trim episodes

.github/workflows/fast_tests.yml

@@ -44,7 +44,7 @@ permissions:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.12"
+  PYTHON_VERSION: "3.10"
 
 # Ensures that only the latest commit for a PR or branch is built, canceling older runs.
 concurrency:
@@ -61,7 +61,6 @@ jobs:
       MUJOCO_GL: egl
       HF_HOME: /mnt/cache/.cache/huggingface
       HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     steps:
       - uses: actions/checkout@v6
         with:
@@ -90,11 +89,5 @@ jobs:
       - name: Install lerobot with test extras
         run: uv sync --extra "test"
 
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          uv run hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          uv run hf auth whoami
-
       - name: Run pytest
         run: uv run pytest tests -vv --maxfail=10

.github/workflows/full_tests.yml

@@ -37,7 +37,7 @@ permissions:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.12"
+  PYTHON_VERSION: "3.10"
   DOCKER_IMAGE_NAME: huggingface/lerobot-gpu
 
 # Ensures that only the latest action is built, canceling older runs.
@@ -60,7 +60,6 @@ jobs:
       MUJOCO_GL: egl
       HF_HOME: /mnt/cache/.cache/huggingface
       HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     steps:
       - uses: actions/checkout@v6
         with:
@@ -88,12 +87,6 @@ jobs:
       - name: Install lerobot with all extras
         run: uv sync --extra all # TODO(Steven): Make flash-attn optional
 
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          uv run hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          uv run hf auth whoami
-
       - name: Run pytest (all extras)
         run: uv run pytest tests -vv --maxfail=10
 
@@ -169,7 +162,6 @@ jobs:
       HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
       TORCH_HOME: /home/user_lerobot/.cache/torch
       TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     container:
       image: ${{ needs.build-and-push-docker.outputs.image_tag }} # zizmor: ignore[unpinned-images]
       options: --gpus all --shm-size "16gb"
@@ -181,13 +173,8 @@ jobs:
         shell: bash
         working-directory: /lerobot
     steps:
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          hf auth whoami
       - name: Fix ptxas permissions
-        run: chmod +x /lerobot/.venv/lib/python3.12/site-packages/triton/backends/nvidia/bin/ptxas
+        run: chmod +x /lerobot/.venv/lib/python3.10/site-packages/triton/backends/nvidia/bin/ptxas
       - name: Run pytest on GPU
         run: pytest tests -vv --maxfail=10
       - name: Run end-to-end tests

.github/workflows/nightly.yml

@@ -28,7 +28,7 @@ on:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.12"
+  PYTHON_VERSION: "3.10"
   DOCKER_IMAGE_NAME_CPU: huggingface/lerobot-cpu:latest
   DOCKER_IMAGE_NAME_GPU: huggingface/lerobot-gpu:latest
 
@@ -119,7 +119,6 @@ jobs:
       HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
       TORCH_HOME: /home/user_lerobot/.cache/torch
       TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     container:
       image: ${{ needs.build-docker-cpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
       options: --shm-size "16gb"
@@ -131,11 +130,6 @@ jobs:
         shell: bash
         working-directory: /lerobot
     steps:
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          hf auth whoami
       - name: Run pytest on CPU
         run: pytest tests -vv --maxfail=10
       - name: Run end-to-end tests
@@ -152,7 +146,6 @@ jobs:
       HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
       TORCH_HOME: /home/user_lerobot/.cache/torch
       TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     container:
       image: ${{ needs.build-docker-gpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
       options: --gpus all --shm-size "16gb"
@@ -164,11 +157,6 @@ jobs:
         shell: bash
         working-directory: /lerobot
     steps:
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          hf auth whoami
       - name: Run pytest on GPU
         run: pytest tests -vv --maxfail=10
       - name: Run end-to-end tests
@@ -186,7 +174,6 @@ jobs:
       TORCH_HOME: /home/user_lerobot/.cache/torch
       TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
       CUDA_VISIBLE_DEVICES: "0,1,2,3"
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     container:
       image: ${{ needs.build-docker-gpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
       options: --gpus all --shm-size "16gb"
@@ -198,15 +185,12 @@ jobs:
         shell: bash
         working-directory: /lerobot
     steps:
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          hf auth whoami
       - name: Verify GPU availability
         run: |
           nvidia-smi
           python -c "import torch; print(f'PyTorch CUDA available: {torch.cuda.is_available()}'); print(f'Number of GPUs: {torch.cuda.device_count()}')"
 
       - name: Run multi-GPU training tests
-        run: pytest -vv tests/training/
+      # TODO(Steven): Investigate why motors tests are failing in multi-GPU setup
+        run: pytest tests -vv --maxfail=10 --ignore=tests/motors/
+        timeout-minutes: 10

.github/workflows/quality.yml

@@ -50,7 +50,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: '3.12'
+          python-version: '3.10'
 
       - name: Run pre-commit hooks
         uses: pre-commit/action@v3.0.1 # zizmor: ignore[unpinned-uses]

.github/workflows/release.yml

@@ -22,7 +22,7 @@ on:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.12"
+  PYTHON_VERSION: "3.10"
 
 jobs:
   # This job builds the Python package and publishes it to PyPI
@@ -45,7 +45,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: '3.12'
+          python-version: '3.10'
 
       - name: Extract Version
         id: extract_info
@@ -83,6 +83,14 @@ jobs:
             exit 1
           fi
 
+      - name: Remove Tags with Git dependencies
+        # TODO(Steven): Temporary patch to remove pi from PyPi 0.4.0 release due to its reliance on git dependencies.
+        run: |
+          echo "::info:: Checking for Git dependencies to remove from pyproject.toml..."
+          grep -E '@ git\+https|lerobot\[pi\]' pyproject.toml | sed 's/^/::warning:: Removing line: /' || true
+          sed -E -i '/@ git\+https|lerobot\[pi\]/d' pyproject.toml
+          echo "::info:: Git dependencies removed. Proceeding with build."
+
       - name: Install build dependencies
         run: python -m pip install build
 

.github/workflows/unbound_deps_tests.yml

@@ -29,7 +29,7 @@ permissions:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.12"
+  PYTHON_VERSION: "3.10"
   DOCKER_IMAGE_NAME: huggingface/lerobot-gpu:unbound
 
 # Ensures that only the latest action is built, canceling older runs.
@@ -48,7 +48,6 @@ jobs:
       MUJOCO_GL: egl
       HF_HOME: /mnt/cache/.cache/huggingface
       HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     steps:
       - uses: actions/checkout@v6
         with:
@@ -80,11 +79,7 @@ jobs:
 
       - name: Install lerobot with all extras
         run: uv sync --extra all # TODO(Steven): Make flash-attn optional
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          uv run hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          uv run hf auth whoami
+
       - name: Run pytest (all extras)
         run: uv run pytest tests -vv
 
@@ -142,7 +137,6 @@ jobs:
       HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
       TORCH_HOME: /home/user_lerobot/.cache/torch
       TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     container:
       image: ${{ needs.build-and-push-docker.outputs.image_tag }} # zizmor: ignore[unpinned-images]
       options: --gpus all --shm-size "16gb"
@@ -154,11 +148,6 @@ jobs:
         shell: bash
         working-directory: /lerobot
     steps:
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          hf auth whoami
       - name: Run pytest on GPU
         run: pytest tests -vv
       - name: Run end-to-end tests

.pre-commit-config.yaml

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 default_language_version:
-    python: python3.12
+    python: python3.10
 
 exclude: "tests/artifacts/.*\\.safetensors$"
 
@@ -55,7 +55,7 @@ repos:
     rev: v3.21.0
     hooks:
     -   id: pyupgrade
-        args: [--py312-plus]
+        args: [--py310-plus]
 
   ##### Markdown Quality #####
   - repo: https://github.com/rbubley/mirrors-prettier

AI_POLICY.md

@@ -1,25 +0,0 @@
-# AI Usage Policy
-
-The LeRobot project welcomes contributions from everyone, and we have a few guidelines regarding AI usage to ensure high code quality, clear communication, and a healthy open-source ecosystem:
-
-- **Please disclose significant AI assistance.** If you used AI tools (e.g., Copilot, Claude, Cursor, ChatGPT) to generate a substantial portion of your code or text, let us know in your PR description. Transparency helps us review your changes more effectively.
-- **Own your code (The Human-in-the-Loop).** You must fully understand all the changes you are proposing. If you cannot explain what your AI-assisted code does or how it interacts with LeRobot's broader architecture, please take the time to learn and test it before submitting.
-- **Keep issues and discussions focused.** You are welcome to use AI to help draft issues or PR descriptions, but please review and edit them carefully before posting. AI can often be overly verbose; trimming the noise and getting straight to the point helps our maintainers address your needs faster.
-
-Our core maintainers also use AI tools to aid their workflows, but they do so while bringing deep contextual knowledge of the LeRobot codebase to validate the output. We ask all contributors to apply that same level of rigor.
-
-## Remember the Human Maintainers
-
-Please remember that LeRobot is maintained by a dedicated team of humans.
-
-Every discussion, issue, and pull request is read and reviewed by real people. While AI tools can generate thousands of lines of code in seconds, reviewing that code still takes human time and energy. Submitting unverified or low-effort AI output puts an unfair burden on our maintainers.
-
-Today, the quality of the AI output still heavily depends on the developer driving the tool. We ask that you respect our maintainers' time by thoroughly vetting, testing, and refining your submissions.
-
-## AI is Welcome Here
-
-LeRobot operates at the cutting edge of AI and robotics, and many of our maintainers actively embrace AI coding assistants as valuable productivity tools. We are a pro-AI project!
-
-Our reason for having an AI policy is not an anti-AI stance. Rather, it exists to ensure that AI is used to enhance human contributions, not replace them with unverified noise. It's about how the tools are used, not the tools themselves.
-
-We value the unique human insight you bring to the LeRobot community. Let AI empower your workflow, but always let your own judgment take the wheel.

CONTRIBUTING.md

@@ -2,7 +2,7 @@
 
 Everyone is welcome to contribute, and we value everybody's contribution. Code is not the only way to help the community. Answering questions, helping others, reaching out, and improving the documentation are immensely valuable.
 
-Whichever way you choose to contribute, please be mindful to respect our [code of conduct](https://github.com/huggingface/lerobot/blob/main/CODE_OF_CONDUCT.md) and our [AI policy](https://github.com/huggingface/lerobot/blob/main/AI_POLICY.md).
+Whichever way you choose to contribute, please be mindful to respect our [code of conduct](./CODE_OF_CONDUCT.md).
 
 ## Ways to Contribute
 
@@ -32,7 +32,7 @@ git remote add upstream https://github.com/huggingface/lerobot.git
 
 ### 2. Environment Installation
 
-Please follow our [Installation Guide](https://huggingface.co/docs/lerobot/installation) for the environment setup & installation from source.
+Please follow our [Installation Guide](./docs/source/installation.mdx) for the environment setup & installation from source.
 
 ## Running Tests & Quality Checks
 
@@ -75,8 +75,8 @@ pytest -sv tests/test_specific_feature.py
 
 Use the templates for required fields and examples.
 
-- **Issues:** Follow the [ticket template](https://github.com/huggingface/lerobot/blob/main/.github/ISSUE_TEMPLATE/bug-report.yml).
-- **Pull requests:** Rebase on `upstream/main`, use a descriptive branch (don't work on `main`), run `pre-commit` and tests locally, and follow the [PR template](https://github.com/huggingface/lerobot/blob/main/.github/PULL_REQUEST_TEMPLATE.md).
+- **Issues:** Follow the [ticket template](./.github/ISSUE_TEMPLATE/bug-report.yml).
+- **Pull requests:** Rebase on `upstream/main`, use a descriptive branch (don't work on `main`), run `pre-commit` and tests locally, and follow the [PR template](./.github/PULL_REQUEST_TEMPLATE.md).
 
 One member of the LeRobot team will then review your contribution.
 

README.md

@@ -100,11 +100,11 @@ lerobot-train \
   --dataset.repo_id=lerobot/aloha_mobile_cabinet
 ```
 
-| Category                   | Models                                                                                                                                                                                                                  |
-| -------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| **Imitation Learning**     | [ACT](./docs/source/policy_act_README.md), [Diffusion](./docs/source/policy_diffusion_README.md), [VQ-BeT](./docs/source/policy_vqbet_README.md), [Multitask DiT Policy](./docs/source/policy_multi_task_dit_README.md) |
-| **Reinforcement Learning** | [HIL-SERL](./docs/source/hilserl.mdx), [TDMPC](./docs/source/policy_tdmpc_README.md) & QC-FQL (coming soon)                                                                                                             |
-| **VLAs Models**            | [Pi0Fast](./docs/source/pi0fast.mdx), [Pi0.5](./docs/source/pi05.mdx), [GR00T N1.5](./docs/source/policy_groot_README.md), [SmolVLA](./docs/source/policy_smolvla_README.md), [XVLA](./docs/source/xvla.mdx)            |
+| Category                   | Models                                                                                                                                                                                                       |
+| -------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| **Imitation Learning**     | [ACT](./docs/source/policy_act_README.md), [Diffusion](./docs/source/policy_diffusion_README.md), [VQ-BeT](./docs/source/policy_vqbet_README.md)                                                             |
+| **Reinforcement Learning** | [HIL-SERL](./docs/source/hilserl.mdx), [TDMPC](./docs/source/policy_tdmpc_README.md) & QC-FQL (coming soon)                                                                                                  |
+| **VLAs Models**            | [Pi0Fast](./docs/source/pi0fast.mdx), [Pi0.5](./docs/source/pi05.mdx), [GR00T N1.5](./docs/source/policy_groot_README.md), [SmolVLA](./docs/source/policy_smolvla_README.md), [XVLA](./docs/source/xvla.mdx) |
 
 Similarly to the hardware, you can easily implement your own policy & leverage LeRobot's data collection, training, and visualization tools, and share your model to the HF Hub
 
@@ -135,7 +135,7 @@ Learn how to implement your own simulation environment or benchmark and distribu
 
 ## Citation
 
-If you use LeRobot in your project, please cite the GitHub repository to acknowledge the ongoing development and contributors:
+If you use LeRobot in your research, please cite:
 
 ```bibtex
 @misc{cadene2024lerobot,
@@ -146,26 +146,9 @@ If you use LeRobot in your project, please cite the GitHub repository to acknowl
 }
 ```
 
-If you are referencing our research or the academic paper, please also cite our ICLR publication:
-
-<details>
-<summary><b>ICLR 2026 Paper</b></summary>
-
-```bibtex
-@inproceedings{cadenelerobot,
-  title={LeRobot: An Open-Source Library for End-to-End Robot Learning},
-  author={Cadene, Remi and Alibert, Simon and Capuano, Francesco and Aractingi, Michel and Zouitine, Adil and Kooijmans, Pepijn and Choghari, Jade and Russi, Martino and Pascal, Caroline and Palma, Steven and Shukor, Mustafa and Moss, Jess and Soare, Alexander and Aubakirova, Dana and Lhoest, Quentin and Gallou\'edec, Quentin and Wolf, Thomas},
-  booktitle={The Fourteenth International Conference on Learning Representations},
-  year={2026},
-  url={https://arxiv.org/abs/2602.22818}
-}
-```
-
-</details>
-
 ## Contribute
 
-We welcome contributions from everyone in the community! To get started, please read our [CONTRIBUTING.md](https://github.com/huggingface/lerobot/blob/main/CONTRIBUTING.md) guide. Whether you're adding a new feature, improving documentation, or fixing a bug, your help and feedback are invaluable. We're incredibly excited about the future of open-source robotics and can't wait to work with you on what's next—thank you for your support!
+We welcome contributions from everyone in the community! To get started, please read our [CONTRIBUTING.md](./CONTRIBUTING.md) guide. Whether you're adding a new feature, improving documentation, or fixing a bug, your help and feedback are invaluable. We're incredibly excited about the future of open-source robotics and can't wait to work with you on what's next—thank you for your support!
 
 <p align="center">
   <img alt="SO101 Video" src="./media/readme/so100_video.webp" width="640px">

benchmarks/audio/run_microphone_benchmark.py

@@ -1,219 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# 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 argparse
-from pathlib import Path
-
-import matplotlib.pyplot as plt
-import numpy as np
-from soundfile import read
-
-from lerobot.microphones.configs import MicrophoneConfig
-from lerobot.microphones.portaudio import PortAudioMicrophone, PortAudioMicrophoneConfig
-from lerobot.microphones.utils import (
-    async_microphones_start_recording,
-    async_microphones_stop_recording,
-    make_microphones_from_configs,
-)
-from lerobot.utils.robot_utils import (
-    precise_sleep,
-)
-
-
-def main(
-    microphones_configs: dict[str, MicrophoneConfig],
-    audio_chunks_number: int,
-    audio_chunks_duration: float,
-    repetitions: int,
-    multiprocessing: bool = False,
-):
-    recording_dir = Path("outputs/audio_benchmark")
-    recording_dir.mkdir(parents=True, exist_ok=True)
-
-    # Create microphones
-    microphones = make_microphones_from_configs(microphones_configs)
-
-    # Connect microphones
-    for microphone in microphones.values():
-        microphone.connect()
-
-    all_audio_chunks = []
-    for i in range(repetitions):
-        print(f"Repetition {i + 1}/{repetitions}...")
-
-        # Create audio chunks
-        audio_chunks = {}
-        for microphone_key in microphones:
-            audio_chunks.update({microphone_key: []})
-
-        # Start recording
-        async_microphones_start_recording(
-            microphones,
-            output_files=[
-                recording_dir / f"{microphone_key}_recording_{i}.wav" for microphone_key in microphones
-            ],
-            multiprocessing=multiprocessing,
-        )
-
-        # Record audio chunks
-        for j in range(audio_chunks_number):
-            precise_sleep(audio_chunks_duration)
-
-            for microphone_key, microphone in microphones.items():
-                audio_chunk = microphone.read()
-                print(f"{microphone_key} - repetition {i} - chunk {j} - samples {audio_chunk.shape[0]}")
-                audio_chunks[microphone_key].append(audio_chunk)
-
-        # Stop recording
-        async_microphones_stop_recording(microphones)
-
-        for microphone_key in microphones:
-            audio_chunks[microphone_key] = np.concatenate(audio_chunks[microphone_key], axis=0)
-
-        all_audio_chunks.append(audio_chunks)
-
-    # Disconnect microphones
-    for microphone in microphones.values():
-        microphone.disconnect()
-
-    # Compute statistics
-    cmap = plt.get_cmap("tab10")
-    _, ax = plt.subplots(nrows=repetitions, ncols=len(microphones))
-    chunk_length = np.zeros((repetitions, len(microphones)))
-    record_length = np.zeros((repetitions, len(microphones)))
-    for i in range(repetitions):
-        for j, (microphone_key, microphone) in enumerate(microphones.items()):
-            # Get recorded audio chunks
-            recorded_audio_chunks = all_audio_chunks[i][microphone_key]
-
-            # Load recorded file
-            recorded_data, _ = read(recording_dir / f"{microphone_key}_recording_{i}.wav")
-            if recorded_data.ndim == 1:
-                recorded_data = np.expand_dims(recorded_data, axis=1)
-
-            record_length[i, j] = recorded_data.shape[0]
-            chunk_length[i, j] = recorded_audio_chunks.shape[0]
-
-            for k, (chunk_data, record_data) in enumerate(
-                zip(recorded_audio_chunks.T, recorded_data.T, strict=False)
-            ):
-                # Plot audio chunks and recorded data
-                ax[i, j].plot(
-                    np.arange(0, len(chunk_data)) / microphone.sample_rate,
-                    chunk_data,
-                    label=f"audio chunks - channel {k}",
-                    color=cmap(2 * k),
-                )
-                ax[i, j].plot(
-                    np.arange(0, len(record_data)) / microphone.sample_rate,
-                    record_data,
-                    label=f"recorded data - channel {k}",
-                    linestyle="dashed",
-                    color=cmap(2 * k + 1),
-                )
-
-                # Plot absolute difference (errors should be located at the end of the recordings)
-                if recorded_data.shape[0] - recorded_audio_chunks.shape[0] > 0:
-                    chunk_data = np.append(
-                        chunk_data, np.zeros(int(recorded_data.shape[0] - recorded_audio_chunks.shape[0]))
-                    )
-                else:
-                    record_data = np.append(
-                        record_data, np.zeros(int(-recorded_data.shape[0] + recorded_audio_chunks.shape[0]))
-                    )
-                ax[i, j].plot(
-                    np.arange(0, len(record_data)) / microphone.sample_rate,
-                    np.abs(chunk_data - record_data),
-                    label=f"differences - channel {k}",
-                    color="red",
-                    linestyle="dotted",
-                )
-                ax[i, j].set_title(f"{microphone_key} - repetition {i}")
-            ax[i, j].legend()
-
-    plt.show()
-
-    # Print statistics
-    differences = record_length - chunk_length
-    for i, (microphone_key, microphone) in enumerate(microphones.items()):
-        print(
-            f"Average recorded duration for {microphone_key} : {np.mean(record_length[:, i]) / microphone.sample_rate:.3f} seconds"
-        )
-        print(
-            f"Average chunk duration for {microphone_key} : {np.mean(chunk_length[:, i]) / microphone.sample_rate:.3f} seconds"
-        )
-        print(f"Average difference for {microphone_key} : {np.mean(differences[:, i]):.3f} samples")
-        print(
-            f"Average difference for {microphone_key} : {np.mean(differences[:, i]) / microphone.sample_rate:.3f} seconds"
-        )
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser()
-    parser.add_argument(
-        "--microphones_indices",
-        type=int,
-        nargs="+",
-        default=[microphone["index"] for microphone in PortAudioMicrophone.find_microphones()],
-    )
-    parser.add_argument(
-        "--microphones_sample_rate",
-        type=float,
-        nargs="+",
-        default=[None] * len(PortAudioMicrophone.find_microphones()),
-    )
-    parser.add_argument(
-        "--microphones_channels",
-        type=int,
-        nargs="+",
-        default=[None] * len(PortAudioMicrophone.find_microphones()),
-    )
-    parser.add_argument("--audio_chunks_number", type=int, default=2)
-    parser.add_argument(
-        "--audio_chunks_duration",
-        type=float,
-        default=1.0,
-    )
-    parser.add_argument(
-        "--repetitions",
-        type=int,
-        default=2,
-    )
-    parser.add_argument(
-        "--multiprocessing",
-        action="store_true",
-    )
-
-    args = vars(parser.parse_args())
-
-    args["microphones_configs"] = {}
-    for index, sample_rate, channels in zip(
-        args["microphones_indices"],
-        args["microphones_sample_rate"],
-        args["microphones_channels"],
-        strict=False,
-    ):
-        microphone_config = PortAudioMicrophoneConfig(
-            microphone_index=index,
-            sample_rate=sample_rate,
-            channels=channels,
-        )
-        args["microphones_configs"].update({f"microphone_{index}": microphone_config})
-    args.pop("microphones_indices")
-    args.pop("microphones_sample_rate")
-    args.pop("microphones_channels")
-
-    main(**args)

benchmarks/audio/run_tactile_benchmark.py

@@ -1,137 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# 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 argparse
-from pathlib import Path
-
-import numpy as np
-import soundfile as sf
-
-from lerobot.microphones.configs import MicrophoneConfig
-from lerobot.microphones.touchlab import TouchLabSensorConfig
-from lerobot.microphones.utils import (
-    async_microphones_start_recording,
-    async_microphones_stop_recording,
-    make_microphones_from_configs,
-)
-from lerobot.utils.robot_utils import (
-    precise_sleep,
-)
-
-
-def main(
-    sensors_configs: dict[str, MicrophoneConfig],
-    multiprocessing: bool = False,
-):
-    recording_dir = Path("outputs/tactile_benchmark")
-    recording_dir.mkdir(parents=True, exist_ok=True)
-
-    # Create microphones
-    sensors = make_microphones_from_configs(sensors_configs)
-
-    # Connect microphones
-    for sensor in sensors.values():
-        sensor.connect()
-
-    # Create audio chunks
-    data_chunks = {}
-    for sensor_key in sensors:
-        data_chunks.update({sensor_key: []})
-
-    # Start recording
-    async_microphones_start_recording(
-        sensors,
-        output_files=[recording_dir / f"{sensor_key}_recording.wav" for sensor_key in sensors],
-        multiprocessing=multiprocessing,
-    )
-
-    # Record audio chunks
-    precise_sleep(10.0)
-
-    for sensor_key, sensor in sensors.items():
-        data_chunk = sensor.read()
-        print(f"{sensor_key} - samples {data_chunk.shape[0]}")
-        data_chunks[sensor_key].append(data_chunk)
-
-    # Stop recording
-    async_microphones_stop_recording(sensors)
-
-    for sensor_key in sensors:
-        data_chunks[sensor_key] = np.concatenate(data_chunks[sensor_key], axis=0)
-
-    # Disconnect microphones
-    for sensor in sensors.values():
-        sensor.disconnect()
-
-    for sensor_key in sensors:
-        data, sample_rate = sf.read(recording_dir / f"{sensor_key}_recording.wav")
-        print(f"{sensor_key} - samples {data.shape[0]}")
-        print(f"{sensor_key} - sample rate {sample_rate}")
-        print(f"{sensor_key} - data {data}")
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser()
-    parser.add_argument(
-        "--sensors_ports",
-        type=str,
-        nargs="+",
-    )
-    parser.add_argument(
-        "--sensors_baud_rate",
-        type=int,
-        nargs="+",
-    )
-    parser.add_argument(
-        "--sensors_sample_rate",
-        type=int,
-        nargs="+",
-    )
-    parser.add_argument(
-        "--sensors_channels",
-        type=int,
-        nargs="+",
-    )
-    parser.add_argument(
-        "--multiprocessing",
-        action="store_true",
-    )
-
-    args = vars(parser.parse_args())
-
-    args["sensors_configs"] = {}
-    for port, baud_rate, sample_rate, channels in zip(
-        args["sensors_ports"],
-        args["sensors_baud_rate"],
-        args["sensors_sample_rate"],
-        args["sensors_channels"],
-        strict=False,
-    ):
-        if isinstance(channels, int):
-            channels = [channels]
-        sensor_config = TouchLabSensorConfig(
-            sensor_port=port,
-            baud_rate=baud_rate,
-            sample_rate=sample_rate,
-            channels=channels,
-        )
-        args["sensors_configs"].update({f"sensor_{port}": sensor_config})
-    args.pop("sensors_ports")
-    args.pop("sensors_baud_rate")
-    args.pop("sensors_sample_rate")
-    args.pop("sensors_channels")
-
-    main(**args)

docker/Dockerfile.internal

@@ -24,7 +24,7 @@ ARG OS_VERSION=22.04
 FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
 
 # Define Python version argument
-ARG PYTHON_VERSION=3.12
+ARG PYTHON_VERSION=3.10
 
 # Configure environment variables
 ENV DEBIAN_FRONTEND=noninteractive \

docker/Dockerfile.user

@@ -18,10 +18,8 @@
 # docker build -f docker/Dockerfile.user -t lerobot-user .
 # docker run -it --rm lerobot-user
 
-# With USB physical access : docker run -it --device=/dev/ -v /dev/:/dev/ --rm lerobot-user
-
 # Configure the base image
-ARG PYTHON_VERSION=3.12
+ARG PYTHON_VERSION=3.10
 FROM python:${PYTHON_VERSION}-slim
 
 # Configure environment variables

docs/source/_toctree.yml

@@ -19,8 +19,6 @@
     title: Multi GPU training
   - local: peft_training
     title: Training with PEFT (e.g., LoRA)
-  - local: rename_map
-    title: Using Rename Map and Empty Cameras
   title: "Tutorials"
 - sections:
   - local: lerobot-dataset-v3
@@ -49,8 +47,6 @@
     title: NVIDIA GR00T N1.5
   - local: xvla
     title: X-VLA
-  - local: multi_task_dit
-    title: Multitask DiT Policy
   - local: walloss
     title: WALL-OSS
   title: "Policies"
@@ -87,8 +83,6 @@
     title: Processors for Robots and Teleoperators
   - local: env_processor
     title: Environment Processors
-  - local: action_representations
-    title: Action Representations
   title: "Robot Processors"
 - sections:
   - local: so101

docs/source/action_representations.mdx

@@ -1,223 +0,0 @@
-# Action Representations
-
-This guide explains the different ways robot actions can be represented in LeRobot, how they relate to each other, and when to use each one.
-
-## Joint Space vs End-Effector Space
-
-Before discussing action representations, it helps to understand the two coordinate spaces actions can live in.
-
-### Joint Space
-
-Joint-space actions directly specify target positions for each motor. For a 6-DOF arm with a gripper, a joint-space action might look like:
-
-```
-action = [shoulder_pan: 45.0, shoulder_lift: -20.0, elbow: -30.0, wrist_pitch: 10.0, wrist_roll: 0.0, wrist_yaw: 5.0, gripper: 0.8]
-```
-
-Joint space is the default in LeRobot. It is simple, requires no kinematics model, and maps directly to motor commands. Most beginner setups (SO-100, Koch) use joint-space actions.
-
-### End-Effector (EE) Space
-
-End-effector-space actions specify the desired position and orientation of the robot's tool tip (gripper) in Cartesian coordinates:
-
-```
-action = [x: 0.25, y: -0.10, z: 0.15, wx: 0.0, wy: 0.0, wz: 0.1, gripper: 0.8]
-```
-
-EE space is more intuitive for tasks like pick-and-place because it directly describes where the gripper should go, but it requires a kinematics model (URDF) to convert between EE poses and joint angles.
-
-### Converting Between Spaces
-
-LeRobot provides processor steps for converting between joint and EE spaces using forward and inverse kinematics. These are built on top of `RobotKinematics`, which loads a URDF model of your robot.
-
-```python
-from lerobot.model.kinematics import RobotKinematics
-from lerobot.robots.so_follower.robot_kinematic_processor import (
-    ForwardKinematicsJointsToEE,
-    InverseKinematicsEEToJoints,
-)
-
-kinematics = RobotKinematics(
-    urdf_path="./SO101/so101_new_calib.urdf",
-    target_frame_name="gripper_frame_link",
-    joint_names=["shoulder", "elbow", "wrist_pitch", "wrist_roll", "wrist_yaw"],
-)
-
-# Joints → EE (for observations: "where is my gripper?")
-fk_step = ForwardKinematicsJointsToEE(kinematics=kinematics, motor_names=[...])
-
-# EE → Joints (for actions: "move my gripper here")
-ik_step = InverseKinematicsEEToJoints(kinematics=kinematics, motor_names=[...])
-```
-
-See [`examples/so100_to_so100_EE/`](https://github.com/huggingface/lerobot/tree/main/examples/so100_to_so100_EE) for a complete working example of recording, replaying, and evaluating with EE-space actions on an SO-100 arm.
-
-## Absolute, Relative, and Delta Actions
-
-Regardless of whether you work in joint space or EE space, the action values can be expressed in three different ways. The terminology follows [UMI (Chi et al., 2024)](https://arxiv.org/abs/2402.10329).
-
-### Absolute Actions (LeRobot default)
-
-Each action specifies the target position directly.
-
-**Example** (joint space, chunk of 4):
-
-```
-current_state = [45.0, -30.0, 10.0]
-
-action_chunk = [
-    [46.0, -29.0, 11.0],   # go to 46, -29, 11
-    [47.5, -27.0, 12.0],   # go to 47.5, -27, 12
-    [49.0, -25.0, 13.5],   # go to 49, -25, 13.5
-    [50.0, -24.0, 15.0],   # go to 50, -24, 15
-]
-```
-
-Each value is a target position in the robot's coordinate frame. Simple and direct, but requires a consistent global coordinate frame. This is the default in LeRobot.
-
-### Relative Actions (used by OpenPI / pi0)
-
-Each action in the chunk is an offset from the **current state at the moment of prediction**. All actions in the chunk share the same reference point:
-
-```
-current_state = [45.0, -30.0, 10.0]
-
-relative_chunk = [
-    [1.0,  1.0, 1.0],   # +1 from current → target 46, -29, 11
-    [2.5,  3.0, 2.0],   # +2.5 from current → target 47.5, -27, 12
-    [4.0,  5.0, 3.5],   # +4 from current → target 49, -25, 13.5
-    [5.0,  6.0, 5.0],   # +5 from current → target 50, -24, 15
-]
-```
-
-The conversion is straightforward: `relative = absolute - current_state`. To recover absolute: `absolute = relative + current_state`.
-
-**Why use relative actions?** The model learns to predict offsets centered around zero, which is easier to normalize and leads to more stable training. Because every chunk references the same current state, there is no error accumulation across chunks.
-
-### Delta Actions (sequential differences)
-
-Each action is an offset from the **previous action** (or from the current state for the first step):
-
-```
-current_state = [45.0, -30.0, 10.0]
-
-delta_chunk = [
-    [1.0,  1.0, 1.0],   # current → 46, -29, 11
-    [1.5,  2.0, 1.0],   # previous action → 47.5, -27, 12
-    [1.5,  2.0, 1.5],   # previous action → 49, -25, 13.5
-    [1.0,  1.0, 1.5],   # previous action → 50, -24, 15
-]
-```
-
-Here each step is relative to the one before it. To recover absolute positions you must sum all previous deltas, which means errors accumulate over time. UMI explicitly argues against this representation for this reason.
-
-### Visual Comparison
-
-The figure below (based on a figure from [UMI, Chi et al., 2024](https://arxiv.org/abs/2402.10329)) illustrates the key difference. With **relative trajectory**, every action in the chunk points back to the same origin (current state), so a new inference step cleanly resets the reference. With **delta**, each action depends on the previous one, so errors accumulate. **Absolute** actions require a consistent global coordinate frame.
-
-<img
-  src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/action_representations_umi.png"
-  alt="Relative Trajectory as Action Representation (UMI, Chi et al., 2024)"
-  width="85%"
-/>
-
-## Using Relative Actions in LeRobot
-
-LeRobot provides `RelativeActionsProcessorStep` to convert between absolute and relative actions inside the processor pipeline. This is how pi0, pi0.5, and pi0_fast support relative actions.
-
-> **Note:** All pi models (pi0, pi0.5, pi0*fast) apply relative conversion \_before* normalization (`relative → normalize`), so the normalizer always sees delta (relative) values. This means **relative action stats are required** for all of them when training with `use_relative_actions=true`. In pi0_fast the `RelativeActionsProcessorStep` only modifies the action — the state observation is unchanged — so `NormalizerProcessorStep` still runs before the state tokenizer and the tokenizer continues to receive normalized state as expected.
-
-### How it works
-
-During **training** (preprocessing), actions are converted from absolute to relative before the model sees them:
-
-```
-raw absolute action → RelativeActionsProcessorStep → normalize → model
-```
-
-During **inference** (postprocessing), model predictions are converted back to absolute before being sent to the robot:
-
-```
-model output → unnormalize → AbsoluteActionsProcessorStep → robot
-```
-
-The `AbsoluteActionsProcessorStep` reads the cached current state from its paired `RelativeActionsProcessorStep`, so the two must be wired together (handled automatically by the policy factory).
-
-### Enabling relative actions for the pi family (pi0, pi0.5, pi0_fast)
-
-**Step 1**: Precompute relative action statistics for your dataset:
-
-```bash
-lerobot-edit-dataset \
-    --repo_id your_dataset \
-    --operation.type recompute_stats \
-    --operation.relative_action true \
-    --operation.chunk_size 50 \
-    --operation.relative_exclude_joints "['gripper']"
-```
-
-**Step 2**: Train with relative actions enabled:
-
-```bash
-lerobot-train \
-    --dataset.repo_id=your_dataset \
-    --policy.type=pi0 \
-    --policy.use_relative_actions=true \
-    --policy.relative_exclude_joints='["gripper"]'
-```
-
-The `relative_exclude_joints` parameter specifies joints that should remain in absolute space. For example, gripper commands are typically binary (open/close) and don't benefit from relative encoding.
-
-### Combining relative actions with RTC
-
-[RTC](https://arxiv.org/abs/2506.07339) runs policy inference at high frequency and sends actions to the robot as they are predicted rather than waiting for a full chunk. Relative actions and RTC are fully compatible: because every chunk in relative mode references the **same** current state (captured at the start of inference), each predicted action in the chunk remains a valid offset even if the robot has already moved. No special handling is needed — `RelativeActionsProcessorStep` caches the state once per inference call and `AbsoluteActionsProcessorStep` applies it to every action in the streamed output.
-
-### Combining relative actions with EE space
-
-Relative actions work in both joint space and EE space. For example, if your dataset stores EE actions, relative encoding converts them to offsets from the current EE pose:
-
-```
-current_ee_state = [x: 0.25, y: -0.10, z: 0.15, gripper: 0.8]
-
-absolute_ee_chunk = [
-    [0.26, -0.09, 0.16, 0.8],
-    [0.28, -0.07, 0.18, 0.8],
-]
-
-relative_ee_chunk = [
-    [0.01,  0.01, 0.01, 0.0],   # offset from current EE pose
-    [0.03,  0.03, 0.03, 0.0],   # offset from current EE pose
-]
-```
-
-## Processing Pipeline Summary
-
-Here is how the different processors compose. Each arrow is a processor step, and they can be chained in a `RobotProcessorPipeline` or `PolicyProcessorPipeline`:
-
-```
-                    ┌─────────────────────────────────────────┐
-   Action Space     │   Joint Space  ←──IK──→  EE Space      │
-                    │   ForwardKinematicsJointsToEE           │
-                    │   InverseKinematicsEEToJoints           │
-                    └─────────────────────────────────────────┘
-
-                    ┌─────────────────────────────────────────┐
-   Representation   │   Absolute  ←────→  Relative            │
-                    │   RelativeActionsProcessorStep (pre)    │
-                    │   AbsoluteActionsProcessorStep (post)   │
-                    └─────────────────────────────────────────┘
-
-                    ┌─────────────────────────────────────────┐
-   Normalization    │   Raw  ←────→  Normalized               │
-                    │   NormalizerProcessorStep (pre)         │
-                    │   UnnormalizerProcessorStep (post)      │
-                    └─────────────────────────────────────────┘
-```
-
-A typical training preprocessor might chain: `raw absolute joint actions → relative → normalize`. A typical inference postprocessor: `unnormalize → absolute → (optionally IK to joints)`.
-
-## References
-
-- [Universal Manipulation Interface (UMI)](https://arxiv.org/abs/2402.10329) - Chi et al., 2024. Defines the relative trajectory action representation and compares it with absolute and delta actions.
-- [Introduction to Processors](./introduction_processors) - How processor pipelines work in LeRobot.
-- [`examples/so100_to_so100_EE/`](https://github.com/huggingface/lerobot/tree/main/examples/so100_to_so100_EE) - Complete example of recording and evaluating with EE-space actions.

docs/source/async.mdx

@@ -48,7 +48,7 @@ python -m lerobot.async_inference.robot_client \
     --task="dummy" \ # POLICY: The task to run the policy on (`Fold my t-shirt`). Not necessarily defined for all policies, such as `act`
     --policy_type=your_policy_type \ # POLICY: the type of policy to run (smolvla, act, etc)
     --pretrained_name_or_path=user/model \ # POLICY: the model name/path on server to the checkpoint to run (e.g., lerobot/smolvla_base)
-    --policy_device=mps \ # POLICY: the device to run the policy on, on the server (cuda, mps, xpu, cpu)
+    --policy_device=mps \ # POLICY: the device to run the policy on, on the server
     --actions_per_chunk=50 \ # POLICY: the number of actions to output at once
     --chunk_size_threshold=0.5 \ # CLIENT: the threshold for the chunk size before sending a new observation to the server
     --aggregate_fn_name=weighted_average \ # CLIENT: the function to aggregate actions on overlapping portions
@@ -310,4 +310,4 @@ Asynchronous inference represents a significant advancement in real-time robotic
 - **Universal Compatibility**: Works with all LeRobot-supported policies, from lightweight ACT models to vision-language models like SmolVLA
 
 Start experimenting with the default parameters, monitor your action queue sizes, and iteratively refine your setup to achieve optimal performance for your specific use case.
-If you want to discuss this further, hop into our [Discord community](https://discord.gg/s3KuuzsPFb), or open an issue on our [GitHub repository](https://github.com/huggingface/lerobot/issues).
+If you want to discuss this further, hop into our [Discord community](https://discord.gg/s3KuuzsPFb), or open an issue on our [GitHub repository](https://github.com/lerobot/lerobot/issues).

docs/source/bring_your_own_policies.mdx

@@ -32,7 +32,7 @@ version = "0.1.0"
 dependencies = [
     # your policy-specific dependencies
 ]
-requires-python = ">= 3.12"
+requires-python = ">= 3.11"
 
 [build-system]
 build-backend = # your-build-backend
@@ -41,15 +41,13 @@ requires = # your-build-system
 
 ## Step 2: Define the Policy Configuration
 
-Create a configuration class that inherits from [`PreTrainedConfig`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/configs/policies.py) and registers your policy type:
-Here is a template to get you started, customize the parameters and methods as needed for your policy's architecture and training requirements.
+Create a configuration class that inherits from `PreTrainedConfig` and registers your policy type:
 
 ```python
 # configuration_my_custom_policy.py
 from dataclasses import dataclass, field
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.optim.optimizers import AdamWConfig
-from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
+from lerobot.configs.types import NormalizationMode
 
 @PreTrainedConfig.register_subclass("my_custom_policy")
 @dataclass
@@ -63,131 +61,61 @@ class MyCustomPolicyConfig(PreTrainedConfig):
         hidden_dim: Hidden dimension for the policy network
         # Add your policy-specific parameters here
     """
-
-    horizon: int = 50
-    n_action_steps: int = 50
-    hidden_dim: int = 256
-
-    optimizer_lr: float = 1e-4
-    optimizer_weight_decay: float = 1e-4
+    # ...PreTrainedConfig fields...
+    pass
 
     def __post_init__(self):
         super().__post_init__()
-        if self.n_action_steps > self.horizon:
-            raise ValueError("n_action_steps cannot exceed horizon")
+        # Add any validation logic here
 
     def validate_features(self) -> None:
         """Validate input/output feature compatibility."""
-        if not self.image_features:
-            raise ValueError("MyCustomPolicy requires at least one image feature.")
-        if self.action_feature is None:
-            raise ValueError("MyCustomPolicy requires 'action' in output_features.")
-
-    def get_optimizer_preset(self) -> AdamWConfig:
-        return AdamWConfig(lr=self.optimizer_lr, weight_decay=self.optimizer_weight_decay)
-
-    def get_scheduler_preset(self):
-        return None
-
-    @property
-    def observation_delta_indices(self) -> list[int] | None:
-        """Relative timestep offsets the dataset loader provides per observation.
-
-        Return `None` for single-frame policies. For temporal policies that consume
-        multiple past or future frames, return a list of offsets, e.g. `[-20, -10, 0, 10]` for
-        3 past frames at stride 10 and 1 future frame at stride 10.
-        """
-        return None
-
-    @property
-    def action_delta_indices(self) -> list[int]:
-        """Relative timestep offsets for the action chunk the dataset loader returns.
-        """
-        return list(range(self.horizon))
-
-    @property
-    def reward_delta_indices(self) -> None:
-        return None
+        # Implement validation logic for your policy's requirements
+        pass
 ```
 
 ## Step 3: Implement the Policy Class
 
-Create your policy implementation by inheriting from [`PreTrainedPolicy`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/policies/pretrained.py):
+Create your policy implementation by inheriting from LeRobot's base `PreTrainedPolicy` class:
 
 ```python
 # modeling_my_custom_policy.py
 import torch
 import torch.nn as nn
-from typing import Any
+from typing import Dict, Any
 
 from lerobot.policies.pretrained import PreTrainedPolicy
-from lerobot.utils.constants import ACTION
 from .configuration_my_custom_policy import MyCustomPolicyConfig
 
 class MyCustomPolicy(PreTrainedPolicy):
-    config_class = MyCustomPolicyConfig  # must match the string in @register_subclass
+    config_class = MyCustomPolicyConfig
     name = "my_custom_policy"
 
-    def __init__(self, config: MyCustomPolicyConfig, dataset_stats: dict[str, Any] = None):
+    def __init__(self, config: MyCustomPolicyConfig, dataset_stats: Dict[str, Any] = None):
         super().__init__(config, dataset_stats)
-        config.validate_features()  # not called automatically by the base class
-        self.config = config
-        self.model = ...  # your nn.Module here
-
-    def reset(self):
-        """Reset episode state."""
         ...
-
-    def get_optim_params(self) -> dict:
-        """Return parameters to pass to the optimizer (e.g. with per-group lr/wd)."""
-        return {"params": self.parameters()}
-
-    def predict_action_chunk(self, batch: dict[str, torch.Tensor], **kwargs) -> torch.Tensor:
-        """Return the full action chunk (B, chunk_size, action_dim) for the current observation."""
-        ...
-
-    def select_action(self, batch: dict[str, torch.Tensor], **kwargs) -> torch.Tensor:
-        """Return a single action for the current timestep (called at inference)."""
-        ...
-
-    def forward(self, batch: dict[str, torch.Tensor]) -> dict[str, torch.Tensor]:
-        """Compute the training loss.
-
-        `batch["action_is_pad"]` is a bool mask of shape (B, horizon) that marks
-        timesteps padded because the episode ended before `horizon` steps, you
-        can exclude those from your loss.
-        """
-        actions = batch[ACTION]
-        action_is_pad = batch.get("action_is_pad")
-        ...
-        return {"loss": ...}
 ```
 
 ## Step 4: Add Data Processors
 
-Create processor functions. For a concrete reference, see [processor_act.py](https://github.com/huggingface/lerobot/blob/main/src/lerobot/policies/act/processor_act.py) or [processor_diffusion.py](https://github.com/huggingface/lerobot/blob/main/src/lerobot/policies/diffusion/processor_diffusion.py).
+Create processor functions:
 
 ```python
 # processor_my_custom_policy.py
-from typing import Any
+from typing import Dict, Any
 import torch
 
-from lerobot.processor import PolicyAction, PolicyProcessorPipeline
-
 
 def make_my_custom_policy_pre_post_processors(
     config,
-    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
 ) -> tuple[
     PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
     PolicyProcessorPipeline[PolicyAction, PolicyAction],
 ]:
-    preprocessor = ...   # build your PolicyProcessorPipeline for inputs
-    postprocessor = ...  # build your PolicyProcessorPipeline for outputs
-    return preprocessor, postprocessor
-```
+    """Create preprocessing and postprocessing functions for your policy."""
+    pass  # Define your preprocessing and postprocessing logic here
 
-**Important - function naming:** LeRobot discovers your processor by name. The function **must** be called `make_{policy_name}_pre_post_processors` (matching the string you passed to `@PreTrainedConfig.register_subclass`).
+```
 
 ## Step 5: Package Initialization
 

docs/source/earthrover_mini_plus.mdx

@@ -13,7 +13,7 @@ The EarthRover Mini Plus is a fully open source mobile robot that connects throu
 ### Hardware
 
 - EarthRover Mini robot
-- Computer with Python 3.12 or newer
+- Computer with Python 3.10 or newer
 - Internet connection
 
 ### Setting Up the Frodobots SDK
@@ -170,13 +170,13 @@ Once you can drive the robot well, you can start recording data to train AI mode
 We use Hugging Face to store your data online. First, log in with your token from [Hugging Face settings](https://huggingface.co/settings/tokens):
 
 ```bash
-hf auth login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
+huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
 ```
 
 Store your Hugging Face username:
 
 ```bash
-HF_USER=$(hf auth whoami | awk -F': *' 'NR==1 {print $2}')
+HF_USER=$(huggingface-cli whoami | head -n 1)
 echo $HF_USER
 ```
 
@@ -204,26 +204,22 @@ Replace `your_username/dataset_name` with your Hugging Face username and a name
 
 Your dataset includes:
 
-**Your Actions (2 features)**:
+**Your Actions (2 things)**:
 
-- `linear_velocity`: How much you moved forward/backward
-- `angular_velocity`: How much you turned left/right
+- How much you moved forward/backward
+- How much you turned left/right
 
-**Robot Observations (24 features)**:
+**Robot Observations (12 things)**:
 
 - Front camera video
 - Rear camera video
 - Current speed
 - Battery level
-- Orientation
-- GPS (latitude, longitude, signal strength)
+- Which way the robot is facing
+- GPS location (latitude, longitude, signal strength)
 - Network signal strength
 - Vibration level
-- Lamp state (on/off)
-- Accelerometer (x, y, z)
-- Gyroscope (x, y, z)
-- Magnetometer (x, y, z)
-- Wheel RPMs (4 wheels)
+- Lamp status (on/off)
 
 ### Where Your Data Goes
 

docs/source/envhub.mdx

@@ -155,10 +155,10 @@ Upload your repository to Hugging Face:
 pip install huggingface_hub
 
 # Login to Hugging Face
-hf auth login
+huggingface-cli login
 
 # Create a new repository
-hf repo create my-org/my-custom-env
+huggingface-cli repo create my-custom-env --type space --org my-org
 
 # Initialize git and push
 git init

docs/source/il_robots.mdx

@@ -159,13 +159,13 @@ We use the Hugging Face hub features for uploading your dataset. If you haven't
 Add your token to the CLI by running this command:
 
 ```bash
-hf auth login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
+huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
 ```
 
 Then store your Hugging Face repository name in a variable:
 
 ```bash
-HF_USER=$(NO_COLOR=1 hf auth whoami | awk -F': *' 'NR==1 {print $2}')
+HF_USER=$(hf auth whoami | awk -F': *' 'NR==1 {print $2}')
 echo $HF_USER
 ```
 
@@ -327,7 +327,7 @@ You can look for other LeRobot datasets on the hub by searching for `LeRobot` [t
 You can also push your local dataset to the Hub manually, running:
 
 ```bash
-hf upload ${HF_USER}/record-test ~/.cache/huggingface/lerobot/{repo-id} --repo-type dataset
+huggingface-cli upload ${HF_USER}/record-test ~/.cache/huggingface/lerobot/{repo-id} --repo-type dataset
 ```
 
 #### Record function
@@ -424,7 +424,7 @@ robot = SO100Follower(robot_config)
 robot.connect()
 
 dataset = LeRobotDataset("<hf_username>/<dataset_repo_id>", episodes=[episode_idx])
-actions = dataset.select_columns("action")
+actions = dataset.hf_dataset.select_columns("action")
 
 log_say(f"Replaying episode {episode_idx}")
 for idx in range(dataset.num_frames):
@@ -491,7 +491,7 @@ If your local computer doesn't have a powerful GPU you could utilize Google Cola
 Once training is done, upload the latest checkpoint with:
 
 ```bash
-hf upload ${HF_USER}/act_so101_test \
+huggingface-cli upload ${HF_USER}/act_so101_test \
   outputs/train/act_so101_test/checkpoints/last/pretrained_model
 ```
 
@@ -499,7 +499,7 @@ You can also upload intermediate checkpoints with:
 
 ```bash
 CKPT=010000
-hf upload ${HF_USER}/act_so101_test${CKPT} \
+huggingface-cli upload ${HF_USER}/act_so101_test${CKPT} \
   outputs/train/act_so101_test/checkpoints/${CKPT}/pretrained_model
 ```
 

docs/source/installation.mdx

@@ -1,8 +1,8 @@
 # Installation
 
-This guide uses `conda` (via miniforge) to manage environments (recommended). If you prefer another environment manager (e.g. `uv`, `venv`), ensure you have Python >=3.12 and `ffmpeg` installed with the `libsvtav1` encoder, then skip ahead to [Environment Setup](#step-2-environment-setup).
+This guide uses conda (via miniforge) to manage environments. If you prefer another environment manager (e.g. `uv`, `venv`), ensure you have Python >=3.10 and ffmpeg installed with the `libsvtav1` encoder, then skip ahead to [Install LeRobot](#step-3-install-lerobot-).
 
-## Step 1 (`conda` only): Install [`miniforge`](https://conda-forge.org/download/)
+## Step 1: Install [`miniforge`](https://conda-forge.org/download/)
 
 ```bash
 wget "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-$(uname)-$(uname -m).sh"
@@ -11,47 +11,22 @@ bash Miniforge3-$(uname)-$(uname -m).sh
 
 ## Step 2: Environment Setup
 
-Create a virtual environment with Python 3.12:
+Create a virtual environment with Python 3.10, using conda:
 
-<!-- prettier-ignore-start -->
-<hfoptions id="create_venv">
-<hfoption id="conda">
 ```bash
-conda create -y -n lerobot python=3.12
+conda create -y -n lerobot python=3.10
 ```
-</hfoption>
-<hfoption id="uv">
+
+Then activate your conda environment, you have to do this each time you open a shell to use lerobot:
+
 ```bash
-uv python install 3.12
-uv venv --python 3.12
-```
-</hfoption>
-</hfoptions>
-<!-- prettier-ignore-end -->
-
-Then activate your virtual environment, you have to do this each time you open a shell to use lerobot:
-
-<!-- prettier-ignore-start -->
-<hfoptions id="activate_venv">
-<hfoption id="conda">```bash
 conda activate lerobot
-```</hfoption>
-<hfoption id="uv">
-```bash
-# Linux/macOSsource
-source .venv/bin/activate
-# Windows PowerShell
-source .venv\Scripts\Activate.ps1
 ```
-</hfoption>
-</hfoptions>
-<!-- prettier-ignore-end -->
 
 When using `conda`, install `ffmpeg` in your environment:
 
 ```bash
 conda install ffmpeg -c conda-forge
-ffmpeg -version  # ffmpeg 8.X is not yet supported !
 ```
 
 > [!TIP]
@@ -72,9 +47,6 @@ ffmpeg -version  # ffmpeg 8.X is not yet supported !
 > conda install evdev -c conda-forge
 > ```
 
-> [!IMPORTANT]
-> If you are using `uv` you will have to install `ffmpeg` system-wide (outside of the virtual environment). You rely on `uv` and `torchcodec` ability to dynamically link to the system `ffmpeg`.
-
 ## Step 3: Install LeRobot 🤗
 
 ### From Source
@@ -88,45 +60,23 @@ cd lerobot
 
 Then, install the library in editable mode. This is useful if you plan to contribute to the code.
 
-<!-- prettier-ignore-start -->
-<hfoptions id="install_lerobot_src">
-<hfoption id="conda">
 ```bash
 pip install -e .
 ```
-</hfoption>
-<hfoption id="uv">
-```bash
-uv pip install -e .
-```
-</hfoption>
-</hfoptions>
-<!-- prettier-ignore-end -->
 
 ### Installation from PyPI
 
 **Core Library:**
 Install the base package with:
 
-<!-- prettier-ignore-start -->
-<hfoptions id="install_lerobot_pypi">
-<hfoption id="conda">
 ```bash
 pip install lerobot
 ```
-</hfoption>
-<hfoption id="uv">
-```bash
-uv pip install lerobot
-```
-</hfoption>
-</hfoptions>
-<!-- prettier-ignore-end -->
 
 _This installs only the default dependencies._
 
 **Extra Features:**
-To install additional functionality, use one of the following (If you are using `uv`, replace `pip install` with `uv pip install` in the commands below.):
+To install additional functionality, use one of the following:
 
 ```bash
 pip install 'lerobot[all]'          # All available features
@@ -140,10 +90,13 @@ _Replace `[...]` with your desired features._
 For a full list of optional dependencies, see:
 https://pypi.org/project/lerobot/
 
+> [!NOTE]
+> For lerobot 0.4.0, if you want to install pi, you will have to do: `pip install "lerobot[pi]@git+https://github.com/huggingface/lerobot.git"`
+
 ### Troubleshooting
 
 If you encounter build errors, you may need to install additional dependencies: `cmake`, `build-essential`, and `ffmpeg libs`.
-To install these for Linux run:
+To install these for linux run:
 
 ```bash
 sudo apt-get install cmake build-essential python3-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev
@@ -153,7 +106,7 @@ For other systems, see: [Compiling PyAV](https://pyav.org/docs/develop/overview/
 
 ## Optional dependencies
 
-LeRobot provides optional extras for specific functionalities. Multiple extras can be combined (e.g., `.[aloha,feetech]`). For all available extras, refer to `pyproject.toml`. If you are using `uv`, replace `pip install` with `uv pip install` in the commands below.
+LeRobot provides optional extras for specific functionalities. Multiple extras can be combined (e.g., `.[aloha,feetech]`). For all available extras, refer to `pyproject.toml`.
 
 ### Simulations
 

docs/source/lekiwi.mdx

@@ -279,13 +279,13 @@ We use the Hugging Face hub features for uploading your dataset. If you haven't
 Add your token to the CLI by running this command:
 
 ```bash
-hf auth login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
+huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
 ```
 
 Then store your Hugging Face repository name in a variable:
 
 ```bash
-HF_USER=$(hf auth whoami | awk -F': *' 'NR==1 {print $2}')
+HF_USER=$(huggingface-cli whoami | head -n 1)
 echo $HF_USER
 ```
 

docs/source/multi_task_dit.mdx

@@ -1,340 +0,0 @@
-# Multitask DiT Policy
-
-Multitask Diffusion Transformer (DiT) Policy is an evolution of the original Diffusion Policy architecture, which leverages a large DiT with text and vision conditioning for multitask robot learning. This implementation supports both diffusion and flow matching objectives for action generation, enabling robots to perform diverse manipulation tasks conditioned on language instructions.
-
-## Model Overview
-
-The model uses:
-
-- **CLIP Vision Encoder**: Processes RGB images from multiple camera views
-- **CLIP Text Encoder**: Encodes language task instructions (frozen weights with learnable projection)
-- **Diffusion Transformer**: Predicts action sequences conditioned on observations and language
-- **Two Objectives**: Supports both diffusion (DDPM/DDIM) and flow matching for action generation
-
-This model is exciting because you can achieve extremely high dexterity, competitive with multi-billion parameter
-VLAs, with only ~450M parameters and significantly less training.
-
-## Installation Requirements
-
-Multitask DiT Policy has additional dependencies. Install it with:
-
-```bash
-pip install lerobot[multi_task_dit]
-```
-
-This will install all necessary dependencies including the HuggingFace Transformers library for CLIP models.
-
-## Usage
-
-To use Multitask DiT in your LeRobot configuration, specify the policy type as:
-
-```python
-policy.type=multi_task_dit
-```
-
-## Training
-
-### Basic Training Command
-
-Here's a complete training command for training Multitask DiT on your dataset:
-
-```bash
-lerobot-train \
-  --dataset.repo_id=YOUR_DATASET \
-  --output_dir=./outputs/multitask_dit_training \
-  --batch_size=32 \
-  --steps=5000 \
-  --save_freq=500 \
-  --log_freq=100 \
-  --policy.type=multi_task_dit \
-  --policy.device=cuda \
-  --policy.repo_id="HF_USER/multitask-dit-your-robot" \
-  --wandb.enable=true
-```
-
-### Recommended Hyperparameters and Dataset Details (30Hz Control Frequency)
-
-For reliable performance, start with these suggested default hyperparameters:
-
-```bash
-lerobot-train \
-  --dataset.repo_id=YOUR_DATASET \
-  --output_dir=./outputs/mutitask_dit_training \
-  --batch_size=320 \
-  --steps=30000 \
-  --policy.type=multi_task_dit \
-  --policy.device=cuda \
-  --policy.horizon=32 \
-  --policy.n_action_steps=24 \
-  --policy.objective=diffusion \
-  --policy.noise_scheduler_type=DDPM \
-  --policy.num_train_timesteps=100 \
-  --policy.repo_id="HF_USER/multitask-dit-your-robot" \
-  --wandb.enable=true
-```
-
-**Key Parameters:**
-
-- **Batch Size**: 192-320 - If you have access to a GPU that can support this, you will get the best training dynamics
-- **Horizon**: 32 - number of action steps to predict, ~1.0 sec at 30Hz
-- **n_action_steps**: 24 - ~0.8 seconds at 30Hz
-- **Objective**: `diffusion` - start with diffusion and experiment with flow matching if generation quality is poor
-- **Training Steps**: >30k steps recommended for a single task
-
-### Training Configuration Parameters
-
-#### Objective Selection
-
-Choose between diffusion and flow matching:
-
-```bash
-# Diffusion objective (default)
---policy.objective=diffusion \
---policy.noise_scheduler_type=DDPM \  # or "DDIM"
---policy.num_train_timesteps=100 \
---policy.num_inference_steps=10 \  # For faster inference
---policy.beta_schedule=squaredcos_cap_v2 \  # Noise schedule type
---policy.prediction_type=epsilon \  # "epsilon" (predict noise) or "sample" (predict clean)
---policy.clip_sample=true \  # Clip samples during denoising
---policy.clip_sample_range=1.0  # Clipping range [-x, x]
-
-# Flow matching objective
---policy.objective=flow_matching \
---policy.timestep_sampling_strategy=beta \  # or "uniform" | the beta sampling strategy performance appears much better in practice
---policy.num_integration_steps=100 \
---policy.integration_method=euler \  # or "rk4"
---policy.sigma_min=0.0  # Minimum noise in flow interpolation path
-```
-
-#### Transformer Architecture
-
-Adjust model capacity based on dataset size:
-
-```bash
-# Small datasets (< 100 examples)
---policy.num_layers=4 \
---policy.hidden_dim=512 \
---policy.num_heads=8  # should ideally be hidden_dim // 64
-
-# Medium datasets (100-5k examples) - default
---policy.num_layers=6 \
---policy.hidden_dim=512 \
---policy.num_heads=8  # should ideally be hidden_dim // 64
-
-# Large datasets (> 5k examples)
---policy.num_layers=8 \
---policy.hidden_dim=512 \
---policy.num_heads=8   # should ideally be hidden_dim // 64
-```
-
-**Positional Encoding Options:**
-
-The model supports two positional encoding methods for action sequences:
-
-```bash
-# Rotary Position Embedding (RoPE) - default, recommended
---policy.use_rope=true \
---policy.rope_base=10000.0  # Base frequency for RoPE
-
-# Absolute positional encoding
---policy.use_positional_encoding=true  # Disables RoPE when true
-```
-
-**Other Transformer Parameters:**
-
-```bash
---policy.dropout=0.1  # Dropout rate for DiT blocks (0.0-1.0)
---policy.timestep_embed_dim=256  # Timestep embedding dimension
-```
-
-#### Vision Encoder Configuration
-
-```bash
-# Use different CLIP model for more expressivity at the cost of inference time
-# experiment with larger or smaller models depending on the complexity of your tasks and size of dataset
---policy.vision_encoder_name=openai/clip-vit-large-patch14
-
-# Use separate vision encoder per camera
-# This may be useful when cameras have significantly different characteristics, but
-# be wary of increased VRAM footprint.
---policy.use_separate_rgb_encoder_per_camera=true
-
-# Image preprocessing
---policy.image_resize_shape=[XXX,YYY] \ # you may need to resize your images for inference speed ups
---policy.image_crop_shape=[224,224] \
---policy.image_crop_is_random=true  # Random during training, center at inference
-```
-
-#### Text Encoder Configuration
-
-```bash
-# Use different CLIP text encoder model
-# same as vision: experiment with larger or smaller models depending on the
-# complexity of your tasks and size of dataset
---policy.text_encoder_name=openai/clip-vit-large-patch14
-```
-
-#### Learning Rate Configuration
-
-The vision encoder uses a separate learning rate multiplier, where 1/10th is suggested to be the ideal staritng point:
-
-```bash
---policy.optimizer_lr=2e-5 \
---policy.vision_encoder_lr_multiplier=0.1  # Vision encoder LR = 0.1 * optimizer_lr
-```
-
-### Training Tuning Guidelines
-
-#### 1. Flow Matching with Beta Sampling
-
-The original diffusion implementation here is based on the work described in [TRI's LBM paper](https://arxiv.org/abs/2507.05331)
-
-Additionally, we have implemented a flow-matching objective, which is described at a high-level in [Boston Dynamics blog post](https://bostondynamics.com/blog/large-behavior-models-atlas-find-new-footing/).
-
-Consider testing the flow-matching objective and evaluating performance differences for your task:
-
-```bash
---policy.objective=flow_matching \
---policy.timestep_sampling_strategy=beta \
---policy.timestep_sampling_alpha=1.5 \
---policy.timestep_sampling_beta=1.0 \
---policy.timestep_sampling_s=0.999
-```
-
-This hasn't been shown to be a silver bullet across every user case, but it occasionally results in smoother and more consistent actions.
-
-#### 2. Number of Transformer Layers
-
-Match model capacity to your dataset size:
-
-- **Small datasets** (< 100 examples): Reduce to 4 layers
-- **Large datasets** (> 5k examples): Increase to 8 layers
-
-#### 3. `horizon` Tuning
-
-The model can be sensitive to the horizon you choose. Start with around a 1 second horizon based on your control frequency:
-
-- **30 Hz frequency**: `horizon=30`
-- **10 Hz frequency**: `horizon=10`
-
-Then experiment with increasing from there. The horizon determines how far into the future the model predicts actions.
-
-#### 4. `n_action_steps` Sensitivity
-
-The model can also be very sensitive to `n_action_steps`. Start with it being around 0.8 seconds based on your control frequency and tune from there:
-
-- **Lower values**: More reactive but potentially less stable for long-horizon tasks
-- **Higher values**: Better for long-horizon execution but open-loop failures are limited in their recovery
-
-### Inference Tuning
-
-For faster inference, use DDIM with fewer sampling steps:
-
-```bash
---policy.noise_scheduler_type=DDIM \
---policy.num_inference_steps=10
-```
-
-### Resuming Training
-
-To resume training from a checkpoint:
-
-```bash
-lerobot-train \
-  --config_path=./outputs/mutitask_dit_training/checkpoints/last/pretrained_model/train_config.json \
-  --resume=true
-```
-
-The checkpoint directory should contain `model.safetensors` and `config.json` files (saved automatically during training). When resuming, the configuration is loaded from the checkpoint, so you don't need to specify other parameters.
-
-## Common Failure Modes and Debugging
-
-Training these models can be finicky. Here are common failure modes and debugging approaches:
-
-### Idling / No Motion
-
-The model may "collapse" during inference, resulting in static or no motion. This can occur when:
-
-1. **Insufficient training data**: If you only have 20-50 examples, try to roughly double your dataset size. Once you have above 300 examples, if you're still seeing this, the task may be too complex.
-
-2. **Multiple similar tasks**: When your dataset contains multiple similar tasks (e.g., picking up 2 different objects), the model may rely too heavily on language conditioning which might not be rich enough.
-
-**Debugging tips:**
-
-- Increase dataset size (double until you get to over 300 examples)
-- Train for longer, up to 100k steps, even when the loss flatlines
-- Check if the model is receiving proper language instructions or increase diversity of instruction
-
-### Executing the Wrong Task
-
-Sometimes the robot will completely ignore your instruction and perform some other task. This generally only happens if you have trained on multiple tasks.
-
-**Potential causes:**
-
-- Language instruction ambiguity
-- Insufficient task-specific training data
-- Model confusion between similar tasks in the multitask dataset
-
-**Debugging tips:**
-
-- Verify language instruction specificity, especially if descriptions are similar between multiple tasks
-- Check task distribution in your training dataset and add weighting to the failing/ignored task
-- Consider task-specific fine-tuning
-
-### Training Instability
-
-If training loss is unstable or diverging:
-
-- Try adjusting learning rate between `1e-5` and `3e-4`
-- Increase batch size if possible
-- Check that your dataset normalization is correct
-- Verify image preprocessing is working correctly
-
-## Performance Considerations
-
-### GPU Requirements
-
-- **Inference**: At least an RTX 5070 Ti (or equivalent GPU) is recommended for reasonable speed performance
-- **Training**: A GPU with enough VRAM to load batch sizes of >64 is ideal, which will vary depending on the number of image observations, etc
-
-### Batch Size Recommendations
-
-- **Minimum**: 64 (less than this may result in unstable training)
-- **Recommended**: 256-320 (best performance, requires larger GPU)
-
-## Example: Training on Custom Dataset
-
-Here's a complete example training on a custom dataset:
-
-```bash
-lerobot-train \
-  --dataset.repo_id=YOUR_DATASET \
-  --output_dir=./outputs/mutitask_dit_training \
-  --batch_size=320 \
-  --steps=30000 \
-  --save_freq=1000 \
-  --log_freq=100 \
-  --eval_freq=1000 \
-  --policy.type=multi_task_dit \
-  --policy.device=cuda \
-  --policy.horizon=32 \
-  --policy.n_action_steps=24 \
-  --policy.objective=diffusion \
-  --policy.noise_scheduler_type=DDPM \
-  --policy.num_layers=6 \
-  --policy.hidden_dim=512 \
-  --policy.vision_encoder_name=openai/clip-vit-base-patch16 \
-  --policy.image_resize_shape=[320,240] \
-  --policy.image_crop_shape=[224,224] \
-  --policy.repo_id="HF_USER/multitask-dit-your-robot" \
-  --wandb.enable=true \
-  --wandb.project=multitask_dit
-```
-
-## References
-
-For more details on the technical implementation and architecture, see:
-
-- [A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation](https://arxiv.org/abs/2507.05331)
-- [Large Behavior Models and Atlas Find New Footing](https://bostondynamics.com/blog/large-behavior-models-atlas-find-new-footing/)
-- [Dissecting and Open-Sourcing Multitask Diffusion Transformer Policy](https://brysonkjones.substack.com/p/dissecting-and-open-sourcing-multitask-diffusion-transformer-policy)

docs/source/pi0.mdx

@@ -34,6 +34,11 @@ As described by Physical Intelligence, while AI has achieved remarkable success
    pip install -e ".[pi]"
    ```
 
+   > [!NOTE]
+   > For lerobot 0.4.0, if you want to install pi tag, you will have to do: `pip install "lerobot[pi]@git+https://github.com/huggingface/lerobot.git"`.
+   >
+   > This will be solved in the next patch release
+
 ## Training Data and Capabilities
 
 π₀ is trained on the largest robot interaction dataset to date, combining three key data sources:
@@ -91,46 +96,6 @@ lerobot-train \
 
 **💡 Tip**: Setting `train_expert_only=true` freezes the VLM and trains only the action expert and projections, allowing finetuning with reduced memory usage.
 
-## Relative Actions
-
-By default, π₀ predicts absolute actions. You can enable **relative actions** so the model predicts offsets relative to the current robot state. This can improve training stability for certain setups.
-
-To use relative actions, first recompute your dataset stats in relative space via the CLI:
-
-```bash
-lerobot-edit-dataset \
-    --repo_id your_dataset \
-    --operation.type recompute_stats \
-    --operation.relative_action true \
-    --operation.chunk_size 50 \
-    --operation.relative_exclude_joints "['gripper']" \
-    --push_to_hub true
-```
-
-Or equivalently in Python:
-
-```python
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.dataset_tools import recompute_stats
-
-dataset = LeRobotDataset("your_dataset")
-recompute_stats(dataset, relative_action=True, chunk_size=50, relative_exclude_joints=["gripper"])
-dataset.push_to_hub()
-```
-
-The `chunk_size` should match your policy's `chunk_size` (default 50 for π₀). `relative_exclude_joints` lists joint names that should remain in absolute space (e.g. gripper commands). Use `--push_to_hub true` to upload the updated stats to the Hub.
-
-Then train with relative actions enabled:
-
-```bash
-lerobot-train \
-    --dataset.repo_id=your_dataset \
-    --policy.type=pi0 \
-    --policy.use_relative_actions=true \
-    --policy.relative_exclude_joints='["gripper"]' \
-    ...
-```
-
 ## License
 
 This model follows the **Apache 2.0 License**, consistent with the original [OpenPI repository](https://github.com/Physical-Intelligence/openpi).

docs/source/pi05.mdx

@@ -36,6 +36,11 @@ This diverse training mixture creates a "curriculum" that enables generalization
    pip install -e ".[pi]"
    ```
 
+   > [!NOTE]
+   > For lerobot 0.4.0, if you want to install pi tag, you will have to do: `pip install "lerobot[pi]@git+https://github.com/huggingface/lerobot.git"`.
+   >
+   > This will be solved in the next patch release
+
 ## Usage
 
 To use π₀.₅ in your LeRobot configuration, specify the policy type as:
@@ -97,46 +102,6 @@ python src/lerobot/datasets/v30/augment_dataset_quantile_stats.py \
 
 Or train pi05 with this normalization mapping: `--policy.normalization_mapping='{"ACTION": "MEAN_STD", "STATE": "MEAN_STD", "VISUAL": "IDENTITY"}'`
 
-## Relative Actions
-
-By default, π₀.₅ predicts absolute actions. You can enable **relative actions** so the model predicts offsets relative to the current robot state. This can improve training stability for certain setups.
-
-To use relative actions, first recompute your dataset stats in relative space via the CLI:
-
-```bash
-lerobot-edit-dataset \
-    --repo_id your_dataset \
-    --operation.type recompute_stats \
-    --operation.relative_action true \
-    --operation.chunk_size 50 \
-    --operation.relative_exclude_joints "['gripper']" \
-    --push_to_hub true
-```
-
-Or equivalently in Python:
-
-```python
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.dataset_tools import recompute_stats
-
-dataset = LeRobotDataset("your_dataset")
-recompute_stats(dataset, relative_action=True, chunk_size=50, relative_exclude_joints=["gripper"])
-dataset.push_to_hub()
-```
-
-The `chunk_size` should match your policy's `chunk_size` (default 50 for π₀.₅). `relative_exclude_joints` lists joint names that should remain in absolute space (e.g. gripper commands). Use `--push_to_hub true` to upload the updated stats to the Hub.
-
-Then train with relative actions enabled:
-
-```bash
-lerobot-train \
-    --dataset.repo_id=your_dataset \
-    --policy.type=pi05 \
-    --policy.use_relative_actions=true \
-    --policy.relative_exclude_joints='["gripper"]' \
-    ...
-```
-
 ## Performance Results
 
 ### Libero Benchmark Results

docs/source/pi0fast.mdx

@@ -43,11 +43,16 @@ This approach can transform **any existing VLM** into a VLA by training it to pr
    pip install -e ".[pi]"
    ```
 
+   > [!NOTE]
+   > For lerobot 0.4.0, if you want to install the pi tag, you will have to do: `pip install "lerobot[pi]@git+https://github.com/huggingface/lerobot.git"`.
+   >
+   > This will be solved in the next patch release
+
 ## Training a Custom FAST Tokenizer
 
 You have two options for the FAST tokenizer:
 
-1. **Use the pre-trained tokenizer**: The `lerobot/fast-action-tokenizer` tokenizer was trained on 1M+ real robot action sequences and works as a general-purpose tokenizer.
+1. **Use the pre-trained tokenizer**: The `physical-intelligence/fast` tokenizer was trained on 1M+ real robot action sequences and works as a general-purpose tokenizer.
 
 2. **Train your own tokenizer**: For maximum performance on your specific dataset, you can finetune the tokenizer on your own data.
 
@@ -109,15 +114,15 @@ lerobot-train \
 
 ### Key Training Parameters
 
-| Parameter                              | Description                                        | Default                         |
-| -------------------------------------- | -------------------------------------------------- | ------------------------------- |
-| `--policy.gradient_checkpointing=true` | Reduces memory usage significantly during training | `false`                         |
-| `--policy.dtype=bfloat16`              | Use mixed precision training for efficiency        | `float32`                       |
-| `--policy.chunk_size`                  | Number of action steps to predict (action horizon) | `50`                            |
-| `--policy.n_action_steps`              | Number of action steps to execute                  | `50`                            |
-| `--policy.max_action_tokens`           | Maximum number of FAST tokens per action chunk     | `256`                           |
-| `--policy.action_tokenizer_name`       | FAST tokenizer to use                              | `lerobot/fast-action-tokenizer` |
-| `--policy.compile_model=true`          | Enable torch.compile for faster training           | `false`                         |
+| Parameter                              | Description                                        | Default                      |
+| -------------------------------------- | -------------------------------------------------- | ---------------------------- |
+| `--policy.gradient_checkpointing=true` | Reduces memory usage significantly during training | `false`                      |
+| `--policy.dtype=bfloat16`              | Use mixed precision training for efficiency        | `float32`                    |
+| `--policy.chunk_size`                  | Number of action steps to predict (action horizon) | `50`                         |
+| `--policy.n_action_steps`              | Number of action steps to execute                  | `50`                         |
+| `--policy.max_action_tokens`           | Maximum number of FAST tokens per action chunk     | `256`                        |
+| `--policy.action_tokenizer_name`       | FAST tokenizer to use                              | `physical-intelligence/fast` |
+| `--policy.compile_model=true`          | Enable torch.compile for faster training           | `false`                      |
 
 ## Inference
 

docs/source/policy_multi_task_dit_README.md

@@ -1,37 +0,0 @@
-# Multitask DiT Policy
-
-## Citation
-
-If you use this work, please cite the following works:
-
-```bibtex
-@misc{jones2025multitaskditpolicy,
-  author = {Bryson Jones},
-  title = {Dissecting and Open-Sourcing Multitask Diffusion Transformer Policy},
-  year = {2025},
-  url = {https://brysonkjones.substack.com/p/dissecting-and-open-sourcing-multitask-diffusion-transformer-policy},
-  note = {Blog post}
-}
-```
-
-```bibtex
-@misc{trilbmteam2025carefulexaminationlargebehaviormodels,
-  author       = {TRI LBM Team},
-  title        = {A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation},
-  year         = {2025},
-  eprint       = {arXiv:2507.05331},
-  archivePrefix = {arXiv},
-  primaryClass = {cs.RO},
-  url          = {https://arxiv.org/abs/2507.05331}
-}
-```
-
-```bibtex
-@misc{bostondynamics2025largebehaviormodelsatlas,
-  author       = {Boston Dynamics and TRI Research Team},
-  title        = {Large Behavior Models and Atlas Find New Footing},
-  year         = {2025},
-  url          = {https://bostondynamics.com/blog/large-behavior-models-atlas-find-new-footing/},
-  note         = {Blog post}
-}
-```

docs/source/rename_map.mdx

@@ -1,114 +0,0 @@
-# Rename Map and Empty Cameras
-
-When you train, evaluate, or record with a robot policy, your **dataset** or **environment** provides observations under one set of keys (e.g. `observation.images.front`, `observation.images.eagle`), while your **policy** expects another (e.g. `observation.images.image`, `observation.images.image2`). The **rename map** bridges that gap without changing the policy or data source.
-
-> **Scope:** The rename map only renames **observation** keys (images and state). Action keys are not affected.
-
-## Why observation keys don't always match
-
-Policies have a fixed set of **input feature names** baked into their pretrained config. For example:
-
-- [pi0fast-libero](https://huggingface.co/lerobot/pi0fast-libero) expects `observation.images.base_0_rgb` and `observation.images.left_wrist_0_rgb`.
-- [xvla-base](https://huggingface.co/lerobot/xvla-base) expects `observation.images.image`, `observation.images.image2`, and `observation.images.image3`.
-
-Your dataset might use different names entirely (e.g. `observation.images.front`, `observation.images.eagle`, `observation.images.glove`), and your eval environment might use yet another set. Rather than editing the policy config or renaming columns in the dataset, you pass a **rename map**: a JSON dictionary that maps source keys to the keys the policy expects. Renaming happens inside the preprocessor pipeline, so the policy always sees its expected keys.
-
-## Using the rename map
-
-Pass the mapping as a JSON string on the command line. The convention is always:
-
-```
---rename_map='{"source_key": "policy_key", ...}'
-```
-
-where **source_key** is what the dataset or environment provides, and **policy_key** is what the policy expects.
-
-Only listed keys are renamed; everything else passes through unchanged. Order of entries doesn't matter.
-
-Supported policies: **PI0**, **PI05**, **PI0Fast**, **SmolVLA**, and **XVLA**.
-
-### Training
-
-Suppose you fine-tune [lerobot/xvla-base](https://huggingface.co/lerobot/xvla-base) on a dataset with images under `observation.images.front`, `observation.images.eagle`, and `observation.images.glove`. XVLA expects `observation.images.image`, `observation.images.image2`, and `observation.images.image3`:
-
-```bash
-lerobot-train \
-  --dataset.repo_id=YOUR_DATASET \
-  --output_dir=./outputs/xvla_training \
-  --job_name=xvla_training \
-  --policy.path="lerobot/xvla-base" \
-  --policy.repo_id="HF_USER/xvla-your-robot" \
-  --policy.dtype=bfloat16 \
-  --policy.action_mode=auto \
-  --steps=20000 \
-  --policy.device=cuda \
-  --policy.freeze_vision_encoder=false \
-  --policy.freeze_language_encoder=false \
-  --policy.train_policy_transformer=true \
-  --policy.train_soft_prompts=true \
-  --rename_map='{"observation.images.front": "observation.images.image", "observation.images.eagle": "observation.images.image2", "observation.images.glove": "observation.images.image3"}'
-```
-
-### Evaluation
-
-A policy that expects `observation.images.base_0_rgb` and `observation.images.left_wrist_0_rgb` (e.g. [pi0fast-libero](https://huggingface.co/lerobot/pi0fast-libero)), but the LIBERO environment returns `observation.images.image` and `observation.images.image2`:
-
-```bash
-lerobot-eval \
-  --policy.path=lerobot/pi0fast-libero \
-  --env.type=libero \
-  ... \
-  --rename_map='{"observation.images.image": "observation.images.base_0_rgb", "observation.images.image2": "observation.images.left_wrist_0_rgb"}'
-```
-
-### Recording
-
-`lerobot-record` also supports rename maps, nested under the dataset config:
-
-```bash
-lerobot-record \ # When running inference
-  --policy.path="<user>/smolVLA_finetuned" \
-  ... \
-  --dataset.rename_map='{"observation.images.glove2": "observation.images.image"}'
-```
-
-## Alternative: edit the policy config directly
-
-If you always use the same dataset or environment, you can **edit the policy's `config.json`** so its observation keys match your data source. Then no rename map is needed.
-
-The tradeoff: modifying the policy config ties it to one data source. A rename map keeps one policy usable across many datasets and environments.
-
-## Empty cameras: fewer views than the policy expects
-
-Some policies are built for a fixed number of image inputs. If your dataset has fewer cameras, you can set **`empty_cameras`** in the policy config instead of modifying the model architecture.
-
-### How it works
-
-Setting `empty_cameras=N` adds N placeholder image features to the policy config, named:
-
-```
-observation.images.empty_camera_0
-observation.images.empty_camera_1
-...
-```
-
-At runtime, these keys have no corresponding data in the batch. The policy fills them with masked dummy tensors (padded with `-1` for SigLIP-based vision encoders, with a zero attention mask), so the extra image slots are effectively ignored during training and inference.
-
-### Example
-
-XVLA-base has three visual inputs and `empty_cameras=0` by default. Your dataset only has two cameras:
-
-1. Set `--policy.empty_cameras=1`.
-2. The config adds a third key: `observation.images.empty_camera_0`.
-3. Use the rename map for your two real cameras as usual.
-4. The third slot is masked out — no fake images needed in your dataset.
-
-## Quick reference
-
-| Goal                                      | What to do                                                                  |
-| ----------------------------------------- | --------------------------------------------------------------------------- |
-| Dataset keys ≠ policy keys                | `--rename_map='{"dataset_key": "policy_key", ...}'`                         |
-| Env keys ≠ policy keys (eval)             | `--rename_map='{"env_key": "policy_key", ...}'`                             |
-| Recording with different keys (inference) | `--dataset.rename_map='{"source_key": "policy_key", ...}'`.                 |
-| Fewer cameras than policy expects         | `--policy.empty_cameras=N` (supported by PI0, PI05, PI0Fast, SmolVLA, XVLA) |
-| Avoid passing a rename map                | Edit the policy's `config.json` so its keys match your data source          |

docs/source/so101.mdx

@@ -236,10 +236,10 @@ It is advisable to install one 3-pin cable in the motor after placing them befor
 
 ### Joint 1
 
-- Install both motor horns. Secure the top horn with a M3x6mm screw. No screws are required for the bottom horn.
 - Place the first motor into the base.
 - Fasten the motor with 4 M2x6mm screws (smallest screws). Two from the top and two from the bottom.
 - Slide over the first motor holder and fasten it using two M2x6mm screws (one on each side).
+- Install both motor horns, securing the top horn with a M3x6mm screw.
 - Attach the shoulder part.
 - Tighten the shoulder part with 4 M3x6mm screws on top and 4 M3x6mm screws on the bottom
 - Add the shoulder motor holder.
@@ -255,9 +255,9 @@ It is advisable to install one 3-pin cable in the motor after placing them befor
 
 ### Joint 2
 
-- Install both motor horns. Secure the top horn with a M3x6mm screw. No screws are required for the bottom horn.
 - Slide the second motor in from the top.
 - Fasten the second motor with 4 M2x6mm screws.
+- Attach both motor horns to motor 2, again use the M3x6mm horn screw.
 - Attach the upper arm with 4 M3x6mm screws on each side.
 
 <div class="video-container">
@@ -271,8 +271,8 @@ It is advisable to install one 3-pin cable in the motor after placing them befor
 
 ### Joint 3
 
-- Install both motor horns. Secure the top horn with a M3x6mm screw. No screws are required for the bottom horn.
-- Insert motor 3 and fasten using 4 M2x6mm screws.
+- Insert motor 3 and fasten using 4 M2x6mm screws
+- Attach both motor horns to motor 3 and secure one again with a M3x6mm horn screw.
 - Connect the forearm to motor 3 using 4 M3x6mm screws on each side.
 
 <div class="video-container">
@@ -286,10 +286,9 @@ It is advisable to install one 3-pin cable in the motor after placing them befor
 
 ### Joint 4
 
-- Install both motor horns. Secure the top horn with a M3x6mm screw. No screws are required for the bottom horn.
 - Slide over motor holder 4.
 - Slide in motor 4.
-- Fasten motor 4 with 4 M2x6mm screws.
+- Fasten motor 4 with 4 M2x6mm screws and attach its motor horns, use a M3x6mm horn screw.
 
 <div class="video-container">
   <video controls width="600">
@@ -322,7 +321,7 @@ It is advisable to install one 3-pin cable in the motor after placing them befor
 
 - Attach the gripper to motor 5, attach it to the motor horn on the wrist using 4 M3x6mm screws.
 - Insert the gripper motor and secure it with 2 M2x6mm screws on each side.
-- Install both motor horns on the gripper motor. Secure the top horn with a M3x6mm screw; no screws are required for the bottom horn.
+- Attach the motor horns and again use a M3x6mm horn screw.
 - Install the gripper claw and secure it with 4 M3x6mm screws on both sides.
 
 <div class="video-container">

docs/source/unitree_g1.mdx

@@ -1,72 +1,23 @@
 # Unitree G1
 
-<img
-  src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/unitree_thumbnail.jpg"
-  alt="Unitree G1 locomanipulation demo"
-  style={{ width: "100%" }}
-/>
+This guide covers the complete setup process for the Unitree G1 humanoid, from initial connection to running gr00t_wbc locomotion.
 
-The Unitree G1 humanoid is now supported in LeRobot! You can teleoperate, train locomanipulation policies, test in sim, and more. Both 29 and 23 DoF variants are supported.
+## About
+
+We support both 29 and 23 DOF G1 EDU version. We introduce:
+
+- **`unitree g1` robot class, handling low level read/write from/to the humanoid**
+- **ZMQ socket bridge** for remote communication and camera streaming, allowing for remote policy deployment over wlan, eth or directly on the robot
+- **Locomotion policies** from NVIDIA gr00t and Amazon FAR Holosoma
+- **Simulation mode** for testing policies without the physical robot in mujoco
 
 ---
 
-## Part 1: Getting Started
+## Connection guide
 
-### Install the Unitree SDK
+### Step 1: Configure Ethernet Interface
 
-Follow the [unitree_sdk2_python installation guide](https://github.com/unitreerobotics/unitree_sdk2_python#installation). Tested with `unitree_sdk2py==1.0.1` and `cyclonedds==0.10.2`:
-
-```bash
-conda create -y -n lerobot python=3.12
-conda activate lerobot
-git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
-cd unitree_sdk2_python
-pip install -e .
-cd ..
-```
-
-### Install LeRobot
-
-```bash
-conda install ffmpeg -c conda-forge
-conda install -c conda-forge "pinocchio>=3.0.0,<4.0.0"
-git clone https://github.com/huggingface/lerobot.git
-cd lerobot
-pip install -e '.[unitree_g1]'
-```
-
-<Tip>
-  For now, pinocchio must be installed from conda-forge (not pip) to include the
-  CasADi bindings needed for arm IK.
-</Tip>
-
-### Test the Installation (Simulation)
-
-The simulation environment has its own dependencies. Check the Simulation environment dependencies: [Unitree G1 Mujoco EnvHub](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main).
-
-```bash
-pip install mujoco loguru msgpack msgpack-numpy
-```
-
-```bash
-lerobot-teleoperate \
-  --robot.type=unitree_g1 \
-  --robot.is_simulation=true \
-  --teleop.type=unitree_g1 \
-  --teleop.id=wbc_unitree \
-  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30, "warmup_s": 5}}' \
-  --display_data=true \
-  --robot.controller=GrootLocomotionController
-```
-
-This will launch a [MuJoCo sim instance](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main) for the G1. You can connect a gamepad to your machine before launching in order to control the robot's locomotion in sim. We support both [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) and [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl) via `--robot.controller`.
-
-- Press `9` to release the robot
-- Press `7` / `8` to increase / decrease waist height
-
-### Connect to the Physical Robot
-
-The G1's Ethernet IP is fixed at `192.168.123.164`. Your machine must have a static IP on the same subnet: `192.168.123.x` where `x ≠ 164`.
+Set a static IP on the same subnet as the robot:
 
 ```bash
 # Replace 'enp131s0' with your ethernet interface name (check with `ip a`)
@@ -75,23 +26,47 @@ sudo ip addr add 192.168.123.200/24 dev enp131s0
 sudo ip link set enp131s0 up
 ```
 
-### SSH into the Robot
+**Note**: The G1's Ethernet IP is fixed at `192.168.123.164`. Your computer must use `192.168.123.x` with x ≠ 164.
+
+### Step 2: SSH into the Robot
 
 ```bash
 ssh unitree@192.168.123.164
 # Password: 123
 ```
 
-### Share Internet via Ethernet
+You should now be connected to the G1's Orin.
 
-The G1 needs internet access to clone repos and install packages. Share your laptop's connection over Ethernet:
+---
+
+## Part 2: Enable WiFi on the Robot
+
+Wlan0 is disabled by default on the G1. To enable it:
+
+### Step 1: Enable WiFi Hardware
+
+```bash
+sudo rfkill unblock wifi
+sudo rfkill unblock all
+
+# Bring up wlan0
+sudo ip link set wlan0 up
+
+# Enable NetworkManager control of wlan0
+sudo nmcli radio wifi on
+sudo nmcli device set wlan0 managed yes
+sudo systemctl restart NetworkManager
+```
+
+### Step 2: Enable Internet Forwarding
 
 **On your laptop:**
 
 ```bash
+# Enable IP forwarding
 sudo sysctl -w net.ipv4.ip_forward=1
 
-# Replace wlp132s0f0 with your WiFi interface name
+# Set up NAT (replace wlp132s0f0 with your WiFi interface)
 sudo iptables -t nat -A POSTROUTING -o wlp132s0f0 -s 192.168.123.0/24 -j MASQUERADE
 sudo iptables -A FORWARD -i wlp132s0f0 -o enp131s0 -m state --state RELATED,ESTABLISHED -j ACCEPT
 sudo iptables -A FORWARD -i enp131s0 -o wlp132s0f0 -j ACCEPT
@@ -100,193 +75,223 @@ sudo iptables -A FORWARD -i enp131s0 -o wlp132s0f0 -j ACCEPT
 **On the G1:**
 
 ```bash
+# Add laptop as default gateway
 sudo ip route del default 2>/dev/null || true
 sudo ip route add default via 192.168.123.200 dev eth0
 echo "nameserver 8.8.8.8" | sudo tee /etc/resolv.conf
 
-# Verify
+# Test connection
 ping -c 3 8.8.8.8
 ```
 
-### Install the Unitree SDK on the G1
-
-Follow the [unitree_sdk2_python installation guide](https://github.com/unitreerobotics/unitree_sdk2_python#installation):
-
-```bash
-conda create -y -n lerobot python=3.12
-conda activate lerobot
-git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
-cd unitree_sdk2_python
-python -m pip install -e .
-cd ..
-```
-
-### Install LeRobot on the G1
-
-```bash
-git clone https://github.com/huggingface/lerobot.git
-cd lerobot
-conda install -c conda-forge "pinocchio>=3.0.0,<4.0.0"
-python -m pip install -e '.[unitree_g1]'
-```
-
-<Tip>
-  For now, pinocchio must be installed from conda-forge (not pip) to include the
-  CasADi bindings needed for arm IK.
-</Tip>
-
-### (Optional) Enable WiFi on the Robot
-
-For wireless SSH access, you can enable WiFi on the G1 (it's blocked by default):
-
-```bash
-sudo rfkill unblock all
-sudo ip link set wlan0 up
-sudo nmcli radio wifi on
-sudo nmcli device set wlan0 managed yes
-sudo systemctl restart NetworkManager
-```
-
-**Connect to a WiFi network:**
+### Step 3: Connect to WiFi Network
 
 ```bash
+# List available networks
 nmcli device wifi list
 
+# Connect to your WiFi (example)
 sudo nmcli connection add type wifi ifname wlan0 con-name "YourNetwork" ssid "YourNetwork"
 sudo nmcli connection modify "YourNetwork" wifi-sec.key-mgmt wpa-psk
 sudo nmcli connection modify "YourNetwork" wifi-sec.psk "YourPassword"
 sudo nmcli connection modify "YourNetwork" connection.autoconnect yes
 sudo nmcli connection up "YourNetwork"
 
+# Check WiFi IP address
 ip a show wlan0
 ```
 
-You can then SSH over WiFi instead of Ethernet:
+### Step 4: SSH Over WiFi
+
+Once connected to WiFi, note the robot's IP address and disconnect the Ethernet cable. You can now SSH over WiFi:
 
 ```bash
-ssh unitree@<ROBOT_WIFI_IP>
+ssh unitree@<YOUR_ROBOT_IP>
 # Password: 123
 ```
 
----
-
-## Part 2: Teleoperation & Locomotion
-
-### Run the Robot Server
-
-On the robot (from `~/lerobot`):
-
-```bash
-cd ~/lerobot
-python src/lerobot/robots/unitree_g1/run_g1_server.py --camera
-```
-
-### Run the Locomotion Policy
-
-You can run the teleoperation client from your laptop over Ethernet, over WiFi (experimental), or directly on the robot itself. Mind potential latency introduced by your network.
-
-**From your laptop:**
-
-```bash
-lerobot-teleoperate \
-  --robot.type=unitree_g1 \
-  --robot.is_simulation=false \
-  --robot.robot_ip=<ROBOT_IP> \
-  --teleop.type=unitree_g1 \
-  --teleop.id=wbc_unitree \
-  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "<ROBOT_IP>", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
-  --display_data=true \
-  --robot.controller=HolosomaLocomotionController
-```
-
-We support both [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl) and [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) via `--robot.controller`.
+Replace `<YOUR_ROBOT_IP>` with your robot's actual WiFi IP address.
 
 ---
 
-## Part 3: Loco-Manipulation with the Homunculus Exoskeleton
+## Part 3: Robot Server Setup
 
-We provide a loco-manipulation solution via the Homunculus Exoskeleton — an open-source 7 DoF exoskeleton for whole-body control. Check it out [here](https://github.com/nepyope/hmc_exo).
+### Step 1: Install LeRobot on the Orin
 
-### Calibrate
+SSH into the robot and install LeRobot:
+
+```bash
+ssh unitree@<YOUR_ROBOT_IP>
+
+conda create -y -n lerobot python=3.10
+conda activate lerobot
+git clone https://github.com/huggingface/lerobot.git
+cd lerobot
+pip install -e '.[unitree_g1]'
+git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
+cd unitree_sdk2_python  && pip install -e .
+```
+
+**Note**: The Unitree SDK requires CycloneDDS v0.10.2 to be installed. See the [Unitree SDK documentation](https://github.com/unitreerobotics/unitree_sdk2_python) for details.
+
+### Step 2: Run the Robot Server
+
+On the robot:
+
+```bash
+python src/lerobot/robots/unitree_g1/run_g1_server.py
+```
+
+**Important**: Keep this terminal running. The server must be active for remote control.
+
+---
+
+## Part 4: Controlling the robot
+
+With the robot server running, you can now control the robot remotely. Let's launch a locomotion policy
+
+### Step 1: Install LeRobot on your machine
+
+```bash
+conda create -y -n lerobot python=3.10
+conda activate lerobot
+git clone https://github.com/huggingface/lerobot.git
+cd lerobot
+pip install -e '.[unitree_g1]'
+git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
+cd unitree_sdk2_python  && pip install -e .
+```
+
+### Step 2: Update Robot IP in Config
+
+Edit the config file to match your robot's WiFi IP:
+
+```python
+# In src/lerobot/robots/unitree_g1/config_unitree_g1.py
+robot_ip: str = "<YOUR_ROBOT_IP>"  # Replace with your robot's WiFi IP.
+```
+
+### Step 3: Run the Locomotion Policy
+
+```bash
+# Run GR00T locomotion controller
+python examples/unitree_g1/gr00t_locomotion.py --repo-id "nepyope/GR00T-WholeBodyControl_g1"
+
+# Run Holosoma locomotion controller
+python examples/unitree_g1/holosoma_locomotion.py
+
+```
+
+Press `Ctrl+C` to stop the policy.
+
+---
+
+## Running in Simulation Mode (MuJoCo)
+
+You can test policies before deploying on the physical robot using MuJoCo simulation. Set `is_simulation=True` in config or pass `--robot.is_simulation=true` via CLI.
+
+### Calibrate Exoskeleton Teleoperator
 
 ```bash
 lerobot-calibrate \
-  --teleop.type=unitree_g1 \
-  --teleop.left_arm_config.port=/dev/ttyACM1 \
-  --teleop.right_arm_config.port=/dev/ttyACM0 \
-  --teleop.id=exo
+    --teleop.type=unitree_g1 \
+    --teleop.left_arm_config.port=/dev/ttyACM1 \
+    --teleop.right_arm_config.port=/dev/ttyACM0 \
+    --teleop.id=exo
 ```
 
-During calibration move each joint through its entire range. After fitting, move the joint in a neutral position and press `n` to advance.
+### Teleoperate in Simulation
 
-### Record a Dataset
+```bash
+lerobot-teleoperate \
+    --robot.type=unitree_g1 \
+    --robot.is_simulation=true \
+    --teleop.type=unitree_g1 \
+    --teleop.left_arm_config.port=/dev/ttyACM1 \
+    --teleop.right_arm_config.port=/dev/ttyACM0 \
+    --teleop.id=exo \
+    --fps=100
+```
+
+### Record Dataset in Simulation
 
 ```bash
 lerobot-record \
-  --robot.type=unitree_g1 \
-  --robot.is_simulation=true \
-  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
-  --teleop.type=unitree_g1 \
-  --teleop.left_arm_config.port=/dev/ttyACM1 \
-  --teleop.right_arm_config.port=/dev/ttyACM0 \
-  --teleop.id=exo \
-  --dataset.repo_id=your-username/dataset-name \
-  --dataset.single_task="Test" \
-  --dataset.num_episodes=2 \
-  --dataset.episode_time_s=5 \
-  --dataset.reset_time_s=5 \
-  --dataset.push_to_hub=true \
-  --dataset.streaming_encoding=true \
-  --dataset.encoder_threads=2
+    --robot.type=unitree_g1 \
+    --robot.is_simulation=true \
+    --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
+    --teleop.type=unitree_g1 \
+    --teleop.left_arm_config.port=/dev/ttyACM1 \
+    --teleop.right_arm_config.port=/dev/ttyACM0 \
+    --teleop.id=exo \
+    --dataset.repo_id=your-username/dataset-name \
+    --dataset.single_task="Test" \
+    --dataset.num_episodes=2 \
+    --dataset.episode_time_s=5 \
+    --dataset.reset_time_s=5 \
+    --dataset.push_to_hub=true \
+    --dataset.streaming_encoding=true \
+    # --dataset.vcodec=auto \
+    --dataset.encoder_threads=2
 ```
 
-> **Note:** Omit `--teleop.left_arm_config.port` and `--teleop.right_arm_config.port` if you're only using the joystick.
-
-Example dataset: [nepyope/unitree_box_move_blue_full](https://huggingface.co/datasets/nepyope/unitree_box_move_blue_full)
+Example simulation dataset: [nepyope/teleop_test_sim](https://huggingface.co/datasets/nepyope/teleop_test_sim)
 
 ---
 
-## Part 4: Training & Inference
+## Running on Real Robot
 
-### Train
+Once the robot server is running on the G1 (see Part 3), you can teleoperate and record on the real robot.
+
+### Start the Camera Server
+
+On the robot, start the ZMQ image server:
 
 ```bash
-python src/lerobot/scripts/lerobot_train.py \
-  --dataset.repo_id=your-username/dataset-name  \
-  --policy.type=pi05 \
-  --output_dir=./outputs/pi05_training \
-  --job_name=pi05_training \
-  --policy.repo_id=your-username/your-repo-id \
-  --policy.pretrained_path=lerobot/pi05_base \
-  --policy.compile_model=true \
-  --policy.gradient_checkpointing=true \
-  --wandb.enable=true \
-  --policy.dtype=bfloat16 \
-  --policy.freeze_vision_encoder=false \
-  --policy.train_expert_only=false \
-  --steps=3000 \
-  --policy.device=cuda \
-  --batch_size=32
+python src/lerobot/cameras/zmq/image_server.py
 ```
 
-### Inference with RTC
+Keep this running in a separate terminal for camera streaming during recording.
 
-Once trained, we recommend deploying policies using inference-time RTC:
+### Teleoperate Real Robot
 
 ```bash
-python examples/rtc/eval_with_real_robot.py \
-  --policy.path=your-username/your-repo-id \
-  --policy.device=cuda \
-  --robot.type=unitree_g1 \
-  --robot.is_simulation=false \
-  --robot.controller=HolosomaLocomotionController \
-  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "<ROBOT_IP>", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
-  --task="task_description" \
-  --duration=1000 \
-  --fps=30 \
-  --rtc.enabled=true
+lerobot-teleoperate \
+    --robot.type=unitree_g1 \
+    --robot.is_simulation=false \
+    --teleop.type=unitree_g1 \
+    --teleop.left_arm_config.port=/dev/ttyACM1 \
+    --teleop.right_arm_config.port=/dev/ttyACM0 \
+    --teleop.id=exo \
+    --fps=100
 ```
 
+### Record Dataset on Real Robot
+
+```bash
+lerobot-record \
+    --robot.type=unitree_g1 \
+    --robot.is_simulation=false \
+    --robot.cameras='{"global_view": {"type": "zmq", "server_address": "172.18.129.215", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
+    --teleop.type=unitree_g1 \
+    --teleop.left_arm_config.port=/dev/ttyACM1 \
+    --teleop.right_arm_config.port=/dev/ttyACM0 \
+    --teleop.id=exo \
+    --dataset.repo_id=your-username/dataset-name \
+    --dataset.single_task="Test" \
+    --dataset.num_episodes=2 \
+    --dataset.episode_time_s=5 \
+    --dataset.reset_time_s=5 \
+    --dataset.push_to_hub=true \
+    --dataset.streaming_encoding=true \
+    # --dataset.vcodec=auto \
+    --dataset.encoder_threads=2
+```
+
+**Note**: Update `server_address` to match your robot's camera server IP.
+
+Example real robot dataset: [nepyope/teleop_test_real](https://huggingface.co/datasets/nepyope/teleop_test_real)
+
 ---
 
 ## Additional Resources
@@ -295,8 +300,8 @@ python examples/rtc/eval_with_real_robot.py \
 - [GR00T-WholeBodyControl](https://github.com/NVlabs/GR00T-WholeBodyControl)
 - [Holosoma](https://github.com/amazon-far/holosoma)
 - [LeRobot Documentation](https://github.com/huggingface/lerobot)
-- [Unitree IL LeRobot](https://github.com/unitreerobotics/unitree_IL_lerobot)
+- [Unitree_IL_Lerobot](https://github.com/unitreerobotics/unitree_IL_lerobot)
 
 ---
 
-_Last updated: March 2026_
+_Last updated: December 2025_

examples/backward_compatibility/replay.py

@@ -57,7 +57,7 @@ class DatasetReplayConfig:
     repo_id: str
     # Episode to replay.
     episode: int
-    # Root directory where the dataset will be stored (e.g. 'dataset/path'). If None, defaults to $HF_LEROBOT_HOME/repo_id.
+    # Root directory where the dataset will be stored (e.g. 'dataset/path').
     root: str | Path | None = None
     # Limit the frames per second. By default, uses the policy fps.
     fps: int = 30
@@ -78,7 +78,7 @@ def replay(cfg: ReplayConfig):
 
     robot = make_robot_from_config(cfg.robot)
     dataset = LeRobotDataset(cfg.dataset.repo_id, root=cfg.dataset.root, episodes=[cfg.dataset.episode])
-    actions = dataset.select_columns(ACTION)
+    actions = dataset.hf_dataset.select_columns(ACTION)
     robot.connect()
 
     try:

examples/dataset/load_lerobot_dataset.py

@@ -32,8 +32,7 @@ import torch
 from huggingface_hub import HfApi
 
 import lerobot
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata
 
 
 def main():
@@ -88,8 +87,9 @@ def main():
     # The previous metadata class is contained in the 'meta' attribute of the dataset:
     print(dataset.meta)
 
-    # You can inspect the dataset using its repr:
-    print(dataset)
+    # LeRobotDataset actually wraps an underlying Hugging Face dataset
+    # (see https://huggingface.co/docs/datasets for more information).
+    print(dataset.hf_dataset)
 
     # LeRobot datasets also subclasses PyTorch datasets so you can do everything you know and love from working
     # with the latter, like iterating through the dataset.

examples/dataset/slurm_compute_rabc.py

@@ -1,490 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# 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.
-
-"""
-SLURM-distributed SARM RA-BC annotation pipeline.
-
-Computes SARM progress values for all frames in a dataset, distributed across
-SLURM workers, then merges the shards into a single sarm_progress.parquet.
-
-Two subcommands, each a separate SLURM submission:
-
-  compute    – N workers, each computes progress for a subset of episodes
-  aggregate  – 1 worker, merges N shards into sarm_progress.parquet, pushes to hub
-
-Usage:
-    python slurm_compute_rabc.py compute \\
-        --repo-id user/dataset --reward-model-path user/sarm_model \\
-        --stride 10 --device cpu --workers 50 --partition cpu
-
-    python slurm_compute_rabc.py aggregate \\
-        --repo-id user/dataset --reward-model-path user/sarm_model \\
-        --partition cpu --push-to-hub
-"""
-
-import argparse
-from pathlib import Path
-
-from datatrove.executor import LocalPipelineExecutor
-from datatrove.executor.slurm import SlurmPipelineExecutor
-from datatrove.pipeline.base import PipelineStep
-
-
-class ComputeProgressShards(PipelineStep):
-    """Each worker computes SARM progress for its assigned episodes."""
-
-    def __init__(
-        self, repo_id, reward_model_path, stride=1, head_mode="sparse", device="cpu", shard_dir="rabc_shards"
-    ):
-        super().__init__()
-        if stride < 1:
-            raise ValueError(f"stride must be >= 1, got {stride}")
-        self.repo_id = repo_id
-        self.reward_model_path = reward_model_path
-        self.stride = stride
-        self.head_mode = head_mode
-        self.device = device
-        self.shard_dir = shard_dir
-
-    def run(self, data=None, rank: int = 0, world_size: int = 1):
-        import logging
-        from pathlib import Path
-
-        import numpy as np
-        import pyarrow as pa
-        import pyarrow.parquet as pq
-        import torch
-        from tqdm import tqdm
-
-        from lerobot.policies.sarm.compute_rabc_weights import (
-            generate_all_frame_indices,
-            interpolate_progress,
-            load_sarm_resources,
-        )
-        from lerobot.utils.utils import init_logging
-
-        init_logging()
-
-        dataset, reward_model, preprocess = load_sarm_resources(
-            self.repo_id,
-            self.reward_model_path,
-            self.device,
-        )
-
-        if hasattr(preprocess, "eval"):
-            preprocess.eval()
-        for step in preprocess.steps:
-            if hasattr(step, "eval"):
-                step.eval()
-
-        image_key = reward_model.config.image_key
-        state_key = reward_model.config.state_key
-        frame_gap = reward_model.config.frame_gap
-        center_idx = reward_model.config.n_obs_steps // 2
-
-        dual_mode = reward_model.config.uses_dual_heads
-        compute_sparse = self.head_mode in ("sparse", "both") or not dual_mode
-        compute_dense = self.head_mode in ("dense", "both") and dual_mode
-
-        my_episodes = list(range(dataset.num_episodes))[rank::world_size]
-        if not my_episodes:
-            logging.info(f"Rank {rank}: no episodes assigned")
-            return
-        logging.info(f"Rank {rank}: {len(my_episodes)} / {dataset.num_episodes} episodes")
-
-        all_rows = []
-
-        for ep_idx in tqdm(my_episodes, desc=f"Rank {rank}"):
-            ep = dataset.meta.episodes[ep_idx]
-            ep_start, ep_end = ep["dataset_from_index"], ep["dataset_to_index"]
-            task = dataset[ep_start].get("task", "perform the task")
-
-            all_ep_indices = generate_all_frame_indices(ep_start, ep_end, frame_gap)
-            if self.stride > 1:
-                compute_indices = [i for i in all_ep_indices if (i - ep_start) % self.stride == 0]
-                if (ep_end - 1) not in compute_indices:
-                    compute_indices.append(ep_end - 1)
-                compute_indices = sorted(set(compute_indices))
-            else:
-                compute_indices = all_ep_indices
-
-            frame_results = {}
-            for qi in tqdm(compute_indices, desc=f"  Ep {ep_idx}", leave=False):
-                try:
-                    sample = dataset[qi]
-                    batch = {
-                        image_key: sample[image_key],
-                        "task": task,
-                        "index": qi,
-                        "episode_index": ep_idx,
-                    }
-                    if state_key in sample:
-                        batch[state_key] = sample[state_key]
-
-                    with torch.no_grad():
-                        processed = preprocess(batch)
-                        vf = processed["video_features"].to(self.device)
-                        tf = processed["text_features"].to(self.device)
-                        sf = processed.get("state_features")
-                        if sf is not None:
-                            sf = sf.to(self.device)
-                        lengths = processed.get("lengths")
-
-                        sparse_val = dense_val = np.nan
-                        if compute_sparse:
-                            r = reward_model.calculate_rewards(
-                                text_embeddings=tf,
-                                video_embeddings=vf,
-                                state_features=sf,
-                                lengths=lengths,
-                                return_all_frames=True,
-                                head_mode="sparse",
-                            )
-                            sparse_val = float(r[0, center_idx] if r.ndim == 2 else r[center_idx])
-                        if compute_dense:
-                            r = reward_model.calculate_rewards(
-                                text_embeddings=tf,
-                                video_embeddings=vf,
-                                state_features=sf,
-                                lengths=lengths,
-                                return_all_frames=True,
-                                head_mode="dense",
-                            )
-                            dense_val = float(r[0, center_idx] if r.ndim == 2 else r[center_idx])
-
-                        frame_results[qi] = (sparse_val, dense_val)
-                except Exception as e:
-                    logging.warning(f"Failed frame {qi}: {e}")
-
-            if not frame_results:
-                logging.warning(f"Episode {ep_idx}: all frames failed, skipping")
-                continue
-
-            # Interpolate to all frames in this episode
-            computed_idx = np.array(sorted(frame_results.keys()))
-            all_frame_arr = np.arange(ep_start, ep_end)
-
-            sparse_vals = np.array([frame_results[i][0] for i in computed_idx]) if compute_sparse else None
-            dense_vals = np.array([frame_results[i][1] for i in computed_idx]) if compute_dense else None
-
-            if self.stride > 1 and len(computed_idx) > 1:
-                if compute_sparse:
-                    sparse_vals = interpolate_progress(computed_idx, sparse_vals, all_frame_arr)
-                if compute_dense:
-                    dense_vals = interpolate_progress(computed_idx, dense_vals, all_frame_arr)
-                output_frames = all_frame_arr
-            else:
-                # Use only successfully computed frames to avoid indexing mismatch on failures
-                output_frames = computed_idx
-
-            for i, fi in enumerate(output_frames):
-                row = {"index": int(fi), "episode_index": ep_idx, "frame_index": int(fi - ep_start)}
-                if compute_sparse:
-                    row["progress_sparse"] = float(sparse_vals[i])
-                if compute_dense:
-                    row["progress_dense"] = float(dense_vals[i])
-                all_rows.append(row)
-
-        if all_rows:
-            import pandas as pd
-
-            df = pd.DataFrame(all_rows).sort_values("index").reset_index(drop=True)
-            table = pa.Table.from_pandas(df, preserve_index=False)
-            table = table.replace_schema_metadata({b"reward_model_path": self.reward_model_path.encode()})
-            shard_dir = Path(self.shard_dir)
-            shard_dir.mkdir(parents=True, exist_ok=True)
-            out = shard_dir / f"shard_{rank:05d}.parquet"
-            pq.write_table(table, out)
-            logging.info(f"Rank {rank}: saved {len(df)} rows to {out}")
-
-
-class AggregateProgress(PipelineStep):
-    """Merge all shard parquets into final sarm_progress.parquet."""
-
-    def __init__(self, repo_id, reward_model_path, shard_dir="rabc_shards", push_to_hub=False):
-        super().__init__()
-        self.repo_id = repo_id
-        self.reward_model_path = reward_model_path
-        self.shard_dir = shard_dir
-        self.push_to_hub = push_to_hub
-
-    def run(self, data=None, rank: int = 0, world_size: int = 1):
-        import datetime
-        import logging
-        import os
-        from pathlib import Path
-
-        import pandas as pd
-        import pyarrow as pa
-        import pyarrow.parquet as pq
-
-        from lerobot.datasets.lerobot_dataset import LeRobotDataset
-        from lerobot.utils.utils import init_logging
-
-        init_logging()
-        if rank != 0:
-            return
-
-        shard_dir = Path(self.shard_dir)
-        shards = sorted(shard_dir.glob("shard_*.parquet"))
-        if not shards:
-            raise FileNotFoundError(f"No shards found in {shard_dir}")
-
-        # Log shard modification time range to help detect stale files
-        mtimes = [os.path.getmtime(s) for s in shards]
-        oldest = datetime.datetime.fromtimestamp(min(mtimes)).isoformat(timespec="seconds")
-        newest = datetime.datetime.fromtimestamp(max(mtimes)).isoformat(timespec="seconds")
-        logging.info(f"Aggregating {len(shards)} shards (oldest: {oldest}, newest: {newest})")
-
-        df = pd.concat([pd.read_parquet(s) for s in shards], ignore_index=True)
-        df = df.sort_values("index").reset_index(drop=True)
-
-        table = pa.Table.from_pandas(df, preserve_index=False)
-        table = table.replace_schema_metadata({b"reward_model_path": self.reward_model_path.encode()})
-
-        temp_ds = LeRobotDataset(self.repo_id, download_videos=False)
-        out_path = Path(temp_ds.root) / "sarm_progress.parquet"
-        out_path.parent.mkdir(parents=True, exist_ok=True)
-        pq.write_table(table, out_path)
-        logging.info(f"Saved {len(df)} rows to {out_path}")
-
-        for col in ["progress_sparse", "progress_dense"]:
-            if col in df.columns:
-                v = df[col].dropna()
-                logging.info(
-                    f"{col}: mean={v.mean():.4f} std={v.std():.4f} min={v.min():.4f} max={v.max():.4f}"
-                )
-
-        if self.push_to_hub:
-            from huggingface_hub import HfApi
-
-            api = HfApi()
-            hub_path = "sarm_progress.parquet"
-            logging.info(f"Uploading to {self.repo_id}/{hub_path}")
-            api.upload_file(
-                path_or_fileobj=str(out_path),
-                path_in_repo=hub_path,
-                repo_id=self.repo_id,
-                repo_type="dataset",
-            )
-            logging.info(f"Uploaded: https://huggingface.co/datasets/{self.repo_id}/blob/main/{hub_path}")
-
-
-def make_compute_executor(
-    repo_id,
-    reward_model_path,
-    stride,
-    head_mode,
-    device,
-    shard_dir,
-    logs_dir,
-    job_name,
-    slurm,
-    workers,
-    partition,
-    cpus_per_task,
-    mem_per_cpu,
-):
-    kwargs = {
-        "pipeline": [
-            ComputeProgressShards(repo_id, reward_model_path, stride, head_mode, device, str(shard_dir)),
-        ],
-        "logging_dir": str(logs_dir / job_name),
-    }
-
-    if slurm:
-        kwargs.update(
-            {
-                "job_name": job_name,
-                "tasks": workers,
-                "workers": workers,
-                "time": "24:00:00",
-                "partition": partition,
-                "cpus_per_task": cpus_per_task,
-                "sbatch_args": {"mem-per-cpu": mem_per_cpu},
-            }
-        )
-        return SlurmPipelineExecutor(**kwargs)
-
-    kwargs.update({"tasks": workers, "workers": 1})
-    return LocalPipelineExecutor(**kwargs)
-
-
-def make_aggregate_executor(
-    repo_id,
-    reward_model_path,
-    shard_dir,
-    logs_dir,
-    job_name,
-    slurm,
-    partition,
-    cpus_per_task,
-    mem_per_cpu,
-    push_to_hub,
-):
-    kwargs = {
-        "pipeline": [
-            AggregateProgress(repo_id, reward_model_path, str(shard_dir), push_to_hub),
-        ],
-        "logging_dir": str(logs_dir / job_name),
-    }
-
-    if slurm:
-        kwargs.update(
-            {
-                "job_name": job_name,
-                "tasks": 1,
-                "workers": 1,
-                "time": "02:00:00",
-                "partition": partition,
-                "cpus_per_task": cpus_per_task,
-                "sbatch_args": {"mem-per-cpu": mem_per_cpu},
-            }
-        )
-        return SlurmPipelineExecutor(**kwargs)
-
-    kwargs.update({"tasks": 1, "workers": 1})
-    return LocalPipelineExecutor(**kwargs)
-
-
-def _add_shared_args(p):
-    p.add_argument(
-        "--repo-id",
-        type=str,
-        required=True,
-        help="Hugging Face repository identifier, e.g. 'user/dataset'.",
-    )
-    p.add_argument(
-        "--shard-dir",
-        type=Path,
-        default=Path("rabc_shards"),
-        help="Directory to read/write per-rank parquet shards.",
-    )
-    p.add_argument(
-        "--logs-dir",
-        type=Path,
-        default=Path("logs"),
-        help="Directory for datatrove logs.",
-    )
-    p.add_argument(
-        "--job-name",
-        type=str,
-        default=None,
-        help="SLURM job name (defaults to rabc_<subcommand>).",
-    )
-    p.add_argument(
-        "--slurm",
-        type=int,
-        default=1,
-        help="1 = submit via SLURM; 0 = run locally (useful for debugging).",
-    )
-    p.add_argument(
-        "--partition",
-        type=str,
-        default=None,
-        help="SLURM partition to submit to.",
-    )
-    p.add_argument(
-        "--cpus-per-task",
-        type=int,
-        default=4,
-        help="Number of CPUs per SLURM task.",
-    )
-    p.add_argument(
-        "--mem-per-cpu",
-        type=str,
-        default="4G",
-        help="Memory per CPU, e.g. '4G' or '1950M'.",
-    )
-
-
-def main():
-    parser = argparse.ArgumentParser(
-        description="SLURM-distributed SARM RA-BC annotation pipeline",
-        formatter_class=argparse.RawDescriptionHelpFormatter,
-    )
-    sub = parser.add_subparsers(dest="command", required=True)
-
-    # compute subcommand
-    cp = sub.add_parser(
-        "compute",
-        help="Distribute progress computation across SLURM workers.",
-    )
-    _add_shared_args(cp)
-    cp.add_argument(
-        "--reward-model-path",
-        type=str,
-        required=True,
-        help="Path or HF repo id of the SARM reward model.",
-    )
-    cp.add_argument(
-        "--stride",
-        type=int,
-        default=1,
-        help="Compute every Nth frame; intermediate frames are interpolated (must be >= 1).",
-    )
-    cp.add_argument(
-        "--head-mode",
-        type=str,
-        default="sparse",
-        choices=["sparse", "dense", "both"],
-        help="Which reward head(s) to compute.",
-    )
-    cp.add_argument(
-        "--device",
-        type=str,
-        default="cpu",
-        help="Device for reward model inference, e.g. 'cpu' or 'cuda'.",
-    )
-    cp.add_argument(
-        "--workers",
-        type=int,
-        default=50,
-        help="Number of parallel SLURM tasks (one shard per worker).",
-    )
-
-    # aggregate subcommand
-    ap = sub.add_parser(
-        "aggregate",
-        help="Merge per-rank shards into a single sarm_progress.parquet.",
-    )
-    _add_shared_args(ap)
-    ap.add_argument(
-        "--reward-model-path",
-        type=str,
-        required=True,
-        help="Path or HF repo id of the SARM reward model (stored in parquet metadata).",
-    )
-    ap.add_argument(
-        "--push-to-hub",
-        action="store_true",
-        help="Upload sarm_progress.parquet to the Hugging Face Hub after aggregation.",
-    )
-
-    args = parser.parse_args()
-    job_name = args.job_name or f"rabc_{args.command}"
-    kwargs = vars(args)
-    kwargs["slurm"] = kwargs.pop("slurm") == 1
-    kwargs["job_name"] = job_name
-    command = kwargs.pop("command")
-
-    executor = make_compute_executor(**kwargs) if command == "compute" else make_aggregate_executor(**kwargs)
-
-    executor.run()
-
-
-if __name__ == "__main__":
-    main()

examples/lekiwi/evaluate.py

@@ -14,8 +14,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.datasets.feature_utils import hw_to_dataset_features
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.utils import hw_to_dataset_features
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.processor import make_default_processors

examples/lekiwi/record.py

@@ -14,8 +14,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.datasets.feature_utils import hw_to_dataset_features
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.utils import hw_to_dataset_features
 from lerobot.processor import make_default_processors
 from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
 from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient

examples/lekiwi/replay.py

@@ -35,7 +35,9 @@ def main():
 
     # Fetch the dataset to replay
     dataset = LeRobotDataset("<hf_username>/<dataset_repo_id>", episodes=[EPISODE_IDX])
-    actions = dataset.select_columns(ACTION)
+    # Filter dataset to only include frames from the specified episode since episodes are chunked in dataset V3.0
+    episode_frames = dataset.hf_dataset.filter(lambda x: x["episode_index"] == EPISODE_IDX)
+    actions = episode_frames.select_columns(ACTION)
 
     # Connect to the robot
     robot.connect()
@@ -46,7 +48,7 @@ def main():
 
         print("Starting replay loop...")
         log_say(f"Replaying episode {EPISODE_IDX}")
-        for idx in range(dataset.num_frames):
+        for idx in range(len(episode_frames)):
             t0 = time.perf_counter()
 
             # Get recorded action from dataset

examples/lekiwi/teleoperate.py

@@ -43,13 +43,12 @@ def main():
     keyboard.connect()
 
     # Init rerun viewer
-    init_rerun(session_name="lekiwi_teleop", robot=robot, reset_time=True)
+    init_rerun(session_name="lekiwi_teleop")
 
     if not robot.is_connected or not leader_arm.is_connected or not keyboard.is_connected:
         raise ValueError("Robot or teleop is not connected!")
 
     print("Starting teleop loop...")
-    start = time.perf_counter()
     while True:
         t0 = time.perf_counter()
 
@@ -70,7 +69,7 @@ def main():
         _ = robot.send_action(action)
 
         # Visualize
-        log_rerun_data(observation=observation, action=action, log_time=time.perf_counter() - start)
+        log_rerun_data(observation=observation, action=action)
 
         precise_sleep(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
 

examples/phone_to_so100/evaluate.py

@@ -16,13 +16,15 @@
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.datasets.feature_utils import combine_feature_dicts
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
+from lerobot.datasets.utils import combine_feature_dicts
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.processor import (
+    RobotAction,
+    RobotObservation,
     RobotProcessorPipeline,
     make_default_teleop_action_processor,
 )
@@ -38,7 +40,6 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
     InverseKinematicsEEToJoints,
 )
 from lerobot.scripts.lerobot_record import record_loop
-from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun

examples/phone_to_so100/record.py

@@ -15,11 +15,11 @@
 # limitations under the License.
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.feature_utils import combine_feature_dicts
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
+from lerobot.datasets.utils import combine_feature_dicts
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessorPipeline
+from lerobot.processor import RobotAction, RobotObservation, RobotProcessorPipeline
 from lerobot.processor.converters import (
     observation_to_transition,
     robot_action_observation_to_transition,
@@ -38,7 +38,6 @@ from lerobot.scripts.lerobot_record import record_loop
 from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
 from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
 from lerobot.teleoperators.phone.teleop_phone import Phone
-from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun

examples/phone_to_so100/replay.py

@@ -18,7 +18,7 @@ import time
 
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessorPipeline
+from lerobot.processor import RobotAction, RobotObservation, RobotProcessorPipeline
 from lerobot.processor.converters import (
     robot_action_observation_to_transition,
     transition_to_robot_action,
@@ -27,7 +27,6 @@ from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 from lerobot.robots.so_follower.robot_kinematic_processor import (
     InverseKinematicsEEToJoints,
 )
-from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.constants import ACTION
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say
@@ -67,7 +66,9 @@ def main():
 
     # Fetch the dataset to replay
     dataset = LeRobotDataset(HF_REPO_ID, episodes=[EPISODE_IDX])
-    actions = dataset.select_columns(ACTION)
+    # Filter dataset to only include frames from the specified episode since episodes are chunked in dataset V3.0
+    episode_frames = dataset.hf_dataset.filter(lambda x: x["episode_index"] == EPISODE_IDX)
+    actions = episode_frames.select_columns(ACTION)
 
     # Connect to the robot
     robot.connect()
@@ -78,7 +79,7 @@ def main():
 
         print("Starting replay loop...")
         log_say(f"Replaying episode {EPISODE_IDX}")
-        for idx in range(dataset.num_frames):
+        for idx in range(len(episode_frames)):
             t0 = time.perf_counter()
 
             # Get recorded action from dataset

examples/phone_to_so100/teleoperate.py

@@ -16,7 +16,7 @@
 import time
 
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessorPipeline
+from lerobot.processor import RobotAction, RobotObservation, RobotProcessorPipeline
 from lerobot.processor.converters import (
     robot_action_observation_to_transition,
     transition_to_robot_action,
@@ -31,7 +31,6 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
 from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
 from lerobot.teleoperators.phone.teleop_phone import Phone
-from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
 
@@ -90,13 +89,12 @@ def main():
     teleop_device.connect()
 
     # Init rerun viewer
-    init_rerun(session_name="phone_so100_teleop", robot=robot, reset_time=True)
+    init_rerun(session_name="phone_so100_teleop")
 
     if not robot.is_connected or not teleop_device.is_connected:
         raise ValueError("Robot or teleop is not connected!")
 
     print("Starting teleop loop. Move your phone to teleoperate the robot...")
-    start = time.perf_counter()
     while True:
         t0 = time.perf_counter()
 
@@ -113,7 +111,7 @@ def main():
         _ = robot.send_action(joint_action)
 
         # Visualize
-        log_rerun_data(observation=phone_obs, action=joint_action, log_time=time.perf_counter() - start)
+        log_rerun_data(observation=phone_obs, action=joint_action)
 
         precise_sleep(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
 

examples/port_datasets/port_droid.py

@@ -22,8 +22,7 @@ from pathlib import Path
 import numpy as np
 import tensorflow_datasets as tfds
 
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata
 from lerobot.utils.utils import get_elapsed_time_in_days_hours_minutes_seconds
 
 DROID_SHARDS = 2048

examples/port_datasets/slurm_upload.py

@@ -26,7 +26,7 @@ from huggingface_hub import HfApi
 from huggingface_hub.constants import REPOCARD_NAME
 from port_droid import DROID_SHARDS
 
-from lerobot.datasets.dataset_metadata import CODEBASE_VERSION, LeRobotDatasetMetadata
+from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDatasetMetadata
 from lerobot.datasets.utils import create_lerobot_dataset_card
 from lerobot.utils.utils import init_logging
 
@@ -155,7 +155,7 @@ class UploadDataset(PipelineStep):
         from datasets.utils.tqdm import disable_progress_bars
         from huggingface_hub import CommitOperationAdd, preupload_lfs_files
 
-        from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
+        from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
         from lerobot.utils.utils import init_logging
 
         init_logging()

examples/rtc/eval_dataset.py

@@ -113,9 +113,8 @@ from lerobot.configs import parser
 from lerobot.configs.default import DatasetConfig
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import RTCAttentionSchedule
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
 from lerobot.datasets.factory import resolve_delta_timestamps
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata
 from lerobot.policies.factory import get_policy_class, make_pre_post_processors
 from lerobot.policies.rtc.configuration_rtc import RTCConfig
 from lerobot.policies.rtc.debug_visualizer import RTCDebugVisualizer

examples/rtc/eval_with_real_robot.py

@@ -63,26 +63,6 @@ Usage:
         --robot.cameras="{ gripper: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}, front: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30}}" \
         --task="Move green small object into the purple platform" \
         --duration=120
-
-    # Run RTC with bi_openarm_follower (dual-arm OpenArms) and pi0.5 policy
-    python examples/rtc/eval_with_real_robot.py \
-        --policy.path=lerobot-data-collection/folding_final \
-        --robot.type=bi_openarm_follower \
-        --robot.cameras='{left_wrist: {type: opencv, index_or_path: "/dev/video4", width: 1280, height: 720, fps: 30}, base: {type: opencv, index_or_path: "/dev/video2", width: 640, height: 480, fps: 30}, right_wrist: {type: opencv, index_or_path: "/dev/video0", width: 1280, height: 720, fps: 30}}' \
-        --robot.left_arm_config.port=can1 \
-        --robot.left_arm_config.side=left \
-        --robot.left_arm_config.can_interface=socketcan \
-        --robot.right_arm_config.port=can0 \
-        --robot.right_arm_config.side=right \
-        --robot.right_arm_config.can_interface=socketcan \
-        --task="Fold the T-shirt properly" \
-        --fps=30 \
-        --duration=2000 \
-        --rtc.enabled=true \
-        --rtc.execution_horizon=20 \
-        --rtc.max_guidance_weight=5.0 \
-        --rtc.prefix_attention_schedule=LINEAR \
-        --device=cuda
 """
 
 import logging
@@ -98,38 +78,28 @@ from torch import Tensor
 
 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
 from lerobot.configs import parser
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import RTCAttentionSchedule
-from lerobot.datasets.feature_utils import build_dataset_frame, hw_to_dataset_features
+from lerobot.datasets.utils import build_dataset_frame, hw_to_dataset_features
 from lerobot.policies.factory import get_policy_class, make_pre_post_processors
 from lerobot.policies.rtc.action_queue import ActionQueue
 from lerobot.policies.rtc.configuration_rtc import RTCConfig
 from lerobot.policies.rtc.latency_tracker import LatencyTracker
-from lerobot.processor import (
-    NormalizerProcessorStep,
-    RelativeActionsProcessorStep,
-    TransitionKey,
-    create_transition,
-)
 from lerobot.processor.factory import (
     make_default_robot_action_processor,
     make_default_robot_observation_processor,
 )
-from lerobot.processor.relative_action_processor import to_relative_actions
 from lerobot.rl.process import ProcessSignalHandler
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
-    bi_openarm_follower,
     bi_so_follower,
     koch_follower,
     so_follower,
-    unitree_g1,
 )
 from lerobot.robots.utils import make_robot_from_config
-from lerobot.utils.constants import OBS_IMAGES, OBS_STATE
+from lerobot.utils.constants import OBS_IMAGES
 from lerobot.utils.hub import HubMixin
 from lerobot.utils.utils import init_logging
 
@@ -240,35 +210,6 @@ def is_image_key(k: str) -> bool:
     return k.startswith(OBS_IMAGES)
 
 
-def _reanchor_relative_rtc_prefix(
-    prev_actions_absolute: Tensor,
-    current_state: Tensor,
-    relative_step: RelativeActionsProcessorStep,
-    normalizer_step: NormalizerProcessorStep | None,
-    policy_device: torch.device | str,
-) -> Tensor:
-    """Convert absolute leftovers into model-space for relative-action RTC policies.
-
-    When a policy uses relative actions, the RTC prefix (leftover actions from
-    the previous chunk) is stored in absolute space. Before feeding it back to
-    the policy we need to re-express it relative to the *current* robot state
-    and then re-normalize.
-    """
-    state = current_state.detach().cpu()
-    if state.dim() == 1:
-        state = state.unsqueeze(0)
-
-    action_cpu = prev_actions_absolute.detach().cpu()
-    mask = relative_step._build_mask(action_cpu.shape[-1])
-    relative_actions = to_relative_actions(action_cpu, state, mask)
-
-    transition = create_transition(action=relative_actions)
-    if normalizer_step is not None:
-        transition = normalizer_step(transition)
-
-    return transition[TransitionKey.ACTION].to(policy_device)
-
-
 def get_actions(
     policy,
     robot: RobotWrapper,
@@ -294,15 +235,7 @@ def get_actions(
         fps = cfg.fps
         time_per_chunk = 1.0 / fps
 
-        # Only keep .pos joints + camera streams if the policy was trained on positions,
-        # not the full pos/vel/torque state the robot exposes.
-        observation_features_hw = {
-            key: value
-            for key, value in robot.observation_features().items()
-            if key.endswith(".pos") or isinstance(value, tuple)
-        }
-
-        dataset_features = hw_to_dataset_features(observation_features_hw, "observation")
+        dataset_features = hw_to_dataset_features(robot.observation_features(), "observation")
         policy_device = policy.config.device
 
         # Load preprocessor and postprocessor from pretrained files
@@ -320,25 +253,6 @@ def get_actions(
 
         logger.info("[GET_ACTIONS] Preprocessor/postprocessor loaded successfully with embedded stats")
 
-        relative_step = next(
-            (s for s in preprocessor.steps if isinstance(s, RelativeActionsProcessorStep) and s.enabled),
-            None,
-        )
-        normalizer_step = next(
-            (s for s in preprocessor.steps if isinstance(s, NormalizerProcessorStep)),
-            None,
-        )
-        if relative_step is not None:
-            if relative_step.action_names is None:
-                cfg_names = getattr(cfg.policy, "action_feature_names", None)
-                if cfg_names:
-                    relative_step.action_names = list(cfg_names)
-                else:
-                    relative_step.action_names = [
-                        k for k in robot.robot.action_features if k.endswith(".pos")
-                    ]
-            logger.info("[GET_ACTIONS] Relative actions enabled: will re-anchor RTC prefix")
-
         get_actions_threshold = cfg.action_queue_size_to_get_new_actions
 
         if not cfg.rtc.enabled:
@@ -381,28 +295,6 @@ def get_actions(
 
                 preproceseded_obs = preprocessor(obs_with_policy_features)
 
-                # Re-anchor leftover actions for relative-action policies.
-                # We need the *postprocessed* (absolute) leftover, not the original
-                # (normalized/relative) one that get_left_over() returns.
-                if (
-                    prev_actions is not None
-                    and relative_step is not None
-                    and OBS_STATE in obs_with_policy_features
-                ):
-                    with action_queue.lock:
-                        if action_queue.queue is not None:
-                            prev_actions_abs = action_queue.queue[action_queue.last_index :].clone()
-                        else:
-                            prev_actions_abs = None
-                    if prev_actions_abs is not None and prev_actions_abs.numel() > 0:
-                        prev_actions = _reanchor_relative_rtc_prefix(
-                            prev_actions_absolute=prev_actions_abs,
-                            current_state=obs_with_policy_features[OBS_STATE],
-                            relative_step=relative_step,
-                            normalizer_step=normalizer_step,
-                            policy_device=policy_device,
-                        )
-
                 # Generate actions WITH RTC
                 actions = policy.predict_action_chunk(
                     preproceseded_obs,
@@ -458,8 +350,6 @@ def actor_control(
     try:
         logger.info("[ACTOR] Starting actor thread")
 
-        action_keys = [k for k in robot.action_features() if k.endswith(".pos")]
-
         action_count = 0
         action_interval = 1.0 / cfg.fps
 
@@ -471,7 +361,7 @@ def actor_control(
 
             if action is not None:
                 action = action.cpu()
-                action_dict = {key: action[i].item() for i, key in enumerate(action_keys)}
+                action_dict = {key: action[i].item() for i, key in enumerate(robot.action_features())}
                 action_processed = robot_action_processor((action_dict, None))
                 robot.send_action(action_processed)
 

examples/so100_to_so100_EE/evaluate.py

@@ -16,13 +16,15 @@
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.datasets.feature_utils import combine_feature_dicts
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
+from lerobot.datasets.utils import combine_feature_dicts
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.processor import (
+    RobotAction,
+    RobotObservation,
     RobotProcessorPipeline,
     make_default_teleop_action_processor,
 )
@@ -38,7 +40,6 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
     InverseKinematicsEEToJoints,
 )
 from lerobot.scripts.lerobot_record import record_loop
-from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun

examples/so100_to_so100_EE/record.py

@@ -16,11 +16,11 @@
 
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.feature_utils import combine_feature_dicts
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
+from lerobot.datasets.utils import combine_feature_dicts
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessorPipeline
+from lerobot.processor import RobotAction, RobotObservation, RobotProcessorPipeline
 from lerobot.processor.converters import (
     observation_to_transition,
     robot_action_observation_to_transition,
@@ -35,7 +35,6 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 )
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
-from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun

examples/so100_to_so100_EE/replay.py

@@ -19,7 +19,7 @@ import time
 
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessorPipeline
+from lerobot.processor import RobotAction, RobotObservation, RobotProcessorPipeline
 from lerobot.processor.converters import (
     robot_action_observation_to_transition,
     transition_to_robot_action,
@@ -28,7 +28,6 @@ from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 from lerobot.robots.so_follower.robot_kinematic_processor import (
     InverseKinematicsEEToJoints,
 )
-from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.constants import ACTION
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say
@@ -68,7 +67,9 @@ def main():
 
     # Fetch the dataset to replay
     dataset = LeRobotDataset(HF_REPO_ID, episodes=[EPISODE_IDX])
-    actions = dataset.select_columns(ACTION)
+    # Filter dataset to only include frames from the specified episode since episodes are chunked in dataset V3.0
+    episode_frames = dataset.hf_dataset.filter(lambda x: x["episode_index"] == EPISODE_IDX)
+    actions = episode_frames.select_columns(ACTION)
 
     # Connect to the robot
     robot.connect()
@@ -79,7 +80,7 @@ def main():
 
         print("Starting replay loop...")
         log_say(f"Replaying episode {EPISODE_IDX}")
-        for idx in range(dataset.num_frames):
+        for idx in range(len(episode_frames)):
             t0 = time.perf_counter()
 
             # Get recorded action from dataset

examples/so100_to_so100_EE/teleoperate.py

@@ -17,7 +17,7 @@
 import time
 
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.processor import RobotProcessorPipeline
+from lerobot.processor import RobotAction, RobotObservation, RobotProcessorPipeline
 from lerobot.processor.converters import (
     robot_action_observation_to_transition,
     robot_action_to_transition,
@@ -30,7 +30,6 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
     InverseKinematicsEEToJoints,
 )
 from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
-from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
 
@@ -95,10 +94,9 @@ def main():
     leader.connect()
 
     # Init rerun viewer
-    init_rerun(session_name="so100_so100_EE_teleop", robot=follower, reset_time=True)
+    init_rerun(session_name="so100_so100_EE_teleop")
 
     print("Starting teleop loop...")
-    start = time.perf_counter()
     while True:
         t0 = time.perf_counter()
 
@@ -118,9 +116,7 @@ def main():
         _ = follower.send_action(follower_joints_act)
 
         # Visualize
-        log_rerun_data(
-            observation=leader_ee_act, action=follower_joints_act, log_time=time.perf_counter() - start
-        )
+        log_rerun_data(observation=leader_ee_act, action=follower_joints_act)
 
         precise_sleep(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
 

examples/training/train_policy.py

@@ -19,9 +19,8 @@ from pathlib import Path
 import torch
 
 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.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata
+from lerobot.datasets.utils import dataset_to_policy_features
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
 from lerobot.policies.factory import make_pre_post_processors

examples/training/train_with_streaming.py

@@ -20,9 +20,9 @@ from pathlib import Path
 import torch
 
 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.datasets.lerobot_dataset import LeRobotDatasetMetadata
 from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
+from lerobot.datasets.utils import dataset_to_policy_features
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors

examples/tutorial/act/act_training_example.py

@@ -5,9 +5,8 @@ from pathlib import Path
 import torch
 
 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.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata
+from lerobot.datasets.utils import dataset_to_policy_features
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors

examples/tutorial/act/act_using_example.py

@@ -1,7 +1,7 @@
 import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
+from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
 from lerobot.policies.act.modeling_act import ACTPolicy
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.policies.utils import build_inference_frame, make_robot_action

examples/tutorial/diffusion/diffusion_training_example.py

@@ -5,9 +5,8 @@ from pathlib import Path
 import torch
 
 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.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata
+from lerobot.datasets.utils import dataset_to_policy_features
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
 from lerobot.policies.factory import make_pre_post_processors

examples/tutorial/diffusion/diffusion_using_example.py

@@ -1,7 +1,7 @@
 import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
+from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
 from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.policies.utils import build_inference_frame, make_robot_action

examples/tutorial/pi0/using_pi0_example.py

@@ -1,7 +1,7 @@
 import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.feature_utils import hw_to_dataset_features
+from lerobot.datasets.utils import hw_to_dataset_features
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.policies.pi0.modeling_pi0 import PI0Policy
 from lerobot.policies.utils import build_inference_frame, make_robot_action

examples/tutorial/rl/hilserl_example.py

@@ -6,8 +6,8 @@ from queue import Empty, Full
 import torch
 import torch.optim as optim
 
-from lerobot.datasets.feature_utils import hw_to_dataset_features
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.utils import hw_to_dataset_features
 from lerobot.envs.configs import HILSerlProcessorConfig, HILSerlRobotEnvConfig
 from lerobot.policies.sac.configuration_sac import SACConfig
 from lerobot.policies.sac.modeling_sac import SACPolicy

examples/tutorial/smolvla/using_smolvla_example.py

@@ -1,7 +1,7 @@
 import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.feature_utils import hw_to_dataset_features
+from lerobot.datasets.utils import hw_to_dataset_features
 from lerobot.policies.factory import make_pre_post_processors
 from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy
 from lerobot.policies.utils import build_inference_frame, make_robot_action

examples/unitree_g1/gr00t_locomotion.py

@@ -14,20 +14,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import argparse
 import logging
+import time
 from collections import deque
 
 import numpy as np
 import onnxruntime as ort
 from huggingface_hub import hf_hub_download
 
-from lerobot.robots.unitree_g1.g1_utils import (
-    REMOTE_AXES,
-    REMOTE_BUTTONS,
-    G1_29_JointIndex,
-    get_gravity_orientation,
-)
+from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
+from lerobot.robots.unitree_g1.g1_utils import G1_29_JointIndex
+from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
 
+logging.basicConfig(level=logging.INFO)
 logger = logging.getLogger(__name__)
 
 
@@ -36,13 +36,18 @@ GROOT_DEFAULT_ANGLES[[0, 6]] = -0.1  # Hip pitch
 GROOT_DEFAULT_ANGLES[[3, 9]] = 0.3  # Knee
 GROOT_DEFAULT_ANGLES[[4, 10]] = -0.2  # Ankle pitch
 
+MISSING_JOINTS = []
+G1_MODEL = "g1_23"  # Or "g1_29"
+if G1_MODEL == "g1_23":
+    MISSING_JOINTS = [12, 14, 20, 21, 27, 28]  # Waist yaw/pitch, wrist pitch/yaw
+
 # Control parameters
 ACTION_SCALE = 0.25
 CONTROL_DT = 0.02  # 50Hz
 ANG_VEL_SCALE: float = 0.25
 DOF_POS_SCALE: float = 1.0
 DOF_VEL_SCALE: float = 0.05
-CMD_SCALE: list[float] = [2.0, 2.0, 0.25]
+CMD_SCALE: list = [2.0, 2.0, 0.25]
 
 
 DEFAULT_GROOT_REPO_ID = "nepyope/GR00T-WholeBodyControl_g1"
@@ -80,11 +85,11 @@ def load_groot_policies(
 class GrootLocomotionController:
     """GR00T lower-body locomotion controller for the Unitree G1."""
 
-    control_dt = CONTROL_DT  # Expose for unitree_g1.py
-
-    def __init__(self):
-        # Load policies
-        self.policy_balance, self.policy_walk = load_groot_policies()
+    def __init__(self, policy_balance, policy_walk, robot, config):
+        self.policy_balance = policy_balance
+        self.policy_walk = policy_walk
+        self.robot = robot
+        self.config = config
 
         self.cmd = np.array([0.0, 0.0, 0.0], dtype=np.float32)  # vx, vy, theta_dot
 
@@ -104,60 +109,45 @@ class GrootLocomotionController:
 
         logger.info("GrootLocomotionController initialized")
 
-    def reset(self) -> None:
-        """Reset internal state for a new episode."""
-        self.cmd[:] = 0.0
-        self.groot_qj_all[:] = 0.0
-        self.groot_dqj_all[:] = 0.0
-        self.groot_action[:] = 0.0
-        self.groot_obs_single[:] = 0.0
-        self.groot_obs_stacked[:] = 0.0
-        self.groot_height_cmd = 0.74
-        self.groot_orientation_cmd[:] = 0.0
-        self.groot_obs_history.clear()
-        for _ in range(6):
-            self.groot_obs_history.append(np.zeros(86, dtype=np.float32))
+    def run_step(self):
+        # Get current observation
+        obs = self.robot.get_observation()
 
-    def run_step(self, action: dict, lowstate) -> dict:
-        """Run one step of the locomotion controller.
+        if not obs:
+            return
 
-        Args:
-            action: Action dict containing remote.lx/ly/rx/ry and buttons
-            lowstate: Robot lowstate containing motor positions/velocities and IMU
-
-        Returns:
-            Action dict for lower body joints (0-14)
-        """
-        if lowstate is None:
-            return {}
-
-        buttons = [int(action.get(k, 0)) for k in REMOTE_BUTTONS]
-        if buttons[0]:  # R1 - raise waist
+        # Get command from remote controller
+        if obs["remote.buttons"][0]:  # R1 - raise waist
             self.groot_height_cmd += 0.001
             self.groot_height_cmd = np.clip(self.groot_height_cmd, 0.50, 1.00)
-        if buttons[4]:  # R2 - lower waist
+        if obs["remote.buttons"][4]:  # R2 - lower waist
             self.groot_height_cmd -= 0.001
             self.groot_height_cmd = np.clip(self.groot_height_cmd, 0.50, 1.00)
 
-        lx, ly, rx, _ry = (action.get(k, 0.0) for k in REMOTE_AXES)
-        self.cmd[0] = ly  # Forward/backward
-        self.cmd[1] = -lx  # Left/right (negated)
-        self.cmd[2] = -rx  # Rotation rate (negated)
+        self.cmd[0] = obs["remote.ly"]  # Forward/backward
+        self.cmd[1] = obs["remote.lx"] * -1  # Left/right
+        self.cmd[2] = obs["remote.rx"] * -1  # Rotation rate
 
-        # Get joint positions and velocities from lowstate
+        # Get joint positions and velocities from flat dict
         for motor in G1_29_JointIndex:
+            name = motor.name
             idx = motor.value
-            self.groot_qj_all[idx] = lowstate.motor_state[idx].q
-            self.groot_dqj_all[idx] = lowstate.motor_state[idx].dq
+            self.groot_qj_all[idx] = obs[f"{name}.q"]
+            self.groot_dqj_all[idx] = obs[f"{name}.dq"]
+
+        # Adapt observation for g1_23dof
+        for idx in MISSING_JOINTS:
+            self.groot_qj_all[idx] = 0.0
+            self.groot_dqj_all[idx] = 0.0
 
         # Scale joint positions and velocities
         qj_obs = self.groot_qj_all.copy()
         dqj_obs = self.groot_dqj_all.copy()
 
         # Express IMU data in gravity frame of reference
-        quat = lowstate.imu_state.quaternion
-        ang_vel = np.array(lowstate.imu_state.gyroscope, dtype=np.float32)
-        gravity_orientation = get_gravity_orientation(quat)
+        quat = [obs["imu.quat.w"], obs["imu.quat.x"], obs["imu.quat.y"], obs["imu.quat.z"]]
+        ang_vel = np.array([obs["imu.gyro.x"], obs["imu.gyro.y"], obs["imu.gyro.z"]], dtype=np.float32)
+        gravity_orientation = self.robot.get_gravity_orientation(quat)
 
         # Scale joint positions and velocities before policy inference
         qj_obs = (qj_obs - GROOT_DEFAULT_ANGLES) * DOF_POS_SCALE
@@ -196,10 +186,73 @@ class GrootLocomotionController:
         # Transform action back to target joint positions
         target_dof_pos_15 = GROOT_DEFAULT_ANGLES[:15] + self.groot_action * ACTION_SCALE
 
-        # Build action dict
+        # Build action dict (only first 15 joints for GR00T)
         action_dict = {}
         for i in range(15):
             motor_name = G1_29_JointIndex(i).name
             action_dict[f"{motor_name}.q"] = float(target_dof_pos_15[i])
 
-        return action_dict
+        # Zero out missing joints for g1_23dof
+        for joint_idx in MISSING_JOINTS:
+            motor_name = G1_29_JointIndex(joint_idx).name
+            action_dict[f"{motor_name}.q"] = 0.0
+
+        # Send action to robot
+        self.robot.send_action(action_dict)
+
+
+def run(repo_id: str = DEFAULT_GROOT_REPO_ID) -> None:
+    """Main function to run the GR00T locomotion controller.
+
+    Args:
+        repo_id: Hugging Face Hub repository ID for GR00T policies.
+    """
+    # Load policies
+    policy_balance, policy_walk = load_groot_policies(repo_id=repo_id)
+
+    # Initialize robot
+    config = UnitreeG1Config()
+    robot = UnitreeG1(config)
+
+    robot.connect()
+
+    # Initialize gr00T locomotion controller
+    groot_controller = GrootLocomotionController(
+        policy_balance=policy_balance,
+        policy_walk=policy_walk,
+        robot=robot,
+        config=config,
+    )
+
+    try:
+        robot.reset(CONTROL_DT, GROOT_DEFAULT_ANGLES)
+
+        logger.info("Use joystick: LY=fwd/back, LX=left/right, RX=rotate, R1=raise waist, R2=lower waist")
+        logger.info("Press Ctrl+C to stop")
+
+        # Run step
+        while not robot._shutdown_event.is_set():
+            start_time = time.time()
+            groot_controller.run_step()
+            elapsed = time.time() - start_time
+            sleep_time = max(0, CONTROL_DT - elapsed)
+            time.sleep(sleep_time)
+    except KeyboardInterrupt:
+        logger.info("Stopping locomotion...")
+    finally:
+        if robot.is_connected:
+            robot.disconnect()
+        logger.info("Done!")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="GR00T Locomotion Controller for Unitree G1")
+    parser.add_argument(
+        "--repo-id",
+        type=str,
+        default=DEFAULT_GROOT_REPO_ID,
+        help=f"Hugging Face Hub repo ID for GR00T policies (default: {DEFAULT_GROOT_REPO_ID})",
+    )
+    args = parser.parse_args()
+
+    run(repo_id=args.repo_id)

examples/unitree_g1/holosoma_locomotion.py

@@ -14,21 +14,21 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import argparse
 import json
 import logging
+import time
 
 import numpy as np
 import onnx
 import onnxruntime as ort
 from huggingface_hub import hf_hub_download
 
-from lerobot.robots.unitree_g1.g1_utils import (
-    REMOTE_AXES,
-    G1_29_JointArmIndex,
-    G1_29_JointIndex,
-    get_gravity_orientation,
-)
+from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
+from lerobot.robots.unitree_g1.g1_utils import G1_29_JointIndex
+from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
 
+logging.basicConfig(level=logging.INFO)
 logger = logging.getLogger(__name__)
 
 DEFAULT_ANGLES = np.zeros(29, dtype=np.float32)
@@ -40,13 +40,18 @@ DEFAULT_ANGLES[16] = 0.2  # Left shoulder roll
 DEFAULT_ANGLES[23] = -0.2  # Right shoulder roll
 DEFAULT_ANGLES[[18, 25]] = 0.6  # Elbow
 
+MISSING_JOINTS = []
+G1_MODEL = "g1_23"  # Or "g1_29"
+if G1_MODEL == "g1_23":
+    MISSING_JOINTS = [12, 14, 20, 21, 27, 28]  # Waist yaw/pitch, wrist pitch/yaw
+
 # Control parameters
 ACTION_SCALE = 0.25
-CONTROL_DT = 0.005  # 200Hz
+CONTROL_DT = 0.02  # 50Hz
 ANG_VEL_SCALE = 0.25
 DOF_POS_SCALE = 1.0
 DOF_VEL_SCALE = 0.05
-GAIT_PERIOD = 0.5
+GAIT_PERIOD = 1.0
 
 
 DEFAULT_HOLOSOMA_REPO_ID = "nepyope/holosoma_locomotion"
@@ -82,7 +87,7 @@ def load_policy(
     logger.info(f"Policy loaded: {policy.get_inputs()[0].shape} → {policy.get_outputs()[0].shape}")
 
     # Extract KP/KD from ONNX metadata
-    model = onnx.load(policy_path, load_external_data=False)
+    model = onnx.load(policy_path)
     metadata = {prop.key: prop.value for prop in model.metadata_props}
 
     if "kp" not in metadata or "kd" not in metadata:
@@ -96,13 +101,15 @@ def load_policy(
 
 
 class HolosomaLocomotionController:
-    """Holosoma lower-body locomotion controller for Unitree G1."""
+    """Holosoma whole-body locomotion controller for Unitree G1."""
 
-    control_dt = CONTROL_DT  # Expose for unitree_g1.py
+    def __init__(self, policy, robot, kp: np.ndarray, kd: np.ndarray):
+        self.policy = policy
+        self.robot = robot
 
-    def __init__(self):
-        # Load policy and gains
-        self.policy, self.kp, self.kd = load_policy()
+        # Override robot's PD gains with policy gains
+        self.robot.kp = kp
+        self.robot.kd = kd
 
         self.cmd = np.zeros(3, dtype=np.float32)
 
@@ -117,55 +124,35 @@ class HolosomaLocomotionController:
         self.phase_dt = 2 * np.pi / ((1.0 / CONTROL_DT) * GAIT_PERIOD)
         self.is_standing = True
 
-        logger.info("HolosomaLocomotionController initialized")
+    def run_step(self):
+        # Get current observation
+        obs = self.robot.get_observation()
 
-    def reset(self) -> None:
-        """Reset internal state for a new episode."""
-        self.cmd[:] = 0.0
-        self.qj[:] = 0.0
-        self.dqj[:] = 0.0
-        self.obs[:] = 0.0
-        self.last_action[:] = 0.0
-        self.phase = np.array([[0.0, np.pi]], dtype=np.float32)
-        self.is_standing = True
+        if not obs:
+            return
 
-    def run_step(self, action: dict, lowstate) -> dict:
-        """Run one step of the locomotion controller.
-
-        Args:
-            action: Action dict containing remote.lx/ly/rx/ry
-            lowstate: Robot lowstate containing motor positions/velocities and IMU
-
-        Returns:
-            Action dict for lower body joints (0-14)
-        """
-        if lowstate is None:
-            return {}
-
-        lx, ly, rx, _ry = (action.get(k, 0.0) for k in REMOTE_AXES)
-        ly = ly if abs(ly) > 0.1 else 0.0
-        lx = lx if abs(lx) > 0.1 else 0.0
-        rx = rx if abs(rx) > 0.1 else 0.0
-        ly = np.clip(ly, -0.3, 0.3)
-        lx = np.clip(lx, -0.3, 0.3)
+        # Get command from remote controller
+        ly = obs["remote.ly"] if abs(obs["remote.ly"]) > 0.1 else 0.0
+        lx = obs["remote.lx"] if abs(obs["remote.lx"]) > 0.1 else 0.0
+        rx = obs["remote.rx"] if abs(obs["remote.rx"]) > 0.1 else 0.0
         self.cmd[:] = [ly, -lx, -rx]
 
-        # Get joint positions and velocities from lowstate
+        # Get joint positions and velocities
         for motor in G1_29_JointIndex:
+            name = motor.name
             idx = motor.value
-            self.qj[idx] = lowstate.motor_state[idx].q
-            self.dqj[idx] = lowstate.motor_state[idx].dq
+            self.qj[idx] = obs[f"{name}.q"]
+            self.dqj[idx] = obs[f"{name}.dq"]
 
-        # Hide arm positions from policy (show DEFAULT_ANGLES instead)
-        # This prevents policy from reacting to teleop arm movements
-        for arm_joint in G1_29_JointArmIndex:
-            self.qj[arm_joint.value] = DEFAULT_ANGLES[arm_joint.value]
-            self.dqj[arm_joint.value] = 0.0
+        # Adapt observation for g1_23dof
+        for idx in MISSING_JOINTS:
+            self.qj[idx] = 0.0
+            self.dqj[idx] = 0.0
 
         # Express IMU data in gravity frame of reference
-        quat = lowstate.imu_state.quaternion
-        ang_vel = np.array(lowstate.imu_state.gyroscope, dtype=np.float32)
-        gravity = get_gravity_orientation(quat)
+        quat = [obs["imu.quat.w"], obs["imu.quat.x"], obs["imu.quat.y"], obs["imu.quat.z"]]
+        ang_vel = np.array([obs["imu.gyro.x"], obs["imu.gyro.y"], obs["imu.gyro.z"]], dtype=np.float32)
+        gravity = self.robot.get_gravity_orientation(quat)
 
         # Scale joint positions and velocities before policy inference
         qj_obs = (self.qj - DEFAULT_ANGLES) * DOF_POS_SCALE
@@ -199,16 +186,79 @@ class HolosomaLocomotionController:
         # Run policy inference
         ort_in = {self.policy.get_inputs()[0].name: self.obs.reshape(1, -1).astype(np.float32)}
         raw_action = self.policy.run(None, ort_in)[0].squeeze()
-        policy_action = np.clip(raw_action, -100.0, 100.0)
-        self.last_action = policy_action.copy()
+        action = np.clip(raw_action, -100.0, 100.0)
+        self.last_action = action.copy()
 
         # Transform action back to target joint positions
-        target = DEFAULT_ANGLES + policy_action * ACTION_SCALE
+        target = DEFAULT_ANGLES + action * ACTION_SCALE
 
-        # Build action dict (first 15 joints only)
+        # Build action dict
         action_dict = {}
-        for i in range(15):
-            motor_name = G1_29_JointIndex(i).name
-            action_dict[f"{motor_name}.q"] = float(target[i])
+        for motor in G1_29_JointIndex:
+            action_dict[f"{motor.name}.q"] = float(target[motor.value])
 
-        return action_dict
+        # Zero out missing joints for g1_23dof
+        for joint_idx in MISSING_JOINTS:
+            motor_name = G1_29_JointIndex(joint_idx).name
+            action_dict[f"{motor_name}.q"] = 0.0
+
+        # Send action to robot
+        self.robot.send_action(action_dict)
+
+
+def run(repo_id: str = DEFAULT_HOLOSOMA_REPO_ID, policy_type: str = "fastsac") -> None:
+    """Main function to run the Holosoma locomotion controller.
+
+    Args:
+        repo_id: Hugging Face Hub repository ID for Holosoma policies.
+        policy_type: Policy type to use ('fastsac' or 'ppo').
+    """
+    # Load policy and gains
+    policy, kp, kd = load_policy(repo_id=repo_id, policy_type=policy_type)
+
+    # Initialize robot
+    config = UnitreeG1Config()
+    robot = UnitreeG1(config)
+    robot.connect()
+
+    holosoma_controller = HolosomaLocomotionController(policy, robot, kp, kd)
+
+    try:
+        robot.reset(CONTROL_DT, DEFAULT_ANGLES)
+
+        logger.info("Use joystick: LY=fwd/back, LX=left/right, RX=rotate")
+        logger.info("Press Ctrl+C to stop")
+
+        # Run step
+        while not robot._shutdown_event.is_set():
+            start_time = time.time()
+            holosoma_controller.run_step()
+            elapsed = time.time() - start_time
+            sleep_time = max(0, CONTROL_DT - elapsed)
+            time.sleep(sleep_time)
+    except KeyboardInterrupt:
+        logger.info("Stopping locomotion...")
+    finally:
+        if robot.is_connected:
+            robot.disconnect()
+        logger.info("Done!")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Holosoma Locomotion Controller for Unitree G1")
+    parser.add_argument(
+        "--repo-id",
+        type=str,
+        default=DEFAULT_HOLOSOMA_REPO_ID,
+        help=f"Hugging Face Hub repo ID for Holosoma policies (default: {DEFAULT_HOLOSOMA_REPO_ID})",
+    )
+    parser.add_argument(
+        "--policy",
+        type=str,
+        choices=["fastsac", "ppo"],
+        default="fastsac",
+        help="Policy type to use: 'fastsac' (default) or 'ppo'",
+    )
+    args = parser.parse_args()
+
+    run(repo_id=args.repo_id, policy_type=args.policy)

pyproject.toml

@@ -25,11 +25,11 @@ discord = "https://discord.gg/s3KuuzsPFb"
 
 [project]
 name = "lerobot"
-version = "0.5.1"
+version = "0.4.4"
 description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
 dynamic = ["readme"]
 license = { text = "Apache-2.0" }
-requires-python = ">=3.12"
+requires-python = ">=3.10"
 authors = [
     { name = "Rémi Cadène", email = "re.cadene@gmail.com" },
     { name = "Simon Alibert", email = "alibert.sim@gmail.com" },
@@ -50,8 +50,7 @@ classifiers = [
     "Intended Audience :: Education",
     "Intended Audience :: Science/Research",
     "License :: OSI Approved :: Apache Software License",
-    "Programming Language :: Python :: 3.12",
-    "Programming Language :: Python :: 3.13",
+    "Programming Language :: Python :: 3.10",
     "Topic :: Software Development :: Build Tools",
     "Topic :: Scientific/Engineering :: Artificial Intelligence",
 ]
@@ -62,28 +61,26 @@ dependencies = [
     # 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",
+    "huggingface-hub[hf-transfer,cli]>=0.34.2,<0.36.0",
     "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>=2.2.1,<2.11.0",
-    "torchcodec>=0.2.1,<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')",
-    "torchvision>=0.21.0,<0.26.0",
-
     "einops>=0.8.0,<0.9.0",
-    "opencv-python-headless>=4.9.0,<4.14.0",
+    "opencv-python-headless>=4.9.0,<4.13.0",
     "av>=15.0.0,<16.0.0",
     "jsonlines>=4.0.0,<5.0.0",
-    "pynput>=1.7.8,<1.9.0",
+    "packaging>=24.2,<26.0",
+    "pynput>=1.7.7,<1.9.0",
     "pyserial>=3.5,<4.0",
-
     "wandb>=0.24.0,<0.25.0",
-    "draccus==0.10.0", # TODO: Relax version constraint
+
+    "torch>=2.2.1,<2.11.0", # TODO: Bump dependency
+    "torchcodec>=0.2.1,<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')", # TODO: Bump dependency
+    "torchvision>=0.21.0,<0.26.0", # TODO: Bump dependency
+
+    "draccus==0.10.0", # TODO: Remove ==
     "gymnasium>=1.1.1,<2.0.0",
     "rerun-sdk>=0.24.0,<0.27.0",
 
@@ -98,14 +95,10 @@ dependencies = [
 
 # Common
 pygame-dep = ["pygame>=2.5.1,<2.7.0"]
-placo-dep = ["placo>=0.9.6,<0.9.17"]
-transformers-dep = ["transformers==5.3.0"] # TODO(Steven): https://github.com/huggingface/lerobot/pull/3249
+placo-dep = ["placo>=0.9.6,<0.10.0"]
+transformers-dep = ["transformers>=4.57.1,<5.0.0"]
 grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
 can-dep = ["python-can>=4.2.0,<5.0.0"]
-peft-dep = ["peft>=0.18.0,<1.0.0"]
-scipy-dep = ["scipy>=1.14.0,<2.0.0"]
-qwen-vl-utils-dep = ["qwen-vl-utils>=0.0.11,<0.1.0"]
-matplotlib-dep = ["matplotlib>=3.10.3,<4.0.0", "contourpy>=1.3.0,<2.0.0"] # NOTE: Explicitly listing contourpy helps the resolver converge faster.
 
 # Motors
 feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0"]
@@ -119,36 +112,34 @@ gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0,<0.15.0"]
 hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
 lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1,<28.0.0"]
 unitree_g1 = [
-    # "unitree-sdk2==1.0.1",
     "pyzmq>=26.2.1,<28.0.0",
     "onnxruntime>=1.16.0,<2.0.0",
-    "onnx>=1.16.0,<2.0.0",
+    "pin>=3.0.0,<4.0.0",
     "meshcat>=0.3.0,<0.4.0",
-    "lerobot[matplotlib-dep]",
-    "lerobot[pygame-dep]",
+    "matplotlib>=3.9.0,<4.0.0",
+    "casadi>=3.6.0,<4.0.0",
 ]
 reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
 kinematics = ["lerobot[placo-dep]"]
 intelrealsense = [
     "pyrealsense2>=2.55.1.6486,<2.57.0 ; sys_platform != 'darwin'",
-    "pyrealsense2-macosx>=2.54,<2.57.0 ; sys_platform == 'darwin'",
+    "pyrealsense2-macosx>=2.54,<2.55.0 ; sys_platform == 'darwin'",
 ]
-phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0", "fastapi<1.0", "lerobot[scipy-dep]"]
+phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0", "fastapi<1.0"]
 
 # Policies
 wallx = [
-    "lerobot[transformers-dep]",
-    "lerobot[peft]",
-    "lerobot[scipy-dep]",
-    "torchdiffeq>=0.2.4,<0.3.0",
-    "lerobot[qwen-vl-utils-dep]",
+    "transformers==4.49.0",
+    "peft==0.17.1",
+    "scipy==1.15.3",
+    "torchdiffeq==0.2.5",
+    "qwen_vl_utils==0.0.11"
 ]
-pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]"]
+pi = ["transformers @ git+https://github.com/huggingface/transformers.git@fix/lerobot_openpi", "scipy>=1.10.1,<1.15"]
 smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>=1.7.0,<2.0.0", "safetensors>=0.4.3,<1.0.0"]
-multi_task_dit = ["lerobot[transformers-dep]"]
 groot = [
     "lerobot[transformers-dep]",
-    "lerobot[peft]",
+    "peft>=0.13.0,<1.0.0",
     "dm-tree>=0.1.8,<1.0.0",
     "timm>=1.0.0,<1.1.0",
     "safetensors>=0.4.3,<1.0.0",
@@ -157,14 +148,13 @@ groot = [
     "ninja>=1.11.1,<2.0.0",
     "flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
 ]
-sarm = ["lerobot[transformers-dep]", "faker>=33.0.0,<35.0.0", "lerobot[matplotlib-dep]", "lerobot[qwen-vl-utils-dep]"]
+sarm = ["lerobot[transformers-dep]", "faker>=33.0.0,<35.0.0", "matplotlib>=3.10.3,<4.0.0", "qwen-vl-utils>=0.0.14,<0.1.0"]
 xvla = ["lerobot[transformers-dep]"]
 hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
 
 # Features
-async = ["lerobot[grpcio-dep]", "lerobot[matplotlib-dep]"]
-peft = ["lerobot[transformers-dep]", "lerobot[peft-dep]"]
-audio = ["sounddevice>=0.5.1,<0.6.0", "soundfile>=0.13.1,<0.14.0", "librosa>=0.11.0,<0.12.0", "torchaudio>=2.6.0,<2.10.0"]
+async = ["lerobot[grpcio-dep]", "matplotlib>=3.10.3,<4.0.0"]
+peft = ["lerobot[transformers-dep]", "peft>=0.18.0,<1.0.0"]
 
 # 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"]
@@ -172,19 +162,13 @@ test = ["pytest>=8.1.0,<9.0.0", "pytest-timeout>=2.4.0,<3.0.0", "pytest-cov>=5.0
 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 = ["gym-aloha>=0.1.2,<0.2.0"]
 pusht = ["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]"]
-metaworld = ["metaworld==3.0.0", "lerobot[scipy-dep]"]
+libero = ["lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0"]
+metaworld = ["metaworld==3.0.0"]
 
 # All
 all = [
-    # 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
-    # the loose scipy requirements from transitive deps like dm-control and metaworld.
-    "scipy>=1.14.0,<2.0.0",
     "lerobot[dynamixel]",
     "lerobot[gamepad]",
     "lerobot[hopejr]",
@@ -192,25 +176,23 @@ all = [
     "lerobot[reachy2]",
     "lerobot[kinematics]",
     "lerobot[intelrealsense]",
-    "lerobot[wallx]",
-    "lerobot[pi]",
+    # "lerobot[wallx]",
+    # "lerobot[pi]", TODO(Pepijn): Update pi to transformers v5
     "lerobot[smolvla]",
     # "lerobot[groot]", TODO(Steven): Gr00t requires specific installation instructions for flash-attn
     "lerobot[xvla]",
     "lerobot[hilserl]",
     "lerobot[async]",
-    "lerobot[audio]",
     "lerobot[dev]",
     "lerobot[test]",
     "lerobot[video_benchmark]",
     "lerobot[aloha]",
     "lerobot[pusht]",
     "lerobot[phone]",
-    "lerobot[libero]; sys_platform == 'linux'",
+    "lerobot[libero]",
     "lerobot[metaworld]",
     "lerobot[sarm]",
     "lerobot[peft]",
-    # "lerobot[unitree_g1]", TODO: Unitree requires specific installation instructions for unitree_sdk2
 ]
 
 [project.scripts]
@@ -239,7 +221,7 @@ lerobot = ["envs/*.json"]
 where = ["src"]
 
 [tool.ruff]
-target-version = "py312"
+target-version = "py310"
 line-length = 110
 exclude = ["tests/artifacts/**/*.safetensors", "*_pb2.py", "*_pb2_grpc.py"]
 
@@ -331,7 +313,7 @@ default.extend-ignore-identifiers-re = [
 # Uncomment [tool.mypy] first, then uncomment individual module overrides as they get proper type annotations
 
 [tool.mypy]
-python_version = "3.12"
+python_version = "3.10"
 ignore_missing_imports = true
 follow_imports = "skip"
 # warn_return_any = true
@@ -415,3 +397,85 @@ ignore_errors = false
 # [[tool.mypy.overrides]]
 # module = "lerobot.scripts.*"
 # ignore_errors = false
+
+[tool.uv]
+# wallx requires transformers==4.49.0 which conflicts with other extras that need >=4.53.0
+conflicts = [
+    [
+        { extra = "wallx" },
+        { extra = "transformers-dep" },
+    ],
+    [
+        { extra = "wallx" },
+        { extra = "pi" },
+    ],
+    [
+        { extra = "wallx" },
+        { extra = "smolvla" },
+    ],
+    [
+        { extra = "wallx" },
+        { extra = "groot" },
+    ],
+    [
+        { extra = "wallx" },
+        { extra = "xvla" },
+    ],
+    [
+        { extra = "wallx" },
+        { extra = "sarm" },
+    ],
+    [
+        { extra = "wallx" },
+        { extra = "hilserl" },
+    ],
+    [
+        { extra = "wallx" },
+        { extra = "libero" },
+    ],
+    [
+        { extra = "wallx" },
+        { extra = "peft" },
+    ],
+    [
+        { extra = "wallx" },
+        { extra = "all" },
+    ],
+    # pi uses custom branch which conflicts with transformers-dep
+    [
+        { extra = "pi" },
+        { extra = "transformers-dep" },
+    ],
+    [
+        { extra = "pi" },
+        { extra = "smolvla" },
+    ],
+    [
+        { extra = "pi" },
+        { extra = "groot" },
+    ],
+    [
+        { extra = "pi" },
+        { extra = "xvla" },
+    ],
+    [
+        { extra = "pi" },
+        { extra = "sarm" },
+    ],
+    [
+        { extra = "pi" },
+        { extra = "hilserl" },
+    ],
+    [
+        { extra = "pi" },
+        { extra = "libero" },
+    ],
+    [
+        { extra = "pi" },
+        { extra = "peft" },
+    ],
+    [
+        { extra = "pi" },
+        { extra = "all" },
+    ],
+]

requirements-macos.txt

@@ -1,73 +1,76 @@
 #
-# This file is autogenerated by pip-compile with Python 3.12
+# This file is autogenerated by pip-compile with Python 3.10
 # by the following command:
 #
 #    pip-compile --output-file=requirements-macos.txt requirements.in
 #
 -e .[all]
     # via -[all]
-absl-py==2.4.0
+absl-py==2.3.1
     # via
     #   dm-control
     #   dm-env
     #   dm-tree
     #   labmaze
     #   mujoco
-accelerate==1.13.0
+    #   tensorboard
+accelerate==1.11.0
     # via
     #   lerobot
     #   peft
 aiohappyeyeballs==2.6.1
     # via aiohttp
-aiohttp==3.13.3
+aiohttp==3.13.1
     # via fsspec
 aiosignal==1.4.0
     # via aiohttp
-annotated-doc==0.0.4
-    # via
-    #   fastapi
-    #   typer
 annotated-types==0.7.0
     # via pydantic
-anyio==4.12.1
+antlr4-python3-runtime==4.9.3
+    # via
+    #   hydra-core
+    #   omegaconf
+anyio==4.11.0
     # via
-    #   httpx
     #   starlette
     #   watchfiles
-asttokens==3.0.1
+asttokens==3.0.0
     # via stack-data
+async-timeout==5.0.1
+    # via aiohttp
 attrs==25.4.0
     # via
     #   aiohttp
     #   dm-tree
     #   jsonlines
+    #   jsonschema
+    #   referencing
     #   rerun-sdk
 av==15.1.0
+    # via lerobot
+bddl==1.0.1
+    # via libero
+certifi==2025.10.5
     # via
-    #   lerobot
-    #   qwen-vl-utils
-certifi==2026.2.25
-    # via
-    #   httpcore
-    #   httpx
     #   requests
     #   sentry-sdk
 cffi==2.0.0
     # via pymunk
-cfgv==3.5.0
+cfgv==3.4.0
     # via pre-commit
-charset-normalizer==3.4.5
+charset-normalizer==3.4.4
     # via requests
-click==8.3.1
+click==8.3.0
     # via
-    #   typer
     #   uvicorn
     #   wandb
-cloudpickle==3.1.2
-    # via gymnasium
-cmake==4.1.3
+cloudpickle==3.1.1
+    # via
+    #   gymnasium
+    #   libero
+cmake==4.1.0
     # via lerobot
-cmeel==0.59.0
+cmeel==0.57.3
     # via
     #   cmeel-assimp
     #   cmeel-boost
@@ -105,17 +108,15 @@ cmeel-zlib==1.3.1
     # via cmeel-assimp
 coal-library==3.0.1
     # via pin
-contourpy==1.3.3
-    # via
-    #   lerobot
-    #   matplotlib
-coverage[toml]==7.13.4
+contourpy==1.3.2
+    # via matplotlib
+coverage[toml]==7.11.0
     # via pytest-cov
 cycler==0.12.1
     # via matplotlib
-datasets==4.6.1
+datasets==4.1.1
     # via lerobot
-debugpy==1.8.20
+debugpy==1.8.17
     # via lerobot
 decorator==5.2.1
     # via ipython
@@ -129,7 +130,7 @@ dill==0.4.0
     #   multiprocess
 distlib==0.4.0
     # via virtualenv
-dm-control==1.0.37
+dm-control==1.0.34
     # via gym-aloha
 dm-env==1.6
     # via dm-control
@@ -137,55 +138,69 @@ dm-tree==0.1.9
     # via
     #   dm-control
     #   dm-env
+    #   lerobot
 docopt==0.6.2
     # via num2words
 draccus==0.10.0
     # via lerobot
 dynamixel-sdk==3.8.4
     # via lerobot
+easydict==1.13
+    # via libero
+egl-probe @ git+https://github.com/huggingface/egl_probe.git
+    # via
+    #   libero
+    #   robomimic
 eigenpy==3.10.3
     # via coal-library
-einops==0.8.2
-    # via lerobot
-eiquadprog==1.2.9
-    # via placo
-etils[epath,epy]==1.14.0
-    # via mujoco
-executing==2.2.1
-    # via stack-data
-faker==34.0.2
-    # via lerobot
-farama-notifications==0.0.4
-    # via gymnasium
-fastapi==0.135.1
+einops==0.8.1
     # via
     #   lerobot
-    #   teleop
+    #   libero
+eiquadprog==1.2.9
+    # via placo
+etils[epath,epy]==1.13.0
+    # via mujoco
+exceptiongroup==1.3.0
+    # via
+    #   anyio
+    #   ipython
+    #   pytest
+executing==2.2.1
+    # via stack-data
+farama-notifications==0.0.4
+    # via gymnasium
+fastapi==0.119.1
+    # via teleop
+fastjsonschema==2.21.2
+    # via nbformat
 feetech-servo-sdk==1.0.0
     # via lerobot
-filelock==3.25.0
+filelock==3.20.0
     # via
     #   datasets
     #   diffusers
     #   huggingface-hub
-    #   python-discovery
     #   torch
+    #   transformers
     #   virtualenv
-fonttools==4.61.1
+fonttools==4.60.1
     # via matplotlib
 frozenlist==1.8.0
     # via
     #   aiohttp
     #   aiosignal
-fsspec[http]==2026.2.0
+fsspec[http]==2025.9.0
     # via
     #   datasets
     #   etils
     #   huggingface-hub
     #   torch
+future==1.0.0
+    # via libero
 gitdb==4.0.12
     # via gitpython
-gitpython==3.1.46
+gitpython==3.1.45
     # via wandb
 glfw==2.10.0
     # via
@@ -197,6 +212,7 @@ grpcio==1.73.1
     #   lerobot
     #   reachy2-sdk
     #   reachy2-sdk-api
+    #   tensorboard
 grpcio-tools==1.73.1
     # via
     #   lerobot
@@ -207,67 +223,71 @@ gym-hil==0.1.13
     # via lerobot
 gym-pusht==0.1.6
     # via lerobot
-gymnasium==1.2.3
+gymnasium==1.2.1
     # via
     #   gym-aloha
     #   gym-hil
     #   gym-pusht
     #   lerobot
+    #   libero
     #   metaworld
 h11==0.16.0
-    # via
-    #   httpcore
-    #   uvicorn
+    # via uvicorn
+h5py==3.15.1
+    # via robomimic
 hebi-py==2.11.0
     # via lerobot
-hf-xet==1.3.2
+hf-transfer==0.1.9
+    # via huggingface-hub
+hf-xet==1.1.10
     # via huggingface-hub
 hidapi==0.14.0.post4
     # via
     #   gym-hil
     #   lerobot
-httpcore==1.0.9
-    # via httpx
 httptools==0.7.1
     # via uvicorn
-httpx==0.28.1
-    # via
-    #   datasets
-    #   huggingface-hub
-huggingface-hub==1.6.0
+huggingface-hub[cli,hf-transfer]==0.35.3
     # via
     #   accelerate
     #   datasets
     #   diffusers
     #   lerobot
     #   peft
+    #   timm
     #   tokenizers
     #   transformers
-identify==2.6.17
+hydra-core==1.3.2
+    # via libero
+identify==2.6.15
     # via pre-commit
 idna==3.11
     # via
     #   anyio
-    #   httpx
     #   requests
     #   yarl
-imageio[ffmpeg]==2.37.2
+imageio[ffmpeg]==2.37.0
     # via
     #   gym-aloha
     #   gym-hil
     #   lerobot
     #   metaworld
+    #   robomimic
     #   scikit-image
 imageio-ffmpeg==0.6.0
-    # via imageio
-importlib-metadata==8.7.1
+    # via
+    #   imageio
+    #   robomimic
+importlib-metadata==8.7.0
     # via diffusers
+importlib-resources==6.5.2
+    # via etils
 iniconfig==2.3.0
     # via pytest
-ipython==9.11.0
+inquirerpy==0.3.4
+    # via huggingface-hub
+ipython==8.37.0
     # via meshcat
-ipython-pygments-lexers==1.1.1
-    # via ipython
 ischedule==1.2.7
     # via placo
 jedi==0.19.2
@@ -276,24 +296,44 @@ jinja2==3.1.6
     # via torch
 jsonlines==4.0.0
     # via lerobot
+jsonschema==4.25.1
+    # via nbformat
+jsonschema-specifications==2025.9.1
+    # via jsonschema
+jupyter-core==5.9.1
+    # via nbformat
+jupytext==1.18.1
+    # via bddl
 kiwisolver==1.4.9
     # via matplotlib
 labmaze==1.0.6
     # via dm-control
-lazy-loader==0.5
+lazy-loader==0.4
     # via scikit-image
-librt==0.8.1
-    # via mypy
+libero @ git+https://github.com/huggingface/lerobot-libero.git@main
+    # via lerobot
+llvmlite==0.45.1
+    # via numba
 lxml==6.0.2
     # via dm-control
+markdown==3.9
+    # via tensorboard
 markdown-it-py==4.0.0
-    # via rich
+    # via
+    #   jupytext
+    #   mdit-py-plugins
 markupsafe==3.0.3
-    # via jinja2
-matplotlib==3.10.8
-    # via lerobot
+    # via
+    #   jinja2
+    #   werkzeug
+matplotlib==3.10.7
+    # via
+    #   lerobot
+    #   libero
 matplotlib-inline==0.2.1
     # via ipython
+mdit-py-plugins==0.5.0
+    # via jupytext
 mdurl==0.1.2
     # via markdown-it-py
 mergedeep==1.3.4
@@ -306,35 +346,41 @@ mock-serial==0.0.1
     # via lerobot
 mpmath==1.3.0
     # via sympy
-mujoco==3.5.0
+mujoco==3.3.7
     # via
     #   dm-control
     #   gym-aloha
     #   gym-hil
+    #   libero
     #   metaworld
-multidict==6.7.1
+    #   robosuite
+multidict==6.7.0
     # via
     #   aiohttp
     #   yarl
-multiprocess==0.70.18
+multiprocess==0.70.16
     # via datasets
-mypy==1.19.1
-    # via lerobot
 mypy-extensions==1.1.0
+    # via typing-inspect
+nbformat==5.10.4
+    # via jupytext
+networkx==3.4.2
     # via
-    #   mypy
-    #   typing-inspect
-networkx==3.6.1
-    # via
+    #   bddl
     #   scikit-image
     #   torch
-nodeenv==1.10.0
+ninja==1.13.0
+    # via lerobot
+nodeenv==1.9.1
     # via pre-commit
 num2words==0.5.14
     # via lerobot
+numba==0.62.1
+    # via robosuite
 numpy==2.2.6
     # via
     #   accelerate
+    #   bddl
     #   cmeel-boost
     #   contourpy
     #   datasets
@@ -343,14 +389,16 @@ numpy==2.2.6
     #   dm-env
     #   dm-tree
     #   gymnasium
+    #   h5py
     #   hebi-py
     #   imageio
     #   labmaze
-    #   lerobot
+    #   libero
     #   matplotlib
     #   meshcat
     #   metaworld
     #   mujoco
+    #   numba
     #   opencv-python
     #   opencv-python-headless
     #   pandas
@@ -358,18 +406,26 @@ numpy==2.2.6
     #   pyquaternion
     #   reachy2-sdk
     #   rerun-sdk
+    #   robomimic
+    #   robosuite
     #   scikit-image
     #   scipy
     #   shapely
     #   teleop
+    #   tensorboard
+    #   tensorboardx
     #   tifffile
     #   torchvision
     #   transformers
     #   transforms3d
-opencv-python==4.13.0.92
+omegaconf==2.3.0
+    # via hydra-core
+opencv-python==4.12.0.88
     # via
     #   gym-pusht
+    #   libero
     #   reachy2-sdk
+    #   robosuite
 opencv-python-headless==4.12.0.88
     # via lerobot
 orderly-set==5.5.0
@@ -379,87 +435,97 @@ packaging==25.0
     #   accelerate
     #   datasets
     #   huggingface-hub
+    #   hydra-core
+    #   jupytext
     #   lazy-loader
     #   lerobot
     #   matplotlib
     #   peft
     #   pytest
-    #   qwen-vl-utils
     #   reachy2-sdk
     #   scikit-image
+    #   tensorboard
+    #   tensorboardx
     #   transformers
     #   wandb
 pandas==2.3.3
     # via
     #   datasets
     #   lerobot
-parso==0.8.6
+parso==0.8.5
     # via jedi
-pathspec==1.0.4
-    # via mypy
-peft==0.18.1
+peft==0.17.1
     # via lerobot
 pexpect==4.9.0
     # via ipython
-pillow==12.1.1
+pfzy==0.3.4
+    # via inquirerpy
+pillow==12.0.0
     # via
     #   diffusers
     #   imageio
+    #   lerobot
     #   matplotlib
     #   meshcat
-    #   qwen-vl-utils
     #   rerun-sdk
+    #   robosuite
     #   scikit-image
+    #   tensorboard
     #   torchvision
 pin==3.4.0
     # via placo
-placo==0.9.16
+placo==0.9.14
     # via lerobot
-platformdirs==4.9.4
+platformdirs==4.5.0
     # via
-    #   python-discovery
+    #   jupyter-core
     #   virtualenv
     #   wandb
 pluggy==1.6.0
     # via
     #   pytest
     #   pytest-cov
-pre-commit==4.5.1
+pre-commit==4.3.0
     # via lerobot
 prompt-toolkit==3.0.52
-    # via ipython
+    # via
+    #   inquirerpy
+    #   ipython
 propcache==0.4.1
     # via
     #   aiohttp
     #   yarl
-protobuf==6.31.1
+protobuf==6.31.0
     # via
     #   dm-control
     #   grpcio-tools
     #   lerobot
     #   reachy2-sdk
     #   reachy2-sdk-api
+    #   tensorboard
+    #   tensorboardx
     #   wandb
-psutil==7.2.2
+psutil==7.1.1
     # via
     #   accelerate
     #   imageio
     #   peft
+    #   robomimic
 ptyprocess==0.7.0
     # via pexpect
 pure-eval==0.2.3
     # via stack-data
-pyarrow==23.0.1
+pyarrow==21.0.0
     # via
     #   datasets
     #   rerun-sdk
-pycparser==3.0
+pycparser==2.23
     # via cffi
-pydantic==2.12.5
+pydantic==2.12.3
     # via
     #   fastapi
     #   wandb
-pydantic-core==2.41.5
+pydantic-core==2.41.4
     # via pydantic
 pygame==2.6.1
     # via
@@ -469,35 +535,33 @@ pygame==2.6.1
 pygments==2.19.2
     # via
     #   ipython
-    #   ipython-pygments-lexers
     #   pytest
-    #   rich
 pymunk==6.11.1
     # via
     #   gym-pusht
     #   lerobot
-pyngrok==7.5.1
+pyngrok==7.4.1
     # via meshcat
 pynput==1.8.1
     # via
     #   gym-hil
     #   lerobot
-pyobjc-core==12.1
+pyobjc-core==12.0
     # via
     #   pyobjc-framework-applicationservices
     #   pyobjc-framework-cocoa
     #   pyobjc-framework-coretext
     #   pyobjc-framework-quartz
-pyobjc-framework-applicationservices==12.1
+pyobjc-framework-applicationservices==12.0
     # via pynput
-pyobjc-framework-cocoa==12.1
+pyobjc-framework-cocoa==12.0
     # via
     #   pyobjc-framework-applicationservices
     #   pyobjc-framework-coretext
     #   pyobjc-framework-quartz
-pyobjc-framework-coretext==12.1
+pyobjc-framework-coretext==12.0
     # via pyobjc-framework-applicationservices
-pyobjc-framework-quartz==12.1
+pyobjc-framework-quartz==12.0
     # via
     #   pynput
     #   pyobjc-framework-applicationservices
@@ -506,13 +570,13 @@ pyopengl==3.1.10
     # via
     #   dm-control
     #   mujoco
-pyparsing==3.3.2
+pyparsing==3.2.5
     # via
     #   dm-control
     #   matplotlib
 pyquaternion==0.9.9
     # via reachy2-sdk
-pyrealsense2-macosx==2.56.5
+pyrealsense2-macosx==2.54.2
     # via lerobot
 pyserial==3.5
     # via
@@ -521,6 +585,7 @@ pyserial==3.5
     #   lerobot
 pytest==8.4.2
     # via
+    #   bddl
     #   lerobot
     #   pytest-cov
     #   pytest-timeout
@@ -531,14 +596,11 @@ pytest-timeout==2.4.0
     # via lerobot
 python-dateutil==2.9.0.post0
     # via
-    #   faker
     #   matplotlib
     #   pandas
-python-discovery==1.1.1
-    # via virtualenv
-python-dotenv==1.2.2
+python-dotenv==1.1.1
     # via uvicorn
-pytz==2026.1.post1
+pytz==2025.2
     # via pandas
 pyyaml==6.0.3
     # via
@@ -547,10 +609,13 @@ pyyaml==6.0.3
     #   draccus
     #   hebi-py
     #   huggingface-hub
+    #   jupytext
+    #   omegaconf
     #   peft
     #   pre-commit
     #   pyngrok
     #   pyyaml-include
+    #   timm
     #   transformers
     #   uvicorn
     #   wandb
@@ -560,13 +625,15 @@ pyzmq==27.1.0
     # via
     #   lerobot
     #   meshcat
-qwen-vl-utils==0.0.14
-    # via lerobot
-reachy2-sdk==1.0.15
+reachy2-sdk==1.0.14
     # via lerobot
 reachy2-sdk-api==1.0.21
     # via reachy2-sdk
-regex==2026.2.28
+referencing==0.37.0
+    # via
+    #   jsonschema
+    #   jsonschema-specifications
+regex==2025.10.23
     # via
     #   diffusers
     #   transformers
@@ -575,150 +642,184 @@ requests==2.32.5
     #   datasets
     #   diffusers
     #   dm-control
-    #   qwen-vl-utils
+    #   huggingface-hub
     #   teleop
+    #   transformers
     #   wandb
-rerun-sdk==0.26.2
+rerun-sdk==0.26.1
     # via lerobot
 rhoban-cmeel-jsoncpp==1.9.4.9
     # via placo
-rich==14.3.3
-    # via typer
-safetensors==0.7.0
+robomimic==0.2.0
+    # via libero
+robosuite==1.4.0
+    # via libero
+rpds-py==0.28.0
+    # via
+    #   jsonschema
+    #   referencing
+safetensors==0.6.2
     # via
     #   accelerate
     #   diffusers
     #   lerobot
     #   peft
+    #   timm
     #   transformers
 scikit-image==0.25.2
     # via
     #   gym-pusht
     #   lerobot
-scipy==1.17.1
+scipy==1.15.3
     # via
     #   dm-control
-    #   lerobot
     #   metaworld
+    #   robosuite
     #   scikit-image
-    #   torchdiffeq
-sentry-sdk==2.54.0
+sentry-sdk==2.42.1
     # via wandb
 shapely==2.1.2
     # via gym-pusht
-shellingham==1.5.4
-    # via typer
 six==1.17.0
     # via
     #   pynput
     #   python-dateutil
-smmap==5.0.3
+smmap==5.0.2
     # via gitdb
+sniffio==1.3.1
+    # via anyio
 stack-data==0.6.3
     # via ipython
-starlette==0.52.1
+starlette==0.48.0
     # via fastapi
 sympy==1.14.0
     # via torch
-teleop==0.1.4
+teleop==0.1.2
     # via lerobot
-termcolor==3.3.0
-    # via lerobot
-tifffile==2026.3.3
+tensorboard==2.20.0
+    # via robomimic
+tensorboard-data-server==0.7.2
+    # via tensorboard
+tensorboardx==2.6.4
+    # via robomimic
+termcolor==3.1.0
+    # via
+    #   lerobot
+    #   robomimic
+thop==0.1.1.post2209072238
+    # via libero
+tifffile==2025.5.10
     # via scikit-image
-tokenizers==0.22.2
+timm==1.0.20
+    # via lerobot
+tokenizers==0.22.1
     # via transformers
 toml==0.10.2
     # via draccus
-torch==2.10.0
+tomli==2.3.0
+    # via
+    #   cmeel
+    #   coverage
+    #   jupytext
+    #   pytest
+torch==2.7.1
     # via
     #   accelerate
     #   lerobot
     #   peft
-    #   torchdiffeq
+    #   robomimic
+    #   thop
+    #   timm
     #   torchvision
-torchcodec==0.10.0
+torchcodec==0.5
     # via lerobot
-torchdiffeq==0.2.5
-    # via lerobot
-torchvision==0.25.0
-    # via lerobot
-tornado==6.5.4
+torchvision==0.22.1
+    # via
+    #   lerobot
+    #   robomimic
+    #   timm
+tornado==6.5.2
     # via meshcat
-tqdm==4.67.3
+tqdm==4.67.1
     # via
     #   datasets
     #   dm-control
     #   huggingface-hub
     #   peft
+    #   robomimic
     #   transformers
 traitlets==5.14.3
     # via
     #   ipython
+    #   jupyter-core
     #   matplotlib-inline
-transformers==5.3.0
+    #   nbformat
+transformers==4.57.1
     # via
     #   lerobot
+    #   libero
     #   peft
 transforms3d==0.4.2
     # via teleop
-typer==0.24.1
-    # via
-    #   huggingface-hub
-    #   transformers
 typing-extensions==4.15.0
     # via
     #   aiosignal
     #   anyio
     #   etils
-    #   faker
+    #   exceptiongroup
     #   fastapi
     #   gymnasium
     #   huggingface-hub
-    #   mypy
+    #   ipython
+    #   multidict
     #   pydantic
     #   pydantic-core
+    #   referencing
     #   rerun-sdk
     #   starlette
     #   torch
     #   typing-inspect
     #   typing-inspection
+    #   uvicorn
+    #   virtualenv
     #   wandb
 typing-inspect==0.9.0
     # via draccus
 typing-inspection==0.4.2
-    # via
-    #   fastapi
-    #   pydantic
-tzdata==2025.3
+    # via pydantic
+tzdata==2025.2
     # via pandas
 u-msgpack-python==2.8.0
     # via meshcat
-urllib3==2.6.3
+urllib3==2.5.0
     # via
     #   requests
     #   sentry-sdk
-uvicorn[standard]==0.41.0
+uvicorn[standard]==0.38.0
     # via teleop
 uvloop==0.22.1
     # via uvicorn
-virtualenv==21.1.0
+virtualenv==20.35.3
     # via pre-commit
-wandb==0.24.2
-    # via lerobot
+wandb==0.21.4
+    # via
+    #   lerobot
+    #   libero
 watchfiles==1.1.1
     # via uvicorn
-wcwidth==0.6.0
+wcwidth==0.2.14
     # via prompt-toolkit
 websocket-client==1.9.0
     # via teleop
-websockets==16.0
+websockets==15.0.1
     # via uvicorn
-wrapt==2.1.2
+werkzeug==3.1.3
+    # via tensorboard
+wrapt==2.0.0
     # via dm-tree
 xxhash==3.6.0
     # via datasets
-yarl==1.23.0
+yarl==1.22.0
     # via aiohttp
 zipp==3.23.0
     # via

requirements-ubuntu.txt

@@ -1,12 +1,12 @@
 #
-# This file is autogenerated by pip-compile with Python 3.12
+# This file is autogenerated by pip-compile with Python 3.10
 # by the following command:
 #
 #    pip-compile --output-file=requirements-ubuntu.txt requirements.in
 #
 -e .[all]
     # via -[all]
-absl-py==2.4.0
+absl-py==2.3.1
     # via
     #   dm-control
     #   dm-env
@@ -14,33 +14,30 @@ absl-py==2.4.0
     #   labmaze
     #   mujoco
     #   tensorboard
-accelerate==1.13.0
+accelerate==1.11.0
     # via
     #   lerobot
     #   peft
 aiohappyeyeballs==2.6.1
     # via aiohttp
-aiohttp==3.13.3
+aiohttp==3.13.1
     # via fsspec
 aiosignal==1.4.0
     # via aiohttp
-annotated-doc==0.0.4
-    # via
-    #   fastapi
-    #   typer
 annotated-types==0.7.0
     # via pydantic
 antlr4-python3-runtime==4.9.3
     # via
     #   hydra-core
     #   omegaconf
-anyio==4.12.1
+anyio==4.11.0
     # via
-    #   httpx
     #   starlette
     #   watchfiles
-asttokens==3.0.1
+asttokens==3.0.0
     # via stack-data
+async-timeout==5.0.1
+    # via aiohttp
 attrs==25.4.0
     # via
     #   aiohttp
@@ -50,35 +47,30 @@ attrs==25.4.0
     #   referencing
     #   rerun-sdk
 av==15.1.0
-    # via
-    #   lerobot
-    #   qwen-vl-utils
+    # via lerobot
 bddl==1.0.1
-    # via hf-libero
-certifi==2026.2.25
+    # via libero
+certifi==2025.10.5
     # via
-    #   httpcore
-    #   httpx
     #   requests
     #   sentry-sdk
 cffi==2.0.0
     # via pymunk
-cfgv==3.5.0
+cfgv==3.4.0
     # via pre-commit
-charset-normalizer==3.4.5
+charset-normalizer==3.4.4
     # via requests
-click==8.3.1
+click==8.3.0
     # via
-    #   typer
     #   uvicorn
     #   wandb
-cloudpickle==3.1.2
+cloudpickle==3.1.1
     # via
     #   gymnasium
-    #   hf-libero
-cmake==4.1.3
+    #   libero
+cmake==4.1.0
     # via lerobot
-cmeel==0.59.0
+cmeel==0.57.3
     # via
     #   cmeel-assimp
     #   cmeel-boost
@@ -116,24 +108,20 @@ cmeel-zlib==1.3.1
     # via cmeel-assimp
 coal-library==3.0.1
     # via pin
-contourpy==1.3.3
-    # via
-    #   lerobot
-    #   matplotlib
-coverage[toml]==7.13.4
+contourpy==1.3.2
+    # via matplotlib
+coverage[toml]==7.11.0
     # via pytest-cov
-cuda-bindings==12.9.4
-    # via torch
-cuda-pathfinder==1.4.1
-    # via cuda-bindings
 cycler==0.12.1
     # via matplotlib
-datasets==4.6.1
+datasets==4.1.1
     # via lerobot
-debugpy==1.8.20
+debugpy==1.8.17
     # via lerobot
 decorator==5.2.1
     # via ipython
+decord==0.6.0
+    # via lerobot
 deepdiff==8.6.1
     # via lerobot
 diffusers==0.35.2
@@ -144,7 +132,7 @@ dill==0.4.0
     #   multiprocess
 distlib==0.4.0
     # via virtualenv
-dm-control==1.0.37
+dm-control==1.0.34
     # via gym-aloha
 dm-env==1.6
     # via dm-control
@@ -152,6 +140,7 @@ dm-tree==0.1.9
     # via
     #   dm-control
     #   dm-env
+    #   lerobot
 docopt==0.6.2
     # via num2words
 draccus==0.10.0
@@ -159,60 +148,66 @@ draccus==0.10.0
 dynamixel-sdk==3.8.4
     # via lerobot
 easydict==1.13
-    # via hf-libero
-egl-probe==1.0.2
-    # via robomimic
+    # via libero
+egl-probe @ git+https://github.com/huggingface/egl_probe.git
+    # via
+    #   libero
+    #   robomimic
 eigenpy==3.10.3
     # via coal-library
-einops==0.8.2
+einops==0.8.1
     # via
-    #   hf-libero
+    #   flash-attn
     #   lerobot
+    #   libero
 eiquadprog==1.2.9
     # via placo
-etils[epath,epy]==1.14.0
+etils[epath,epy]==1.13.0
     # via mujoco
-evdev==1.9.3
+evdev==1.9.2
     # via pynput
+exceptiongroup==1.3.0
+    # via
+    #   anyio
+    #   ipython
+    #   pytest
 executing==2.2.1
     # via stack-data
-faker==34.0.2
-    # via lerobot
 farama-notifications==0.0.4
     # via gymnasium
-fastapi==0.135.1
-    # via
-    #   lerobot
-    #   teleop
+fastapi==0.119.1
+    # via teleop
 fastjsonschema==2.21.2
     # via nbformat
 feetech-servo-sdk==1.0.0
     # via lerobot
-filelock==3.25.0
+filelock==3.20.0
     # via
     #   datasets
     #   diffusers
     #   huggingface-hub
-    #   python-discovery
     #   torch
+    #   transformers
     #   virtualenv
-fonttools==4.61.1
+flash-attn==2.8.3
+    # via lerobot
+fonttools==4.60.1
     # via matplotlib
 frozenlist==1.8.0
     # via
     #   aiohttp
     #   aiosignal
-fsspec[http]==2026.2.0
+fsspec[http]==2025.9.0
     # via
     #   datasets
     #   etils
     #   huggingface-hub
     #   torch
 future==1.0.0
-    # via hf-libero
+    # via libero
 gitdb==4.0.12
     # via gitpython
-gitpython==3.1.46
+gitpython==3.1.45
     # via wandb
 glfw==2.10.0
     # via
@@ -235,60 +230,50 @@ gym-hil==0.1.13
     # via lerobot
 gym-pusht==0.1.6
     # via lerobot
-gymnasium==1.2.3
+gymnasium==1.2.1
     # via
     #   gym-aloha
     #   gym-hil
     #   gym-pusht
-    #   hf-libero
     #   lerobot
+    #   libero
     #   metaworld
 h11==0.16.0
-    # via
-    #   httpcore
-    #   uvicorn
-h5py==3.16.0
+    # via uvicorn
+h5py==3.15.1
     # via robomimic
 hebi-py==2.11.0
     # via lerobot
-hf-egl-probe==1.0.2
-    # via hf-libero
-hf-libero==0.1.3
-    # via lerobot
-hf-xet==1.3.2
+hf-transfer==0.1.9
+    # via huggingface-hub
+hf-xet==1.1.10
     # via huggingface-hub
 hidapi==0.14.0.post4
     # via
     #   gym-hil
     #   lerobot
-httpcore==1.0.9
-    # via httpx
 httptools==0.7.1
     # via uvicorn
-httpx==0.28.1
-    # via
-    #   datasets
-    #   huggingface-hub
-huggingface-hub==1.6.0
+huggingface-hub[cli,hf-transfer]==0.35.3
     # via
     #   accelerate
     #   datasets
     #   diffusers
     #   lerobot
     #   peft
+    #   timm
     #   tokenizers
     #   transformers
 hydra-core==1.3.2
-    # via hf-libero
-identify==2.6.17
+    # via libero
+identify==2.6.15
     # via pre-commit
 idna==3.11
     # via
     #   anyio
-    #   httpx
     #   requests
     #   yarl
-imageio[ffmpeg]==2.37.2
+imageio[ffmpeg]==2.37.0
     # via
     #   gym-aloha
     #   gym-hil
@@ -300,14 +285,16 @@ imageio-ffmpeg==0.6.0
     # via
     #   imageio
     #   robomimic
-importlib-metadata==8.7.1
+importlib-metadata==8.7.0
     # via diffusers
+importlib-resources==6.5.2
+    # via etils
 iniconfig==2.3.0
     # via pytest
-ipython==9.11.0
+inquirerpy==0.3.4
+    # via huggingface-hub
+ipython==8.37.0
     # via meshcat
-ipython-pygments-lexers==1.1.1
-    # via ipython
 ischedule==1.2.7
     # via placo
 jedi==0.19.2
@@ -316,41 +303,40 @@ jinja2==3.1.6
     # via torch
 jsonlines==4.0.0
     # via lerobot
-jsonschema==4.26.0
+jsonschema==4.25.1
     # via nbformat
 jsonschema-specifications==2025.9.1
     # via jsonschema
 jupyter-core==5.9.1
     # via nbformat
-jupytext==1.19.1
+jupytext==1.18.1
     # via bddl
 kiwisolver==1.4.9
     # via matplotlib
 labmaze==1.0.6
     # via dm-control
-lazy-loader==0.5
+lazy-loader==0.4
     # via scikit-image
-librt==0.8.1
-    # via mypy
-llvmlite==0.46.0
+libero @ git+https://github.com/huggingface/lerobot-libero.git@main
+    # via lerobot
+llvmlite==0.45.1
     # via numba
 lxml==6.0.2
     # via dm-control
-markdown==3.10.2
+markdown==3.9
     # via tensorboard
 markdown-it-py==4.0.0
     # via
     #   jupytext
     #   mdit-py-plugins
-    #   rich
 markupsafe==3.0.3
     # via
     #   jinja2
     #   werkzeug
-matplotlib==3.10.8
+matplotlib==3.10.7
     # via
-    #   hf-libero
     #   lerobot
+    #   libero
 matplotlib-inline==0.2.1
     # via ipython
 mdit-py-plugins==0.5.0
@@ -367,38 +353,36 @@ mock-serial==0.0.1
     # via lerobot
 mpmath==1.3.0
     # via sympy
-mujoco==3.5.0
+mujoco==3.3.7
     # via
     #   dm-control
     #   gym-aloha
     #   gym-hil
-    #   hf-libero
+    #   libero
     #   metaworld
     #   robosuite
-multidict==6.7.1
+multidict==6.7.0
     # via
     #   aiohttp
     #   yarl
-multiprocess==0.70.18
+multiprocess==0.70.16
     # via datasets
-mypy==1.19.1
-    # via lerobot
 mypy-extensions==1.1.0
-    # via
-    #   mypy
-    #   typing-inspect
+    # via typing-inspect
 nbformat==5.10.4
     # via jupytext
-networkx==3.6.1
+networkx==3.4.2
     # via
     #   bddl
     #   scikit-image
     #   torch
-nodeenv==1.10.0
+ninja==1.13.0
+    # via lerobot
+nodeenv==1.9.1
     # via pre-commit
 num2words==0.5.14
     # via lerobot
-numba==0.64.0
+numba==0.62.1
     # via robosuite
 numpy==2.2.6
     # via
@@ -407,6 +391,7 @@ numpy==2.2.6
     #   cmeel-boost
     #   contourpy
     #   datasets
+    #   decord
     #   diffusers
     #   dm-control
     #   dm-env
@@ -414,10 +399,9 @@ numpy==2.2.6
     #   gymnasium
     #   h5py
     #   hebi-py
-    #   hf-libero
     #   imageio
     #   labmaze
-    #   lerobot
+    #   libero
     #   matplotlib
     #   meshcat
     #   metaworld
@@ -442,51 +426,49 @@ numpy==2.2.6
     #   torchvision
     #   transformers
     #   transforms3d
-nvidia-cublas-cu12==12.8.4.1
+nvidia-cublas-cu12==12.6.4.1
     # via
     #   nvidia-cudnn-cu12
     #   nvidia-cusolver-cu12
     #   torch
-nvidia-cuda-cupti-cu12==12.8.90
+nvidia-cuda-cupti-cu12==12.6.80
     # via torch
-nvidia-cuda-nvrtc-cu12==12.8.93
+nvidia-cuda-nvrtc-cu12==12.6.77
     # via torch
-nvidia-cuda-runtime-cu12==12.8.90
+nvidia-cuda-runtime-cu12==12.6.77
     # via torch
-nvidia-cudnn-cu12==9.10.2.21
+nvidia-cudnn-cu12==9.5.1.17
     # via torch
-nvidia-cufft-cu12==11.3.3.83
+nvidia-cufft-cu12==11.3.0.4
     # via torch
-nvidia-cufile-cu12==1.13.1.3
+nvidia-cufile-cu12==1.11.1.6
     # via torch
-nvidia-curand-cu12==10.3.9.90
+nvidia-curand-cu12==10.3.7.77
     # via torch
-nvidia-cusolver-cu12==11.7.3.90
+nvidia-cusolver-cu12==11.7.1.2
     # via torch
-nvidia-cusparse-cu12==12.5.8.93
+nvidia-cusparse-cu12==12.5.4.2
     # via
     #   nvidia-cusolver-cu12
     #   torch
-nvidia-cusparselt-cu12==0.7.1
+nvidia-cusparselt-cu12==0.6.3
     # via torch
-nvidia-nccl-cu12==2.27.5
+nvidia-nccl-cu12==2.26.2
     # via torch
-nvidia-nvjitlink-cu12==12.8.93
+nvidia-nvjitlink-cu12==12.6.85
     # via
     #   nvidia-cufft-cu12
     #   nvidia-cusolver-cu12
     #   nvidia-cusparse-cu12
     #   torch
-nvidia-nvshmem-cu12==3.4.5
-    # via torch
-nvidia-nvtx-cu12==12.8.90
+nvidia-nvtx-cu12==12.6.77
     # via torch
 omegaconf==2.3.0
     # via hydra-core
-opencv-python==4.13.0.92
+opencv-python==4.12.0.88
     # via
     #   gym-pusht
-    #   hf-libero
+    #   libero
     #   reachy2-sdk
     #   robosuite
 opencv-python-headless==4.12.0.88
@@ -505,7 +487,6 @@ packaging==25.0
     #   matplotlib
     #   peft
     #   pytest
-    #   qwen-vl-utils
     #   reachy2-sdk
     #   scikit-image
     #   tensorboard
@@ -516,21 +497,21 @@ pandas==2.3.3
     # via
     #   datasets
     #   lerobot
-parso==0.8.6
+parso==0.8.5
     # via jedi
-pathspec==1.0.4
-    # via mypy
-peft==0.18.1
+peft==0.17.1
     # via lerobot
 pexpect==4.9.0
     # via ipython
-pillow==12.1.1
+pfzy==0.3.4
+    # via inquirerpy
+pillow==12.0.0
     # via
     #   diffusers
     #   imageio
+    #   lerobot
     #   matplotlib
     #   meshcat
-    #   qwen-vl-utils
     #   rerun-sdk
     #   robosuite
     #   scikit-image
@@ -538,27 +519,28 @@ pillow==12.1.1
     #   torchvision
 pin==3.4.0
     # via placo
-placo==0.9.16
+placo==0.9.14
     # via lerobot
-platformdirs==4.9.4
+platformdirs==4.5.0
     # via
     #   jupyter-core
-    #   python-discovery
     #   virtualenv
     #   wandb
 pluggy==1.6.0
     # via
     #   pytest
     #   pytest-cov
-pre-commit==4.5.1
+pre-commit==4.3.0
     # via lerobot
 prompt-toolkit==3.0.52
-    # via ipython
+    # via
+    #   inquirerpy
+    #   ipython
 propcache==0.4.1
     # via
     #   aiohttp
     #   yarl
-protobuf==6.31.1
+protobuf==6.31.0
     # via
     #   dm-control
     #   grpcio-tools
@@ -568,7 +550,7 @@ protobuf==6.31.1
     #   tensorboard
     #   tensorboardx
     #   wandb
-psutil==7.2.2
+psutil==7.1.1
     # via
     #   accelerate
     #   imageio
@@ -578,17 +560,17 @@ ptyprocess==0.7.0
     # via pexpect
 pure-eval==0.2.3
     # via stack-data
-pyarrow==23.0.1
+pyarrow==21.0.0
     # via
     #   datasets
     #   rerun-sdk
-pycparser==3.0
+pycparser==2.23
     # via cffi
-pydantic==2.12.5
+pydantic==2.12.3
     # via
     #   fastapi
     #   wandb
-pydantic-core==2.41.5
+pydantic-core==2.41.4
     # via pydantic
 pygame==2.6.1
     # via
@@ -598,14 +580,12 @@ pygame==2.6.1
 pygments==2.19.2
     # via
     #   ipython
-    #   ipython-pygments-lexers
     #   pytest
-    #   rich
 pymunk==6.11.1
     # via
     #   gym-pusht
     #   lerobot
-pyngrok==7.5.1
+pyngrok==7.4.1
     # via meshcat
 pynput==1.8.1
     # via
@@ -615,7 +595,7 @@ pyopengl==3.1.10
     # via
     #   dm-control
     #   mujoco
-pyparsing==3.3.2
+pyparsing==3.2.5
     # via
     #   dm-control
     #   matplotlib
@@ -641,16 +621,13 @@ pytest-timeout==2.4.0
     # via lerobot
 python-dateutil==2.9.0.post0
     # via
-    #   faker
     #   matplotlib
     #   pandas
-python-discovery==1.1.1
-    # via virtualenv
-python-dotenv==1.2.2
+python-dotenv==1.1.1
     # via uvicorn
 python-xlib==0.33
     # via pynput
-pytz==2026.1.post1
+pytz==2025.2
     # via pandas
 pyyaml==6.0.3
     # via
@@ -665,6 +642,7 @@ pyyaml==6.0.3
     #   pre-commit
     #   pyngrok
     #   pyyaml-include
+    #   timm
     #   transformers
     #   uvicorn
     #   wandb
@@ -674,9 +652,7 @@ pyzmq==27.1.0
     # via
     #   lerobot
     #   meshcat
-qwen-vl-utils==0.0.14
-    # via lerobot
-reachy2-sdk==1.0.15
+reachy2-sdk==1.0.14
     # via lerobot
 reachy2-sdk-api==1.0.21
     # via reachy2-sdk
@@ -684,7 +660,7 @@ referencing==0.37.0
     # via
     #   jsonschema
     #   jsonschema-specifications
-regex==2026.2.28
+regex==2025.10.23
     # via
     #   diffusers
     #   transformers
@@ -693,62 +669,60 @@ requests==2.32.5
     #   datasets
     #   diffusers
     #   dm-control
-    #   qwen-vl-utils
+    #   huggingface-hub
     #   teleop
+    #   transformers
     #   wandb
-rerun-sdk==0.26.2
+rerun-sdk==0.26.1
     # via lerobot
 rhoban-cmeel-jsoncpp==1.9.4.9
     # via placo
-rich==14.3.3
-    # via typer
 robomimic==0.2.0
-    # via hf-libero
+    # via libero
 robosuite==1.4.0
-    # via hf-libero
-rpds-py==0.30.0
+    # via libero
+rpds-py==0.28.0
     # via
     #   jsonschema
     #   referencing
-safetensors==0.7.0
+safetensors==0.6.2
     # via
     #   accelerate
     #   diffusers
     #   lerobot
     #   peft
+    #   timm
     #   transformers
 scikit-image==0.25.2
     # via
     #   gym-pusht
     #   lerobot
-scipy==1.17.1
+scipy==1.15.3
     # via
     #   dm-control
-    #   lerobot
     #   metaworld
     #   robosuite
     #   scikit-image
-    #   torchdiffeq
-sentry-sdk==2.54.0
+sentry-sdk==2.42.1
     # via wandb
 shapely==2.1.2
     # via gym-pusht
-shellingham==1.5.4
-    # via typer
 six==1.17.0
     # via
     #   pynput
     #   python-dateutil
     #   python-xlib
-smmap==5.0.3
+smmap==5.0.2
     # via gitdb
+sniffio==1.3.1
+    # via anyio
 stack-data==0.6.3
     # via ipython
-starlette==0.52.1
+starlette==0.48.0
     # via fastapi
 sympy==1.14.0
     # via torch
-teleop==0.1.4
+teleop==0.1.2
     # via lerobot
 tensorboard==2.20.0
     # via robomimic
@@ -756,38 +730,46 @@ tensorboard-data-server==0.7.2
     # via tensorboard
 tensorboardx==2.6.4
     # via robomimic
-termcolor==3.3.0
+termcolor==3.1.0
     # via
     #   lerobot
     #   robomimic
 thop==0.1.1.post2209072238
-    # via hf-libero
-tifffile==2026.3.3
+    # via libero
+tifffile==2025.5.10
     # via scikit-image
-tokenizers==0.22.2
+timm==1.0.20
+    # via lerobot
+tokenizers==0.22.1
     # via transformers
 toml==0.10.2
     # via draccus
-torch==2.10.0
+tomli==2.3.0
+    # via
+    #   cmeel
+    #   coverage
+    #   jupytext
+    #   pytest
+torch==2.7.1
     # via
     #   accelerate
+    #   flash-attn
     #   lerobot
     #   peft
     #   robomimic
     #   thop
-    #   torchdiffeq
+    #   timm
     #   torchvision
-torchcodec==0.10.0
+torchcodec==0.5
     # via lerobot
-torchdiffeq==0.2.5
-    # via lerobot
-torchvision==0.25.0
+torchvision==0.22.1
     # via
     #   lerobot
     #   robomimic
-tornado==6.5.4
+    #   timm
+tornado==6.5.2
     # via meshcat
-tqdm==4.67.3
+tqdm==4.67.1
     # via
     #   datasets
     #   dm-control
@@ -801,29 +783,26 @@ traitlets==5.14.3
     #   jupyter-core
     #   matplotlib-inline
     #   nbformat
-transformers==5.3.0
+transformers==4.57.1
     # via
-    #   hf-libero
     #   lerobot
+    #   libero
     #   peft
 transforms3d==0.4.2
     # via teleop
-triton==3.6.0
+triton==3.3.1
     # via torch
-typer==0.24.1
-    # via
-    #   huggingface-hub
-    #   transformers
 typing-extensions==4.15.0
     # via
     #   aiosignal
     #   anyio
     #   etils
-    #   faker
+    #   exceptiongroup
     #   fastapi
     #   gymnasium
     #   huggingface-hub
-    #   mypy
+    #   ipython
+    #   multidict
     #   pydantic
     #   pydantic-core
     #   referencing
@@ -832,46 +811,46 @@ typing-extensions==4.15.0
     #   torch
     #   typing-inspect
     #   typing-inspection
+    #   uvicorn
+    #   virtualenv
     #   wandb
 typing-inspect==0.9.0
     # via draccus
 typing-inspection==0.4.2
-    # via
-    #   fastapi
-    #   pydantic
-tzdata==2025.3
+    # via pydantic
+tzdata==2025.2
     # via pandas
 u-msgpack-python==2.8.0
     # via meshcat
-urllib3==2.6.3
+urllib3==2.5.0
     # via
     #   requests
     #   sentry-sdk
-uvicorn[standard]==0.41.0
+uvicorn[standard]==0.38.0
     # via teleop
 uvloop==0.22.1
     # via uvicorn
-virtualenv==21.1.0
+virtualenv==20.35.3
     # via pre-commit
-wandb==0.24.2
+wandb==0.21.4
     # via
-    #   hf-libero
     #   lerobot
+    #   libero
 watchfiles==1.1.1
     # via uvicorn
-wcwidth==0.6.0
+wcwidth==0.2.14
     # via prompt-toolkit
 websocket-client==1.9.0
     # via teleop
-websockets==16.0
+websockets==15.0.1
     # via uvicorn
-werkzeug==3.1.6
+werkzeug==3.1.3
     # via tensorboard
-wrapt==2.1.2
+wrapt==2.0.0
     # via dm-tree
 xxhash==3.6.0
     # via datasets
-yarl==1.23.0
+yarl==1.22.0
     # via aiohttp
 zipp==3.23.0
     # via

requirements.in

@@ -1,9 +1,9 @@
 # requirements.in
 
-# requirements-macos.txt was generated on macOS and is platform-specific (macOS 26.3.1 25D2128 arm64).
-# Darwin MacBook-Pro.local 25.3.0 Darwin Kernel Version 25.3.0: Wed Jan 28 20:54:55 PST 2026; root:xnu-12377.91.3~2/RELEASE_ARM64_T8132 arm64
+# requirements-macos.txt was generated on macOS and is platform-specific (macOS 26.0.1 25A362 arm64).
+# Darwin MacBook-Pro.local 25.0.0 Darwin Kernel Version 25.0.0: Wed Sep 17 21:42:08 PDT 2025; root:xnu-12377.1.9~141/RELEASE_ARM64_T8132 arm64
 
-# requirements-ubuntu.txt was generated on Linux and is platform-specific (Ubuntu 24.04.4 LTS x86_64).
-# Linux lerobot-linux 6.17.0-14-generic #14~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Thu Jan 15 15:52:10 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
+# requirements-ubuntu.txt was generated on Linux and is platform-specific (Ubuntu 24.04.3 LTS x86_64).
+# Linux mlerobot-linux 6.14.0-33-generic #33~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Fri Sep 19 17:02:30 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
 
 -e .[all]

src/lerobot/__init__.py

@@ -29,7 +29,6 @@ Example:
         print(lerobot.available_policies_per_env)
         print(lerobot.available_robots)
         print(lerobot.available_cameras)
-        print(lerobot.available_microphones)
         print(lerobot.available_motors)
     ```
 
@@ -175,12 +174,6 @@ available_cameras = [
     "intelrealsense",
 ]
 
-# lists all available microphones from `lerobot/microphones`
-available_microphones = [
-    "portaudio",
-    "touchlab",
-]
-
 # lists all available motors from `lerobot/motors`
 available_motors = [
     "dynamixel",

src/lerobot/async_inference/helpers.py

@@ -23,7 +23,7 @@ from typing import Any
 import torch
 
 from lerobot.configs.types import PolicyFeature
-from lerobot.datasets.feature_utils import build_dataset_frame, hw_to_dataset_features
+from lerobot.datasets.utils import build_dataset_frame, hw_to_dataset_features
 
 # NOTE: Configs need to be loaded for the client to be able to instantiate the policy config
 from lerobot.policies import (  # noqa: F401

src/lerobot/async_inference/policy_server.py

@@ -39,13 +39,15 @@ import grpc
 import torch
 
 from lerobot.policies.factory import get_policy_class, make_pre_post_processors
-from lerobot.processor import PolicyProcessorPipeline
+from lerobot.processor import (
+    PolicyAction,
+    PolicyProcessorPipeline,
+)
 from lerobot.transport import (
     services_pb2,  # type: ignore
     services_pb2_grpc,  # type: ignore
 )
 from lerobot.transport.utils import receive_bytes_in_chunks
-from lerobot.types import PolicyAction
 
 from .configs import PolicyServerConfig
 from .constants import SUPPORTED_POLICIES

src/lerobot/async_inference/robot_client.py

@@ -49,8 +49,6 @@ import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
-from lerobot.microphones.portaudio.configuration_portaudio import PortAudioMicrophoneConfig  # noqa: F401
-from lerobot.microphones.touchlab.configuration_touchlab import TouchLabSensorConfig  # noqa: F401
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
@@ -65,9 +63,9 @@ from lerobot.transport import (
     services_pb2_grpc,  # type: ignore
 )
 from lerobot.transport.utils import grpc_channel_options, send_bytes_in_chunks
-from lerobot.utils.import_utils import register_third_party_plugins
 
 from .configs import RobotClientConfig
+from .constants import SUPPORTED_ROBOTS
 from .helpers import (
     Action,
     FPSTracker,
@@ -487,9 +485,8 @@ class RobotClient:
 def async_client(cfg: RobotClientConfig):
     logging.info(pformat(asdict(cfg)))
 
-    # TODO: Assert if checking robot support is still needed with the plugin system
-    # if cfg.robot.type not in SUPPORTED_ROBOTS:
-    #     raise ValueError(f"Robot {cfg.robot.type} not yet supported!")
+    if cfg.robot.type not in SUPPORTED_ROBOTS:
+        raise ValueError(f"Robot {cfg.robot.type} not yet supported!")
 
     client = RobotClient(cfg)
 
@@ -515,5 +512,4 @@ def async_client(cfg: RobotClientConfig):
 
 
 if __name__ == "__main__":
-    register_third_party_plugins()
     async_client()  # run the client

src/lerobot/cameras/zmq/camera_zmq.py

@@ -181,7 +181,7 @@ class ZMQCamera(Camera):
         try:
             message = self.socket.recv_string()
         except Exception as e:
-            # zmq is lazy-imported in connect(), so check by name to avoid a top-level import
+            # Check for ZMQ timeout (EAGAIN/Again) without requiring global zmq import
             if type(e).__name__ == "Again":
                 raise TimeoutError(f"{self} timeout after {self.timeout_ms}ms") from e
             raise

src/lerobot/cameras/zmq/image_server.py

@@ -23,7 +23,6 @@ import base64
 import contextlib
 import json
 import logging
-import threading
 import time
 from collections import deque
 
@@ -43,57 +42,10 @@ def encode_image(image: np.ndarray, quality: int = 80) -> str:
     return base64.b64encode(buffer).decode("utf-8")
 
 
-class CameraCaptureThread:
-    """Background thread that continuously captures and encodes frames from a camera."""
-
-    def __init__(self, camera: OpenCVCamera, name: str):
-        self.camera = camera
-        self.name = name
-        self.latest_encoded: str | None = None  # Pre-encoded JPEG as base64
-        self.latest_timestamp: float = 0.0
-        self.frame_lock = threading.Lock()
-        self.running = False
-        self.thread: threading.Thread | None = None
-
-    def start(self):
-        """Start the capture thread."""
-        self.running = True
-        self.thread = threading.Thread(target=self._capture_loop, daemon=True)
-        self.thread.start()
-
-    def stop(self):
-        """Stop the capture thread."""
-        self.running = False
-        if self.thread:
-            self.thread.join(timeout=1.0)
-
-    def _capture_loop(self):
-        """Continuously capture and encode frames at the camera's native rate."""
-        while self.running:
-            try:
-                frame = self.camera.read()  # Blocks at camera's native rate
-                timestamp = time.time()
-                # Encode immediately in capture thread (this is the slow part)
-                encoded = encode_image(frame)
-                with self.frame_lock:
-                    self.latest_encoded = encoded
-                    self.latest_timestamp = timestamp
-            except Exception as e:
-                logger.warning(f"Camera {self.name} capture error: {e}")
-                time.sleep(0.01)
-
-    def get_latest(self) -> tuple[str | None, float]:
-        """Get the latest encoded frame and its timestamp."""
-        with self.frame_lock:
-            return self.latest_encoded, self.latest_timestamp
-
-
 class ImageServer:
     def __init__(self, config: dict, port: int = 5555):
-        # fps controls the publish loop rate (how often frames are sent over ZMQ), not the camera capture rate
         self.fps = config.get("fps", 30)
         self.cameras: dict[str, OpenCVCamera] = {}
-        self.capture_threads: dict[str, CameraCaptureThread] = {}
 
         for name, cfg in config.get("cameras", {}).items():
             shape = cfg.get("shape", [480, 640])
@@ -109,10 +61,6 @@ class ImageServer:
             self.cameras[name] = camera
             logger.info(f"Camera {name}: {shape[1]}x{shape[0]}")
 
-            # Create capture thread for this camera
-            capture_thread = CameraCaptureThread(camera, name)
-            self.capture_threads[name] = capture_thread
-
         # ZMQ PUB socket
         self.context = zmq.Context()
         self.socket = self.context.socket(zmq.PUB)
@@ -125,18 +73,6 @@ class ImageServer:
     def run(self):
         frame_count = 0
         frame_times = deque(maxlen=60)
-        last_published_ts: dict[str, float] = {}
-
-        # Start all capture threads
-        for capture_thread in self.capture_threads.values():
-            capture_thread.start()
-
-        # Wait for first frames to be captured and encoded
-        logger.info("Waiting for cameras to start capturing...")
-        for name, capture_thread in self.capture_threads.items():
-            while capture_thread.get_latest()[0] is None:
-                time.sleep(0.01)
-            logger.info(f"Camera {name} ready (capture + encode in background)")
 
         try:
             while True:
@@ -144,12 +80,10 @@ class ImageServer:
 
                 # Build message
                 message = {"timestamps": {}, "images": {}}
-                for name, capture_thread in self.capture_threads.items():
-                    encoded, timestamp = capture_thread.get_latest()
-                    if encoded is not None and timestamp > last_published_ts.get(name, 0.0):
-                        message["timestamps"][name] = timestamp
-                        message["images"][name] = encoded
-                        last_published_ts[name] = timestamp
+                for name, cam in self.cameras.items():
+                    frame = cam.read()  # Returns RGB
+                    message["timestamps"][name] = time.time()
+                    message["images"][name] = encode_image(frame)
 
                 # Send as JSON string (suppress if buffer full)
                 with contextlib.suppress(zmq.Again):
@@ -168,8 +102,6 @@ class ImageServer:
         except KeyboardInterrupt:
             pass
         finally:
-            for capture_thread in self.capture_threads.values():
-                capture_thread.stop()
             for cam in self.cameras.values():
                 cam.disconnect()
             self.socket.close()

src/lerobot/configs/default.py

@@ -27,8 +27,7 @@ class DatasetConfig:
     # "dataset_index" into the returned item. The index mapping is made according to the order in which the
     # datasets are provided.
     repo_id: str
-    # Root directory for a concrete local dataset tree (e.g. 'dataset/path'). If None, local datasets are
-    # looked up under $HF_LEROBOT_HOME/repo_id and Hub downloads use a revision-safe cache under $HF_LEROBOT_HOME/hub.
+    # Root directory where the dataset will be stored (e.g. 'dataset/path').
     root: str | None = None
     episodes: list[int] | None = None
     image_transforms: ImageTransformsConfig = field(default_factory=ImageTransformsConfig)
@@ -37,16 +36,6 @@ class DatasetConfig:
     video_backend: str = field(default_factory=get_safe_default_codec)
     streaming: bool = False
 
-    def __post_init__(self) -> None:
-        if self.episodes is not None:
-            if any(ep < 0 for ep in self.episodes):
-                raise ValueError(
-                    f"Episode indices must be non-negative, got: {[ep for ep in self.episodes if ep < 0]}"
-                )
-            if len(self.episodes) != len(set(self.episodes)):
-                duplicates = sorted({ep for ep in self.episodes if self.episodes.count(ep) > 1})
-                raise ValueError(f"Episode indices contain duplicates: {duplicates}")
-
 
 @dataclass
 class WandBConfig:
@@ -58,7 +47,6 @@ class WandBConfig:
     notes: str | None = None
     run_id: str | None = None
     mode: str | None = None  # Allowed values: 'online', 'offline' 'disabled'. Defaults to 'online'
-    add_tags: bool = True  # If True, save configuration as tags in the WandB run.
 
 
 @dataclass

src/lerobot/configs/policies.py

@@ -30,8 +30,8 @@ from lerobot.configs.types import FeatureType, PolicyFeature
 from lerobot.optim.optimizers import OptimizerConfig
 from lerobot.optim.schedulers import LRSchedulerConfig
 from lerobot.utils.constants import ACTION, OBS_STATE
-from lerobot.utils.device_utils import auto_select_torch_device, is_amp_available, is_torch_device_available
 from lerobot.utils.hub import HubMixin
+from lerobot.utils.utils import auto_select_torch_device, is_amp_available, is_torch_device_available
 
 T = TypeVar("T", bound="PreTrainedConfig")
 logger = getLogger(__name__)
@@ -151,12 +151,6 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):  # type: igno
             return {}
         return {key: ft for key, ft in self.input_features.items() if ft.type is FeatureType.VISUAL}
 
-    @property
-    def audio_features(self) -> dict[str, PolicyFeature]:
-        if not self.input_features:
-            return {}
-        return {key: ft for key, ft in self.input_features.items() if ft.type is FeatureType.AUDIO}
-
     @property
     def action_feature(self) -> PolicyFeature | None:
         if not self.output_features:

src/lerobot/configs/train.py

@@ -50,9 +50,6 @@ class TrainPipelineConfig(HubMixin):
     # `seed` is used for training (eg: model initialization, dataset shuffling)
     # AND for the evaluation environments.
     seed: int | None = 1000
-    # Set to True to use deterministic cuDNN algorithms for reproducibility.
-    # This disables cudnn.benchmark and may reduce training speed by ~10-20 percent.
-    cudnn_deterministic: bool = False
     # Number of workers for the dataloader.
     num_workers: int = 4
     batch_size: int = 8

src/lerobot/configs/types.py

@@ -20,7 +20,6 @@ from enum import Enum
 class FeatureType(str, Enum):
     STATE = "STATE"
     VISUAL = "VISUAL"
-    AUDIO = "AUDIO"
     ENV = "ENV"
     ACTION = "ACTION"
     REWARD = "REWARD"

src/lerobot/data_processing/sarm_annotations/subtask_annotation.py

@@ -746,8 +746,7 @@ def save_annotations_to_dataset(
     dataset_path: Path, annotations: dict[int, SubtaskAnnotation], fps: int, prefix: str = "sparse"
 ):
     """Save annotations to LeRobot dataset parquet format."""
-    from lerobot.datasets.io_utils import load_episodes
-    from lerobot.datasets.utils import DEFAULT_EPISODES_PATH
+    from lerobot.datasets.utils import DEFAULT_EPISODES_PATH, load_episodes
 
     episodes_dataset = load_episodes(dataset_path)
     if not episodes_dataset or len(episodes_dataset) == 0:
@@ -841,7 +840,7 @@ def generate_auto_sparse_annotations(
 
 def load_annotations_from_dataset(dataset_path: Path, prefix: str = "sparse") -> dict[int, SubtaskAnnotation]:
     """Load annotations from LeRobot dataset parquet files."""
-    from lerobot.datasets.io_utils import load_episodes
+    from lerobot.datasets.utils import load_episodes
 
     episodes_dataset = load_episodes(dataset_path)
     if not episodes_dataset or len(episodes_dataset) == 0:

src/lerobot/datasets/__init__.py

@@ -1,33 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2026 The HuggingFace Inc. team.
-# All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# 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.
-
-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",
-    "StreamingLeRobotDataset",
-]

src/lerobot/datasets/aggregate.py

@@ -24,28 +24,24 @@ import pandas as pd
 import tqdm
 
 from lerobot.datasets.compute_stats import aggregate_stats
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.feature_utils import get_hf_features_from_features
-from lerobot.datasets.io_utils import (
-    get_file_size_in_mb,
-    get_parquet_file_size_in_mb,
-    to_parquet_with_hf_images,
-    write_info,
-    write_stats,
-    write_tasks,
-)
+from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
 from lerobot.datasets.utils import (
-    DEFAULT_AUDIO_FILE_SIZE_IN_MB,
-    DEFAULT_AUDIO_PATH,
     DEFAULT_CHUNK_SIZE,
     DEFAULT_DATA_FILE_SIZE_IN_MB,
     DEFAULT_DATA_PATH,
     DEFAULT_EPISODES_PATH,
     DEFAULT_VIDEO_FILE_SIZE_IN_MB,
     DEFAULT_VIDEO_PATH,
+    get_file_size_in_mb,
+    get_hf_features_from_features,
+    get_parquet_file_size_in_mb,
+    to_parquet_with_hf_images,
     update_chunk_file_indices,
+    write_info,
+    write_stats,
+    write_tasks,
 )
-from lerobot.datasets.video_utils import concatenate_media_files, get_media_duration_in_s
+from lerobot.datasets.video_utils import concatenate_video_files, get_video_duration_in_s
 
 
 def validate_all_metadata(all_metadata: list[LeRobotDatasetMetadata]):
@@ -114,7 +110,6 @@ def update_meta_data(
     meta_idx,
     data_idx,
     videos_idx,
-    audios_idx,
 ):
     """Updates metadata DataFrame with new chunk, file, and timestamp indices.
 
@@ -130,7 +125,7 @@ def update_meta_data(
         meta_idx: Dictionary containing current metadata chunk and file indices.
         data_idx: Dictionary containing current data chunk and file indices.
         videos_idx: Dictionary containing current video indices and timestamps.
-        audios_idx: Dictionary containing current audio indices and timestamps.
+
     Returns:
         pd.DataFrame: Updated DataFrame with adjusted indices and timestamps.
     """
@@ -228,36 +223,6 @@ def update_meta_data(
         # Clean up temporary columns
         df = df.drop(columns=["_orig_chunk", "_orig_file"])
 
-    for key, audio_idx in audios_idx.items():
-        # Store original audio file indices before updating
-        orig_chunk_col = f"audio/{key}/chunk_index"
-        orig_file_col = f"audio/{key}/file_index"
-        df["_orig_chunk"] = df[orig_chunk_col].copy()
-        df["_orig_file"] = df[orig_file_col].copy()
-
-        # Update chunk and file indices to point to destination
-        df[orig_chunk_col] = audio_idx["chunk"]
-        df[orig_file_col] = audio_idx["file"]
-
-        # Apply per-source-file timestamp offsets
-        src_to_offset = audio_idx.get("src_to_offset", {})
-        if src_to_offset:
-            # Apply offset based on original source file
-            for idx in df.index:
-                src_key = (df.at[idx, "_orig_chunk"], df.at[idx, "_orig_file"])
-                offset = src_to_offset.get(src_key, 0)
-                df.at[idx, f"audio/{key}/from_timestamp"] += offset
-                df.at[idx, f"audio/{key}/to_timestamp"] += offset
-        else:
-            # Fallback to simple offset (for backward compatibility)
-            df[f"audio/{key}/from_timestamp"] = (
-                df[f"audio/{key}/from_timestamp"] + audio_idx["latest_duration"]
-            )
-            df[f"audio/{key}/to_timestamp"] = df[f"audio/{key}/to_timestamp"] + audio_idx["latest_duration"]
-
-        # Clean up temporary columns
-        df = df.drop(columns=["_orig_chunk", "_orig_file"])
-
     df["dataset_from_index"] = df["dataset_from_index"] + dst_meta.info["total_frames"]
     df["dataset_to_index"] = df["dataset_to_index"] + dst_meta.info["total_frames"]
     df["episode_index"] = df["episode_index"] + dst_meta.info["total_episodes"]
@@ -272,7 +237,6 @@ def aggregate_datasets(
     aggr_root: Path | None = None,
     data_files_size_in_mb: float | None = None,
     video_files_size_in_mb: float | None = None,
-    audio_files_size_in_mb: float | None = None,
     chunk_size: int | None = None,
 ):
     """Aggregates multiple LeRobot datasets into a single unified dataset.
@@ -290,7 +254,6 @@ def aggregate_datasets(
         aggr_root: Optional root path for the aggregated dataset.
         data_files_size_in_mb: Maximum size for data files in MB (defaults to DEFAULT_DATA_FILE_SIZE_IN_MB)
         video_files_size_in_mb: Maximum size for video files in MB (defaults to DEFAULT_VIDEO_FILE_SIZE_IN_MB)
-        audio_files_size_in_mb: Maximum size for audio files in MB (defaults to DEFAULT_AUDIO_FILE_SIZE_IN_MB)
         chunk_size: Maximum number of files per chunk (defaults to DEFAULT_CHUNK_SIZE)
     """
     logging.info("Start aggregate_datasets")
@@ -299,8 +262,6 @@ def aggregate_datasets(
         data_files_size_in_mb = DEFAULT_DATA_FILE_SIZE_IN_MB
     if video_files_size_in_mb is None:
         video_files_size_in_mb = DEFAULT_VIDEO_FILE_SIZE_IN_MB
-    if audio_files_size_in_mb is None:
-        audio_files_size_in_mb = DEFAULT_AUDIO_FILE_SIZE_IN_MB
     if chunk_size is None:
         chunk_size = DEFAULT_CHUNK_SIZE
 
@@ -313,7 +274,6 @@ def aggregate_datasets(
     )
     fps, robot_type, features = validate_all_metadata(all_metadata)
     video_keys = [key for key in features if features[key]["dtype"] == "video"]
-    audio_keys = [key for key in features if features[key]["dtype"] == "audio"]
 
     dst_meta = LeRobotDatasetMetadata.create(
         repo_id=aggr_repo_id,
@@ -325,32 +285,25 @@ def aggregate_datasets(
         chunks_size=chunk_size,
         data_files_size_in_mb=data_files_size_in_mb,
         video_files_size_in_mb=video_files_size_in_mb,
-        audio_files_size_in_mb=audio_files_size_in_mb,
     )
 
     logging.info("Find all tasks")
     unique_tasks = pd.concat([m.tasks for m in all_metadata]).index.unique()
-    dst_meta.tasks = pd.DataFrame(
-        {"task_index": range(len(unique_tasks))}, index=pd.Index(unique_tasks, name="task")
-    )
+    dst_meta.tasks = pd.DataFrame({"task_index": range(len(unique_tasks))}, index=unique_tasks)
 
     meta_idx = {"chunk": 0, "file": 0}
     data_idx = {"chunk": 0, "file": 0}
     videos_idx = {
         key: {"chunk": 0, "file": 0, "latest_duration": 0, "episode_duration": 0} for key in video_keys
     }
-    audios_idx = {
-        key: {"chunk": 0, "file": 0, "latest_duration": 0, "episode_duration": 0} for key in audio_keys
-    }
 
     dst_meta.episodes = {}
 
     for src_meta in tqdm.tqdm(all_metadata, desc="Copy data and videos"):
         videos_idx = aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chunk_size)
-        audios_idx = aggregate_audio(src_meta, dst_meta, audios_idx, audio_files_size_in_mb, chunk_size)
         data_idx = aggregate_data(src_meta, dst_meta, data_idx, data_files_size_in_mb, chunk_size)
 
-        meta_idx = aggregate_metadata(src_meta, dst_meta, meta_idx, data_idx, videos_idx, audios_idx)
+        meta_idx = aggregate_metadata(src_meta, dst_meta, meta_idx, data_idx, videos_idx)
 
         # Clear the src_to_dst mapping after processing each source dataset
         # to avoid interference between different source datasets
@@ -418,7 +371,7 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
                 file_index=file_idx,
             )
 
-            src_duration = get_media_duration_in_s(src_path, media_type="video")
+            src_duration = get_video_duration_in_s(src_path)
             dst_key = (chunk_idx, file_idx)
 
             if not dst_path.exists():
@@ -457,7 +410,7 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
                 current_dst_duration = dst_file_durations.get(dst_key, 0)
                 videos_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = current_dst_duration
                 videos_idx[key]["src_to_dst"][(src_chunk_idx, src_file_idx)] = dst_key
-                concatenate_media_files(
+                concatenate_video_files(
                     [dst_path, src_path],
                     dst_path,
                 )
@@ -472,101 +425,6 @@ def aggregate_videos(src_meta, dst_meta, videos_idx, video_files_size_in_mb, chu
     return videos_idx
 
 
-def aggregate_audio(src_meta, dst_meta, audios_idx, audio_files_size_in_mb, chunk_size):
-    """Aggregates audio files from a source dataset into the destination dataset.
-
-    Handles audio file concatenation and rotation based on file size limits.
-    Creates new audio files when size limits are exceeded.
-
-    Args:
-        src_meta: Source dataset metadata.
-        dst_meta: Destination dataset metadata.
-        audio_idx: Dictionary tracking audio chunk and file indices.
-        audio_files_size_in_mb: Maximum size for audio files in MB (defaults to DEFAULT_AUDIO_FILE_SIZE_IN_MB)
-        chunk_size: Maximum number of files per chunk (defaults to DEFAULT_CHUNK_SIZE)
-
-    Returns:
-        dict: Updated audio_idx with current chunk and file indices.
-    """
-    for key in audios_idx:
-        audios_idx[key]["episode_duration"] = 0
-        # Track offset for each source (chunk, file) pair
-        audios_idx[key]["src_to_offset"] = {}
-
-    for key, audio_idx in audios_idx.items():
-        unique_chunk_file_pairs = {
-            (chunk, file)
-            for chunk, file in zip(
-                src_meta.episodes[f"audio/{key}/chunk_index"],
-                src_meta.episodes[f"audio/{key}/file_index"],
-                strict=False,
-            )
-        }
-        unique_chunk_file_pairs = sorted(unique_chunk_file_pairs)
-
-        chunk_idx = audio_idx["chunk"]
-        file_idx = audio_idx["file"]
-        current_offset = audio_idx["latest_duration"]
-
-        for src_chunk_idx, src_file_idx in unique_chunk_file_pairs:
-            src_path = src_meta.root / DEFAULT_AUDIO_PATH.format(
-                audio_key=key,
-                chunk_index=src_chunk_idx,
-                file_index=src_file_idx,
-            )
-
-            dst_path = dst_meta.root / DEFAULT_AUDIO_PATH.format(
-                audio_key=key,
-                chunk_index=chunk_idx,
-                file_index=file_idx,
-            )
-
-            src_duration = get_media_duration_in_s(src_path, media_type="audio")
-
-            if not dst_path.exists():
-                # Store offset before incrementing
-                audios_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = current_offset
-                dst_path.parent.mkdir(parents=True, exist_ok=True)
-                shutil.copy(str(src_path), str(dst_path))
-                audios_idx[key]["episode_duration"] += src_duration
-                current_offset += src_duration
-                continue
-
-            # Check file sizes before appending
-            src_size = get_file_size_in_mb(src_path)
-            dst_size = get_file_size_in_mb(dst_path)
-
-            if dst_size + src_size >= audio_files_size_in_mb:
-                # Rotate to a new file, this source becomes start of new destination
-                # So its offset should be 0
-                audios_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = 0
-                chunk_idx, file_idx = update_chunk_file_indices(chunk_idx, file_idx, chunk_size)
-                dst_path = dst_meta.root / DEFAULT_AUDIO_PATH.format(
-                    audio_key=key,
-                    chunk_index=chunk_idx,
-                    file_index=file_idx,
-                )
-                dst_path.parent.mkdir(parents=True, exist_ok=True)
-                shutil.copy(str(src_path), str(dst_path))
-                # Reset offset for next file
-                current_offset = src_duration
-            else:
-                # Append to existing video file - use current accumulated offset
-                audios_idx[key]["src_to_offset"][(src_chunk_idx, src_file_idx)] = current_offset
-                concatenate_media_files(
-                    [dst_path, src_path],
-                    dst_path,
-                )
-                current_offset += src_duration
-
-            audios_idx[key]["episode_duration"] += src_duration
-
-        audios_idx[key]["chunk"] = chunk_idx
-        audios_idx[key]["file"] = file_idx
-
-    return audios_idx
-
-
 def aggregate_data(src_meta, dst_meta, data_idx, data_files_size_in_mb, chunk_size):
     """Aggregates data chunks from a source dataset into the destination dataset.
 
@@ -639,7 +497,7 @@ def aggregate_data(src_meta, dst_meta, data_idx, data_files_size_in_mb, chunk_si
     return data_idx
 
 
-def aggregate_metadata(src_meta, dst_meta, meta_idx, data_idx, videos_idx, audios_idx):
+def aggregate_metadata(src_meta, dst_meta, meta_idx, data_idx, videos_idx):
     """Aggregates metadata from a source dataset into the destination dataset.
 
     Reads source metadata files, updates all indices and timestamps,
@@ -651,7 +509,6 @@ def aggregate_metadata(src_meta, dst_meta, meta_idx, data_idx, videos_idx, audio
         meta_idx: Dictionary tracking metadata chunk and file indices.
         data_idx: Dictionary tracking data chunk and file indices.
         videos_idx: Dictionary tracking video indices and timestamps.
-        audios_idx: Dictionary tracking audio indices and timestamps.
 
     Returns:
         dict: Updated meta_idx with current chunk and file indices.
@@ -675,7 +532,6 @@ def aggregate_metadata(src_meta, dst_meta, meta_idx, data_idx, videos_idx, audio
             meta_idx,
             data_idx,
             videos_idx,
-            audios_idx,
         )
 
         meta_idx, _ = append_or_create_parquet_file(
@@ -692,8 +548,7 @@ def aggregate_metadata(src_meta, dst_meta, meta_idx, data_idx, videos_idx, audio
     # Increment latest_duration by the total duration added from this source dataset
     for k in videos_idx:
         videos_idx[k]["latest_duration"] += videos_idx[k]["episode_duration"]
-    for k in audios_idx:
-        audios_idx[k]["latest_duration"] += audios_idx[k]["episode_duration"]
+
     return meta_idx
 
 

src/lerobot/datasets/audio_utils.py

@@ -1,275 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# 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 logging
-from pathlib import Path
-
-import av
-import torch
-import torchaudio
-import torchcodec
-from numpy import ceil
-
-CHANNELS_LAYOUTS_MAPPING = {
-    1: "mono",
-    2: "stereo",
-    3: "2.1",
-    4: "3.1",
-    5: "4.1",
-    6: "5.1",
-    7: "6.1",
-    8: "7.1",
-    16: "hexadecagonal",
-    24: "22.2",
-}
-
-
-def decode_audio(
-    audio_path: Path | str,
-    timestamps: list[float],
-    duration: float,
-    start_time_s: float | None = 0.0,
-    backend: str | None = "torchcodec",
-) -> torch.Tensor:
-    """
-    Decodes audio using the specified backend.
-    Args:
-        audio_path (Path): Path to the audio file.
-        timestamps (list[float]): List of (starting) timestamps to extract audio chunks.
-        duration (float): Duration of the audio chunks in seconds.
-        backend (str, optional): Backend to use for decoding. Defaults to "torchcodec".
-
-    Returns:
-        torch.Tensor: Decoded audio chunks.
-
-    Currently supports torchaudio.
-    """
-    if backend == "torchcodec":
-        return decode_audio_torchcodec(audio_path, timestamps, duration, start_time_s)
-    elif backend == "torchaudio":
-        return decode_audio_torchaudio(audio_path, timestamps, duration, start_time_s)
-    else:
-        raise ValueError(f"Unsupported video backend: {backend}")
-
-
-def decode_audio_torchcodec(
-    audio_path: Path | str,
-    timestamps: list[float],
-    duration: float,
-    start_time_s: float | None = 0.0,
-    log_loaded_timestamps: bool = False,
-) -> torch.Tensor:
-    # TODO(CarolinePascal) : add channels selection
-    audio_decoder = torchcodec.decoders.AudioDecoder(audio_path)
-    audio_sample_rate = audio_decoder.metadata.sample_rate
-    audio_channels = audio_decoder.metadata.num_channels
-    # TODO(CarolinePascal) : assert ts < total record duration
-
-    audio_chunks = []
-    timestamps = [
-        timestamp + start_time_s for timestamp in timestamps
-    ]  # Add an offset of start_time_s to each timestamp
-    for ts in timestamps:
-        current_audio_chunk = audio_decoder.get_samples_played_in_range(
-            start_seconds=max(0.0, ts - duration), stop_seconds=ts
-        )
-
-        current_audio_chunk_data = current_audio_chunk.data
-
-        # Case where the requested audio chunk starts before the beginning of the audio stream
-        if ts - duration < 0:
-            # No useful audio sample has been recorded
-            if ts < 1 / audio_sample_rate:
-                # TODO(CarolinePascal) : add low level white noise instead of zeros ?
-                current_audio_chunk_data = torch.zeros(
-                    (audio_channels, int(ceil(duration * audio_sample_rate)))
-                )
-            # At least one useful audio sample has been recorded
-            else:
-                # Pad the beginning of the audio chunk with zeros
-                # TODO(CarolinePascal) : add low level white noise instead of zeros ?
-                current_audio_chunk_data = torch.nn.functional.pad(
-                    current_audio_chunk_data,
-                    (int(ceil((duration - ts) * audio_sample_rate)), 0, 0, 0),  # left, right, top, bottom
-                )
-
-        if log_loaded_timestamps:
-            logging.info(
-                f"audio chunk loaded at timestamp={current_audio_chunk.pts_seconds:.4f} with duration={current_audio_chunk.duration_seconds:.4f}"
-            )
-
-        audio_chunks.append(current_audio_chunk_data)
-
-    audio_chunks = torch.stack(audio_chunks)
-
-    assert len(timestamps) == len(audio_chunks)
-    return audio_chunks
-
-
-def decode_audio_torchaudio(
-    audio_path: Path | str,
-    timestamps: list[float],
-    duration: float,
-    start_time_s: float | None = 0.0,
-    log_loaded_timestamps: bool = False,
-) -> torch.Tensor:
-    # TODO(CarolinePascal) : add channels selection
-    audio_path = str(audio_path)
-
-    reader = torchaudio.io.StreamReader(src=audio_path)
-    audio_sample_rate = reader.get_src_stream_info(reader.default_audio_stream).sample_rate
-    audio_channels = reader.get_src_stream_info(reader.default_audio_stream).num_channels
-    # TODO(CarolinePascal) : assert ts < total record duration
-
-    # TODO(CarolinePascal) : sort timestamps ?
-
-    reader.add_basic_audio_stream(
-        frames_per_chunk=int(ceil(duration * audio_sample_rate)),  # Too much is better than not enough
-        buffer_chunk_size=-1,  # No dropping frames
-        format="fltp",  # Format as float32
-    )
-
-    audio_chunks = []
-    timestamps = [
-        timestamp + start_time_s for timestamp in timestamps
-    ]  # Add an offset of start_time_s to each timestamp
-    for ts in timestamps:
-        reader.seek(max(0.0, ts - duration))  # Default to closest audio sample. Needs to be non-negative !
-        status = reader.fill_buffer()
-        if status != 0:
-            # Should not happen, but just in case
-            logging.warning("Audio stream reached end of recording before decoding desired timestamps.")
-
-        current_audio_chunk = reader.pop_chunks()[0]
-        current_audio_chunk_data = current_audio_chunk.t()  # Channel first format
-
-        # Case where the requested audio chunk starts before the beginning of the audio stream
-        if ts - duration < 0:
-            # No useful audio sample has been recorded
-            if ts < 1 / audio_sample_rate:
-                current_audio_chunk_data = torch.zeros(
-                    (audio_channels, int(ceil(duration * audio_sample_rate)))
-                )
-            # At least one useful audio sample has been recorded
-            else:
-                # Remove the superfluous last samples of the audio chunk
-                current_audio_chunk_data = current_audio_chunk_data[:, : int(ceil(ts * audio_sample_rate))]
-                # Pad the beginning of the audio chunk with zeros
-                # TODO(CarolinePascal) : add low level white noise instead of zeros ?
-                current_audio_chunk_data = torch.nn.functional.pad(
-                    current_audio_chunk_data,
-                    (int(ceil((duration - ts) * audio_sample_rate)), 0, 0, 0),  # left, right, top, bottom
-                )
-
-        if log_loaded_timestamps:
-            logging.info(
-                f"audio chunk loaded at starting timestamp={current_audio_chunk['pts']:.4f} with duration={len(current_audio_chunk) / audio_sample_rate:.4f}"
-            )
-
-        audio_chunks.append(current_audio_chunk_data)
-
-    audio_chunks = torch.stack(audio_chunks)
-
-    assert len(timestamps) == len(audio_chunks)
-    return audio_chunks
-
-
-def encode_audio(
-    input_path: Path | str,
-    output_path: Path | str,
-    codec: str = "aac",  # TODO(CarolinePascal) : investigate Fraunhofer FDK AAC (libfdk_aac) codec and and constant (file size control) /variable (quality control) bitrate options
-    bit_rate: int | None = None,
-    sample_rate: int | None = None,
-    log_level: int | None = av.logging.ERROR,
-    overwrite: bool = False,
-) -> None:
-    """Encodes an audio file using ffmpeg."""
-    output_path = Path(output_path)
-    output_path.parent.mkdir(parents=True, exist_ok=overwrite)
-
-    # Set logging level
-    if log_level is not None:
-        # "While less efficient, it is generally preferable to modify logging with Python’s logging"
-        logging.getLogger("libav").setLevel(log_level)
-
-    # Open input file
-    with av.open(str(input_path), "r") as input:
-        input_stream = input.streams.audio[0]  # Assuming the first stream is the audio stream to be encoded
-
-        # Define sub-sampling options
-        if sample_rate is None:
-            sample_rate = input_stream.rate
-
-        # Create and open output file (overwrite by default)
-        with av.open(str(output_path), "w") as output:
-            output_stream = output.add_stream(
-                codec, rate=sample_rate, layout=CHANNELS_LAYOUTS_MAPPING[input_stream.channels]
-            )
-
-            if bit_rate is not None:
-                output_stream.bit_rate = bit_rate
-
-            # Loop through input WAV packets and encode them
-            for input_frame in input.decode(
-                input_stream
-            ):  # This step handles both demuxing and decoding under the hood
-                packet = output_stream.encode(input_frame)
-                if packet:
-                    output.mux(packet)
-
-            # Flush the encoder
-            packet = output_stream.encode()
-            if packet:
-                output.mux(packet)
-
-    # Reset logging level
-    if log_level is not None:
-        av.logging.restore_default_callback()
-
-    if not output_path.exists():
-        raise OSError(f"Audio encoding did not work. File not found: {output_path}.")
-
-
-def get_audio_info(video_path: Path | str) -> dict:
-    # Set logging level
-    logging.getLogger("libav").setLevel(av.logging.ERROR)
-
-    # Getting audio stream information
-    audio_info = {}
-    with av.open(str(video_path), "r") as audio_file:
-        try:
-            audio_stream = audio_file.streams.audio[0]
-        except IndexError:
-            # Reset logging level
-            av.logging.restore_default_callback()
-            return {"has_audio": False}
-
-        audio_info["audio.channels"] = audio_stream.channels
-        audio_info["audio.codec"] = audio_stream.codec.canonical_name
-        # In an ideal loseless case : bit depth x sample rate x channels = bit rate.
-        # In an actual compressed case, the bit rate is set according to the compression level : the lower the bit rate, the more compression is applied.
-        audio_info["audio.bit_rate"] = audio_stream.bit_rate
-        audio_info["audio.sample_rate"] = audio_stream.sample_rate  # Number of samples per second
-        # In an ideal loseless case : fixed number of bits per sample.
-        # In an actual compressed case : variable number of bits per sample (often reduced to match a given depth rate).
-        audio_info["audio.bit_depth"] = audio_stream.format.bits
-        audio_info["audio.channel_layout"] = audio_stream.layout.name
-        audio_info["has_audio"] = True
-
-    # Reset logging level
-    av.logging.restore_default_callback()
-
-    return audio_info

src/lerobot/datasets/backward_compatibility.py

@@ -0,0 +1,56 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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 packaging.version
+
+V30_MESSAGE = """
+The dataset you requested ({repo_id}) is in {version} format.
+
+We introduced a new format since v3.0 which is not backward compatible with v2.1.
+Please, update your dataset to the new format using this command:
+```
+python -m lerobot.datasets.v30.convert_dataset_v21_to_v30 --repo-id={repo_id}
+```
+
+If you already have a converted version uploaded to the hub, then this error might be because of
+an older version in your local cache. Consider deleting the cached version and retrying.
+
+If you encounter a problem, contact LeRobot maintainers on [Discord](https://discord.com/invite/s3KuuzsPFb)
+or open an [issue on GitHub](https://github.com/huggingface/lerobot/issues/new/choose).
+"""
+
+FUTURE_MESSAGE = """
+The dataset you requested ({repo_id}) is only available in {version} format.
+As we cannot ensure forward compatibility with it, please update your current version of lerobot.
+"""
+
+
+class CompatibilityError(Exception): ...
+
+
+class BackwardCompatibilityError(CompatibilityError):
+    def __init__(self, repo_id: str, version: packaging.version.Version):
+        if version.major == 2 and version.minor == 1:
+            message = V30_MESSAGE.format(repo_id=repo_id, version=version)
+        else:
+            raise NotImplementedError(
+                "Contact the maintainer on [Discord](https://discord.com/invite/s3KuuzsPFb)."
+            )
+        super().__init__(message)
+
+
+class ForwardCompatibilityError(CompatibilityError):
+    def __init__(self, repo_id: str, version: packaging.version.Version):
+        message = FUTURE_MESSAGE.format(repo_id=repo_id, version=version)
+        super().__init__(message)

src/lerobot/datasets/compute_stats.py

@@ -13,13 +13,9 @@
 # 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.
-from __future__ import annotations
-
-import logging
-
 import numpy as np
 
-from lerobot.datasets.io_utils import load_audio_from_path, load_image_as_numpy
+from lerobot.datasets.utils import load_image_as_numpy
 
 DEFAULT_QUANTILES = [0.01, 0.10, 0.50, 0.90, 0.99]
 
@@ -249,20 +245,6 @@ def sample_images(image_paths: list[str]) -> np.ndarray:
     return images
 
 
-def sample_audio_from_path(audio_path: str) -> np.ndarray:
-    """Samples audio data from an audio recording stored in a WAV file."""
-    data = load_audio_from_path(audio_path)
-    sampled_indices = sample_indices(len(data))
-
-    return data[sampled_indices]
-
-
-def sample_audio_from_data(data: np.ndarray) -> np.ndarray:
-    """Samples audio data from an audio recording stored in a numpy array."""
-    sampled_indices = sample_indices(len(data))
-    return data[sampled_indices]
-
-
 def _reshape_stats_by_axis(
     stats: dict[str, np.ndarray],
     axis: int | tuple[int, ...] | None,
@@ -530,13 +512,6 @@ def compute_episode_stats(
             ep_ft_array = sample_images(data)
             axes_to_reduce = (0, 2, 3)
             keepdims = True
-        elif features[key]["dtype"] == "audio":
-            try:
-                ep_ft_array = sample_audio_from_path(data[0])
-            except TypeError:  # Should only be triggered for LeKiwi robot, for which audio is stored chunk by chunk in a visual frame-like manner
-                ep_ft_array = sample_audio_from_data(data)
-            axes_to_reduce = 0
-            keepdims = True
         else:
             ep_ft_array = data
             axes_to_reduce = 0
@@ -649,141 +624,3 @@ def aggregate_stats(stats_list: list[dict[str, dict]]) -> dict[str, dict[str, np
         aggregated_stats[key] = aggregate_feature_stats(stats_with_key)
 
     return aggregated_stats
-
-
-def _get_valid_chunk_starts(episode_indices: np.ndarray, chunk_size: int) -> np.ndarray:
-    """Return all start indices where a chunk of ``chunk_size`` stays within one episode."""
-    total = len(episode_indices)
-    if total < chunk_size:
-        return np.array([], dtype=np.int64)
-    max_start = total - chunk_size
-    starts = np.arange(max_start + 1)
-    valid = episode_indices[starts] == episode_indices[starts + chunk_size - 1]
-    return starts[valid]
-
-
-def _compute_relative_chunk_batch(
-    start_indices: np.ndarray,
-    all_actions: np.ndarray,
-    all_states: np.ndarray,
-    chunk_size: int,
-    relative_mask: np.ndarray,
-) -> np.ndarray:
-    """Vectorised relative-action computation for a batch of start indices.
-
-    Returns an ``(N * chunk_size, action_dim)`` float32 array.
-    """
-    if len(start_indices) == 0:
-        return np.empty((0, all_actions.shape[1]), dtype=np.float32)
-    offsets = np.arange(chunk_size)
-    frame_idx = start_indices[:, None] + offsets[None, :]
-    chunks = all_actions[frame_idx].copy()
-    states = all_states[start_indices]
-    mask_dim = len(relative_mask)
-    chunks[:, :, :mask_dim] -= states[:, None, :mask_dim] * relative_mask[None, None, :]
-    return chunks.reshape(-1, all_actions.shape[1])
-
-
-def compute_relative_action_stats(
-    hf_dataset,
-    features: dict,
-    chunk_size: int,
-    exclude_joints: list[str] | None = None,
-    num_workers: int = 0,
-) -> dict[str, np.ndarray]:
-    """Compute normalization statistics for relative actions over the full dataset.
-
-    Iterates *all* valid action chunks (within single episodes), converts them to
-    relative actions (action − current_state), and computes per-dimension
-    statistics suitable for normalization.
-
-    Args:
-        hf_dataset: The underlying HuggingFace dataset with "action",
-            "observation.state", and "episode_index" columns.
-        features: Dataset feature metadata (must contain "action" with "shape"
-            and optionally "names").
-        chunk_size: Number of consecutive frames per action chunk.
-        exclude_joints: Joint names whose dimensions should remain absolute
-            (not converted to relative actions).
-        num_workers: Number of parallel threads for computation. Values ≤1
-            mean single-threaded. Numpy releases the GIL so threads give
-            real parallelism here.
-
-    Returns:
-        Statistics dict with keys "mean", "std", "min", "max", "q01", …, "q99".
-
-    Raises:
-        ValueError: If the dataset has fewer frames than ``chunk_size``.
-        RuntimeError: If no valid (single-episode) chunks are found.
-    """
-    from lerobot.processor.relative_action_processor import RelativeActionsProcessorStep
-
-    if exclude_joints is None:
-        exclude_joints = []
-
-    action_dim = features[ACTION]["shape"][0]
-    action_names = features.get(ACTION, {}).get("names")
-    mask_step = RelativeActionsProcessorStep(
-        enabled=True,
-        exclude_joints=exclude_joints,
-        action_names=action_names,
-    )
-    relative_mask = np.array(mask_step._build_mask(action_dim), dtype=np.float32)
-
-    logging.info("Loading action/state data for relative action stats...")
-    all_actions = np.array(hf_dataset[ACTION], dtype=np.float32)
-    all_states = np.array(hf_dataset[OBS_STATE], dtype=np.float32)
-    episode_indices = np.array(hf_dataset["episode_index"])
-
-    valid_starts = _get_valid_chunk_starts(episode_indices, chunk_size)
-    if len(valid_starts) == 0:
-        raise RuntimeError(
-            f"No valid chunks found (total_frames={len(episode_indices)}, chunk_size={chunk_size})"
-        )
-
-    effective_workers = max(num_workers, 1)
-    logging.info(
-        f"Computing relative action stats from {len(valid_starts)} chunks "
-        f"(chunk_size={chunk_size}, workers={effective_workers})"
-    )
-
-    batch_size = 50_000
-    batches = [valid_starts[i : i + batch_size] for i in range(0, len(valid_starts), batch_size)]
-
-    running_stats = RunningQuantileStats()
-
-    if num_workers > 1:
-        from concurrent.futures import ThreadPoolExecutor, as_completed
-
-        with ThreadPoolExecutor(max_workers=num_workers) as pool:
-            futures = [
-                pool.submit(
-                    _compute_relative_chunk_batch,
-                    batch,
-                    all_actions,
-                    all_states,
-                    chunk_size,
-                    relative_mask,
-                )
-                for batch in batches
-            ]
-            for future in as_completed(futures):
-                running_stats.update(future.result())
-    else:
-        for batch in batches:
-            running_stats.update(
-                _compute_relative_chunk_batch(batch, all_actions, all_states, chunk_size, relative_mask)
-            )
-
-    stats = running_stats.get_statistics()
-
-    excluded_dims = int(len(relative_mask) - relative_mask.sum())
-    total_frames = len(valid_starts) * chunk_size
-    logging.info(
-        f"Relative action stats ({len(valid_starts)} chunks, {total_frames} frames): "
-        f"relative_dims={int(relative_mask.sum())}/{len(relative_mask)} (excluded={excluded_dims}), "
-        f"mean={np.abs(stats['mean']).mean():.4f}, std={stats['std'].mean():.4f}, "
-        f"q01={stats['q01'].mean():.4f}, q99={stats['q99'].mean():.4f}"
-    )
-
-    return stats

src/lerobot/datasets/dataset_metadata.py

@@ -1,720 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# 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 contextlib
-from pathlib import Path
-
-import numpy as np
-import packaging.version
-import pandas as pd
-import pyarrow as pa
-import pyarrow.parquet as pq
-from huggingface_hub import snapshot_download
-
-from lerobot.datasets.audio_utils import get_audio_info
-from lerobot.datasets.compute_stats import aggregate_stats
-from lerobot.datasets.feature_utils import _validate_feature_names, create_empty_dataset_info
-from lerobot.datasets.io_utils import (
-    get_file_size_in_mb,
-    load_episodes,
-    load_info,
-    load_stats,
-    load_subtasks,
-    load_tasks,
-    write_info,
-    write_json,
-    write_stats,
-    write_tasks,
-)
-from lerobot.datasets.utils import (
-    DEFAULT_EPISODES_PATH,
-    DEFAULT_FEATURES,
-    DEFAULT_INITIAL_AUDIO_BUFFER_DURATION,
-    INFO_PATH,
-    check_version_compatibility,
-    flatten_dict,
-    get_safe_version,
-    has_legacy_hub_download_metadata,
-    is_valid_version,
-    update_chunk_file_indices,
-)
-from lerobot.datasets.video_utils import get_video_info
-from lerobot.utils.constants import HF_LEROBOT_HOME, HF_LEROBOT_HUB_CACHE
-
-CODEBASE_VERSION = "v3.0"
-
-
-class LeRobotDatasetMetadata:
-    """Metadata container for a LeRobot dataset.
-
-    Manages the ``info.json``, ``stats.json``, ``tasks.parquet``, and
-    ``episodes/`` parquet files that describe a dataset's structure, content,
-    and statistics.
-    """
-
-    def __init__(
-        self,
-        repo_id: str,
-        root: str | Path | None = None,
-        revision: str | None = None,
-        force_cache_sync: bool = False,
-        metadata_buffer_size: int = 10,
-    ):
-        """Load or download metadata for an existing LeRobot dataset.
-
-        Attempts to load metadata from local disk. If files are missing or
-        ``force_cache_sync`` is ``True``, downloads the ``meta/`` directory from
-        the Hub.
-
-        Args:
-            repo_id: Repository identifier (e.g. ``'lerobot/aloha_sim'``).
-            root: Local directory for the dataset. When provided, Hub downloads
-                are materialized directly into this directory. When omitted,
-                existing local datasets are still looked up under
-                ``$HF_LEROBOT_HOME/{repo_id}``, but Hub downloads use a
-                revision-safe snapshot cache under
-                ``$HF_LEROBOT_HOME/hub``.
-            revision: Git revision (branch, tag, or commit hash). Defaults to
-                the current codebase version.
-            force_cache_sync: If ``True``, re-download metadata from the Hub
-                even when local files exist.
-            metadata_buffer_size: Number of episode metadata records to buffer
-                in memory before flushing to parquet.
-        """
-        self.repo_id = repo_id
-        self.revision = revision if revision else CODEBASE_VERSION
-        self._requested_root = Path(root) if root is not None else None
-        self.root = self._requested_root if self._requested_root is not None else HF_LEROBOT_HOME / repo_id
-        self._pq_writer = None
-        self.latest_episode = None
-        self._metadata_buffer: list[dict] = []
-        self._metadata_buffer_size = metadata_buffer_size
-        self._finalized = False
-
-        try:
-            if force_cache_sync or (
-                self._requested_root is None and has_legacy_hub_download_metadata(self.root)
-            ):
-                raise FileNotFoundError
-            self._load_metadata()
-        except (FileNotFoundError, NotADirectoryError):
-            if is_valid_version(self.revision):
-                self.revision = get_safe_version(self.repo_id, self.revision)
-
-            self._pull_from_repo(allow_patterns="meta/")
-            self._load_metadata()
-
-    def _flush_metadata_buffer(self) -> None:
-        """Write all buffered episode metadata to parquet file."""
-        if not hasattr(self, "_metadata_buffer") or len(self._metadata_buffer) == 0:
-            return
-
-        combined_dict = {}
-        for episode_dict in self._metadata_buffer:
-            for key, value in episode_dict.items():
-                if key not in combined_dict:
-                    combined_dict[key] = []
-                # Extract value and serialize numpy arrays
-                # because PyArrow's from_pydict function doesn't support numpy arrays
-                val = value[0] if isinstance(value, list) else value
-                combined_dict[key].append(val.tolist() if isinstance(val, np.ndarray) else val)
-
-        first_ep = self._metadata_buffer[0]
-        chunk_idx = first_ep["meta/episodes/chunk_index"][0]
-        file_idx = first_ep["meta/episodes/file_index"][0]
-
-        table = pa.Table.from_pydict(combined_dict)
-
-        if not self._pq_writer:
-            path = Path(self.root / DEFAULT_EPISODES_PATH.format(chunk_index=chunk_idx, file_index=file_idx))
-            path.parent.mkdir(parents=True, exist_ok=True)
-            self._pq_writer = pq.ParquetWriter(
-                path, schema=table.schema, compression="snappy", use_dictionary=True
-            )
-
-        self._pq_writer.write_table(table)
-
-        self.latest_episode = self._metadata_buffer[-1]
-        self._metadata_buffer.clear()
-
-    def _close_writer(self) -> None:
-        """Close and cleanup the parquet writer if it exists."""
-        self._flush_metadata_buffer()
-
-        writer = getattr(self, "_pq_writer", None)
-        if writer is not None:
-            writer.close()
-            self._pq_writer = None
-
-    def finalize(self) -> None:
-        """Flush metadata buffer and close the parquet writer.
-
-        Idempotent — safe to call multiple times.
-        """
-        if getattr(self, "_finalized", False):
-            return
-        self._close_writer()
-        self._finalized = True
-
-    def __del__(self):
-        """Safety net: flush and close parquet writer on garbage collection."""
-        # During interpreter shutdown, referenced objects may already be collected.
-        with contextlib.suppress(Exception):
-            self.finalize()
-
-    def _load_metadata(self):
-        self.info = load_info(self.root)
-        check_version_compatibility(self.repo_id, self._version, CODEBASE_VERSION)
-        self.tasks = load_tasks(self.root)
-        self.subtasks = load_subtasks(self.root)
-        self.episodes = load_episodes(self.root)
-        self.stats = load_stats(self.root)
-
-    def _pull_from_repo(
-        self,
-        allow_patterns: list[str] | str | None = None,
-        ignore_patterns: list[str] | str | None = None,
-    ) -> None:
-        if self._requested_root is None:
-            self.root = Path(
-                snapshot_download(
-                    self.repo_id,
-                    repo_type="dataset",
-                    revision=self.revision,
-                    cache_dir=HF_LEROBOT_HUB_CACHE,
-                    allow_patterns=allow_patterns,
-                    ignore_patterns=ignore_patterns,
-                )
-            )
-            return
-
-        self._requested_root.mkdir(exist_ok=True, parents=True)
-        snapshot_download(
-            self.repo_id,
-            repo_type="dataset",
-            revision=self.revision,
-            local_dir=self._requested_root,
-            allow_patterns=allow_patterns,
-            ignore_patterns=ignore_patterns,
-        )
-        self.root = self._requested_root
-
-    @property
-    def url_root(self) -> str:
-        """Hugging Face Hub URL root for this dataset."""
-        return f"hf://datasets/{self.repo_id}"
-
-    @property
-    def _version(self) -> packaging.version.Version:
-        """Codebase version used to create this dataset."""
-        return packaging.version.parse(self.info["codebase_version"])
-
-    def get_data_file_path(self, ep_index: int) -> Path:
-        """Return the relative parquet file path for the given episode index.
-
-        Args:
-            ep_index: Zero-based episode index.
-
-        Returns:
-            Path to the parquet file containing this episode's data.
-
-        Raises:
-            IndexError: If ``ep_index`` is out of range.
-        """
-        if self.episodes is None:
-            self.episodes = load_episodes(self.root)
-        if ep_index >= len(self.episodes):
-            raise IndexError(
-                f"Episode index {ep_index} out of range. Episodes: {len(self.episodes) if self.episodes else 0}"
-            )
-        ep = self.episodes[ep_index]
-        chunk_idx = ep["data/chunk_index"]
-        file_idx = ep["data/file_index"]
-        fpath = self.data_path.format(chunk_index=chunk_idx, file_index=file_idx)
-        return Path(fpath)
-
-    def get_video_file_path(self, ep_index: int, vid_key: str) -> Path:
-        """Return the relative video file path for the given episode and video key.
-
-        Args:
-            ep_index: Zero-based episode index.
-            vid_key: Feature key identifying the video stream
-                (e.g. ``'observation.images.laptop'``).
-
-        Returns:
-            Path to the video file containing this episode's frames.
-
-        Raises:
-            IndexError: If ``ep_index`` is out of range.
-        """
-        if self.episodes is None:
-            self.episodes = load_episodes(self.root)
-        if ep_index >= len(self.episodes):
-            raise IndexError(
-                f"Episode index {ep_index} out of range. Episodes: {len(self.episodes) if self.episodes else 0}"
-            )
-        ep = self.episodes[ep_index]
-        chunk_idx = ep[f"videos/{vid_key}/chunk_index"]
-        file_idx = ep[f"videos/{vid_key}/file_index"]
-        fpath = self.video_path.format(video_key=vid_key, chunk_index=chunk_idx, file_index=file_idx)
-        return Path(fpath)
-
-    def get_audio_file_path(self, ep_index: int, audio_key: str) -> Path:
-        """Return the relative audio file path for the given episode and audio key.
-
-        Args:
-            ep_index: Zero-based episode index.
-            audio_key: Feature key identifying the audio stream
-                (e.g. ``'observation.audio.microphone'``).
-
-        Returns:
-            Path to the audio file containing this episode's audio.
-
-        Raises:
-            IndexError: If ``ep_index`` is out of range.
-        """
-        if self.episodes is None:
-            self.episodes = load_episodes(self.root)
-        if ep_index >= len(self.episodes):
-            raise IndexError(
-                f"Episode index {ep_index} out of range. Episodes: {len(self.episodes) if self.episodes else 0}"
-            )
-        ep = self.episodes[ep_index]
-        chunk_idx = ep[f"audio/{audio_key}/chunk_index"]
-        file_idx = ep[f"audio/{audio_key}/file_index"]
-        fpath = self.audio_path.format(audio_key=audio_key, chunk_index=chunk_idx, file_index=file_idx)
-        return Path(fpath)
-
-    @property
-    def data_path(self) -> str:
-        """Formattable string for the parquet files."""
-        return self.info["data_path"]
-
-    @property
-    def video_path(self) -> str | None:
-        """Formattable string for the video files."""
-        return self.info["video_path"]
-
-    @property
-    def audio_path(self) -> str | None:
-        """Formattable string for the audio files."""
-        return self.info["audio_path"]
-
-    @property
-    def robot_type(self) -> str | None:
-        """Robot type used in recording this dataset."""
-        return self.info["robot_type"]
-
-    @property
-    def fps(self) -> int:
-        """Frames per second used during data collection."""
-        return self.info["fps"]
-
-    @property
-    def features(self) -> dict[str, dict]:
-        """All features contained in the dataset."""
-        return self.info["features"]
-
-    @property
-    def image_keys(self) -> list[str]:
-        """Keys to access visual modalities stored as images."""
-        return [key for key, ft in self.features.items() if ft["dtype"] == "image"]
-
-    @property
-    def video_keys(self) -> list[str]:
-        """Keys to access visual modalities stored as videos."""
-        return [key for key, ft in self.features.items() if ft["dtype"] == "video"]
-
-    @property
-    def camera_keys(self) -> list[str]:
-        """Keys to access visual modalities (regardless of their storage method)."""
-        return [key for key, ft in self.features.items() if ft["dtype"] in ["video", "image"]]
-
-    @property
-    def audio_keys(self) -> list[str]:
-        """Keys to access audio modalities."""
-        return [key for key, ft in self.features.items() if ft["dtype"] == "audio"]
-
-    @property
-    def names(self) -> dict[str, list | dict]:
-        """Names of the various dimensions of vector modalities."""
-        return {key: ft["names"] for key, ft in self.features.items()}
-
-    @property
-    def shapes(self) -> dict:
-        """Shapes for the different features."""
-        return {key: tuple(ft["shape"]) for key, ft in self.features.items()}
-
-    @property
-    def total_episodes(self) -> int:
-        """Total number of episodes available."""
-        return self.info["total_episodes"]
-
-    @property
-    def total_frames(self) -> int:
-        """Total number of frames saved in this dataset."""
-        return self.info["total_frames"]
-
-    @property
-    def total_tasks(self) -> int:
-        """Total number of different tasks performed in this dataset."""
-        return self.info["total_tasks"]
-
-    @property
-    def chunks_size(self) -> int:
-        """Max number of files per chunk."""
-        return self.info["chunks_size"]
-
-    @property
-    def data_files_size_in_mb(self) -> int:
-        """Max size of data file in mega bytes."""
-        return self.info["data_files_size_in_mb"]
-
-    @property
-    def video_files_size_in_mb(self) -> int:
-        """Max size of video file in mega bytes."""
-        return self.info["video_files_size_in_mb"]
-
-    @property
-    def audio_files_size_in_mb(self) -> int:
-        """Max size of audio file in mega bytes."""
-        return self.info["audio_files_size_in_mb"]
-
-    def get_task_index(self, task: str) -> int | None:
-        """
-        Given a task in natural language, returns its task_index if the task already exists in the dataset,
-        otherwise return None.
-        """
-        if task in self.tasks.index:
-            return int(self.tasks.loc[task].task_index)
-        else:
-            return None
-
-    def save_episode_tasks(self, tasks: list[str]):
-        """Register tasks for the current episode and persist to disk.
-
-        New tasks that do not already exist in the dataset are assigned
-        sequential task indices and appended to the tasks parquet file.
-
-        Args:
-            tasks: List of unique task descriptions in natural language.
-
-        Raises:
-            ValueError: If ``tasks`` contains duplicates.
-        """
-        if len(set(tasks)) != len(tasks):
-            raise ValueError(f"Tasks are not unique: {tasks}")
-
-        if self.tasks is None:
-            new_tasks = tasks
-            task_indices = range(len(tasks))
-            self.tasks = pd.DataFrame({"task_index": task_indices}, index=pd.Index(tasks, name="task"))
-        else:
-            new_tasks = [task for task in tasks if task not in self.tasks.index]
-            new_task_indices = range(len(self.tasks), len(self.tasks) + len(new_tasks))
-            for task_idx, task in zip(new_task_indices, new_tasks, strict=False):
-                self.tasks.loc[task] = task_idx
-
-        if len(new_tasks) > 0:
-            # Update on disk
-            write_tasks(self.tasks, self.root)
-
-    def _save_episode_metadata(self, episode_dict: dict) -> None:
-        """Buffer episode metadata and write to parquet in batches for efficiency.
-
-        This function accumulates episode metadata in a buffer and flushes it when the buffer
-        reaches the configured size. This reduces I/O overhead by writing multiple episodes
-        at once instead of one row at a time.
-
-        Notes: We both need to update parquet files and HF dataset:
-        - `pandas` loads parquet file in RAM
-        - `datasets` relies on a memory mapping from pyarrow (no RAM). It either converts parquet files to a pyarrow cache on disk,
-          or loads directly from pyarrow cache.
-        """
-        # Convert to list format for each value
-        episode_dict = {key: [value] for key, value in episode_dict.items()}
-        num_frames = episode_dict["length"][0]
-
-        if self.latest_episode is None:
-            # Initialize indices and frame count for a new dataset made of the first episode data
-            chunk_idx, file_idx = 0, 0
-            if self.episodes is not None and len(self.episodes) > 0:
-                # It means we are resuming recording, so we need to load the latest episode
-                # Update the indices to avoid overwriting the latest episode
-                chunk_idx = self.episodes[-1]["meta/episodes/chunk_index"]
-                file_idx = self.episodes[-1]["meta/episodes/file_index"]
-                latest_num_frames = self.episodes[-1]["dataset_to_index"]
-                episode_dict["dataset_from_index"] = [latest_num_frames]
-                episode_dict["dataset_to_index"] = [latest_num_frames + num_frames]
-
-                # When resuming, move to the next file
-                chunk_idx, file_idx = update_chunk_file_indices(chunk_idx, file_idx, self.chunks_size)
-            else:
-                episode_dict["dataset_from_index"] = [0]
-                episode_dict["dataset_to_index"] = [num_frames]
-
-            episode_dict["meta/episodes/chunk_index"] = [chunk_idx]
-            episode_dict["meta/episodes/file_index"] = [file_idx]
-        else:
-            chunk_idx = self.latest_episode["meta/episodes/chunk_index"][0]
-            file_idx = self.latest_episode["meta/episodes/file_index"][0]
-
-            latest_path = (
-                self.root / DEFAULT_EPISODES_PATH.format(chunk_index=chunk_idx, file_index=file_idx)
-                if self._pq_writer is None
-                else self._pq_writer.where
-            )
-
-            if Path(latest_path).exists():
-                latest_size_in_mb = get_file_size_in_mb(Path(latest_path))
-                latest_num_frames = self.latest_episode["episode_index"][0]
-
-                av_size_per_frame = latest_size_in_mb / latest_num_frames if latest_num_frames > 0 else 0.0
-
-                if latest_size_in_mb + av_size_per_frame * num_frames >= self.data_files_size_in_mb:
-                    # Size limit is reached, flush buffer and prepare new parquet file
-                    self._flush_metadata_buffer()
-                    chunk_idx, file_idx = update_chunk_file_indices(chunk_idx, file_idx, self.chunks_size)
-                    self._close_writer()
-
-            # Update the existing pandas dataframe with new row
-            episode_dict["meta/episodes/chunk_index"] = [chunk_idx]
-            episode_dict["meta/episodes/file_index"] = [file_idx]
-            episode_dict["dataset_from_index"] = [self.latest_episode["dataset_to_index"][0]]
-            episode_dict["dataset_to_index"] = [self.latest_episode["dataset_to_index"][0] + num_frames]
-
-        # Add to buffer
-        self._metadata_buffer.append(episode_dict)
-        self.latest_episode = episode_dict
-
-        if len(self._metadata_buffer) >= self._metadata_buffer_size:
-            self._flush_metadata_buffer()
-
-    def save_episode(
-        self,
-        episode_index: int,
-        episode_length: int,
-        episode_tasks: list[str],
-        episode_stats: dict[str, dict],
-        episode_metadata: dict,
-    ) -> None:
-        """Persist episode metadata, update dataset info, and aggregate stats.
-
-        Writes the episode's metadata to the buffered parquet writer, increments
-        the total episode/frame counters in ``info.json``, and merges the
-        episode's statistics into the running dataset statistics.
-
-        Args:
-            episode_index: Zero-based index of the episode being saved.
-            episode_length: Number of frames in this episode.
-            episode_tasks: List of task descriptions for this episode.
-            episode_stats: Per-feature statistics for this episode.
-            episode_metadata: Additional metadata (chunk/file indices, frame
-                ranges, video timestamps, etc.).
-        """
-        episode_dict = {
-            "episode_index": episode_index,
-            "tasks": episode_tasks,
-            "length": episode_length,
-        }
-        episode_dict.update(episode_metadata)
-        episode_dict.update(flatten_dict({"stats": episode_stats}))
-        self._save_episode_metadata(episode_dict)
-
-        # Update info
-        self.info["total_episodes"] += 1
-        self.info["total_frames"] += episode_length
-        self.info["total_tasks"] = len(self.tasks)
-        self.info["splits"] = {"train": f"0:{self.info['total_episodes']}"}
-
-        write_info(self.info, self.root)
-
-        self.stats = aggregate_stats([self.stats, episode_stats]) if self.stats is not None else episode_stats
-        write_stats(self.stats, self.root)
-
-    def update_video_info(self, video_key: str | None = None) -> None:
-        """
-        Warning: this function writes info from first episode videos, implicitly assuming that all videos have
-        been encoded the same way. Also, this means it assumes the first episode exists.
-        """
-        if video_key is not None and video_key not in self.video_keys:
-            raise ValueError(f"Video key {video_key} not found in dataset")
-
-        video_keys = [video_key] if video_key is not None else self.video_keys
-        for key in video_keys:
-            if not self.features[key].get("info", None):
-                video_path = self.root / self.video_path.format(video_key=key, chunk_index=0, file_index=0)
-                self.info["features"][key]["info"] = get_video_info(video_path)
-
-    def update_audio_info(self, audio_key: str | None = None) -> None:
-        """
-        Warning: this function writes info from first episode audio, implicitly assuming that all audio have
-        been encoded the same way. Also, this means it assumes the first episode exists.
-        """
-        if audio_key is not None and audio_key not in self.audio_keys:
-            raise ValueError(f"Audio key {audio_key} not found in dataset")
-
-        audio_keys = [audio_key] if audio_key is not None else self.audio_keys
-        for key in audio_keys:
-            if not self.features[key].get("info", None):
-                audio_path = self.root / self.audio_path.format(audio_key=key, chunk_index=0, file_index=0)
-                self.info["features"][key]["info"] = get_audio_info(audio_path)
-                self.info["features"][key]["info"]["start_time_s"] = DEFAULT_INITIAL_AUDIO_BUFFER_DURATION
-
-    def update_chunk_settings(
-        self,
-        chunks_size: int | None = None,
-        data_files_size_in_mb: int | None = None,
-        video_files_size_in_mb: int | None = None,
-        audio_files_size_in_mb: int | None = None,
-    ) -> None:
-        """Update chunk and file size settings after dataset creation.
-
-        This allows users to customize storage organization without modifying the constructor.
-        These settings control how episodes are chunked and how large files can grow before
-        creating new ones.
-
-        Args:
-            chunks_size: Maximum number of files per chunk directory. If None, keeps current value.
-            data_files_size_in_mb: Maximum size for data parquet files in MB. If None, keeps current value.
-            video_files_size_in_mb: Maximum size for video files in MB. If None, keeps current value.
-            audio_files_size_in_mb: Maximum size for audio files in MB. If None, keeps current value.
-        """
-        if chunks_size is not None:
-            if chunks_size <= 0:
-                raise ValueError(f"chunks_size must be positive, got {chunks_size}")
-            self.info["chunks_size"] = chunks_size
-
-        if data_files_size_in_mb is not None:
-            if data_files_size_in_mb <= 0:
-                raise ValueError(f"data_files_size_in_mb must be positive, got {data_files_size_in_mb}")
-            self.info["data_files_size_in_mb"] = data_files_size_in_mb
-
-        if video_files_size_in_mb is not None:
-            if video_files_size_in_mb <= 0:
-                raise ValueError(f"video_files_size_in_mb must be positive, got {video_files_size_in_mb}")
-            self.info["video_files_size_in_mb"] = video_files_size_in_mb
-
-        if audio_files_size_in_mb is not None:
-            if audio_files_size_in_mb <= 0:
-                raise ValueError(f"audio_files_size_in_mb must be positive, got {audio_files_size_in_mb}")
-            self.info["audio_files_size_in_mb"] = audio_files_size_in_mb
-
-        # Update the info file on disk
-        write_info(self.info, self.root)
-
-    def get_chunk_settings(self) -> dict[str, int]:
-        """Get current chunk and file size settings.
-
-        Returns:
-            Dict containing chunks_size, data_files_size_in_mb, video_files_size_in_mb, and audio_files_size_in_mb.
-        """
-        return {
-            "chunks_size": self.chunks_size,
-            "data_files_size_in_mb": self.data_files_size_in_mb,
-            "video_files_size_in_mb": self.video_files_size_in_mb,
-            "audio_files_size_in_mb": self.audio_files_size_in_mb,
-        }
-
-    def __repr__(self):
-        feature_keys = list(self.features)
-        return (
-            f"{self.__class__.__name__}({{\n"
-            f"    Repository ID: '{self.repo_id}',\n"
-            f"    Total episodes: '{self.total_episodes}',\n"
-            f"    Total frames: '{self.total_frames}',\n"
-            f"    Features: '{feature_keys}',\n"
-            "})',\n"
-        )
-
-    @classmethod
-    def create(
-        cls,
-        repo_id: str,
-        fps: int,
-        features: dict,
-        robot_type: str | None = None,
-        root: str | Path | None = None,
-        use_videos: bool = True,
-        metadata_buffer_size: int = 10,
-        chunks_size: int | None = None,
-        data_files_size_in_mb: int | None = None,
-        video_files_size_in_mb: int | None = None,
-        audio_files_size_in_mb: int | None = None,
-    ) -> "LeRobotDatasetMetadata":
-        """Create metadata for a new LeRobot dataset from scratch.
-
-        Initializes the ``info.json`` file on disk with the provided feature
-        schema and dataset settings. No episode data is written yet.
-
-        Args:
-            repo_id: Repository identifier (e.g. ``'user/my_dataset'``).
-            fps: Frames per second used during data collection.
-            features: Feature specification dict mapping feature names to their
-                type/shape metadata.
-            robot_type: Optional robot type string stored in metadata.
-            root: Local directory for the dataset. Defaults to
-                ``$HF_LEROBOT_HOME/{repo_id}``. Must not already exist.
-            use_videos: If ``True``, visual modalities are encoded as MP4 videos.
-            metadata_buffer_size: Number of episode metadata records to buffer
-                before flushing to parquet.
-            chunks_size: Max number of files per chunk directory. ``None`` uses
-                the default.
-            data_files_size_in_mb: Max parquet file size in MB. ``None`` uses the
-                default.
-            video_files_size_in_mb: Max video file size in MB. ``None`` uses the
-                default.
-
-        Returns:
-            A new :class:`LeRobotDatasetMetadata` instance.
-        """
-        obj = cls.__new__(cls)
-        obj.repo_id = repo_id
-        obj._requested_root = Path(root) if root is not None else None
-        obj.root = obj._requested_root if obj._requested_root is not None else HF_LEROBOT_HOME / repo_id
-
-        obj.root.mkdir(parents=True, exist_ok=False)
-
-        features = {**features, **DEFAULT_FEATURES}
-        _validate_feature_names(features)
-
-        obj.tasks = None
-        obj.subtasks = None
-        obj.episodes = None
-        obj.stats = None
-        obj.info = create_empty_dataset_info(
-            CODEBASE_VERSION,
-            fps,
-            features,
-            use_videos,
-            robot_type,
-            chunks_size,
-            data_files_size_in_mb,
-            video_files_size_in_mb,
-            audio_files_size_in_mb,
-        )
-        if len(obj.video_keys) > 0 and not use_videos:
-            raise ValueError(
-                f"Features contain video keys {obj.video_keys}, but 'use_videos' is set to False. "
-                "Either remove video features from the features dict, or set 'use_videos=True'."
-            )
-        write_json(obj.info, obj.root / INFO_PATH)
-        obj.revision = None
-        obj._pq_writer = None
-        obj.latest_episode = None
-        obj._metadata_buffer = []
-        obj._metadata_buffer_size = metadata_buffer_size
-        obj._finalized = False
-        return obj

src/lerobot/datasets/dataset_reader.py

@@ -1,329 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# 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.
-"""Private reader component for LeRobotDataset. Handles random-access reading (HF dataset, delta indices, video decoding)."""
-
-from collections.abc import Callable
-from pathlib import Path
-
-import datasets
-import torch
-
-from lerobot.datasets.audio_utils import decode_audio
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.feature_utils import (
-    check_delta_timestamps,
-    get_delta_indices,
-    get_hf_features_from_features,
-)
-from lerobot.datasets.utils import DEFAULT_AUDIO_CHUNK_DURATION
-from lerobot.datasets.io_utils import (
-    hf_transform_to_torch,
-    load_nested_dataset,
-)
-from lerobot.datasets.video_utils import decode_video_frames
-
-
-class DatasetReader:
-    """Encapsulates read-side state and methods for LeRobotDataset.
-
-    Owns: hf_dataset, _absolute_to_relative_idx, delta_indices.
-    """
-
-    def __init__(
-        self,
-        meta: LeRobotDatasetMetadata,
-        root: Path,
-        episodes: list[int] | None,
-        tolerance_s: float,
-        video_backend: str,
-        delta_timestamps: dict[str, list[float]] | None,
-        image_transforms: Callable | None,
-    ):
-        """Initialize the reader with metadata, filtering, and transform config.
-
-        The HF dataset is not loaded here — call :meth:`try_load` or
-        :meth:`load_and_activate` afterward.
-
-        Args:
-            meta: Dataset metadata instance.
-            root: Local dataset root directory.
-            episodes: Optional list of episode indices to select. ``None``
-                means all episodes.
-            tolerance_s: Timestamp synchronization tolerance in seconds.
-            video_backend: Video decoding backend identifier.
-            delta_timestamps: Optional dict mapping feature keys to lists of
-                relative timestamp offsets for temporal context windows.
-            image_transforms: Optional torchvision v2 transform applied to
-                visual features.
-        """
-        self._meta = meta
-        self.root = root
-        self.episodes = episodes
-        self._tolerance_s = tolerance_s
-        self._video_backend = video_backend
-        self._image_transforms = image_transforms
-
-        self.hf_dataset: datasets.Dataset | None = None
-        self._absolute_to_relative_idx: dict[int, int] | None = None
-
-        # Setup delta_indices (doesn't depend on hf_dataset)
-        self.delta_indices = None
-        if delta_timestamps is not None:
-            check_delta_timestamps(delta_timestamps, meta.fps, tolerance_s)
-            self.delta_indices = get_delta_indices(delta_timestamps, meta.fps)
-
-    def try_load(self) -> bool:
-        """Attempt to load from local cache. Returns True if data is sufficient."""
-        try:
-            self.hf_dataset = self._load_hf_dataset()
-        except (FileNotFoundError, NotADirectoryError):
-            self.hf_dataset = None
-            return False
-        if not self._check_cached_episodes_sufficient():
-            self.hf_dataset = None
-            return False
-        self._build_index_mapping()
-        return True
-
-    def load_and_activate(self) -> None:
-        """Load HF dataset from disk and build index mapping. Call after data is on disk."""
-        self.hf_dataset = self._load_hf_dataset()
-        self._build_index_mapping()
-
-    def _build_index_mapping(self) -> None:
-        """Build absolute-to-relative index mapping from loaded hf_dataset."""
-        self._absolute_to_relative_idx = None
-        if self.episodes is not None and self.hf_dataset is not None:
-            self._absolute_to_relative_idx = {
-                abs_idx.item() if isinstance(abs_idx, torch.Tensor) else abs_idx: rel_idx
-                for rel_idx, abs_idx in enumerate(self.hf_dataset["index"])
-            }
-
-    @property
-    def num_frames(self) -> int:
-        """Number of frames in selected episodes."""
-        if self.episodes is not None and self.hf_dataset is not None:
-            return len(self.hf_dataset)
-        return self._meta.total_frames
-
-    @property
-    def num_episodes(self) -> int:
-        """Number of episodes selected."""
-        return len(self.episodes) if self.episodes is not None else self._meta.total_episodes
-
-    def _load_hf_dataset(self) -> datasets.Dataset:
-        """hf_dataset contains all the observations, states, actions, rewards, etc."""
-        features = get_hf_features_from_features(self._meta.features)
-        hf_dataset = load_nested_dataset(self.root / "data", features=features, episodes=self.episodes)
-        hf_dataset.set_transform(hf_transform_to_torch)
-        return hf_dataset
-
-    def _check_cached_episodes_sufficient(self) -> bool:
-        """Check if the cached dataset contains all requested episodes and their video and audio files."""
-        if self.hf_dataset is None or len(self.hf_dataset) == 0:
-            return False
-
-        available_episodes = {
-            ep_idx.item() if isinstance(ep_idx, torch.Tensor) else ep_idx
-            for ep_idx in self.hf_dataset.unique("episode_index")
-        }
-
-        if self.episodes is None:
-            requested_episodes = set(range(self._meta.total_episodes))
-        else:
-            requested_episodes = set(self.episodes)
-
-        if not requested_episodes.issubset(available_episodes):
-            return False
-
-        if len(self._meta.video_keys) > 0:
-            for ep_idx in requested_episodes:
-                for vid_key in self._meta.video_keys:
-                    video_path = self.root / self._meta.get_video_file_path(ep_idx, vid_key)
-                    if not video_path.exists():
-                        return False
-
-        if len(self._meta.audio_keys) > 0:
-            for ep_idx in requested_episodes:
-                for audio_key in self._meta.audio_keys:
-                    audio_path = self.root / self._meta.get_compressed_audio_file_path(ep_idx, audio_key)
-                    if not audio_path.exists():
-                        return False
-
-        return True
-
-    def get_episodes_file_paths(self) -> list[Path]:
-        """Return deduplicated file paths (data + video) for selected episodes.
-
-        Used to build the ``allow_patterns`` list for ``snapshot_download``.
-        """
-        episodes = self.episodes if self.episodes is not None else list(range(self._meta.total_episodes))
-        fpaths = [str(self._meta.get_data_file_path(ep_idx)) for ep_idx in episodes]
-        if len(self._meta.video_keys) > 0:
-            video_files = [
-                str(self._meta.get_video_file_path(ep_idx, vid_key))
-                for vid_key in self._meta.video_keys
-                for ep_idx in episodes
-            ]
-            fpaths += video_files
-
-        if len(self._meta.audio_keys) > 0:
-            audio_files = [
-                str(self._meta.get_compressed_audio_file_path(ep_idx, audio_key))
-                for audio_key in self._meta.audio_keys
-                for ep_idx in episodes
-            ]
-            fpaths += audio_files
-
-        # episodes are stored in the same files, so we return unique paths only
-        fpaths = list(set(fpaths))
-        return fpaths
-
-    def _get_query_indices(
-        self, abs_idx: int, ep_idx: int
-    ) -> tuple[dict[str, list[int]], dict[str, torch.Tensor]]:
-        """Compute query indices for delta timestamps."""
-        ep = self._meta.episodes[ep_idx]
-        ep_start = ep["dataset_from_index"]
-        ep_end = ep["dataset_to_index"]
-        query_indices = {
-            key: [max(ep_start, min(ep_end - 1, abs_idx + delta)) for delta in delta_idx]
-            for key, delta_idx in self.delta_indices.items()
-        }
-        padding = {
-            f"{key}_is_pad": torch.BoolTensor(
-                [(abs_idx + delta < ep_start) | (abs_idx + delta >= ep_end) for delta in delta_idx]
-            )
-            for key, delta_idx in self.delta_indices.items()
-        }
-        return query_indices, padding
-
-    def _get_query_timestamps(
-        self,
-        current_ts: float,
-        query_indices: dict[str, list[int]] | None = None,
-    ) -> dict[str, list[float]]:
-        query_timestamps = {}
-        for key in self._meta.video_keys + self._meta.audio_keys:
-            if query_indices is not None and key in query_indices:
-                if self._absolute_to_relative_idx is not None:
-                    relative_indices = [self._absolute_to_relative_idx[idx] for idx in query_indices[key]]
-                    timestamps = self.hf_dataset[relative_indices]["timestamp"]
-                else:
-                    timestamps = self.hf_dataset[query_indices[key]]["timestamp"]
-                query_timestamps[key] = torch.stack(timestamps).tolist()
-            else:
-                query_timestamps[key] = [current_ts]
-
-        return query_timestamps
-
-    def _query_hf_dataset(self, query_indices: dict[str, list[int]]) -> dict:
-        """Query dataset for indices across keys, skipping video and audio keys."""
-        result: dict = {}
-        for key, q_idx in query_indices.items():
-            if key in self._meta.video_keys or key in self._meta.audio_keys:
-                continue
-            relative_indices = (
-                q_idx
-                if self._absolute_to_relative_idx is None
-                else [self._absolute_to_relative_idx[idx] for idx in q_idx]
-            )
-            try:
-                result[key] = torch.stack(self.hf_dataset[key][relative_indices])
-            except (KeyError, TypeError, IndexError):
-                result[key] = torch.stack(self.hf_dataset[relative_indices][key])
-        return result
-
-    def _query_videos(self, query_timestamps: dict[str, list[float]], ep_idx: int) -> dict[str, torch.Tensor]:
-        """Note: When using data workers (e.g. DataLoader with num_workers>0), do not call this function
-        in the main process (e.g. by using a second Dataloader with num_workers=0). It will result in a
-        Segmentation Fault.
-        """
-        ep = self._meta.episodes[ep_idx]
-        item = {}
-        for vid_key, query_ts in query_timestamps.items():
-            from_timestamp = ep[f"videos/{vid_key}/from_timestamp"]
-            shifted_query_ts = [from_timestamp + ts for ts in query_ts]
-
-            video_path = self.root / self._meta.get_video_file_path(ep_idx, vid_key)
-            frames = decode_video_frames(video_path, shifted_query_ts, self._tolerance_s, self._video_backend)
-            item[vid_key] = frames.squeeze(0)
-
-        return item
-
-    # TODO(CarolinePascal): add variable query durations
-    def _query_audio(
-        self, query_timestamps: dict[str, list[float]], query_duration: float, ep_idx: int
-    ) -> dict[str, torch.Tensor]:
-        ep = self.meta.episodes[ep_idx]
-        item = {}
-        for audio_key, query_ts in query_timestamps.items():
-            # Episodes are stored sequentially on a single mp4 to reduce the number of files.
-            # Thus we load the start timestamp of the episode on this mp4 and,
-            # shift the query timestamp accordingly.
-            from_timestamp = ep[f"audio/{audio_key}/from_timestamp"]
-            shifted_query_ts = [from_timestamp + ts for ts in query_ts]
-
-            audio_path = self.root / self.meta.get_audio_file_path(ep_idx, audio_key)
-            start_time_s = self.meta.features[audio_key]["info"].get("start_time_s", 0.0)
-            audio_chunk = decode_audio(
-                audio_path, shifted_query_ts, query_duration, start_time_s, self.audio_backend
-            )
-            item[audio_key] = audio_chunk.squeeze(0)
-
-        return item
-
-    def get_item(self, idx) -> dict:
-        """Core __getitem__ logic. Assumes hf_dataset is loaded.
-
-        ``idx`` is a *relative* index into the (possibly episode-filtered)
-        HF dataset, **not** the absolute frame index stored in the ``index``
-        column.  The absolute index is retrieved from the row itself.
-        """
-        item = self.hf_dataset[idx]
-        ep_idx = item["episode_index"].item()
-        abs_idx = item["index"].item()
-
-        query_indices = None
-        if self.delta_indices is not None:
-            query_indices, padding = self._get_query_indices(abs_idx, ep_idx)
-            query_result = self._query_hf_dataset(query_indices)
-            item = {**item, **padding}
-            for key, val in query_result.items():
-                item[key] = val
-
-        if len(self._meta.video_keys) > 0 or len(self._meta.audio_keys) > 0:
-            current_ts = item["timestamp"].item()
-            query_timestamps = self._get_query_timestamps(current_ts, query_indices)
-            video_frames = self._query_videos(query_timestamps, ep_idx)
-            audio_chunks = self._query_audio(query_timestamps, DEFAULT_AUDIO_CHUNK_DURATION, ep_idx)
-            item = {**video_frames, **audio_chunks, **item}
-
-        if self._image_transforms is not None:
-            image_keys = self._meta.camera_keys
-            for cam in image_keys:
-                item[cam] = self._image_transforms(item[cam])
-
-        # Add task as a string
-        task_idx = item["task_index"].item()
-        item["task"] = self._meta.tasks.iloc[task_idx].name
-
-        # add subtask information if available
-        if "subtask_index" in self._meta.features and self._meta.subtasks is not None:
-            subtask_idx = item["subtask_index"].item()
-            item["subtask"] = self._meta.subtasks.iloc[subtask_idx].name
-
-        return item

src/lerobot/datasets/dataset_tools.py

@@ -37,30 +37,24 @@ import torch
 from tqdm import tqdm
 
 from lerobot.datasets.aggregate import aggregate_datasets
-from lerobot.datasets.compute_stats import (
-    aggregate_stats,
-    compute_episode_stats,
-    compute_relative_action_stats,
-)
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.io_utils import (
-    get_parquet_file_size_in_mb,
-    load_episodes,
-    write_info,
-    write_stats,
-    write_tasks,
-)
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.compute_stats import aggregate_stats
+from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata
 from lerobot.datasets.utils import (
     DATA_DIR,
     DEFAULT_CHUNK_SIZE,
     DEFAULT_DATA_FILE_SIZE_IN_MB,
     DEFAULT_DATA_PATH,
     DEFAULT_EPISODES_PATH,
+    get_parquet_file_size_in_mb,
+    load_episodes,
+    load_info,
     update_chunk_file_indices,
+    write_info,
+    write_stats,
+    write_tasks,
 )
 from lerobot.datasets.video_utils import encode_video_frames, get_video_info
-from lerobot.utils.constants import ACTION, HF_LEROBOT_HOME, OBS_IMAGE, OBS_STATE
+from lerobot.utils.constants import HF_LEROBOT_HOME, OBS_IMAGE
 
 
 def _load_episode_with_stats(src_dataset: LeRobotDataset, episode_idx: int) -> dict:
@@ -96,8 +90,8 @@ def delete_episodes(
     Args:
         dataset: The source LeRobotDataset.
         episode_indices: List of episode indices to delete.
-        output_dir: Root directory where the edited dataset will be stored. If not specified, defaults to $HF_LEROBOT_HOME/repo_id. Equivalent to new_root in EditDatasetConfig.
-        repo_id: Edited dataset identifier. Equivalent to new_repo_id in EditDatasetConfig.
+        output_dir: Directory to save the new dataset. If None, uses default location.
+        repo_id: Repository ID for the new dataset. If None, appends "_modified" to original.
     """
     if not episode_indices:
         raise ValueError("No episodes to delete")
@@ -159,7 +153,7 @@ def split_dataset(
         dataset: The source LeRobotDataset to split.
         splits: Either a dict mapping split names to episode indices, or a dict mapping
                 split names to fractions (must sum to <= 1.0).
-        output_dir: Root directory where the split datasets will be stored. If not specified, defaults to $HF_LEROBOT_HOME/repo_id.
+        output_dir: Base directory for output datasets. If None, uses default location.
 
     Examples:
       Split by specific episodes
@@ -250,8 +244,8 @@ def merge_datasets(
 
     Args:
         datasets: List of LeRobotDatasets to merge.
-        output_repo_id: Merged dataset identifier.
-        output_dir: Root directory where the merged dataset will be stored. If not specified, defaults to $HF_LEROBOT_HOME/output_repo_id.
+        output_repo_id: Repository ID for the merged dataset.
+        output_dir: Directory to save the merged dataset. If None, uses default location.
     """
     if not datasets:
         raise ValueError("No datasets to merge")
@@ -295,8 +289,8 @@ def modify_features(
         dataset: The source LeRobotDataset.
         add_features: Optional dict mapping feature names to (feature_values, feature_info) tuples.
         remove_features: Optional feature name(s) to remove. Can be a single string or list.
-        output_dir: Root directory where the edited dataset will be stored. If not specified, defaults to $HF_LEROBOT_HOME/repo_id. Equivalent to new_root in EditDatasetConfig.
-        repo_id: Edited dataset identifier. Equivalent to new_repo_id in EditDatasetConfig.
+        output_dir: Directory to save the new dataset. If None, uses default location.
+        repo_id: Repository ID for the new dataset. If None, appends "_modified" to original.
 
     Returns:
         New dataset with features modified.
@@ -397,8 +391,8 @@ def add_features(
     Args:
         dataset: The source LeRobotDataset.
         features: Dictionary mapping feature names to (feature_values, feature_info) tuples.
-        output_dir: Root directory where the edited dataset will be stored. If not specified, defaults to $HF_LEROBOT_HOME/repo_id. Equivalent to new_root in EditDatasetConfig.
-        repo_id: Edited dataset identifier. Equivalent to new_repo_id in EditDatasetConfig.
+        output_dir: Directory to save the new dataset. If None, uses default location.
+        repo_id: Repository ID for the new dataset. If None, appends "_modified" to original.
 
     Returns:
         New dataset with all features added.
@@ -434,8 +428,8 @@ def remove_feature(
     Args:
         dataset: The source LeRobotDataset.
         feature_names: Name(s) of features to remove. Can be a single string or list.
-        output_dir: Root directory where the edited dataset will be stored. If not specified, defaults to $HF_LEROBOT_HOME/repo_id. Equivalent to new_root in EditDatasetConfig.
-        repo_id: Edited dataset identifier. Equivalent to new_repo_id in EditDatasetConfig.
+        output_dir: Directory to save the new dataset. If None, uses default location.
+        repo_id: Repository ID for the new dataset. If None, appends "_modified" to original.
 
     Returns:
         New dataset with features removed.
@@ -895,7 +889,7 @@ def _copy_and_reindex_episodes_metadata(
 
         total_frames += src_episode["length"]
 
-    dst_meta.finalize()
+    dst_meta._close_writer()
 
     dst_meta.info.update(
         {
@@ -922,8 +916,7 @@ def _write_parquet(df: pd.DataFrame, path: Path, meta: LeRobotDatasetMetadata) -
 
     This ensures images are properly embedded and the file can be loaded correctly by HF datasets.
     """
-    from lerobot.datasets.feature_utils import get_hf_features_from_features
-    from lerobot.datasets.io_utils import embed_images
+    from lerobot.datasets.utils import embed_images, get_hf_features_from_features
 
     hf_features = get_hf_features_from_features(meta.features)
     ep_dataset = datasets.Dataset.from_dict(df.to_dict(orient="list"), features=hf_features, split="train")
@@ -1483,9 +1476,7 @@ def modify_tasks(
 
     # Collect all unique tasks and create new task mapping
     unique_tasks = sorted(set(episode_to_task.values()))
-    new_task_df = pd.DataFrame(
-        {"task_index": list(range(len(unique_tasks)))}, index=pd.Index(unique_tasks, name="task")
-    )
+    new_task_df = pd.DataFrame({"task_index": list(range(len(unique_tasks)))}, index=unique_tasks)
     task_to_index = {task: idx for idx, task in enumerate(unique_tasks)}
 
     logging.info(f"Modifying tasks in {dataset.repo_id}")
@@ -1537,117 +1528,9 @@ def modify_tasks(
     return dataset
 
 
-def recompute_stats(
-    dataset: LeRobotDataset,
-    skip_image_video: bool = True,
-    relative_action: bool = False,
-    relative_exclude_joints: list[str] | None = None,
-    chunk_size: int = 50,
-    num_workers: int = 0,
-) -> LeRobotDataset:
-    """Recompute stats.json from scratch by iterating all episodes.
-
-    Args:
-        dataset: The LeRobotDataset to recompute stats for.
-        skip_image_video: If True (default), only recompute stats for numeric features
-            (action, state, etc.) and keep existing image/video stats unchanged.
-        relative_action: If True, compute action stats in relative space by
-            iterating all valid action chunks and subtracting the current state.
-            This matches the normalization distribution the model sees during
-            training with ``use_relative_actions=True``.
-        relative_exclude_joints: Joint names to exclude from relative conversion when
-            relative_action=True. These dims keep absolute stats.
-        chunk_size: Action chunk size used for relative stats computation. Should match
-            ``policy.chunk_size``. Only used when ``relative_action=True``.
-        num_workers: Number of parallel threads for relative action stats computation.
-            Values ≤1 mean single-threaded. Only used when ``relative_action=True``.
-
-    Returns:
-        The same dataset with updated stats.
-    """
-    features = dataset.meta.features
-    meta_keys = {"index", "episode_index", "task_index", "frame_index", "timestamp"}
-    numeric_features = {
-        k: v
-        for k, v in features.items()
-        if v["dtype"] not in ["image", "video", "string"] and k not in meta_keys
-    }
-
-    if skip_image_video:
-        features_to_compute = numeric_features
-    else:
-        features_to_compute = {
-            k: v for k, v in features.items() if v["dtype"] != "string" and k not in meta_keys
-        }
-
-    # When relative_action is enabled, compute action stats via chunk-based sampling
-    # (matching what the model sees during training) and skip action in the
-    # per-episode pass below.
-    relative_action_stats = None
-    if relative_action and ACTION in features and OBS_STATE in features:
-        if relative_exclude_joints is None:
-            relative_exclude_joints = ["gripper"]
-        relative_action_stats = compute_relative_action_stats(
-            hf_dataset=dataset.hf_dataset,
-            features=features,
-            chunk_size=chunk_size,
-            exclude_joints=relative_exclude_joints,
-            num_workers=num_workers,
-        )
-        features_to_compute.pop(ACTION, None)
-
-    logging.info(f"Recomputing stats for features: {list(features_to_compute.keys())}")
-
-    data_dir = dataset.root / DATA_DIR
-    parquet_files = sorted(data_dir.glob("*/*.parquet"))
-    if not parquet_files:
-        raise ValueError(f"No parquet files found in {data_dir}")
-
-    all_episode_stats = []
-    numeric_keys = [k for k, v in features_to_compute.items() if v["dtype"] not in ["image", "video"]]
-
-    for parquet_path in tqdm(parquet_files, desc="Computing stats from data files"):
-        df = pd.read_parquet(parquet_path)
-
-        for ep_idx in sorted(df["episode_index"].unique()):
-            ep_df = df[df["episode_index"] == ep_idx]
-            episode_data = {}
-            for key in numeric_keys:
-                if key in ep_df.columns:
-                    values = ep_df[key].values
-                    if hasattr(values[0], "__len__"):
-                        episode_data[key] = np.stack(values)
-                    else:
-                        episode_data[key] = np.array(values)
-
-            ep_stats = compute_episode_stats(episode_data, features_to_compute)
-            all_episode_stats.append(ep_stats)
-
-    if features_to_compute and not all_episode_stats:
-        logging.warning("No episode stats computed")
-        return dataset
-
-    new_stats = aggregate_stats(all_episode_stats) if all_episode_stats else {}
-
-    if relative_action_stats is not None:
-        new_stats[ACTION] = relative_action_stats
-
-    # Merge: keep existing stats for features we didn't recompute
-    if dataset.meta.stats:
-        for key, value in dataset.meta.stats.items():
-            if key not in new_stats:
-                new_stats[key] = value
-
-    write_stats(new_stats, dataset.root)
-    dataset.meta.stats = new_stats
-
-    logging.info("Stats recomputed successfully")
-    return dataset
-
-
 def convert_image_to_video_dataset(
     dataset: LeRobotDataset,
-    output_dir: Path | None = None,
+    output_dir: Path,
     repo_id: str | None = None,
     vcodec: str = "libsvtav1",
     pix_fmt: str = "yuv420p",
@@ -1666,8 +1549,8 @@ def convert_image_to_video_dataset(
 
     Args:
         dataset: The source LeRobot dataset with images
-        output_dir: Root directory where the edited dataset will be stored. If not specified, defaults to $HF_LEROBOT_HOME/repo_id. Equivalent to new_root in EditDatasetConfig.
-        repo_id: Edited dataset identifier. Equivalent to new_repo_id in EditDatasetConfig.
+        output_dir: Directory to save the new video dataset
+        repo_id: Repository ID for the new dataset (default: original_id + "_video")
         vcodec: Video codec (default: libsvtav1)
         pix_fmt: Pixel format (default: yuv420p)
         g: Group of pictures size (default: 2)
@@ -1718,7 +1601,6 @@ def convert_image_to_video_dataset(
             # Video info will be updated after episodes are encoded
 
     # Create new metadata for video dataset
-    output_dir = Path(output_dir) if output_dir is not None else HF_LEROBOT_HOME / repo_id
     new_meta = LeRobotDatasetMetadata.create(
         repo_id=repo_id,
         fps=dataset.meta.fps,
@@ -1893,3 +1775,296 @@ def convert_image_to_video_dataset(
 
     # Return new dataset
     return LeRobotDataset(repo_id=repo_id, root=output_dir)
+
+
+def trim_episodes_by_frames(
+    dataset: LeRobotDataset,
+    episode_frames_to_keep: dict[int, list[int]],
+    output_dir: str | Path | None = None,
+    repo_id: str | None = None,
+) -> LeRobotDataset:
+    """Trim multiple episodes to keep only specific frames.
+
+    This function creates a new dataset where the specified episodes contain only
+    the frames at the given indices. All other episodes are copied as-is.
+
+    Args:
+        dataset: The source LeRobotDataset.
+        episode_frames_to_keep: Dict mapping episode indices to lists of global frame indices to keep.
+        output_dir: Directory to save the new dataset. If None, uses default location.
+        repo_id: Repository ID for the new dataset. If None, appends "_trimmed" to original.
+
+    Returns:
+        A new LeRobotDataset with the trimmed episodes.
+    """
+    if not episode_frames_to_keep:
+        raise ValueError("No episodes to trim")
+
+    for ep_idx in episode_frames_to_keep:
+        if ep_idx >= dataset.meta.total_episodes:
+            raise ValueError(f"Episode {ep_idx} does not exist")
+        if not episode_frames_to_keep[ep_idx]:
+            raise ValueError(f"No frames to keep for episode {ep_idx}")
+
+    if repo_id is None:
+        repo_id = f"{dataset.repo_id}_trimmed"
+    output_dir = Path(output_dir) if output_dir is not None else HF_LEROBOT_HOME / repo_id
+
+    total_trimmed = sum(len(frames) for frames in episode_frames_to_keep.values())
+    logging.info(f"Trimming {len(episode_frames_to_keep)} episodes, keeping {total_trimmed} frames total")
+
+    # Create new metadata
+    new_meta = LeRobotDatasetMetadata.create(
+        repo_id=repo_id,
+        fps=dataset.meta.fps,
+        features=dataset.meta.features,
+        robot_type=dataset.meta.robot_type,
+        root=output_dir,
+        use_videos=len(dataset.meta.video_keys) > 0,
+    )
+
+    # Build set of all frames to keep (for episodes being trimmed)
+    # and compute new frame counts per episode
+    all_keep_frames: set[int] = set()
+    trimmed_frame_counts: dict[int, int] = {}
+    for ep_idx, frames in episode_frames_to_keep.items():
+        all_keep_frames.update(frames)
+        trimmed_frame_counts[ep_idx] = len(frames)
+
+    # Copy and filter data
+    _copy_and_reindex_data_with_multi_frame_filter(
+        dataset, new_meta, episode_frames_to_keep, all_keep_frames
+    )
+
+    # Handle videos if present
+    if dataset.meta.video_keys:
+        _copy_and_reindex_videos_with_multi_frame_filter(
+            dataset, new_meta, episode_frames_to_keep
+        )
+
+    # Copy episode metadata
+    _copy_and_reindex_episodes_metadata_for_multi_trim(
+        dataset, new_meta, trimmed_frame_counts
+    )
+
+    logging.info(f"Created trimmed dataset with {new_meta.total_frames} frames at {output_dir}")
+    
+    # Return the metadata instead of trying to load as LeRobotDataset
+    # This avoids Hub validation issues when the repo doesn't exist yet
+    return new_meta
+
+
+# Keep old function for backward compatibility
+def trim_episode_by_frames(
+    dataset: LeRobotDataset,
+    episode_index: int,
+    keep_frame_indices: list[int],
+    output_dir: str | Path | None = None,
+    repo_id: str | None = None,
+) -> LeRobotDataset:
+    """Trim a single episode. Wrapper around trim_episodes_by_frames."""
+    return trim_episodes_by_frames(
+        dataset,
+        episode_frames_to_keep={episode_index: keep_frame_indices},
+        output_dir=output_dir,
+        repo_id=repo_id,
+    )
+
+
+def _copy_and_reindex_data_with_multi_frame_filter(
+    src_dataset: LeRobotDataset,
+    dst_meta: LeRobotDatasetMetadata,
+    episode_frames_to_keep: dict[int, list[int]],
+    all_keep_frames: set[int],
+) -> None:
+    """Copy data files with frame-level filtering for multiple episodes."""
+    if src_dataset.meta.episodes is None:
+        src_dataset.meta.episodes = load_episodes(src_dataset.meta.root)
+
+    # Copy tasks
+    if dst_meta.tasks is None and src_dataset.meta.tasks is not None:
+        # Tasks are stored with task string as index
+        dst_meta.save_episode_tasks(list(src_dataset.meta.tasks.index))
+
+    # Get all parquet files
+    data_dir = src_dataset.root / "data"
+    parquet_files = sorted(data_dir.glob("chunk-*/file-*.parquet"))
+
+    trim_episode_set = set(episode_frames_to_keep.keys())
+    global_index = 0
+
+    for parquet_path in tqdm(parquet_files, desc="Processing data files"):
+        df = pd.read_parquet(parquet_path)
+
+        # Filter: keep all frames from non-trimmed episodes, 
+        # and only specified frames from trimmed episodes
+        mask = (~df["episode_index"].isin(trim_episode_set)) | (df["index"].isin(all_keep_frames))
+        df = df[mask].copy().reset_index(drop=True)
+
+        if len(df) == 0:
+            continue
+
+        # Reindex
+        df["index"] = range(global_index, global_index + len(df))
+
+        # Recalculate frame_index within each episode
+        for ep_idx in df["episode_index"].unique():
+            ep_mask = df["episode_index"] == ep_idx
+            df.loc[ep_mask, "frame_index"] = range(ep_mask.sum())
+
+        # Recalculate timestamps based on frame_index and fps
+        df["timestamp"] = df["frame_index"] / src_dataset.meta.fps
+
+        # Determine output path (keep same structure)
+        rel_path = parquet_path.relative_to(src_dataset.root)
+        dst_path = dst_meta.root / rel_path
+        dst_path.parent.mkdir(parents=True, exist_ok=True)
+
+        _write_parquet(df, dst_path, dst_meta)
+        global_index += len(df)
+
+
+def _copy_and_reindex_videos_with_multi_frame_filter(
+    src_dataset: LeRobotDataset,
+    dst_meta: LeRobotDatasetMetadata,
+    episode_frames_to_keep: dict[int, list[int]],
+) -> None:
+    """Copy video files for trimmed dataset.
+    
+    In v3.0 datasets, multiple episodes are concatenated into single video files.
+    Each episode has from_timestamp/to_timestamp indicating its portion of the video.
+    
+    For trimming, we copy the original video files as-is and update the metadata
+    timestamps in _copy_and_reindex_episodes_metadata_for_multi_trim.
+    """
+    for video_key in src_dataset.meta.video_keys:
+        video_dir = src_dataset.root / "videos" / video_key
+        dst_video_dir = dst_meta.root / "videos" / video_key
+        
+        if not video_dir.exists():
+            logging.warning(f"Video directory not found: {video_dir}")
+            continue
+        
+        # Copy all video files (they contain concatenated episodes)
+        # The metadata timestamps will handle which portions to use
+        copied_files = set()
+        for chunk_dir in video_dir.glob("chunk-*"):
+            dst_chunk_dir = dst_video_dir / chunk_dir.name
+            dst_chunk_dir.mkdir(parents=True, exist_ok=True)
+            
+            for video_file in chunk_dir.glob("*.mp4"):
+                if video_file.name not in copied_files:
+                    dst_path = dst_chunk_dir / video_file.name
+                    if not dst_path.exists():
+                        shutil.copy(video_file, dst_path)
+                        copied_files.add(video_file.name)
+        
+        logging.info(f"Copied {len(copied_files)} video files for {video_key}")
+
+
+def _trim_video_frames(
+    src_path: Path,
+    dst_path: Path,
+    keep_frame_indices: list[int],
+    fps: float,
+    episode_start_idx: int,
+) -> None:
+    """Trim a video to keep only specific frames using ffmpeg."""
+    import subprocess
+
+    # Convert global indices to local indices within the episode
+    local_indices = sorted([idx - episode_start_idx for idx in keep_frame_indices])
+
+    if not local_indices:
+        logging.warning(f"No frames to keep for video {src_path}")
+        return
+
+    # Calculate start and end times
+    start_frame = local_indices[0]
+    end_frame = local_indices[-1]
+
+    start_time = start_frame / fps
+    duration = (end_frame - start_frame + 1) / fps
+
+    # Use ffmpeg to trim
+    cmd = [
+        "ffmpeg", "-y",
+        "-ss", str(start_time),
+        "-i", str(src_path),
+        "-t", str(duration),
+        "-c", "copy",  # Fast copy without re-encoding
+        str(dst_path)
+    ]
+
+    try:
+        subprocess.run(cmd, check=True, capture_output=True)
+    except subprocess.CalledProcessError as e:
+        logging.error(f"Failed to trim video: {e.stderr.decode()}")
+        # Fallback: copy the whole video
+        shutil.copy(src_path, dst_path)
+
+
+def _copy_and_reindex_episodes_metadata_for_multi_trim(
+    src_dataset: LeRobotDataset,
+    dst_meta: LeRobotDatasetMetadata,
+    trimmed_frame_counts: dict[int, int],
+) -> None:
+    """Copy and update episode metadata for trimmed dataset."""
+    if src_dataset.meta.episodes is None:
+        src_dataset.meta.episodes = load_episodes(src_dataset.meta.root)
+
+    # Calculate new frame counts and indices
+    episodes_data = []
+    global_idx = 0
+
+    for old_ep_idx in range(src_dataset.meta.total_episodes):
+        src_ep = src_dataset.meta.episodes[old_ep_idx]
+
+        if old_ep_idx in trimmed_frame_counts:
+            ep_length = trimmed_frame_counts[old_ep_idx]
+        else:
+            ep_length = src_ep["length"]
+
+        ep_data = {
+            "episode_index": old_ep_idx,
+            "tasks": src_ep["tasks"],
+            "length": ep_length,
+            "data/chunk_index": src_ep["data/chunk_index"],
+            "data/file_index": src_ep["data/file_index"],
+            "dataset_from_index": global_idx,
+            "dataset_to_index": global_idx + ep_length,
+        }
+
+        # Copy video metadata - preserve timestamps for concatenated videos
+        for video_key in src_dataset.meta.video_keys:
+            ep_data[f"videos/{video_key}/chunk_index"] = src_ep[f"videos/{video_key}/chunk_index"]
+            ep_data[f"videos/{video_key}/file_index"] = src_ep[f"videos/{video_key}/file_index"]
+            
+            # Keep original from_timestamp (start position in concatenated video)
+            orig_from_ts = src_ep[f"videos/{video_key}/from_timestamp"]
+            ep_data[f"videos/{video_key}/from_timestamp"] = orig_from_ts
+            
+            # For trimmed episodes, update to_timestamp based on new length
+            # For non-trimmed episodes, keep original to_timestamp
+            if old_ep_idx in trimmed_frame_counts:
+                ep_data[f"videos/{video_key}/to_timestamp"] = orig_from_ts + (ep_length / src_dataset.meta.fps)
+            else:
+                ep_data[f"videos/{video_key}/to_timestamp"] = src_ep[f"videos/{video_key}/to_timestamp"]
+
+        ep_data["meta/episodes/chunk_index"] = 0
+        ep_data["meta/episodes/file_index"] = 0
+
+        episodes_data.append(ep_data)
+        global_idx += ep_length
+
+    # Save episodes metadata
+    df = pd.DataFrame(episodes_data)
+    episodes_path = dst_meta.root / DEFAULT_EPISODES_PATH.format(chunk_index=0, file_index=0)
+    episodes_path.parent.mkdir(parents=True, exist_ok=True)
+    df.to_parquet(episodes_path)
+
+    # Update info.json
+    info = load_info(src_dataset.root)
+    info["total_episodes"] = len(episodes_data)
+    info["total_frames"] = global_idx
+    write_info(info, dst_meta.root)

src/lerobot/datasets/dataset_writer.py

@@ -1,844 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# 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.
-"""Private writer component for LeRobotDataset. Handles sequential recording (episode buffer, ParquetWriter, image writer, video encoding)."""
-
-from __future__ import annotations
-
-import concurrent.futures
-import contextlib
-import logging
-import shutil
-import tempfile
-from pathlib import Path
-
-import datasets
-import numpy as np
-import pandas as pd
-import PIL.Image
-import pyarrow.parquet as pq
-import torch
-
-from lerobot.datasets.audio_utils import encode_audio
-from lerobot.datasets.compute_stats import compute_episode_stats
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.feature_utils import (
-    get_hf_features_from_features,
-    validate_episode_buffer,
-    validate_frame,
-)
-from lerobot.datasets.image_writer import AsyncImageWriter, write_image
-from lerobot.datasets.io_utils import (
-    embed_images,
-    get_file_size_in_mb,
-    load_episodes,
-    write_info,
-)
-from lerobot.datasets.utils import (
-    DEFAULT_EPISODES_PATH,
-    DEFAULT_IMAGE_PATH,
-    DEFAULT_RAW_AUDIO_PATH,
-    update_chunk_file_indices,
-)
-from lerobot.datasets.video_utils import (
-    StreamingVideoEncoder,
-    concatenate_media_files,
-    encode_video_frames,
-    get_media_duration_in_s,
-)
-from lerobot.microphones.microphone import Microphone
-from lerobot.microphones.utils import async_microphones_start_recording
-
-logger = logging.getLogger(__name__)
-
-
-def _encode_video_worker(
-    video_key: str,
-    episode_index: int,
-    root: Path,
-    fps: int,
-    vcodec: str = "libsvtav1",
-    encoder_threads: int | None = None,
-) -> Path:
-    temp_path = Path(tempfile.mkdtemp(dir=root)) / f"{video_key}_{episode_index:03d}.mp4"
-    fpath = DEFAULT_IMAGE_PATH.format(image_key=video_key, episode_index=episode_index, frame_index=0)
-    img_dir = (root / fpath).parent
-    encode_video_frames(
-        img_dir, temp_path, fps, vcodec=vcodec, overwrite=True, encoder_threads=encoder_threads
-    )
-    shutil.rmtree(img_dir)
-    return temp_path
-
-
-class DatasetWriter:
-    """Encapsulates write-side state and methods for LeRobotDataset.
-
-    Owns: episode_buffer, image_writer, _pq_writer (ParquetWriter), _latest_episode,
-    _current_file_start_frame, _streaming_encoder, _episodes_since_last_encoding, _recorded_frames.
-    """
-
-    def __init__(
-        self,
-        meta: LeRobotDatasetMetadata,
-        root: Path,
-        vcodec: str,
-        encoder_threads: int | None,
-        batch_encoding_size: int,
-        streaming_encoder: StreamingVideoEncoder | None = None,
-        initial_frames: int = 0,
-    ):
-        """Initialize the writer with metadata, codec, and encoding config.
-
-        Args:
-            meta: Dataset metadata instance (used for feature schema, chunk
-                settings, and episode persistence).
-            root: Local dataset root directory.
-            vcodec: Video codec for encoding (e.g. ``'libsvtav1'``, ``'h264'``).
-            encoder_threads: Threads per encoder instance. ``None`` for auto.
-            batch_encoding_size: Number of episodes to accumulate before
-                batch-encoding videos.
-            streaming_encoder: Optional pre-built :class:`StreamingVideoEncoder`
-                for real-time encoding. ``None`` disables streaming mode.
-            initial_frames: Starting frame count (non-zero when resuming).
-        """
-        self._meta = meta
-        self._root = root
-        self._vcodec = vcodec
-        self._encoder_threads = encoder_threads
-        self._batch_encoding_size = batch_encoding_size
-        self._streaming_encoder = streaming_encoder
-
-        # Writer state
-        self.image_writer: AsyncImageWriter | None = None
-        self.episode_buffer: dict = self._create_episode_buffer()
-        self._pq_writer: pq.ParquetWriter | None = None
-        self._latest_episode: dict | None = None
-        self._current_file_start_frame: int | None = None
-        self._episodes_since_last_encoding: int = 0
-        self._recorded_frames: int = initial_frames
-        self._finalized = False
-
-    def _create_episode_buffer(self, episode_index: int | None = None) -> dict:
-        current_ep_idx = self._meta.total_episodes if episode_index is None else episode_index
-        ep_buffer = {}
-        ep_buffer["size"] = 0
-        ep_buffer["task"] = []
-        for key in self._meta.features:
-            ep_buffer[key] = current_ep_idx if key == "episode_index" else []
-        return ep_buffer
-
-    def _get_image_file_path(self, episode_index: int, image_key: str, frame_index: int) -> Path:
-        fpath = DEFAULT_IMAGE_PATH.format(
-            image_key=image_key, episode_index=episode_index, frame_index=frame_index
-        )
-        return self._root / fpath
-
-    def _get_image_file_dir(self, episode_index: int, image_key: str) -> Path:
-        return self._get_image_file_path(episode_index, image_key, frame_index=0).parent
-
-    def _get_raw_audio_file_path(self, episode_index: int, audio_key: str) -> Path:
-        fpath = DEFAULT_RAW_AUDIO_PATH.format(audio_key=audio_key, episode_index=episode_index)
-        return self._root / fpath
-
-    def _save_image(
-        self, image: torch.Tensor | np.ndarray | PIL.Image.Image, fpath: Path, compress_level: int = 1
-    ) -> None:
-        if self.image_writer is None:
-            if isinstance(image, torch.Tensor):
-                image = image.cpu().numpy()
-            write_image(image, fpath, compress_level=compress_level)
-        else:
-            self.image_writer.save_image(image=image, fpath=fpath, compress_level=compress_level)
-
-    def add_frame(self, frame: dict) -> None:
-        """
-        Add a single frame to the current episode buffer.
-
-        Apart from images written to a temporary directory, nothing is written to disk
-        until ``save_episode()`` is called.
-
-        The caller must provide all user-defined features plus ``"task"``, and must
-        not provide ``"timestamp"`` or ``"frame_index"``; those are computed
-        automatically.
-        """
-        # Convert torch to numpy if needed
-        for name in frame:
-            if isinstance(frame[name], torch.Tensor):
-                frame[name] = frame[name].numpy()
-
-        validate_frame(frame, self._meta.features)
-
-        if self.episode_buffer is None:
-            self.episode_buffer = self._create_episode_buffer()
-
-        # Automatically add frame_index and timestamp to episode buffer
-        frame_index = self.episode_buffer["size"]
-        timestamp = frame_index / self._meta.fps
-        self.episode_buffer["frame_index"].append(frame_index)
-        self.episode_buffer["timestamp"].append(timestamp)
-        self.episode_buffer["task"].append(frame.pop("task"))
-
-        # Start streaming encoder on first frame of episode
-        if frame_index == 0 and self._streaming_encoder is not None:
-            self._streaming_encoder.start_episode(
-                video_keys=list(self._meta.video_keys),
-                temp_dir=self._root,
-            )
-
-        # Add frame features to episode_buffer
-        for key in frame:
-            if key not in self._meta.features:
-                raise ValueError(
-                    f"An element of the frame is not in the features. '{key}' not in '{self._meta.features.keys()}'."
-                )
-
-            if self._meta.features[key]["dtype"] == "video" and self._streaming_encoder is not None:
-                self._streaming_encoder.feed_frame(key, frame[key])
-                self.episode_buffer[key].append(None)
-            elif self._meta.features[key]["dtype"] in ["image", "video"]:
-                img_path = self._get_image_file_path(
-                    episode_index=self.episode_buffer["episode_index"], image_key=key, frame_index=frame_index
-                )
-                if frame_index == 0:
-                    img_path.parent.mkdir(parents=True, exist_ok=True)
-                compress_level = 1 if self._meta.features[key]["dtype"] == "video" else 6
-                self._save_image(frame[key], img_path, compress_level)
-                self.episode_buffer[key].append(str(img_path))
-            elif self._meta.features[key]["dtype"] == "audio":
-                if (
-                    self._meta.robot_type == "lekiwi"
-                ):  # Raw data storage should only be triggered for LeKiwi robot, for which audio is stored chunk by chunk in a visual frame-like manner
-                    self.episode_buffer[key].append(frame[key])
-                else:  # Otherwise, only the audio file path is stored in the episode buffer
-                    if frame_index == 0:
-                        audio_path = self._get_raw_audio_file_path(
-                            episode_index=self.episode_buffer["episode_index"], audio_key=key
-                        )
-                        self.episode_buffer[key].append(str(audio_path))
-            else:
-                self.episode_buffer[key].append(frame[key])
-
-        self.episode_buffer["size"] += 1
-
-    def add_microphone_recording(self, microphone_key: str, microphone: Microphone) -> None:
-        """
-        Starts recording audio data provided by the microphone and directly writes it in a .wav file.
-        """
-
-        audio_file = self._get_raw_audio_file_path(self._meta.total_episodes, "observation.audio." + microphone_key)
-        microphone.start_recording(output_file=audio_file)
-
-    def add_microphones_recordings(self, microphones: dict[str, Microphone]) -> None:
-        """
-        Starts recording audio data provided by multiple microphones and directly writes it in appropriate .wav files.
-        """
-
-        output_files = []
-        for microphone_key in microphones:
-            output_files.append(
-                self._get_raw_audio_file_path(self._meta.total_episodes, "observation.audio." + microphone_key)
-            )
-
-        async_microphones_start_recording(microphones, output_files)
-
-    def save_episode(
-        self,
-        episode_data: dict | None = None,
-        parallel_encoding: bool = True,
-    ) -> None:
-        """Save the current episode in self.episode_buffer to disk."""
-        episode_buffer = episode_data if episode_data is not None else self.episode_buffer
-
-        validate_episode_buffer(episode_buffer, self._meta.total_episodes, self._meta.features)
-
-        # size and task are special cases that won't be added to hf_dataset
-        episode_length = episode_buffer.pop("size")
-        tasks = episode_buffer.pop("task")
-        episode_tasks = list(set(tasks))
-        episode_index = episode_buffer["episode_index"]
-
-        episode_buffer["index"] = np.arange(self._meta.total_frames, self._meta.total_frames + episode_length)
-        episode_buffer["episode_index"] = np.full((episode_length,), episode_index)
-
-        # Update tasks and task indices with new tasks if any
-        self._meta.save_episode_tasks(episode_tasks)
-
-        # Given tasks in natural language, find their corresponding task indices
-        episode_buffer["task_index"] = np.array([self._meta.get_task_index(task) for task in tasks])
-
-        for key, ft in self._meta.features.items():
-            if key in ["index", "episode_index", "task_index"] or ft["dtype"] in ["image", "video"]:
-                continue
-            elif ft["dtype"] == "audio":
-                if (
-                    self._meta.robot_type == "lekiwi"
-                ):  # Raw data storage should only be triggered for LeKiwi robot, for which audio is stored chunk by chunk in a visual frame-like manner
-                    episode_buffer[key] = np.concatenate(episode_buffer[key], axis=0)
-                continue
-            episode_buffer[key] = np.stack(episode_buffer[key])
-
-        # Wait for image writer to end, so that episode stats over images can be computed
-        self._wait_image_writer()
-
-        has_video_keys = len(self._meta.video_keys) > 0
-        has_audio_keys = len(self._meta.audio_keys) > 0
-        use_streaming = self._streaming_encoder is not None and has_video_keys
-        use_batched_encoding = self._batch_encoding_size > 1
-
-        if use_streaming:
-            non_video_buffer = {
-                k: v
-                for k, v in episode_buffer.items()
-                if self._meta.features.get(k, {}).get("dtype") not in ("video",)
-            }
-            non_video_features = {k: v for k, v in self._meta.features.items() if v["dtype"] != "video"}
-            ep_stats = compute_episode_stats(non_video_buffer, non_video_features)
-        else:
-            ep_stats = compute_episode_stats(episode_buffer, self._meta.features)
-
-        ep_metadata = self._save_episode_data(episode_buffer)
-
-        if use_streaming:
-            streaming_results = self._streaming_encoder.finish_episode()
-            for video_key in self._meta.video_keys:
-                temp_path, video_stats = streaming_results[video_key]
-                if video_stats is not None:
-                    ep_stats[video_key] = {
-                        k: v if k == "count" else np.squeeze(v.reshape(1, -1, 1, 1) / 255.0, axis=0)
-                        for k, v in video_stats.items()
-                    }
-                ep_metadata.update(self._save_episode_video(video_key, episode_index, temp_path=temp_path))
-        elif (has_video_keys or has_audio_keys) and not use_batched_encoding:
-            num_cameras = len(self._meta.video_keys)
-            if parallel_encoding and num_cameras > 1:
-                with concurrent.futures.ProcessPoolExecutor(max_workers=num_cameras) as executor:
-                    future_to_key = {
-                        executor.submit(
-                            _encode_video_worker,
-                            video_key,
-                            episode_index,
-                            self._root,
-                            self._meta.fps,
-                            self._vcodec,
-                            self._encoder_threads,
-                        ): video_key
-                        for video_key in self._meta.video_keys
-                    }
-
-                    results = {}
-                    for future in concurrent.futures.as_completed(future_to_key):
-                        video_key = future_to_key[future]
-                        try:
-                            temp_path = future.result()
-                            results[video_key] = temp_path
-                        except Exception as exc:
-                            logger.error(f"Video encoding failed for {video_key}: {exc}")
-                            raise exc
-
-                for video_key in self._meta.video_keys:
-                    temp_path = results[video_key]
-                    ep_metadata.update(
-                        self._save_episode_video(video_key, episode_index, temp_path=temp_path)
-                    )
-            else:
-                for video_key in self._meta.video_keys:
-                    ep_metadata.update(self._save_episode_video(video_key, episode_index))
-
-            # TODO(Caroline): add parallel encoding for audio as well
-            for audio_key in self._meta.audio_keys:
-                ep_metadata.update(self._save_episode_audio(audio_key, episode_index))
-
-        # `meta.save_episode` need to be executed after encoding the videos
-        self._meta.save_episode(episode_index, episode_length, episode_tasks, ep_stats, ep_metadata)
-
-        if (has_video_keys or has_audio_keys) and use_batched_encoding:
-            self._episodes_since_last_encoding += 1
-            if self._episodes_since_last_encoding == self._batch_encoding_size:
-                start_ep = self._meta.total_episodes - self._batch_encoding_size
-                end_ep = self._meta.total_episodes
-                if has_video_keys:
-                    self._batch_save_episode_video(start_ep, end_ep)
-                if has_audio_keys:
-                    self._batch_save_episode_audio(start_ep, end_ep)
-                self._episodes_since_last_encoding = 0
-
-        if episode_data is None:
-            self.clear_episode_buffer(
-                delete_images=len(self._meta.image_keys) > 0, delete_audio=len(self._meta.audio_keys) > 0
-            )
-
-    def _batch_save_episode_video(self, start_episode: int, end_episode: int | None = None) -> None:
-        """Batch save videos for multiple episodes."""
-        if end_episode is None:
-            end_episode = self._meta.total_episodes
-
-        logger.info(
-            f"Batch encoding {self._batch_encoding_size} videos for episodes {start_episode} to {end_episode - 1}"
-        )
-
-        chunk_idx = self._meta.episodes[start_episode]["data/chunk_index"]
-        file_idx = self._meta.episodes[start_episode]["data/file_index"]
-        episode_df_path = self._root / DEFAULT_EPISODES_PATH.format(
-            chunk_index=chunk_idx, file_index=file_idx
-        )
-        episode_df = pd.read_parquet(episode_df_path)
-
-        for ep_idx in range(start_episode, end_episode):
-            logger.info(f"Encoding videos for episode {ep_idx}")
-
-            if (
-                self._meta.episodes[ep_idx]["data/chunk_index"] != chunk_idx
-                or self._meta.episodes[ep_idx]["data/file_index"] != file_idx
-            ):
-                episode_df.to_parquet(episode_df_path)
-                self._meta.episodes = load_episodes(self._root)
-
-                chunk_idx = self._meta.episodes[ep_idx]["data/chunk_index"]
-                file_idx = self._meta.episodes[ep_idx]["data/file_index"]
-                episode_df_path = self._root / DEFAULT_EPISODES_PATH.format(
-                    chunk_index=chunk_idx, file_index=file_idx
-                )
-                episode_df = pd.read_parquet(episode_df_path)
-
-            video_ep_metadata = {}
-            for video_key in self._meta.video_keys:
-                video_ep_metadata.update(self._save_episode_video(video_key, ep_idx))
-            video_ep_metadata.pop("episode_index")
-            video_ep_df = pd.DataFrame(video_ep_metadata, index=[ep_idx]).convert_dtypes(
-                dtype_backend="pyarrow"
-            )
-
-            episode_df = episode_df.combine_first(video_ep_df)
-            episode_df.to_parquet(episode_df_path)
-            self._meta.episodes = load_episodes(self._root)
-
-    def _batch_save_episode_audio(self, start_episode: int, end_episode: int | None = None) -> None:
-        """
-        Batch save audio for multiple episodes.
-
-        Args:
-            start_episode: Starting episode index (inclusive)
-            end_episode: Ending episode index (exclusive). If None, encodes all episodes from start_episode to the current episode.
-        """
-        if end_episode is None:
-            end_episode = self._meta.total_episodes
-
-        logging.info(
-            f"Batch encoding {self.batch_encoding_size} audio for episodes {start_episode} to {end_episode - 1}"
-        )
-
-        chunk_idx = self._meta.episodes[start_episode]["data/chunk_index"]
-        file_idx = self._meta.episodes[start_episode]["data/file_index"]
-        episode_df_path = self._root / DEFAULT_EPISODES_PATH.format(chunk_index=chunk_idx, file_index=file_idx)
-        episode_df = pd.read_parquet(episode_df_path)
-
-        for ep_idx in range(start_episode, end_episode):
-            logging.info(f"Encoding audio for episode {ep_idx}")
-
-            if (
-                self._meta.episodes[ep_idx]["data/chunk_index"] != chunk_idx
-                or self._meta.episodes[ep_idx]["data/file_index"] != file_idx
-            ):
-                # The current episode is in a new chunk or file.
-                # Save previous episode dataframe and update the Hugging Face dataset by reloading it.
-                episode_df.to_parquet(episode_df_path)
-                self._meta.episodes = load_episodes(self._root)
-
-                # Load new episode dataframe
-                chunk_idx = self._meta.episodes[ep_idx]["data/chunk_index"]
-                file_idx = self._meta.episodes[ep_idx]["data/file_index"]
-                episode_df_path = self._root / DEFAULT_EPISODES_PATH.format(
-                    chunk_index=chunk_idx, file_index=file_idx
-                )
-                episode_df = pd.read_parquet(episode_df_path)
-
-            # Save the current episode's video metadata to the dataframe
-            audio_ep_metadata = {}
-            for audio_key in self._meta.audio_keys:
-                audio_ep_metadata.update(self._save_episode_audio(audio_key, ep_idx))
-            audio_ep_metadata.pop("episode_index")
-            audio_ep_df = pd.DataFrame(audio_ep_metadata, index=[ep_idx]).convert_dtypes(
-                dtype_backend="pyarrow"
-            )  # allows NaN values along with integers
-
-            episode_df = episode_df.combine_first(audio_ep_df)
-            episode_df.to_parquet(episode_df_path)
-            self._meta.episodes = load_episodes(self._root)
-
-    def _save_episode_data(self, episode_buffer: dict) -> dict:
-        """Save episode data to a parquet file."""
-        # Use metadata features as the authoritative schema
-        hf_features = get_hf_features_from_features(self._meta.features)
-        ep_dict = {key: episode_buffer[key] for key in hf_features}
-        ep_dataset = datasets.Dataset.from_dict(ep_dict, features=hf_features, split="train")
-        ep_dataset = embed_images(ep_dataset)
-        ep_num_frames = len(ep_dataset)
-
-        if self._latest_episode is None:
-            chunk_idx, file_idx = 0, 0
-            global_frame_index = 0
-            self._current_file_start_frame = 0
-            if self._meta.episodes is not None and len(self._meta.episodes) > 0:
-                latest_ep = self._meta.episodes[-1]
-                global_frame_index = latest_ep["dataset_to_index"]
-                chunk_idx = latest_ep["data/chunk_index"]
-                file_idx = latest_ep["data/file_index"]
-
-                chunk_idx, file_idx = update_chunk_file_indices(chunk_idx, file_idx, self._meta.chunks_size)
-                self._current_file_start_frame = global_frame_index
-        else:
-            latest_ep = self._latest_episode
-            chunk_idx = latest_ep["data/chunk_index"]
-            file_idx = latest_ep["data/file_index"]
-            global_frame_index = latest_ep["index"][-1] + 1
-
-            latest_path = self._root / self._meta.data_path.format(chunk_index=chunk_idx, file_index=file_idx)
-            latest_size_in_mb = get_file_size_in_mb(latest_path)
-
-            frames_in_current_file = global_frame_index - self._current_file_start_frame
-            av_size_per_frame = (
-                latest_size_in_mb / frames_in_current_file if frames_in_current_file > 0 else 0
-            )
-
-            if latest_size_in_mb + av_size_per_frame * ep_num_frames >= self._meta.data_files_size_in_mb:
-                chunk_idx, file_idx = update_chunk_file_indices(chunk_idx, file_idx, self._meta.chunks_size)
-                self.close_writer()
-                self._current_file_start_frame = global_frame_index
-
-        ep_dict["data/chunk_index"] = chunk_idx
-        ep_dict["data/file_index"] = file_idx
-
-        path = self._root / self._meta.data_path.format(chunk_index=chunk_idx, file_index=file_idx)
-        path.parent.mkdir(parents=True, exist_ok=True)
-
-        table = ep_dataset.with_format("arrow")[:]
-        if not self._pq_writer:
-            self._pq_writer = pq.ParquetWriter(
-                path, schema=table.schema, compression="snappy", use_dictionary=True
-            )
-        self._pq_writer.write_table(table)
-
-        metadata = {
-            "data/chunk_index": chunk_idx,
-            "data/file_index": file_idx,
-            "dataset_from_index": global_frame_index,
-            "dataset_to_index": global_frame_index + ep_num_frames,
-        }
-
-        self._latest_episode = {**ep_dict, **metadata}
-        self._recorded_frames += ep_num_frames
-
-        return metadata
-
-    def _save_episode_video(
-        self,
-        video_key: str,
-        episode_index: int,
-        temp_path: Path | None = None,
-    ) -> dict:
-        if temp_path is None:
-            ep_path = self._encode_temporary_episode_video(video_key, episode_index)
-        else:
-            ep_path = temp_path
-
-        ep_size_in_mb = get_file_size_in_mb(ep_path)
-        ep_duration_in_s = get_media_duration_in_s(ep_path, media_type="video")
-
-        if (
-            episode_index == 0
-            or self._meta.latest_episode is None
-            or f"videos/{video_key}/chunk_index" not in self._meta.latest_episode
-        ):
-            chunk_idx, file_idx = 0, 0
-            if self._meta.episodes is not None and len(self._meta.episodes) > 0:
-                old_chunk_idx = self._meta.episodes[-1][f"videos/{video_key}/chunk_index"]
-                old_file_idx = self._meta.episodes[-1][f"videos/{video_key}/file_index"]
-                chunk_idx, file_idx = update_chunk_file_indices(
-                    old_chunk_idx, old_file_idx, self._meta.chunks_size
-                )
-            latest_duration_in_s = 0.0
-            new_path = self._root / self._meta.video_path.format(
-                video_key=video_key, chunk_index=chunk_idx, file_index=file_idx
-            )
-            new_path.parent.mkdir(parents=True, exist_ok=True)
-            shutil.move(str(ep_path), str(new_path))
-        else:
-            latest_ep = self._meta.latest_episode
-            chunk_idx = latest_ep[f"videos/{video_key}/chunk_index"][0]
-            file_idx = latest_ep[f"videos/{video_key}/file_index"][0]
-
-            latest_path = self._root / self._meta.video_path.format(
-                video_key=video_key, chunk_index=chunk_idx, file_index=file_idx
-            )
-            latest_size_in_mb = get_file_size_in_mb(latest_path)
-            latest_duration_in_s = latest_ep[f"videos/{video_key}/to_timestamp"][0]
-
-            if latest_size_in_mb + ep_size_in_mb >= self._meta.video_files_size_in_mb:
-                chunk_idx, file_idx = update_chunk_file_indices(chunk_idx, file_idx, self._meta.chunks_size)
-                new_path = self._root / self._meta.video_path.format(
-                    video_key=video_key, chunk_index=chunk_idx, file_index=file_idx
-                )
-                new_path.parent.mkdir(parents=True, exist_ok=True)
-                shutil.move(str(ep_path), str(new_path))
-                latest_duration_in_s = 0.0
-            else:
-                concatenate_media_files(
-                    [latest_path, ep_path],
-                    latest_path,
-                )
-
-        # Remove temporary directory
-        shutil.rmtree(str(ep_path.parent))
-
-        # Update video info (only needed when first episode is encoded)
-        if episode_index == 0:
-            self._meta.update_video_info(video_key)
-            write_info(self._meta.info, self._meta.root)
-
-        metadata = {
-            "episode_index": episode_index,
-            f"videos/{video_key}/chunk_index": chunk_idx,
-            f"videos/{video_key}/file_index": file_idx,
-            f"videos/{video_key}/from_timestamp": latest_duration_in_s,
-            f"videos/{video_key}/to_timestamp": latest_duration_in_s + ep_duration_in_s,
-        }
-        return metadata
-
-    def _encode_temporary_episode_audio(self, audio_key: str, episode_index: int) -> Path:
-        """
-        Use ffmpeg to convert raw audio files into m4a audio files.
-        Note: `encode_episode_audio` is a blocking call. Making it asynchronous shouldn't speedup encoding,
-        since audio encoding with ffmpeg is already using multithreading.
-        """
-        temp_path = Path(tempfile.mkdtemp(dir=self._root)) / f"{audio_key}_{episode_index:03d}.m4a"
-        raw_audio_file = self._get_raw_audio_file_path(episode_index, audio_key)
-        encode_audio(raw_audio_file, temp_path, overwrite=True)
-        raw_audio_file.unlink()
-        return temp_path
-
-    def _save_episode_audio(self, audio_key: str, episode_index: int) -> dict:
-        # Encode episode audio into a temporary audio file
-        ep_path = self._encode_temporary_episode_audio(audio_key, episode_index)
-        ep_size_in_mb = get_file_size_in_mb(ep_path)
-        ep_duration_in_s = get_media_duration_in_s(ep_path, media_type="audio")
-
-        if (
-            episode_index == 0
-            or self._meta.latest_episode is None
-            or f"audio/{audio_key}/chunk_index" not in self._meta.latest_episode
-        ):
-            # Initialize indices for a new dataset made of the first episode data
-            chunk_idx, file_idx = 0, 0
-            if self._meta.episodes is not None and len(self._meta.episodes) > 0:
-                # It means we are resuming recording, so we need to load the latest episode
-                # Update the indices to avoid overwriting the latest episode
-                old_chunk_idx = self._meta.episodes[-1][f"audio/{audio_key}/chunk_index"]
-                old_file_idx = self._meta.episodes[-1][f"audio/{audio_key}/file_index"]
-                chunk_idx, file_idx = update_chunk_file_indices(
-                    old_chunk_idx, old_file_idx, self._meta.chunks_size
-                )
-            latest_duration_in_s = 0.0
-            new_path = self._root / self._meta.audio_path.format(
-                audio_key=audio_key, chunk_index=chunk_idx, file_index=file_idx
-            )
-            new_path.parent.mkdir(parents=True, exist_ok=True)
-            shutil.move(str(ep_path), str(new_path))
-        else:
-            # Retrieve information from the latest updated audio file using latest_episode
-            latest_ep = self._meta.latest_episode
-            chunk_idx = latest_ep[f"audio/{audio_key}/chunk_index"][0]
-            file_idx = latest_ep[f"audio/{audio_key}/file_index"][0]
-
-            latest_path = self._root / self._meta.audio_path.format(
-                audio_key=audio_key, chunk_index=chunk_idx, file_index=file_idx
-            )
-            latest_size_in_mb = get_file_size_in_mb(latest_path)
-            latest_duration_in_s = latest_ep[f"audio/{audio_key}/to_timestamp"][0]
-
-            if latest_size_in_mb + ep_size_in_mb >= self._meta.audio_files_size_in_mb:
-                # Move temporary episode audio to a new audio file in the dataset
-                chunk_idx, file_idx = update_chunk_file_indices(chunk_idx, file_idx, self._meta.chunks_size)
-                new_path = self._root / self._meta.audio_path.format(
-                    audio_key=audio_key, chunk_index=chunk_idx, file_index=file_idx
-                )
-                new_path.parent.mkdir(parents=True, exist_ok=True)
-                shutil.move(str(ep_path), str(new_path))
-                latest_duration_in_s = 0.0
-            else:
-                # Update latest audio file
-                concatenate_media_files(
-                    [latest_path, ep_path],
-                    latest_path,
-                )
-
-        # Remove temporary directory
-        shutil.rmtree(str(ep_path.parent))
-
-        # Update audio info (only needed when first episode is encoded since it reads from episode 0)
-        if episode_index == 0:
-            self._meta.update_audio_info(audio_key)
-            write_info(self._meta.info, self._meta.root)  # ensure audio info always written properly
-
-        metadata = {
-            "episode_index": episode_index,
-            f"audio/{audio_key}/chunk_index": chunk_idx,
-            f"audio/{audio_key}/file_index": file_idx,
-            f"audio/{audio_key}/from_timestamp": latest_duration_in_s,
-            f"audio/{audio_key}/to_timestamp": latest_duration_in_s + ep_duration_in_s,
-        }
-        return metadata
-
-    def clear_episode_buffer(self, delete_images: bool = True, delete_audio: bool = True) -> None:
-        """Discard the current episode buffer and optionally delete temp images.
-
-        Args:
-            delete_images: If ``True``, remove temporary image directories
-                written for the current episode.
-        """
-        # Cancel streaming encoder if active
-        if self._streaming_encoder is not None:
-            self._streaming_encoder.cancel_episode()
-
-        if delete_images:
-            if self.image_writer is not None:
-                self._wait_image_writer()
-            episode_index = self.episode_buffer["episode_index"]
-            # episode_index is `int` when freshly created, but becomes `np.ndarray` after
-            # save_episode() mutates the buffer. Handle both types here.
-            if isinstance(episode_index, np.ndarray):
-                episode_index = episode_index.item() if episode_index.size == 1 else episode_index[0]
-            for cam_key in self._meta.image_keys:
-                img_dir = self._get_image_file_dir(episode_index, cam_key)
-                if img_dir.is_dir():
-                    shutil.rmtree(img_dir)
-
-        if delete_audio:
-            episode_index = self.episode_buffer["episode_index"]
-            if isinstance(episode_index, np.ndarray):
-                episode_index = episode_index.item() if episode_index.size == 1 else episode_index[0]
-            for audio_key in self._meta.audio_keys:
-                audio_file = self._get_raw_audio_file_path(episode_index, audio_key)
-                if audio_file.is_file():
-                    audio_file.unlink()
-
-        self.episode_buffer = self._create_episode_buffer()
-
-    def start_image_writer(self, num_processes: int = 0, num_threads: int = 4) -> None:
-        """Start an :class:`AsyncImageWriter` for background image persistence.
-
-        Args:
-            num_processes: Number of subprocesses. ``0`` means threads only.
-            num_threads: Number of threads per process.
-        """
-        if isinstance(self.image_writer, AsyncImageWriter):
-            logger.warning(
-                "You are starting a new AsyncImageWriter that is replacing an already existing one in the dataset."
-            )
-
-        self.image_writer = AsyncImageWriter(
-            num_processes=num_processes,
-            num_threads=num_threads,
-        )
-
-    def stop_image_writer(self) -> None:
-        """Stop the image writer (needed before pickling the dataset for DataLoader)."""
-        if self.image_writer is not None:
-            self.image_writer.stop()
-            self.image_writer = None
-
-    def _wait_image_writer(self) -> None:
-        """Wait for asynchronous image writer to finish."""
-        if self.image_writer is not None:
-            self.image_writer.wait_until_done()
-
-    def _encode_temporary_episode_video(self, video_key: str, episode_index: int) -> Path:
-        """Use ffmpeg to convert frames stored as png into mp4 videos."""
-        return _encode_video_worker(
-            video_key, episode_index, self._root, self._meta.fps, self._vcodec, self._encoder_threads
-        )
-
-    def close_writer(self) -> None:
-        """Close and cleanup the parquet writer if it exists."""
-        if self._pq_writer is not None:
-            self._pq_writer.close()
-            self._pq_writer = None
-
-    def flush_pending_videos(self) -> None:
-        """Flush any pending video encoding (streaming or batch).
-
-        For streaming encoding: closes the encoder.
-        For batch encoding: encodes any remaining episodes that haven't been batch-encoded yet.
-        """
-        if self._streaming_encoder is not None:
-            self._streaming_encoder.close()
-        elif self._episodes_since_last_encoding > 0:
-            start_ep = self._meta.total_episodes - self._episodes_since_last_encoding
-            end_ep = self._meta.total_episodes
-            logger.info(
-                f"Encoding remaining {self._episodes_since_last_encoding} episodes, "
-                f"from episode {start_ep} to {end_ep - 1}"
-            )
-            self._batch_save_episode_video(start_ep, end_ep)
-
-    def cancel_pending_videos(self) -> None:
-        """Cancel any in-progress streaming encoding without flushing."""
-        if self._streaming_encoder is not None:
-            self._streaming_encoder.cancel_episode()
-
-    def cleanup_interrupted_episode(self, episode_index: int) -> None:
-        """Remove temporary image and audio directories for an interrupted episode."""
-        for key in self._meta.video_keys:
-            img_dir = self._get_image_file_path(
-                episode_index=episode_index, image_key=key, frame_index=0
-            ).parent
-            if img_dir.exists():
-                logger.debug(
-                    f"Cleaning up interrupted episode images for episode {episode_index}, camera {key}"
-                )
-                shutil.rmtree(img_dir)
-
-        for key in self._meta.audio_keys:
-            audio_file = self._get_raw_audio_file_path(episode_index=episode_index, audio_key=key)
-            if audio_file.exists():
-                logger.debug(
-                    f"Cleaning up interrupted episode audio for episode {episode_index}, microphone {key}"
-                )
-                audio_file.unlink()
-
-    def finalize(self) -> None:
-        """Flush all pending work and release all resources.
-
-        Idempotent — safe to call multiple times.
-        """
-        if getattr(self, "_finalized", False):
-            return
-        # 1. Wait for async image writes to complete, then stop
-        if self.image_writer is not None:
-            self.image_writer.wait_until_done()
-            self.image_writer.stop()
-            self.image_writer = None
-        # 2. Flush pending video encoding (streaming or batch)
-        self.flush_pending_videos()
-        # 3. Close own parquet writer
-        self.close_writer()
-        # 4. Finalize metadata (idempotent)
-        self._meta.finalize()
-        self._finalized = True
-
-    def __del__(self):
-        """Safety net: release resources on garbage collection."""
-        # During interpreter shutdown, referenced objects may already be collected.
-        with contextlib.suppress(Exception):
-            self.finalize()

src/lerobot/datasets/factory.py

@@ -20,9 +20,11 @@ import torch
 
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.train import TrainPipelineConfig
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.multi_dataset import MultiLeRobotDataset
+from lerobot.datasets.lerobot_dataset import (
+    LeRobotDataset,
+    LeRobotDatasetMetadata,
+    MultiLeRobotDataset,
+)
 from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
 from lerobot.datasets.transforms import ImageTransforms
 from lerobot.utils.constants import ACTION, OBS_PREFIX, REWARD

src/lerobot/datasets/feature_utils.py

@@ -1,612 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# 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.
-from pprint import pformat
-from typing import Any
-
-import datasets
-import numpy as np
-from PIL import Image as PILImage
-
-from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.datasets.utils import (
-    DEFAULT_AUDIO_FILE_SIZE_IN_MB,
-    DEFAULT_AUDIO_PATH,
-    DEFAULT_CHUNK_SIZE,
-    DEFAULT_DATA_FILE_SIZE_IN_MB,
-    DEFAULT_DATA_PATH,
-    DEFAULT_FEATURES,
-    DEFAULT_VIDEO_FILE_SIZE_IN_MB,
-    DEFAULT_VIDEO_PATH,
-)
-from lerobot.utils.constants import ACTION, OBS_ENV_STATE, OBS_STR
-from lerobot.utils.utils import is_valid_numpy_dtype_string
-
-
-def get_hf_features_from_features(features: dict) -> datasets.Features:
-    """Convert a LeRobot features dictionary to a `datasets.Features` object.
-
-    Args:
-        features (dict): A LeRobot-style feature dictionary.
-
-    Returns:
-        datasets.Features: The corresponding Hugging Face `datasets.Features` object.
-
-    Raises:
-        ValueError: If a feature has an unsupported shape.
-    """
-    hf_features = {}
-    for key, ft in features.items():
-        if ft["dtype"] == "video" or ft["dtype"] == "audio":
-            continue
-        elif ft["dtype"] == "image":
-            hf_features[key] = datasets.Image()
-        elif ft["shape"] == (1,):
-            hf_features[key] = datasets.Value(dtype=ft["dtype"])
-        elif len(ft["shape"]) == 1:
-            hf_features[key] = datasets.Sequence(
-                length=ft["shape"][0], feature=datasets.Value(dtype=ft["dtype"])
-            )
-        elif len(ft["shape"]) == 2:
-            hf_features[key] = datasets.Array2D(shape=ft["shape"], dtype=ft["dtype"])
-        elif len(ft["shape"]) == 3:
-            hf_features[key] = datasets.Array3D(shape=ft["shape"], dtype=ft["dtype"])
-        elif len(ft["shape"]) == 4:
-            hf_features[key] = datasets.Array4D(shape=ft["shape"], dtype=ft["dtype"])
-        elif len(ft["shape"]) == 5:
-            hf_features[key] = datasets.Array5D(shape=ft["shape"], dtype=ft["dtype"])
-        else:
-            raise ValueError(f"Corresponding feature is not valid: {ft}")
-
-    return datasets.Features(hf_features)
-
-
-def _validate_feature_names(features: dict[str, dict]) -> None:
-    """Validate that feature names do not contain invalid characters.
-
-    Args:
-        features (dict): The LeRobot features dictionary.
-
-    Raises:
-        ValueError: If any feature name contains '/'.
-    """
-    invalid_features = {name: ft for name, ft in features.items() if "/" in name}
-    if invalid_features:
-        raise ValueError(f"Feature names should not contain '/'. Found '/' in '{invalid_features}'.")
-
-
-def hw_to_dataset_features(
-    hw_features: dict[str, type | tuple], prefix: str, use_video: bool = True
-) -> dict[str, dict]:
-    """Convert hardware-specific features to a LeRobot dataset feature dictionary.
-
-    This function takes a dictionary describing hardware outputs (like joint states
-    or camera image shapes) and formats it into the standard LeRobot feature
-    specification.
-
-    Args:
-        hw_features (dict): Dictionary mapping feature names to their type (float for
-            joints) or shape (tuple for images).
-        prefix (str): The prefix to add to the feature keys (e.g., "observation"
-            or "action").
-        use_video (bool): If True, image features are marked as "video", otherwise "image".
-
-    Returns:
-        dict: A LeRobot features dictionary.
-    """
-    features = {}
-    joint_fts = {
-        key: ftype
-        for key, ftype in hw_features.items()
-        if ftype is float or (isinstance(ftype, PolicyFeature) and ftype.type != FeatureType.VISUAL)
-    }
-    cam_fts = {
-        key: shape for key, shape in hw_features.items() if isinstance(shape, tuple) and len(shape) == 3
-    }
-    mic_fts = {
-        key: shape for key, shape in hw_features.items() if isinstance(shape, tuple) and len(shape) == 2
-    }
-
-    if joint_fts and prefix == ACTION:
-        features[prefix] = {
-            "dtype": "float32",
-            "shape": (len(joint_fts),),
-            "names": list(joint_fts),
-        }
-
-    if joint_fts and prefix == OBS_STR:
-        features[f"{prefix}.state"] = {
-            "dtype": "float32",
-            "shape": (len(joint_fts),),
-            "names": list(joint_fts),
-        }
-
-    for key, shape in cam_fts.items():
-        features[f"{prefix}.images.{key}"] = {
-            "dtype": "video" if use_video else "image",
-            "shape": shape,
-            "names": ["height", "width", "channels"],
-        }
-
-    for key, parameters in mic_fts.items():
-        features[f"{prefix}.audio.{key}"] = {
-            "dtype": "audio",
-            "shape": (len(parameters[1]),),
-            "names": ["channels"],
-            "info": {"sample_rate": parameters[0]},
-        }
-
-    _validate_feature_names(features)
-    return features
-
-
-def build_dataset_frame(
-    ds_features: dict[str, dict], values: dict[str, Any], prefix: str
-) -> dict[str, np.ndarray]:
-    """Construct a single data frame from raw values based on dataset features.
-
-    A "frame" is a dictionary containing all the data for a single timestep,
-    formatted as numpy arrays according to the feature specification.
-
-    Args:
-        ds_features (dict): The LeRobot dataset features dictionary.
-        values (dict): A dictionary of raw values from the hardware/environment.
-        prefix (str): The prefix to filter features by (e.g., "observation"
-            or "action").
-
-    Returns:
-        dict: A dictionary representing a single frame of data.
-    """
-    frame = {}
-    for key, ft in ds_features.items():
-        if key in DEFAULT_FEATURES or not key.startswith(prefix):
-            continue
-        elif ft["dtype"] == "float32" and len(ft["shape"]) == 1:
-            frame[key] = np.array([values[name] for name in ft["names"]], dtype=np.float32)
-        elif ft["dtype"] in ["image", "video"]:
-            frame[key] = values[key.removeprefix(f"{prefix}.images.")]
-        elif ft["dtype"] == "audio":
-            frame[key] = values[key.removeprefix(f"{prefix}.audio.")]
-
-    return frame
-
-
-def dataset_to_policy_features(features: dict[str, dict]) -> dict[str, PolicyFeature]:
-    """Convert dataset features to policy features.
-
-    This function transforms the dataset's feature specification into a format
-    that a policy can use, classifying features by type (e.g., visual, state,
-    action) and ensuring correct shapes (e.g., channel-first for images).
-
-    Args:
-        features (dict): The LeRobot dataset features dictionary.
-
-    Returns:
-        dict: A dictionary mapping feature keys to `PolicyFeature` objects.
-
-    Raises:
-        ValueError: If an image feature does not have a 3D shape.
-    """
-    # TODO(aliberts): Implement "type" in dataset features and simplify this
-    policy_features = {}
-    for key, ft in features.items():
-        shape = ft["shape"]
-        if ft["dtype"] in ["image", "video"]:
-            type = FeatureType.VISUAL
-            if len(shape) != 3:
-                raise ValueError(f"Number of dimensions of {key} != 3 (shape={shape})")
-
-            names = ft["names"]
-            # Backward compatibility for "channel" which is an error introduced in LeRobotDataset v2.0 for ported datasets.
-            if names[2] in ["channel", "channels"]:  # (h, w, c) -> (c, h, w)
-                shape = (shape[2], shape[0], shape[1])
-        elif ft["dtype"] == "audio":
-            type = FeatureType.AUDIO
-            if len(shape) != 2:
-                raise ValueError(f"Number of dimensions of {key} != 2 (shape={shape})")
-        elif key == OBS_ENV_STATE:
-            type = FeatureType.ENV
-        elif key.startswith(OBS_STR):
-            type = FeatureType.STATE
-        elif key.startswith(ACTION):
-            type = FeatureType.ACTION
-        else:
-            continue
-
-        policy_features[key] = PolicyFeature(
-            type=type,
-            shape=shape,
-        )
-
-    return policy_features
-
-
-def combine_feature_dicts(*dicts: dict) -> dict:
-    """Merge LeRobot grouped feature dicts.
-
-    - For 1D numeric specs (dtype not image/video/string) with "names": we merge the names and recompute the shape.
-    - For others (e.g. `observation.images.*`), the last one wins (if they are identical).
-
-    Args:
-        *dicts: A variable number of LeRobot feature dictionaries to merge.
-
-    Returns:
-        dict: A single merged feature dictionary.
-
-    Raises:
-        ValueError: If there's a dtype mismatch for a feature being merged.
-    """
-    out: dict = {}
-    for d in dicts:
-        for key, value in d.items():
-            if not isinstance(value, dict):
-                out[key] = value
-                continue
-
-            dtype = value.get("dtype")
-            shape = value.get("shape")
-            is_vector = (
-                dtype not in ("image", "video", "string")
-                and isinstance(shape, tuple)
-                and len(shape) == 1
-                and "names" in value
-            )
-
-            if is_vector:
-                # Initialize or retrieve the accumulating dict for this feature key
-                target = out.setdefault(key, {"dtype": dtype, "names": [], "shape": (0,)})
-                # Ensure consistent data types across merged entries
-                if "dtype" in target and dtype != target["dtype"]:
-                    raise ValueError(f"dtype mismatch for '{key}': {target['dtype']} vs {dtype}")
-
-                # Merge feature names: append only new ones to preserve order without duplicates
-                seen = set(target["names"])
-                for n in value["names"]:
-                    if n not in seen:
-                        target["names"].append(n)
-                        seen.add(n)
-                # Recompute the shape to reflect the updated number of features
-                target["shape"] = (len(target["names"]),)
-            else:
-                # For images/videos and non-1D entries: override with the latest definition
-                out[key] = value
-    return out
-
-
-def create_empty_dataset_info(
-    codebase_version: str,
-    fps: int,
-    features: dict,
-    use_videos: bool,
-    robot_type: str | None = None,
-    chunks_size: int | None = None,
-    data_files_size_in_mb: int | None = None,
-    video_files_size_in_mb: int | None = None,
-    audio_files_size_in_mb: int | None = None,
-) -> dict:
-    """Create a template dictionary for a new dataset's `info.json`.
-
-    Args:
-        codebase_version (str): The version of the LeRobot codebase.
-        fps (int): The frames per second of the data.
-        features (dict): The LeRobot features dictionary for the dataset.
-        use_videos (bool): Whether the dataset will store videos.
-        robot_type (str | None): The type of robot used, if any.
-        chunks_size (int | None): The number of files per chunk.
-        data_files_size_in_mb (int | None): The maximum size per data file in MB.
-        video_files_size_in_mb (int | None): The maximum size per video file in MB.
-        audio_files_size_in_mb (int | None): The maximum size per audio file in MB.
-    Returns:
-        dict: A dictionary with the initial dataset metadata.
-    """
-    return {
-        "codebase_version": codebase_version,
-        "robot_type": robot_type,
-        "total_episodes": 0,
-        "total_frames": 0,
-        "total_tasks": 0,
-        "chunks_size": chunks_size or DEFAULT_CHUNK_SIZE,
-        "data_files_size_in_mb": data_files_size_in_mb or DEFAULT_DATA_FILE_SIZE_IN_MB,
-        "video_files_size_in_mb": video_files_size_in_mb or DEFAULT_VIDEO_FILE_SIZE_IN_MB,
-        "audio_files_size_in_mb": audio_files_size_in_mb or DEFAULT_AUDIO_FILE_SIZE_IN_MB,
-        "fps": fps,
-        "splits": {},
-        "data_path": DEFAULT_DATA_PATH,
-        "video_path": DEFAULT_VIDEO_PATH if use_videos else None,
-        "audio_path": DEFAULT_AUDIO_PATH,
-        "features": features,
-    }
-
-
-def check_delta_timestamps(
-    delta_timestamps: dict[str, list[float]], fps: int, tolerance_s: float, raise_value_error: bool = True
-) -> bool:
-    """Check if delta timestamps are multiples of 1/fps +/- tolerance.
-
-    This ensures that adding these delta timestamps to any existing timestamp in
-    the dataset will result in a value that aligns with the dataset's frame rate.
-
-    Args:
-        delta_timestamps (dict): A dictionary where values are lists of time
-            deltas in seconds.
-        fps (int): The frames per second of the dataset.
-        tolerance_s (float): The allowed tolerance in seconds.
-        raise_value_error (bool): If True, raises an error on failure.
-
-    Returns:
-        bool: True if all deltas are valid, False otherwise.
-
-    Raises:
-        ValueError: If any delta is outside the tolerance and `raise_value_error` is True.
-    """
-    outside_tolerance = {}
-    for key, delta_ts in delta_timestamps.items():
-        within_tolerance = [abs(ts * fps - round(ts * fps)) / fps <= tolerance_s for ts in delta_ts]
-        if not all(within_tolerance):
-            outside_tolerance[key] = [
-                ts for ts, is_within in zip(delta_ts, within_tolerance, strict=True) if not is_within
-            ]
-
-    if len(outside_tolerance) > 0:
-        if raise_value_error:
-            raise ValueError(
-                f"""
-                The following delta_timestamps are found outside of tolerance range.
-                Please make sure they are multiples of 1/{fps} +/- tolerance and adjust
-                their values accordingly.
-                \n{pformat(outside_tolerance)}
-                """
-            )
-        return False
-
-    return True
-
-
-def get_delta_indices(delta_timestamps: dict[str, list[float]], fps: int) -> dict[str, list[int]]:
-    """Convert delta timestamps in seconds to delta indices in frames.
-
-    Args:
-        delta_timestamps (dict): A dictionary of time deltas in seconds.
-        fps (int): The frames per second of the dataset.
-
-    Returns:
-        dict: A dictionary of frame delta indices.
-    """
-    delta_indices = {}
-    for key, delta_ts in delta_timestamps.items():
-        delta_indices[key] = [round(d * fps) for d in delta_ts]
-
-    return delta_indices
-
-
-def validate_frame(frame: dict, features: dict) -> None:
-    # DEFAULT_FEATURES (timestamp, frame_index, episode_index, index, task_index) are
-    # auto-populated by the recording pipeline (add_frame / save_episode) and must not
-    # be supplied by the caller. Excluding them here means any frame dict that contains
-    # these keys will be rejected as extra features.
-    expected_features = set(features) - set(DEFAULT_FEATURES)
-    actual_features = set(frame)
-
-    # task is a special required field that's not part of regular features
-    if "task" not in actual_features:
-        raise ValueError("Feature mismatch in `frame` dictionary:\nMissing features: {'task'}\n")
-
-    # Remove task from actual_features for regular feature validation
-    actual_features_for_validation = actual_features - {"task"}
-
-    error_message = validate_features_presence(actual_features_for_validation, expected_features)
-
-    common_features = actual_features_for_validation & expected_features
-    for name in common_features:
-        error_message += validate_feature_dtype_and_shape(name, features[name], frame[name])
-
-    if error_message:
-        raise ValueError(error_message)
-
-
-def validate_features_presence(actual_features: set[str], expected_features: set[str]) -> str:
-    """Check for missing or extra features in a frame.
-
-    Args:
-        actual_features (set[str]): The set of feature names present in the frame.
-        expected_features (set[str]): The set of feature names expected in the frame.
-
-    Returns:
-        str: An error message string if there's a mismatch, otherwise an empty string.
-    """
-    error_message = ""
-    missing_features = expected_features - actual_features
-    extra_features = actual_features - expected_features
-
-    if missing_features or extra_features:
-        error_message += "Feature mismatch in `frame` dictionary:\n"
-        if missing_features:
-            error_message += f"Missing features: {missing_features}\n"
-        if extra_features:
-            error_message += f"Extra features: {extra_features}\n"
-
-    return error_message
-
-
-def validate_feature_dtype_and_shape(
-    name: str, feature: dict, value: np.ndarray | PILImage.Image | str
-) -> str:
-    """Validate the dtype and shape of a single feature's value.
-
-    Args:
-        name (str): The name of the feature.
-        feature (dict): The feature specification from the LeRobot features dictionary.
-        value: The value of the feature to validate.
-
-    Returns:
-        str: An error message if validation fails, otherwise an empty string.
-
-    Raises:
-        NotImplementedError: If the feature dtype is not supported for validation.
-    """
-    expected_dtype = feature["dtype"]
-    expected_shape = feature["shape"]
-    if is_valid_numpy_dtype_string(expected_dtype):
-        return validate_feature_numpy_array(name, expected_dtype, expected_shape, value)
-    elif expected_dtype in ["image", "video"]:
-        return validate_feature_image_or_video(name, expected_shape, value)
-    elif expected_dtype == "audio":
-        return validate_feature_audio(name, expected_shape, value)
-    elif expected_dtype == "string":
-        return validate_feature_string(name, value)
-    else:
-        raise NotImplementedError(f"The feature dtype '{expected_dtype}' is not implemented yet.")
-
-
-def validate_feature_numpy_array(
-    name: str, expected_dtype: str, expected_shape: list[int], value: np.ndarray
-) -> str:
-    """Validate a feature that is expected to be a numpy array.
-
-    Args:
-        name (str): The name of the feature.
-        expected_dtype (str): The expected numpy dtype as a string.
-        expected_shape (list[int]): The expected shape.
-        value (np.ndarray): The numpy array to validate.
-
-    Returns:
-        str: An error message if validation fails, otherwise an empty string.
-    """
-    error_message = ""
-    if isinstance(value, np.ndarray):
-        actual_dtype = value.dtype
-        actual_shape = value.shape
-
-        if actual_dtype != np.dtype(expected_dtype):
-            error_message += f"The feature '{name}' of dtype '{actual_dtype}' is not of the expected dtype '{expected_dtype}'.\n"
-
-        if actual_shape != expected_shape:
-            error_message += f"The feature '{name}' of shape '{actual_shape}' does not have the expected shape '{expected_shape}'.\n"
-    else:
-        error_message += f"The feature '{name}' is not a 'np.ndarray'. Expected type is '{expected_dtype}', but type '{type(value)}' provided instead.\n"
-
-    return error_message
-
-
-def validate_feature_image_or_video(
-    name: str, expected_shape: list[str], value: np.ndarray | PILImage.Image
-) -> str:
-    """Validate a feature that is expected to be an image or video frame.
-
-    Accepts `np.ndarray` (channel-first or channel-last) or `PIL.Image.Image`.
-
-    Args:
-        name (str): The name of the feature.
-        expected_shape (list[str]): The expected shape (C, H, W).
-        value: The image data to validate.
-
-    Returns:
-        str: An error message if validation fails, otherwise an empty string.
-    """
-    # Note: The check of pixels range ([0,1] for float and [0,255] for uint8) is done by the image writer threads.
-    error_message = ""
-    if isinstance(value, np.ndarray):
-        actual_shape = value.shape
-        c, h, w = expected_shape
-        if len(actual_shape) != 3 or (actual_shape != (c, h, w) and actual_shape != (h, w, c)):
-            error_message += f"The feature '{name}' of shape '{actual_shape}' does not have the expected shape '{(c, h, w)}' or '{(h, w, c)}'.\n"
-    elif isinstance(value, PILImage.Image):
-        pass
-    else:
-        error_message += f"The feature '{name}' is expected to be of type 'PIL.Image' or 'np.ndarray' channel first or channel last, but type '{type(value)}' provided instead.\n"
-
-    return error_message
-
-
-def validate_feature_audio(name: str, expected_shape: list[str], value: np.ndarray):
-    """Validate a feature that is expected to be an audio frame.
-
-    Args:
-        name (str): The name of the feature.
-        expected_shape (list[str]): The expected shape (C,).
-        value: The audio data to validate.
-
-    Returns:
-        str: An error message if validation fails, otherwise an empty string.
-    """
-    error_message = ""
-    if isinstance(value, np.ndarray):
-        actual_shape = value.shape
-        c = expected_shape
-        if (len(actual_shape) != 2 and len(actual_shape) != 1) or actual_shape[-1] != c[
-            -1
-        ]:  # The number of frames might be different
-            error_message += (
-                f"The feature '{name}' of shape '{actual_shape}' does not have the expected shape '{c}'.\n"
-            )
-    else:
-        error_message += f"The feature '{name}' is expected to be of type 'np.ndarray', but type '{type(value)}' provided instead.\n"
-
-    return error_message
-
-
-def validate_feature_string(name: str, value: str) -> str:
-    """Validate a feature that is expected to be a string.
-
-    Args:
-        name (str): The name of the feature.
-        value (str): The value to validate.
-
-    Returns:
-        str: An error message if validation fails, otherwise an empty string.
-    """
-    if not isinstance(value, str):
-        return f"The feature '{name}' is expected to be of type 'str', but type '{type(value)}' provided instead.\n"
-    return ""
-
-
-def validate_episode_buffer(episode_buffer: dict, total_episodes: int, features: dict) -> None:
-    """Validate the episode buffer before it's written to disk.
-
-    Ensures the buffer has the required keys, contains at least one frame, and
-    has features consistent with the dataset's specification.
-
-    Args:
-        episode_buffer (dict): The buffer containing data for a single episode.
-        total_episodes (int): The current total number of episodes in the dataset.
-        features (dict): The LeRobot features dictionary for the dataset.
-
-    Raises:
-        ValueError: If the buffer is invalid.
-        NotImplementedError: If the episode index is manually set and doesn't match.
-    """
-    if "size" not in episode_buffer:
-        raise ValueError("size key not found in episode_buffer")
-
-    if "task" not in episode_buffer:
-        raise ValueError("task key not found in episode_buffer")
-
-    if episode_buffer["episode_index"] != total_episodes:
-        # TODO(aliberts): Add option to use existing episode_index
-        raise NotImplementedError(
-            "You might have manually provided the episode_buffer with an episode_index that doesn't "
-            "match the total number of episodes already in the dataset. This is not supported for now."
-        )
-
-    if episode_buffer["size"] == 0:
-        raise ValueError("You must add one or several frames with `add_frame` before calling `add_episode`.")
-
-    buffer_keys = set(episode_buffer.keys()) - {"task", "size"}
-    if not buffer_keys == set(features):
-        raise ValueError(
-            f"Features from `episode_buffer` don't match the ones in `features`."
-            f"In episode_buffer not in features: {buffer_keys - set(features)}"
-            f"In features not in episode_buffer: {set(features) - buffer_keys}"
-        )

src/lerobot/datasets/image_writer.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 logging
 import multiprocessing
 import queue
 import threading
@@ -23,8 +22,6 @@ import numpy as np
 import PIL.Image
 import torch
 
-logger = logging.getLogger(__name__)
-
 
 def safe_stop_image_writer(func):
     def wrapper(*args, **kwargs):
@@ -32,10 +29,10 @@ def safe_stop_image_writer(func):
             return func(*args, **kwargs)
         except Exception as e:
             dataset = kwargs.get("dataset")
-            writer = getattr(dataset, "writer", None) if dataset else None
-            if writer is not None and writer.image_writer is not None:
-                logger.warning("Waiting for image writer to terminate...")
-                writer.image_writer.stop()
+            image_writer = getattr(dataset, "image_writer", None) if dataset else None
+            if image_writer is not None:
+                print("Waiting for image writer to terminate...")
+                image_writer.stop()
             raise e
 
     return wrapper
@@ -92,7 +89,8 @@ def write_image(image: np.ndarray | PIL.Image.Image, fpath: Path, compress_level
             PIL.Image.Image object.
 
     Side Effects:
-        Logs an error message if the image writing process fails for any reason.
+        Prints an error message to the console if the image writing process
+        fails for any reason.
     """
     try:
         if isinstance(image, np.ndarray):
@@ -103,7 +101,7 @@ def write_image(image: np.ndarray | PIL.Image.Image, fpath: Path, compress_level
             raise TypeError(f"Unsupported image type: {type(image)}")
         img.save(fpath, compress_level=compress_level)
     except Exception as e:
-        logger.error("Error writing image %s: %s", fpath, e)
+        print(f"Error writing image {fpath}: {e}")
 
 
 def worker_thread_loop(queue: queue.Queue):

src/lerobot/datasets/io_utils.py

@@ -1,361 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# 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
-
-import datasets
-import numpy as np
-import pandas
-import pandas as pd
-import pyarrow.dataset as pa_ds
-import pyarrow.parquet as pq
-import soundfile as sf
-import torch
-from datasets import Dataset
-from datasets.table import embed_table_storage
-from PIL import Image as PILImage
-from torchvision import transforms
-
-from lerobot.datasets.utils import (
-    DEFAULT_DATA_FILE_SIZE_IN_MB,
-    DEFAULT_EPISODES_PATH,
-    DEFAULT_SUBTASKS_PATH,
-    DEFAULT_TASKS_PATH,
-    EPISODES_DIR,
-    INFO_PATH,
-    STATS_PATH,
-    flatten_dict,
-    serialize_dict,
-    unflatten_dict,
-)
-from lerobot.utils.utils import SuppressProgressBars
-
-
-def get_parquet_file_size_in_mb(parquet_path: str | Path) -> float:
-    metadata = pq.read_metadata(parquet_path)
-    total_uncompressed_size = 0
-    for row_group in range(metadata.num_row_groups):
-        rg_metadata = metadata.row_group(row_group)
-        for column in range(rg_metadata.num_columns):
-            col_metadata = rg_metadata.column(column)
-            total_uncompressed_size += col_metadata.total_uncompressed_size
-    return total_uncompressed_size / (1024**2)
-
-
-def get_hf_dataset_size_in_mb(hf_ds: Dataset) -> int:
-    return hf_ds.data.nbytes // (1024**2)
-
-
-def load_nested_dataset(
-    pq_dir: Path, features: datasets.Features | None = None, episodes: list[int] | None = None
-) -> Dataset:
-    """Find parquet files in provided directory {pq_dir}/chunk-xxx/file-xxx.parquet
-    Convert parquet files to pyarrow memory mapped in a cache folder for efficient RAM usage
-    Concatenate all pyarrow references to return HF Dataset format
-
-    Args:
-        pq_dir: Directory containing parquet files
-        features: Optional features schema to ensure consistent loading of complex types like images
-        episodes: Optional list of episode indices to filter. Uses PyArrow predicate pushdown for efficiency.
-    """
-    paths = sorted(pq_dir.glob("*/*.parquet"))
-    if len(paths) == 0:
-        raise FileNotFoundError(f"Provided directory does not contain any parquet file: {pq_dir}")
-
-    with SuppressProgressBars():
-        # We use .from_parquet() memory-mapped loading for efficiency
-        filters = pa_ds.field("episode_index").isin(episodes) if episodes is not None else None
-        return Dataset.from_parquet([str(path) for path in paths], filters=filters, features=features)
-
-
-def get_parquet_num_frames(parquet_path: str | Path) -> int:
-    metadata = pq.read_metadata(parquet_path)
-    return metadata.num_rows
-
-
-def get_file_size_in_mb(file_path: Path) -> float:
-    """Get file size on disk in megabytes.
-
-    Args:
-        file_path (Path): Path to the file.
-    """
-    file_size_bytes = file_path.stat().st_size
-    return file_size_bytes / (1024**2)
-
-
-def embed_images(dataset: datasets.Dataset) -> datasets.Dataset:
-    """Embed image bytes into the dataset table before saving to Parquet.
-
-    This function prepares a Hugging Face dataset for serialization by converting
-    image objects into an embedded format that can be stored in Arrow/Parquet.
-
-    Args:
-        dataset (datasets.Dataset): The input dataset, possibly containing image features.
-
-    Returns:
-        datasets.Dataset: The dataset with images embedded in the table storage.
-    """
-    # Embed image bytes into the table before saving to parquet
-    format = dataset.format
-    dataset = dataset.with_format("arrow")
-    dataset = dataset.map(embed_table_storage, batched=False)
-    dataset = dataset.with_format(**format)
-    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)
-
-
-def load_info(local_dir: Path) -> dict:
-    """Load dataset info metadata from its standard file path.
-
-    Also converts shape lists to tuples for consistency.
-
-    Args:
-        local_dir (Path): The root directory of the dataset.
-
-    Returns:
-        dict: The dataset information dictionary.
-    """
-    info = load_json(local_dir / INFO_PATH)
-    for ft in info["features"].values():
-        ft["shape"] = tuple(ft["shape"])
-    return info
-
-
-def write_stats(stats: dict, local_dir: Path) -> None:
-    """Serialize and write dataset statistics to their standard file path.
-
-    Args:
-        stats (dict): The statistics dictionary (can contain tensors/numpy arrays).
-        local_dir (Path): The root directory of the dataset.
-    """
-    serialized_stats = serialize_dict(stats)
-    write_json(serialized_stats, local_dir / STATS_PATH)
-
-
-def cast_stats_to_numpy(stats: dict) -> dict[str, dict[str, np.ndarray]]:
-    """Recursively cast numerical values in a stats dictionary to numpy arrays.
-
-    Args:
-        stats (dict): The statistics dictionary.
-
-    Returns:
-        dict: The statistics dictionary with values cast to numpy arrays.
-    """
-    stats = {key: np.array(value) for key, value in flatten_dict(stats).items()}
-    return unflatten_dict(stats)
-
-
-def load_stats(local_dir: Path) -> dict[str, dict[str, np.ndarray]] | None:
-    """Load dataset statistics and cast numerical values to numpy arrays.
-
-    Returns None if the stats file doesn't exist.
-
-    Args:
-        local_dir (Path): The root directory of the dataset.
-
-    Returns:
-        A dictionary of statistics or None if the file is not found.
-    """
-    if not (local_dir / STATS_PATH).exists():
-        return None
-    stats = load_json(local_dir / STATS_PATH)
-    return cast_stats_to_numpy(stats)
-
-
-def write_tasks(tasks: pandas.DataFrame, local_dir: Path) -> None:
-    path = local_dir / DEFAULT_TASKS_PATH
-    path.parent.mkdir(parents=True, exist_ok=True)
-    tasks.to_parquet(path)
-
-
-def load_tasks(local_dir: Path) -> pandas.DataFrame:
-    tasks = pd.read_parquet(local_dir / DEFAULT_TASKS_PATH)
-    tasks.index.name = "task"
-    return tasks
-
-
-def load_subtasks(local_dir: Path) -> pandas.DataFrame | None:
-    """Load subtasks from subtasks.parquet if it exists."""
-    subtasks_path = local_dir / DEFAULT_SUBTASKS_PATH
-    if subtasks_path.exists():
-        return pd.read_parquet(subtasks_path)
-    return None
-
-
-def write_episodes(episodes: Dataset, local_dir: Path) -> None:
-    """Write episode metadata to a parquet file in the LeRobot v3.0 format.
-    This function writes episode-level metadata to a single parquet file.
-    Used primarily during dataset conversion (v2.1 → v3.0) and in test fixtures.
-
-    Args:
-        episodes: HuggingFace Dataset containing episode metadata
-        local_dir: Root directory where the dataset will be stored
-    """
-    episode_size_mb = get_hf_dataset_size_in_mb(episodes)
-    if episode_size_mb > DEFAULT_DATA_FILE_SIZE_IN_MB:
-        raise NotImplementedError(
-            f"Episodes dataset is too large ({episode_size_mb} MB) to write to a single file. "
-            f"The current limit is {DEFAULT_DATA_FILE_SIZE_IN_MB} MB. "
-            "This function only supports single-file episode metadata. "
-        )
-
-    fpath = local_dir / DEFAULT_EPISODES_PATH.format(chunk_index=0, file_index=0)
-    fpath.parent.mkdir(parents=True, exist_ok=True)
-    episodes.to_parquet(fpath)
-
-
-def load_episodes(local_dir: Path) -> datasets.Dataset:
-    episodes = load_nested_dataset(local_dir / EPISODES_DIR)
-    # Select episode features/columns containing references to episode data and videos
-    # (e.g. tasks, dataset_from_index, dataset_to_index, data/chunk_index, data/file_index, etc.)
-    # This is to speedup access to these data, instead of having to load episode stats.
-    episodes = episodes.select_columns([key for key in episodes.features if not key.startswith("stats/")])
-    return episodes
-
-
-def load_image_as_numpy(
-    fpath: str | Path, dtype: np.dtype = np.float32, channel_first: bool = True
-) -> np.ndarray:
-    """Load an image from a file into a numpy array.
-
-    Args:
-        fpath (str | Path): Path to the image file.
-        dtype (np.dtype): The desired data type of the output array. If floating,
-            pixels are scaled to [0, 1].
-        channel_first (bool): If True, converts the image to (C, H, W) format.
-            Otherwise, it remains in (H, W, C) format.
-
-    Returns:
-        np.ndarray: The image as a numpy array.
-    """
-    img = PILImage.open(fpath).convert("RGB")
-    img_array = np.array(img, dtype=dtype)
-    if channel_first:  # (H, W, C) -> (C, H, W)
-        img_array = np.transpose(img_array, (2, 0, 1))
-    if np.issubdtype(dtype, np.floating):
-        img_array /= 255.0
-    return img_array
-
-
-def load_audio_from_path(fpath: str | Path) -> np.ndarray:
-    """Load an audio file from a path into a numpy array.
-
-    Args:
-        fpath (str | Path): Path to the audio file.
-
-    Returns:
-        np.ndarray: The audio as a numpy array.
-    """
-    audio_data, _ = sf.read(fpath, dtype="float32")
-
-    # Fill missing channel dimension when loading mono audio data
-    if audio_data.ndim == 1:
-        audio_data = np.expand_dims(audio_data, axis=1)
-
-    return audio_data
-
-
-def hf_transform_to_torch(items_dict: dict[str, list[Any]]) -> dict[str, list[torch.Tensor | str]]:
-    """Convert a batch from a Hugging Face dataset to torch tensors.
-
-    This transform function converts items from Hugging Face dataset format (pyarrow)
-    to torch tensors. Importantly, images are converted from PIL objects (H, W, C, uint8)
-    to a torch image representation (C, H, W, float32) in the range [0, 1]. Other
-    types are converted to torch.tensor.
-
-    Args:
-        items_dict (dict): A dictionary representing a batch of data from a
-            Hugging Face dataset.
-
-    Returns:
-        dict: The batch with items converted to torch tensors.
-    """
-    for key in items_dict:
-        first_item = items_dict[key][0]
-        if isinstance(first_item, PILImage.Image):
-            to_tensor = transforms.ToTensor()
-            items_dict[key] = [to_tensor(img) for img in items_dict[key]]
-        elif first_item is None:
-            pass
-        else:
-            items_dict[key] = [x if isinstance(x, str) else torch.tensor(x) for x in items_dict[key]]
-    return items_dict
-
-
-def to_parquet_with_hf_images(
-    df: pandas.DataFrame, path: Path, features: datasets.Features | None = None
-) -> None:
-    """This function correctly writes to parquet a panda DataFrame that contains images encoded by HF dataset.
-    This way, it can be loaded by HF dataset and correctly formatted images are returned.
-
-    Args:
-        df: DataFrame to write to parquet.
-        path: Path to write the parquet file.
-        features: Optional HuggingFace Features schema. If provided, ensures image columns
-                  are properly typed as Image() in the parquet schema.
-    """
-    # TODO(qlhoest): replace this weird synthax by `df.to_parquet(path)` only
-    ds = datasets.Dataset.from_dict(df.to_dict(orient="list"), features=features)
-    ds.to_parquet(path)
-
-
-def item_to_torch(item: dict) -> dict:
-    """Convert all items in a dictionary to PyTorch tensors where appropriate.
-
-    This function is used to convert an item from a streaming dataset to PyTorch tensors.
-
-    Args:
-        item (dict): Dictionary of items from a dataset.
-
-    Returns:
-        dict: Dictionary with all tensor-like items converted to torch.Tensor.
-    """
-    for key, val in item.items():
-        if isinstance(val, (np.ndarray | list)) and key not in ["task"]:
-            # Convert numpy arrays and lists to torch tensors
-            item[key] = torch.tensor(val)
-    return item

src/lerobot/datasets/multi_dataset.py

@@ -1,217 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# 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 logging
-from collections.abc import Callable
-from pathlib import Path
-
-import datasets
-import torch
-import torch.utils
-
-from lerobot.datasets.compute_stats import aggregate_stats
-from lerobot.datasets.feature_utils import get_hf_features_from_features
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.video_utils import VideoFrame
-from lerobot.utils.constants import HF_LEROBOT_HOME
-
-logger = logging.getLogger(__name__)
-
-
-class MultiLeRobotDataset(torch.utils.data.Dataset):
-    """A dataset consisting of multiple underlying `LeRobotDataset`s.
-
-    The underlying `LeRobotDataset`s are effectively concatenated, and this class adopts much of the API
-    structure of `LeRobotDataset`.
-    """
-
-    def __init__(
-        self,
-        repo_ids: list[str],
-        root: str | Path | None = None,
-        episodes: dict | None = None,
-        image_transforms: Callable | None = None,
-        delta_timestamps: dict[str, list[float]] | None = None,
-        tolerances_s: dict | None = None,
-        download_videos: bool = True,
-        video_backend: str | None = None,
-    ):
-        super().__init__()
-        self.repo_ids = repo_ids
-        self.root = Path(root) if root else HF_LEROBOT_HOME
-        self.tolerances_s = tolerances_s if tolerances_s else dict.fromkeys(repo_ids, 0.0001)
-        # Construct the underlying datasets passing everything but `transform` and `delta_timestamps` which
-        # are handled by this class.
-        self._datasets = [
-            LeRobotDataset(
-                repo_id,
-                root=self.root / repo_id,
-                episodes=episodes[repo_id] if episodes else None,
-                image_transforms=image_transforms,
-                delta_timestamps=delta_timestamps,
-                tolerance_s=self.tolerances_s[repo_id],
-                download_videos=download_videos,
-                video_backend=video_backend,
-            )
-            for repo_id in repo_ids
-        ]
-
-        # Disable any data keys that are not common across all of the datasets. Note: we may relax this
-        # restriction in future iterations of this class. For now, this is necessary at least for being able
-        # to use PyTorch's default DataLoader collate function.
-        self.disabled_features = set()
-        intersection_features = set(self._datasets[0].features)
-        for ds in self._datasets:
-            intersection_features.intersection_update(ds.features)
-        if len(intersection_features) == 0:
-            raise RuntimeError(
-                "Multiple datasets were provided but they had no keys common to all of them. "
-                "The multi-dataset functionality currently only keeps common keys."
-            )
-        for repo_id, ds in zip(self.repo_ids, self._datasets, strict=True):
-            extra_keys = set(ds.features).difference(intersection_features)
-            if extra_keys:
-                logger.warning(
-                    f"keys {extra_keys} of {repo_id} were disabled as they are not contained in all the "
-                    "other datasets."
-                )
-                self.disabled_features.update(extra_keys)
-
-        self.image_transforms = image_transforms
-        self.delta_timestamps = delta_timestamps
-        # TODO(rcadene, aliberts): We should not perform this aggregation for datasets
-        # with multiple robots of different ranges. Instead we should have one normalization
-        # per robot.
-        self.stats = aggregate_stats([dataset.meta.stats for dataset in self._datasets])
-
-    @property
-    def repo_id_to_index(self):
-        """Return a mapping from dataset repo_id to a dataset index automatically created by this class.
-
-        This index is incorporated as a data key in the dictionary returned by `__getitem__`.
-        """
-        return {repo_id: i for i, repo_id in enumerate(self.repo_ids)}
-
-    @property
-    def fps(self) -> int:
-        """Frames per second used during data collection.
-
-        NOTE: Fow now, this relies on a check in __init__ to make sure all sub-datasets have the same info.
-        """
-        return self._datasets[0].meta.info["fps"]
-
-    @property
-    def video(self) -> bool:
-        """Returns True if this dataset loads video frames from mp4 files.
-
-        Returns False if it only loads images from png files.
-
-        NOTE: Fow now, this relies on a check in __init__ to make sure all sub-datasets have the same info.
-        """
-        return self._datasets[0].meta.info.get("video", False)
-
-    @property
-    def features(self) -> datasets.Features:
-        features = {}
-        for dataset in self._datasets:
-            features.update(
-                {
-                    k: v
-                    for k, v in get_hf_features_from_features(dataset.features).items()
-                    if k not in self.disabled_features
-                }
-            )
-        return features
-
-    @property
-    def camera_keys(self) -> list[str]:
-        """Keys to access image and video stream from cameras."""
-        keys = []
-        for key, feats in self.features.items():
-            if isinstance(feats, (datasets.Image | VideoFrame)):
-                keys.append(key)
-        return keys
-
-    @property
-    def video_frame_keys(self) -> list[str]:
-        """Keys to access video frames that requires to be decoded into images.
-
-        Note: It is empty if the dataset contains images only,
-        or equal to `self.cameras` if the dataset contains videos only,
-        or can even be a subset of `self.cameras` in a case of a mixed image/video dataset.
-        """
-        video_frame_keys = []
-        for key, feats in self.features.items():
-            if isinstance(feats, VideoFrame):
-                video_frame_keys.append(key)
-        return video_frame_keys
-
-    @property
-    def num_frames(self) -> int:
-        """Number of samples/frames."""
-        return sum(d.num_frames for d in self._datasets)
-
-    @property
-    def num_episodes(self) -> int:
-        """Number of episodes."""
-        return sum(d.num_episodes for d in self._datasets)
-
-    @property
-    def tolerance_s(self) -> float:
-        """Tolerance in seconds used to discard loaded frames when their timestamps
-        are not close enough from the requested frames. It is only used when `delta_timestamps`
-        is provided or when loading video frames from mp4 files.
-        """
-        # 1e-4 to account for possible numerical error
-        return 1 / self.fps - 1e-4
-
-    def __len__(self):
-        return self.num_frames
-
-    def __getitem__(self, idx: int) -> dict[str, torch.Tensor]:
-        if idx >= len(self):
-            raise IndexError(f"Index {idx} out of bounds.")
-        # Determine which dataset to get an item from based on the index.
-        start_idx = 0
-        dataset_idx = 0
-        for dataset in self._datasets:
-            if idx >= start_idx + dataset.num_frames:
-                start_idx += dataset.num_frames
-                dataset_idx += 1
-                continue
-            break
-        else:
-            raise AssertionError("We expect the loop to break out as long as the index is within bounds.")
-        item = self._datasets[dataset_idx][idx - start_idx]
-        item["dataset_index"] = torch.tensor(dataset_idx)
-        for data_key in self.disabled_features:
-            if data_key in item:
-                del item[data_key]
-
-        return item
-
-    def __repr__(self):
-        return (
-            f"{self.__class__.__name__}(\n"
-            f"  Repository IDs: '{self.repo_ids}',\n"
-            f"  Number of Samples: {self.num_frames},\n"
-            f"  Number of Episodes: {self.num_episodes},\n"
-            f"  Type: {'video (.mp4)' if self.video else 'image (.png)'},\n"
-            f"  Recorded Frames per Second: {self.fps},\n"
-            f"  Camera Keys: {self.camera_keys},\n"
-            f"  Video Frame Keys: {self.video_frame_keys if self.video else 'N/A'},\n"
-            f"  Transformations: {self.image_transforms},\n"
-            f")"
-        )

src/lerobot/datasets/online_buffer.py

@@ -0,0 +1,382 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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.
+"""An online buffer for the online training loop in train.py
+
+Note to maintainers: This duplicates some logic from LeRobotDataset and EpisodeAwareSampler. We should
+consider converging to one approach. Here we have opted to use numpy.memmap to back the data buffer. It's much
+faster than using HuggingFace Datasets as there's no conversion to an intermediate non-python object. Also it
+supports in-place slicing and mutation which is very handy for a dynamic buffer.
+"""
+
+import os
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+import torch
+
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+
+def _make_memmap_safe(**kwargs) -> np.memmap:
+    """Make a numpy memmap with checks on available disk space first.
+
+    Expected kwargs are: "filename", "dtype" (must by np.dtype), "mode" and "shape"
+
+    For information on dtypes:
+    https://numpy.org/doc/stable/reference/arrays.dtypes.html#arrays-dtypes-constructing
+    """
+    if kwargs["mode"].startswith("w"):
+        required_space = kwargs["dtype"].itemsize * np.prod(kwargs["shape"])  # bytes
+        stats = os.statvfs(Path(kwargs["filename"]).parent)
+        available_space = stats.f_bavail * stats.f_frsize  # bytes
+        if required_space >= available_space * 0.8:
+            raise RuntimeError(
+                f"You're about to take up {required_space} of {available_space} bytes available."
+            )
+    return np.memmap(**kwargs)
+
+
+class OnlineBuffer(torch.utils.data.Dataset):
+    """FIFO data buffer for the online training loop in train.py.
+
+    Follows the protocol of LeRobotDataset as much as is required to have it be used by the online training
+    loop in the same way that a LeRobotDataset would be used.
+
+    The underlying data structure will have data inserted in a circular fashion. Always insert after the
+    last index, and when you reach the end, wrap around to the start.
+
+    The data is stored in a numpy memmap.
+    """
+
+    NEXT_INDEX_KEY = "_next_index"
+    OCCUPANCY_MASK_KEY = "_occupancy_mask"
+    INDEX_KEY = "index"
+    FRAME_INDEX_KEY = "frame_index"
+    EPISODE_INDEX_KEY = "episode_index"
+    TIMESTAMP_KEY = "timestamp"
+    IS_PAD_POSTFIX = "_is_pad"
+
+    def __init__(
+        self,
+        write_dir: str | Path,
+        data_spec: dict[str, Any] | None,
+        buffer_capacity: int | None,
+        fps: float | None = None,
+        delta_timestamps: dict[str, list[float]] | dict[str, np.ndarray] | None = None,
+    ):
+        """
+        The online buffer can be provided from scratch or you can load an existing online buffer by passing
+        a `write_dir` associated with an existing buffer.
+
+        Args:
+            write_dir: Where to keep the numpy memmap files. One memmap file will be stored for each data key.
+                Note that if the files already exist, they are opened in read-write mode (used for training
+                resumption.)
+            data_spec: A mapping from data key to data specification, like {data_key: {"shape": tuple[int],
+                "dtype": np.dtype}}. This should include all the data that you wish to record into the buffer,
+                but note that "index", "frame_index" and "episode_index" are already accounted for by this
+                class, so you don't need to include them.
+            buffer_capacity: How many frames should be stored in the buffer as a maximum. Be aware of your
+                system's available disk space when choosing this.
+            fps: Same as the fps concept in LeRobot dataset. Here it needs to be provided for the
+                 delta_timestamps logic. You can pass None if you are not using delta_timestamps.
+            delta_timestamps: Same as the delta_timestamps concept in LeRobotDataset. This is internally
+                converted to dict[str, np.ndarray] for optimization purposes.
+
+        """
+        self.set_delta_timestamps(delta_timestamps)
+        self._fps = fps
+        # Tolerance in seconds used to discard loaded frames when their timestamps are not close enough from
+        # the requested frames. It is only used when `delta_timestamps` is provided.
+        # minus 1e-4 to account for possible numerical error
+        self.tolerance_s = 1 / self.fps - 1e-4 if fps is not None else None
+        self._buffer_capacity = buffer_capacity
+        data_spec = self._make_data_spec(data_spec, buffer_capacity)
+        Path(write_dir).mkdir(parents=True, exist_ok=True)
+        self._data = {}
+        for k, v in data_spec.items():
+            self._data[k] = _make_memmap_safe(
+                filename=Path(write_dir) / k,
+                dtype=v["dtype"] if v is not None else None,
+                mode="r+" if (Path(write_dir) / k).exists() else "w+",
+                shape=tuple(v["shape"]) if v is not None else None,
+            )
+
+    @property
+    def delta_timestamps(self) -> dict[str, np.ndarray] | None:
+        return self._delta_timestamps
+
+    def set_delta_timestamps(self, value: dict[str, list[float]] | None):
+        """Set delta_timestamps converting the values to numpy arrays.
+
+        The conversion is for an optimization in the __getitem__. The loop is much slower if the arrays
+        need to be converted into numpy arrays.
+        """
+        if value is not None:
+            self._delta_timestamps = {k: np.array(v) for k, v in value.items()}
+        else:
+            self._delta_timestamps = None
+
+    def _make_data_spec(self, data_spec: dict[str, Any], buffer_capacity: int) -> dict[str, dict[str, Any]]:
+        """Makes the data spec for np.memmap."""
+        if any(k.startswith("_") for k in data_spec):
+            raise ValueError(
+                "data_spec keys should not start with '_'. This prefix is reserved for internal logic."
+            )
+        preset_keys = {
+            OnlineBuffer.INDEX_KEY,
+            OnlineBuffer.FRAME_INDEX_KEY,
+            OnlineBuffer.EPISODE_INDEX_KEY,
+            OnlineBuffer.TIMESTAMP_KEY,
+        }
+        if len(intersection := set(data_spec).intersection(preset_keys)) > 0:
+            raise ValueError(
+                f"data_spec should not contain any of {preset_keys} as these are handled internally. "
+                f"The provided data_spec has {intersection}."
+            )
+        complete_data_spec = {
+            # _next_index will be a pointer to the next index that we should start filling from when we add
+            # more data.
+            OnlineBuffer.NEXT_INDEX_KEY: {"dtype": np.dtype("int64"), "shape": ()},
+            # Since the memmap is initialized with all-zeros, this keeps track of which indices are occupied
+            # with real data rather than the dummy initialization.
+            OnlineBuffer.OCCUPANCY_MASK_KEY: {"dtype": np.dtype("?"), "shape": (buffer_capacity,)},
+            OnlineBuffer.INDEX_KEY: {"dtype": np.dtype("int64"), "shape": (buffer_capacity,)},
+            OnlineBuffer.FRAME_INDEX_KEY: {"dtype": np.dtype("int64"), "shape": (buffer_capacity,)},
+            OnlineBuffer.EPISODE_INDEX_KEY: {"dtype": np.dtype("int64"), "shape": (buffer_capacity,)},
+            OnlineBuffer.TIMESTAMP_KEY: {"dtype": np.dtype("float64"), "shape": (buffer_capacity,)},
+        }
+        for k, v in data_spec.items():
+            complete_data_spec[k] = {"dtype": v["dtype"], "shape": (buffer_capacity, *v["shape"])}
+        return complete_data_spec
+
+    def add_data(self, data: dict[str, np.ndarray]):
+        """Add new data to the buffer, which could potentially mean shifting old data out.
+
+        The new data should contain all the frames (in order) of any number of episodes. The indices should
+        start from 0 (note to the developer: this can easily be generalized). See the `rollout` and
+        `eval_policy` functions in `eval.py` for more information on how the data is constructed.
+
+        Shift the incoming data index and episode_index to continue on from the last frame. Note that this
+        will be done in place!
+        """
+        if len(missing_keys := (set(self.data_keys).difference(set(data)))) > 0:
+            raise ValueError(f"Missing data keys: {missing_keys}")
+        new_data_length = len(data[self.data_keys[0]])
+        if not all(len(data[k]) == new_data_length for k in self.data_keys):
+            raise ValueError("All data items should have the same length")
+
+        next_index = self._data[OnlineBuffer.NEXT_INDEX_KEY]
+
+        # Sanity check to make sure that the new data indices start from 0.
+        assert data[OnlineBuffer.EPISODE_INDEX_KEY][0].item() == 0
+        assert data[OnlineBuffer.INDEX_KEY][0].item() == 0
+
+        # Shift the incoming indices if necessary.
+        if self.num_frames > 0:
+            last_episode_index = self._data[OnlineBuffer.EPISODE_INDEX_KEY][next_index - 1]
+            last_data_index = self._data[OnlineBuffer.INDEX_KEY][next_index - 1]
+            data[OnlineBuffer.EPISODE_INDEX_KEY] += last_episode_index + 1
+            data[OnlineBuffer.INDEX_KEY] += last_data_index + 1
+
+        # Insert the new data starting from next_index. It may be necessary to wrap around to the start.
+        n_surplus = max(0, new_data_length - (self._buffer_capacity - next_index))
+        for k in self.data_keys:
+            if n_surplus == 0:
+                slc = slice(next_index, next_index + new_data_length)
+                self._data[k][slc] = data[k]
+                self._data[OnlineBuffer.OCCUPANCY_MASK_KEY][slc] = True
+            else:
+                self._data[k][next_index:] = data[k][:-n_surplus]
+                self._data[OnlineBuffer.OCCUPANCY_MASK_KEY][next_index:] = True
+                self._data[k][:n_surplus] = data[k][-n_surplus:]
+        if n_surplus == 0:
+            self._data[OnlineBuffer.NEXT_INDEX_KEY] = next_index + new_data_length
+        else:
+            self._data[OnlineBuffer.NEXT_INDEX_KEY] = n_surplus
+
+    @property
+    def data_keys(self) -> list[str]:
+        keys = set(self._data)
+        keys.remove(OnlineBuffer.OCCUPANCY_MASK_KEY)
+        keys.remove(OnlineBuffer.NEXT_INDEX_KEY)
+        return sorted(keys)
+
+    @property
+    def fps(self) -> float | None:
+        return self._fps
+
+    @property
+    def num_episodes(self) -> int:
+        return len(
+            np.unique(self._data[OnlineBuffer.EPISODE_INDEX_KEY][self._data[OnlineBuffer.OCCUPANCY_MASK_KEY]])
+        )
+
+    @property
+    def num_frames(self) -> int:
+        return np.count_nonzero(self._data[OnlineBuffer.OCCUPANCY_MASK_KEY])
+
+    def __len__(self):
+        return self.num_frames
+
+    def _item_to_tensors(self, item: dict) -> dict:
+        item_ = {}
+        for k, v in item.items():
+            if isinstance(v, torch.Tensor):
+                item_[k] = v
+            elif isinstance(v, np.ndarray):
+                item_[k] = torch.from_numpy(v)
+            else:
+                item_[k] = torch.tensor(v)
+        return item_
+
+    def __getitem__(self, idx: int) -> dict[str, torch.Tensor]:
+        if idx >= len(self) or idx < -len(self):
+            raise IndexError
+
+        item = {k: v[idx] for k, v in self._data.items() if not k.startswith("_")}
+
+        if self.delta_timestamps is None:
+            return self._item_to_tensors(item)
+
+        episode_index = item[OnlineBuffer.EPISODE_INDEX_KEY]
+        current_ts = item[OnlineBuffer.TIMESTAMP_KEY]
+        episode_data_indices = np.where(
+            np.bitwise_and(
+                self._data[OnlineBuffer.EPISODE_INDEX_KEY] == episode_index,
+                self._data[OnlineBuffer.OCCUPANCY_MASK_KEY],
+            )
+        )[0]
+        episode_timestamps = self._data[OnlineBuffer.TIMESTAMP_KEY][episode_data_indices]
+
+        for data_key in self.delta_timestamps:
+            # Note: The logic in this loop is copied from `load_previous_and_future_frames`.
+            # Get timestamps used as query to retrieve data of previous/future frames.
+            query_ts = current_ts + self.delta_timestamps[data_key]
+
+            # Compute distances between each query timestamp and all timestamps of all the frames belonging to
+            # the episode.
+            dist = np.abs(query_ts[:, None] - episode_timestamps[None, :])
+            argmin_ = np.argmin(dist, axis=1)
+            min_ = dist[np.arange(dist.shape[0]), argmin_]
+
+            is_pad = min_ > self.tolerance_s
+
+            # Check violated query timestamps are all outside the episode range.
+            assert (
+                (query_ts[is_pad] < episode_timestamps[0]) | (episode_timestamps[-1] < query_ts[is_pad])
+            ).all(), (
+                f"One or several timestamps unexpectedly violate the tolerance ({min_} > {self.tolerance_s=}"
+                ") inside the episode range."
+            )
+
+            # Load frames for this data key.
+            item[data_key] = self._data[data_key][episode_data_indices[argmin_]]
+
+            item[f"{data_key}{OnlineBuffer.IS_PAD_POSTFIX}"] = is_pad
+
+        return self._item_to_tensors(item)
+
+    def get_data_by_key(self, key: str) -> torch.Tensor:
+        """Returns all data for a given data key as a Tensor."""
+        return torch.from_numpy(self._data[key][self._data[OnlineBuffer.OCCUPANCY_MASK_KEY]])
+
+
+def compute_sampler_weights(
+    offline_dataset: LeRobotDataset,
+    offline_drop_n_last_frames: int = 0,
+    online_dataset: OnlineBuffer | None = None,
+    online_sampling_ratio: float | None = None,
+    online_drop_n_last_frames: int = 0,
+) -> torch.Tensor:
+    """Compute the sampling weights for the online training dataloader in train.py.
+
+    Args:
+        offline_dataset: The LeRobotDataset used for offline pre-training.
+        online_drop_n_last_frames: Number of frames to drop from the end of each offline dataset episode.
+        online_dataset: The OnlineBuffer used in online training.
+        online_sampling_ratio: The proportion of data that should be sampled from the online dataset. If an
+            online dataset is provided, this value must also be provided.
+        online_drop_n_first_frames: See `offline_drop_n_last_frames`. This is the same, but for the online
+            dataset.
+    Returns:
+        Tensor of weights for [offline_dataset; online_dataset], normalized to 1.
+
+    Notes to maintainers:
+        - This duplicates some logic from EpisodeAwareSampler. We should consider converging to one approach.
+        - When used with `torch.utils.data.WeightedRandomSampler`, it could completely replace
+          `EpisodeAwareSampler` as the online dataset related arguments are optional. The only missing feature
+          is the ability to turn shuffling off.
+        - Options `drop_first_n_frames` and `episode_indices_to_use` can be added easily. They were not
+          included here to avoid adding complexity.
+    """
+    if len(offline_dataset) == 0 and (online_dataset is None or len(online_dataset) == 0):
+        raise ValueError("At least one of `offline_dataset` or `online_dataset` should be contain data.")
+    if (online_dataset is None) ^ (online_sampling_ratio is None):
+        raise ValueError(
+            "`online_dataset` and `online_sampling_ratio` must be provided together or not at all."
+        )
+    offline_sampling_ratio = 0 if online_sampling_ratio is None else 1 - online_sampling_ratio
+
+    weights = []
+
+    if len(offline_dataset) > 0:
+        offline_data_mask_indices = []
+        for start_index, end_index in zip(
+            offline_dataset.meta.episodes["dataset_from_index"],
+            offline_dataset.meta.episodes["dataset_to_index"],
+            strict=True,
+        ):
+            offline_data_mask_indices.extend(range(start_index, end_index - offline_drop_n_last_frames))
+        offline_data_mask = torch.zeros(len(offline_dataset), dtype=torch.bool)
+        offline_data_mask[torch.tensor(offline_data_mask_indices)] = True
+        weights.append(
+            torch.full(
+                size=(len(offline_dataset),),
+                fill_value=offline_sampling_ratio / offline_data_mask.sum(),
+            )
+            * offline_data_mask
+        )
+
+    if online_dataset is not None and len(online_dataset) > 0:
+        online_data_mask_indices = []
+        episode_indices = online_dataset.get_data_by_key("episode_index")
+        for episode_idx in torch.unique(episode_indices):
+            where_episode = torch.where(episode_indices == episode_idx)
+            start_index = where_episode[0][0]
+            end_index = where_episode[0][-1] + 1
+            online_data_mask_indices.extend(
+                range(start_index.item(), end_index.item() - online_drop_n_last_frames)
+            )
+        online_data_mask = torch.zeros(len(online_dataset), dtype=torch.bool)
+        online_data_mask[torch.tensor(online_data_mask_indices)] = True
+        weights.append(
+            torch.full(
+                size=(len(online_dataset),),
+                fill_value=online_sampling_ratio / online_data_mask.sum(),
+            )
+            * online_data_mask
+        )
+
+    weights = torch.cat(weights)
+
+    if weights.sum() == 0:
+        weights += 1 / len(weights)
+    else:
+        weights /= weights.sum()
+
+    return weights

src/lerobot/datasets/pipeline_features.py

@@ -17,9 +17,8 @@ from collections.abc import Sequence
 from typing import Any
 
 from lerobot.configs.types import PipelineFeatureType
-from lerobot.datasets.feature_utils import hw_to_dataset_features
-from lerobot.processor import DataProcessorPipeline
-from lerobot.types import RobotAction, RobotObservation
+from lerobot.datasets.utils import hw_to_dataset_features
+from lerobot.processor import DataProcessorPipeline, RobotAction, RobotObservation
 from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE, OBS_STR
 
 
@@ -44,11 +43,11 @@ def create_initial_features(
     return features
 
 
-# Helper to filter state/action keys based on compiled regex patterns.
-def should_keep(key: str, patterns: tuple[re.Pattern] | None) -> bool:
+# Helper to filter state/action keys based on regex patterns.
+def should_keep(key: str, patterns: tuple[str]) -> bool:
     if patterns is None:
         return True
-    return any(pat.search(key) for pat in patterns)
+    return any(re.search(pat, key) for pat in patterns)
 
 
 def strip_prefix(key: str, prefixes_to_strip: tuple[str]) -> str:
@@ -89,8 +88,6 @@ def aggregate_pipeline_dataset_features(
     Returns:
         A dictionary of features formatted for a Hugging Face LeRobot Dataset.
     """
-    compiled_patterns = tuple(re.compile(p) for p in patterns) if patterns is not None else None
-
     all_features = pipeline.transform_features(initial_features)
 
     # Intermediate storage for categorized and filtered features.
@@ -122,7 +119,7 @@ def aggregate_pipeline_dataset_features(
             # 2. Apply filtering rules.
             if is_image and not use_videos:
                 continue
-            if not is_image and not should_keep(key, compiled_patterns):
+            if not is_image and not should_keep(key, patterns):
                 continue
 
             # 3. Add the feature to the appropriate group with a clean name.

src/lerobot/datasets/push_dataset_to_hub/utils.py

@@ -0,0 +1,73 @@
+#!/usr/bin/env python
+
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# 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 datasets
+import torch
+
+
+# TODO(aliberts): remove
+def calculate_episode_data_index(hf_dataset: datasets.Dataset) -> dict[str, torch.Tensor]:
+    """
+    Calculate episode data index for the provided HuggingFace Dataset. Relies on episode_index column of hf_dataset.
+
+    Parameters:
+    - hf_dataset (datasets.Dataset): A HuggingFace dataset containing the episode index.
+
+    Returns:
+    - episode_data_index: A dictionary containing the data index for each episode. The dictionary has two keys:
+        - "from": A tensor containing the starting index of each episode.
+        - "to": A tensor containing the ending index of each episode.
+    """
+    episode_data_index = {"from": [], "to": []}
+
+    current_episode = None
+    """
+    The episode_index is a list of integers, each representing the episode index of the corresponding example.
+    For instance, the following is a valid episode_index:
+      [0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 2]
+
+    Below, we iterate through the episode_index and populate the episode_data_index dictionary with the starting and
+    ending index of each episode. For the episode_index above, the episode_data_index dictionary will look like this:
+        {
+            "from": [0, 3, 7],
+            "to": [3, 7, 12]
+        }
+    """
+    if len(hf_dataset) == 0:
+        episode_data_index = {
+            "from": torch.tensor([]),
+            "to": torch.tensor([]),
+        }
+        return episode_data_index
+    for idx, episode_idx in enumerate(hf_dataset["episode_index"]):
+        if episode_idx != current_episode:
+            # We encountered a new episode, so we append its starting location to the "from" list
+            episode_data_index["from"].append(idx)
+            # If this is not the first episode, we append the ending location of the previous episode to the "to" list
+            if current_episode is not None:
+                episode_data_index["to"].append(idx)
+            # Let's keep track of the current episode index
+            current_episode = episode_idx
+        else:
+            # We are still in the same episode, so there is nothing for us to do here
+            pass
+    # We have reached the end of the dataset, so we append the ending location of the last episode to the "to" list
+    episode_data_index["to"].append(idx + 1)
+
+    for k in ["from", "to"]:
+        episode_data_index[k] = torch.tensor(episode_data_index[k])
+
+    return episode_data_index

src/lerobot/datasets/sampler.py

@@ -13,13 +13,10 @@
 # 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 logging
 from collections.abc import Iterator
 
 import torch
 
-logger = logging.getLogger(__name__)
-
 
 class EpisodeAwareSampler:
     def __init__(
@@ -42,35 +39,13 @@ class EpisodeAwareSampler:
             drop_n_last_frames: Number of frames to drop from the end of each episode.
             shuffle: Whether to shuffle the indices.
         """
-        if drop_n_first_frames < 0:
-            raise ValueError(f"drop_n_first_frames must be >= 0, got {drop_n_first_frames}")
-        if drop_n_last_frames < 0:
-            raise ValueError(f"drop_n_last_frames must be >= 0, got {drop_n_last_frames}")
-
         indices = []
         for episode_idx, (start_index, end_index) in enumerate(
             zip(dataset_from_indices, dataset_to_indices, strict=True)
         ):
             if episode_indices_to_use is None or episode_idx in episode_indices_to_use:
-                ep_length = end_index - start_index
-                if drop_n_first_frames + drop_n_last_frames >= ep_length:
-                    logger.warning(
-                        "Episode %d has %d frames but drop_n_first_frames=%d and "
-                        "drop_n_last_frames=%d removes all frames. Skipping.",
-                        episode_idx,
-                        ep_length,
-                        drop_n_first_frames,
-                        drop_n_last_frames,
-                    )
-                    continue
                 indices.extend(range(start_index + drop_n_first_frames, end_index - drop_n_last_frames))
 
-        if not indices:
-            raise ValueError(
-                "No valid frames remain after applying drop_n_first_frames and drop_n_last_frames. "
-                "All episodes were either filtered out or had too few frames."
-            )
-
         self.indices = indices
         self.shuffle = shuffle
 

src/lerobot/datasets/streaming_dataset.py

@@ -13,8 +13,7 @@
 # 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.
-from collections import deque
-from collections.abc import Callable, Generator, Iterable, Iterator
+from collections.abc import Callable, Generator, Iterator
 from pathlib import Path
 
 import datasets
@@ -22,13 +21,16 @@ import numpy as np
 import torch
 from datasets import load_dataset
 
-from lerobot.datasets.dataset_metadata import CODEBASE_VERSION, LeRobotDatasetMetadata
-from lerobot.datasets.feature_utils import get_delta_indices
-from lerobot.datasets.io_utils import item_to_torch
+from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDatasetMetadata
 from lerobot.datasets.utils import (
+    Backtrackable,
+    LookAheadError,
+    LookBackError,
     check_version_compatibility,
     find_float_index,
+    get_delta_indices,
     is_float_in_list,
+    item_to_torch,
     safe_shard,
 )
 from lerobot.datasets.video_utils import (
@@ -38,164 +40,6 @@ from lerobot.datasets.video_utils import (
 from lerobot.utils.constants import HF_LEROBOT_HOME, LOOKAHEAD_BACKTRACKTABLE, LOOKBACK_BACKTRACKTABLE
 
 
-class LookBackError(Exception):
-    """
-    Exception raised when trying to look back in the history of a Backtrackable object.
-    """
-
-    pass
-
-
-class LookAheadError(Exception):
-    """
-    Exception raised when trying to look ahead in the future of a Backtrackable object.
-    """
-
-    pass
-
-
-class Backtrackable[T]:
-    """
-    Wrap any iterator/iterable so you can step back up to `history` items
-    and look ahead up to `lookahead` items.
-
-    This is useful for streaming datasets where you need to access previous and future items
-    but can't load the entire dataset into memory.
-
-    Example:
-    -------
-    ```python
-    ds = load_dataset("c4", "en", streaming=True, split="train")
-    rev = Backtrackable(ds, history=3, lookahead=2)
-
-    x0 = next(rev)  # forward
-    x1 = next(rev)
-    x2 = next(rev)
-
-    # Look ahead
-    x3_peek = rev.peek_ahead(1)  # next item without moving cursor
-    x4_peek = rev.peek_ahead(2)  # two items ahead
-
-    # Look back
-    x1_again = rev.peek_back(1)  # previous item without moving cursor
-    x0_again = rev.peek_back(2)  # two items back
-
-    # Move backward
-    x1_back = rev.prev()  # back one step
-    next(rev)  # returns x2, continues forward from where we were
-    ```
-    """
-
-    __slots__ = ("_source", "_back_buf", "_ahead_buf", "_cursor", "_history", "_lookahead")
-
-    def __init__(self, iterable: Iterable[T], *, history: int = 1, lookahead: int = 0):
-        if history < 1:
-            raise ValueError("history must be >= 1")
-        if lookahead <= 0:
-            raise ValueError("lookahead must be > 0")
-
-        self._source: Iterator[T] = iter(iterable)
-        self._back_buf: deque[T] = deque(maxlen=history)
-        self._ahead_buf: deque[T] = deque(maxlen=lookahead) if lookahead > 0 else deque()
-        self._cursor: int = 0
-        self._history = history
-        self._lookahead = lookahead
-
-    def __iter__(self) -> "Backtrackable[T]":
-        return self
-
-    def __next__(self) -> T:
-        # If we've stepped back, consume from back buffer first
-        if self._cursor < 0:  # -1 means "last item", etc.
-            self._cursor += 1
-            return self._back_buf[self._cursor]
-
-        # If we have items in the ahead buffer, use them first
-        item = self._ahead_buf.popleft() if self._ahead_buf else next(self._source)
-
-        # Add current item to back buffer and reset cursor
-        self._back_buf.append(item)
-        self._cursor = 0
-        return item
-
-    def prev(self) -> T:
-        """
-        Step one item back in history and return it.
-        Raises IndexError if already at the oldest buffered item.
-        """
-        if len(self._back_buf) + self._cursor <= 1:
-            raise LookBackError("At start of history")
-
-        self._cursor -= 1
-        return self._back_buf[self._cursor]
-
-    def peek_back(self, n: int = 1) -> T:
-        """
-        Look `n` items back (n=1 == previous item) without moving the cursor.
-        """
-        if n < 0 or n + 1 > len(self._back_buf) + self._cursor:
-            raise LookBackError("peek_back distance out of range")
-
-        return self._back_buf[self._cursor - (n + 1)]
-
-    def peek_ahead(self, n: int = 1) -> T:
-        """
-        Look `n` items ahead (n=1 == next item) without moving the cursor.
-        Fills the ahead buffer if necessary.
-        """
-        if n < 1:
-            raise LookAheadError("peek_ahead distance must be 1 or more")
-        elif n > self._lookahead:
-            raise LookAheadError("peek_ahead distance exceeds lookahead limit")
-
-        # Fill ahead buffer if we don't have enough items
-        while len(self._ahead_buf) < n:
-            try:
-                item = next(self._source)
-                self._ahead_buf.append(item)
-
-            except StopIteration as err:
-                raise LookAheadError("peek_ahead: not enough items in source") from err
-
-        return self._ahead_buf[n - 1]
-
-    def history(self) -> list[T]:
-        """
-        Return a copy of the buffered history (most recent last).
-        The list length ≤ `history` argument passed at construction.
-        """
-        if self._cursor == 0:
-            return list(self._back_buf)
-
-        # When cursor<0, slice so the order remains chronological
-        return list(self._back_buf)[: self._cursor or None]
-
-    def can_peek_back(self, steps: int = 1) -> bool:
-        """
-        Check if we can go back `steps` items without raising an IndexError.
-        """
-        return steps <= len(self._back_buf) + self._cursor
-
-    def can_peek_ahead(self, steps: int = 1) -> bool:
-        """
-        Check if we can peek ahead `steps` items.
-        This may involve trying to fill the ahead buffer.
-        """
-        if self._lookahead > 0 and steps > self._lookahead:
-            return False
-
-        # Try to fill ahead buffer to check if we can peek that far
-        try:
-            while len(self._ahead_buf) < steps:
-                if self._lookahead > 0 and len(self._ahead_buf) >= self._lookahead:
-                    return False
-                item = next(self._source)
-                self._ahead_buf.append(item)
-            return True
-        except StopIteration:
-            return False
-
-
 class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
     """LeRobotDataset with streaming capabilities.
 
@@ -255,9 +99,7 @@ class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
 
         Args:
             repo_id (str): This is the repo id that will be used to fetch the dataset.
-            root (Path | None, optional): Local directory to use for local datasets. When omitted, Hub
-                metadata is resolved through a revision-safe snapshot cache under
-                ``$HF_LEROBOT_HOME/hub``.
+            root (Path | None, optional): Local directory to use for downloading/writing files.
             episodes (list[int] | None, optional): If specified, this will only load episodes specified by
                 their episode_index in this list.
             image_transforms (Callable | None, optional): Transform to apply to image data.
@@ -273,8 +115,7 @@ class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
         """
         super().__init__()
         self.repo_id = repo_id
-        self._requested_root = Path(root) if root else None
-        self.root = self._requested_root if self._requested_root is not None else HF_LEROBOT_HOME / repo_id
+        self.root = Path(root) if root else HF_LEROBOT_HOME / repo_id
         self.streaming_from_local = root is not None
 
         self.image_transforms = image_transforms
@@ -291,15 +132,12 @@ class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
         # We cache the video decoders to avoid re-initializing them at each frame (avoiding a ~10x slowdown)
         self.video_decoder_cache = None
 
-        if self._requested_root is not None:
-            self.root.mkdir(exist_ok=True, parents=True)
+        self.root.mkdir(exist_ok=True, parents=True)
 
         # Load metadata
         self.meta = LeRobotDatasetMetadata(
-            self.repo_id, self._requested_root, self.revision, force_cache_sync=force_cache_sync
+            self.repo_id, self.root, self.revision, force_cache_sync=force_cache_sync
         )
-        self.root = self.meta.root
-        self.revision = self.meta.revision
         # Check version
         check_version_compatibility(self.repo_id, self.meta._version, CODEBASE_VERSION)
 

src/lerobot/datasets/v30/augment_dataset_quantile_stats.py

@@ -28,7 +28,7 @@ quantile statistics (q01, q10, q50, q90, q99) in their metadata. This script:
 Usage:
 
 ```bash
-python src/lerobot/scripts/augment_dataset_quantile_stats.py \
+python src/lerobot/datasets/v30/augment_dataset_quantile_stats.py \
     --repo-id=lerobot/pusht \
 ```
 """
@@ -45,9 +45,8 @@ from requests import HTTPError
 from tqdm import tqdm
 
 from lerobot.datasets.compute_stats import DEFAULT_QUANTILES, aggregate_stats, get_feature_stats
-from lerobot.datasets.dataset_metadata import CODEBASE_VERSION
-from lerobot.datasets.io_utils import write_stats
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset
+from lerobot.datasets.utils import write_stats
 from lerobot.utils.utils import init_logging
 
 

src/lerobot/datasets/v30/convert_dataset_v21_to_v30.py

@@ -28,19 +28,16 @@ Usage:
 
 Convert a dataset from the hub:
 ```bash
-python src/lerobot/scripts/convert_dataset_v21_to_v30.py \
+python src/lerobot/datasets/v30/convert_dataset_v21_to_v30.py \
     --repo-id=lerobot/pusht
 ```
 
 Convert a local dataset (works in place):
 ```bash
-python src/lerobot/scripts/convert_dataset_v21_to_v30.py \
+python src/lerobot/datasets/v30/convert_dataset_v21_to_v30.py \
     --repo-id=lerobot/pusht \
-    --root=/path/to/local/dataset/directory \
+    --root=/path/to/local/dataset/directory
     --push-to-hub=false
-
-N.B. Path semantics (v2): --root is the exact dataset folder containing
-meta/, data/, videos/. When omitted, defaults to $HF_LEROBOT_HOME/{repo_id}.
 ```
 
 """
@@ -60,19 +57,7 @@ from huggingface_hub import HfApi, snapshot_download
 from requests import HTTPError
 
 from lerobot.datasets.compute_stats import aggregate_stats
-from lerobot.datasets.dataset_metadata import CODEBASE_VERSION
-from lerobot.datasets.io_utils import (
-    cast_stats_to_numpy,
-    get_file_size_in_mb,
-    get_parquet_file_size_in_mb,
-    get_parquet_num_frames,
-    load_info,
-    write_episodes,
-    write_info,
-    write_stats,
-    write_tasks,
-)
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset
 from lerobot.datasets.utils import (
     DEFAULT_CHUNK_SIZE,
     DEFAULT_DATA_FILE_SIZE_IN_MB,
@@ -82,10 +67,19 @@ from lerobot.datasets.utils import (
     LEGACY_EPISODES_PATH,
     LEGACY_EPISODES_STATS_PATH,
     LEGACY_TASKS_PATH,
+    cast_stats_to_numpy,
     flatten_dict,
+    get_file_size_in_mb,
+    get_parquet_file_size_in_mb,
+    get_parquet_num_frames,
+    load_info,
     update_chunk_file_indices,
+    write_episodes,
+    write_info,
+    write_stats,
+    write_tasks,
 )
-from lerobot.datasets.video_utils import concatenate_media_files, get_media_duration_in_s
+from lerobot.datasets.video_utils import concatenate_video_files, get_video_duration_in_s
 from lerobot.utils.constants import HF_LEROBOT_HOME
 from lerobot.utils.utils import init_logging
 
@@ -111,7 +105,7 @@ episodes.jsonl
 {"episode_index": 1, "tasks": ["Put the blue block in the green bowl"], "length": 266}
 
 NEW
-meta/episodes/chunk-000/file_000.parquet
+meta/episodes/chunk-000/episodes_000.parquet
 episode_index | video_chunk_index | video_file_index | data_chunk_index | data_file_index | tasks | length
 -------------------------
 OLD
@@ -119,16 +113,15 @@ tasks.jsonl
 {"task_index": 1, "task": "Put the blue block in the green bowl"}
 
 NEW
-meta/tasks.parquet
+meta/tasks/chunk-000/file_000.parquet
 task_index | task
 -------------------------
 OLD
 episodes_stats.jsonl
-{"episode_index": 1, "stats": {"feature_name": {"min": ..., "max": ..., "mean": ..., "std": ..., "count": ...}}}
 
 NEW
-meta/episodes/chunk-000/file_000.parquet
-episode_index | feature_name/min | feature_name/max | feature_name/mean | feature_name/std | feature_name/count
+meta/episodes_stats/chunk-000/file_000.parquet
+episode_index | mean | std | min | max
 -------------------------
 UPDATE
 meta/info.json
@@ -177,7 +170,7 @@ def convert_tasks(root, new_root):
     tasks, _ = legacy_load_tasks(root)
     task_indices = tasks.keys()
     task_strings = tasks.values()
-    df_tasks = pd.DataFrame({"task_index": task_indices}, index=pd.Index(task_strings, name="task"))
+    df_tasks = pd.DataFrame({"task_index": task_indices}, index=task_strings)
     write_tasks(df_tasks, new_root)
 
 
@@ -208,6 +201,7 @@ def convert_data(root: Path, new_root: Path, data_file_size_in_mb: int):
 
     image_keys = get_image_keys(root)
 
+    ep_idx = 0
     chunk_idx = 0
     file_idx = 0
     size_in_mb = 0
@@ -217,23 +211,9 @@ def convert_data(root: Path, new_root: Path, data_file_size_in_mb: int):
 
     logging.info(f"Converting data files from {len(ep_paths)} episodes")
 
-    for ep_idx, ep_path in enumerate(tqdm.tqdm(ep_paths, desc="convert data files")):
+    for ep_path in tqdm.tqdm(ep_paths, desc="convert data files"):
         ep_size_in_mb = get_parquet_file_size_in_mb(ep_path)
         ep_num_frames = get_parquet_num_frames(ep_path)
-
-        # Check if we need to start a new file BEFORE creating metadata
-        if size_in_mb + ep_size_in_mb >= data_file_size_in_mb and len(paths_to_cat) > 0:
-            # Write the accumulated data files
-            concat_data_files(paths_to_cat, new_root, chunk_idx, file_idx, image_keys)
-
-            # Move to next file
-            chunk_idx, file_idx = update_chunk_file_indices(chunk_idx, file_idx, DEFAULT_CHUNK_SIZE)
-
-            # Reset for the next file
-            size_in_mb = 0
-            paths_to_cat = []
-
-        # Now create metadata with correct chunk/file indices
         ep_metadata = {
             "episode_index": ep_idx,
             "data/chunk_index": chunk_idx,
@@ -244,7 +224,20 @@ def convert_data(root: Path, new_root: Path, data_file_size_in_mb: int):
         size_in_mb += ep_size_in_mb
         num_frames += ep_num_frames
         episodes_metadata.append(ep_metadata)
-        paths_to_cat.append(ep_path)
+        ep_idx += 1
+
+        if size_in_mb < data_file_size_in_mb:
+            paths_to_cat.append(ep_path)
+            continue
+
+        if paths_to_cat:
+            concat_data_files(paths_to_cat, new_root, chunk_idx, file_idx, image_keys)
+
+        # Reset for the next file
+        size_in_mb = ep_size_in_mb
+        paths_to_cat = [ep_path]
+
+        chunk_idx, file_idx = update_chunk_file_indices(chunk_idx, file_idx, DEFAULT_CHUNK_SIZE)
 
     # Write remaining data if any
     if paths_to_cat:
@@ -318,12 +311,12 @@ def convert_videos_of_camera(root: Path, new_root: Path, video_key: str, video_f
 
     for ep_path in tqdm.tqdm(ep_paths, desc=f"convert videos of {video_key}"):
         ep_size_in_mb = get_file_size_in_mb(ep_path)
-        ep_duration_in_s = get_media_duration_in_s(ep_path, media_type="video")
+        ep_duration_in_s = get_video_duration_in_s(ep_path)
 
         # Check if adding this episode would exceed the limit
         if size_in_mb + ep_size_in_mb >= video_file_size_in_mb and len(paths_to_cat) > 0:
             # Size limit would be exceeded, save current accumulation WITHOUT this episode
-            concatenate_media_files(
+            concatenate_video_files(
                 paths_to_cat,
                 new_root
                 / DEFAULT_VIDEO_PATH.format(video_key=video_key, chunk_index=chunk_idx, file_index=file_idx),
@@ -359,7 +352,7 @@ def convert_videos_of_camera(root: Path, new_root: Path, video_key: str, video_f
 
     # Write remaining videos if any
     if paths_to_cat:
-        concatenate_media_files(
+        concatenate_video_files(
             paths_to_cat,
             new_root
             / DEFAULT_VIDEO_PATH.format(video_key=video_key, chunk_index=chunk_idx, file_index=file_idx),
@@ -402,12 +395,7 @@ def generate_episode_metadata_dict(
         if len(ep_ids_set) != 1:
             raise ValueError(f"Number of episodes is not the same ({ep_ids_set}).")
 
-        ep_dict = {
-            **ep_metadata,
-            **ep_video,
-            **ep_legacy_metadata,
-            **flatten_dict({"stats": ep_stats}),
-        }
+        ep_dict = {**ep_metadata, **ep_video, **ep_legacy_metadata, **flatten_dict({"stats": ep_stats})}
         ep_dict["meta/episodes/chunk_index"] = 0
         ep_dict["meta/episodes/file_index"] = 0
         yield ep_dict
@@ -428,10 +416,7 @@ def convert_episodes_metadata(root, new_root, episodes_metadata, episodes_video_
 
     ds_episodes = Dataset.from_generator(
         lambda: generate_episode_metadata_dict(
-            episodes_legacy_metadata,
-            episodes_metadata,
-            episodes_stats,
-            episodes_video_metadata,
+            episodes_legacy_metadata, episodes_metadata, episodes_stats, episodes_video_metadata
         )
     )
     write_episodes(ds_episodes, new_root)
@@ -484,7 +469,7 @@ def convert_dataset(
 
     # Set root based on whether local dataset path is provided
     use_local_dataset = False
-    root = HF_LEROBOT_HOME / repo_id if root is None else Path(root)
+    root = HF_LEROBOT_HOME / repo_id if root is None else Path(root) / repo_id
     if root.exists():
         validate_local_dataset_version(root)
         use_local_dataset = True
@@ -568,7 +553,7 @@ if __name__ == "__main__":
         "--root",
         type=str,
         default=None,
-        help="Local directory to use for downloading/writing the dataset. Defaults to $HF_LEROBOT_HOME/repo_id.",
+        help="Local directory to use for downloading/writing the dataset.",
     )
     parser.add_argument(
         "--push-to-hub",

src/lerobot/datasets/video_utils.py

@@ -37,8 +37,6 @@ import torchvision
 from datasets.features.features import register_feature
 from PIL import Image
 
-logger = logging.getLogger(__name__)
-
 # List of hardware encoders to probe for auto-selection. Availability depends on the platform and FFmpeg build.
 # Determines the order of preference for auto-selection when vcodec="auto" is used.
 HW_ENCODERS = [
@@ -96,7 +94,7 @@ def detect_available_hw_encoders() -> list[str]:
             av.codec.Codec(codec_name, "w")
             available.append(codec_name)
         except Exception:  # nosec B110
-            logger.debug("HW encoder '%s' not available", codec_name)  # nosec B110
+            pass  # nosec B110
     return available
 
 
@@ -105,14 +103,14 @@ def resolve_vcodec(vcodec: str) -> str:
     if vcodec not in VALID_VIDEO_CODECS:
         raise ValueError(f"Invalid vcodec '{vcodec}'. Must be one of: {sorted(VALID_VIDEO_CODECS)}")
     if vcodec != "auto":
-        logger.info(f"Using video codec: {vcodec}")
+        logging.info(f"Using video codec: {vcodec}")
         return vcodec
     available = detect_available_hw_encoders()
     for encoder in HW_ENCODERS:
         if encoder in available:
-            logger.info(f"Auto-selected video codec: {encoder}")
+            logging.info(f"Auto-selected video codec: {encoder}")
             return encoder
-    logger.info("No hardware encoder available, falling back to software encoder 'libsvtav1'")
+    logging.info("No hardware encoder available, falling back to software encoder 'libsvtav1'")
     return "libsvtav1"
 
 
@@ -120,7 +118,7 @@ def get_safe_default_codec():
     if importlib.util.find_spec("torchcodec"):
         return "torchcodec"
     else:
-        logger.warning(
+        logging.warning(
             "'torchcodec' is not available in your platform, falling back to 'pyav' as a default decoder"
         )
         return "pyav"
@@ -210,7 +208,7 @@ def decode_video_frames_torchvision(
     for frame in reader:
         current_ts = frame["pts"]
         if log_loaded_timestamps:
-            logger.info(f"frame loaded at timestamp={current_ts:.4f}")
+            logging.info(f"frame loaded at timestamp={current_ts:.4f}")
         loaded_frames.append(frame["data"])
         loaded_ts.append(current_ts)
         if current_ts >= last_ts:
@@ -246,7 +244,7 @@ def decode_video_frames_torchvision(
     closest_ts = loaded_ts[argmin_]
 
     if log_loaded_timestamps:
-        logger.info(f"{closest_ts=}")
+        logging.info(f"{closest_ts=}")
 
     # convert to the pytorch format which is float32 in [0,1] range (and channel first)
     closest_frames = closest_frames.type(torch.float32) / 255
@@ -350,7 +348,7 @@ def decode_video_frames_torchcodec(
         loaded_frames.append(frame)
         loaded_ts.append(pts.item())
         if log_loaded_timestamps:
-            logger.info(f"Frame loaded at timestamp={pts:.4f}")
+            logging.info(f"Frame loaded at timestamp={pts:.4f}")
 
     query_ts = torch.tensor(timestamps)
     loaded_ts = torch.tensor(loaded_ts)
@@ -376,7 +374,7 @@ def decode_video_frames_torchcodec(
     closest_ts = loaded_ts[argmin_]
 
     if log_loaded_timestamps:
-        logger.info(f"{closest_ts=}")
+        logging.info(f"{closest_ts=}")
 
     # convert to float32 in [0,1] range
     closest_frames = (closest_frames / 255.0).type(torch.float32)
@@ -410,14 +408,14 @@ def encode_video_frames(
     imgs_dir = Path(imgs_dir)
 
     if video_path.exists() and not overwrite:
-        logger.warning(f"Video file already exists: {video_path}. Skipping encoding.")
+        logging.warning(f"Video file already exists: {video_path}. Skipping encoding.")
         return
 
     video_path.parent.mkdir(parents=True, exist_ok=True)
 
     # Encoders/pixel formats incompatibility check
     if (vcodec == "libsvtav1" or vcodec == "hevc") and pix_fmt == "yuv444p":
-        logger.warning(
+        logging.warning(
             f"Incompatible pixel format 'yuv444p' for codec {vcodec}, auto-selecting format 'yuv420p'"
         )
         pix_fmt = "yuv420p"
@@ -486,42 +484,42 @@ def encode_video_frames(
         raise OSError(f"Video encoding did not work. File not found: {video_path}.")
 
 
-def concatenate_media_files(
-    input_media_paths: list[Path | str], output_media_path: Path, overwrite: bool = True
+def concatenate_video_files(
+    input_video_paths: list[Path | str], output_video_path: Path, overwrite: bool = True
 ):
     """
-    Concatenate multiple media files (video & audio) into a single media file using pyav.
+    Concatenate multiple video files into a single video file using pyav.
 
-    This function takes a list of input media file paths and concatenates them into a single
-    output media file. It uses ffmpeg's concat demuxer with stream copy mode for fast
+    This function takes a list of video input file paths and concatenates them into a single
+    output video file. It uses ffmpeg's concat demuxer with stream copy mode for fast
     concatenation without re-encoding.
 
     Args:
-        input_media_paths: Ordered list of input media file paths to concatenate.
-        output_media_path: Path to the output media file.
-        overwrite: Whether to overwrite the output media file if it already exists. Default is True.
+        input_video_paths: Ordered list of input video file paths to concatenate.
+        output_video_path: Path to the output video file.
+        overwrite: Whether to overwrite the output video file if it already exists. Default is True.
 
     Note:
-        - Creates a temporary .ffconcat file and container audio/video file that are cleaned up after use.
-        - Uses ffmpeg's concat demuxer which requires all input media files to have the same
+        - Creates a temporary directory for intermediate files that is cleaned up after use.
+        - Uses ffmpeg's concat demuxer which requires all input videos to have the same
           codec, resolution, and frame rate for proper concatenation.
     """
 
-    output_media_path = Path(output_media_path)
+    output_video_path = Path(output_video_path)
 
-    if output_media_path.exists() and not overwrite:
-        logging.warning(f"Media file already exists: {output_media_path}. Skipping concatenation.")
+    if output_video_path.exists() and not overwrite:
+        logging.warning(f"Video file already exists: {output_video_path}. Skipping concatenation.")
         return
 
-    output_media_path.parent.mkdir(parents=True, exist_ok=True)
+    output_video_path.parent.mkdir(parents=True, exist_ok=True)
 
-    if len(input_media_paths) == 0:
-        raise FileNotFoundError("No input media paths provided.")
+    if len(input_video_paths) == 0:
+        raise FileNotFoundError("No input video paths provided.")
 
-    # Create a temporary .ffconcat file to list the input media paths
+    # Create a temporary .ffconcat file to list the input video paths
     with tempfile.NamedTemporaryFile(mode="w", suffix=".ffconcat", delete=False) as tmp_concatenate_file:
         tmp_concatenate_file.write("ffconcat version 1.0\n")
-        for input_path in input_media_paths:
+        for input_path in input_video_paths:
             tmp_concatenate_file.write(f"file '{str(input_path.resolve())}'\n")
         tmp_concatenate_file.flush()
         tmp_concatenate_path = tmp_concatenate_file.name
@@ -531,12 +529,11 @@ def concatenate_media_files(
         tmp_concatenate_path, mode="r", format="concat", options={"safe": "0"}
     )  # safe = 0 allows absolute paths as well as relative paths
 
-    # Using an intermediate container to store the concatenated media file is necessary to avoid inplace concatenation read-write race conditions.
-    with tempfile.NamedTemporaryFile(suffix=output_media_path.suffix, delete=False) as tmp_named_file:
-        tmp_output_media_path = tmp_named_file.name
+    with tempfile.NamedTemporaryFile(suffix=".mp4", delete=False) as tmp_named_file:
+        tmp_output_video_path = tmp_named_file.name
 
     output_container = av.open(
-        tmp_output_media_path, mode="w", options={"movflags": "faststart"}
+        tmp_output_video_path, mode="w", options={"movflags": "faststart"}
     )  # faststart is to move the metadata to the beginning of the file to speed up loading
 
     # Replicate input streams in output container
@@ -551,7 +548,6 @@ def concatenate_media_files(
             stream_map[input_stream.index].time_base = input_stream.time_base
 
     # Demux + remux packets (no re-encode)
-    last_dts = None
     for packet in input_container.demux():
         # Skip packets from un-mapped streams
         if packet.stream.index not in stream_map:
@@ -560,16 +556,6 @@ def concatenate_media_files(
         # Skip demux flushing packets
         if packet.dts is None:
             continue
-        else:
-            # Enforce strictly increasing decoding timestamps (DTS)
-            if last_dts is not None and packet.dts <= last_dts:
-                shift = last_dts - packet.dts + 1
-                packet.dts += shift
-                packet.pts += shift  # Presenting timestamps (PTS) are the same as DTS here
-                logging.warning(
-                    f"Non-monotonic DTS; previous: {last_dts}, current: {packet.dts - shift}; changing to {packet.dts}. This may result in incorrect timestamps in the output file."
-                )
-            last_dts = packet.dts
 
         output_stream = stream_map[packet.stream.index]
         packet.stream = output_stream
@@ -577,7 +563,7 @@ def concatenate_media_files(
 
     input_container.close()
     output_container.close()
-    shutil.move(tmp_output_media_path, output_media_path)
+    shutil.move(tmp_output_video_path, output_video_path)
     Path(tmp_concatenate_path).unlink()
 
 
@@ -707,7 +693,7 @@ class _CameraEncoderThread(threading.Thread):
                 self.result_queue.put(("ok", None))
 
         except Exception as e:
-            logger.error(f"Encoder thread error: {e}")
+            logging.error(f"Encoder thread error: {e}")
             if container is not None:
                 with contextlib.suppress(Exception):
                     container.close()
@@ -753,7 +739,6 @@ class StreamingVideoEncoder:
         self._video_paths: dict[str, Path] = {}
         self._dropped_frames: dict[str, int] = {}
         self._episode_active = False
-        self._closed = False
 
     def start_episode(self, video_keys: list[str], temp_dir: Path) -> None:
         """Start encoder threads for a new episode.
@@ -834,7 +819,7 @@ class StreamingVideoEncoder:
             count = self._dropped_frames[video_key]
             # Log periodically to avoid spam (1st, then every 10th)
             if count == 1 or count % 10 == 0:
-                logger.warning(
+                logging.warning(
                     f"Encoder queue full for {video_key}, dropped {count} frame(s). "
                     f"Consider using vcodec='auto' for hardware encoding or increasing encoder_queue_maxsize."
                 )
@@ -856,7 +841,7 @@ class StreamingVideoEncoder:
         # Report dropped frames
         for video_key, count in self._dropped_frames.items():
             if count > 0:
-                logger.warning(f"Episode finished with {count} dropped frame(s) for {video_key}.")
+                logging.warning(f"Episode finished with {count} dropped frame(s) for {video_key}.")
 
         # Send sentinel to all queues
         for video_key in self._frame_queues:
@@ -866,7 +851,7 @@ class StreamingVideoEncoder:
         for video_key in self._threads:
             self._threads[video_key].join(timeout=120)
             if self._threads[video_key].is_alive():
-                logger.error(f"Encoder thread for {video_key} did not finish in time")
+                logging.error(f"Encoder thread for {video_key} did not finish in time")
                 self._stop_events[video_key].set()
                 self._threads[video_key].join(timeout=5)
                 results[video_key] = (self._video_paths[video_key], None)
@@ -878,7 +863,7 @@ class StreamingVideoEncoder:
                     raise RuntimeError(f"Encoder thread for {video_key} failed: {data}")
                 results[video_key] = (self._video_paths[video_key], data)
             except queue.Empty:
-                logger.error(f"No result from encoder thread for {video_key}")
+                logging.error(f"No result from encoder thread for {video_key}")
                 results[video_key] = (self._video_paths[video_key], None)
 
         self._cleanup()
@@ -908,11 +893,8 @@ class StreamingVideoEncoder:
 
     def close(self) -> None:
         """Close the encoder, canceling any in-progress episode."""
-        if self._closed:
-            return
         if self._episode_active:
             self.cancel_episode()
-        self._closed = True
 
     def _cleanup(self) -> None:
         """Clean up queues and thread tracking dicts."""
@@ -959,6 +941,38 @@ with warnings.catch_warnings():
     register_feature(VideoFrame, "VideoFrame")
 
 
+def get_audio_info(video_path: Path | str) -> dict:
+    # Set logging level
+    logging.getLogger("libav").setLevel(av.logging.WARNING)
+
+    # Getting audio stream information
+    audio_info = {}
+    with av.open(str(video_path), "r") as audio_file:
+        try:
+            audio_stream = audio_file.streams.audio[0]
+        except IndexError:
+            # Reset logging level
+            av.logging.restore_default_callback()
+            return {"has_audio": False}
+
+        audio_info["audio.channels"] = audio_stream.channels
+        audio_info["audio.codec"] = audio_stream.codec.canonical_name
+        # In an ideal loseless case : bit depth x sample rate x channels = bit rate.
+        # In an actual compressed case, the bit rate is set according to the compression level : the lower the bit rate, the more compression is applied.
+        audio_info["audio.bit_rate"] = audio_stream.bit_rate
+        audio_info["audio.sample_rate"] = audio_stream.sample_rate  # Number of samples per second
+        # In an ideal loseless case : fixed number of bits per sample.
+        # In an actual compressed case : variable number of bits per sample (often reduced to match a given depth rate).
+        audio_info["audio.bit_depth"] = audio_stream.format.bits
+        audio_info["audio.channel_layout"] = audio_stream.layout.name
+        audio_info["has_audio"] = True
+
+    # Reset logging level
+    av.logging.restore_default_callback()
+
+    return audio_info
+
+
 def get_video_info(video_path: Path | str) -> dict:
     # Set logging level
     logging.getLogger("libav").setLevel(av.logging.WARNING)
@@ -988,6 +1002,9 @@ def get_video_info(video_path: Path | str) -> dict:
     # Reset logging level
     av.logging.restore_default_callback()
 
+    # Adding audio stream information
+    video_info.update(**get_audio_info(video_path))
+
     return video_info
 
 
@@ -1002,22 +1019,22 @@ def get_video_pixel_channels(pix_fmt: str) -> int:
         raise ValueError("Unknown format")
 
 
-def get_media_duration_in_s(media_path: Path | str, media_type: str = "video") -> float:
+def get_video_duration_in_s(video_path: Path | str) -> float:
     """
-    Get the duration of a media file (video & audio) in seconds using PyAV.
+    Get the duration of a video file in seconds using PyAV.
 
     Args:
-        media_path: Path to the media file.
+        video_path: Path to the video file.
 
     Returns:
-        Duration of the media file in seconds.
+        Duration of the video in seconds.
     """
-    with av.open(str(media_path)) as container:
-        # Get the first stream
-        stream = container.streams.video[0] if media_type == "video" else container.streams.audio[0]
+    with av.open(str(video_path)) as container:
+        # Get the first video stream
+        video_stream = container.streams.video[0]
         # Calculate duration: stream.duration * stream.time_base gives duration in seconds
-        if stream.duration is not None:
-            duration = float(stream.duration * stream.time_base)
+        if video_stream.duration is not None:
+            duration = float(video_stream.duration * video_stream.time_base)
         else:
             # Fallback to container duration if stream duration is not available
             duration = float(container.duration / av.time_base)
@@ -1026,12 +1043,12 @@ def get_media_duration_in_s(media_path: Path | str, media_type: str = "video") -
 
 class VideoEncodingManager:
     """
-    Context manager that ensures proper video and audio encoding and data cleanup even if exceptions occur.
+    Context manager that ensures proper video encoding and data cleanup even if exceptions occur.
 
     This manager handles:
     - Batch encoding for any remaining episodes when recording interrupted
-    - Cleaning up temporary image and audio files from interrupted episodes
-    - Removing empty image and audio directories
+    - Cleaning up temporary image files from interrupted episodes
+    - Removing empty image directories
 
     Args:
         dataset: The LeRobotDataset instance
@@ -1044,19 +1061,43 @@ class VideoEncodingManager:
         return self
 
     def __exit__(self, exc_type, exc_val, exc_tb):
-        writer = self.dataset.writer
-        if writer is not None:
-            if exc_type is not None and writer._streaming_encoder is not None:
-                writer.cancel_pending_videos()
+        streaming_encoder = getattr(self.dataset, "_streaming_encoder", None)
 
-            # finalize() handles flush_pending_videos + parquet + metadata
-            self.dataset.finalize()
+        if streaming_encoder is not None:
+            # Handle streaming encoder cleanup
+            if exc_type is not None:
+                streaming_encoder.cancel_episode()
+            streaming_encoder.close()
+        elif self.dataset.episodes_since_last_encoding > 0:
+            # Handle any remaining episodes that haven't been batch encoded
+            if exc_type is not None:
+                logging.info("Exception occurred. Encoding remaining episodes before exit...")
+            else:
+                logging.info("Recording stopped. Encoding remaining episodes...")
 
-            # Clean up episode images if recording was interrupted (only for non-streaming mode)
-            if exc_type is not None and writer._streaming_encoder is None:
-                writer.cleanup_interrupted_episode(self.dataset.num_episodes)
-        else:
-            self.dataset.finalize()
+            start_ep = self.dataset.num_episodes - self.dataset.episodes_since_last_encoding
+            end_ep = self.dataset.num_episodes
+            logging.info(
+                f"Encoding remaining {self.dataset.episodes_since_last_encoding} episodes, "
+                f"from episode {start_ep} to {end_ep - 1}"
+            )
+            self.dataset._batch_save_episode_video(start_ep, end_ep)
+
+        # Finalize the dataset to properly close all writers
+        self.dataset.finalize()
+
+        # Clean up episode images if recording was interrupted (only for non-streaming mode)
+        if exc_type is not None and streaming_encoder is None:
+            interrupted_episode_index = self.dataset.num_episodes
+            for key in self.dataset.meta.video_keys:
+                img_dir = self.dataset._get_image_file_path(
+                    episode_index=interrupted_episode_index, image_key=key, frame_index=0
+                ).parent
+                if img_dir.exists():
+                    logging.debug(
+                        f"Cleaning up interrupted episode images for episode {interrupted_episode_index}, camera {key}"
+                    )
+                    shutil.rmtree(img_dir)
 
         # Clean up any remaining images directory if it's empty
         img_dir = self.dataset.root / "images"
@@ -1064,20 +1105,8 @@ class VideoEncodingManager:
             png_files = list(img_dir.rglob("*.png"))
             if len(png_files) == 0:
                 shutil.rmtree(img_dir)
-                logger.debug("Cleaned up empty images directory")
+                logging.debug("Cleaned up empty images directory")
             else:
-                logger.debug(f"Images directory is not empty, containing {len(png_files)} PNG files")
-
-        # Clean up any remaining audio directory if it's empty
-        audio_dir = self.dataset.root / "raw_audio"
-        # Check for any remaining WAV files
-        wav_files = list(audio_dir.rglob("*.wav"))
-        if len(wav_files) == 0:
-            # Only remove the raw_audio directory if no WAV files remain
-            if audio_dir.exists():
-                shutil.rmtree(audio_dir)
-                logging.debug("Cleaned up empty audio directory")
-        else:
-            logging.debug(f"Audio directory is not empty, containing {len(wav_files)} WAV files")
+                logging.debug(f"Images directory is not empty, containing {len(png_files)} PNG files")
 
         return False  # Don't suppress the original exception