Merge branch 'main' into feature/add-multitask-dit

pyproject.toml

@@ -147,6 +147,7 @@ hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpci
 
 # Features
 async = ["lerobot[grpcio-dep]", "matplotlib>=3.10.3,<4.0.0"]
+peft = ["lerobot[transformers-dep]", "peft>=0.18.0"]
 
 # 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"]
@@ -183,7 +184,8 @@ all = [
     "lerobot[phone]",
     "lerobot[libero]",
     "lerobot[metaworld]",
-    "lerobot[sarm]"
+    "lerobot[sarm]",
+    "lerobot[peft]",
 ]
 
 [project.scripts]
@@ -418,6 +420,10 @@ conflicts = [
         { extra = "wallx" },
         { extra = "libero" },
     ],
+    [
+        { extra = "wallx" },
+        { extra = "peft" },
+    ],
     [
         { extra = "wallx" },
         { extra = "all" },
@@ -451,6 +457,10 @@ conflicts = [
         { extra = "pi" },
         { extra = "libero" },
     ],
+    [
+        { extra = "pi" },
+        { extra = "peft" },
+    ],
     [
         { extra = "pi" },
         { extra = "all" },