* feat(async-inference) Try using async inference server with plugins
* Fix import
* Fix import error in Robot Client
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Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
* Fix SmolVLA meta tensor error by removing device_map
- Remove device_map parameter from VLM model loading
- Change torch_dtype from string to torch.bfloat16
- Add explicit .to(device) calls after initialization
This resolves NotImplementedError when training SmolVLA policy.
Fixes meta tensor copy issue in factory.py:418.
* fix: remove manual device movement logic and fix dtype handling
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Co-authored-by: Highsky7 <albert31115@gmail.com>
* add OpenArm Mini config and module init
* add OpenArm Mini teleoperator implementation
* add OpenArm Mini into factory and setup motors
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Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Replaced assert statements with FrameTimestampError exceptions in
decode_video_frames_torchvision and decode_video_frames_torchcodec.
Assertions are unsuitable for runtime validation because they can be
silently disabled with python -O, and they produce unhelpful
AssertionError tracebacks. The codebase already defines
FrameTimestampError for this exact purpose but it was only used
in one of the three validation sites.
Also removed AssertionError from the except clause in
LeRobotDataset.__init__, which was masking video timestamp errors
by silently triggering a dataset re-download instead of surfacing
the actual problem.
1. Include metaworld_config.json in package distributions by adding it to
both MANIFEST.in (for sdist) and pyproject.toml package-data (for wheels).
Without this, pip-installed lerobot raises FileNotFoundError when
importing the metaworld environment.
2. Fix crash in sanity_check_dataset_name where the error message accesses
policy_cfg.type when policy_cfg is None, raising AttributeError instead
of the intended ValueError.
Fixes#2958
* fix(dataset): Reindex videos based on frame and not on time
Sometimes during split operations the frame timestamp floating
precision leads to frame ending up in the wrong split.
This changes fixes the issues by directly working with frame indices
instead.
* Fix formatting
* feat(motors): add initial implementation of robstride
Co-authored-by: Virgile <virgilebatto@gmail.com>
* chore(motors): solve some linter
* remove kp/kd attribute
* code uniformisation between damiao and robstride
* remove normalization warning
* remove non valid baudrates and small docstring update
* remove all useless files. Only keeping robstride.py and table.py
* typing for mypy
* reduce NameOrId usage
* align signature with damiao
* put the same helper than in the damiao implementation
* bug correction : expect a response after each bus.send
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Co-authored-by: Virgile <virgilebatto@gmail.com>
* Add GymHILAdapterProcessorStep for gym-hil environment integration
* Fix action features in control loop for None teleop device with gym-hil
* Finalize dataset before pushing to hub for visualization on the hub
* Fix neutral action for gripper
* fix pre-commit
* Add New featrue to lerobot_edit_datset.py that show dataset information.
* Fix to draccus error when happen give only --operation.type=info
* Updating test and documents regarding lerobot-edit-dataset info function.
* Updating documents regarding lerobot-edit-dataset extract function. option name in document is mistake.
* feat(datasets): Update to align formatting with pre-commit.(#2917)
Update to align formatting by pre-commit.
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Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
* fix: ensure motors module passes MyPy type checks
This commit fixes 62 mypy type errors in the motors module by:
- Updating Protocol classes (PortHandler, PacketHandler, GroupSyncRead,
GroupSyncWrite) to use class-level attribute declarations instead of
__init__ body declarations
- Adding missing `broadcastPing` method to PacketHandler Protocol
- Fixing return type annotations (e.g., `_get_motor_model` returns str, not int)
- Fixing parameter types to use `Sequence` for covariant list parameters
- Fixing `Mapping` for covariant dict value types in `_normalize`
- Updating method signatures to be consistent across parent and child classes
(disable_torque, enable_torque, _get_half_turn_homings)
- Adding explicit `int()` casts for MotorCalibration arguments
- Adding explicit `return None` for functions returning Optional types
- Adding type annotations for variables like `data_list: dict[int, int]`
- Using `# type: ignore[method-assign]` for intentional monkeypatch
- Fixing variable references (using `self.groups` instead of `groups`)
Fixes#1723🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
* chore(style): pre-commit after main merge
* chore(linter): solve comments
* chore(linter): apply pre-commit fixes to damiao
* chore(linter): more fixes to damiao
---------
Co-authored-by: yurekami <yurekami@users.noreply.github.com>
Co-authored-by: Claude Opus 4.5 <noreply@anthropic.com>
* fix(ci): prevent runner group error on fork pushes
Add repository check to unbound_deps_tests workflow to ensure
aws-general-8-plus runner group is only used on main repository,
preventing 'Required runner group not found' errors on forks.
* fix(ci): use gating job to prevent runner allocation on forks
The previous approach failed because GitHub evaluates runs-on before if conditions.
Now using a check-repo job that runs on ubuntu-latest first, and all jobs with
special runners depend on it and check its output before being scheduled.
* fix(ci): add gating job to full_tests to prevent runner allocation on forks
Apply the same gating pattern used in unbound_deps_tests to full_tests.yml
to prevent GitHub from trying to allocate custom runners when workflows
run on forks. The check-repo job runs first on ubuntu-latest and all jobs
with custom runners depend on it and check its output.
* fix(ci): add repository check to unbound_deps_tests workflow
Add 'if: github.repository == huggingface/lerobot' check to build-and-push-docker job to prevent runner group access errors on forks, matching the pattern used in nightly.yml
* fix(ci): add repository check to full_tests workflow
Add 'if: github.repository == huggingface/lerobot' check to build-and-push-docker and gpu-tests jobs to prevent runner group access errors on forks
* refactor(ci): remove redundant check from gpu-tests job
gpu-tests depends on build-and-push-docker via needs, so it will automatically skip when the parent job is skipped
* refactor(ci): remove unnecessary fork check from full-tests job
full-tests runs on ubuntu-latest which is available to all forks, no need to restrict it
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Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Jade Choghari