or (platform_machine != 'x86_64' and sys_platform == 'darwin') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32')", specifier = ">=0.3.0,<0.11.0" },
+    { name = "torchcodec", marker = "(platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and sys_platform == 'linux' and extra == 'dataset') or (platform_machine != 'x86_64' and sys_platform == 'darwin' and extra == 'dataset') or (sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'dataset')", specifier = ">=0.3.0,<0.11.0" },
     { name = "torchdiffeq", marker = "extra == 'wallx'", specifier = ">=0.2.4,<0.3.0" },
     { name = "torchvision", specifier = ">=0.22.0,<0.26.0" },
     { name = "transformers", marker = "extra == 'transformers-dep'", specifier = "==5.3.0" },
-    { name = "wandb", specifier = ">=0.24.0,<0.25.0" },
+    { name = "wandb", marker = "extra == 'train'", specifier = ">=0.24.0,<0.25.0" },
 ]
-provides-extras = ["pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "can-dep", "peft-dep", "scipy-dep", "qwen-vl-utils-dep", "matplotlib-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "kinematics", "intelrealsense", "phone", "wallx", "pi", "smolvla", "multi-task-dit", "groot", "sarm", "xvla", "hilserl", "async", "peft", "dev", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"]
+provides-extras = ["dataset", "train", "hardware", "viz", "build", "robot", "evaluation", "training", "dataset-viz", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "can-dep", "peft-dep", "scipy-dep", "qwen-vl-utils-dep", "matplotlib-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "kinematics", "intelrealsense", "phone", "wallx", "pi", "smolvla", "multi-task-dit", "groot", "sarm", "xvla", "hilserl", "async", "peft", "dev", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"]
 
 [[package]]
 name = "librt"
@@ -3359,7 +3481,7 @@ name = "nvidia-cudnn-cu12"
 version = "9.10.2.21"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-cublas-cu12", marker = "sys_platform == 'linux'" },
+    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/ba/51/e123d997aa098c61d029f76663dedbfb9bc8dcf8c60cbd6adbe42f76d049/nvidia_cudnn_cu12-9.10.2.21-py3-none-manylinux_2_27_x86_64.whl", hash = "sha256:949452be657fa16687d0930933f032835951ef0892b37d2d53824d1a84dc97a8", size = 706758467, upload-time = "2025-06-06T21:54:08.597Z" },
@@ -3370,7 +3492,7 @@ name = "nvidia-cufft-cu12"
 version = "11.3.3.83"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-nvjitlink-cu12", marker = "sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
 ]
 wheels = [
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@@ -3397,9 +3519,9 @@ name = "nvidia-cusolver-cu12"
 version = "11.7.3.90"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-cublas-cu12", marker = "sys_platform == 'linux'" },
+    { name = "nvidia-cublas-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
-    { name = "nvidia-cusparse-cu12", marker = "sys_platform == 'linux'" },
+    { name = "nvidia-cusparse-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
-    { name = "nvidia-nvjitlink-cu12", marker = "sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
 ]
 wheels = [
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@@ -3410,7 +3532,7 @@ name = "nvidia-cusparse-cu12"
 version = "12.5.8.93"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-nvjitlink-cu12", marker = "sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l' and platform_machine != 's390x' and sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/c2/f5/e1854cb2f2bcd4280c44736c93550cc300ff4b8c95ebe370d0aa7d2b473d/nvidia_cusparse_cu12-12.5.8.93-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:1ec05d76bbbd8b61b06a80e1eaf8cf4959c3d4ce8e711b65ebd0443bb0ebb13b", size = 288216466, upload-time = "2025-03-07T01:48:13.779Z" },
@@ -4231,10 +4353,10 @@ name = "pyobjc-framework-applicationservices"
 version = "12.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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