enhance doc and add images

🤖 Generated with [Claude Code](https://claude.com/claude-code)

Co-Authored-By: Claude <noreply@anthropic.com>

.github/workflows/release.yml

@@ -83,11 +83,11 @@ jobs:
           fi
 
       - name: Remove Tags with Git dependencies
-        # TODO(Steven): Temporary patch to remove libero and pi from PyPi 0.4.0 release due to its reliance on 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\[pi\]|lerobot\[libero\]' pyproject.toml | sed 's/^/::warning:: Removing line: /' || true
-          sed -E -i '/@ git\+https|lerobot\[pi\]|lerobot\[libero\]/d' 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

.github/workflows/unbound_deps_tests.yml

@@ -70,7 +70,7 @@ jobs:
           echo "Dependencies unbound:" && cat pyproject.toml
 
       - name: Install lerobot with all extras
-        run: uv sync --all-extras
+        run: uv sync --all-extras --no-extra groot # TODO(Steven): Make flash-attn optional
 
       - name: Run pytest (all extras)
         run: uv run pytest tests -vv

README.md

@@ -186,7 +186,7 @@ For a full list of optional dependencies, see:
 https://pypi.org/project/lerobot/
 
 > [!NOTE]
-> For lerobot 0.4.0, if you want to install libero or pi tags, you will have to do: `pip install "lerobot[pi,libero]@git+https://github.com/huggingface/lerobot.git"`.
+> For lerobot 0.4.0, if you want to install pi tags, 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
 

docs/source/_toctree.yml

@@ -15,8 +15,6 @@
     title: Train a Robot with RL
   - local: hilserl_sim
     title: Train RL in Simulation
-  - local: async
-    title: Use Async Inference
   - local: multi_gpu_training
     title: Multi GPU training
   title: "Tutorials"
@@ -41,6 +39,14 @@
     title: NVIDIA GR00T N1.5
   title: "Policies"
 - sections:
+  - local: async
+    title: Use Async Inference
+  - local: rtc
+    title: Real-Time Chunking (RTC)
+  title: "Inference"
+- sections:
+  - local: envhub
+    title: Environments from the Hub
   - local: il_sim
     title: Imitation Learning in Sim
   - local: libero

docs/source/envhub.mdx

@@ -0,0 +1,424 @@
+# Loading Environments from the Hub
+
+The **EnvHub** feature allows you to load simulation environments directly from the Hugging Face Hub with a single line of code. This unlocks a powerful new model for collaboration: instead of environments being locked away inside monolithic libraries, anyone can publish custom environments and share them with the community.
+
+## Overview
+
+With EnvHub, you can:
+
+- Load environments from the Hub instantly
+- Share your custom simulation tasks with the community
+- Version control your environments using Git
+- Distribute complex physics simulations without packaging hassles
+
+## Quick Start
+
+Loading an environment from the Hub is as simple as:
+
+```python
+from lerobot.envs.factory import make_env
+
+# Load a hub environment (requires explicit consent to run remote code)
+env = make_env("lerobot/cartpole-env", trust_remote_code=True)
+```
+
+<Tip warning={true}>
+  **Security Notice**: Loading environments from the Hub executes Python code
+  from third-party repositories. Only use `trust_remote_code=True` with
+  repositories you trust. We strongly recommend pinning to a specific commit
+  hash for reproducibility and security.
+</Tip>
+
+## What is EnvHub?
+
+EnvHub is a framework that allows researchers and developers to:
+
+1. **Publish environments** to the Hugging Face Hub as Git repositories
+2. **Load environments** dynamically without installing them as packages
+3. **Version and track** environment changes using Git semantics
+4. **Discover** new simulation tasks shared by the community
+
+This design means you can go from discovering an interesting environment on the Hub to running experiments in seconds, without worrying about dependency conflicts or complex installation procedures.
+
+## Repository Structure
+
+To make your environment loadable from the Hub, your repository must contain at minimum:
+
+### Required Files
+
+**`env.py`** (or custom Python file)
+
+- Must expose a `make_env(n_envs: int, use_async_envs: bool)` function
+- This function should return one of:
+  - A `gym.vector.VectorEnv` (most common)
+  - A single `gym.Env` (will be automatically wrapped)
+  - A dict mapping `{suite_name: {task_id: VectorEnv}}` (for multi-task benchmarks)
+
+### Optional Files
+
+**`requirements.txt`**
+
+- List any additional dependencies your environment needs
+- Users will need to install these manually before loading your environment
+
+**`README.md`**
+
+- Document your environment: what task it implements, observation/action spaces, rewards, etc.
+- Include usage examples and any special setup instructions
+
+**`.gitignore`**
+
+- Exclude unnecessary files from your repository
+
+### Example Repository Structure
+
+```
+my-environment-repo/
+├── env.py                 # Main environment definition (required)
+├── requirements.txt       # Dependencies (optional)
+├── README.md             # Documentation (recommended)
+├── assets/               # Images, videos, etc. (optional)
+│   └── demo.gif
+└── configs/              # Config files if needed (optional)
+    └── task_config.yaml
+```
+
+## Creating Your Environment Repository
+
+### Step 1: Define Your Environment
+
+Create an `env.py` file with a `make_env` function:
+
+```python
+# env.py
+import gymnasium as gym
+
+def make_env(n_envs: int = 1, use_async_envs: bool = False):
+    """
+    Create vectorized environments for your custom task.
+
+    Args:
+        n_envs: Number of parallel environments
+        use_async_envs: Whether to use AsyncVectorEnv or SyncVectorEnv
+
+    Returns:
+        gym.vector.VectorEnv or dict mapping suite names to vectorized envs
+    """
+    def _make_single_env():
+        # Create your custom environment
+        return gym.make("CartPole-v1")
+
+    # Choose vector environment type
+    env_cls = gym.vector.AsyncVectorEnv if use_async_envs else gym.vector.SyncVectorEnv
+
+    # Create vectorized environment
+    vec_env = env_cls([_make_single_env for _ in range(n_envs)])
+
+    return vec_env
+```
+
+### Step 2: Test Locally
+
+Before uploading, test your environment locally:
+
+```python
+from lerobot.envs.utils import _load_module_from_path, _call_make_env, _normalize_hub_result
+
+# Load your module
+module = _load_module_from_path("./env.py")
+
+# Test the make_env function
+result = _call_make_env(module, n_envs=2, use_async_envs=False)
+normalized = _normalize_hub_result(result)
+
+# Verify it works
+suite_name = next(iter(normalized))
+env = normalized[suite_name][0]
+obs, info = env.reset()
+print(f"Observation shape: {obs.shape if hasattr(obs, 'shape') else type(obs)}")
+env.close()
+```
+
+### Step 3: Upload to the Hub
+
+Upload your repository to Hugging Face:
+
+```bash
+# Install huggingface_hub if needed
+pip install huggingface_hub
+
+# Login to Hugging Face
+huggingface-cli login
+
+# Create a new repository
+huggingface-cli repo create my-custom-env --type space --org my-org
+
+# Initialize git and push
+git init
+git add .
+git commit -m "Initial environment implementation"
+git remote add origin https://huggingface.co/my-org/my-custom-env
+git push -u origin main
+```
+
+Alternatively, use the `huggingface_hub` Python API:
+
+```python
+from huggingface_hub import HfApi
+
+api = HfApi()
+
+# Create repository
+api.create_repo("my-custom-env", repo_type="space")
+
+# Upload files
+api.upload_folder(
+    folder_path="./my-env-folder",
+    repo_id="username/my-custom-env",
+    repo_type="space",
+)
+```
+
+## Loading Environments from the Hub
+
+### Basic Usage
+
+```python
+from lerobot.envs.factory import make_env
+
+# Load from the hub
+envs_dict = make_env(
+    "username/my-custom-env",
+    n_envs=4,
+    trust_remote_code=True
+)
+
+# Access the environment
+suite_name = next(iter(envs_dict))
+env = envs_dict[suite_name][0]
+
+# Use it like any gym environment
+obs, info = env.reset()
+action = env.action_space.sample()
+obs, reward, terminated, truncated, info = env.step(action)
+```
+
+### Advanced: Pinning to Specific Versions
+
+For reproducibility and security, pin to a specific Git revision:
+
+```python
+# Pin to a specific branch
+env = make_env("username/my-env@main", trust_remote_code=True)
+
+# Pin to a specific commit (recommended for papers/experiments)
+env = make_env("username/my-env@abc123def456", trust_remote_code=True)
+
+# Pin to a tag
+env = make_env("username/my-env@v1.0.0", trust_remote_code=True)
+```
+
+### Custom File Paths
+
+If your environment definition is not in `env.py`:
+
+```python
+# Load from a custom file
+env = make_env("username/my-env:custom_env.py", trust_remote_code=True)
+
+# Combine with version pinning
+env = make_env("username/my-env@v1.0:envs/task_a.py", trust_remote_code=True)
+```
+
+### Async Environments
+
+For better performance with multiple environments:
+
+```python
+envs_dict = make_env(
+    "username/my-env",
+    n_envs=8,
+    use_async_envs=True,  # Use AsyncVectorEnv for parallel execution
+    trust_remote_code=True
+)
+```
+
+## URL Format Reference
+
+The hub URL format supports several patterns:
+
+| Pattern              | Description                    | Example                                |
+| -------------------- | ------------------------------ | -------------------------------------- |
+| `user/repo`          | Load `env.py` from main branch | `make_env("lerobot/pusht-env")`        |
+| `user/repo@revision` | Load from specific revision    | `make_env("lerobot/pusht-env@main")`   |
+| `user/repo:path`     | Load custom file               | `make_env("lerobot/envs:pusht.py")`    |
+| `user/repo@rev:path` | Revision + custom file         | `make_env("lerobot/envs@v1:pusht.py")` |
+
+## Multi-Task Environments
+
+For benchmarks with multiple tasks (like LIBERO), return a nested dictionary:
+
+```python
+def make_env(n_envs: int = 1, use_async_envs: bool = False):
+    env_cls = gym.vector.AsyncVectorEnv if use_async_envs else gym.vector.SyncVectorEnv
+
+    # Return dict: {suite_name: {task_id: VectorEnv}}
+    return {
+        "suite_1": {
+            0: env_cls([lambda: gym.make("Task1-v0") for _ in range(n_envs)]),
+            1: env_cls([lambda: gym.make("Task2-v0") for _ in range(n_envs)]),
+        },
+        "suite_2": {
+            0: env_cls([lambda: gym.make("Task3-v0") for _ in range(n_envs)]),
+        }
+    }
+```
+
+## Security Considerations
+
+<Tip warning={true}>
+  **Important**: The `trust_remote_code=True` flag is required to execute
+  environment code from the Hub. This is by design for security.
+</Tip>
+
+When loading environments from the Hub:
+
+1. **Review the code first**: Visit the repository and inspect `env.py` before loading
+2. **Pin to commits**: Use specific commit hashes for reproducibility
+3. **Check dependencies**: Review `requirements.txt` for suspicious packages
+4. **Use trusted sources**: Prefer official organizations or well-known researchers
+5. **Sandbox if needed**: Run untrusted code in isolated environments (containers, VMs)
+
+Example of safe usage:
+
+```python
+# ❌ BAD: Loading without inspection
+env = make_env("random-user/untrusted-env", trust_remote_code=True)
+
+# ✅ GOOD: Review code, then pin to specific commit
+# 1. Visit https://huggingface.co/trusted-org/verified-env
+# 2. Review the env.py file
+# 3. Copy the commit hash
+env = make_env("trusted-org/verified-env@a1b2c3d4", trust_remote_code=True)
+```
+
+## Example: CartPole from the Hub
+
+Here's a complete example using the reference CartPole environment:
+
+```python
+from lerobot.envs.factory import make_env
+import numpy as np
+
+# Load the environment
+envs_dict = make_env("lerobot/cartpole-env", n_envs=4, trust_remote_code=True)
+
+# Get the vectorized environment
+suite_name = next(iter(envs_dict))
+env = envs_dict[suite_name][0]
+
+# Run a simple episode
+obs, info = env.reset()
+done = np.zeros(env.num_envs, dtype=bool)
+total_reward = np.zeros(env.num_envs)
+
+while not done.all():
+    # Random policy
+    action = env.action_space.sample()
+    obs, reward, terminated, truncated, info = env.step(action)
+    total_reward += reward
+    done = terminated | truncated
+
+print(f"Average reward: {total_reward.mean():.2f}")
+env.close()
+```
+
+## Benefits of EnvHub
+
+### For Environment Authors
+
+- **Easy distribution**: No PyPI packaging required
+- **Version control**: Use Git for environment versioning
+- **Rapid iteration**: Push updates instantly
+- **Documentation**: Hub README renders beautifully
+- **Community**: Reach LeRobot users directly
+
+### For Researchers
+
+- **Quick experiments**: Load any environment in one line
+- **Reproducibility**: Pin to specific commits
+- **Discovery**: Browse environments on the Hub
+- **No conflicts**: No need to install conflicting packages
+
+### For the Community
+
+- **Growing ecosystem**: More diverse simulation tasks
+- **Standardization**: Common `make_env` API
+- **Collaboration**: Fork and improve existing environments
+- **Accessibility**: Lower barrier to sharing research
+
+## Troubleshooting
+
+### "Refusing to execute remote code"
+
+You must explicitly pass `trust_remote_code=True`:
+
+```python
+env = make_env("user/repo", trust_remote_code=True)
+```
+
+### "Module X not found"
+
+The hub environment has dependencies you need to install:
+
+```bash
+# Check the repo's requirements.txt and install dependencies
+pip install gymnasium numpy
+```
+
+### "make_env not found in module"
+
+Your `env.py` must expose a `make_env` function:
+
+```python
+def make_env(n_envs: int, use_async_envs: bool):
+    # Your implementation
+    pass
+```
+
+### Environment returns wrong type
+
+The `make_env` function must return:
+
+- A `gym.vector.VectorEnv`, or
+- A single `gym.Env`, or
+- A dict `{suite_name: {task_id: VectorEnv}}`
+
+## Best Practices
+
+1. **Document your environment**: Include observation/action space descriptions, reward structure, and termination conditions in your README
+2. **Add requirements.txt**: List all dependencies with versions
+3. **Test thoroughly**: Verify your environment works locally before pushing
+4. **Use semantic versioning**: Tag releases with version numbers
+5. **Add examples**: Include usage examples in your README
+6. **Keep it simple**: Minimize dependencies when possible
+7. **License your work**: Add a LICENSE file to clarify usage terms
+
+## Future Directions
+
+The EnvHub ecosystem enables exciting possibilities:
+
+- **GPU-accelerated physics**: Share Isaac Gym or Brax environments
+- **Photorealistic rendering**: Distribute environments with advanced graphics
+- **Multi-agent scenarios**: Complex interaction tasks
+- **Real-world simulators**: Digital twins of physical setups
+- **Procedural generation**: Infinite task variations
+- **Domain randomization**: Pre-configured DR pipelines
+
+As more researchers and developers contribute, the diversity and quality of available environments will grow, benefiting the entire robotics learning community.
+
+## See Also
+
+- [Hugging Face Hub Documentation](https://huggingface.co/docs/hub/en/index)
+- [Gymnasium Documentation](https://gymnasium.farama.org/index.html)
+- [Example Hub Environment](https://huggingface.co/lerobot/cartpole-env)

docs/source/groot.mdx

@@ -40,7 +40,7 @@ python -c "import flash_attn; print(f'Flash Attention {flash_attn.__version__} i
 3. Install LeRobot by running:
 
 ```bash
-pip install lerobot[groot] # consider also installing libero,dev and test tags
+pip install lerobot[groot]
 ```
 
 ## Usage
@@ -83,6 +83,9 @@ accelerate launch \
 
 ### Libero Benchmark Results
 
+> [!NOTE]
+> Follow our instructions for Libero usage: [Libero](./libero)
+
 GR00T has demonstrated strong performance on the Libero benchmark suite. To compare and test its LeRobot implementation, we finetuned the GR00T N1.5 model for 30k steps on the Libero dataset and compared the results to the GR00T reference results.
 
 | Benchmark          | LeRobot Implementation | GR00T Reference |

docs/source/installation.mdx

@@ -82,7 +82,7 @@ For a full list of optional dependencies, see:
 https://pypi.org/project/lerobot/
 
 > [!NOTE]
-> For lerobot 0.4.0, if you want to install libero or pi, you will have to do: `pip install "lerobot[pi,libero]@git+https://github.com/huggingface/lerobot.git"`
+> 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
 

docs/source/openarms.mdx

@@ -1,328 +0,0 @@
-# OpenArms Robot
-
-OpenArms is a 7 DOF robotic arm with a gripper, designed by [Enactic, Inc.](https://www.enactic.com/) It uses Damiao motors controlled via CAN bus communication and MIT control mode for smooth, precise motion.
-
-## Hardware Overview
-
-- **7 DOF per arm** (14 DOF total for dual arm setup)
-- **1 gripper per arm** (2 grippers total)
-- **Damiao motors** with 4 different types:
-  - **DM8009** (DM-J8009P-2EC) for shoulders (J1, J2) - high torque
-  - **DM4340** for shoulder rotation and elbow (J3, J4)
-  - **DM4310** (DM-J4310-2EC V1.1) for wrist (J5, J6, J7) and gripper (J8)
-- **24V power supply** required
-- **CAN interface device**:
-  - **Linux**: Any SocketCAN-compatible adapter
-  - **macOS**: CANable, PEAK PCAN-USB, or Kvaser USBcan
-- Proper CAN wiring (CANH, CANL, 120Ω termination)
-
-
-## Motor Configuration
-
-Each arm has the following motor configuration based on the [OpenArm setup guide](https://docs.openarm.dev/software/setup/):
-
-| Joint | Motor | Motor Type | Sender CAN ID | Receiver ID | Description |
-|-------|-------|------------|---------------|-------------|-------------|
-| J1 | joint_1 | DM8009 | 0x01 | 0x11 | Shoulder pan |
-| J2 | joint_2 | DM8009 | 0x02 | 0x12 | Shoulder lift |
-| J3 | joint_3 | DM4340 | 0x03 | 0x13 | Shoulder rotation |
-| J4 | joint_4 | DM4340 | 0x04 | 0x14 | Elbow flex |
-| J5 | joint_5 | DM4310 | 0x05 | 0x15 | Wrist roll |
-| J6 | joint_6 | DM4310 | 0x06 | 0x16 | Wrist pitch |
-| J7 | joint_7 | DM4310 | 0x07 | 0x17 | Wrist rotation |
-| J8 | gripper | DM4310 | 0x08 | 0x18 | Gripper |
-
-For dual arm setups, the left arm uses IDs 0x09-0x10 for joints 1-8 with the same motor types.
-
-## Quick Start 
-
-```bash
-# Install system dependencies
-sudo apt install can-utils iproute2
-
-# Install LeRobot with OpenArms support
-pip install -e ".[openarms]"
-```
-
-## Setup Guide
-
-### Step 1: Motor ID Configuration
-
-**IMPORTANT**: Before using the robot, motors must be configured with the correct CAN IDs.
-
-Refer to the [OpenArm Motor ID Configuration Guide](https://docs.openarm.dev/software/setup/motor-id) for detailed instructions using the Damiao Debugging Tools on Windows.
-
-Key points:
-- Each motor needs a unique **Sender CAN ID** (0x01-0x08)
-- Each motor needs a unique **Receiver/Master ID** (0x11-0x18)
-- Use the Damiao Debugging Tools to set these IDs
-
-### Step 2: Setup CAN Interface
-
-Configure your CAN interface as described in the [OpenArm CAN Setup Guide](https://docs.openarm.dev/software/setup/can-setup):
-
-#### Linux (SocketCAN)
-
-```bash
-# Find your CAN interface
-ip link show
-
-# Configure can0, 1, 2, 3
-sudo ip link set can0 down
-sudo ip link set can0 type can bitrate 1000000
-sudo ip link set can0 up
-
-sudo ip link set can1 down
-sudo ip link set can1 type can bitrate 1000000
-sudo ip link set can1 up
-
-sudo ip link set can2 down
-sudo ip link set can2 type can bitrate 1000000
-sudo ip link set can2 up
-
-sudo ip link set can3 down
-sudo ip link set can3 type can bitrate 1000000
-sudo ip link set can3 up
-
-# Verify configuration
-ip link show can0
-```
-
-or run:
-
-`examples/openarms/setup_can.sh`
-
-### Testing canbus and motor connection
-
-Please run this script to check if all motors can be found and to find your can-fd speed: `python examples/openarms/debug_can_communication.py`
-
-## Usage
-
-### Basic Setup
-
-
-```python
-from lerobot.robots.openarms import OpenArmsFollower
-from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
-
-# Configure for dual arm setup
-config = OpenArmsFollowerConfig(
-    port="can0",
-    can_interface="socketcan",  # Or "auto" for auto-detection
-    id="openarms_dual",
-    is_dual_arm=True,
-)
-
-robot = OpenArmsFollower(config)
-robot.connect()
-```
-
-### Calibration
-
-On first use, you'll need to calibrate the robot:
-
-```python
-robot.calibrate()
-```
-
-The calibration process will:
-1. Disable torque on all motors
-2. Ask you to position arms in **hanging position with grippers closed**
-3. Set this as the zero position
-4. Ask you to move each joint through its full range
-5. Record min/max positions for each joint
-6. Save calibration to file
-
-### Reading Observations
-
-The robot provides comprehensive state information:
-
-```python
-observation = robot.get_observation()
-
-# Observation includes for each motor:
-# - {motor_name}.pos: Position in degrees
-# - {motor_name}.vel: Velocity in degrees/second  
-# - {motor_name}.torque: Motor torque
-# - {camera_name}: Camera images (if configured)
-
-print(f"Right arm joint 1 position: {observation['right_joint_1.pos']:.1f}°")
-print(f"Right arm joint 1 velocity: {observation['right_joint_1.vel']:.1f}°/s")
-print(f"Right arm joint 1 torque: {observation['right_joint_1.torque']:.3f} N·m")
-```
-
-### Sending Actions
-
-```python
-# Send target positions (in degrees)
-action = {
-    "right_joint_1.pos": 45.0,
-    "right_joint_2.pos": -30.0,
-    # ... all joints
-    "right_gripper.pos": 45.0,  # Half-closed
-}
-
-actual_action = robot.send_action(action)
-```
-
-### Gripper Control
-
-```python
-# Open gripper
-robot.open_gripper(arm="right")
-
-# Close gripper  
-robot.close_gripper(arm="right")
-```
-
-## Safety Features
-
-### 1. Maximum Relative Target
-
-Limits how far a joint can move in a single command to prevent sudden movements:
-
-```python
-config = OpenArmsFollowerConfig(
-    port="can0",
-    # Limit all joints to 10 degrees per command
-    max_relative_target=10.0,
-    
-    # Or set per-motor limits
-    max_relative_target={
-        "right_joint_1": 15.0,  # Slower moving joint
-        "right_joint_2": 10.0,
-        "right_gripper": 5.0,   # Very slow gripper
-    }
-)
-```
-
-**How it works**: If current position is 50° and you command 80°, with `max_relative_target=10.0`, the robot will only move to 60° in that step.
-
-### 2. Torque Limits
-
-Control maximum torque output, especially important for grippers and teleoperation:
-
-```python
-config = OpenArmsFollowerConfig(
-    port="can0",
-    # Gripper torque limit (fraction of motor's max torque)
-    gripper_torque_limit=0.5,  # 50% of max torque
-)
-```
-
-Lower torque limits prevent damage when gripping delicate objects.
-
-### 3. MIT Control Gains
-
-Control responsiveness and stability via PID-like gains:
-
-```python
-config = OpenArmsFollowerConfig(
-    port="can0",
-    position_kp=10.0,  # Position gain (higher = more responsive)
-    position_kd=0.5,   # Velocity damping (higher = more damped)
-)
-```
-
-**Guidelines**:
-- **For following (robot)**: Higher gains for responsiveness
-  - `position_kp=10.0`, `position_kd=0.5`
-- **For teleoperation (leader)**: Lower gains or disable torque for manual movement
-  - `manual_control=True` (torque disabled)
-
-### 4. Velocity Limits
-
-Velocity limits are enforced by the Damiao motors based on motor type. For DM4310:
-- Max velocity: 30 rad/s ≈ 1718°/s
-
-The motors will automatically limit velocity to safe values.
-
-## Teleoperation
-
-### Leader Arm Setup
-
-The leader arm is moved manually (torque disabled) to generate commands:
-
-```python
-from lerobot.teleoperators.openarms import OpenArmsLeader
-from lerobot.teleoperators.openarms.config_openarms_leader import OpenArmsLeaderConfig
-
-config = OpenArmsLeaderConfig(
-    port="can1",  # Separate CAN interface for leader
-    id="openarms_leader",
-    manual_control=True,  # Torque disabled for manual movement
-    is_dual_arm=True,
-)
-
-leader = OpenArmsLeader(config)
-leader.connect()
-
-# Read current position as action
-action = leader.get_action()
-# action contains positions for all joints in degrees
-```
-
-### Safety Considerations for Teleoperation
-
-1. **Use separate CAN interfaces** for leader and follower to avoid conflicts
-2. **Enable max_relative_target** on follower to smooth abrupt movements
-3. **Lower torque limits** on follower to prevent damage from tracking errors
-4. **Test with one arm** before enabling dual arm teleoperation
-5. **Have emergency stop** ready (power switch or CAN disable)
-
-```python
-# Recommended follower config for teleoperation
-follower_config = OpenArmsFollowerConfig(
-    port="can0",
-    max_relative_target=5.0,  # Small steps for smooth following
-    gripper_torque_limit=0.3, # Low torque for safety
-    position_kp=5.0,  # Lower gains for gentler following
-    position_kd=0.3,
-)
-```
-
-## Troubleshooting
-
-### Motor Shaking/Unstable
-
-- **Lower control gains**: Reduce `position_kp` and `position_kd`
-- **Check calibration**: Re-run calibration procedure
-- **Verify power**: Insufficient current can cause instability
-- **Check mechanical**: Loose connections, binding, or damaged components
-
-### CAN Bus Errors
-
-```bash
-# Check for errors
-ip -s link show can0
-
-# Reset CAN interface
-sudo ip link set can0 down
-sudo ip link set can0 up
-```
-
-### Control Mode
-
-OpenArms uses **MIT control mode** which allows simultaneous control of:
-- Position (degrees)
-- Velocity (degrees/second)
-- Torque (N·m)
-- Position gain (Kp)
-- Velocity damping (Kd)
-
-### Communication
-
-- **Protocol**: CAN 2.0 at 1 Mbps (or CAN-FD at 5 Mbps)
-- **Frame format**: Standard 11-bit IDs
-- **Update rate**: Typically 50-100 Hz depending on motor count
-- **Latency**: ~10-20ms per motor command
-
-## References
-
-- [OpenArm Official Documentation](https://docs.openarm.dev/)
-- [OpenArm Setup Guide](https://docs.openarm.dev/software/setup/)
-- [Motor ID Configuration](https://docs.openarm.dev/software/setup/motor-id)
-- [CAN Interface Setup](https://docs.openarm.dev/software/setup/can-setup)
-- [Motor Communication Test](https://docs.openarm.dev/software/setup/configure-test)
-- [Damiao Motor Documentation](https://wiki.seeedstudio.com/damiao_series/)
-- [Enactic GitHub](https://github.com/enactic/openarm_can)

docs/source/pi0.mdx

@@ -28,6 +28,11 @@ 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:

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:

docs/source/rtc.mdx

@@ -0,0 +1,188 @@
+# Real-Time Chunking (RTC)
+
+Real-Time Chunking (RTC) is an inference-time method that allows large, flow-matching based robotic policies, such as [Pi0](./pi0), [Pi0.5](./pi05), and [SmolVLA](./smolvla), to produce smooth, continuous, and reactive motion despite having high inference latency.
+
+These policies generate chunks of future actions (e.g., 50 steps at a time) instead of single actions.
+Because the models are large, producing each chunk takes longer than the time it takes the robot to execute it.
+Naively executing chunks leads to problems such as pauses, jerky transitions, or sudden changes in strategy whenever the next chunk arrives late or disagrees with the previously executed actions.
+
+RTC solves this by asynchronously generating the next chunk while the robot continues executing the current one, and by guiding the new chunk so it aligns smoothly with the portion of the previous chunk that has already been executed.
+
+## How RTC Works (simplified)
+
+RTC lets the robot think ahead while it’s still moving. When the robot is carrying out one chunk of actions, RTC starts creating the next chunk early.
+But since the robot has already moved a bit by the time the new chunk is ready, RTC has to make sure the new chunk still lines up smoothly with what the robot is currently doing.
+
+To do this, RTC treats the beginning of the new chunk like an inpainting or “fill-in-the-gaps” problem:
+it gently adjusts the first part of the new chunk so it blends naturally with the robot’s ongoing motion. The result is no pauses, no sudden jumps.
+
+In technical terms, RTC adds a guidance term to the flow-matching denoising process that forces the overlapping timesteps of the new chunk to stay close to the executed portion of the previous chunk, typically using a soft transition mask.
+
+## Quick Start
+
+### Installation
+
+RTC is built into LeRobot. Just install the policy dependencies you need:
+
+```bash
+# For Pi0 or Pi0.5
+pip install -e ".[pi]"
+
+# For SmolVLA
+pip install -e ".[smolvla]"
+```
+
+### Using RTC with Pi0
+
+You can find a complete reference implementation in [eval_with_real_robot.py](examples/rtc/eval_with_real_robot.py).
+The snippet below provides a simplified pseudo-example of how RTC operates with Pi0 in your pipeline:
+
+```python
+from lerobot.policies.pi0 import PI0Policy, PI0Config
+from lerobot.configs.types import RTCAttentionSchedule
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
+from lerobot.policies.rtc.action_queue import ActionQueue
+
+# Load Pi0 with RTC enabled
+policy_cfg = PI0Config()
+
+# Enable RTC
+policy_cfg.rtc_config = RTCConfig(
+    enabled=True,
+    execution_horizon=10,  # How many steps to blend with previous chunk
+    max_guidance_weight=10.0,  # How strongly to enforce consistency
+    prefix_attention_schedule=RTCAttentionSchedule.EXP,  # Exponential blend
+)
+
+# Load the policy
+policy = PI0Policy.from_pretrained("lerobot/pi0_base", policy_cfg=policy_cfg, device="cuda")
+
+# Now use predict_action_chunk with RTC parameters
+inference_delay = 4  # How many steps of inference latency, this values should be calculated based on the inference latency of the policy
+
+# Initialize the action queue
+action_queue = ActionQueue(policy_cfg.rtc_config)
+
+# Start in a separate thread with the following function
+def get_actions():
+  while True:
+    if should_get_actions:
+
+      prev_actions = action_queue.get_left_over()
+      obs = get_robot_observations(robot)
+
+      # Generate actions WITH RTC
+      actions = policy.predict_action_chunk(
+          obs,
+          inference_delay=inference_delay,
+          prev_chunk_left_over=prev_actions,
+      )
+
+      action_queue.merge(
+          actions, actions, inference_delay
+      )
+
+for step in range(num_steps):
+    action = action_queue.get()
+
+    # Execute the first N actions
+    execute_actions(action)
+```
+
+## Key Parameters
+
+`RTCConfig` has the following parameters to tune:
+
+**`execution_horizon`**: How many timesteps from the previous chunk to maintain consistency with. Higher values mean smoother transitions but potentially less reactivity.
+
+Typical values: 8-12 steps
+
+```python
+RTCConfig(execution_horizon=10)
+```
+
+**`max_guidance_weight`**: How strongly to enforce consistency with the previous chunk. This is a hyperparameter that can be tuned to balance the smoothness of the transitions and the reactivity of the policy. For 10 steps flow matching (SmolVLA, Pi0, Pi0.5), a value of 10.0 is a optimal value.
+
+**`prefix_attention_schedule`**: How to weight consistency across the overlap region.
+
+- `LINEAR`: Linear decay from inference_delay to execution_horizon
+- `EXP`: Exponential decay (recommended for getting started)
+- `ONES`: Full weight across entire execution_horizon
+- `ZEROS`: Binary (full weight up to inference_delay, then zero)
+
+**`inference_delay`**: How many timesteps of inference latency your system has. This is passed to `predict_action_chunk()` rather than the config, since it may vary at runtime.
+
+## Testing RTC Offline
+
+Before running on a real robot, test RTC with dataset samples to visualize how it works:
+
+```bash
+python examples/rtc/eval_dataset.py \
+    --policy.path=lerobot/pi0_libero_finetuned \
+    --dataset.repo_id=HuggingFaceVLA/libero \
+    --rtc.execution_horizon=10 \
+    --rtc.max_guidance_weight=10.0 \
+    --device=cuda
+```
+
+The script generates a visualization of the denoising process, comparing standard generation (left) with RTC (right). In the RTC plots, you can see how the first few steps (blue/purple lines) are guided to match the red ground truth trajectory (previous chunk's tail), ensuring a smooth transition between chunks.
+
+<p align="center">
+  <img
+    src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/flow_matching.png"
+    alt="Denoising steps with and without RTC"
+    width="100%"
+  />
+</p>
+
+## Testing RTC with a Real Robot
+
+```bash
+python examples/rtc/eval_with_real_robot.py \
+    --policy.path=${HF_USERNAME}/policy_repo_id \
+    --robot.type=so100_follower \
+    --robot.port=/dev/tty.usbmodem58FA0834591 \
+    --robot.cameras="{ gripper: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30}, front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}}" \
+    --task="Move green small object into the purple platform" \
+    --duration=120 \
+    --device=cuda
+```
+
+## How It Differs from the Async Inference in LeRobot
+
+Both RTC and [async inference](./async) improve real-time robot control, but they solve different problems.
+
+| Aspect        | Async Inference                                                            | RTC                                                 |
+| ------------- | -------------------------------------------------------------------------- | --------------------------------------------------- |
+| **Problem**   | Idle frames while waiting for inference                                    | Discontinuities between action chunks               |
+| **Solution**  | Decouple prediction from execution                                         | Guide new chunks to continue smoothly from previous |
+| **Benefit**   | No waiting, continuous action                                              | Smooth transitions, natural motion                  |
+| **Best Used** | Async inference is best used with large models with high inference latency | Flow-matching based policies                        |
+
+**Use both together** for maximum smoothness and reactivity!
+
+## Advanced: Debug Tracking
+
+RTC includes built-in debug tracking to help you understand what's happening during inference:
+
+```python
+# Enable debug tracking
+policy_cfg.rtc_config.debug = True
+policy_cfg.rtc_config.debug_maxlen = 100
+
+# After inference, access debug data
+debug_data = policy.rtc_processor.get_debug_data()
+
+# Visualize denoising steps, corrections, etc.
+from lerobot.policies.rtc.debug_visualizer import RTCDebugVisualizer
+visualizer = RTCDebugVisualizer()
+# ... create plots
+```
+
+See `examples/rtc/eval_dataset.py` for a complete example of visualization.
+
+## References
+
+- [Smooth-As-Butter Robot Policies](https://alexander-soare.github.io/robotics/2025/08/05/smooth-as-butter-robot-policies.html) - Excellent technical explanation with real robot results
+- [Physical Intelligence - Real-Time Chunking](https://www.physicalintelligence.company/research/real_time_chunking) - Original paper and research
+- [Kinetix RTC Implementation](https://github.com/Physical-Intelligence/real-time-chunking-kinetix) - Reference implementation from Physical Intelligence

examples/openarms/debug_can_communication.py

@@ -1,416 +0,0 @@
-#!/usr/bin/env python3
-"""
-Comprehensive debug script for OpenArms CAN FD communication.
-Tests all 4 CAN interfaces with CAN FD support.
-"""
-
-import can
-import time
-import sys
-import subprocess
-
-def check_can_interface(port):
-    """Check if CAN interface is UP and configured."""
-    try:
-        result = subprocess.run(['ip', 'link', 'show', port], 
-                              capture_output=True, text=True)
-        if result.returncode != 0:
-            return False, "Interface not found", None
-        
-        output = result.stdout
-        if 'UP' not in output:
-            return False, "Interface is DOWN", None
-        
-        # Check if CAN FD is enabled
-        is_fd = 'fd on' in output.lower() or 'canfd' in output.lower()
-        
-        return True, "Interface is UP", is_fd
-    except FileNotFoundError:
-        return None, "Cannot check (ip command not found)", None
-
-
-def test_motor_on_interface(bus, motor_id, timeout=2.0, use_fd=False):
-    """
-    Test a single motor and return all responses.
-    
-    Returns:
-        list of (arbitration_id, data) tuples for all responses received
-    """
-    # Send enable command
-    enable_msg = can.Message(
-        arbitration_id=motor_id,
-        data=[0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC],
-        is_extended_id=False,
-        is_fd=use_fd
-    )
-    
-    try:
-        bus.send(enable_msg)
-    except Exception as e:
-        return None, f"Send error: {e}"
-    
-    # Listen for responses
-    responses = []
-    start_time = time.time()
-    
-    while time.time() - start_time < timeout:
-        msg = bus.recv(timeout=0.1)
-        if msg:
-            responses.append((msg.arbitration_id, msg.data, msg.is_fd if hasattr(msg, 'is_fd') else False))
-    
-    # Send disable command
-    disable_msg = can.Message(
-        arbitration_id=motor_id,
-        data=[0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD],
-        is_extended_id=False,
-        is_fd=use_fd
-    )
-    try:
-        bus.send(disable_msg)
-    except:
-        pass
-    
-    return responses, None
-
-
-def test_interface(port, interface_type="socketcan", use_can_fd=True):
-    """Test all 8 motors on a single CAN interface."""
-    
-    results = {
-        'interface': port,
-        'status': None,
-        'is_fd': use_can_fd,
-        'motors': {}
-    }
-    
-    # Check interface status
-    status_ok, status_msg, interface_has_fd = check_can_interface(port)
-    
-    if interface_has_fd is not None:
-        results['interface_fd_enabled'] = interface_has_fd
-        if use_can_fd and not interface_has_fd:
-            status_msg += " (CAN FD NOT enabled on interface!)"
-        elif interface_has_fd:
-            status_msg += " (CAN FD enabled)"
-    
-    results['status'] = status_msg
-    
-    if status_ok is False:
-        return results
-    
-    # Try to connect
-    try:
-        if use_can_fd:
-            print(f"  Connecting to {port} with CAN FD (1 Mbps / 5 Mbps)...")
-            bus = can.interface.Bus(
-                channel=port,
-                interface=interface_type,
-                bitrate=1000000,
-                data_bitrate=5000000,
-                fd=True
-            )
-        else:
-            print(f"  Connecting to {port} with CAN 2.0 (1 Mbps)...")
-            bus = can.interface.Bus(
-                channel=port,
-                interface=interface_type,
-                bitrate=1000000
-            )
-    except Exception as e:
-        results['status'] = f"Connection failed: {e}"
-        return results
-    
-    try:
-        # Clear any pending messages
-        while bus.recv(timeout=0.01):
-            pass
-        
-        # Test each motor (0x01 to 0x08)
-        for motor_id in range(0x01, 0x09):
-            responses, error = test_motor_on_interface(bus, motor_id, timeout=1.0, use_fd=use_can_fd)
-            
-            if error:
-                results['motors'][motor_id] = {'error': error}
-            elif responses:
-                results['motors'][motor_id] = {
-                    'found': True,
-                    'responses': responses
-                }
-            else:
-                results['motors'][motor_id] = {
-                    'found': False,
-                    'responses': []
-                }
-            
-            time.sleep(0.05)  # Small delay between motors
-        
-    finally:
-        bus.shutdown()
-    
-    return results
-
-
-def print_results(all_results):
-    """Print formatted results for all interfaces."""
-    
-    print("SUMMARY - Motors Found on Each Interface")
-    
-    motor_names = {
-        0x01: "joint_1 (Shoulder pan)",
-        0x02: "joint_2 (Shoulder lift)",
-        0x03: "joint_3 (Shoulder rotation)",
-        0x04: "joint_4 (Elbow flex)",
-        0x05: "joint_5 (Wrist roll)",
-        0x06: "joint_6 (Wrist pitch)",
-        0x07: "joint_7 (Wrist rotation)",
-        0x08: "gripper",
-    }
-    
-    total_found = 0
-    
-    for result in all_results:
-        interface = result['interface']
-        status = result['status']
-        
-        print(f"{interface}: {status}")
-        if result.get('is_fd'):
-            print(f"  Mode: CAN FD")
-        else:
-            print(f"  Mode: CAN 2.0")
-        
-        if 'Connection failed' in status or 'DOWN' in status:
-            print(f"  ⚠ Cannot test {interface}")
-            continue
-        
-        motors_found = 0
-        
-        for motor_id in range(0x01, 0x09):
-            motor_data = result['motors'].get(motor_id, {})
-            motor_name = motor_names.get(motor_id, "Unknown")
-            
-            if motor_data.get('error'):
-                print(f"  Motor 0x{motor_id:02X} ({motor_name}): ✗ {motor_data['error']}")
-            elif motor_data.get('found'):
-                motors_found += 1
-                total_found += 1
-                responses = motor_data['responses']
-                print(f"  Motor 0x{motor_id:02X} ({motor_name}): ✓ FOUND")
-                
-                for resp_id, data, is_fd in responses:
-                    data_hex = data.hex()
-                    fd_flag = " [FD]" if is_fd else " [2.0]"
-                    print(f"    → Response from 0x{resp_id:02X}{fd_flag}: {data_hex}")
-            else:
-                print(f"  Motor 0x{motor_id:02X} ({motor_name}): ✗ No response")
-        
-        print(f"\n  Summary: {motors_found}/8 motors found on {interface}")
-    
-    # Overall summary
-    print("OVERALL SUMMARY")
-    print(f"Total motors found across all interfaces: {total_found}")
-    
-    # Analyze configuration
-    print("DIAGNOSIS")
-    
-    for result in all_results:
-        interface = result['interface']
-        motors_found = sum(1 for m in result['motors'].values() if m.get('found'))
-        
-        if motors_found == 0:
-            print(f"\n⚠ {interface}: NO MOTORS FOUND")
-            print("  Possible issues:")
-            print("    1. CAN FD mode mismatch (interface vs motor configuration)")
-            print("    2. Missing 120Ω termination resistors at BOTH cable ends")
-            print("    3. Motor timeout parameter set incorrectly (should NOT be 0)")
-            print("    4. CANH/CANL wiring issue")
-            print("    5. Cable too long (>40m for CAN FD at 5Mbps)")
-            
-            # Check FD mismatch
-            if result.get('is_fd') and not result.get('interface_fd_enabled'):
-                print("    ⚠️ CRITICAL: Trying CAN FD but interface NOT configured for FD!")
-                print(f"       Fix: sudo ip link set {interface} type can bitrate 1000000 dbitrate 5000000 fd on")
-                
-        elif motors_found < 8:
-            print(f"\n⚠ {interface}: Only {motors_found}/8 motors responding")
-            print("  Check power and connections for missing motors")
-        else:
-            print(f"\n✓ {interface}: All 8 motors responding correctly!")
-    
-    # Check for unexpected response IDs
-    print("RESPONSE ID ANALYSIS")
-    
-    for result in all_results:
-        interface = result['interface']
-        unexpected = []
-        
-        for motor_id, motor_data in result['motors'].items():
-            if motor_data.get('found'):
-                expected_id = motor_id + 0x10
-                actual_ids = [resp[0] for resp in motor_data['responses']]
-                
-                if expected_id not in actual_ids:
-                    unexpected.append((motor_id, actual_ids))
-        
-        if unexpected:
-            print(f"\n⚠ {interface}: Unexpected response IDs detected")
-            for motor_id, actual_ids in unexpected:
-                expected_id = motor_id + 0x10
-                print(f"  Motor 0x{motor_id:02X}: Expected 0x{expected_id:02X}, "
-                      f"got {[f'0x{id:02X}' for id in actual_ids]}")
-            print("  → Motor Master IDs need reconfiguration")
-        else:
-            motors_found = sum(1 for m in result['motors'].values() if m.get('found'))
-            if motors_found > 0:
-                print(f"\n✓ {interface}: All responding motors use correct IDs")
-
-
-def test_communication_speed(interface, motor_id, num_iterations=100):
-    """
-    Test communication speed with a motor.
-    
-    Returns:
-        tuple: (hz, avg_latency_ms) or (None, None) if test failed
-    """
-    try:
-        # Connect to interface
-        bus = can.interface.Bus(
-            channel=interface,
-            interface="socketcan",
-            bitrate=1000000,
-            data_bitrate=5000000,
-            fd=True
-        )
-        
-        # Send refresh commands and measure round-trip time
-        latencies = []
-        successful = 0
-        
-        for _ in range(num_iterations):
-            start = time.perf_counter()
-            
-            # Send enable command (lightweight operation)
-            enable_msg = can.Message(
-                arbitration_id=motor_id,
-                data=[0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC],
-                is_extended_id=False,
-                is_fd=True
-            )
-            bus.send(enable_msg)
-            
-            # Wait for response
-            msg = bus.recv(timeout=0.1)
-            
-            if msg:
-                latency = (time.perf_counter() - start) * 1000  # Convert to ms
-                latencies.append(latency)
-                successful += 1
-        
-        bus.shutdown()
-        
-        if successful > 0:
-            avg_latency = sum(latencies) / len(latencies)
-            hz = 1000.0 / avg_latency if avg_latency > 0 else 0
-            return hz, avg_latency
-        
-        return None, None
-        
-    except Exception as e:
-        print(f"    Speed test error: {e}")
-        return None, None
-
-
-def main():
-    """Main function to test all CAN interfaces with CAN FD."""
-    
-    print("\nThis will test all 4 CAN interfaces (can0-can3) with CAN FD")
-    print("Testing motors 0x01-0x08 on each interface")
-    print()
-    print("Make sure:")
-    print("  ✓ Motors are powered (24V)")
-    print("  ✓ CAN interfaces configured with FD mode:")
-    print("    ./examples/openarms/setup_can.sh")
-    print("  ✓ Motor 'timeout' parameter NOT set to 0 (use Damiao tools)")
-    print("  ✓ CAN wiring includes 120Ω termination at BOTH ends")
-    print()
-    
-    input("Press ENTER to start testing...")
-    
-    # Test all 4 interfaces with CAN FD
-    all_results = []
-    
-    for i in range(4):
-        interface = f"can{i}"
-        print(f"Testing {interface}...")
-        
-        result = test_interface(interface, use_can_fd=True)
-        all_results.append(result)
-        
-        # Quick status
-        if 'Connection failed' in result['status'] or 'DOWN' in result['status']:
-            print(f"  ⚠ {interface}: {result['status']}")
-        else:
-            motors_found = sum(1 for m in result['motors'].values() if m.get('found'))
-            print(f"  {interface}: {motors_found}/8 motors found")
-        
-        time.sleep(0.2)
-    
-    # Print detailed results
-    print_results(all_results)
-    
-    print("Testing Complete!")
-    
-    all_found = sum(sum(1 for m in r['motors'].values() if m.get('found')) for r in all_results)
-    
-    if all_found == 0:
-        print("\n⚠️ CRITICAL: No motors found on any interface!")
-        print("\nTop issues to check:")
-        print("  1. Motor 'timeout' parameter (use Damiao tools to set > 0)")
-        print("  2. CAN FD not enabled (run ./examples/openarms/setup_can.sh)")
-        print("  3. Missing termination resistors")
-        print("\nTry:")
-        print("  a) Check motor parameters with Damiao Debugging Tools")
-        print("  b) Verify CAN FD is enabled: ip -d link show can0 | grep fd")
-        print("  c) Run setup script: ./examples/openarms/setup_can.sh")
-    else:
-        # Run speed test on interfaces with motors
-        print("COMMUNICATION SPEED TEST")
-        print("\nTesting maximum communication frequency...")
-        
-        for result in all_results:
-            interface = result['interface']
-            
-            # Find first responding motor
-            responding_motor = None
-            for motor_id, motor_data in result['motors'].items():
-                if motor_data.get('found'):
-                    responding_motor = motor_id
-                    break
-            
-            if responding_motor:
-                print(f"\n{interface}: Testing with motor 0x{responding_motor:02X}...")
-                hz, latency = test_communication_speed(interface, responding_motor, num_iterations=100)
-                
-                if hz:
-                    print(f"  ✓ Max frequency: {hz:.1f} Hz")
-                    print(f"  ✓ Avg latency: {latency:.2f} ms")
-                    print(f"  ✓ Commands per second: ~{int(hz)}")
-                else:
-                    print(f"  ✗ Speed test failed")
-            else:
-                print(f"\n{interface}: No motors found, skipping speed test")
-
-        print()
-
-
-if __name__ == "__main__":
-    try:
-        main()
-    except KeyboardInterrupt:
-        print("\n\nTesting interrupted by user.")
-        sys.exit(1)
-    except Exception as e:
-        print(f"\nUnexpected error: {e}")
-        import traceback
-        traceback.print_exc()
-        sys.exit(1)
-

examples/openarms/evaluate.py

@@ -1,360 +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.
-
-"""
-OpenArms Policy Evaluation
-
-Evaluates a trained policy on the OpenArms robot by running inference and recording
-the evaluation episodes to a dataset. Supports optional leader arm for manual resets.
-
-Example usage:
-    python examples/openarms/evaluate.py
-"""
-
-import time
-from pathlib import Path
-
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.configs.policies import PreTrainedConfig
-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.policies.factory import make_policy, make_pre_post_processors
-from lerobot.processor import make_default_processors
-from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
-from lerobot.robots.openarms.openarms_follower import OpenArmsFollower
-from lerobot.scripts.lerobot_record import record_loop
-from lerobot.teleoperators.openarms.config_openarms_leader import OpenArmsLeaderConfig
-from lerobot.teleoperators.openarms.openarms_leader import OpenArmsLeader
-from lerobot.utils.control_utils import init_keyboard_listener
-from lerobot.utils.utils import log_say
-from lerobot.utils.visualization_utils import init_rerun
-
-
-HF_MODEL_ID = "lerobot-data-collection/three-folds-pi0"  # TODO: Replace with your trained model
-HF_EVAL_DATASET_ID = "lerobot-data-collection/three-folds-pi0_eval7"  # TODO: Replace with your eval dataset name
-TASK_DESCRIPTION = "three-folds-dataset"  # TODO: Replace with your task, this should match!!
-
-NUM_EPISODES = 1
-FPS = 30
-EPISODE_TIME_SEC = 300
-RESET_TIME_SEC = 60
-
-# Robot CAN interfaces
-FOLLOWER_LEFT_PORT = "can0"
-FOLLOWER_RIGHT_PORT = "can1"
-
-# If enabled, you can manually reset the environment between evaluation episodes
-USE_LEADER_FOR_RESETS = True  # Set to False if you don't want to use leader
-LEADER_LEFT_PORT = "can2"
-LEADER_RIGHT_PORT = "can3"
-
-# Camera configuration
-CAMERA_CONFIG = {
-    "left_wrist": OpenCVCameraConfig(index_or_path="/dev/video5", width=640, height=480, fps=FPS),
-    "right_wrist": OpenCVCameraConfig(index_or_path="/dev/video1", width=640, height=480, fps=FPS),
-    "base": OpenCVCameraConfig(index_or_path="/dev/video3", width=640, height=480, fps=FPS),
-}
-
-def main():
-    """Main evaluation function."""
-    print("OpenArms Policy Evaluation")
-    print(f"\nModel: {HF_MODEL_ID}")
-    print(f"Evaluation Dataset: {HF_EVAL_DATASET_ID}")
-    print(f"Task: {TASK_DESCRIPTION}")
-    print(f"Episodes: {NUM_EPISODES}")
-    print(f"Episode Duration: {EPISODE_TIME_SEC}s")
-    print(f"Reset Duration: {RESET_TIME_SEC}s")
-    print(f"Use Leader for Resets: {USE_LEADER_FOR_RESETS}")
-    
-    follower_config = OpenArmsFollowerConfig(
-        port_left=FOLLOWER_LEFT_PORT,
-        port_right=FOLLOWER_RIGHT_PORT,
-        can_interface="socketcan",
-        id="openarms_follower",
-        disable_torque_on_disconnect=True,
-        max_relative_target=10.0,
-        cameras=CAMERA_CONFIG,
-    )
-    
-    follower = OpenArmsFollower(follower_config)
-    follower.connect(calibrate=False)
-    
-    if not follower.is_connected:
-        raise RuntimeError("Follower robot failed to connect!")
-
-    
-    leader = None
-    if USE_LEADER_FOR_RESETS:
-        leader_config = OpenArmsLeaderConfig(
-            port_left=LEADER_LEFT_PORT,
-            port_right=LEADER_RIGHT_PORT,
-            can_interface="socketcan",
-            id="openarms_leader",
-            manual_control=False,  # Enable torque control for gravity compensation
-        )
-        
-        leader = OpenArmsLeader(leader_config)
-        leader.connect(calibrate=False)
-        
-        if not leader.is_connected:
-            raise RuntimeError("Leader robot failed to connect!")
-        
-        # Enable gravity compensation
-        if leader.pin_robot is not None:
-            leader.bus_right.enable_torque()
-            leader.bus_left.enable_torque()
-            time.sleep(0.1)
-            print(f"Leader connected with gravity compensation ({LEADER_LEFT_PORT}, {LEADER_RIGHT_PORT})")
-        else:
-            print(f"Leader connected but gravity compensation unavailable (no URDF)")
-
-    # Build default processors for action and observation
-    teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()
-    
-    # Build dataset features from robot features and processors
-    # For actions, only include positions (no velocity or torque)
-    action_features_hw = {}
-    for key, value in follower.action_features.items():
-        if key.endswith(".pos"):
-            action_features_hw[key] = value
-    
-    dataset_features = combine_feature_dicts(
-        aggregate_pipeline_dataset_features(
-            pipeline=teleop_action_processor,
-            initial_features=create_initial_features(action=action_features_hw),
-            use_videos=True,
-        ),
-        aggregate_pipeline_dataset_features(
-            pipeline=robot_observation_processor,
-            initial_features=create_initial_features(observation=follower.observation_features),
-            use_videos=True,
-        ),
-    )
-    
-    # Check if dataset already exists
-    dataset_path = Path.home() / ".cache" / "huggingface" / "lerobot" / HF_EVAL_DATASET_ID
-    if dataset_path.exists():
-        print(f"Evaluation dataset already exists at: {dataset_path}")
-        print("This will append new episodes to the existing dataset.")
-        choice = input("  Continue? (y/n): ").strip().lower()
-        if choice != 'y':
-            print("  Aborting evaluation.")
-            follower.disconnect()
-            if leader:
-                leader.disconnect()
-            return
-    
-    # Create dataset
-    dataset = LeRobotDataset.create(
-        repo_id=HF_EVAL_DATASET_ID,
-        fps=FPS,
-        features=dataset_features,
-        robot_type=follower.name,
-        use_videos=True,
-        image_writer_processes=0,
-        image_writer_threads=12, 
-    )
-    
-    # Load policy config from pretrained model and create policy using factory
-    policy_config = PreTrainedConfig.from_pretrained(HF_MODEL_ID)
-    policy_config.pretrained_path = HF_MODEL_ID
-    policy = make_policy(policy_config, ds_meta=dataset.meta)
-    
-    preprocessor, postprocessor = make_pre_post_processors(
-        policy_cfg=policy.config,
-        pretrained_path=HF_MODEL_ID,
-        dataset_stats=dataset.meta.stats,
-        preprocessor_overrides={
-            "device_processor": {"device": str(policy.config.device)}
-        },
-    )
-
-    print(f"\nRunning evaluation...")
-    # Initialize keyboard listener and visualization
-    listener, events = init_keyboard_listener()
-    init_rerun(session_name="openarms_evaluation")
-    episode_idx = 0
-    
-    try:
-        while episode_idx < NUM_EPISODES and not events["stop_recording"]:
-            log_say(f"Evaluating episode {episode_idx + 1} of {NUM_EPISODES}")
-            print(f"\nRunning inference for episode {episode_idx + 1}...")
-            
-            # Run inference with policy
-            record_loop(
-                robot=follower,
-                events=events,
-                fps=FPS,
-                teleop_action_processor=teleop_action_processor,
-                robot_action_processor=robot_action_processor,
-                robot_observation_processor=robot_observation_processor,
-                policy=policy,
-                preprocessor=preprocessor,
-                postprocessor=postprocessor,
-                dataset=dataset,
-                control_time_s=EPISODE_TIME_SEC,
-                single_task=TASK_DESCRIPTION,
-                display_data=True,
-            )
-            
-            # Handle re-recording
-            if events["rerecord_episode"]:
-                log_say("Re-recording episode")
-                events["rerecord_episode"] = False
-                events["exit_early"] = False
-                dataset.clear_episode_buffer()
-                continue
-            
-            # Save episode
-            if dataset.episode_buffer is not None and dataset.episode_buffer.get("size", 0) > 0:
-                print(f"Saving episode {episode_idx + 1} ({dataset.episode_buffer['size']} frames)...")
-                dataset.save_episode()
-                episode_idx += 1
-            
-            # Reset environment between episodes (if not last episode)
-            if not events["stop_recording"] and episode_idx < NUM_EPISODES:
-                if USE_LEADER_FOR_RESETS and leader:
-                    log_say("Reset the environment using leader arms")
-                    print(f"\nManual reset period ({RESET_TIME_SEC}s)...")
-                    
-                    # Use leader for manual reset with gravity compensation
-                    import numpy as np
-                    
-                    dt = 1 / FPS
-                    reset_start_time = time.perf_counter()
-                    
-                    while time.perf_counter() - reset_start_time < RESET_TIME_SEC:
-                        if events["exit_early"] or events["stop_recording"]:
-                            break
-                        
-                        loop_start = time.perf_counter()
-                        
-                        # Get leader state
-                        leader_action = leader.get_action()
-                        
-                        # Extract positions and velocities
-                        leader_positions_deg = {}
-                        leader_velocities_deg_per_sec = {}
-                        
-                        for motor in leader.bus_right.motors:
-                            pos_key = f"right_{motor}.pos"
-                            vel_key = f"right_{motor}.vel"
-                            if pos_key in leader_action:
-                                leader_positions_deg[f"right_{motor}"] = leader_action[pos_key]
-                            if vel_key in leader_action:
-                                leader_velocities_deg_per_sec[f"right_{motor}"] = leader_action[vel_key]
-                        
-                        for motor in leader.bus_left.motors:
-                            pos_key = f"left_{motor}.pos"
-                            vel_key = f"left_{motor}.vel"
-                            if pos_key in leader_action:
-                                leader_positions_deg[f"left_{motor}"] = leader_action[pos_key]
-                            if vel_key in leader_action:
-                                leader_velocities_deg_per_sec[f"left_{motor}"] = leader_action[vel_key]
-                        
-                        # Calculate gravity and friction torques
-                        leader_positions_rad = {k: np.deg2rad(v) for k, v in leader_positions_deg.items()}
-                        leader_gravity_torques_nm = leader._gravity_from_q(leader_positions_rad)
-                        
-                        leader_velocities_rad_per_sec = {k: np.deg2rad(v) for k, v in leader_velocities_deg_per_sec.items()}
-                        leader_friction_torques_nm = leader._friction_from_velocity(
-                            leader_velocities_rad_per_sec,
-                            friction_scale=1.0
-                        )
-                        
-                        # Combine torques
-                        leader_total_torques_nm = {}
-                        for motor_name in leader_gravity_torques_nm:
-                            gravity = leader_gravity_torques_nm.get(motor_name, 0.0)
-                            friction = leader_friction_torques_nm.get(motor_name, 0.0)
-                            leader_total_torques_nm[motor_name] = gravity + friction
-                        
-                        # Apply compensation
-                        for motor in leader.bus_right.motors:
-                            full_name = f"right_{motor}"
-                            position = leader_positions_deg.get(full_name, 0.0)
-                            torque = leader_total_torques_nm.get(full_name, 0.0)
-                            kd = leader.get_damping_kd(motor)
-                            
-                            leader.bus_right._mit_control(
-                                motor=motor, kp=0.0, kd=kd,
-                                position_degrees=position,
-                                velocity_deg_per_sec=0.0,
-                                torque=torque,
-                            )
-                        
-                        for motor in leader.bus_left.motors:
-                            full_name = f"left_{motor}"
-                            position = leader_positions_deg.get(full_name, 0.0)
-                            torque = leader_total_torques_nm.get(full_name, 0.0)
-                            kd = leader.get_damping_kd(motor)
-                            
-                            leader.bus_left._mit_control(
-                                motor=motor, kp=0.0, kd=kd,
-                                position_degrees=position,
-                                velocity_deg_per_sec=0.0,
-                                torque=torque,
-                            )
-                        
-                        # Send leader positions to follower
-                        follower_action = {}
-                        for joint in leader_positions_deg.keys():
-                            pos_key = f"{joint}.pos"
-                            if pos_key in leader_action:
-                                follower_action[pos_key] = leader_action[pos_key]
-                        
-                        if follower_action:
-                            follower.send_action(follower_action)
-                        
-                        # Maintain loop rate
-                        loop_duration = time.perf_counter() - loop_start
-                        sleep_time = dt - loop_duration
-                        if sleep_time > 0:
-                            time.sleep(sleep_time)
-                    
-                    print("Reset complete")
-                else:
-                    log_say("Waiting for manual reset")
-                    print(f"Manually reset the environment and press ENTER to continue")
-                    input("Press ENTER when ready...")
-        
-        print(f"Evaluation complete! {episode_idx} episodes recorded")
-        log_say("Evaluation complete", blocking=True)
-    
-    except KeyboardInterrupt:
-        print("\n\nEvaluation interrupted by user")
-    
-    finally:
-        if leader:
-            leader.bus_right.disable_torque()
-            leader.bus_left.disable_torque()
-            time.sleep(0.1)
-            leader.disconnect()
-
-        follower.disconnect()
-        
-        if listener is not None:
-            listener.stop()
-        
-        dataset.finalize()
-        print("\nUploading to Hugging Face Hub...")
-        dataset.push_to_hub(private=True)
-
-
-if __name__ == "__main__":
-    main()
-

examples/openarms/friction_compensation.py

@@ -1,216 +0,0 @@
-import time
-import numpy as np
-
-from lerobot.robots.openarms.openarms_follower import OpenArmsFollower
-from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
-
-
-# Friction model parameters from OpenArms config/follower.yaml
-# τ_fric(ω) = Fo + Fv·ω + Fc·tanh(k·ω)
-# For 8 motors: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7, gripper]
-FRICTION_PARAMS = {
-    "Fc": [0.306, 0.306, 0.40, 0.166, 0.050, 0.093, 0.172, 0.0512],  # Coulomb friction [Nm]
-    "k": [28.417, 28.417, 29.065, 130.038, 151.771, 242.287, 7.888, 4.000],  # tanh steepness
-    "Fv": [0.063, 0.0630, 0.604, 0.813, 0.029, 0.072, 0.084, 0.084],  # Viscous friction [Nm·s/rad]
-    "Fo": [0.088, 0.088, 0.008, -0.058, 0.005, 0.009, -0.059, -0.050],  # Offset torque [Nm]
-}
-
-# Constants from OpenArms C++ implementation
-AMP_TMP = 1.0
-COEF_TMP = 0.1
-
-FRICTION_SCALE = 1.0  # OpenArms C++ uses 0.3 factor in unilateral mode
-DAMPING_KD = [0.5, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.1]  # Damping gains for stability
-
-def compute_friction_torque(velocity_rad_per_sec: float, motor_index: int) -> float:
-    """
-    Compute friction torque for a single motor using the tanh friction model.
-    
-    Args:
-        velocity_rad_per_sec: Angular velocity in rad/s
-        motor_index: Index of the motor (0-7)
-        
-    Returns:
-        Friction torque in N·m (scaled for stability)
-    """
-    
-    Fc = FRICTION_PARAMS["Fc"][motor_index]
-    k = FRICTION_PARAMS["k"][motor_index]
-    Fv = FRICTION_PARAMS["Fv"][motor_index]
-    Fo = FRICTION_PARAMS["Fo"][motor_index]
-    
-    # Friction model: τ_fric = amp * Fc * tanh(coef * k * ω) + Fv * ω + Fo
-    friction_torque = (
-        AMP_TMP * Fc * np.tanh(COEF_TMP * k * velocity_rad_per_sec) +
-        Fv * velocity_rad_per_sec +
-        Fo
-    )
-    
-    # Scale down friction compensation for stability at lower control rates
-    # (OpenArms C++ uses 0.3 factor in unilateral mode)!!
-    friction_torque *= FRICTION_SCALE
-    
-    return friction_torque
-
-
-def main() -> None:
-    config = OpenArmsFollowerConfig(
-        port_left="can0",
-        port_right="can1",
-        can_interface="socketcan",
-        id="openarms_follower",
-        disable_torque_on_disconnect=True,
-        max_relative_target=5.0,
-    )
-    
-    print("Initializing robot...")
-    follower = OpenArmsFollower(config)
-    follower.connect(calibrate=True)
-    
-    print(f"Applying friction compensation")
-    print("  1. Support the arm before starting")
-    print("  2. The arm will be held in place by friction compensation")
-    print("  3. You should be able to move it with gentle force")
-    print("\nPress ENTER when ready to start...")
-    input()
-    
-    print(f"✓ Motors enabled")
-    print("\nStarting friction compensation loop...")
-    print("Press Ctrl+C to stop\n")
-    
-    loop_times = []
-    last_print_time = time.perf_counter()
-    
-    # Motor name to index mapping
-    motor_name_to_index = {
-        "joint_1": 0,
-        "joint_2": 1,
-        "joint_3": 2,
-        "joint_4": 3,
-        "joint_5": 4,
-        "joint_6": 5,
-        "joint_7": 6,
-        "gripper": 7,
-    }
-    
-    try:
-        while True:
-            loop_start = time.perf_counter()
-            
-            # Get current joint positions and velocities from robot
-            obs = follower.get_observation()
-            
-            # Extract velocities in degrees per second
-            velocities_deg_per_sec = {}
-            positions_deg = {}
-            
-            for motor in follower.bus_right.motors:
-                vel_key = f"right_{motor}.vel"
-                pos_key = f"right_{motor}.pos"
-                if vel_key in obs:
-                    velocities_deg_per_sec[f"right_{motor}"] = obs[vel_key]
-                if pos_key in obs:
-                    positions_deg[f"right_{motor}"] = obs[pos_key]
-            
-            for motor in follower.bus_left.motors:
-                vel_key = f"left_{motor}.vel"
-                pos_key = f"left_{motor}.pos"
-                if vel_key in obs:
-                    velocities_deg_per_sec[f"left_{motor}"] = obs[vel_key]
-                if pos_key in obs:
-                    positions_deg[f"left_{motor}"] = obs[pos_key]
-            
-            # Convert velocities to rad/s and compute friction torques
-            friction_torques_nm = {}
-            for motor_full_name, velocity_deg_per_sec in velocities_deg_per_sec.items():
-                # Extract motor name without arm prefix
-                if motor_full_name.startswith("right_"):
-                    motor_name = motor_full_name.removeprefix("right_")
-                elif motor_full_name.startswith("left_"):
-                    motor_name = motor_full_name.removeprefix("left_")
-                else:
-                    continue
-                
-                # Get motor index for friction parameters
-                motor_index = motor_name_to_index.get(motor_name, 0)
-                
-                # Convert velocity to rad/s
-                velocity_rad_per_sec = np.deg2rad(velocity_deg_per_sec)
-                
-                # Compute friction torque
-                friction_torque = compute_friction_torque(velocity_rad_per_sec, motor_index)
-                friction_torques_nm[motor_full_name] = friction_torque
-            
-            # Apply friction compensation to right arm (all joints INCLUDING gripper)
-            for motor in follower.bus_right.motors:
-                full_name = f"right_{motor}"
-                position = positions_deg.get(full_name, 0.0)
-                torque = friction_torques_nm.get(full_name, 0.0)
-                
-                # Get motor index for damping gain
-                motor_index = motor_name_to_index.get(motor, 0)
-                kd = DAMPING_KD[motor_index]
-                
-                # Send MIT control command with friction compensation + damping
-                follower.bus_right._mit_control(
-                    motor=motor,
-                    kp=0.0,  # No position control
-                    kd=kd,   # Add damping for stability
-                    position_degrees=position,
-                    velocity_deg_per_sec=0.0,
-                    torque=torque
-                )
-
-            # Apply friction compensation to left arm (all joints INCLUDING gripper)
-            for motor in follower.bus_left.motors:
-                full_name = f"left_{motor}"
-                position = positions_deg.get(full_name, 0.0)
-                torque = friction_torques_nm.get(full_name, 0.0)
-                
-                # Get motor index for damping gain
-                motor_index = motor_name_to_index.get(motor, 0)
-                kd = DAMPING_KD[motor_index]
-                
-                # Send MIT control command with friction compensation + damping
-                follower.bus_left._mit_control(
-                    motor=motor,
-                    kp=0.0,  # No position control
-                    kd=kd,   # Add damping for stability
-                    position_degrees=position,
-                    velocity_deg_per_sec=0.0,
-                    torque=torque
-                )
-            
-            # Measure loop time
-            loop_end = time.perf_counter()
-            loop_time = loop_end - loop_start
-            loop_times.append(loop_time)
-            
-            # Print status every 2 seconds
-            if loop_end - last_print_time >= 2.0:
-                if loop_times:
-                    avg_time = sum(loop_times) / len(loop_times)
-                    current_hz = 1.0 / avg_time if avg_time > 0 else 0
-                    
-                    print(f"{current_hz:.1f} Hz")
-
-                    loop_times = []
-                    last_print_time = loop_end
-            
-            time.sleep(0.001)
-            
-    except KeyboardInterrupt:
-        print("\n\nStopping friction compensation...")
-    
-    finally:
-        print("\nDisabling all motors and disconnecting...")
-        follower.bus_right.disable_torque()
-        follower.bus_left.disable_torque()
-        time.sleep(0.1)
-        follower.disconnect()
-        print("✓ Safe shutdown complete")
-
-
-if __name__ == "__main__":
-    main()
-

examples/openarms/gravity_compensation.py

@@ -1,142 +0,0 @@
-import time
-import numpy as np
-import pinocchio as pin
-from os.path import join, dirname, exists, expanduser
-
-from lerobot.robots.openarms.openarms_follower import OpenArmsFollower
-from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
-
-
-def main() -> None:
-    config = OpenArmsFollowerConfig(
-        port_left="can0",
-        port_right="can1",
-        can_interface="socketcan",
-        id="openarms_follower",
-        disable_torque_on_disconnect=True,
-        max_relative_target=5.0,
-    )
-    
-    
-    print("Initializing robot...")
-    follower = OpenArmsFollower(config)
-    follower.connect(calibrate=True)
-    
-    # Load URDF for Pinocchio dynamics
-    urdf_path = "/home/croissant/Documents/openarm_description/openarm_bimanual_pybullet.urdf"
-    
-    pin_robot = pin.RobotWrapper.BuildFromURDF(urdf_path, dirname(urdf_path))
-    pin_robot.data = pin_robot.model.createData()
-    print(f"✓ Loaded Pinocchio model with {pin_robot.nq} DoFs")
-    
-    follower.pin_robot = pin_robot
-    
-    print(f"Applying gravity compensation")
-    print("  1. Support the arm before starting")
-    print("  2. The arm will be held in place by gravity compensation")
-    print("  3. You should be able to move it with gentle force")
-    print("\nPress ENTER when ready to start...")
-    input()
-    
-    print(f"✓ Motors enabled")
-    print("\nStarting gravity compensation loop...")
-    print("Press Ctrl+C to stop\n")
-    
-    loop_times = []
-    last_print_time = time.perf_counter()
-    
-    try:
-        while True:
-            loop_start = time.perf_counter()
-            
-            # Get current joint positions from robot
-            obs = follower.get_observation()
-            
-            # Extract positions in degrees
-            positions_deg = {}
-            for motor in follower.bus_right.motors:
-                key = f"right_{motor}.pos"
-                if key in obs:
-                    positions_deg[f"right_{motor}"] = obs[key]
-            
-            for motor in follower.bus_left.motors:
-                key = f"left_{motor}.pos"
-                if key in obs:
-                    positions_deg[f"left_{motor}"] = obs[key]
-            
-            # Convert to radians and calculate gravity torques
-            # Use the built-in method from OpenArmsFollower
-            positions_rad = {k: np.deg2rad(v) for k, v in positions_deg.items()}
-            torques_nm = follower._gravity_from_q(positions_rad)
-            
-            # Apply gravity compensation to right arm (all joints except gripper)
-            for motor in follower.bus_right.motors:
-                if motor == "gripper":
-                    continue  # Skip gripper
-                    
-                full_name = f"right_{motor}"
-                position = positions_deg.get(full_name, 0.0)
-                torque = torques_nm.get(full_name, 0.0)
-                
-                # Send MIT control command with gravity compensation torque
-                follower.bus_right._mit_control(
-                    motor=motor,
-                    kp=0.0,  # No position control
-                    kd=0.0,  # No velocity damping
-                    position_degrees=position,
-                    velocity_deg_per_sec=0.0,
-                    torque=torque
-                )
-
-            # Apply gravity compensation to left arm (all joints except gripper)
-            for motor in follower.bus_left.motors:
-                if motor == "gripper":
-                    continue  # Skip gripper
-                    
-                full_name = f"left_{motor}"
-                position = positions_deg.get(full_name, 0.0)
-                torque = torques_nm.get(full_name, 0.0)
-                
-                # Send MIT control command with gravity compensation torque
-                follower.bus_left._mit_control(
-                    motor=motor,
-                    kp=0.0,  # No position control
-                    kd=0.0,  # No velocity damping
-                    position_degrees=position,
-                    velocity_deg_per_sec=0.0,
-                    torque=torque
-                )
-            
-            # Measure loop time
-            loop_end = time.perf_counter()
-            loop_time = loop_end - loop_start
-            loop_times.append(loop_time)
-            
-            # Print status every 2 seconds
-            if loop_end - last_print_time >= 2.0:
-                if loop_times:
-                    avg_time = sum(loop_times) / len(loop_times)
-                    current_hz = 1.0 / avg_time if avg_time > 0 else 0
-                    
-                    print(f"{current_hz:.1f} Hz ({avg_time*1000:.1f} ms)")
-
-                    loop_times = []
-                    last_print_time = loop_end
-            
-            time.sleep(0.005)
-            
-    except KeyboardInterrupt:
-        print("\n\nStopping gravity compensation...")
-    
-    finally:
-        print("\nDisabling all motors and disconnecting...")
-        follower.bus_right.disable_torque()
-        follower.bus_left.disable_torque()
-        time.sleep(0.1)
-        follower.disconnect()
-        print("✓ Safe shutdown complete")
-
-
-if __name__ == "__main__":
-    main()
-

examples/openarms/record_with_compensation.py

@@ -1,395 +0,0 @@
-"""
-OpenArms Dataset Recording with Gravity + Friction Compensation
-
-Records a dataset using OpenArms follower robot with leader teleoperator.
-Leader arms have gravity and friction compensation for weightless, easy movement.
-Includes 3 cameras: left wrist, right wrist, and base camera.
-
-Uses the same compensation approach as teleop_with_compensation.py
-"""
-
-import shutil
-import time
-from pathlib import Path
-
-import numpy as np
-
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.utils import build_dataset_frame, hw_to_dataset_features
-from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
-from lerobot.robots.openarms.openarms_follower import OpenArmsFollower
-from lerobot.teleoperators.openarms.config_openarms_leader import OpenArmsLeaderConfig
-from lerobot.teleoperators.openarms.openarms_leader import OpenArmsLeader
-from lerobot.utils.control_utils import init_keyboard_listener
-from lerobot.utils.utils import log_say
-from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
-
-# Recording parameters
-NUM_EPISODES = 1
-FPS = 30
-EPISODE_TIME_SEC = 600
-RESET_TIME_SEC = 120
-TASK_DESCRIPTION = "OpenArms task description"
-
-# Friction compensation scale factor (1.0 = full, 0.3 = 30% for stability)
-FRICTION_SCALE = 1.0
-
-def record_loop_with_compensation(
-    robot,
-    leader,
-    events,
-    fps,
-    dataset,
-    dataset_features,
-    control_time_s,
-    single_task,
-    display_data=True,
-):
-    """
-    Custom record loop that applies gravity + friction compensation to leader.
-    Based on record_loop but with integrated compensation.
-    """
-    dt = 1 / fps
-    episode_start_time = time.perf_counter()
-    
-    # All joints (both arms)
-    all_joints = []
-    for motor in leader.bus_right.motors:
-        all_joints.append(f"right_{motor}")
-    for motor in leader.bus_left.motors:
-        all_joints.append(f"left_{motor}")
-    
-    while True:
-        loop_start = time.perf_counter()
-        elapsed = loop_start - episode_start_time
-        
-        # Check if we should exit
-        if elapsed >= control_time_s or events["exit_early"] or events["stop_recording"]:
-            break
-        
-        # Get leader state
-        leader_action = leader.get_action()
-        
-        # Extract positions and velocities in degrees
-        leader_positions_deg = {}
-        leader_velocities_deg_per_sec = {}
-        
-        for motor in leader.bus_right.motors:
-            pos_key = f"right_{motor}.pos"
-            vel_key = f"right_{motor}.vel"
-            if pos_key in leader_action:
-                leader_positions_deg[f"right_{motor}"] = leader_action[pos_key]
-            if vel_key in leader_action:
-                leader_velocities_deg_per_sec[f"right_{motor}"] = leader_action[vel_key]
-        
-        for motor in leader.bus_left.motors:
-            pos_key = f"left_{motor}.pos"
-            vel_key = f"left_{motor}.vel"
-            if pos_key in leader_action:
-                leader_positions_deg[f"left_{motor}"] = leader_action[pos_key]
-            if vel_key in leader_action:
-                leader_velocities_deg_per_sec[f"left_{motor}"] = leader_action[vel_key]
-        
-        # Calculate gravity torques for leader using built-in method
-        leader_positions_rad = {k: np.deg2rad(v) for k, v in leader_positions_deg.items()}
-        leader_gravity_torques_nm = leader._gravity_from_q(leader_positions_rad)
-        
-        # Calculate friction torques for leader using built-in method
-        leader_velocities_rad_per_sec = {k: np.deg2rad(v) for k, v in leader_velocities_deg_per_sec.items()}
-        leader_friction_torques_nm = leader._friction_from_velocity(
-            leader_velocities_rad_per_sec,
-            friction_scale=FRICTION_SCALE
-        )
-        
-        # Combine gravity + friction torques
-        leader_total_torques_nm = {}
-        for motor_name in leader_gravity_torques_nm:
-            gravity = leader_gravity_torques_nm.get(motor_name, 0.0)
-            friction = leader_friction_torques_nm.get(motor_name, 0.0)
-            leader_total_torques_nm[motor_name] = gravity + friction
-        
-        # Apply gravity + friction compensation to leader RIGHT arm (all joints including gripper)
-        for motor in leader.bus_right.motors:
-            full_name = f"right_{motor}"
-            position = leader_positions_deg.get(full_name, 0.0)
-            torque = leader_total_torques_nm.get(full_name, 0.0)
-            
-            # Get damping gain for stability
-            kd = leader.get_damping_kd(motor)
-            
-            leader.bus_right._mit_control(
-                motor=motor,
-                kp=0.0,
-                kd=kd,  # Add damping for stability
-                position_degrees=position,
-                velocity_deg_per_sec=0.0,
-                torque=torque,
-            )
-        
-        # Apply gravity + friction compensation to leader LEFT arm (all joints including gripper)
-        for motor in leader.bus_left.motors:
-            full_name = f"left_{motor}"
-            position = leader_positions_deg.get(full_name, 0.0)
-            torque = leader_total_torques_nm.get(full_name, 0.0)
-            
-            # Get damping gain for stability
-            kd = leader.get_damping_kd(motor)
-            
-            leader.bus_left._mit_control(
-                motor=motor,
-                kp=0.0,
-                kd=kd,  # Add damping for stability
-                position_degrees=position,
-                velocity_deg_per_sec=0.0,
-                torque=torque,
-            )
-        
-        # Send leader positions to follower (both arms)
-        follower_action = {}
-        for joint in all_joints:
-            pos_key = f"{joint}.pos"
-            if pos_key in leader_action:
-                follower_action[pos_key] = leader_action[pos_key]
-        
-        # Send action to robot
-        if follower_action:
-            robot.send_action(follower_action)
-        
-        # Get observation from robot (includes camera images)
-        observation = robot.get_observation()
-        
-        # Add to dataset if we have a dataset
-        if dataset is not None:
-            # Build properly formatted observation frame
-            obs_frame = build_dataset_frame(dataset_features, observation, prefix="observation")
-            
-            # Build properly formatted action frame (keep .pos suffix - it matches the feature names)
-            action_frame = build_dataset_frame(dataset_features, follower_action, prefix="action")
-            
-            # Combine into single frame
-            frame = {**obs_frame, **action_frame}
-            
-            # Add metadata (task is required, timestamp will be auto-calculated by add_frame)
-            frame["task"] = single_task
-            
-            dataset.add_frame(frame)
-        
-        # Display data if requested
-        if display_data:
-            log_rerun_data(observation=observation, action=follower_action)
-        
-        # Maintain loop rate
-        loop_duration = time.perf_counter() - loop_start
-        sleep_time = dt - loop_duration
-        if sleep_time > 0:
-            time.sleep(sleep_time)
-
-
-def main():
-    """Main recording loop with gravity compensation."""
-    
-    print("=" * 70)
-    print("OpenArms Dataset Recording with Compensation")
-    print("=" * 70)
-    
-    # Create camera configurations (3 cameras: left wrist, right wrist, base)
-    # Using actual device paths found by lerobot-find-cameras opencv
-    camera_config = {
-        "left_wrist": OpenCVCameraConfig(index_or_path="/dev/video0", width=640, height=480, fps=FPS),
-        "right_wrist": OpenCVCameraConfig(index_or_path="/dev/video1", width=640, height=480, fps=FPS),
-        "base": OpenCVCameraConfig(index_or_path="/dev/video7", width=640, height=480, fps=FPS),
-    }
-    
-    # Configure follower robot with cameras
-    follower_config = OpenArmsFollowerConfig(
-        port_left="can2",
-        port_right="can3",
-        can_interface="socketcan",
-        id="openarms_follower",
-        disable_torque_on_disconnect=True,
-        max_relative_target=10.0,
-        cameras=camera_config,
-    )
-    
-    # Configure leader teleoperator (no cameras needed)
-    leader_config = OpenArmsLeaderConfig(
-        port_left="can0",
-        port_right="can1",
-        can_interface="socketcan",
-        id="openarms_leader",
-        manual_control=False,  # Enable torque control for gravity compensation
-    )
-    
-    # Initialize robot and teleoperator
-    print("\nInitializing devices...")
-    follower = OpenArmsFollower(follower_config)
-    leader = OpenArmsLeader(leader_config)
-    
-    # Connect devices
-    print("Connecting and calibrating...")
-    follower.connect(calibrate=True)
-    leader.connect(calibrate=True)
-    
-    # Verify URDF is loaded for gravity compensation
-    if leader.pin_robot is None:
-        raise RuntimeError("URDF model not loaded on leader. Gravity compensation not available.")
-    
-    # Configure the dataset features
-    # For actions, we only want to record positions (not velocity or torque)
-    action_features_hw = {}
-    for key, value in follower.action_features.items():
-        if key.endswith(".pos"):
-            action_features_hw[key] = value
-    
-    action_features = hw_to_dataset_features(action_features_hw, "action")
-    obs_features = hw_to_dataset_features(follower.observation_features, "observation")
-    dataset_features = {**action_features, **obs_features}
-    
-    # Create the dataset
-    print("\nCreating dataset...")
-    repo_id = "<hf_username>/<dataset_repo_id>"  # TODO: Replace with your Hugging Face repo
-    
-    # Check if dataset already exists and prompt user
-    dataset_path = Path.home() / ".cache" / "huggingface" / "lerobot" / repo_id
-    while dataset_path.exists():
-        print(f"\nDataset already exists at: {dataset_path}")
-        print("\nOptions:")
-        print("  1. Overwrite existing dataset")
-        print("  2. Use a different name")
-        print("  3. Abort")
-        
-        choice = input("\nEnter your choice (1/2/3): ").strip()
-        
-        if choice == '1':
-            print(f"Removing existing dataset...")
-            shutil.rmtree(dataset_path)
-            print("✓ Existing dataset removed")
-            break
-        elif choice == '2':
-            print("\nCurrent repo_id:", repo_id)
-            new_repo_id = input("Enter new repo_id (format: <username>/<dataset_name>): ").strip()
-            if new_repo_id and '/' in new_repo_id:
-                repo_id = new_repo_id
-                dataset_path = Path.home() / ".cache" / "huggingface" / "lerobot" / repo_id
-                print(f"✓ Using new repo_id: {repo_id}")
-                # Loop will continue if this new path also exists
-            else:
-                print("Invalid repo_id format. Please use format: <username>/<dataset_name>")
-        elif choice == '3':
-            print("Aborting. Please remove the existing dataset manually or restart with a different repo_id.")
-            follower.disconnect()
-            leader.disconnect()
-            return
-        else:
-            print("Invalid choice. Please enter 1, 2, or 3.")
-    
-    dataset = LeRobotDataset.create(
-        repo_id=repo_id,
-        fps=FPS,
-        features=dataset_features,
-        robot_type=follower.name,
-        use_videos=True,
-        image_writer_threads=4,
-    )
-    
-    # Initialize keyboard listener and visualization
-    _, events = init_keyboard_listener()
-    init_rerun(session_name="openarms_recording")
-    
-    # Enable motors on both leader arms for gravity compensation
-    leader.bus_right.enable_torque()
-    leader.bus_left.enable_torque()
-    time.sleep(0.1)
-    
-    print("\n" + "=" * 70)
-    print(f"Recording {NUM_EPISODES} episodes")
-    print(f"Task: {TASK_DESCRIPTION}")
-    print("=" * 70)
-    print("\nLeader BOTH arms: Gravity + Friction comp | Follower BOTH arms: Teleop")
-    print("\nKeyboard controls:")
-    print("  - Press 'q' to stop recording")
-    print("  - Press 'r' to re-record current episode")
-    print("=" * 70)
-    
-    episode_idx = 0
-    
-    try:
-        while episode_idx < NUM_EPISODES and not events["stop_recording"]:
-            log_say(f"Recording episode {episode_idx + 1} of {NUM_EPISODES}")
-            
-            # Record episode with compensation active
-            record_loop_with_compensation(
-                robot=follower,
-                leader=leader,
-                events=events,
-                fps=FPS,
-                dataset=dataset,
-                dataset_features=dataset_features,
-                control_time_s=EPISODE_TIME_SEC,
-                single_task=TASK_DESCRIPTION,
-                display_data=True,
-            )
-            
-            # Reset the environment if not stopping or re-recording
-            if not events["stop_recording"] and (episode_idx < NUM_EPISODES - 1 or events["rerecord_episode"]):
-                log_say("Reset the environment")
-                record_loop_with_compensation(
-                    robot=follower,
-                    leader=leader,
-                    events=events,
-                    fps=FPS,
-                    dataset=None,  # Don't save reset period
-                    dataset_features=dataset_features,
-                    control_time_s=RESET_TIME_SEC,
-                    single_task=TASK_DESCRIPTION,
-                    display_data=True,
-                )
-            
-            # Handle re-recording
-            if events["rerecord_episode"]:
-                log_say("Re-recording episode")
-                events["rerecord_episode"] = False
-                events["exit_early"] = False
-                dataset.clear_episode_buffer()
-                continue
-            
-            # Only save episode if frames were recorded
-            if dataset.episode_buffer is not None and dataset.episode_buffer["size"] > 0:
-                dataset.save_episode()
-                episode_idx += 1
-            else:
-                log_say("No frames recorded, skipping episode save")
-                # Clear the empty buffer
-                dataset.episode_buffer = None
-    
-    except KeyboardInterrupt:
-        print("\n\nStopping recording...")
-    
-    finally:
-        # Clean up
-        log_say("Stop recording")
-        try:
-            leader.bus_right.disable_torque()
-            leader.bus_left.disable_torque()
-            time.sleep(0.1)
-            leader.disconnect()
-            follower.disconnect()
-            print("✓ Shutdown complete")
-        except Exception as e:
-            print(f"Shutdown error: {e}")
-        
-        # Upload dataset
-        print("\nUploading dataset to Hugging Face Hub...")
-        try:
-            dataset.push_to_hub()
-            print("✓ Dataset uploaded successfully")
-        except Exception as e:
-            print(f"Warning: Failed to upload dataset: {e}")
-            print("You can manually upload later using: dataset.push_to_hub()")
-        
-        print("✓ Recording complete!")
-
-
-if __name__ == "__main__":
-    main()

examples/openarms/replay.py

@@ -1,166 +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.
-
-"""
-OpenArms Dataset Replay Example
-
-Replays position actions from a recorded dataset on an OpenArms follower robot.
-Only position commands (ending with .pos) are replayed, not velocity or torque.
-
-Example usage:
-    python examples/openarms/replay.py
-"""
-
-import time
-
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
-from lerobot.robots.openarms.openarms_follower import OpenArmsFollower
-from lerobot.utils.constants import ACTION
-from lerobot.utils.robot_utils import busy_wait
-from lerobot.utils.utils import log_say
-
-# Configuration
-EPISODE_IDX = 0
-DATASET_REPO_ID = "lerobot-data-collection/replay-this-2025-11-02-17-58"  # TODO: Replace with your dataset
-DATASET_ROOT = None  # Use default cache location, or specify custom path
-
-# Robot configuration - adjust these to match your setup
-ROBOT_CONFIG = OpenArmsFollowerConfig(
-    port_left="can2",      # CAN interface for left arm
-    port_right="can3",     # CAN interface for right arm
-    can_interface="socketcan", 
-    id="openarms_follower",
-    disable_torque_on_disconnect=True,
-    max_relative_target=10.0,  # Safety limit: max degrees to move per step
-)
-
-
-def main():
-    """Main replay function."""
-    print("=" * 70)
-    print("OpenArms Dataset Replay")
-    print("=" * 70)
-    print(f"\nDataset: {DATASET_REPO_ID}")
-    print(f"Episode: {EPISODE_IDX}")
-    print(f"Robot: {ROBOT_CONFIG.id}")
-    print(f"  Left arm: {ROBOT_CONFIG.port_left}")
-    print(f"  Right arm: {ROBOT_CONFIG.port_right}")
-    print("\n" + "=" * 70)
-    
-    # Initialize the robot
-    print("\n[1/3] Initializing robot...")
-    robot = OpenArmsFollower(ROBOT_CONFIG)
-    
-    # Load the dataset
-    print(f"\n[2/3] Loading dataset '{DATASET_REPO_ID}'...")
-    dataset = LeRobotDataset(
-        DATASET_REPO_ID,
-        root=DATASET_ROOT,
-        episodes=[EPISODE_IDX]
-    )
-    
-    # Filter dataset to only include frames from the specified episode
-    # (required for dataset V3.0 where episodes are chunked)
-    episode_frames = dataset.hf_dataset.filter(
-        lambda x: x["episode_index"] == EPISODE_IDX
-    )
-    
-    if len(episode_frames) == 0:
-        raise ValueError(
-            f"No frames found for episode {EPISODE_IDX} in dataset {DATASET_REPO_ID}"
-        )
-    
-    print(f"  Found {len(episode_frames)} frames in episode {EPISODE_IDX}")
-    
-    # Extract action features from dataset
-    action_features = dataset.features.get(ACTION, {})
-    action_names = action_features.get("names", [])
-    
-    # Filter to only position actions (ending with .pos)
-    position_action_names = [name for name in action_names if name.endswith(".pos")]
-    
-    if not position_action_names:
-        raise ValueError(
-            f"No position actions found in dataset. Action names: {action_names}"
-        )
-    
-    print(f"  Found {len(position_action_names)} position actions to replay")
-    print(f"  Actions: {', '.join(position_action_names[:5])}{'...' if len(position_action_names) > 5 else ''}")
-    
-    # Select only action columns from dataset
-    actions = episode_frames.select_columns(ACTION)
-    
-    # Connect to the robot
-    print(f"\n[3/3] Connecting to robot...")
-    robot.connect(calibrate=False)  # Skip calibration for replay
-    
-    if not robot.is_connected:
-        raise RuntimeError("Robot failed to connect!")
-    
-    print("\n" + "=" * 70)
-    print("Ready to replay!")
-    print("=" * 70)
-    print("\nThe robot will replay the recorded positions.")
-    print("Press Ctrl+C to stop at any time.\n")
-    
-    input("Press ENTER to start replaying...")
-    
-    # Replay loop
-    log_say(f"Replaying episode {EPISODE_IDX}", blocking=True)
-    
-    try:
-        for idx in range(len(episode_frames)):
-            loop_start = time.perf_counter()
-            
-            # Extract action array from dataset
-            action_array = actions[idx][ACTION]
-            
-            # Build action dictionary, but only include position actions
-            action = {}
-            for i, name in enumerate(action_names):
-                # Only include position actions (ending with .pos)
-                if name.endswith(".pos"):
-                    action[name] = float(action_array[i])
-            
-            # Send action to robot
-            robot.send_action(action)
-            
-            # Maintain replay rate (use dataset fps)
-            loop_duration = time.perf_counter() - loop_start
-            dt_s = 1.0 / dataset.fps - loop_duration
-            busy_wait(dt_s)
-            
-            # Progress indicator every 100 frames
-            if (idx + 1) % 100 == 0:
-                progress = (idx + 1) / len(episode_frames) * 100
-                print(f"Progress: {idx + 1}/{len(episode_frames)} frames ({progress:.1f}%)")
-        
-        print(f"\n✓ Successfully replayed {len(episode_frames)} frames")
-        log_say("Replay complete", blocking=True)
-        
-    except KeyboardInterrupt:
-        print("\n\nReplay interrupted by user")
-    finally:
-        # Disconnect robot
-        print("\nDisconnecting robot...")
-        robot.disconnect()
-        print("✓ Replay complete!")
-
-
-if __name__ == "__main__":
-    main()
-

examples/openarms/setup_can.sh

@@ -1,73 +0,0 @@
-#!/bin/bash
-# Setup all OpenArms CAN interfaces with CAN FD
-
-set -e
-
-echo "=========================================="
-echo "OpenArms CAN FD Interface Setup"
-echo "=========================================="
-echo ""
-echo "Mode: CAN FD"
-echo "  - Nominal bitrate: 1 Mbps"
-echo "  - Data bitrate: 5 Mbps"
-echo ""
-echo "Configuring interfaces can0, can1, can2, can3..."
-echo ""
-
-# Configure each CAN interface with CAN FD
-for i in 0 1 2 3; do
-    interface="can$i"
-    
-    # Check if interface exists
-    if ! ip link show "$interface" &> /dev/null; then
-        echo "⚠ $interface: Not found, skipping"
-        continue
-    fi
-    
-    # Bring down interface
-    sudo ip link set "$interface" down 2>/dev/null
-    
-    # Configure CAN FD mode
-    sudo ip link set "$interface" type can \
-        bitrate 1000000 \
-        dbitrate 5000000 \
-        fd on
-    
-    # Bring up interface
-    sudo ip link set "$interface" up
-    
-    # Verify configuration
-    if ip link show "$interface" | grep -q "UP"; then
-        echo "✓ $interface: Configured and UP"
-    else
-        echo "✗ $interface: Failed to bring UP"
-    fi
-done
-
-echo ""
-echo "=========================================="
-echo "Verification"
-echo "=========================================="
-echo ""
-
-# Show detailed status for each interface
-for i in 0 1 2 3; do
-    interface="can$i"
-    if ip link show "$interface" &> /dev/null; then
-        echo "$interface:"
-        # Show key parameters
-        ip -d link show "$interface" | grep -E "can|state|bitrate|dbitrate" | head -3
-        echo ""
-    fi
-done
-
-echo "=========================================="
-echo "Setup Complete!"
-echo "=========================================="
-echo ""
-echo "All interfaces configured for CAN FD mode"
-echo ""
-echo "Next steps:"
-echo "  1. Test motors: python debug_can_communication.py"
-echo "  2. Run teleoperation: python examples/openarms/teleop.py"
-echo ""

examples/openarms/teleop.py

@@ -1,148 +0,0 @@
-"""
-OpenArms Teleoperation Example - Full Dual Arms
-
-This script demonstrates teleoperation of OpenArms follower robot using an OpenArms leader arm.
-It first calibrates both devices, then enters a teleoperation loop for both arms.
-"""
-
-import time
-
-from lerobot.robots.openarms.openarms_follower import OpenArmsFollower
-from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
-from lerobot.teleoperators.openarms.openarms_leader import OpenArmsLeader
-from lerobot.teleoperators.openarms.config_openarms_leader import OpenArmsLeaderConfig
-
-
-follower_config = OpenArmsFollowerConfig(
-    port_left="can2",   # CAN interface for follower left arm
-    port_right="can3",  # CAN interface for follower right arm
-    can_interface="socketcan",  # Linux SocketCAN
-    id="openarms_follower",
-    disable_torque_on_disconnect=True,
-    max_relative_target=5.0,  # Safety limit
-)
-
-
-leader_config = OpenArmsLeaderConfig(
-    port_left="can0",   # CAN interface for leader left arm
-    port_right="can1",  # CAN interface for leader right arm
-    can_interface="socketcan",  # Linux SocketCAN
-    id="openarms_leader",
-    manual_control=True,  # Enable manual control (torque disabled)
-)
-
-print("=" * 60)
-print("OpenArms Teleoperation - Full Dual Arms")
-print("=" * 60)
-
-# Initialize devices
-print("\n[1/4] Initializing devices...")
-follower = OpenArmsFollower(follower_config)
-leader = OpenArmsLeader(leader_config)
-
-# Connect and calibrate follower
-print("\n[2/4] Connecting and calibrating follower robot...")
-print("Note: If you have existing calibration, just press ENTER to use it.")
-follower.connect(calibrate=True)
-
-# Connect and calibrate leader
-print("\n[3/4] Connecting and calibrating leader arm...")
-print("Note: The leader arm will have torque disabled for manual control.")
-leader.connect(calibrate=True)
-
-# Wait for user to be ready
-print("\n[4/4] Ready for teleoperation!")
-print("\nBoth arms will be controlled (16 motors total):")
-print("  RIGHT ARM: joints 1-7 + gripper")
-print("  LEFT ARM: joints 1-7 + gripper")
-
-print("\nPress ENTER to start teleoperation...")
-input()
-
-print("\nTeleoperation started! Move both leader arms.")
-print("Press Ctrl+C to stop.\n")
-
-# All joints for both arms (16 motors total)
-all_joints = [
-    # Right arm
-    "right_joint_1",
-    "right_joint_2",
-    "right_joint_3",
-    "right_joint_4",
-    "right_joint_5",
-    "right_joint_6",
-    "right_joint_7",
-    "right_gripper",
-    # Left arm
-    "left_joint_1",
-    "left_joint_2",
-    "left_joint_3",
-    "left_joint_4",
-    "left_joint_5",
-    "left_joint_6",
-    "left_joint_7",
-    "left_gripper",
-]
-
-# Performance monitoring
-loop_times = []
-start_time = time.perf_counter()
-last_print_time = start_time
-
-try:
-    while True:
-        loop_start = time.perf_counter()
-        
-        # Get action from leader
-        leader_action = leader.get_action()
-        
-        # Filter to only position data for all joints (both arms)
-        joint_action = {}
-        for joint in all_joints:
-            pos_key = f"{joint}.pos"
-            if pos_key in leader_action:
-                joint_action[pos_key] = leader_action[pos_key]
-        
-        # Send action to follower (both arms)
-        if joint_action:
-            follower.send_action(joint_action)
-        
-        # Measure loop time
-        loop_end = time.perf_counter()
-        loop_time = loop_end - loop_start
-        loop_times.append(loop_time)
-        
-        # Print stats every 2 seconds
-        if loop_end - last_print_time >= 2.0:
-            if loop_times:
-                avg_time = sum(loop_times) / len(loop_times)
-                current_hz = 1.0 / avg_time if avg_time > 0 else 0
-                min_time = min(loop_times)
-                max_time = max(loop_times)
-                max_hz = 1.0 / min_time if min_time > 0 else 0
-                min_hz = 1.0 / max_time if max_time > 0 else 0
-                
-                print(f"[Hz Stats] Avg: {current_hz:.1f} Hz | "
-                      f"Range: {min_hz:.1f}-{max_hz:.1f} Hz | "
-                      f"Avg loop time: {avg_time*1000:.1f} ms")
-                
-                # Reset for next measurement window
-                loop_times = []
-                last_print_time = loop_end
-            
-except KeyboardInterrupt:
-    print("\n\nStopping teleoperation...")
-finally:
-    # Disconnect devices
-    print("Disconnecting devices...")
-    try:
-        follower.disconnect()
-    except Exception as e:
-        print(f"Error disconnecting follower: {e}")
-    
-    try:
-        leader.disconnect()
-    except Exception as e:
-        print(f"Error disconnecting leader: {e}")
-    
-    print("Done!")

examples/openarms/teleop_openarms_mini.py

@@ -1,197 +0,0 @@
-"""
-OpenArms Mini Teleoperation Example
-
-This script demonstrates teleoperation of an OpenArms follower robot using 
-an OpenArms Mini leader (Feetech-based) with dual arms (16 motors total).
-
-The OpenArms Mini has:
-- Right arm: 8 motors (joint_1 to joint_7 + gripper)
-- Left arm: 8 motors (joint_1 to joint_7 + gripper)
-
-Note on gripper normalization:
-- OpenArms Mini gripper: 0-100 scale (0=closed, 100=open)
-- OpenArms follower gripper: degrees (0=closed, -65=open)
-- This script automatically converts between the two ranges
-"""
-
-import time
-import os
-import sys
-
-from lerobot.robots.openarms.openarms_follower import OpenArmsFollower
-from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
-from lerobot.teleoperators.openarms_mini.openarms_mini import OpenArmsMini
-from lerobot.teleoperators.openarms_mini.config_openarms_mini import OpenArmsMiniConfig
-from lerobot.utils.robot_utils import busy_wait
-
-# Target control frequency
-TARGET_FPS = 30
-
-# Configure the OpenArms follower (Damiao motors on CAN bus)
-follower_config = OpenArmsFollowerConfig(
-    port_left="can0",   # CAN interface for follower left arm
-    port_right="can1",  # CAN interface for follower right arm
-    can_interface="socketcan",  # Linux SocketCAN
-    id="openarms_follower",
-    disable_torque_on_disconnect=True,
-    max_relative_target=10.0,  # Safety limit (degrees per step)
-)
-
-# Configure the OpenArms Mini leader (Feetech motors on serial)
-leader_config = OpenArmsMiniConfig(
-    port_right="/dev/ttyACM0",  # Serial port for right arm
-    port_left="/dev/ttyACM1",   # Serial port for left arm
-    id="openarms_mini",
-    use_degrees=True,
-)
-
-print("OpenArms Mini → OpenArms Follower Teleoperation")
-
-# Initialize devices
-follower = OpenArmsFollower(follower_config)
-leader = OpenArmsMini(leader_config)
-
-# Connect and calibrate follower
-print("Note: If you have existing calibration, just press ENTER to use it.")
-follower.connect(calibrate=True)
-
-# Connect and calibrate leader
-print("Note: The leader arms will have torque disabled for manual control.")
-leader.connect(calibrate=True)
-
-print("\nPress ENTER to start teleoperation...")
-input()
-
-print("Press Ctrl+C to stop.\n")
-
-# All joints for both arms (16 motors total)
-all_joints = [
-    # Right arm
-    "right_joint_1",
-    "right_joint_2",
-    "right_joint_3",
-    "right_joint_4",
-    "right_joint_5",
-    "right_joint_6",
-    "right_joint_7",
-    "right_gripper",
-    # Left arm
-    "left_joint_1",
-    "left_joint_2",
-    "left_joint_3",
-    "left_joint_4",
-    "left_joint_5",
-    "left_joint_6",
-    "left_joint_7",
-    "left_gripper",
-]
-
-# Performance monitoring
-loop_times = []
-avg_loop_time = 0.0
-min_loop_time = float('inf')
-max_loop_time = 0.0
-stats_update_interval = 1.0  # Update stats every 1 second
-last_stats_update = time.perf_counter()
-
-
-SWAPPED_JOINTS = {
-    "right_joint_6": "right_joint_7",
-    "right_joint_7": "right_joint_6",
-    "left_joint_6": "left_joint_7",
-    "left_joint_7": "left_joint_6",
-}
-
-try:
-    while True:
-        loop_start = time.perf_counter()
-
-        # Get actions and observations
-        leader_action = leader.get_action()
-        follower_obs = follower.get_observation()
-
-        joint_action = {}
-        for joint in all_joints:
-            leader_key = f"{joint}.pos"
-
-            # Determine which follower joint this leader joint controls
-            follower_joint = SWAPPED_JOINTS.get(joint, joint)
-            follower_key = f"{follower_joint}.pos"
-
-            # Get leader position (default 0 if missing)
-            pos = leader_action.get(leader_key, 0.0)
-
-            # Convert gripper values: Mini uses 0-100, OpenArms uses 0 to -65 degrees
-            if "gripper" in joint:
-                # Map 0-100 (Mini) to 0 to -65 (OpenArms)
-                # 0 (closed) -> 0°, 100 (open) -> -65°
-                pos = (pos / 100.0) * -65.0
-
-            # Store in action dict for follower
-            joint_action[follower_key] = pos
-
-        follower.send_action(joint_action)
-
-        # Loop timing
-        loop_end = time.perf_counter()
-        loop_time = loop_end - loop_start
-        loop_times.append(loop_time)
-
-        # Update stats periodically
-        current_time = time.perf_counter()
-        if current_time - last_stats_update >= stats_update_interval:
-            if loop_times:
-                avg_loop_time = sum(loop_times) / len(loop_times)
-                min_loop_time = min(loop_times)
-                max_loop_time = max(loop_times)
-                loop_times = []
-                last_stats_update = current_time
-
-        # Display everything
-        sys.stdout.write("\033[H\033[J")  # Clear screen
-        
-        # Show timing stats at the top
-        if avg_loop_time > 0:
-            avg_hz = 1.0 / avg_loop_time
-            min_hz = 1.0 / max_loop_time if max_loop_time > 0 else 0
-            max_hz = 1.0 / min_loop_time if min_loop_time > 0 and min_loop_time < float('inf') else 0
-            print(f"[Performance] Target: {TARGET_FPS} Hz | Avg: {avg_hz:.1f} Hz | Range: {min_hz:.1f}-{max_hz:.1f} Hz | Loop: {avg_loop_time*1000:.1f} ms\n")
-        else:
-            print(f"[Performance] Target: {TARGET_FPS} Hz | Measuring...\n")
-
-        # Show joint positions
-        print(f"{'Joint':<20} {'Leader':>15} {'Follower':>15}")
-        print(f"{'':20} {'(0-100/deg)':>15} {'(deg)':>15}")
-        print("-" * 52)
-
-        for joint in all_joints:
-            leader_key = f"{joint}.pos"
-            follower_joint = SWAPPED_JOINTS.get(joint, joint)
-            follower_key = f"{follower_joint}.pos"
-
-            leader_pos = leader_action.get(leader_key, 0.0)
-            follower_pos = follower_obs.get(follower_key, 0.0)
-
-            print(f"{joint:<20} {leader_pos:>15.2f} {follower_pos:>15.2f}")
-
-        # Smart sleep to maintain target FPS
-        dt_s = time.perf_counter() - loop_start
-        busy_wait(max(0, 1.0 / TARGET_FPS - dt_s))
-            
-except KeyboardInterrupt:
-    print("\n\nStopping teleoperation...")
-finally:
-    # Disconnect devices
-    print("Disconnecting devices...")
-    try:
-        follower.disconnect()
-    except Exception as e:
-        print(f"Error disconnecting follower: {e}")
-    
-    try:
-        leader.disconnect()
-    except Exception as e:
-        print(f"Error disconnecting leader: {e}")
-    
-    print("Done!")
-

examples/openarms/teleop_with_compensation.py

@@ -1,202 +0,0 @@
-"""
-OpenArms Teleoperation with Gravity + Friction Compensation
-
-Leader arms (both LEFT and RIGHT): Gravity + Friction compensation (weightless, easy to move)
-Follower arms (both LEFT and RIGHT): Mirror leader movements
-
-Uses the URDF file from the lerobot repository.
-"""
-
-import time
-
-import numpy as np
-
-from lerobot.robots.openarms.config_openarms_follower import OpenArmsFollowerConfig
-from lerobot.robots.openarms.openarms_follower import OpenArmsFollower
-from lerobot.teleoperators.openarms.config_openarms_leader import OpenArmsLeaderConfig
-from lerobot.teleoperators.openarms.openarms_leader import OpenArmsLeader
-
-# Friction compensation scale factor (1.0 = full, 0.3 = 30% for stability)
-FRICTION_SCALE = 1.0
-
-def main():
-    """Main teleoperation loop with gravity compensation"""
-
-    print("=" * 70)
-    print("OpenArms Teleoperation with Gravity Compensation")
-    print("=" * 70)
-
-    # Configuration
-    follower_config = OpenArmsFollowerConfig(
-        port_left="can2",
-        port_right="can3",
-        can_interface="socketcan",
-        id="openarms_follower",
-        disable_torque_on_disconnect=True,
-        max_relative_target=10.0,
-    )
-
-    leader_config = OpenArmsLeaderConfig(
-        port_left="can0",
-        port_right="can1",
-        can_interface="socketcan",
-        id="openarms_leader",
-        manual_control=False,  # Enable torque control for gravity compensation
-    )
-
-    # Initialize and connect
-    print("\nInitializing devices...")
-    follower = OpenArmsFollower(follower_config)
-    leader = OpenArmsLeader(leader_config)
-
-    follower.connect()
-    leader.connect()
-
-    # URDF is automatically loaded in the leader constructor
-    if leader.pin_robot is None:
-        raise RuntimeError("URDF model not loaded on leader. Gravity compensation not available.")
-
-    print("\nLeader BOTH arms: Gravity + Friction comp | Follower BOTH arms: Teleop")
-    print("Press ENTER to start...")
-    input()
-
-    # Enable motors on both leader arms for gravity compensation
-    leader.bus_right.enable_torque()
-    leader.bus_left.enable_torque()
-    time.sleep(0.1)
-
-    print("Press Ctrl+C to stop\n")
-
-    # Main control loop
-    loop_times = []
-    last_print_time = time.perf_counter()
-
-    # All joints (both arms)
-    all_joints = []
-    for motor in leader.bus_right.motors:
-        all_joints.append(f"right_{motor}")
-    for motor in leader.bus_left.motors:
-        all_joints.append(f"left_{motor}")
-
-    try:
-        while True:
-            loop_start = time.perf_counter()
-
-            # Get leader state
-            leader_action = leader.get_action()
-
-            # Extract positions and velocities in degrees
-            leader_positions_deg = {}
-            leader_velocities_deg_per_sec = {}
-            
-            for motor in leader.bus_right.motors:
-                pos_key = f"right_{motor}.pos"
-                vel_key = f"right_{motor}.vel"
-                if pos_key in leader_action:
-                    leader_positions_deg[f"right_{motor}"] = leader_action[pos_key]
-                if vel_key in leader_action:
-                    leader_velocities_deg_per_sec[f"right_{motor}"] = leader_action[vel_key]
-
-            for motor in leader.bus_left.motors:
-                pos_key = f"left_{motor}.pos"
-                vel_key = f"left_{motor}.vel"
-                if pos_key in leader_action:
-                    leader_positions_deg[f"left_{motor}"] = leader_action[pos_key]
-                if vel_key in leader_action:
-                    leader_velocities_deg_per_sec[f"left_{motor}"] = leader_action[vel_key]
-
-            # Calculate gravity torques for leader using built-in method
-            leader_positions_rad = {k: np.deg2rad(v) for k, v in leader_positions_deg.items()}
-            leader_gravity_torques_nm = leader._gravity_from_q(leader_positions_rad)
-            
-            # Calculate friction torques for leader using built-in method
-            leader_velocities_rad_per_sec = {k: np.deg2rad(v) for k, v in leader_velocities_deg_per_sec.items()}
-            leader_friction_torques_nm = leader._friction_from_velocity(
-                leader_velocities_rad_per_sec,
-                friction_scale=FRICTION_SCALE
-            )
-            
-            # Combine gravity + friction torques 
-            leader_total_torques_nm = {}
-            for motor_name in leader_gravity_torques_nm:
-                gravity = leader_gravity_torques_nm.get(motor_name, 0.0)
-                friction = leader_friction_torques_nm.get(motor_name, 0.0)
-                leader_total_torques_nm[motor_name] = gravity + friction
-
-            # Apply gravity + friction compensation to leader RIGHT arm (all joints including gripper)
-            for motor in leader.bus_right.motors:
-                full_name = f"right_{motor}"
-                position = leader_positions_deg.get(full_name, 0.0)
-                torque = leader_total_torques_nm.get(full_name, 0.0)
-                
-                # Get damping gain for stability
-                kd = leader.get_damping_kd(motor)
-
-                leader.bus_right._mit_control(
-                    motor=motor,
-                    kp=0.0,
-                    kd=kd,  # Add damping for stability
-                    position_degrees=position,
-                    velocity_deg_per_sec=0.0,
-                    torque=torque,
-                )
-
-            # Apply gravity + friction compensation to leader LEFT arm (all joints including gripper)
-            for motor in leader.bus_left.motors:
-                full_name = f"left_{motor}"
-                position = leader_positions_deg.get(full_name, 0.0)
-                torque = leader_total_torques_nm.get(full_name, 0.0)
-                
-                # Get damping gain for stability
-                kd = leader.get_damping_kd(motor)
-
-                leader.bus_left._mit_control(                    
-                    motor=motor,
-                    kp=0.0,
-                    kd=kd,  # Add damping for stability
-                    position_degrees=position,
-                    velocity_deg_per_sec=0.0,
-                    torque=torque,
-                )
-
-            # Send leader positions to follower (both arms)
-            follower_action = {}
-            for joint in all_joints:
-                pos_key = f"{joint}.pos"
-                if pos_key in leader_action:
-                    follower_action[pos_key] = leader_action[pos_key]
-
-            if follower_action:
-                follower.send_action(follower_action)
-
-            # Performance monitoring
-            loop_end = time.perf_counter()
-            loop_time = loop_end - loop_start
-            loop_times.append(loop_time)
-
-            if loop_end - last_print_time >= 2.0:
-                if loop_times:
-                    avg_time = sum(loop_times) / len(loop_times)
-                    current_hz = 1.0 / avg_time if avg_time > 0 else 0
-
-                    print(f"{current_hz:.1f} Hz ({avg_time*1000:.1f} ms)")
-
-                    loop_times = []
-                    last_print_time = loop_end
-
-    except KeyboardInterrupt:
-        print("\n\nStopping...")
-    finally:
-        try:
-            leader.bus_right.disable_torque()
-            leader.bus_left.disable_torque()
-            time.sleep(0.1)
-            leader.disconnect()
-            follower.disconnect()
-            print("✓ Shutdown complete")
-        except Exception as e:
-            print(f"Shutdown error: {e}")
-
-
-if __name__ == "__main__":
-    main()

examples/openarms_web_interface/App.css

@@ -1,745 +0,0 @@
-body {
-  margin: 0;
-  padding: 0;
-  font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, Oxygen, Ubuntu, sans-serif;
-  background: #f5f5f5;
-}
-
-main {
-  min-height: 100vh;
-  padding: 2rem;
-}
-
-header {
-  text-align: center;
-  margin-bottom: 2rem;
-}
-
-h1 {
-  font-size: 2rem;
-  font-weight: 600;
-  color: #333;
-  margin: 0;
-}
-
-h2 {
-  font-size: 1.25rem;
-  font-weight: 600;
-  color: #333;
-  margin: 0 0 1rem 0;
-}
-
-h3 {
-  font-size: 0.875rem;
-  font-weight: 600;
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-  margin: 0 0 0.5rem 0;
-  text-transform: uppercase;
-  letter-spacing: 0.5px;
-}
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-  display: grid;
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-  gap: 2rem;
-  align-items: start;
-}
-
-/* Left column container */
-.left-column {
-  display: flex;
-  flex-direction: column;
-  gap: 1.5rem;
-}
-
-/* Right column container */
-.right-column {
-  display: flex;
-  flex-direction: column;
-  gap: 1.5rem;
-}
-
-/* Responsive: Stack on smaller screens */
-@media (max-width: 1200px) {
-  .container {
-    grid-template-columns: 1fr;
-  }
-}
-
-.panel {
-  background: white;
-  border-radius: 8px;
-  padding: 1.5rem;
-  box-shadow: 0 1px 3px rgba(0,0,0,0.1);
-}
-
-.config-panel {
-  border: 2px solid #e5e7eb;
-}
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-.config-header {
-  display: flex;
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-  padding: 0.5rem 0;
-}
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-  opacity: 0.7;
-}
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-  font-size: 1rem;
-  color: #6b7280;
-  transition: transform 0.2s;
-}
-
-.config-content {
-  margin-top: 1rem;
-  padding-top: 1rem;
-  border-top: 1px solid #e5e7eb;
-}
-
-.robot-setup {
-  margin-bottom: 0.5rem;
-}
-
-.robot-status {
-  display: flex;
-  align-items: center;
-  justify-content: space-between;
-  padding: 1rem;
-  border-radius: 6px;
-  font-weight: 500;
-  gap: 1rem;
-}
-
-.robot-status.ready {
-  background: linear-gradient(135deg, #d1fae5 0%, #a7f3d0 100%);
-  color: #065f46;
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-}
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-.robot-status.not-ready {
-  background: linear-gradient(135deg, #fef3c7 0%, #fde68a 100%);
-  color: #92400e;
-  border: 1px solid #f59e0b;
-}
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-.btn-setup {
-  background: #10b981;
-  color: white;
-  border: none;
-  padding: 0.5rem 1rem;
-  border-radius: 4px;
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-  font-weight: 500;
-  cursor: pointer;
-  transition: background 0.2s;
-}
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-.btn-setup:hover:not(:disabled) {
-  background: #059669;
-}
-
-.btn-setup:disabled {
-  background: #d1d5db;
-  cursor: not-allowed;
-}
-
-.btn-zero {
-  background: #8b5cf6;
-  color: white;
-  border: none;
-  padding: 0.5rem 1rem;
-  border-radius: 4px;
-  font-size: 0.875rem;
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-}
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-.btn-zero:hover:not(:disabled) {
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-}
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-}
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-.btn-zero-large:hover:not(:disabled) {
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-}
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-  width: 100%;
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-.btn-delete:hover:not(:disabled) {
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-.btn-delete:disabled {
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-}
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-.delete-info {
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-  font-size: 0.875rem;
-  color: #666;
-  text-align: center;
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-}
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-.btn-disconnect {
-  background: #ef4444;
-  color: white;
-  border: none;
-  padding: 0.5rem 1rem;
-  border-radius: 4px;
-  font-size: 0.875rem;
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-}
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-.btn-disconnect:hover {
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-.btn-refresh {
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-  padding: 0.4rem 0.8rem;
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-  font-weight: 500;
-  cursor: pointer;
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-}
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-.btn-refresh:hover:not(:disabled) {
-  background: #2563eb;
-}
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-.btn-refresh:disabled {
-  background: #d1d5db;
-  cursor: not-allowed;
-}
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-.control-panel {
-  border: 2px solid #10b981;
-}
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-.status-banner {
-  display: flex;
-  align-items: center;
-  gap: 1rem;
-  padding: 1rem 1.5rem;
-  border-radius: 6px;
-  margin-bottom: 1.5rem;
-  font-weight: 500;
-  font-size: 0.95rem;
-}
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-.status-banner.initializing {
-  background: linear-gradient(135deg, #dbeafe 0%, #bfdbfe 100%);
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-}
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-.status-banner.encoding {
-  background: linear-gradient(135deg, #fef3c7 0%, #fde68a 100%);
-  color: #92400e;
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-}
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-.status-banner.uploading {
-  background: linear-gradient(135deg, #e0e7ff 0%, #c7d2fe 100%);
-  color: #3730a3;
-  border-left: 4px solid #6366f1;
-}
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-.status-banner.success {
-  background: linear-gradient(135deg, #d1fae5 0%, #a7f3d0 100%);
-  color: #065f46;
-  border-left: 4px solid #10b981;
-}
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-.status-banner.warning {
-  background: linear-gradient(135deg, #fee2e2 0%, #fecaca 100%);
-  color: #991b1b;
-  border-left: 4px solid #ef4444;
-}
-
-.spinner {
-  width: 20px;
-  height: 20px;
-  border: 3px solid rgba(0, 0, 0, 0.1);
-  border-top-color: currentColor;
-  border-radius: 50%;
-  animation: spin 0.8s linear infinite;
-}
-
-@keyframes spin {
-  to { transform: rotate(360deg); }
-}
-
-.control-horizontal {
-  display: flex;
-  flex-direction: column;
-  gap: 1.5rem;
-}
-
-.control-left {
-  display: flex;
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-  gap: 1rem;
-}
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-.control-right {
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-}
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-.input-group {
-  display: flex;
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-}
-
-input[type="text"] {
-  flex: 1;
-  padding: 0.75rem;
-  border: 1px solid #ddd;
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-}
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-}
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-button {
-  padding: 0.75rem 1.5rem;
-  border: none;
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-  font-size: 1rem;
-  font-weight: 500;
-  cursor: pointer;
-  transition: all 0.2s;
-}
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-.btn-set-task {
-  background: #3b82f6;
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-  min-width: 120px;
-}
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-}
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-}
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-}
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-.status.recording {
-  background: #fee2e2;
-  color: #991b1b;
-}
-
-.status.recording.recording-active {
-  display: flex;
-  flex-direction: column;
-  gap: 1rem;
-  background: #dc2626;
-  color: white;
-  padding: 1.5rem;
-  border: 4px solid #991b1b;
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-}
-
-.status.recording.recording-active .indicator {
-  width: 20px;
-  height: 20px;
-  background: #fef2f2;
-  animation: pulse-strong 1s ease-in-out infinite;
-}
-
-@keyframes pulse-strong {
-  0%, 100% { 
-    opacity: 1;
-    transform: scale(1);
-  }
-  50% { 
-    opacity: 0.7;
-    transform: scale(1.1);
-  }
-}
-
-.status.recording.recording-active .time-display {
-  display: flex;
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-  gap: 0.5rem;
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-  color: white;
-}
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-  opacity: 0.95;
-}
-
-.fps-warning {
-  color: #fef2f2;
-  animation: pulse-warning 1s ease-in-out infinite;
-}
-
-@keyframes pulse-warning {
-  0%, 100% { opacity: 1; }
-  50% { opacity: 0.5; }
-}
-
-.status.recording.recording-active .btn-stop {
-  align-self: stretch;
-}
-
-.ramp-up-countdown {
-  display: flex;
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-  margin-bottom: 1rem;
-}
-
-.countdown-box {
-  display: flex;
-  flex-direction: column;
-  align-items: center;
-  justify-content: center;
-  padding: 2rem 3rem;
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-  min-width: 280px;
-  animation: pulse-warm 1.5s ease-in-out infinite;
-}
-
-@keyframes pulse-warm {
-  0%, 100% {
-    box-shadow: 0 6px 20px rgba(245, 158, 11, 0.4);
-  }
-  50% {
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-}
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-  width: 12px;
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-
-@keyframes pulse {
-  0%, 100% { opacity: 1; }
-  50% { opacity: 0.5; }
-}
-
-.counter {
-  display: flex;
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-}
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-  font-weight: 600;
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-}
-
-.error-box {
-  padding: 1rem;
-  background: #fee2e2;
-  color: #991b1b;
-  border-radius: 4px;
-  border-left: 4px solid #ef4444;
-  font-size: 0.875rem;
-}
-
-.config-section {
-  margin-bottom: 1.5rem;
-}
-
-.config-section:last-child {
-  margin-bottom: 0;
-}
-
-.config-grid {
-  display: grid;
-  grid-template-columns: repeat(auto-fit, minmax(200px, 1fr));
-  gap: 1rem;
-}
-
-label {
-  display: flex;
-  flex-direction: column;
-  gap: 0.5rem;
-  font-size: 0.875rem;
-  color: #374151;
-  font-weight: 500;
-}
-
-select {
-  padding: 0.5rem;
-  border: 1px solid #ddd;
-  border-radius: 4px;
-  font-size: 0.875rem;
-  background: white;
-}
-
-select:disabled {
-  background: #f5f5f5;
-  cursor: not-allowed;
-}
-
-/* Camera Layout */
-.camera-layout {
-  display: flex;
-  flex-direction: column;
-  gap: 1.5rem;
-}
-
-.camera-base {
-  width: 100%;
-}
-
-.camera-wrist-container {
-  display: grid;
-  grid-template-columns: repeat(2, 1fr);
-  gap: 1.5rem;
-}
-
-.camera-wrist {
-  width: 100%;
-}
-
-.camera {
-  border: 1px solid #e5e7eb;
-  border-radius: 4px;
-  overflow: hidden;
-}
-
-.camera h3 {
-  padding: 0.75rem;
-  background: #f9fafb;
-  border-bottom: 1px solid #e5e7eb;
-  margin: 0;
-}
-
-.camera img {
-  width: 100%;
-  height: auto;
-  display: block;
-  background: #000;
-  min-height: 300px;
-  object-fit: cover;
-}
-
-.camera-placeholder {
-  text-align: center;
-  padding: 4rem 2rem;
-  background: #f9fafb;
-  border-radius: 4px;
-  border: 2px dashed #d1d5db;
-}
-
-.camera-placeholder p {
-  margin: 0.5rem 0;
-  font-size: 1rem;
-  color: #6b7280;
-}
-
-.camera-placeholder p:first-child {
-  font-size: 1.25rem;
-  font-weight: 500;
-  color: #374151;
-}
-
-.hint {
-  margin-top: 0.5rem;
-  font-size: 0.75rem;
-  color: #6b7280;
-  display: flex;
-  align-items: center;
-  gap: 0.5rem;
-  flex-wrap: wrap;
-}
-

examples/openarms_web_interface/App.jsx

@@ -1,857 +0,0 @@
-import { useState, useEffect, useCallback, useRef } from 'react';
-import './App.css';
-
-const API_BASE = 'http://localhost:8000/api';
-
-function App() {
-  // State
-  const [task, setTask] = useState('');
-  const [isRecording, setIsRecording] = useState(false);
-  const [isInitializing, setIsInitializing] = useState(false);
-  const [isEncoding, setIsEncoding] = useState(false);
-  const [isUploading, setIsUploading] = useState(false);
-  const [robotsReady, setRobotsReady] = useState(false);
-  const [elapsedTime, setElapsedTime] = useState(0);
-  const [currentFps, setCurrentFps] = useState(0);
-  const [loopFps, setLoopFps] = useState(0);
-  const [episodeCount, setEpisodeCount] = useState(0);
-  const [error, setError] = useState(null);
-  const [statusMessage, setStatusMessage] = useState('Ready');
-  const [uploadStatus, setUploadStatus] = useState(null);
-  const [rampUpRemaining, setRampUpRemaining] = useState(0);
-  const [movingToZero, setMovingToZero] = useState(false);
-  const [configExpanded, setConfigExpanded] = useState(false);
-  const [latestRepoId, setLatestRepoId] = useState(null);
-
-  // Configuration
-  const [config, setConfig] = useState({
-    leader_type: 'openarms',  // 'openarms' or 'openarms_mini'
-    leader_left: 'can0',
-    leader_right: 'can1',
-    follower_left: 'can2',
-    follower_right: 'can3',
-    left_wrist: '/dev/video0',
-    right_wrist: '/dev/video1',
-    base: '/dev/video4'
-  });
-
-  // Available options
-  const [availableCameras, setAvailableCameras] = useState([]);
-  const [availableUsbPorts, setAvailableUsbPorts] = useState([]);
-  const canInterfaces = ['can0', 'can1', 'can2', 'can3'];
-
-  const statusIntervalRef = useRef(null);
-  const hasInitializedRef = useRef(false);
-
-  const loadConfig = () => {
-    try {
-      const saved = localStorage.getItem('openarms_config');
-      if (saved) {
-        const loadedConfig = JSON.parse(saved);
-        setConfig(prev => ({ ...prev, ...loadedConfig }));
-      }
-    } catch (e) {
-      console.error('Load config error:', e);
-    }
-  };
-
-  const saveConfig = (newConfig) => {
-    try {
-      localStorage.setItem('openarms_config', JSON.stringify(newConfig || config));
-    } catch (e) {
-      console.error('Save config error:', e);
-    }
-  };
-
-  // Fetch status periodically
-  const fetchStatus = async () => {
-    try {
-      const response = await fetch(`${API_BASE}/status`);
-      const data = await response.json();
-
-      setIsRecording(data.is_recording);
-      setIsInitializing(data.is_initializing);
-      setIsEncoding(data.is_encoding);
-      setIsUploading(data.is_uploading);
-      setRobotsReady(data.robots_ready);
-      setElapsedTime(data.elapsed_time);
-      setCurrentFps(data.current_fps || 0);
-      setLoopFps(data.loop_fps || 0);
-      setEpisodeCount(data.episode_count);
-      setError(data.error);
-      setStatusMessage(data.status_message || 'Ready');
-      setUploadStatus(data.upload_status);
-      setRampUpRemaining(data.ramp_up_remaining || 0);
-      setMovingToZero(data.moving_to_zero || false);
-      
-      // Track the latest repo_id from the backend
-      if (data.latest_repo_id) {
-        setLatestRepoId(data.latest_repo_id);
-      }
-
-      if (data.config) {
-        // Only merge server config if we don't have a saved config (first load)
-        if (!localStorage.getItem('openarms_config')) {
-          setConfig(prev => {
-            const merged = { ...data.config, ...prev };
-            localStorage.setItem('openarms_config', JSON.stringify(merged));
-            return merged;
-          });
-        }
-      }
-    } catch (e) {
-      console.error('Failed to fetch status:', e);
-    }
-  };
-
-  const setupRobots = async () => {
-    // Show warning to verify camera positions
-    const confirmed = window.confirm(
-      '⚠️ IMPORTANT: Before connecting robots, please verify:\n\n' +
-      '📹 Check that cameras are correctly positioned:\n' +
-      '   • LEFT wrist camera is actually on the LEFT arm\n' +
-      '   • RIGHT wrist camera is actually on the RIGHT arm\n' +
-      '   • BASE camera is actually the BASE/overhead camera\n\n' +
-      'Incorrect camera positioning will result in invalid training data!\n\n' +
-      'Click OK to continue with robot setup, or Cancel to review configuration.'
-    );
-    
-    if (!confirmed) {
-      return; // User cancelled, don't proceed
-    }
-    
-    setError(null);
-    try {
-      const response = await fetch(`${API_BASE}/robots/setup`, {
-        method: 'POST',
-        headers: { 'Content-Type': 'application/json' },
-        body: JSON.stringify(config)
-      });
-
-      if (!response.ok) {
-        const data = await response.json();
-        throw new Error(data.detail || 'Failed to setup robots');
-      }
-
-      await response.json();
-      saveConfig(config);
-    } catch (e) {
-      setError(`Robot setup failed: ${e.message}`);
-    }
-  };
-
-  // Disconnect robots
-  const disconnectRobots = async () => {
-    try {
-      await fetch(`${API_BASE}/robots/disconnect`, { method: 'POST' });
-      setRobotsReady(false);
-    } catch (e) {
-      console.error('Failed to disconnect robots:', e);
-    }
-  };
-
-  // Discover cameras
-  const discoverCameras = async () => {
-    try {
-      const response = await fetch(`${API_BASE}/cameras/discover`);
-      const data = await response.json();
-      const cameras = data.cameras || [];
-      setAvailableCameras(cameras);
-
-      // Get list of valid camera IDs
-      const validCameraIds = cameras.map(cam => String(cam.id));
-
-      // Auto-fix config if current values are invalid or not set
-      const updated = { ...config };
-      let changed = false;
-
-      // Auto-fix invalid camera config
-      if (!config.left_wrist || !validCameraIds.includes(config.left_wrist)) {
-        if (cameras.length >= 1) {
-          updated.left_wrist = String(cameras[0].id);
-          changed = true;
-        }
-      }
-
-      if (!config.right_wrist || !validCameraIds.includes(config.right_wrist)) {
-        if (cameras.length >= 2) {
-          updated.right_wrist = String(cameras[1].id);
-          changed = true;
-        }
-      }
-
-      if (!config.base || !validCameraIds.includes(config.base)) {
-        if (cameras.length >= 3) {
-          updated.base = String(cameras[2].id);
-          changed = true;
-        }
-      }
-
-      if (changed) {
-        setConfig(updated);
-        saveConfig(updated);
-      }
-
-      if (cameras.length === 0) {
-        setError('No cameras detected! Please connect cameras and refresh.');
-      }
-    } catch (e) {
-      console.error('Failed to discover cameras:', e);
-      setError(`Camera discovery failed: ${e.message}`);
-    }
-  };
-
-  // Discover USB ports
-  const discoverUsbPorts = async () => {
-    try {
-      const response = await fetch(`${API_BASE}/usb/discover`);
-      const data = await response.json();
-      const ports = data.ports || [];
-      setAvailableUsbPorts(ports);
-
-      // Auto-fix config if OpenArms Mini is selected and ports are invalid
-      if (config.leader_type === 'openarms_mini') {
-        const updated = { ...config };
-        let changed = false;
-
-        if (ports.length >= 1 && !ports.includes(config.leader_left)) {
-          updated.leader_left = ports[0];
-          changed = true;
-        }
-
-        if (ports.length >= 2 && !ports.includes(config.leader_right)) {
-          updated.leader_right = ports[1];
-          changed = true;
-        }
-
-        if (changed) {
-          setConfig(updated);
-          saveConfig(updated);
-        }
-      }
-
-      if (ports.length === 0) {
-        console.warn('No USB ports detected for OpenArms Mini');
-      }
-    } catch (e) {
-      console.error('Failed to discover USB ports:', e);
-    }
-  };
-
-  // Set task only (for pedal use)
-  const setTaskOnly = async () => {
-    if (!task.trim()) {
-      setError('Please enter a task description');
-      return;
-    }
-
-    setError(null);
-
-    try {
-      const response = await fetch(`${API_BASE}/recording/set-task`, {
-        method: 'POST',
-        headers: { 'Content-Type': 'application/json' },
-        body: JSON.stringify({ task, ...config })
-      });
-
-      if (!response.ok) {
-        const data = await response.json();
-        throw new Error(data.detail || 'Failed to set task');
-      }
-
-      const result = await response.json();
-      setStatusMessage(result.message || `Task set: ${task}`);
-      saveConfig(config);
-      
-      // Clear success message after 3 seconds
-      setTimeout(() => {
-        if (!isRecording && !isInitializing) {
-          setStatusMessage('Ready');
-        }
-      }, 3000);
-    } catch (e) {
-      setError(e.message);
-    }
-  };
-
-  // Start recording
-  const startRecording = async () => {
-    if (!task.trim()) {
-      setError('Please enter a task description');
-      return;
-    }
-
-    setError(null);
-
-    try {
-      const response = await fetch(`${API_BASE}/recording/start`, {
-        method: 'POST',
-        headers: { 'Content-Type': 'application/json' },
-        body: JSON.stringify({ task, ...config })
-      });
-
-      if (!response.ok) {
-        const data = await response.json();
-        throw new Error(data.detail || 'Failed to start recording');
-      }
-
-      await response.json();
-      saveConfig(config);
-    } catch (e) {
-      setError(e.message);
-    }
-  };
-
-  // Stop recording
-  const stopRecording = async () => {
-    try {
-      const response = await fetch(`${API_BASE}/recording/stop`, {
-        method: 'POST'
-      });
-
-      if (!response.ok) {
-        const data = await response.json();
-        throw new Error(data.detail || 'Failed to stop recording');
-      }
-
-      const data = await response.json();
-      setError(null);
-      // Update latest repo_id after recording
-      if (data.dataset_name) {
-        setLatestRepoId(`lerobot-data-collection/${data.dataset_name}`);
-      }
-    } catch (e) {
-      setError(e.message);
-    }
-  };
-
-  const deleteLatestEpisode = async () => {
-    if (!latestRepoId) {
-      setError('No episode to delete');
-      return;
-    }
-    
-    const confirmed = window.confirm(
-      `WARNING: This will permanently delete the repository:\n\n${latestRepoId}\n\nThis action cannot be undone. Continue?`
-    );
-    
-    if (!confirmed) {
-      return;
-    }
-    
-    try {
-      const response = await fetch(`${API_BASE}/recording/delete-latest`, { method: 'POST' });
-      
-      if (!response.ok) {
-        const data = await response.json();
-        throw new Error(data.detail || 'Failed to delete episode');
-      }
-
-      const data = await response.json();
-      setLatestRepoId(null);
-      setEpisodeCount(Math.max(0, episodeCount - 1));
-      setStatusMessage(`Deleted: ${data.deleted_repo}`);
-      
-      setTimeout(() => {
-        if (!isRecording && !isInitializing) {
-          setStatusMessage('Ready');
-        }
-      }, 3000);
-    } catch (e) {
-      setError(`Delete failed: ${e.message}`);
-    }
-  };
-
-  // Reset counter
-  const resetCounter = async () => {
-    try {
-      await fetch(`${API_BASE}/counter/reset`, { method: 'POST' });
-      setEpisodeCount(0);
-    } catch (e) {
-      console.error('Failed to reset counter:', e);
-    }
-  };
-
-  // Move robot to zero position
-  const moveToZero = async () => {
-    setError(null);
-    try {
-      const response = await fetch(`${API_BASE}/robots/move-to-zero`, { method: 'POST' });
-      if (!response.ok) {
-        const data = await response.json();
-        throw new Error(data.detail || 'Failed to move to zero position');
-      }
-      await response.json();
-    } catch (e) {
-      setError(`Move to zero failed: ${e.message}`);
-    }
-  };
-
-  // Format time as MM:SS
-  const formatTime = (seconds) => {
-    const mins = Math.floor(seconds / 60);
-    const secs = Math.floor(seconds % 60);
-    return `${mins.toString().padStart(2, '0')}:${secs.toString().padStart(2, '0')}`;
-  };
-
-  // Update config and save
-  const updateConfig = (key, value) => {
-    const updated = { ...config, [key]: value };
-    setConfig(updated);
-    saveConfig(updated);
-  };
-
-  // Initialize on mount only
-  useEffect(() => {
-    // Prevent double-initialization in development
-    if (hasInitializedRef.current) {
-      return;
-    }
-    hasInitializedRef.current = true;
-
-    loadConfig();
-    discoverCameras();
-    discoverUsbPorts();
-    fetchStatus();
-    statusIntervalRef.current = setInterval(fetchStatus, 1000);
-
-    return () => {
-      if (statusIntervalRef.current) {
-        clearInterval(statusIntervalRef.current);
-      }
-    };
-    // eslint-disable-next-line react-hooks/exhaustive-deps
-  }, []); // Run only once on mount
-
-  // Discover USB ports when leader type changes to Mini
-  useEffect(() => {
-    if (config.leader_type === 'openarms_mini') {
-      discoverUsbPorts();
-    }
-    // eslint-disable-next-line react-hooks/exhaustive-deps
-  }, [config.leader_type]);
-
-  return (
-    <main>
-      <header>
-        <h1>OpenArms Recording</h1>
-      </header>
-
-      <div className="container">
-        {/* Left Column: Configuration and Recording Control */}
-        <div className="left-column">
-          {/* Configuration Panel */}
-          <section className="panel config-panel">
-          <div
-            className="config-header"
-            onClick={() => setConfigExpanded(!configExpanded)}
-            role="button"
-            tabIndex={0}
-            onKeyDown={(e) => e.key === 'Enter' && setConfigExpanded(!configExpanded)}
-          >
-            <h2>⚙️ Configuration</h2>
-            <span className="toggle-icon">{configExpanded ? '▼' : '▶'}</span>
-          </div>
-
-          {configExpanded && (
-            <div className="config-content">
-              {/* Robot Setup */}
-              <div className="config-section">
-                <h3>🤖 Robot Setup</h3>
-                <div className="robot-setup">
-                  {robotsReady ? (
-                    <div className="robot-status ready">
-                      <span>✅ Robots Ready - Recording will start instantly</span>
-                      <button onClick={disconnectRobots} className="btn-disconnect">
-                        Disconnect Robots
-                      </button>
-                    </div>
-                  ) : (
-                    <div className="robot-status not-ready">
-                      <span>⚠️ Robots not initialized - Recording will take ~10 seconds</span>
-                      <button
-                        onClick={setupRobots}
-                        disabled={isRecording || isInitializing}
-                        className="btn-setup"
-                      >
-                        🚀 Setup Robots
-                      </button>
-                    </div>
-                  )}
-                </div>
-              </div>
-
-              {/* Leader Type Selection */}
-              <div className="config-section">
-                <h3>🎮 Leader Type</h3>
-                <div className="config-grid">
-                  <label style={{gridColumn: '1 / -1'}}>
-                    Leader Arm Type
-                    <select
-                      value={config.leader_type}
-                      onChange={(e) => updateConfig('leader_type', e.target.value)}
-                      disabled={isRecording || robotsReady}
-                    >
-                      <option value="openarms">OpenArms (CAN Bus - Damiao Motors)</option>
-                      <option value="openarms_mini">OpenArms Mini (USB - Feetech Motors)</option>
-                    </select>
-                  </label>
-                </div>
-              </div>
-
-              {/* Leader Interfaces (CAN or USB based on type) */}
-              <div className="config-section">
-                <div style={{ display: 'flex', justifyContent: 'space-between', alignItems: 'center', marginBottom: '0.5rem' }}>
-                  <h3>
-                    {config.leader_type === 'openarms_mini' 
-                      ? `Leader Ports (USB/Serial) ${availableUsbPorts.length > 0 ? `(${availableUsbPorts.length} detected)` : ''}` 
-                      : 'Leader Interfaces (CAN)'}
-                  </h3>
-                  {config.leader_type === 'openarms_mini' && (
-                    <button
-                      onClick={discoverUsbPorts}
-                      className="btn-refresh"
-                      disabled={isRecording || robotsReady}
-                    >
-                      🔄 Refresh
-                    </button>
-                  )}
-                </div>
-                
-                <div className="config-grid">
-                  <label>
-                    Leader Left
-                    <select
-                      value={config.leader_left}
-                      onChange={(e) => updateConfig('leader_left', e.target.value)}
-                      disabled={isRecording || robotsReady}
-                    >
-                      {config.leader_type === 'openarms_mini' ? (
-                        availableUsbPorts.length > 0 ? (
-                          availableUsbPorts.map((port) => (
-                            <option key={port} value={port}>{port}</option>
-                          ))
-                        ) : (
-                          <option value="">No USB ports detected</option>
-                        )
-                      ) : (
-                        canInterfaces.map((iface) => (
-                          <option key={iface} value={iface}>{iface}</option>
-                        ))
-                      )}
-                    </select>
-                  </label>
-
-                  <label>
-                    Leader Right
-                    <select
-                      value={config.leader_right}
-                      onChange={(e) => updateConfig('leader_right', e.target.value)}
-                      disabled={isRecording || robotsReady}
-                    >
-                      {config.leader_type === 'openarms_mini' ? (
-                        availableUsbPorts.length > 0 ? (
-                          availableUsbPorts.map((port) => (
-                            <option key={port} value={port}>{port}</option>
-                          ))
-                        ) : (
-                          <option value="">No USB ports detected</option>
-                        )
-                      ) : (
-                        canInterfaces.map((iface) => (
-                          <option key={iface} value={iface}>{iface}</option>
-                        ))
-                      )}
-                    </select>
-                  </label>
-                </div>
-              </div>
-
-              {/* Follower CAN Interfaces */}
-              <div className="config-section">
-                <h3>Follower Interfaces (CAN)</h3>
-                
-                <div className="config-grid">
-                  <label>
-                    Follower Left
-                    <select
-                      value={config.follower_left}
-                      onChange={(e) => updateConfig('follower_left', e.target.value)}
-                      disabled={isRecording || robotsReady}
-                    >
-                      {canInterfaces.map((iface) => (
-                        <option key={iface} value={iface}>{iface}</option>
-                      ))}
-                    </select>
-                  </label>
-
-                  <label>
-                    Follower Right
-                    <select
-                      value={config.follower_right}
-                      onChange={(e) => updateConfig('follower_right', e.target.value)}
-                      disabled={isRecording || robotsReady}
-                    >
-                      {canInterfaces.map((iface) => (
-                        <option key={iface} value={iface}>{iface}</option>
-                      ))}
-                    </select>
-                  </label>
-                </div>
-              </div>
-
-              {/* Camera Configuration */}
-              <div className="config-section">
-                <div style={{ display: 'flex', justifyContent: 'space-between', alignItems: 'center', marginBottom: '0.5rem' }}>
-                  <h3>Cameras {availableCameras.length > 0 && `(${availableCameras.length} detected)`}</h3>
-                  <button
-                    onClick={discoverCameras}
-                    className="btn-refresh"
-                    disabled={isRecording || robotsReady}
-                  >
-                    🔄 Refresh
-                  </button>
-                </div>
-                <div className="config-grid">
-                  <label>
-                    Left Wrist
-                    <select
-                      value={config.left_wrist}
-                      onChange={(e) => updateConfig('left_wrist', e.target.value)}
-                      disabled={isRecording || robotsReady}
-                    >
-                      {availableCameras.map((cam) => (
-                        <option key={cam.id} value={String(cam.id)}>
-                          {cam.name || `Camera @ ${cam.id}`}
-                        </option>
-                      ))}
-                    </select>
-                  </label>
-
-                  <label>
-                    Right Wrist
-                    <select
-                      value={config.right_wrist}
-                      onChange={(e) => updateConfig('right_wrist', e.target.value)}
-                      disabled={isRecording || robotsReady}
-                    >
-                      {availableCameras.map((cam) => (
-                        <option key={cam.id} value={String(cam.id)}>
-                          {cam.name || `Camera @ ${cam.id}`}
-                        </option>
-                      ))}
-                    </select>
-                  </label>
-
-                  <label>
-                    Base Camera
-                    <select
-                      value={config.base}
-                      onChange={(e) => updateConfig('base', e.target.value)}
-                      disabled={isRecording || robotsReady}
-                    >
-                      {availableCameras.map((cam) => (
-                        <option key={cam.id} value={String(cam.id)}>
-                          {cam.name || `Camera @ ${cam.id}`}
-                        </option>
-                      ))}
-                    </select>
-                  </label>
-                </div>
-              </div>
-            </div>
-          )}
-        </section>
-
-        {/* Control Panel */}
-        <section className="panel control-panel">
-          <h2>🎬 Recording Control</h2>
-
-          {/* Status Banner - Always show important statuses */}
-          {isInitializing && (
-            <div className="status-banner initializing">
-              <div className="spinner"></div>
-              <span>{statusMessage}</span>
-            </div>
-          )}
-
-          {isEncoding && (
-            <div className="status-banner encoding">
-              <div className="spinner"></div>
-              <span>📹 {statusMessage}</span>
-            </div>
-          )}
-
-          {isUploading && (
-            <div className="status-banner uploading">
-              <div className="spinner"></div>
-              <span>☁️ {statusMessage}</span>
-            </div>
-          )}
-
-          {uploadStatus && !isRecording && !isEncoding && !isUploading && (
-            <div className={`status-banner ${uploadStatus.startsWith('✓') ? 'success' : 'warning'}`}>
-              <span>{uploadStatus}</span>
-            </div>
-          )}
-
-          <div className="control-horizontal">
-            {/* Task Input and Status */}
-            <div className="control-left">
-              <div className="input-group">
-                <input
-                  type="text"
-                  value={task}
-                  onChange={(e) => setTask(e.target.value)}
-                  placeholder="Task description (e.g., 'pick and place')"
-                  disabled={isRecording || isInitializing || isEncoding || isUploading}
-                  onKeyPress={(e) => {
-                    if (e.key === 'Enter' && robotsReady) {
-                      setTaskOnly();
-                    }
-                  }}
-                />
-                <button
-                  onClick={setTaskOnly}
-                  disabled={isRecording || isInitializing || isEncoding || isUploading || !robotsReady}
-                  className="btn-set-task"
-                  title={!robotsReady ? 'Please setup robots first' : 'Store task for pedal use (Enter key)'}
-                >
-                  💾 Set Task
-                </button>
-                <button
-                  onClick={startRecording}
-                  disabled={isRecording || isInitializing || isEncoding || isUploading || !robotsReady}
-                  className="btn-start"
-                  title={!robotsReady ? 'Please setup robots first' : ''}
-                >
-                  {isInitializing
-                    ? '⏳ Initializing...'
-                    : isRecording
-                    ? '⏺ Recording...'
-                    : robotsReady
-                    ? '⏺ Start Recording'
-                    : '⏺ Setup Robots First'}
-                </button>
-              </div>
-
-              {/* Ramp-up Countdown */}
-              {isRecording && rampUpRemaining > 0 && (
-                <div className="ramp-up-countdown">
-                  <div className="countdown-box">
-                    <div className="countdown-label">⚡ WARMING UP - PID RAMP-UP</div>
-                    <div className="countdown-value">{rampUpRemaining.toFixed(1)}s</div>
-                    <div className="countdown-subtitle">Recording will start automatically...</div>
-                  </div>
-                </div>
-              )}
-
-              {/* Recording Status - Only show after ramp-up */}
-              {isRecording && rampUpRemaining <= 0 && (
-                <div className="status recording recording-active">
-                  <div className="indicator"></div>
-                  <div className="time-display">
-                    <span>{formatTime(elapsedTime)}</span>
-                    <span className="fps-display">
-                      Loop: {loopFps.toFixed(1)} Hz
-                      {loopFps > 0 && loopFps < 29 && <span className="fps-warning"> ⚠️</span>}
-                    </span>
-                    <span className="fps-display">Recording: {currentFps.toFixed(1)} FPS</span>
-                  </div>
-                  <button onClick={stopRecording} className="btn-stop">
-                    ⏹ Stop
-                  </button>
-                </div>
-              )}
-            </div>
-
-            {/* Episode Counter */}
-            <div className="control-right">
-              <div className="counter">
-                <div className="counter-label">Episodes Recorded</div>
-                <div className="counter-value">{episodeCount}</div>
-                <button onClick={resetCounter} className="btn-reset">
-                  Reset
-                </button>
-              </div>
-            </div>
-          </div>
-
-          {/* Delete Latest Episode Button */}
-          {!isRecording && !isInitializing && latestRepoId && (
-            <div className="delete-episode-section">
-              <button 
-                onClick={deleteLatestEpisode}
-                className="btn-delete"
-                title="Delete the latest recorded episode from HuggingFace Hub"
-              >
-                Delete Latest Episode
-              </button>
-              <div className="delete-info">Will delete: {latestRepoId}</div>
-            </div>
-          )}
-
-          {/* Move to Zero Button */}
-          {robotsReady && !isRecording && !isInitializing && (
-            <div className="zero-position-section">
-              <button 
-                onClick={moveToZero} 
-                disabled={movingToZero}
-                className="btn-zero-large"
-                title="Move both leader and follower robots to zero position (2s)"
-              >
-                {movingToZero ? '⏳ Moving to Zero Position...' : '🎯 Move to Zero Position (Leader + Follower)'}
-              </button>
-            </div>
-          )}
-
-          {/* Error Display */}
-          {error && (
-            <div className="error-box">
-              ⚠️ {error}
-            </div>
-          )}
-        </section>
-        </div>
-
-        {/* Right Column: Camera Feeds */}
-        <div className="right-column">
-          <section className="panel cameras">
-          <h2>📹 Camera Views</h2>
-          {robotsReady || isRecording || isInitializing ? (
-            <div className="camera-layout">
-              {/* Base camera - full width */}
-              <div className="camera camera-base">
-                <h3>Base Camera</h3>
-                <img src={`${API_BASE}/camera/stream/base`} alt="Base Camera" />
-              </div>
-
-              {/* Wrist cameras - side by side */}
-              <div className="camera-wrist-container">
-                <div className="camera camera-wrist">
-                  <h3>Left Wrist</h3>
-                  <img src={`${API_BASE}/camera/stream/left_wrist`} alt="Left Wrist Camera" />
-                </div>
-
-                <div className="camera camera-wrist">
-                  <h3>Right Wrist</h3>
-                  <img src={`${API_BASE}/camera/stream/right_wrist`} alt="Right Wrist Camera" />
-                </div>
-              </div>
-            </div>
-          ) : (
-            <div className="camera-placeholder">
-              <p>📷 Camera feeds will appear when robots are set up</p>
-              <p className="hint">Click "Setup Robots" above to preview camera feeds</p>
-            </div>
-          )}
-        </section>
-        </div>
-
-      </div>
-    </main>
-  );
-}
-
-export default App;
-

examples/openarms_web_interface/README.md

@@ -1,41 +0,0 @@
-# OpenArms Web Recording Interface
-
-A web interface for recording OpenArms datasets.
-
-## Installation
-
-```bash
-cd examples/openarms_web_interface
-npm install
-```
-
-## Usage
-
-**Start everything with one command:**
-
-```bash
-./launch.sh
-```
-
-This will:
-- Start the FastAPI backend on port 8000
-- Start the React frontend on port 5173
-- Show live logs from both services
-
-Then open your browser to: **http://localhost:5173**
-
-**Stop with:** `Ctrl+C`
-
----
-
-## Workflow
-
-1. **Configure CAN interfaces** and **camera paths** in the dropdowns
-2. Click **"Setup Robots"** to initialize (once at start)
-3. Enter a **task description**
-4. Click **"Start Recording"** to begin an episode
-5. Click **"Stop Recording"** when done
-6. Dataset is automatically encoded and uploaded to HuggingFace Hub as **private**
-7. Repeat steps 3-6 for more episodes (no need to re-setup robots!)
-
----

examples/openarms_web_interface/index.html

@@ -1,12 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>OpenArms Recording Interface</title>
-  </head>
-  <body>
-    <div id="root"></div>
-    <script type="module" src="/main.jsx"></script>
-  </body>
-</html>

examples/openarms_web_interface/launch.sh

@@ -1,142 +0,0 @@
-#!/bin/bash
-
-# OpenArms Web Interface Launcher
-# Starts Rerun viewer, FastAPI backend, and React frontend
-
-set -e
-
-# Colors for output
-GREEN='\033[0;32m'
-BLUE='\033[0;34m'
-YELLOW='\033[1;33m'
-RED='\033[0;31m'
-NC='\033[0m' # No Color
-
-# Get script directory
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-cd "$SCRIPT_DIR"
-
-echo -e "${BLUE}╔════════════════════════════════════════╗${NC}"
-echo -e "${BLUE}║   OpenArms Web Recording Interface    ║${NC}"
-echo -e "${BLUE}╚════════════════════════════════════════╝${NC}"
-echo ""
-
-# Function to cleanup on exit
-cleanup() {
-    echo ""
-    echo -e "${YELLOW}Shutting down services...${NC}"
-    
-    # Kill all child processes
-    pkill -P $$ 2>/dev/null || true
-    
-    # Kill specific services by port
-    lsof -ti:8000 | xargs kill -9 2>/dev/null || true  # Backend
-    lsof -ti:5173 | xargs kill -9 2>/dev/null || true  # Frontend
-    lsof -ti:9876 | xargs kill -9 2>/dev/null || true  # Rerun (if spawned)
-    
-    echo -e "${GREEN}✓ Services stopped${NC}"
-    exit 0
-}
-
-# Register cleanup on script exit
-trap cleanup EXIT INT TERM
-
-# Check if required commands exist
-command -v rerun >/dev/null 2>&1 || { 
-    echo -e "${RED}✗ Error: 'rerun' not found. Please install: pip install rerun-sdk${NC}"
-    exit 1
-}
-
-command -v python >/dev/null 2>&1 || { 
-    echo -e "${RED}✗ Error: 'python' not found${NC}"
-    exit 1
-}
-
-command -v npm >/dev/null 2>&1 || { 
-    echo -e "${RED}✗ Error: 'npm' not found${NC}"
-    exit 1
-}
-
-# Check if node_modules exists
-if [ ! -d "node_modules" ]; then
-    echo -e "${YELLOW}⚠ node_modules not found. Running npm install...${NC}"
-    npm install
-    echo -e "${GREEN}✓ Dependencies installed${NC}"
-    echo ""
-fi
-
-echo -e "${GREEN}Starting services...${NC}"
-echo ""
-
-# 1. Start FastAPI backend (Rerun will start when recording begins)
-echo -e "${BLUE}[1/2]${NC} Starting FastAPI backend on port 8000..."
-cd "$SCRIPT_DIR"
-
-# Use Python from current environment (if lerobot env is active, it will use that)
-# Otherwise, check if we need to use conda run
-if [[ "$CONDA_DEFAULT_ENV" == "lerobot" ]]; then
-    # Already in lerobot environment
-    echo -e "${GREEN}✓ Using active lerobot environment${NC}"
-    PYTHON_CMD="python"
-elif command -v conda >/dev/null 2>&1 && conda env list | grep -q "^lerobot "; then
-    # lerobot env exists but not active - use conda run
-    echo -e "${YELLOW}Using conda run with lerobot environment...${NC}"
-    PYTHON_CMD="conda run -n lerobot --no-capture-output python"
-else
-    # Fall back to system python
-    echo -e "${YELLOW}⚠ Warning: lerobot environment not found, using system python${NC}"
-    PYTHON_CMD="python"
-fi
-
-$PYTHON_CMD web_record_server.py > /tmp/openarms_backend.log 2>&1 &
-BACKEND_PID=$!
-sleep 3
-
-if ps -p $BACKEND_PID > /dev/null; then
-    echo -e "${GREEN}✓ Backend started${NC} (PID: $BACKEND_PID)"
-    echo -e "      URL: ${BLUE}http://localhost:8000${NC}"
-else
-    echo -e "${RED}✗ Failed to start backend${NC}"
-    echo -e "${YELLOW}Check logs: tail -f /tmp/openarms_backend.log${NC}"
-    exit 1
-fi
-echo ""
-
-# 2. Start React frontend
-echo -e "${BLUE}[2/2]${NC} Starting React frontend on port 5173..."
-cd "$SCRIPT_DIR"
-npm run dev > /tmp/openarms_frontend.log 2>&1 &
-FRONTEND_PID=$!
-sleep 3
-
-if ps -p $FRONTEND_PID > /dev/null; then
-    echo -e "${GREEN}✓ Frontend started${NC} (PID: $FRONTEND_PID)"
-    echo -e "      URL: ${BLUE}http://localhost:5173${NC}"
-else
-    echo -e "${RED}✗ Failed to start frontend${NC}"
-    echo -e "${YELLOW}Check logs: tail -f /tmp/openarms_frontend.log${NC}"
-    exit 1
-fi
-echo ""
-
-# Display status
-echo -e "${GREEN}╔════════════════════════════════════════╗${NC}"
-echo -e "${GREEN}║     All services running! 🚀           ║${NC}"
-echo -e "${GREEN}╚════════════════════════════════════════╝${NC}"
-echo ""
-echo -e "🔧 ${BLUE}Backend:${NC}  http://localhost:8000"
-echo -e "🌐 ${BLUE}Frontend:${NC} http://localhost:5173"
-echo -e "📊 ${BLUE}Rerun:${NC}    Will spawn automatically when recording starts"
-echo ""
-echo -e "${YELLOW}Open your browser to:${NC} ${BLUE}http://localhost:5173${NC}"
-echo ""
-echo -e "${YELLOW}Logs:${NC}"
-echo -e "  • Backend:  tail -f /tmp/openarms_backend.log"
-echo -e "  • Frontend: tail -f /tmp/openarms_frontend.log"
-echo ""
-echo -e "${RED}Press Ctrl+C to stop all services${NC}"
-echo ""
-
-# Keep script running and wait for any service to exit
-wait
-

examples/openarms_web_interface/main.jsx

@@ -1,7 +0,0 @@
-import { createRoot } from 'react-dom/client'
-import App from './App.jsx'
-
-createRoot(document.getElementById('root')).render(
-  <App />
-)
-

examples/openarms_web_interface/package.json

@@ -1,21 +0,0 @@
-{
-  "name": "openarms-web-interface",
-  "private": true,
-  "version": "0.0.0",
-  "type": "module",
-  "scripts": {
-    "dev": "vite",
-    "build": "vite build",
-    "preview": "vite preview"
-  },
-  "dependencies": {
-    "react": "^18.3.1",
-    "react-dom": "^18.3.1"
-  },
-  "devDependencies": {
-    "@types/react": "^18.3.12",
-    "@types/react-dom": "^18.3.1",
-    "@vitejs/plugin-react": "^4.3.4",
-    "vite": "^6.0.1"
-  }
-}

examples/openarms_web_interface/vite.config.js

@@ -1,17 +0,0 @@
-import { defineConfig } from 'vite'
-import react from '@vitejs/plugin-react'
-
-// https://vite.dev/config/
-export default defineConfig({
-  plugins: [react()],
-  server: {
-    port: 5173,
-    strictPort: false,
-    host: true,
-    open: false
-  },
-  build: {
-    outDir: 'dist',
-    sourcemap: true
-  }
-})

examples/port_datasets/slurm_aggregate_shards.py

@@ -15,16 +15,12 @@
 # limitations under the License.
 
 import argparse
-import logging
 from pathlib import Path
 
 from datatrove.executor import LocalPipelineExecutor
 from datatrove.executor.slurm import SlurmPipelineExecutor
 from datatrove.pipeline.base import PipelineStep
-from port_datasets.droid_rlds.port_droid import DROID_SHARDS
-
-from lerobot.datasets.aggregate import aggregate_datasets
-from lerobot.utils.utils import init_logging
+from port_droid import DROID_SHARDS
 
 
 class AggregateDatasets(PipelineStep):
@@ -38,6 +34,11 @@ class AggregateDatasets(PipelineStep):
         self.aggr_repo_id = aggregated_repo_id
 
     def run(self, data=None, rank: int = 0, world_size: int = 1):
+        import logging
+
+        from lerobot.datasets.aggregate import aggregate_datasets
+        from lerobot.utils.utils import init_logging
+
         init_logging()
 
         # Since aggregate_datasets already handles parallel processing internally,

examples/port_datasets/slurm_port_shards.py

@@ -20,7 +20,7 @@ from pathlib import Path
 from datatrove.executor import LocalPipelineExecutor
 from datatrove.executor.slurm import SlurmPipelineExecutor
 from datatrove.pipeline.base import PipelineStep
-from port_datasets.droid_rlds.port_droid import DROID_SHARDS
+from port_droid import DROID_SHARDS
 
 
 class PortDroidShards(PipelineStep):
@@ -35,7 +35,7 @@ class PortDroidShards(PipelineStep):
 
     def run(self, data=None, rank: int = 0, world_size: int = 1):
         from datasets.utils.tqdm import disable_progress_bars
-        from port_datasets.droid_rlds.port_droid import port_droid, validate_dataset
+        from port_droid import port_droid, validate_dataset
 
         from lerobot.utils.utils import init_logging
 

examples/port_datasets/slurm_upload.py

@@ -24,7 +24,7 @@ from datatrove.executor.slurm import SlurmPipelineExecutor
 from datatrove.pipeline.base import PipelineStep
 from huggingface_hub import HfApi
 from huggingface_hub.constants import REPOCARD_NAME
-from port_datasets.droid_rlds.port_droid import DROID_SHARDS
+from port_droid import DROID_SHARDS
 
 from lerobot.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDatasetMetadata
 from lerobot.datasets.utils import create_lerobot_dataset_card
@@ -185,11 +185,11 @@ class UploadDataset(PipelineStep):
 
 
 def make_upload_executor(
-    repo_id, job_name, logs_dir, workers, partition, cpus_per_task, mem_per_cpu, slurm=True
+    repo_id, job_name, logs_dir, workers, partition, cpus_per_task, mem_per_cpu, private=False, slurm=True
 ):
     kwargs = {
         "pipeline": [
-            UploadDataset(repo_id),
+            UploadDataset(repo_id, private=private),
         ],
         "logging_dir": str(logs_dir / job_name),
     }
@@ -267,6 +267,12 @@ def main():
         default="1950M",
         help="Memory per cpu that each worker will use.",
     )
+    parser.add_argument(
+        "--private",
+        action="store_true",
+        default=False,
+        help="Whether to create a private repository.",
+    )
 
     init_logging()
 

examples/rtc/eval_dataset.py

@@ -0,0 +1,951 @@
+#!/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.
+
+"""
+Evaluate Real-Time Chunking (RTC) performance on dataset samples.
+
+This script takes two random samples from a dataset:
+- Uses actions from the first sample as previous chunk
+- Generates new actions for the second sample with and without RTC
+
+It compares action predictions with and without RTC on dataset samples,
+measuring consistency and ground truth alignment.
+
+Usage:
+    # Basic usage with smolvla policy
+    uv run python examples/rtc/eval_dataset.py \
+        --policy.path=helper2424/smolvla_check_rtc_last3 \
+        --dataset.repo_id=helper2424/check_rtc \
+        --rtc.execution_horizon=8 \
+        --device=mps \
+        --rtc.max_guidance_weight=10.0 \
+        --rtc.prefix_attention_schedule=EXP \
+        --seed=10
+
+    # Basic usage with pi0.5 policy
+    uv run python examples/rtc/eval_dataset.py \
+        --policy.path=lerobot/pi05_libero_finetuned \
+        --dataset.repo_id=HuggingFaceVLA/libero \
+        --rtc.execution_horizon=10 \
+        --device=mps
+        --seed=10
+
+    # Basic usage with pi0.5 policy with cuda device
+    uv run python examples/rtc/eval_dataset.py \
+        --policy.path=lerobot/pi05_libero_finetuned \
+        --dataset.repo_id=HuggingFaceVLA/libero \
+        --rtc.execution_horizon=8 \
+        --device=cuda
+
+    # Basic usage with pi0 policy with cuda device
+    uv run python examples/rtc/eval_dataset.py \
+        --policy.path=lerobot/pi0_libero_finetuned \
+        --dataset.repo_id=HuggingFaceVLA/libero \
+        --rtc.execution_horizon=8 \
+        --device=cuda
+
+    uv run python examples/rtc/eval_dataset.py \
+        --policy.path=lipsop/reuben_pi0 \
+        --dataset.repo_id=ReubenLim/so101_cube_in_cup \
+        --rtc.execution_horizon=8 \
+        --device=cuda
+
+    # With torch.compile for faster inference (PyTorch 2.0+)
+    # Note: CUDA graphs disabled by default due to in-place ops in denoising loop
+    uv run python examples/rtc/eval_dataset.py \
+        --policy.path=helper2424/smolvla_check_rtc_last3 \
+        --dataset.repo_id=helper2424/check_rtc \
+        --rtc.execution_horizon=8 \
+        --device=mps \
+        --use_torch_compile=true \
+        --torch_compile_mode=max-autotune
+
+    # With torch.compile on CUDA (CUDA graphs disabled by default)
+    uv run python examples/rtc/eval_dataset.py \
+        --policy.path=helper2424/smolvla_check_rtc_last3 \
+        --dataset.repo_id=helper2424/check_rtc \
+        --rtc.execution_horizon=8 \
+        --device=cuda \
+        --use_torch_compile=true \
+        --torch_compile_mode=reduce-overhead
+
+    # Enable CUDA graphs (advanced - may cause tensor aliasing errors)
+    uv run python examples/rtc/eval_dataset.py \
+        --policy.path=helper2424/smolvla_check_rtc_last3 \
+        --dataset.repo_id=helper2424/check_rtc \
+        --use_torch_compile=true \
+        --torch_compile_backend=inductor \
+        --torch_compile_mode=max-autotune \
+        --torch_compile_disable_cudagraphs=false
+"""
+
+import gc
+import logging
+import os
+import random
+from dataclasses import dataclass, field
+
+import numpy as np
+import torch
+
+try:
+    import matplotlib.pyplot as plt
+
+    MATPLOTLIB_AVAILABLE = True
+except ImportError:
+    MATPLOTLIB_AVAILABLE = False
+    plt = None
+
+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.factory import resolve_delta_timestamps
+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
+from lerobot.utils.hub import HubMixin
+from lerobot.utils.utils import init_logging
+
+
+def set_seed(seed: int):
+    """Set random seed for reproducibility."""
+    random.seed(seed)
+    np.random.seed(seed)
+    torch.manual_seed(seed)
+    if torch.cuda.is_available():
+        torch.cuda.manual_seed(seed)
+        torch.cuda.manual_seed_all(seed)
+    if torch.backends.mps.is_available():
+        torch.mps.manual_seed(seed)
+    torch.backends.cudnn.deterministic = True
+    torch.backends.cudnn.benchmark = False
+
+
+def _check_matplotlib_available():
+    """Check if matplotlib is available, raise helpful error if not."""
+    if not MATPLOTLIB_AVAILABLE:
+        raise ImportError(
+            "matplotlib is required for RTC debug visualizations. "
+            "Please install it by running:\n"
+            "  uv pip install -e '.[matplotlib-dep]'"
+        )
+
+
+@dataclass
+class RTCEvalConfig(HubMixin):
+    """Configuration for RTC evaluation."""
+
+    # Policy configuration
+    policy: PreTrainedConfig | None = None
+
+    # Dataset configuration
+    dataset: DatasetConfig = field(default_factory=DatasetConfig)
+
+    # RTC configuration
+    rtc: RTCConfig = field(
+        default_factory=lambda: RTCConfig(
+            enabled=True,
+            execution_horizon=20,
+            max_guidance_weight=10.0,
+            prefix_attention_schedule=RTCAttentionSchedule.EXP,
+            debug=True,
+            debug_maxlen=1000,
+        )
+    )
+
+    # Device configuration
+    device: str | None = field(
+        default=None,
+        metadata={"help": "Device to run on (cuda, cpu, mps, auto)"},
+    )
+
+    # Output configuration
+    output_dir: str = field(
+        default="rtc_debug_output",
+        metadata={"help": "Directory to save debug visualizations"},
+    )
+
+    # Seed configuration
+    seed: int = field(
+        default=42,
+        metadata={"help": "Random seed for reproducibility"},
+    )
+
+    inference_delay: int = field(
+        default=4,
+        metadata={"help": "Inference delay for RTC"},
+    )
+
+    # Torch compile configuration
+    use_torch_compile: bool = field(
+        default=False,
+        metadata={"help": "Use torch.compile for faster inference (PyTorch 2.0+)"},
+    )
+
+    torch_compile_backend: str = field(
+        default="inductor",
+        metadata={"help": "Backend for torch.compile (inductor, aot_eager, cudagraphs)"},
+    )
+
+    torch_compile_mode: str = field(
+        default="default",
+        metadata={"help": "Compilation mode (default, reduce-overhead, max-autotune)"},
+    )
+
+    torch_compile_disable_cudagraphs: bool = field(
+        default=True,
+        metadata={
+            "help": "Disable CUDA graphs in torch.compile. Required due to in-place tensor "
+            "operations in denoising loop (x_t += dt * v_t) which cause tensor aliasing issues."
+        },
+    )
+
+    def __post_init__(self):
+        # Parse policy path
+        policy_path = parser.get_path_arg("policy")
+        if policy_path:
+            cli_overrides = parser.get_cli_overrides("policy")
+            self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=cli_overrides)
+            self.policy.pretrained_path = policy_path
+        else:
+            raise ValueError("Policy path is required (--policy.path)")
+
+        # Auto-detect device if not specified
+        if self.device is None or self.device == "auto":
+            if torch.cuda.is_available():
+                self.device = "cuda"
+            elif torch.backends.mps.is_available():
+                self.device = "mps"
+            else:
+                self.device = "cpu"
+            logging.info(f"Auto-detected device: {self.device}")
+
+    @classmethod
+    def __get_path_fields__(cls) -> list[str]:
+        """This enables the parser to load config from the policy using `--policy.path=local/dir`"""
+        return ["policy"]
+
+
+class RTCEvaluator:
+    """Evaluator for RTC on dataset samples."""
+
+    def __init__(self, cfg: RTCEvalConfig):
+        self.cfg = cfg
+        self.device = cfg.device
+
+        # Load dataset with proper delta_timestamps based on policy configuration
+        # Calculate delta_timestamps using the same logic as make_dataset factory
+        logging.info(f"Loading dataset: {cfg.dataset.repo_id}")
+
+        # Get dataset metadata to extract FPS
+        ds_meta = LeRobotDatasetMetadata(cfg.dataset.repo_id)
+
+        # Calculate delta_timestamps from policy's delta_indices
+        delta_timestamps = resolve_delta_timestamps(cfg.policy, ds_meta)
+
+        # Create dataset with calculated delta_timestamps
+        self.dataset = LeRobotDataset(
+            cfg.dataset.repo_id,
+            delta_timestamps=delta_timestamps,
+        )
+        logging.info(f"Dataset loaded: {len(self.dataset)} samples, {self.dataset.num_episodes} episodes")
+
+        # Create preprocessor/postprocessor
+        self.preprocessor, self.postprocessor = make_pre_post_processors(
+            policy_cfg=cfg.policy,
+            pretrained_path=cfg.policy.pretrained_path,
+            preprocessor_overrides={
+                "device_processor": {"device": self.device},
+            },
+        )
+
+        logging.info("=" * 80)
+        logging.info("Ready to run evaluation with sequential policy loading:")
+        logging.info("  1. policy_prev_chunk - Generate reference chunk, then destroy")
+        logging.info("  2. policy_no_rtc - Generate without RTC, then destroy")
+        logging.info("  3. policy_rtc - Generate with RTC, then destroy")
+        logging.info("  Note: Only one policy in memory at a time for efficient memory usage")
+        logging.info("=" * 80)
+
+    def _init_policy(self, name: str, rtc_enabled: bool, rtc_debug: bool):
+        """Initialize a single policy instance with specified RTC configuration.
+
+        Args:
+            name: Name identifier for logging purposes
+            rtc_enabled: Whether to enable RTC for this policy
+            rtc_debug: Whether to enable debug tracking for this policy
+
+        Returns:
+            Configured policy instance with optional torch.compile applied
+        """
+        logging.info(f"Initializing {name}...")
+
+        # Load policy from pretrained
+        policy_class = get_policy_class(self.cfg.policy.type)
+
+        config = PreTrainedConfig.from_pretrained(self.cfg.policy.pretrained_path)
+
+        if self.cfg.policy.type == "pi05" or self.cfg.policy.type == "pi0":
+            config.compile_model = self.cfg.use_torch_compile
+
+        policy = policy_class.from_pretrained(self.cfg.policy.pretrained_path, config=config)
+        policy = policy.to(self.device)
+        policy.eval()
+
+        # Configure RTC
+        rtc_config = RTCConfig(
+            enabled=rtc_enabled,
+            execution_horizon=self.cfg.rtc.execution_horizon,
+            max_guidance_weight=self.cfg.rtc.max_guidance_weight,
+            prefix_attention_schedule=self.cfg.rtc.prefix_attention_schedule,
+            debug=rtc_debug,
+            debug_maxlen=self.cfg.rtc.debug_maxlen,
+        )
+        policy.config.rtc_config = rtc_config
+        policy.init_rtc_processor()
+
+        logging.info(f"  RTC enabled: {rtc_enabled}")
+        logging.info(f"  RTC debug: {rtc_debug}")
+        logging.info(f"  Policy config: {config}")
+
+        # Apply torch.compile to predict_action_chunk method if enabled
+        if self.cfg.use_torch_compile:
+            policy = self._apply_torch_compile(policy, name)
+
+        logging.info(f"✓ {name} initialized successfully")
+        return policy
+
+    def _apply_torch_compile(self, policy, policy_name: str):
+        """Apply torch.compile to the policy's predict_action_chunk method.
+
+        Args:
+            policy: Policy instance to compile
+            policy_name: Name for logging purposes
+
+        Returns:
+            Policy with compiled predict_action_chunk method
+        """
+
+        # PI models handle their own compilation
+        if policy.type == "pi05" or policy.type == "pi0":
+            return policy
+
+        try:
+            # Check if torch.compile is available (PyTorch 2.0+)
+            if not hasattr(torch, "compile"):
+                logging.warning(
+                    f"  [{policy_name}] torch.compile is not available. Requires PyTorch 2.0+. "
+                    f"Current version: {torch.__version__}. Skipping compilation."
+                )
+                return policy
+
+            logging.info(f"  [{policy_name}] Applying torch.compile to predict_action_chunk...")
+            logging.info(f"    Backend: {self.cfg.torch_compile_backend}")
+            logging.info(f"    Mode: {self.cfg.torch_compile_mode}")
+            logging.info(f"    Disable CUDA graphs: {self.cfg.torch_compile_disable_cudagraphs}")
+            logging.info("    Note: Debug tracker excluded from compilation via @torch._dynamo.disable")
+
+            # Compile the predict_action_chunk method
+            # - Debug tracker is excluded from compilation via @torch._dynamo.disable
+            # - CUDA graphs disabled to prevent tensor aliasing from in-place ops (x_t += dt * v_t)
+            compile_kwargs = {
+                "backend": self.cfg.torch_compile_backend,
+                "mode": self.cfg.torch_compile_mode,
+            }
+
+            # Disable CUDA graphs if requested (prevents tensor aliasing issues)
+            if self.cfg.torch_compile_disable_cudagraphs:
+                compile_kwargs["options"] = {"triton.cudagraphs": False}
+
+            original_method = policy.predict_action_chunk
+            compiled_method = torch.compile(original_method, **compile_kwargs)
+            policy.predict_action_chunk = compiled_method
+            logging.info(f"  ✓ [{policy_name}] Successfully compiled predict_action_chunk")
+
+        except Exception as e:
+            logging.error(f"  [{policy_name}] Failed to apply torch.compile: {e}")
+            logging.warning(f"  [{policy_name}] Continuing without torch.compile")
+
+        return policy
+
+    def _destroy_policy(self, policy, policy_name: str):
+        """Explicitly destroy a policy and free all associated memory.
+
+        This method performs aggressive cleanup to ensure maximum memory is freed,
+        which is critical for large models (e.g., VLAs with billions of parameters).
+
+        Args:
+            policy: Policy instance to destroy
+            policy_name: Name for logging purposes
+        """
+        logging.info(f"  Destroying {policy_name} and freeing memory...")
+
+        try:
+            # Step 1: Move policy to CPU to free GPU/MPS memory
+            policy.cpu()
+
+            # Step 2: Delete the policy object
+            del policy
+
+            # Step 3: Force garbage collection to reclaim memory immediately
+            gc.collect()
+
+            # Step 4: Clear device-specific caches
+            if torch.cuda.is_available():
+                torch.cuda.empty_cache()
+                torch.cuda.synchronize()  # Ensure all operations complete
+
+            if torch.backends.mps.is_available():
+                torch.mps.empty_cache()
+
+            logging.info(f"  ✓ {policy_name} destroyed and memory freed")
+
+        except Exception as e:
+            logging.warning(f"  Warning: Error during {policy_name} cleanup: {e}")
+
+    def run_evaluation(self):
+        """Run evaluation on two random dataset samples using three separate policies.
+
+        Note: Policies are deinitalized after each step to free memory. Large models
+        (e.g., VLA models with billions of parameters) cannot fit three instances in
+        memory simultaneously. By deleting and garbage collecting after each step,
+        we ensure only one policy is loaded at a time.
+        """
+        # Create output directory
+        os.makedirs(self.cfg.output_dir, exist_ok=True)
+        logging.info(f"Output directory: {self.cfg.output_dir}")
+
+        logging.info("=" * 80)
+        logging.info("Starting RTC evaluation")
+        logging.info(f"Inference delay: {self.cfg.inference_delay}")
+        logging.info("=" * 80)
+
+        # Load two random samples from dataset
+        data_loader = torch.utils.data.DataLoader(self.dataset, batch_size=1, shuffle=True)
+        loader_iter = iter(data_loader)
+        first_sample = next(loader_iter)
+        second_sample = next(loader_iter)
+
+        preprocessed_first_sample = self.preprocessor(first_sample)
+        preprocessed_second_sample = self.preprocessor(second_sample)
+
+        # ============================================================================
+        # Step 1: Generate previous chunk using policy_prev_chunk
+        # ============================================================================
+        # This policy is only used to generate the reference chunk and then freed
+        logging.info("=" * 80)
+        logging.info("Step 1: Generating previous chunk with policy_prev_chunk")
+        logging.info("=" * 80)
+
+        # Initialize policy 1
+        policy_prev_chunk_policy = self._init_policy(
+            name="policy_prev_chunk",
+            rtc_enabled=False,
+            rtc_debug=False,
+        )
+        with torch.no_grad():
+            prev_chunk_left_over = policy_prev_chunk_policy.predict_action_chunk(
+                preprocessed_first_sample,
+            )[:, :25, :].squeeze(0)
+        logging.info(f"  Generated prev_chunk shape: {prev_chunk_left_over.shape}")
+
+        # Destroy policy_prev_chunk to free memory for large models
+        self._destroy_policy(policy_prev_chunk_policy, "policy_prev_chunk")
+
+        # ============================================================================
+        # Step 2: Generate actions WITHOUT RTC using policy_no_rtc
+        # ============================================================================
+        logging.info("=" * 80)
+        logging.info("Step 2: Generating actions WITHOUT RTC with policy_no_rtc")
+        logging.info("=" * 80)
+
+        set_seed(self.cfg.seed)
+
+        # Initialize policy 2
+        policy_no_rtc_policy = self._init_policy(
+            name="policy_no_rtc",
+            rtc_enabled=False,
+            rtc_debug=True,
+        )
+
+        # Sample noise (use same noise for both RTC and non-RTC for fair comparison)
+        noise_size = (1, policy_no_rtc_policy.config.chunk_size, policy_no_rtc_policy.config.max_action_dim)
+        noise = policy_no_rtc_policy.model.sample_noise(noise_size, self.device)
+        noise_clone = noise.clone()
+        policy_no_rtc_policy.rtc_processor.reset_tracker()
+        with torch.no_grad():
+            no_rtc_actions = policy_no_rtc_policy.predict_action_chunk(
+                preprocessed_second_sample,
+                noise=noise,
+            )
+        no_rtc_tracked_steps = policy_no_rtc_policy.rtc_processor.tracker.get_all_steps()
+        logging.info(f"  Tracked {len(no_rtc_tracked_steps)} steps without RTC")
+        logging.info(f"  Generated no_rtc_actions shape: {no_rtc_actions.shape}")
+
+        # Destroy policy_no_rtc to free memory before loading policy_rtc
+        self._destroy_policy(policy_no_rtc_policy, "policy_no_rtc")
+
+        # ============================================================================
+        # Step 3: Generate actions WITH RTC using policy_rtc
+        # ============================================================================
+        logging.info("=" * 80)
+        logging.info("Step 3: Generating actions WITH RTC with policy_rtc")
+        logging.info("=" * 80)
+
+        set_seed(self.cfg.seed)
+
+        # Initialize policy 3
+        policy_rtc_policy = self._init_policy(
+            name="policy_rtc",
+            rtc_enabled=True,
+            rtc_debug=True,
+        )
+        policy_rtc_policy.rtc_processor.reset_tracker()
+        with torch.no_grad():
+            rtc_actions = policy_rtc_policy.predict_action_chunk(
+                preprocessed_second_sample,
+                noise=noise_clone,
+                inference_delay=self.cfg.inference_delay,
+                prev_chunk_left_over=prev_chunk_left_over,
+                execution_horizon=self.cfg.rtc.execution_horizon,
+            )
+        rtc_tracked_steps = policy_rtc_policy.rtc_processor.get_all_debug_steps()
+        logging.info(f"  Tracked {len(rtc_tracked_steps)} steps with RTC")
+        logging.info(f"  Generated rtc_actions shape: {rtc_actions.shape}")
+
+        # Save num_steps before destroying policy (needed for plotting)
+        try:
+            num_steps = policy_rtc_policy.config.num_steps
+        except Exception as e:
+            logging.error(f"  Error getting num_steps: {e}")
+            num_steps = policy_rtc_policy.config.num_inference_steps
+            logging.warning(f"  Using num_inference_steps: {num_steps} instead of num_steps")
+
+        # Destroy policy_rtc after final use
+        self._destroy_policy(policy_rtc_policy, "policy_rtc")
+
+        # Plot and save results
+        logging.info("=" * 80)
+        logging.info("Plotting results...")
+        self.plot_tracked_data(rtc_tracked_steps, no_rtc_tracked_steps, prev_chunk_left_over, num_steps)
+
+        # Plot final actions comparison
+        logging.info("=" * 80)
+        logging.info("Plotting final actions comparison...")
+        self.plot_final_actions_comparison(rtc_actions, no_rtc_actions, prev_chunk_left_over)
+
+        logging.info("=" * 80)
+        logging.info("Evaluation completed successfully")
+
+    def plot_final_actions_comparison(self, rtc_actions, no_rtc_actions, prev_chunk_left_over):
+        """Plot final action predictions comparison on a single chart.
+
+        Args:
+            rtc_actions: Final actions from RTC policy
+            no_rtc_actions: Final actions from non-RTC policy
+            prev_chunk_left_over: Previous chunk used as ground truth
+        """
+        _check_matplotlib_available()
+
+        # Remove batch dimension if present
+        rtc_actions_plot = rtc_actions.squeeze(0).cpu() if len(rtc_actions.shape) == 3 else rtc_actions.cpu()
+        no_rtc_actions_plot = (
+            no_rtc_actions.squeeze(0).cpu() if len(no_rtc_actions.shape) == 3 else no_rtc_actions.cpu()
+        )
+        prev_chunk_plot = prev_chunk_left_over.cpu()
+
+        # Create figure with 6 subplots (one per action dimension)
+        fig, axes = plt.subplots(6, 1, figsize=(16, 12))
+        fig.suptitle("Final Action Predictions Comparison (Raw)", fontsize=16)
+
+        # Plot each action dimension
+        for dim_idx, ax in enumerate(axes):
+            # Plot previous chunk (ground truth) in red
+            RTCDebugVisualizer.plot_waypoints(
+                [ax],
+                prev_chunk_plot[:, dim_idx : dim_idx + 1],
+                start_from=0,
+                color="red",
+                label="Previous Chunk (Ground Truth)",
+                linewidth=2.5,
+                alpha=0.8,
+            )
+
+            # Plot no-RTC actions in blue
+            RTCDebugVisualizer.plot_waypoints(
+                [ax],
+                no_rtc_actions_plot[:, dim_idx : dim_idx + 1],
+                start_from=0,
+                color="blue",
+                label="No RTC",
+                linewidth=2,
+                alpha=0.7,
+            )
+
+            # Plot RTC actions in green
+            RTCDebugVisualizer.plot_waypoints(
+                [ax],
+                rtc_actions_plot[:, dim_idx : dim_idx + 1],
+                start_from=0,
+                color="green",
+                label="RTC",
+                linewidth=2,
+                alpha=0.7,
+            )
+
+            # Add vertical lines for inference delay and execution horizon
+            inference_delay = self.cfg.inference_delay
+            execution_horizon = self.cfg.rtc.execution_horizon
+
+            if inference_delay > 0:
+                ax.axvline(
+                    x=inference_delay - 1,
+                    color="orange",
+                    linestyle="--",
+                    alpha=0.5,
+                    label=f"Inference Delay ({inference_delay})",
+                )
+
+            if execution_horizon > 0:
+                ax.axvline(
+                    x=execution_horizon,
+                    color="purple",
+                    linestyle="--",
+                    alpha=0.5,
+                    label=f"Execution Horizon ({execution_horizon})",
+                )
+
+            ax.set_ylabel(f"Dim {dim_idx}", fontsize=10)
+            ax.grid(True, alpha=0.3)
+
+            # Set x-axis ticks to show all integer values
+            max_len = max(rtc_actions_plot.shape[0], no_rtc_actions_plot.shape[0], prev_chunk_plot.shape[0])
+            ax.set_xticks(range(0, max_len, max(1, max_len // 20)))  # Show ~20 ticks
+            ax.set_xlim(-0.5, max_len - 0.5)
+
+        axes[-1].set_xlabel("Step", fontsize=10)
+
+        # Collect legend handles and labels from first subplot
+        handles, labels = axes[0].get_legend_handles_labels()
+        # Remove duplicates while preserving order
+        seen = set()
+        unique_handles = []
+        unique_labels = []
+        for handle, label in zip(handles, labels, strict=True):
+            if label not in seen:
+                seen.add(label)
+                unique_handles.append(handle)
+                unique_labels.append(label)
+
+        # Add legend outside the plot area (to the right)
+        fig.legend(
+            unique_handles,
+            unique_labels,
+            loc="center right",
+            fontsize=9,
+            bbox_to_anchor=(1.0, 0.5),
+            framealpha=0.9,
+        )
+
+        # Save figure
+        output_path = os.path.join(self.cfg.output_dir, "final_actions_comparison.png")
+        fig.tight_layout(rect=[0, 0, 0.85, 1])  # Leave space for legend on right
+        fig.savefig(output_path, dpi=150, bbox_inches="tight")
+        logging.info(f"Saved final actions comparison to {output_path}")
+        plt.close(fig)
+
+    def plot_tracked_data(self, rtc_tracked_steps, no_rtc_tracked_steps, prev_chunk_left_over, num_steps):
+        _check_matplotlib_available()
+
+        # Create side-by-side figures for denoising visualization
+        fig_xt, axs_xt = self._create_figure("x_t Denoising: No RTC (left) vs RTC (right)")
+        fig_vt, axs_vt = self._create_figure("v_t Denoising: No RTC (left) vs RTC (right)")
+        fig_corr, axs_corr = self._create_figure("Correction: No RTC (left) vs RTC (right)")
+        fig_x1t, axs_x1t = self._create_figure(
+            "x1_t Predicted State & Error: No RTC (left - empty) vs RTC (right)"
+        )
+        self._plot_denoising_steps_from_tracker(
+            rtc_tracked_steps,
+            axs_xt[:, 1],  # Right column for x_t
+            axs_vt[:, 1],  # Right column for v_t
+            axs_corr[:, 1],  # Right column for correction
+            axs_x1t[:, 1],  # Right column for x1_t
+            num_steps,
+            add_labels=True,  # Add labels for RTC (right column)
+        )
+
+        self._plot_denoising_steps_from_tracker(
+            no_rtc_tracked_steps,
+            axs_xt[:, 0],  # Left column for x_t
+            axs_vt[:, 0],  # Left column for v_t
+            axs_corr[:, 0],  # Left column for correction
+            axs_x1t[:, 0],  # Left column for x1_t
+            num_steps,
+            add_labels=False,  # No labels for No RTC (left column)
+        )
+
+        # Plot no-RTC x_t data on right chart as orange dashed line for comparison
+        self._plot_no_rtc_xt_reference(no_rtc_tracked_steps, axs_xt[:, 1], num_steps)
+
+        # Plot ground truth on x_t axes
+        RTCDebugVisualizer.plot_waypoints(
+            axs_xt[:, 1], prev_chunk_left_over, start_from=0, color="red", label="Ground truth"
+        )
+
+        # Plot ground truth on x1_t axes
+        RTCDebugVisualizer.plot_waypoints(
+            axs_x1t[:, 1], prev_chunk_left_over, start_from=0, color="red", label="Ground truth"
+        )
+
+        # Plot ground truth on x_t axes (no labels for left column)
+        RTCDebugVisualizer.plot_waypoints(
+            axs_xt[:, 0], prev_chunk_left_over, start_from=0, color="red", label=None
+        )
+
+        RTCDebugVisualizer.plot_waypoints(
+            axs_x1t[:, 0], prev_chunk_left_over, start_from=0, color="red", label=None
+        )
+
+        # Add legends outside the plot area for each figure
+        self._add_figure_legend(fig_xt, axs_xt)
+        self._add_figure_legend(fig_vt, axs_vt)
+        self._add_figure_legend(fig_corr, axs_corr)
+        self._add_figure_legend(fig_x1t, axs_x1t)
+
+        # Save denoising plots
+        self._save_figure(fig_xt, os.path.join(self.cfg.output_dir, "denoising_xt_comparison.png"))
+        self._save_figure(fig_vt, os.path.join(self.cfg.output_dir, "denoising_vt_comparison.png"))
+        self._save_figure(fig_corr, os.path.join(self.cfg.output_dir, "denoising_correction_comparison.png"))
+        self._save_figure(fig_x1t, os.path.join(self.cfg.output_dir, "denoising_x1t_comparison.png"))
+
+    def _create_figure(self, title):
+        fig, axs = plt.subplots(6, 2, figsize=(24, 12))
+        fig.suptitle(title, fontsize=16)
+
+        for ax in axs[:, 0]:
+            ax.set_title("No RTC (N/A)" if ax == axs[0, 0] else "", fontsize=12)
+        for ax in axs[:, 1]:
+            ax.set_title("RTC" if ax == axs[0, 1] else "", fontsize=12)
+
+        return fig, axs
+
+    def _add_figure_legend(self, fig, axs):
+        """Add a legend outside the plot area on the right side.
+
+        Args:
+            fig: Matplotlib figure to add legend to
+            axs: Array of axes to collect legend handles from
+        """
+        # Collect all handles and labels from the first row of axes (right column)
+        handles, labels = axs[0, 1].get_legend_handles_labels()
+
+        # Remove duplicates while preserving order
+        seen = set()
+        unique_handles = []
+        unique_labels = []
+        for handle, label in zip(handles, labels, strict=True):
+            if label not in seen:
+                seen.add(label)
+                unique_handles.append(handle)
+                unique_labels.append(label)
+
+        # Add legend outside the plot area (to the right, close to charts)
+        if unique_handles:
+            fig.legend(
+                unique_handles,
+                unique_labels,
+                loc="center left",
+                fontsize=8,
+                bbox_to_anchor=(0.87, 0.5),
+                framealpha=0.9,
+                ncol=1,
+            )
+
+    def _save_figure(self, fig, path):
+        fig.tight_layout(rect=[0, 0, 0.85, 1])  # Leave space for legend/colorbar on right
+        fig.savefig(path, dpi=150, bbox_inches="tight")
+        logging.info(f"Saved figure to {path}")
+        plt.close(fig)
+
+    def _plot_denoising_steps_from_tracker(
+        self, tracked_steps, xt_axs, vt_axs, corr_axs, x1t_axs, num_steps, add_labels=True
+    ):
+        """Plot denoising steps from tracker data.
+
+        Args:
+            tracked_steps: List of DebugStep objects containing debug steps
+            xt_axs: Matplotlib axes for x_t plots (array of 6 axes)
+            vt_axs: Matplotlib axes for v_t plots (array of 6 axes)
+            corr_axs: Matplotlib axes for correction plots (array of 6 axes)
+            x1t_axs: Matplotlib axes for x1_t plots (array of 6 axes)
+            num_steps: Total number of denoising steps for colormap
+            add_labels: Whether to add legend labels for the plots
+        """
+
+        logging.info("=" * 80)
+        logging.info(f"Plotting {len(tracked_steps)} steps")
+
+        debug_steps = tracked_steps
+        if not debug_steps:
+            return
+
+        # Define colors for different denoise steps (using a colormap)
+        colors = plt.cm.viridis(np.linspace(0, 1, num_steps))
+
+        for step_idx, debug_step in enumerate(debug_steps):
+            color = colors[step_idx % len(colors)]
+            label = f"Step {step_idx}" if add_labels else None
+
+            # Plot x_t
+            if debug_step.x_t is not None:
+                RTCDebugVisualizer.plot_waypoints(
+                    xt_axs, debug_step.x_t, start_from=0, color=color, label=label
+                )
+
+            # Plot v_t
+            if debug_step.v_t is not None:
+                RTCDebugVisualizer.plot_waypoints(
+                    vt_axs, debug_step.v_t, start_from=0, color=color, label=label
+                )
+
+            # Plot correction on separate axes
+            if debug_step.correction is not None:
+                RTCDebugVisualizer.plot_waypoints(
+                    corr_axs,
+                    debug_step.correction,
+                    start_from=0,
+                    color=color,
+                    label=label,
+                )
+
+            # Plot x1_t (predicted state)
+            if x1t_axs is not None and debug_step.x1_t is not None:
+                x1t_label = f"x1_t Step {step_idx}" if add_labels else None
+                RTCDebugVisualizer.plot_waypoints(
+                    x1t_axs,
+                    debug_step.x1_t,
+                    start_from=0,
+                    color=color,
+                    label=x1t_label,
+                )
+
+            # Plot error in orange dashed
+            if x1t_axs is not None and debug_step.err is not None:
+                error_chunk = (
+                    debug_step.err[0].cpu().numpy()
+                    if len(debug_step.err.shape) == 3
+                    else debug_step.err.cpu().numpy()
+                )
+
+                num_dims = min(error_chunk.shape[-1], 6)
+                error_label = f"error Step {step_idx}" if add_labels else None
+                for j in range(num_dims):
+                    x1t_axs[j].plot(
+                        np.arange(0, error_chunk.shape[0]),
+                        error_chunk[:, j],
+                        color="orange",
+                        linestyle="--",
+                        alpha=0.7,
+                        label=error_label,
+                    )
+
+        # Recalculate axis limits after plotting to ensure proper scaling
+        self._rescale_axes(xt_axs)
+        self._rescale_axes(vt_axs)
+        self._rescale_axes(corr_axs)
+        self._rescale_axes(x1t_axs)
+
+    def _plot_no_rtc_xt_reference(self, no_rtc_tracked_steps, xt_axs, num_steps):
+        """Plot final no-RTC x_t data as orange dashed line on the RTC chart for comparison.
+
+        Args:
+            no_rtc_tracked_steps: List of DebugStep objects containing no-RTC debug steps
+            xt_axs: Matplotlib axes for x_t plots (array of 6 axes, right column)
+            num_steps: Total number of denoising steps for colormap
+        """
+        debug_steps = no_rtc_tracked_steps
+        if not debug_steps:
+            return
+
+        # Plot only the final x_t step as orange dashed line
+        final_step = debug_steps[-1]
+        logging.info("Plotting final no-RTC x_t step as orange dashed reference")
+
+        if final_step.x_t is not None:
+            x_t_chunk = (
+                final_step.x_t[0].cpu().numpy()
+                if len(final_step.x_t.shape) == 3
+                else final_step.x_t.cpu().numpy()
+            )
+
+            num_dims = min(x_t_chunk.shape[-1], 6)
+            for j in range(num_dims):
+                xt_axs[j].plot(
+                    np.arange(0, x_t_chunk.shape[0]),
+                    x_t_chunk[:, j],
+                    color="orange",
+                    linestyle="--",
+                    alpha=0.7,
+                    linewidth=2,
+                    label="No RTC (final)" if j == 0 else "",
+                )
+
+    def _rescale_axes(self, axes):
+        """Rescale axes to show all data with proper margins.
+
+        Args:
+            axes: Array of matplotlib axes to rescale
+        """
+        for ax in axes:
+            ax.relim()
+            ax.autoscale_view()
+
+            # Add 10% margin to y-axis for better visualization
+            ylim = ax.get_ylim()
+            y_range = ylim[1] - ylim[0]
+            if y_range > 0:  # Avoid division by zero
+                margin = y_range * 0.1
+                ax.set_ylim(ylim[0] - margin, ylim[1] + margin)
+
+            # Set x-axis ticks to show all integer values
+            xlim = ax.get_xlim()
+            max_len = int(xlim[1]) + 1
+            if max_len > 0:
+                ax.set_xticks(range(0, max_len, max(1, max_len // 20)))  # Show ~20 ticks
+                ax.set_xlim(-0.5, max_len - 0.5)
+
+
+@parser.wrap()
+def main(cfg: RTCEvalConfig):
+    """Main entry point for RTC evaluation."""
+    # Set random seed for reproducibility
+    set_seed(cfg.seed)
+
+    init_logging()
+
+    logging.info("=" * 80)
+    logging.info("RTC Dataset Evaluation")
+    logging.info(f"Config: {cfg}")
+    logging.info("=" * 80)
+
+    evaluator = RTCEvaluator(cfg)
+    evaluator.run_evaluation()
+
+
+if __name__ == "__main__":
+    main()

examples/rtc/eval_with_real_robot.py

@@ -0,0 +1,549 @@
+#!/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.
+
+"""
+Demo script showing how to use Real-Time Chunking (RTC) with action chunking policies on real robots.
+
+This script demonstrates:
+1. Creating a robot and policy (SmolVLA, Pi0, etc.) with RTC
+2. Consuming actions from the policy while the robot executes
+3. Periodically requesting new action chunks in the background using threads
+4. Managing action buffers and timing for real-time operation
+
+For simulation environments, see eval_with_simulation.py
+
+Usage:
+    # Run RTC with Real robot with RTC
+    uv run examples/rtc/eval_with_real_robot.py \
+        --policy.path=helper2424/smolvla_check_rtc_last3 \
+        --policy.device=mps \
+        --rtc.enabled=true \
+        --rtc.execution_horizon=20 \
+        --robot.type=so100_follower \
+        --robot.port=/dev/tty.usbmodem58FA0834591 \
+        --robot.id=so100_follower \
+        --robot.cameras="{ gripper: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30}, front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}}" \
+        --task="Move green small object into the purple platform" \
+        --duration=120
+
+    # Run RTC with Real robot without RTC
+    uv run examples/rtc/eval_with_real_robot.py \
+        --policy.path=helper2424/smolvla_check_rtc_last3 \
+        --policy.device=mps \
+        --rtc.enabled=false \
+        --robot.type=so100_follower \
+        --robot.port=/dev/tty.usbmodem58FA0834591 \
+        --robot.id=so100_follower \
+        --robot.cameras="{ gripper: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30}, front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}}" \
+        --task="Move green small object into the purple platform" \
+        --duration=120
+
+    # Run RTC with Real robot with pi0.5 policy
+    uv run examples/rtc/eval_with_real_robot.py \
+        --policy.path=helper2424/pi05_check_rtc \
+        --policy.device=mps \
+        --rtc.enabled=true \
+        --rtc.execution_horizon=20 \
+        --robot.type=so100_follower \
+        --robot.port=/dev/tty.usbmodem58FA0834591 \
+        --robot.id=so100_follower \
+        --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
+"""
+
+import logging
+import math
+import sys
+import time
+import traceback
+from dataclasses import dataclass, field
+from threading import Event, Lock, Thread
+
+import torch
+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.configs import parser
+from lerobot.configs.policies import PreTrainedConfig
+from lerobot.configs.types import RTCAttentionSchedule
+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.factory import (
+    make_default_robot_action_processor,
+    make_default_robot_observation_processor,
+)
+from lerobot.rl.process import ProcessSignalHandler
+from lerobot.robots import (  # noqa: F401
+    Robot,
+    RobotConfig,
+    koch_follower,
+    so100_follower,
+    so101_follower,
+)
+from lerobot.robots.utils import make_robot_from_config
+from lerobot.utils.constants import OBS_IMAGES
+from lerobot.utils.hub import HubMixin
+from lerobot.utils.utils import init_logging
+
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+
+class RobotWrapper:
+    def __init__(self, robot: Robot):
+        self.robot = robot
+        self.lock = Lock()
+
+    def get_observation(self) -> dict[str, Tensor]:
+        with self.lock:
+            return self.robot.get_observation()
+
+    def send_action(self, action: Tensor):
+        with self.lock:
+            self.robot.send_action(action)
+
+    def observation_features(self) -> list[str]:
+        with self.lock:
+            return self.robot.observation_features
+
+    def action_features(self) -> list[str]:
+        with self.lock:
+            return self.robot.action_features
+
+
+@dataclass
+class RTCDemoConfig(HubMixin):
+    """Configuration for RTC demo with action chunking policies and real robots."""
+
+    # Policy configuration
+    policy: PreTrainedConfig | None = None
+
+    # Robot configuration
+    robot: RobotConfig | None = None
+
+    # RTC configuration
+    rtc: RTCConfig = field(
+        default_factory=lambda: RTCConfig(
+            execution_horizon=10,
+            max_guidance_weight=1.0,
+            prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        )
+    )
+
+    # Demo parameters
+    duration: float = 30.0  # Duration to run the demo (seconds)
+    fps: float = 10.0  # Action execution frequency (Hz)
+
+    # Compute device
+    device: str | None = None  # Device to run on (cuda, cpu, auto)
+
+    # Get new actions horizon. The amount of executed steps after which will be requested new actions.
+    # It should be higher than inference delay + execution horizon.
+    action_queue_size_to_get_new_actions: int = 30
+
+    # Task to execute
+    task: str = field(default="", metadata={"help": "Task to execute"})
+
+    # Torch compile configuration
+    use_torch_compile: bool = field(
+        default=False,
+        metadata={"help": "Use torch.compile for faster inference (PyTorch 2.0+)"},
+    )
+
+    torch_compile_backend: str = field(
+        default="inductor",
+        metadata={"help": "Backend for torch.compile (inductor, aot_eager, cudagraphs)"},
+    )
+
+    torch_compile_mode: str = field(
+        default="default",
+        metadata={"help": "Compilation mode (default, reduce-overhead, max-autotune)"},
+    )
+
+    torch_compile_disable_cudagraphs: bool = field(
+        default=True,
+        metadata={
+            "help": "Disable CUDA graphs in torch.compile. Required due to in-place tensor "
+            "operations in denoising loop (x_t += dt * v_t) which cause tensor aliasing issues."
+        },
+    )
+
+    def __post_init__(self):
+        # HACK: We parse again the cli args here to get the pretrained path if there was one.
+        policy_path = parser.get_path_arg("policy")
+        if policy_path:
+            cli_overrides = parser.get_cli_overrides("policy")
+            self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=cli_overrides)
+            self.policy.pretrained_path = policy_path
+        else:
+            raise ValueError("Policy path is required")
+
+        # Validate that robot configuration is provided
+        if self.robot is None:
+            raise ValueError("Robot configuration must be provided")
+
+    @classmethod
+    def __get_path_fields__(cls) -> list[str]:
+        """This enables the parser to load config from the policy using `--policy.path=local/dir`"""
+        return ["policy"]
+
+
+def is_image_key(k: str) -> bool:
+    return k.startswith(OBS_IMAGES)
+
+
+def get_actions(
+    policy,
+    robot: RobotWrapper,
+    robot_observation_processor,
+    action_queue: ActionQueue,
+    shutdown_event: Event,
+    cfg: RTCDemoConfig,
+):
+    """Thread function to request action chunks from the policy.
+
+    Args:
+        policy: The policy instance (SmolVLA, Pi0, etc.)
+        robot: The robot instance for getting observations
+        robot_observation_processor: Processor for raw robot observations
+        action_queue: Queue to put new action chunks
+        shutdown_event: Event to signal shutdown
+        cfg: Demo configuration
+    """
+    try:
+        logger.info("[GET_ACTIONS] Starting get actions thread")
+
+        latency_tracker = LatencyTracker()  # Track latency of action chunks
+        fps = cfg.fps
+        time_per_chunk = 1.0 / fps
+
+        dataset_features = hw_to_dataset_features(robot.observation_features(), "observation")
+        policy_device = policy.config.device
+
+        # Load preprocessor and postprocessor from pretrained files
+        # The stats are embedded in the processor .safetensors files
+        logger.info(f"[GET_ACTIONS] Loading preprocessor/postprocessor from {cfg.policy.pretrained_path}")
+
+        preprocessor, postprocessor = make_pre_post_processors(
+            policy_cfg=cfg.policy,
+            pretrained_path=cfg.policy.pretrained_path,
+            dataset_stats=None,  # Will load from pretrained processor files
+            preprocessor_overrides={
+                "device_processor": {"device": cfg.policy.device},
+            },
+        )
+
+        logger.info("[GET_ACTIONS] Preprocessor/postprocessor loaded successfully with embedded stats")
+
+        get_actions_threshold = cfg.action_queue_size_to_get_new_actions
+
+        if not cfg.rtc.enabled:
+            get_actions_threshold = 0
+
+        while not shutdown_event.is_set():
+            if action_queue.qsize() <= get_actions_threshold:
+                current_time = time.perf_counter()
+                action_index_before_inference = action_queue.get_action_index()
+                prev_actions = action_queue.get_left_over()
+
+                inference_latency = latency_tracker.max()
+                inference_delay = math.ceil(inference_latency / time_per_chunk)
+
+                obs = robot.get_observation()
+
+                # Apply robot observation processor
+                obs_processed = robot_observation_processor(obs)
+
+                obs_with_policy_features = build_dataset_frame(
+                    dataset_features, obs_processed, prefix="observation"
+                )
+
+                for name in obs_with_policy_features:
+                    obs_with_policy_features[name] = torch.from_numpy(obs_with_policy_features[name])
+                    if "image" in name:
+                        obs_with_policy_features[name] = (
+                            obs_with_policy_features[name].type(torch.float32) / 255
+                        )
+                        obs_with_policy_features[name] = (
+                            obs_with_policy_features[name].permute(2, 0, 1).contiguous()
+                        )
+                    obs_with_policy_features[name] = obs_with_policy_features[name].unsqueeze(0)
+                    obs_with_policy_features[name] = obs_with_policy_features[name].to(policy_device)
+
+                obs_with_policy_features["task"] = [cfg.task]  # Task should be a list, not a string!
+                obs_with_policy_features["robot_type"] = (
+                    robot.robot.name if hasattr(robot.robot, "name") else ""
+                )
+
+                preproceseded_obs = preprocessor(obs_with_policy_features)
+
+                # Generate actions WITH RTC
+                actions = policy.predict_action_chunk(
+                    preproceseded_obs,
+                    inference_delay=inference_delay,
+                    prev_chunk_left_over=prev_actions,
+                )
+
+                # Store original actions (before postprocessing) for RTC
+                original_actions = actions.squeeze(0).clone()
+
+                postprocessed_actions = postprocessor(actions)
+
+                postprocessed_actions = postprocessed_actions.squeeze(0)
+
+                new_latency = time.perf_counter() - current_time
+                new_delay = math.ceil(new_latency / time_per_chunk)
+                latency_tracker.add(new_latency)
+
+                if cfg.action_queue_size_to_get_new_actions < cfg.rtc.execution_horizon + new_delay:
+                    logger.warning(
+                        "[GET_ACTIONS] cfg.action_queue_size_to_get_new_actions Too small, It should be higher than inference delay + execution horizon."
+                    )
+
+                action_queue.merge(
+                    original_actions, postprocessed_actions, new_delay, action_index_before_inference
+                )
+            else:
+                # Small sleep to prevent busy waiting
+                time.sleep(0.1)
+
+        logger.info("[GET_ACTIONS] get actions thread shutting down")
+    except Exception as e:
+        logger.error(f"[GET_ACTIONS] Fatal exception in get_actions thread: {e}")
+        logger.error(traceback.format_exc())
+        sys.exit(1)
+
+
+def actor_control(
+    robot: RobotWrapper,
+    robot_action_processor,
+    action_queue: ActionQueue,
+    shutdown_event: Event,
+    cfg: RTCDemoConfig,
+):
+    """Thread function to execute actions on the robot.
+
+    Args:
+        robot: The robot instance
+        action_queue: Queue to get actions from
+        shutdown_event: Event to signal shutdown
+        cfg: Demo configuration
+    """
+    try:
+        logger.info("[ACTOR] Starting actor thread")
+
+        action_count = 0
+        action_interval = 1.0 / cfg.fps
+
+        while not shutdown_event.is_set():
+            start_time = time.perf_counter()
+
+            # Try to get an action from the queue with timeout
+            action = action_queue.get()
+
+            if action is not None:
+                action = action.cpu()
+                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)
+
+                action_count += 1
+
+            dt_s = time.perf_counter() - start_time
+            time.sleep(max(0, (action_interval - dt_s) - 0.001))
+
+        logger.info(f"[ACTOR] Actor thread shutting down. Total actions executed: {action_count}")
+    except Exception as e:
+        logger.error(f"[ACTOR] Fatal exception in actor_control thread: {e}")
+        logger.error(traceback.format_exc())
+        sys.exit(1)
+
+
+def _apply_torch_compile(policy, cfg: RTCDemoConfig):
+    """Apply torch.compile to the policy's predict_action_chunk method.
+
+    Args:
+        policy: Policy instance to compile
+        cfg: Configuration containing torch compile settings
+
+    Returns:
+        Policy with compiled predict_action_chunk method
+    """
+
+    # PI models handle their own compilation
+    if policy.type == "pi05" or policy.type == "pi0":
+        return policy
+
+    try:
+        # Check if torch.compile is available (PyTorch 2.0+)
+        if not hasattr(torch, "compile"):
+            logger.warning(
+                f"torch.compile is not available. Requires PyTorch 2.0+. "
+                f"Current version: {torch.__version__}. Skipping compilation."
+            )
+            return policy
+
+        logger.info("Applying torch.compile to predict_action_chunk...")
+        logger.info(f"  Backend: {cfg.torch_compile_backend}")
+        logger.info(f"  Mode: {cfg.torch_compile_mode}")
+        logger.info(f"  Disable CUDA graphs: {cfg.torch_compile_disable_cudagraphs}")
+
+        # Compile the predict_action_chunk method
+        # - CUDA graphs disabled to prevent tensor aliasing from in-place ops (x_t += dt * v_t)
+        compile_kwargs = {
+            "backend": cfg.torch_compile_backend,
+            "mode": cfg.torch_compile_mode,
+        }
+
+        # Disable CUDA graphs if requested (prevents tensor aliasing issues)
+        if cfg.torch_compile_disable_cudagraphs:
+            compile_kwargs["options"] = {"triton.cudagraphs": False}
+
+        original_method = policy.predict_action_chunk
+        compiled_method = torch.compile(original_method, **compile_kwargs)
+        policy.predict_action_chunk = compiled_method
+        logger.info("✓ Successfully compiled predict_action_chunk")
+
+    except Exception as e:
+        logger.error(f"Failed to apply torch.compile: {e}")
+        logger.warning("Continuing without torch.compile")
+
+    return policy
+
+
+@parser.wrap()
+def demo_cli(cfg: RTCDemoConfig):
+    """Main entry point for RTC demo with draccus configuration."""
+
+    # Initialize logging
+    init_logging()
+
+    logger.info(f"Using device: {cfg.device}")
+
+    # Setup signal handler for graceful shutdown
+    signal_handler = ProcessSignalHandler(use_threads=True, display_pid=False)
+    shutdown_event = signal_handler.shutdown_event
+
+    policy = None
+    robot = None
+    get_actions_thread = None
+    actor_thread = None
+
+    policy_class = get_policy_class(cfg.policy.type)
+
+    # Load config and set compile_model for pi0/pi05 models
+    config = PreTrainedConfig.from_pretrained(cfg.policy.pretrained_path)
+
+    if cfg.policy.type == "pi05" or cfg.policy.type == "pi0":
+        config.compile_model = cfg.use_torch_compile
+
+    policy = policy_class.from_pretrained(cfg.policy.pretrained_path, config=config)
+
+    # Turn on RTC
+    policy.config.rtc_config = cfg.rtc
+
+    # Init RTC processort, as by default if RTC disabled in the config
+    # The processor won't be created
+    policy.init_rtc_processor()
+
+    assert policy.name in ["smolvla", "pi05", "pi0"], "Only smolvla, pi05, and pi0 are supported for RTC"
+
+    policy = policy.to(cfg.device)
+    policy.eval()
+
+    # Apply torch.compile to predict_action_chunk method if enabled
+    if cfg.use_torch_compile:
+        policy = _apply_torch_compile(policy, cfg)
+
+    # Create robot
+    logger.info(f"Initializing robot: {cfg.robot.type}")
+    robot = make_robot_from_config(cfg.robot)
+    robot.connect()
+    robot_wrapper = RobotWrapper(robot)
+
+    # Create robot observation processor
+    robot_observation_processor = make_default_robot_observation_processor()
+    robot_action_processor = make_default_robot_action_processor()
+
+    # Create action queue for communication between threads
+    action_queue = ActionQueue(cfg.rtc)
+
+    # Start chunk requester thread
+    get_actions_thread = Thread(
+        target=get_actions,
+        args=(policy, robot_wrapper, robot_observation_processor, action_queue, shutdown_event, cfg),
+        daemon=True,
+        name="GetActions",
+    )
+    get_actions_thread.start()
+    logger.info("Started get actions thread")
+
+    # Start action executor thread
+    actor_thread = Thread(
+        target=actor_control,
+        args=(robot_wrapper, robot_action_processor, action_queue, shutdown_event, cfg),
+        daemon=True,
+        name="Actor",
+    )
+    actor_thread.start()
+    logger.info("Started actor thread")
+
+    logger.info("Started stop by duration thread")
+
+    # Main thread monitors for duration or shutdown
+    logger.info(f"Running demo for {cfg.duration} seconds...")
+    start_time = time.time()
+
+    while not shutdown_event.is_set() and (time.time() - start_time) < cfg.duration:
+        time.sleep(10)
+
+        # Log queue status periodically
+        if int(time.time() - start_time) % 5 == 0:
+            logger.info(f"[MAIN] Action queue size: {action_queue.qsize()}")
+
+        if time.time() - start_time > cfg.duration:
+            break
+
+    logger.info("Demo duration reached or shutdown requested")
+
+    # Signal shutdown
+    shutdown_event.set()
+
+    # Wait for threads to finish
+    if get_actions_thread and get_actions_thread.is_alive():
+        logger.info("Waiting for chunk requester thread to finish...")
+        get_actions_thread.join()
+
+    if actor_thread and actor_thread.is_alive():
+        logger.info("Waiting for action executor thread to finish...")
+        actor_thread.join()
+
+    # Cleanup robot
+    if robot:
+        robot.disconnect()
+        logger.info("Robot disconnected")
+
+    logger.info("Cleanup completed")
+
+
+if __name__ == "__main__":
+    demo_cli()
+    logging.info("RTC demo finished")

loop_datasets.py

@@ -1,10 +0,0 @@
-from huggingface_hub import HfApi, list_datasets
-
-api = HfApi()
-datasets = list_datasets(author="lerobot-data-collection")
-print('"[', end="")
-i=0
-for dataset in datasets:
-    if "three-folds-dataset" in dataset.id:
-        print("'" + dataset.id + "',", end="")
-print(']"',)

pyproject.toml

@@ -25,7 +25,7 @@ discord = "https://discord.gg/s3KuuzsPFb"
 
 [project]
 name = "lerobot"
-version = "0.4.1"
+version = "0.4.2"
 description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
 readme = "README.md"
 license = { text = "Apache-2.0" }
@@ -102,10 +102,8 @@ grpcio-dep = ["grpcio==1.73.1", "protobuf==6.31.0"] # TODO: Bumb dependency (com
 # Motors
 feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0"]
 dynamixel = ["dynamixel-sdk>=3.7.31,<3.9.0"]
-damiao = ["python-can>=4.2.0,<5.0.0"]
 
 # Robots
-openarms = ["lerobot[damiao]"]
 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"]
@@ -144,13 +142,12 @@ video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
 # Simulation
 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]", "libero @ git+https://github.com/huggingface/lerobot-libero.git@main#egg=libero"]
+libero = ["lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0"]
 metaworld = ["metaworld==3.0.0"]
 
 # All
 all = [
     "lerobot[dynamixel]",
-    "lerobot[openarms]",
     "lerobot[gamepad]",
     "lerobot[hopejr]",
     "lerobot[lekiwi]",

scripts/find_high_mse_episodes.py

@@ -1,278 +0,0 @@
-#!/usr/bin/env python
-"""
-Script to find episodes with highest MSE between observation.state and action pairs.
-
-This script:
-1. Downloads a LeRobot dataset (if needed, skipping videos)
-2. Computes MSE between observation.state and action for each frame
-3. Aggregates MSE per episode
-4. Returns the top 1% episodes with highest total MSE
-"""
-
-import argparse
-import logging
-from pathlib import Path
-
-import numpy as np
-import torch
-from tqdm import tqdm
-
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.utils.constants import HF_LEROBOT_HOME
-
-logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(levelname)s - %(message)s")
-
-
-def compute_episode_mse(
-    dataset: LeRobotDataset,
-    state_key: str = "observation.state",
-    action_key: str = "action",
-) -> dict[int, float]:
-    """
-    Compute total MSE between state and action for each episode.
-    
-    Args:
-        dataset: LeRobotDataset to analyze
-        state_key: Key for the observation state in the dataset
-        action_key: Key for the action in the dataset
-        
-    Returns:
-        Dictionary mapping episode_index to total MSE for that episode
-    """
-    episode_mse = {}
-    
-    # Get all unique episode indices
-    hf_dataset = dataset.hf_dataset
-    
-    # Group frames by episode for efficient processing
-    logging.info("Computing MSE for each episode...")
-    
-    # Process all frames and accumulate MSE per episode
-    for idx in tqdm(range(len(hf_dataset)), desc="Processing frames"):
-        item = hf_dataset[idx]
-        
-        ep_idx = item["episode_index"]
-        if isinstance(ep_idx, torch.Tensor):
-            ep_idx = ep_idx.item()
-        
-        state = item[state_key]
-        action = item[action_key]
-        
-        if isinstance(state, torch.Tensor):
-            state = state.numpy()
-        if isinstance(action, torch.Tensor):
-            action = action.numpy()
-        
-        # Compute MSE for this frame (sum of squared differences across all dimensions)
-        mse = np.mean((state - action) ** 2)
-        
-        if ep_idx not in episode_mse:
-            episode_mse[ep_idx] = 0.0
-        episode_mse[ep_idx] += mse
-    
-    return episode_mse
-
-
-def get_top_mse_episodes(
-    episode_mse: dict[int, float],
-    top_percent: float = 1.0,
-) -> list[int]:
-    """
-    Get the top X% of episodes with highest total MSE.
-    
-    Args:
-        episode_mse: Dictionary mapping episode_index to total MSE
-        top_percent: Percentage of episodes to return (default: 1%)
-        
-    Returns:
-        List of episode indices sorted by MSE (highest first)
-    """
-    # Sort episodes by MSE in descending order
-    sorted_episodes = sorted(episode_mse.items(), key=lambda x: x[1], reverse=True)
-    
-    # Calculate number of episodes to return
-    num_episodes = len(sorted_episodes)
-    num_top = max(1, int(np.ceil(num_episodes * top_percent / 100)))
-    
-    # Extract top episode indices
-    top_episodes = [ep_idx for ep_idx, _ in sorted_episodes[:num_top]]
-    
-    return top_episodes
-
-
-def find_high_mse_episodes(
-    repo_id: str,
-    root: str | Path | None = None,
-    state_key: str = "observation.state",
-    action_key: str = "action",
-    top_percent: float = 1.0,
-    force_download: bool = False,
-) -> tuple[list[int], dict[int, float]]:
-    """
-    Find episodes with highest MSE between observation.state and action.
-    
-    Args:
-        repo_id: HuggingFace dataset repository ID
-        root: Local directory for dataset storage (default: ~/.cache/huggingface/lerobot)
-        state_key: Key for the observation state in the dataset
-        action_key: Key for the action in the dataset
-        top_percent: Percentage of episodes to return (default: 1%)
-        force_download: Force re-download of the dataset
-        
-    Returns:
-        Tuple of (list of top episode indices, dict of all episode MSEs)
-    """
-    logging.info(f"Loading dataset: {repo_id}")
-    
-    # Load the dataset (skip video download since we only need state/action data)
-    dataset = LeRobotDataset(
-        repo_id=repo_id,
-        root=root,
-        download_videos=False,
-        force_cache_sync=force_download,
-    )
-    
-    # Verify the dataset has the required features
-    if state_key not in dataset.features:
-        raise ValueError(f"Dataset does not contain '{state_key}' feature. "
-                        f"Available features: {list(dataset.features.keys())}")
-    if action_key not in dataset.features:
-        raise ValueError(f"Dataset does not contain '{action_key}' feature. "
-                        f"Available features: {list(dataset.features.keys())}")
-    
-    # Check that state and action have the same shape
-    state_shape = tuple(dataset.features[state_key]["shape"])
-    action_shape = tuple(dataset.features[action_key]["shape"])
-    if state_shape != action_shape:
-        raise ValueError(f"State shape {state_shape} does not match action shape {action_shape}")
-    
-    logging.info(f"Dataset loaded successfully:")
-    logging.info(f"  - Total episodes: {dataset.meta.total_episodes}")
-    logging.info(f"  - Total frames: {dataset.meta.total_frames}")
-    logging.info(f"  - State shape: {state_shape}")
-    logging.info(f"  - Action shape: {action_shape}")
-    logging.info(f"  - Feature names: {dataset.features[state_key].get('names', 'N/A')}")
-    
-    # Compute MSE for each episode
-    episode_mse = compute_episode_mse(dataset, state_key, action_key)
-    
-    # Get top episodes
-    top_episodes = get_top_mse_episodes(episode_mse, top_percent)
-    
-    return top_episodes, episode_mse
-
-
-def main():
-    parser = argparse.ArgumentParser(
-        description="Find episodes with highest MSE between observation.state and action"
-    )
-    parser.add_argument(
-        "repo_id",
-        type=str,
-        help="HuggingFace dataset repository ID (e.g., 'lerobot/aloha_sim_insertion_human')",
-    )
-    parser.add_argument(
-        "--root",
-        type=str,
-        default=None,
-        help="Local directory for dataset storage (default: ~/.cache/huggingface/lerobot)",
-    )
-    parser.add_argument(
-        "--state-key",
-        type=str,
-        default="observation.state",
-        help="Key for observation state feature (default: 'observation.state')",
-    )
-    parser.add_argument(
-        "--action-key",
-        type=str,
-        default="action",
-        help="Key for action feature (default: 'action')",
-    )
-    parser.add_argument(
-        "--top-percent",
-        type=float,
-        default=1.0,
-        help="Percentage of episodes to return (default: 1.0)",
-    )
-    parser.add_argument(
-        "--force-download",
-        action="store_true",
-        help="Force re-download of the dataset",
-    )
-    parser.add_argument(
-        "--show-all-mse",
-        action="store_true",
-        help="Show MSE values for all episodes",
-    )
-    parser.add_argument(
-        "--output",
-        type=str,
-        default=None,
-        help="Output file to save results (optional)",
-    )
-    
-    args = parser.parse_args()
-    
-    # Find high MSE episodes
-    top_episodes, all_mse = find_high_mse_episodes(
-        repo_id=args.repo_id,
-        root=args.root,
-        state_key=args.state_key,
-        action_key=args.action_key,
-        top_percent=args.top_percent,
-        force_download=args.force_download,
-    )
-    
-    # Print results
-    print("\n" + "=" * 60)
-    print(f"TOP {args.top_percent}% EPISODES WITH HIGHEST MSE")
-    print("=" * 60)
-    
-    print(f"\nTotal episodes analyzed: {len(all_mse)}")
-    print(f"Number of top episodes (top {args.top_percent}%): {len(top_episodes)}")
-    
-    print(f"\nTop {len(top_episodes)} episode(s) with highest MSE:")
-    print("-" * 40)
-    for i, ep_idx in enumerate(top_episodes, 1):
-        print(f"  {i:3d}. Episode {ep_idx:5d} - Total MSE: {all_mse[ep_idx]:.6f}")
-    
-    # Statistics
-    all_mse_values = list(all_mse.values())
-    print(f"\nMSE Statistics:")
-    print(f"  - Mean MSE: {np.mean(all_mse_values):.6f}")
-    print(f"  - Std MSE: {np.std(all_mse_values):.6f}")
-    print(f"  - Min MSE: {np.min(all_mse_values):.6f}")
-    print(f"  - Max MSE: {np.max(all_mse_values):.6f}")
-    print(f"  - Median MSE: {np.median(all_mse_values):.6f}")
-    
-    if args.show_all_mse:
-        print(f"\nAll episodes sorted by MSE (descending):")
-        print("-" * 40)
-        sorted_episodes = sorted(all_mse.items(), key=lambda x: x[1], reverse=True)
-        for ep_idx, mse in sorted_episodes:
-            print(f"  Episode {ep_idx:5d} - Total MSE: {mse:.6f}")
-    
-    # Save results if output file specified
-    if args.output:
-        output_path = Path(args.output)
-        with open(output_path, "w") as f:
-            f.write(f"# High MSE Episodes Analysis\n")
-            f.write(f"# Dataset: {args.repo_id}\n")
-            f.write(f"# State key: {args.state_key}\n")
-            f.write(f"# Action key: {args.action_key}\n")
-            f.write(f"# Top percent: {args.top_percent}%\n\n")
-            
-            f.write(f"Top {args.top_percent}% episodes:\n")
-            for ep_idx in top_episodes:
-                f.write(f"{ep_idx},{all_mse[ep_idx]:.6f}\n")
-        
-        logging.info(f"Results saved to: {output_path}")
-    
-    # Return the list for programmatic use
-    return top_episodes
-
-
-if __name__ == "__main__":
-    main()
-

src/lerobot/configs/types.py

@@ -43,3 +43,10 @@ class NormalizationMode(str, Enum):
 class PolicyFeature:
     type: FeatureType
     shape: tuple[int, ...]
+
+
+class RTCAttentionSchedule(str, Enum):
+    ZEROS = "ZEROS"
+    ONES = "ONES"
+    LINEAR = "LINEAR"
+    EXP = "EXP"

src/lerobot/datasets/dataset_tools.py

@@ -39,6 +39,7 @@ from lerobot.datasets.aggregate import aggregate_datasets
 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,
@@ -962,28 +963,23 @@ def _copy_data_with_feature_changes(
     remove_features: list[str] | None = None,
 ) -> None:
     """Copy data while adding or removing features."""
-    if dataset.meta.episodes is None:
-        dataset.meta.episodes = load_episodes(dataset.meta.root)
+    data_dir = dataset.root / DATA_DIR
+    parquet_files = sorted(data_dir.glob("*/*.parquet"))
 
-    # Map file paths to episode indices to extract chunk/file indices
-    file_to_episodes: dict[Path, set[int]] = {}
-    for ep_idx in range(dataset.meta.total_episodes):
-        file_path = dataset.meta.get_data_file_path(ep_idx)
-        if file_path not in file_to_episodes:
-            file_to_episodes[file_path] = set()
-        file_to_episodes[file_path].add(ep_idx)
+    if not parquet_files:
+        raise ValueError(f"No parquet files found in {data_dir}")
 
     frame_idx = 0
 
-    for src_path in tqdm(sorted(file_to_episodes.keys()), desc="Processing data files"):
-        df = pd.read_parquet(dataset.root / src_path).reset_index(drop=True)
+    for src_path in tqdm(parquet_files, desc="Processing data files"):
+        df = pd.read_parquet(src_path).reset_index(drop=True)
 
-        # Get chunk_idx and file_idx from the source file's first episode
-        episodes_in_file = file_to_episodes[src_path]
-        first_ep_idx = min(episodes_in_file)
-        src_ep = dataset.meta.episodes[first_ep_idx]
-        chunk_idx = src_ep["data/chunk_index"]
-        file_idx = src_ep["data/file_index"]
+        relative_path = src_path.relative_to(dataset.root)
+        chunk_dir = relative_path.parts[1]
+        file_name = relative_path.parts[2]
+
+        chunk_idx = int(chunk_dir.split("-")[1])
+        file_idx = int(file_name.split("-")[1].split(".")[0])
 
         if remove_features:
             df = df.drop(columns=remove_features, errors="ignore")
@@ -1009,7 +1005,7 @@ def _copy_data_with_feature_changes(
                         df[feature_name] = feature_slice
             frame_idx = end_idx
 
-        # Write using the preserved chunk_idx and file_idx from source
+        # Write using the same chunk/file structure as source
         dst_path = new_meta.root / DEFAULT_DATA_PATH.format(chunk_index=chunk_idx, file_index=file_idx)
         dst_path.parent.mkdir(parents=True, exist_ok=True)
 

src/lerobot/datasets/lerobot_dataset.py

@@ -22,13 +22,11 @@ from pathlib import Path
 
 import datasets
 import numpy as np
-import os
 import packaging.version
 import pandas as pd
 import PIL.Image
 import pyarrow as pa
 import pyarrow.parquet as pq
-from concurrent.futures import ProcessPoolExecutor
 import torch
 import torch.utils
 from huggingface_hub import HfApi, snapshot_download
@@ -432,9 +430,7 @@ class LeRobotDatasetMetadata:
         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=video_key, chunk_index=0, file_index=0
-                )
+                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_chunk_settings(
@@ -944,11 +940,26 @@ class LeRobotDataset(torch.utils.data.Dataset):
         return query_timestamps
 
     def _query_hf_dataset(self, query_indices: dict[str, list[int]]) -> dict:
-        return {
-            key: torch.stack(self.hf_dataset[q_idx][key])
-            for key, q_idx in query_indices.items()
-            if key not in self.meta.video_keys
-        }
+        """
+        Query dataset for indices across keys, skipping video keys.
+
+        Tries column-first [key][indices] for speed, falls back to row-first.
+
+        Args:
+            query_indices: Dict mapping keys to index lists to retrieve
+
+        Returns:
+            Dict with stacked tensors of queried data (video keys excluded)
+        """
+        result: dict = {}
+        for key, q_idx in query_indices.items():
+            if key in self.meta.video_keys:
+                continue
+            try:
+                result[key] = torch.stack(self.hf_dataset[key][q_idx])
+            except (KeyError, TypeError, IndexError):
+                result[key] = torch.stack(self.hf_dataset[q_idx][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
@@ -1151,9 +1162,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
         use_batched_encoding = self.batch_encoding_size > 1
 
         if has_video_keys and not use_batched_encoding:
-            video_paths = self._encode_multiple_temporary_episode_videos(self.meta.video_keys, episode_index)
-            for (video_key, video_path) in zip(self.meta.video_keys, video_paths):
-                ep_metadata.update(self._save_episode_video(video_key, episode_index, video_path))
+            for video_key in self.meta.video_keys:
+                ep_metadata.update(self._save_episode_video(video_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)
@@ -1318,12 +1328,9 @@ class LeRobotDataset(torch.utils.data.Dataset):
 
         return metadata
 
-    def _save_episode_video(self, video_key: str, episode_index: int, video_path: str | Path | None = None) -> dict:
+    def _save_episode_video(self, video_key: str, episode_index: int) -> dict:
         # Encode episode frames into a temporary video
-        if video_path is None:
-            ep_path = self._encode_temporary_episode_video(video_key, episode_index)
-        else:
-            ep_path = video_path
+        ep_path = self._encode_temporary_episode_video(video_key, episode_index)
         ep_size_in_mb = get_file_size_in_mb(ep_path)
         ep_duration_in_s = get_video_duration_in_s(ep_path)
 
@@ -1447,22 +1454,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
         shutil.rmtree(img_dir)
         return temp_path
 
-    def _encode_multiple_temporary_episode_videos(self, video_keys, episode_index):
-        temp_paths = []
-        img_dirs = []
-        for video_key in video_keys:
-            temp_paths.append(Path(tempfile.mkdtemp(dir=self.root)) / f"{video_key}_{episode_index:03d}.mp4")
-            img_dirs.append(self._get_image_file_dir(episode_index, video_key))
-        fps = [self.fps]*len(video_keys)
-
-        with ProcessPoolExecutor(max_workers=len(video_keys)) as executor:
-            executor.map(encode_video_frames,img_dirs,temp_paths,fps)
-
-        for img_dir in img_dirs:
-            shutil.rmtree(img_dir)
-
-        return temp_paths
-
     @classmethod
     def create(
         cls,

src/lerobot/datasets/video_utils.py

@@ -310,7 +310,7 @@ def encode_video_frames(
     crf: int | None = 30,
     fast_decode: int = 0,
     log_level: int | None = av.logging.ERROR,
-    overwrite: bool = True,
+    overwrite: bool = False,
 ) -> None:
     """More info on ffmpeg arguments tuning on `benchmark/video/README.md`"""
     # Check encoder availability
@@ -354,9 +354,6 @@ def encode_video_frames(
     if crf is not None:
         video_options["crf"] = str(crf)
 
-    #TEMPORARY FIX
-    video_options["preset"] = "12"
-
     if fast_decode:
         key = "svtav1-params" if vcodec == "libsvtav1" else "tune"
         value = f"fast-decode={fast_decode}" if vcodec == "libsvtav1" else "fastdecode"

src/lerobot/envs/factory.py

@@ -19,6 +19,7 @@ import gymnasium as gym
 from gymnasium.envs.registration import registry as gym_registry
 
 from lerobot.envs.configs import AlohaEnv, EnvConfig, LiberoEnv, PushtEnv
+from lerobot.envs.utils import _call_make_env, _download_hub_file, _import_hub_module, _normalize_hub_result
 
 
 def make_env_config(env_type: str, **kwargs) -> EnvConfig:
@@ -33,15 +34,24 @@ def make_env_config(env_type: str, **kwargs) -> EnvConfig:
 
 
 def make_env(
-    cfg: EnvConfig, n_envs: int = 1, use_async_envs: bool = False
+    cfg: EnvConfig | str,
+    n_envs: int = 1,
+    use_async_envs: bool = False,
+    hub_cache_dir: str | None = None,
+    trust_remote_code: bool = False,
 ) -> dict[str, dict[int, gym.vector.VectorEnv]]:
-    """Makes a gym vector environment according to the config.
+    """Makes a gym vector environment according to the config or Hub reference.
 
     Args:
-        cfg (EnvConfig): the config of the environment to instantiate.
+        cfg (EnvConfig | str): Either an `EnvConfig` object describing the environment to build locally,
+            or a Hugging Face Hub repository identifier (e.g. `"username/repo"`). In the latter case,
+            the repo must include a Python file (usually `env.py`).
         n_envs (int, optional): The number of parallelized env to return. Defaults to 1.
         use_async_envs (bool, optional): Whether to return an AsyncVectorEnv or a SyncVectorEnv. Defaults to
             False.
+        hub_cache_dir (str | None): Optional cache path for downloaded hub files.
+        trust_remote_code (bool): **Explicit consent** to execute remote code from the Hub.
+            Default False — must be set to True to import/exec hub `env.py`.
 
     Raises:
         ValueError: if n_envs < 1
@@ -54,6 +64,21 @@ def make_env(
             - For single-task environments: a single suite entry (cfg.type) with task_id=0.
 
     """
+    # if user passed a hub id string (e.g., "username/repo", "username/repo@main:env.py")
+    # simplified: only support hub-provided `make_env`
+    if isinstance(cfg, str):
+        # _download_hub_file will raise the same RuntimeError if trust_remote_code is False
+        repo_id, file_path, local_file, revision = _download_hub_file(cfg, trust_remote_code, hub_cache_dir)
+
+        # import and surface clear import errors
+        module = _import_hub_module(local_file, repo_id)
+
+        # call the hub-provided make_env
+        raw_result = _call_make_env(module, n_envs=n_envs, use_async_envs=use_async_envs)
+
+        # normalize the return into {suite: {task_id: vec_env}}
+        return _normalize_hub_result(raw_result)
+
     if n_envs < 1:
         raise ValueError("`n_envs` must be at least 1")
 

src/lerobot/envs/utils.py

@@ -13,6 +13,8 @@
 # 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 importlib.util
+import os
 import warnings
 from collections.abc import Mapping, Sequence
 from functools import singledispatch
@@ -22,6 +24,7 @@ import einops
 import gymnasium as gym
 import numpy as np
 import torch
+from huggingface_hub import hf_hub_download, snapshot_download
 from torch import Tensor
 
 from lerobot.configs.types import FeatureType, PolicyFeature
@@ -195,3 +198,132 @@ def _(envs: Sequence) -> None:
 @close_envs.register
 def _(env: gym.Env) -> None:
     _close_single_env(env)
+
+
+# helper to safely load a python file as a module
+def _load_module_from_path(path: str, module_name: str | None = None):
+    module_name = module_name or f"hub_env_{os.path.basename(path).replace('.', '_')}"
+    spec = importlib.util.spec_from_file_location(module_name, path)
+    if spec is None:
+        raise ImportError(f"Could not load module spec for {module_name} from {path}")
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)  # type: ignore
+    return module
+
+
+# helper to parse hub string (supports "user/repo", "user/repo@rev", optional path)
+# examples:
+#   "user/repo" -> will look for env.py at repo root
+#   "user/repo@main:envs/my_env.py" -> explicit revision and path
+def _parse_hub_url(hub_uri: str):
+    # very small parser: [repo_id][@revision][:path]
+    # repo_id is required (user/repo or org/repo)
+    revision = None
+    file_path = "env.py"
+    if "@" in hub_uri:
+        repo_and_rev, *rest = hub_uri.split(":", 1)
+        repo_id, rev = repo_and_rev.split("@", 1)
+        revision = rev
+        if rest:
+            file_path = rest[0]
+    else:
+        repo_id, *rest = hub_uri.split(":", 1)
+        if rest:
+            file_path = rest[0]
+    return repo_id, revision, file_path
+
+
+def _download_hub_file(
+    cfg_str: str,
+    trust_remote_code: bool,
+    hub_cache_dir: str | None,
+) -> tuple[str, str, str, str]:
+    """
+    Parse `cfg_str` (hub URL), enforce `trust_remote_code`, and return
+    (repo_id, file_path, local_file, revision).
+    """
+    if not trust_remote_code:
+        raise RuntimeError(
+            f"Refusing to execute remote code from the Hub for '{cfg_str}'. "
+            "Executing hub env modules runs arbitrary Python code from third-party repositories. "
+            "If you trust this repo and understand the risks, call `make_env(..., trust_remote_code=True)` "
+            "and prefer pinning to a specific revision: 'user/repo@<commit-hash>:env.py'."
+        )
+
+    repo_id, revision, file_path = _parse_hub_url(cfg_str)
+
+    try:
+        local_file = hf_hub_download(
+            repo_id=repo_id, filename=file_path, revision=revision, cache_dir=hub_cache_dir
+        )
+    except Exception as e:
+        # fallback to snapshot download
+        snapshot_dir = snapshot_download(repo_id=repo_id, revision=revision, cache_dir=hub_cache_dir)
+        local_file = os.path.join(snapshot_dir, file_path)
+        if not os.path.exists(local_file):
+            raise FileNotFoundError(
+                f"Could not find {file_path} in repository {repo_id}@{revision or 'main'}"
+            ) from e
+
+    return repo_id, file_path, local_file, revision
+
+
+def _import_hub_module(local_file: str, repo_id: str) -> Any:
+    """
+    Import the downloaded file as a module and surface helpful import error messages.
+    """
+    module_name = f"hub_env_{repo_id.replace('/', '_')}"
+    try:
+        module = _load_module_from_path(local_file, module_name=module_name)
+    except ModuleNotFoundError as e:
+        missing = getattr(e, "name", None) or str(e)
+        raise ModuleNotFoundError(
+            f"Hub env '{repo_id}:{os.path.basename(local_file)}' failed to import because the dependency "
+            f"'{missing}' is not installed locally.\n\n"
+        ) from e
+    except ImportError as e:
+        raise ImportError(
+            f"Failed to load hub env module '{repo_id}:{os.path.basename(local_file)}'. Import error: {e}\n\n"
+        ) from e
+    return module
+
+
+def _call_make_env(module: Any, n_envs: int, use_async_envs: bool) -> Any:
+    """
+    Ensure module exposes make_env and call it.
+    """
+    if not hasattr(module, "make_env"):
+        raise AttributeError(
+            f"The hub module {getattr(module, '__name__', 'hub_module')} must expose `make_env(n_envs=int, use_async_envs=bool)`."
+        )
+    entry_fn = module.make_env
+    return entry_fn(n_envs=n_envs, use_async_envs=use_async_envs)
+
+
+def _normalize_hub_result(result: Any) -> dict[str, dict[int, gym.vector.VectorEnv]]:
+    """
+    Normalize possible return types from hub `make_env` into the mapping:
+      { suite_name: { task_id: vector_env } }
+    Accepts:
+      - dict (assumed already correct)
+      - gym.vector.VectorEnv
+      - gym.Env (will be wrapped into SyncVectorEnv)
+    """
+    if isinstance(result, dict):
+        return result
+
+    # VectorEnv: use its spec.id if available
+    if isinstance(result, gym.vector.VectorEnv):
+        suite_name = getattr(result, "spec", None) and getattr(result.spec, "id", None) or "hub_env"
+        return {suite_name: {0: result}}
+
+    # Single Env: wrap into SyncVectorEnv
+    if isinstance(result, gym.Env):
+        vec = gym.vector.SyncVectorEnv([lambda: result])
+        suite_name = getattr(result, "spec", None) and getattr(result.spec, "id", None) or "hub_env"
+        return {suite_name: {0: vec}}
+
+    raise ValueError(
+        "Hub `make_env` must return either a mapping {suite: {task_id: vec_env}}, "
+        "a gym.vector.VectorEnv, or a single gym.Env."
+    )

src/lerobot/motors/__init__.py

@@ -14,11 +14,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .motors_bus import (
-    Motor,
-    MotorCalibration,
-    MotorNormMode,
-    MotorsBus,  # Backward compatibility (alias for SerialMotorsBus)
-    MotorsBusBase,
-    SerialMotorsBus,
-)
+from .motors_bus import Motor, MotorCalibration, MotorNormMode, MotorsBus

src/lerobot/motors/damiao/__init__.py

@@ -1,18 +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.
-
-from .damiao import DamiaoMotorsBus
-from .tables import *

src/lerobot/motors/damiao/damiao.py

@@ -1,905 +0,0 @@
-# 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.
-
-# TODO(pepijn): add license of: https://github.com/cmjang/DM_Control_Python?tab=MIT-1-ov-file#readme
-
-import logging
-import time
-from contextlib import contextmanager
-from copy import deepcopy
-from functools import cached_property
-from typing import Dict, List, Optional, Tuple, Union
-
-import can
-import numpy as np
-
-from lerobot.motors import Motor, MotorCalibration, MotorNormMode, MotorsBusBase
-from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-from lerobot.utils.utils import enter_pressed, move_cursor_up
-
-from .tables import (
-    AVAILABLE_BAUDRATES,
-    CAN_CMD_DISABLE,
-    CAN_CMD_ENABLE,
-    CAN_CMD_REFRESH,
-    CAN_CMD_SET_ZERO,
-    CAN_PARAM_ID,
-    DEFAULT_BAUDRATE,
-    DEFAULT_TIMEOUT_MS,
-    MODEL_RESOLUTION,
-    MOTOR_LIMIT_PARAMS,
-    NORMALIZED_DATA,
-    MotorType,
-)
-
-logger = logging.getLogger(__name__)
-
-NameOrID = Union[str, int]
-Value = Union[int, float]
-
-
-class DamiaoMotorsBus(MotorsBusBase):
-    """
-    The Damiao implementation for a MotorsBus using CAN bus communication.
-    
-    This class uses python-can for CAN bus communication with Damiao motors.
-    For more info, see:
-    - python-can documentation: https://python-can.readthedocs.io/en/stable/
-    - Seedstudio documentation: https://wiki.seeedstudio.com/damiao_series/
-    - DM_Control_Python repo: https://github.com/cmjang/DM_Control_Python
-    """
-
-    # CAN-specific settings
-    available_baudrates = deepcopy(AVAILABLE_BAUDRATES)
-    default_baudrate = DEFAULT_BAUDRATE
-    default_timeout = DEFAULT_TIMEOUT_MS
-    
-    # Motor configuration
-    model_resolution_table = deepcopy(MODEL_RESOLUTION)
-    normalized_data = deepcopy(NORMALIZED_DATA)
-
-    def __init__(
-        self,
-        port: str,
-        motors: dict[str, Motor],
-        calibration: dict[str, MotorCalibration] | None = None,
-        can_interface: str = "auto",
-        use_can_fd: bool = True,
-        bitrate: int = 1000000,
-        data_bitrate: int | None = 5000000,
-    ):
-        """
-        Initialize the Damiao motors bus.
-
-        Args:
-            port: CAN interface name (e.g., "can0" for Linux, "/dev/cu.usbmodem*" for macOS)
-            motors: Dictionary mapping motor names to Motor objects
-            calibration: Optional calibration data
-            can_interface: CAN interface type - "auto" (default), "socketcan" (Linux), or "slcan" (macOS/serial)
-            use_can_fd: Whether to use CAN FD mode (default: True for OpenArms)
-            bitrate: Nominal bitrate in bps (default: 1000000 = 1 Mbps)
-            data_bitrate: Data bitrate for CAN FD in bps (default: 5000000 = 5 Mbps), ignored if use_can_fd is False
-        """
-        super().__init__(port, motors, calibration)
-        self.port = port
-        self.can_interface = can_interface
-        self.use_can_fd = use_can_fd
-        self.bitrate = bitrate
-        self.data_bitrate = data_bitrate
-        self.canbus = None
-        self._is_connected = False
-        
-        # Map motor names to CAN IDs
-        self._motor_can_ids = {}
-        self._recv_id_to_motor = {}
-        
-        # Store motor types and recv IDs
-        self._motor_types = {}
-        for name, motor in self.motors.items():
-            if hasattr(motor, "motor_type"):
-                self._motor_types[name] = motor.motor_type
-            else:
-                # Default to DM4310 if not specified
-                self._motor_types[name] = MotorType.DM4310
-            
-            # Map recv_id to motor name for filtering responses
-            if hasattr(motor, "recv_id"):
-                self._recv_id_to_motor[motor.recv_id] = name
-
-    @property
-    def is_connected(self) -> bool:
-        """Check if the CAN bus is connected."""
-        return self._is_connected and self.canbus is not None
-
-    def connect(self, handshake: bool = True) -> None:
-        """
-        Open the CAN bus and initialize communication.
-
-        Args:
-            handshake: If True, ping all motors to verify they're present
-        """
-        if self.is_connected:
-            raise DeviceAlreadyConnectedError(
-                f"{self.__class__.__name__}('{self.port}') is already connected."
-            )
-
-        try:
-            # Auto-detect interface type based on port name
-            if self.can_interface == "auto":
-                if self.port.startswith("/dev/"):
-                    # Serial device (macOS/Windows)
-                    self.can_interface = "slcan"
-                    logger.info(f"Auto-detected slcan interface for port {self.port}")
-                else:
-                    # Network interface (Linux)
-                    self.can_interface = "socketcan"
-                    logger.info(f"Auto-detected socketcan interface for port {self.port}")
-            
-            # Connect to CAN bus
-            if self.can_interface == "socketcan":
-                # Linux SocketCAN with CAN FD support
-                if self.use_can_fd and self.data_bitrate is not None:
-                    self.canbus = can.interface.Bus(
-                        channel=self.port,
-                        interface="socketcan",
-                        bitrate=self.bitrate,
-                        data_bitrate=self.data_bitrate,
-                        fd=True
-                    )
-                    logger.info(f"Connected to {self.port} with CAN FD (bitrate={self.bitrate}, data_bitrate={self.data_bitrate})")
-                else:
-                    self.canbus = can.interface.Bus(
-                        channel=self.port,
-                        interface="socketcan",
-                        bitrate=self.bitrate
-                    )
-                    logger.info(f"Connected to {self.port} with CAN 2.0 (bitrate={self.bitrate})")
-            elif self.can_interface == "slcan":
-                # Serial Line CAN (macOS, Windows, or USB adapters)
-                # Note: SLCAN typically doesn't support CAN FD
-                self.canbus = can.interface.Bus(
-                    channel=self.port,
-                    interface="slcan",
-                    bitrate=self.bitrate
-                )
-                logger.info(f"Connected to {self.port} with SLCAN (bitrate={self.bitrate})")
-            else:
-                # Generic interface (vector, pcan, etc.)
-                if self.use_can_fd and self.data_bitrate is not None:
-                    self.canbus = can.interface.Bus(
-                        channel=self.port,
-                        interface=self.can_interface,
-                        bitrate=self.bitrate,
-                        data_bitrate=self.data_bitrate,
-                        fd=True
-                    )
-                else:
-                    self.canbus = can.interface.Bus(
-                        channel=self.port,
-                        interface=self.can_interface,
-                        bitrate=self.bitrate
-                    )
-            
-            self._is_connected = True
-            
-            if handshake:
-                self._handshake()
-                
-            logger.debug(f"{self.__class__.__name__} connected via {self.can_interface}.")
-        except Exception as e:
-            self._is_connected = False
-            raise ConnectionError(f"Failed to connect to CAN bus: {e}")
-
-    def _handshake(self) -> None:
-        """Verify all motors are present by refreshing their status."""
-        for motor_name in self.motors:
-            self._refresh_motor(motor_name)
-            time.sleep(0.01)  # Small delay between motors
-
-    def disconnect(self, disable_torque: bool = True) -> None:
-        """
-        Close the CAN bus connection.
-
-        Args:
-            disable_torque: If True, disable torque on all motors before disconnecting
-        """
-        if not self.is_connected:
-            raise DeviceNotConnectedError(
-                f"{self.__class__.__name__}('{self.port}') is not connected."
-            )
-
-        if disable_torque:
-            try:
-                self.disable_torque()
-            except Exception as e:
-                logger.warning(f"Failed to disable torque during disconnect: {e}")
-
-        if self.canbus:
-            self.canbus.shutdown()
-            self.canbus = None
-        self._is_connected = False
-        logger.debug(f"{self.__class__.__name__} disconnected.")
-
-    def configure_motors(self) -> None:
-        """Configure all motors with default settings."""
-        # Damiao motors don't require much configuration in MIT mode
-        # Just ensure they're enabled
-        for motor in self.motors:
-            self._enable_motor(motor)
-            time.sleep(0.01)
-
-    def _enable_motor(self, motor: NameOrID) -> None:
-        """Enable a single motor."""
-        motor_id = self._get_motor_id(motor)
-        recv_id = self._get_motor_recv_id(motor)
-        data = [0xFF] * 7 + [CAN_CMD_ENABLE]
-        msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False)
-        self.canbus.send(msg)
-        self._recv_motor_response(expected_recv_id=recv_id)
-
-    def _disable_motor(self, motor: NameOrID) -> None:
-        """Disable a single motor."""
-        motor_id = self._get_motor_id(motor)
-        recv_id = self._get_motor_recv_id(motor)
-        data = [0xFF] * 7 + [CAN_CMD_DISABLE]
-        msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False)
-        self.canbus.send(msg)
-        self._recv_motor_response(expected_recv_id=recv_id)
-
-    def enable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
-        """Enable torque on selected motors."""
-        motors = self._get_motors_list(motors)
-        for motor in motors:
-            for _ in range(num_retry + 1):
-                try:
-                    self._enable_motor(motor)
-                    break
-                except Exception as e:
-                    if _ == num_retry:
-                        raise e
-                    time.sleep(0.01)
-
-    def disable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
-        """Disable torque on selected motors."""
-        motors = self._get_motors_list(motors)
-        for motor in motors:
-            for _ in range(num_retry + 1):
-                try:
-                    self._disable_motor(motor)
-                    break
-                except Exception as e:
-                    if _ == num_retry:
-                        raise e
-                    time.sleep(0.01)
-
-    @contextmanager
-    def torque_disabled(self, motors: str | list[str] | None = None):
-        """
-        Context manager that guarantees torque is re-enabled.
-        
-        This helper is useful to temporarily disable torque when configuring motors.
-        
-        Examples:
-            >>> with bus.torque_disabled():
-            ...     # Safe operations here with torque disabled
-            ...     pass
-        """
-        self.disable_torque(motors)
-        try:
-            yield
-        finally:
-            self.enable_torque(motors)
-
-    def set_zero_position(self, motors: str | list[str] | None = None) -> None:
-        """Set current position as zero for selected motors."""
-        motors = self._get_motors_list(motors)
-        for motor in motors:
-            motor_id = self._get_motor_id(motor)
-            recv_id = self._get_motor_recv_id(motor)
-            data = [0xFF] * 7 + [CAN_CMD_SET_ZERO]
-            msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False)
-            self.canbus.send(msg)
-            self._recv_motor_response(expected_recv_id=recv_id)
-            time.sleep(0.01)
-
-    def _refresh_motor(self, motor: NameOrID) -> Optional[can.Message]:
-        """Refresh motor status and return the response."""
-        motor_id = self._get_motor_id(motor)
-        recv_id = self._get_motor_recv_id(motor)
-        data = [motor_id & 0xFF, (motor_id >> 8) & 0xFF, CAN_CMD_REFRESH, 0, 0, 0, 0, 0]
-        msg = can.Message(arbitration_id=CAN_PARAM_ID, data=data, is_extended_id=False)
-        self.canbus.send(msg)
-        return self._recv_motor_response(expected_recv_id=recv_id)
-
-    def _recv_motor_response(self, expected_recv_id: Optional[int] = None, timeout: float = 0.001) -> Optional[can.Message]:
-        """
-        Receive a response from a motor.
-        
-        Args:
-            expected_recv_id: If provided, only return messages from this CAN ID
-            timeout: Timeout in seconds (default: 1ms for high-speed operation)
-        
-        Returns:
-            CAN message if received, None otherwise
-        """
-        try:
-            start_time = time.time()
-            messages_seen = []
-            while time.time() - start_time < timeout:
-                msg = self.canbus.recv(timeout=0.0001)  # 100us timeout for fast polling
-                if msg:
-                    messages_seen.append(f"0x{msg.arbitration_id:02X}")
-                    # If no filter specified, return any message
-                    if expected_recv_id is None:
-                        return msg
-                    # Otherwise, only return if it matches the expected recv_id
-                    if msg.arbitration_id == expected_recv_id:
-                        return msg
-                    else:
-                        logger.debug(f"Ignoring message from CAN ID 0x{msg.arbitration_id:02X}, expected 0x{expected_recv_id:02X}")
-            
-            # Only log warnings if we're in debug mode to reduce overhead
-            if logger.isEnabledFor(logging.DEBUG):
-                if messages_seen:
-                    logger.debug(f"Received {len(messages_seen)} message(s) from IDs {set(messages_seen)}, but expected 0x{expected_recv_id:02X}")
-                else:
-                    logger.debug(f"No CAN messages received (expected from 0x{expected_recv_id:02X})")
-        except Exception as e:
-            logger.debug(f"Failed to receive CAN message: {e}")
-        return None
-    
-    def _recv_all_responses(self, expected_recv_ids: list[int], timeout: float = 0.002) -> dict[int, can.Message]:
-        """
-        Efficiently receive responses from multiple motors at once.
-        Uses the OpenArms pattern: collect all available messages within timeout.
-        
-        Args:
-            expected_recv_ids: List of CAN IDs we expect responses from
-            timeout: Total timeout in seconds (default: 2ms)
-        
-        Returns:
-            Dictionary mapping recv_id to CAN message
-        """
-        responses = {}
-        expected_set = set(expected_recv_ids)
-        start_time = time.time()
-        
-        try:
-            while len(responses) < len(expected_recv_ids) and (time.time() - start_time) < timeout:
-                msg = self.canbus.recv(timeout=0.0002)  # 200us poll timeout (increased from 100us for better reliability)
-                if msg and msg.arbitration_id in expected_set:
-                    responses[msg.arbitration_id] = msg
-                    if len(responses) == len(expected_recv_ids):
-                        break  # Got all responses, exit early
-        except Exception as e:
-            logger.debug(f"Error receiving responses: {e}")
-        
-        return responses
-
-    def _mit_control(
-        self,
-        motor: NameOrID,
-        kp: float,
-        kd: float,
-        position_degrees: float,
-        velocity_deg_per_sec: float,
-        torque: float,
-    ) -> None:
-        """
-        Send MIT control command to a motor.
-
-        Args:
-            motor: Motor name or ID
-            kp: Position gain
-            kd: Velocity gain
-            position_degrees: Target position (degrees)
-            velocity_deg_per_sec: Target velocity (degrees/s)
-            torque: Target torque (N·m)
-        """
-        motor_id = self._get_motor_id(motor)
-        motor_name = self._get_motor_name(motor)
-        motor_type = self._motor_types.get(motor_name, MotorType.DM4310)
-        
-        # Convert degrees to radians for motor control
-        position_rad = np.radians(position_degrees)
-        velocity_rad_per_sec = np.radians(velocity_deg_per_sec)
-        
-        # Get motor limits
-        pmax, vmax, tmax = MOTOR_LIMIT_PARAMS[motor_type]
-        
-        # Encode parameters
-        kp_uint = self._float_to_uint(kp, 0, 500, 12)
-        kd_uint = self._float_to_uint(kd, 0, 5, 12)
-        q_uint = self._float_to_uint(position_rad, -pmax, pmax, 16)
-        dq_uint = self._float_to_uint(velocity_rad_per_sec, -vmax, vmax, 12)
-        tau_uint = self._float_to_uint(torque, -tmax, tmax, 12)
-        
-        # Pack data
-        data = [0] * 8
-        data[0] = (q_uint >> 8) & 0xFF
-        data[1] = q_uint & 0xFF
-        data[2] = dq_uint >> 4
-        data[3] = ((dq_uint & 0xF) << 4) | ((kp_uint >> 8) & 0xF)
-        data[4] = kp_uint & 0xFF
-        data[5] = kd_uint >> 4
-        data[6] = ((kd_uint & 0xF) << 4) | ((tau_uint >> 8) & 0xF)
-        data[7] = tau_uint & 0xFF
-        
-        msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False)
-        self.canbus.send(msg)
-        recv_id = self._get_motor_recv_id(motor)
-        self._recv_motor_response(expected_recv_id=recv_id)
-    
-    def _mit_control_batch(
-        self,
-        commands: Dict[NameOrID, Tuple[float, float, float, float, float]],
-    ) -> None:
-        """
-        Send MIT control commands to multiple motors in batch (optimized).
-        Sends all commands first, then collects responses. Much faster than sequential.
-        
-        Args:
-            commands: Dict mapping motor name/ID to (kp, kd, position_deg, velocity_deg/s, torque)
-                     Example: {'joint_1': (10.0, 0.5, 45.0, 0.0, 0.0), ...}
-        """
-        if not commands:
-            return
-        
-        expected_recv_ids = []
-        
-        # Step 1: Send all MIT control commands (no waiting)
-        for motor, (kp, kd, position_degrees, velocity_deg_per_sec, torque) in commands.items():
-            motor_id = self._get_motor_id(motor)
-            motor_name = self._get_motor_name(motor)
-            motor_type = self._motor_types.get(motor_name, MotorType.DM4310)
-            
-            # Convert degrees to radians
-            position_rad = np.radians(position_degrees)
-            velocity_rad_per_sec = np.radians(velocity_deg_per_sec)
-            
-            # Get motor limits
-            pmax, vmax, tmax = MOTOR_LIMIT_PARAMS[motor_type]
-            
-            # Encode parameters
-            kp_uint = self._float_to_uint(kp, 0, 500, 12)
-            kd_uint = self._float_to_uint(kd, 0, 5, 12)
-            q_uint = self._float_to_uint(position_rad, -pmax, pmax, 16)
-            dq_uint = self._float_to_uint(velocity_rad_per_sec, -vmax, vmax, 12)
-            tau_uint = self._float_to_uint(torque, -tmax, tmax, 12)
-            
-            # Pack data
-            data = [0] * 8
-            data[0] = (q_uint >> 8) & 0xFF
-            data[1] = q_uint & 0xFF
-            data[2] = dq_uint >> 4
-            data[3] = ((dq_uint & 0xF) << 4) | ((kp_uint >> 8) & 0xF)
-            data[4] = kp_uint & 0xFF
-            data[5] = kd_uint >> 4
-            data[6] = ((kd_uint & 0xF) << 4) | ((tau_uint >> 8) & 0xF)
-            data[7] = tau_uint & 0xFF
-            
-            # Send command
-            msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False)
-            self.canbus.send(msg)
-            
-            # Track expected response
-            recv_id = self._get_motor_recv_id(motor)
-            expected_recv_ids.append(recv_id)
-        
-        # Step 2: Collect all responses at once
-        self._recv_all_responses(expected_recv_ids, timeout=0.002)
-
-    def _float_to_uint(self, x: float, x_min: float, x_max: float, bits: int) -> int:
-        """Convert float to unsigned integer for CAN transmission."""
-        x = max(x_min, min(x_max, x))  # Clamp to range
-        span = x_max - x_min
-        data_norm = (x - x_min) / span
-        return int(data_norm * ((1 << bits) - 1))
-
-    def _uint_to_float(self, x: int, x_min: float, x_max: float, bits: int) -> float:
-        """Convert unsigned integer from CAN to float."""
-        span = x_max - x_min
-        data_norm = float(x) / ((1 << bits) - 1)
-        return data_norm * span + x_min
-
-    def _decode_motor_state(self, data: bytes, motor_type: MotorType) -> Tuple[float, float, float, int, int]:
-        """
-        Decode motor state from CAN data.
-
-        Returns:
-            Tuple of (position_degrees, velocity_deg_per_sec, torque, temp_mos, temp_rotor)
-        """
-        if len(data) < 8:
-            raise ValueError("Invalid motor state data")
-        
-        # Extract encoded values
-        q_uint = (data[1] << 8) | data[2]
-        dq_uint = (data[3] << 4) | (data[4] >> 4)
-        tau_uint = ((data[4] & 0x0F) << 8) | data[5]
-        t_mos = data[6]
-        t_rotor = data[7]
-        
-        # Get motor limits
-        pmax, vmax, tmax = MOTOR_LIMIT_PARAMS[motor_type]
-        
-        # Decode to physical values (radians)
-        position_rad = self._uint_to_float(q_uint, -pmax, pmax, 16)
-        velocity_rad_per_sec = self._uint_to_float(dq_uint, -vmax, vmax, 12)
-        torque = self._uint_to_float(tau_uint, -tmax, tmax, 12)
-        
-        # Convert to degrees
-        position_degrees = np.degrees(position_rad)
-        velocity_deg_per_sec = np.degrees(velocity_rad_per_sec)
-        
-        return position_degrees, velocity_deg_per_sec, torque, t_mos, t_rotor
-
-    def read(
-        self,
-        data_name: str,
-        motor: str,
-        *,
-        normalize: bool = True,
-        num_retry: int = 0,
-    ) -> Value:
-        """Read a value from a single motor. Positions are always in degrees."""
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-        
-        # Refresh motor to get latest state
-        msg = self._refresh_motor(motor)
-        if msg is None:
-            motor_id = self._get_motor_id(motor)
-            recv_id = self._get_motor_recv_id(motor)
-            raise ConnectionError(
-                f"No response from motor '{motor}' (send ID: 0x{motor_id:02X}, recv ID: 0x{recv_id:02X}). "
-                f"Check that: 1) Motor is powered (24V), 2) CAN wiring is correct, "
-                f"3) Motor IDs are configured correctly using Damiao Debugging Tools"
-            )
-        
-        motor_type = self._motor_types.get(motor, MotorType.DM4310)
-        position_degrees, velocity_deg_per_sec, torque, t_mos, t_rotor = self._decode_motor_state(msg.data, motor_type)
-        
-        # Return requested data (already in degrees for position/velocity)
-        if data_name == "Present_Position":
-            value = position_degrees
-        elif data_name == "Present_Velocity":
-            value = velocity_deg_per_sec
-        elif data_name == "Present_Torque":
-            value = torque
-        elif data_name == "Temperature_MOS":
-            value = t_mos
-        elif data_name == "Temperature_Rotor":
-            value = t_rotor
-        else:
-            raise ValueError(f"Unknown data_name: {data_name}")
-        
-        # For Damiao, positions are always in degrees, no normalization needed
-        # We keep the normalize parameter for compatibility but don't use it
-        return value
-
-    def write(
-        self,
-        data_name: str,
-        motor: str,
-        value: Value,
-        *,
-        normalize: bool = True,
-        num_retry: int = 0,
-    ) -> None:
-        """Write a value to a single motor. Positions are always in degrees."""
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-        
-        # Value is expected to be in degrees for positions
-        if data_name == "Goal_Position":
-            # Use MIT control with position in degrees
-            self._mit_control(motor, 10.0, 0.5, value, 0, 0)
-        else:
-            raise ValueError(f"Writing {data_name} not supported in MIT mode")
-
-    def sync_read(
-        self,
-        data_name: str,
-        motors: str | list[str] | None = None,
-        *,
-        normalize: bool = True,
-        num_retry: int = 0,
-    ) -> Dict[str, Value]:
-        """
-        Read the same value from multiple motors simultaneously.
-        Uses batched operations: sends all refresh commands, then collects all responses.
-        This is MUCH faster than sequential reads (OpenArms pattern).
-        """
-        motors = self._get_motors_list(motors)
-        result = {}
-
-        # Step 1: Send refresh commands to ALL motors first (no waiting)
-        for motor in motors:
-            motor_id = self._get_motor_id(motor)
-            data = [motor_id & 0xFF, (motor_id >> 8) & 0xFF, CAN_CMD_REFRESH, 0, 0, 0, 0, 0]
-            msg = can.Message(arbitration_id=CAN_PARAM_ID, data=data, is_extended_id=False)
-            self.canbus.send(msg)
-        
-        # Step 2: Collect all responses at once (batch receive)
-        expected_recv_ids = [self._get_motor_recv_id(motor) for motor in motors]
-        responses = self._recv_all_responses(expected_recv_ids, timeout=0.01)  # 10ms total timeout
-        
-        # Step 3: Parse responses
-        for motor in motors:
-            try:
-                recv_id = self._get_motor_recv_id(motor)
-                msg = responses.get(recv_id)
-                
-                if msg is None:
-                    logger.warning(f"No response from motor '{motor}' (recv ID: 0x{recv_id:02X})")
-                    result[motor] = 0.0
-                    continue
-                
-                motor_type = self._motor_types.get(motor, MotorType.DM4310)
-                position_degrees, velocity_deg_per_sec, torque, t_mos, t_rotor = self._decode_motor_state(msg.data, motor_type)
-                
-                # Return requested data
-                if data_name == "Present_Position":
-                    value = position_degrees
-                elif data_name == "Present_Velocity":
-                    value = velocity_deg_per_sec
-                elif data_name == "Present_Torque":
-                    value = torque
-                elif data_name == "Temperature_MOS":
-                    value = t_mos
-                elif data_name == "Temperature_Rotor":
-                    value = t_rotor
-                else:
-                    raise ValueError(f"Unknown data_name: {data_name}")
-                
-                result[motor] = value
-                
-            except Exception as e:
-                logger.warning(f"Failed to read {data_name} from {motor}: {e}")
-                result[motor] = 0.0
-        
-        return result
-    
-    def sync_read_all_states(
-        self,
-        motors: str | list[str] | None = None,
-        *,
-        num_retry: int = 0,
-    ) -> Dict[str, Dict[str, Value]]:
-        """
-        Read ALL motor states (position, velocity, torque) from multiple motors in ONE refresh cycle.
-        This is 3x faster than calling sync_read() three times separately.
-        
-        Returns:
-            Dictionary mapping motor names to state dicts with keys: 'position', 'velocity', 'torque'
-            Example: {'joint_1': {'position': 45.2, 'velocity': 1.3, 'torque': 0.5}, ...}
-        """
-        motors = self._get_motors_list(motors)
-        result = {}
-
-        # Step 1: Send refresh commands to ALL motors first (with small delays to reduce bus congestion)
-        for motor in motors:
-            motor_id = self._get_motor_id(motor)
-            data = [motor_id & 0xFF, (motor_id >> 8) & 0xFF, CAN_CMD_REFRESH, 0, 0, 0, 0, 0]
-            msg = can.Message(arbitration_id=CAN_PARAM_ID, data=data, is_extended_id=False)
-            self.canbus.send(msg)
-            time.sleep(0.0001)  # 100us delay between commands to reduce bus congestion
-        
-        # Step 2: Collect all responses at once (batch receive)
-        expected_recv_ids = [self._get_motor_recv_id(motor) for motor in motors]
-        responses = self._recv_all_responses(expected_recv_ids, timeout=0.015)  # 15ms timeout (increased for reliability)
-        
-        # Step 3: Parse responses and extract ALL state values
-        for motor in motors:
-            try:
-                recv_id = self._get_motor_recv_id(motor)
-                msg = responses.get(recv_id)
-                
-                if msg is None:
-                    logger.warning(f"No response from motor '{motor}' (recv ID: 0x{recv_id:02X})")
-                    result[motor] = {"position": 0.0, "velocity": 0.0, "torque": 0.0}
-                    continue
-                
-                motor_type = self._motor_types.get(motor, MotorType.DM4310)
-                position_degrees, velocity_deg_per_sec, torque, t_mos, t_rotor = self._decode_motor_state(msg.data, motor_type)
-                
-                # Return all state values in one dict
-                result[motor] = {
-                    "position": position_degrees,
-                    "velocity": velocity_deg_per_sec,
-                    "torque": torque,
-                    "temp_mos": t_mos,
-                    "temp_rotor": t_rotor,
-                }
-                
-            except Exception as e:
-                logger.warning(f"Failed to read state from {motor}: {e}")
-                result[motor] = {"position": 0.0, "velocity": 0.0, "torque": 0.0}
-        
-        return result
-
-    def sync_write(
-        self,
-        data_name: str,
-        values: Dict[str, Value],
-        *,
-        normalize: bool = True,
-        num_retry: int = 0,
-    ) -> None:
-        """
-        Write different values to multiple motors simultaneously. Positions are always in degrees.
-        Uses batched operations: sends all commands first, then collects responses (OpenArms pattern).
-        """
-        if data_name == "Goal_Position":
-            # Step 1: Send all MIT control commands first (no waiting)
-            for motor, value_degrees in values.items():
-                motor_id = self._get_motor_id(motor)
-                motor_name = self._get_motor_name(motor)
-                motor_type = self._motor_types.get(motor_name, MotorType.DM4310)
-                
-                # Convert degrees to radians
-                position_rad = np.radians(value_degrees)
-                
-                # Default gains for position control
-                kp, kd = 10.0, 0.5
-                
-                # Get motor limits and encode parameters
-                pmax, vmax, tmax = MOTOR_LIMIT_PARAMS[motor_type]
-                kp_uint = self._float_to_uint(kp, 0, 500, 12)
-                kd_uint = self._float_to_uint(kd, 0, 5, 12)
-                q_uint = self._float_to_uint(position_rad, -pmax, pmax, 16)
-                dq_uint = self._float_to_uint(0, -vmax, vmax, 12)
-                tau_uint = self._float_to_uint(0, -tmax, tmax, 12)
-                
-                # Pack data
-                data = [0] * 8
-                data[0] = (q_uint >> 8) & 0xFF
-                data[1] = q_uint & 0xFF
-                data[2] = dq_uint >> 4
-                data[3] = ((dq_uint & 0xF) << 4) | ((kp_uint >> 8) & 0xF)
-                data[4] = kp_uint & 0xFF
-                data[5] = kd_uint >> 4
-                data[6] = ((kd_uint & 0xF) << 4) | ((tau_uint >> 8) & 0xF)
-                data[7] = tau_uint & 0xFF
-                
-                msg = can.Message(arbitration_id=motor_id, data=data, is_extended_id=False)
-                self.canbus.send(msg)
-                time.sleep(0.0001)  # 100us delay between commands to reduce bus congestion
-            
-            # Step 2: Collect all responses at once
-            expected_recv_ids = [self._get_motor_recv_id(motor) for motor in values.keys()]
-            self._recv_all_responses(expected_recv_ids, timeout=0.015)  # 15ms timeout (increased for reliability)
-        else:
-            # Fall back to individual writes for other data types
-            for motor, value in values.items():
-                self.write(data_name, motor, value, normalize=normalize, num_retry=num_retry)
-
-    def read_calibration(self) -> dict[str, MotorCalibration]:
-        """Read calibration data from motors."""
-        # Damiao motors don't store calibration internally
-        # Return existing calibration or empty dict
-        return self.calibration if self.calibration else {}
-
-    def write_calibration(self, calibration_dict: dict[str, MotorCalibration], cache: bool = True) -> None:
-        """Write calibration data to motors."""
-        # Damiao motors don't store calibration internally
-        # Just cache it in memory
-        if cache:
-            self.calibration = calibration_dict
-
-    def record_ranges_of_motion(
-        self, motors: NameOrID | list[NameOrID] | None = None, display_values: bool = True
-    ) -> tuple[dict[NameOrID, Value], dict[NameOrID, Value]]:
-        """
-        Interactively record the min/max values of each motor in degrees.
-
-        Move the joints by hand (with torque disabled) while the method streams live positions.
-        Press Enter to finish.
-        """
-        if motors is None:
-            motors = list(self.motors.keys())
-        elif isinstance(motors, (str, int)):
-            motors = [motors]
-
-        # Disable torque for manual movement
-        self.disable_torque(motors)
-        time.sleep(0.1)
-
-        # Get initial positions (already in degrees)
-        start_positions = self.sync_read("Present_Position", motors, normalize=False)
-        mins = start_positions.copy()
-        maxes = start_positions.copy()
-
-        print("\nMove joints through their full range of motion. Press ENTER when done.")
-        user_pressed_enter = False
-        
-        while not user_pressed_enter:
-            positions = self.sync_read("Present_Position", motors, normalize=False)
-            
-            for motor in motors:
-                if motor in positions:
-                    mins[motor] = min(positions[motor], mins.get(motor, positions[motor]))
-                    maxes[motor] = max(positions[motor], maxes.get(motor, positions[motor]))
-
-            if display_values:
-                print("\n" + "=" * 50)
-                print(f"{'MOTOR':<20} | {'MIN (deg)':>12} | {'POS (deg)':>12} | {'MAX (deg)':>12}")
-                print("-" * 50)
-                for motor in motors:
-                    if motor in positions:
-                        print(f"{motor:<20} | {mins[motor]:>12.1f} | {positions[motor]:>12.1f} | {maxes[motor]:>12.1f}")
-
-            if enter_pressed():
-                user_pressed_enter = True
-
-            if display_values and not user_pressed_enter:
-                # Move cursor up to overwrite the previous output
-                move_cursor_up(len(motors) + 4)
-
-            time.sleep(0.05)
-
-        # Re-enable torque
-        self.enable_torque(motors)
-        
-        # Validate ranges
-        for motor in motors:
-            if motor in mins and motor in maxes:
-                if abs(maxes[motor] - mins[motor]) < 5.0:  # At least 5 degrees of range
-                    raise ValueError(f"Motor {motor} has insufficient range of motion (< 5 degrees)")
-
-        return mins, maxes
-
-    def _get_motors_list(self, motors: str | list[str] | None) -> list[str]:
-        """Convert motor specification to list of motor names."""
-        if motors is None:
-            return list(self.motors.keys())
-        elif isinstance(motors, str):
-            return [motors]
-        elif isinstance(motors, list):
-            return motors
-        else:
-            raise TypeError(f"Invalid motors type: {type(motors)}")
-
-    def _get_motor_id(self, motor: NameOrID) -> int:
-        """Get CAN ID for a motor."""
-        if isinstance(motor, str):
-            if motor in self.motors:
-                return self.motors[motor].id
-            else:
-                raise ValueError(f"Unknown motor: {motor}")
-        else:
-            return motor
-
-    def _get_motor_name(self, motor: NameOrID) -> str:
-        """Get motor name from name or ID."""
-        if isinstance(motor, str):
-            return motor
-        else:
-            for name, m in self.motors.items():
-                if m.id == motor:
-                    return name
-            raise ValueError(f"Unknown motor ID: {motor}")
-    
-    def _get_motor_recv_id(self, motor: NameOrID) -> Optional[int]:
-        """Get motor recv_id from name or ID."""
-        motor_name = self._get_motor_name(motor)
-        motor_obj = self.motors.get(motor_name)
-        if motor_obj and hasattr(motor_obj, "recv_id"):
-            return motor_obj.recv_id
-        return None
-
-    @cached_property
-    def is_calibrated(self) -> bool:
-        """Check if motors are calibrated."""
-        return bool(self.calibration)

src/lerobot/motors/damiao/tables.py

@@ -1,209 +0,0 @@
-# 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.
-
-"""Configuration tables for Damiao motors."""
-
-from enum import IntEnum
-from typing import Dict, List, Tuple
-
-# Motor type definitions
-class MotorType(IntEnum):
-    DM3507 = 0
-    DM4310 = 1
-    DM4310_48V = 2
-    DM4340 = 3
-    DM4340_48V = 4
-    DM6006 = 5
-    DM8006 = 6
-    DM8009 = 7
-    DM10010L = 8
-    DM10010 = 9
-    DMH3510 = 10
-    DMH6215 = 11
-    DMG6220 = 12
-
-# Control modes
-class ControlMode(IntEnum):
-    MIT = 1
-    POS_VEL = 2
-    VEL = 3
-    TORQUE_POS = 4
-
-# Motor variable IDs (RID)
-class MotorVariable(IntEnum):
-    UV_VALUE = 0
-    KT_VALUE = 1
-    OT_VALUE = 2
-    OC_VALUE = 3
-    ACC = 4
-    DEC = 5
-    MAX_SPD = 6
-    MST_ID = 7
-    ESC_ID = 8
-    TIMEOUT = 9
-    CTRL_MODE = 10
-    DAMP = 11
-    INERTIA = 12
-    HW_VER = 13
-    SW_VER = 14
-    SN = 15
-    NPP = 16
-    RS = 17
-    LS = 18
-    FLUX = 19
-    GR = 20
-    PMAX = 21
-    VMAX = 22
-    TMAX = 23
-    I_BW = 24
-    KP_ASR = 25
-    KI_ASR = 26
-    KP_APR = 27
-    KI_APR = 28
-    OV_VALUE = 29
-    GREF = 30
-    DETA = 31
-    V_BW = 32
-    IQ_C1 = 33
-    VL_C1 = 34
-    CAN_BR = 35
-    SUB_VER = 36
-    U_OFF = 50
-    V_OFF = 51
-    K1 = 52
-    K2 = 53
-    M_OFF = 54
-    DIR = 55
-    P_M = 80
-    XOUT = 81
-
-# Motor limit parameters [PMAX, VMAX, TMAX] 
-# PMAX: Maximum position (rad)
-# VMAX: Maximum velocity (rad/s)
-# TMAX: Maximum torque (N·m)
-MOTOR_LIMIT_PARAMS = {
-    MotorType.DM3507: (12.5, 30, 10),
-    MotorType.DM4310: (12.5, 30, 10),
-    MotorType.DM4310_48V: (12.5, 50, 10),
-    MotorType.DM4340: (12.5, 8, 28),
-    MotorType.DM4340_48V: (12.5, 10, 28),
-    MotorType.DM6006: (12.5, 45, 20),
-    MotorType.DM8006: (12.5, 45, 40),
-    MotorType.DM8009: (12.5, 45, 54),
-    MotorType.DM10010L: (12.5, 25, 200),
-    MotorType.DM10010: (12.5, 20, 200),
-    MotorType.DMH3510: (12.5, 280, 1),
-    MotorType.DMH6215: (12.5, 45, 10),
-    MotorType.DMG6220: (12.5, 45, 10),
-}
-
-# Motor model names
-MODEL_NAMES = {
-    MotorType.DM3507: "dm3507",
-    MotorType.DM4310: "dm4310",
-    MotorType.DM4310_48V: "dm4310_48v",
-    MotorType.DM4340: "dm4340",
-    MotorType.DM4340_48V: "dm4340_48v",
-    MotorType.DM6006: "dm6006",
-    MotorType.DM8006: "dm8006",
-    MotorType.DM8009: "dm8009",
-    MotorType.DM10010L: "dm10010l",
-    MotorType.DM10010: "dm10010",
-    MotorType.DMH3510: "dmh3510",
-    MotorType.DMH6215: "dmh6215",
-    MotorType.DMG6220: "dmg6220",
-}
-
-# Motor resolution table (encoder counts per revolution)
-MODEL_RESOLUTION = {
-    "dm3507": 65536,
-    "dm4310": 65536,
-    "dm4310_48v": 65536,
-    "dm4340": 65536,
-    "dm4340_48v": 65536,
-    "dm6006": 65536,
-    "dm8006": 65536,
-    "dm8009": 65536,
-    "dm10010l": 65536,
-    "dm10010": 65536,
-    "dmh3510": 65536,
-    "dmh6215": 65536,
-    "dmg6220": 65536,
-}
-
-# CAN baudrates supported by Damiao motors
-AVAILABLE_BAUDRATES = [
-    125000,   # 0: 125 kbps
-    200000,   # 1: 200 kbps
-    250000,   # 2: 250 kbps
-    500000,   # 3: 500 kbps
-    1000000,  # 4: 1 mbps (default for OpenArms)
-    2000000,  # 5: 2 mbps
-    2500000,  # 6: 2.5 mbps
-    3200000,  # 7: 3.2 mbps
-    4000000,  # 8: 4 mbps
-    5000000,  # 9: 5 mbps
-]
-DEFAULT_BAUDRATE = 1000000  # 1 Mbps is standard for OpenArms
-
-# Default timeout in milliseconds
-DEFAULT_TIMEOUT_MS = 1000
-
-# Data that should be normalized
-NORMALIZED_DATA = ["Present_Position", "Goal_Position"]
-
-# OpenArms specific configurations
-# Based on: https://docs.openarm.dev/software/setup/configure-test
-# OpenArms has 7 DOF per arm (14 total for dual arm)
-OPENARMS_ARM_MOTOR_IDS = {
-    "joint_1": {"send": 0x01, "recv": 0x11},  # J1 - Shoulder pan
-    "joint_2": {"send": 0x02, "recv": 0x12},  # J2 - Shoulder lift
-    "joint_3": {"send": 0x03, "recv": 0x13},  # J3 - Elbow flex
-    "joint_4": {"send": 0x04, "recv": 0x14},  # J4 - Wrist flex
-    "joint_5": {"send": 0x05, "recv": 0x15},  # J5 - Wrist roll
-    "joint_6": {"send": 0x06, "recv": 0x16},  # J6 - Wrist pitch
-    "joint_7": {"send": 0x07, "recv": 0x17},  # J7 - Wrist rotation
-}
-
-OPENARMS_GRIPPER_MOTOR_IDS = {
-    "gripper": {"send": 0x08, "recv": 0x18},  # J8 - Gripper
-}
-
-# Default motor types for OpenArms
-OPENARMS_DEFAULT_MOTOR_TYPES = {
-    "joint_1": MotorType.DM8009,   # Shoulder pan - high torque
-    "joint_2": MotorType.DM8009,   # Shoulder lift - high torque
-    "joint_3": MotorType.DM4340,   # Shoulder rotation
-    "joint_4": MotorType.DM4340,   # Elbow flex
-    "joint_5": MotorType.DM4310,   # Wrist roll
-    "joint_6": MotorType.DM4310,   # Wrist pitch
-    "joint_7": MotorType.DM4310,   # Wrist rotation
-    "gripper": MotorType.DM4310,   # Gripper
-}
-
-# MIT control parameter ranges
-MIT_KP_RANGE = (0.0, 500.0)
-MIT_KD_RANGE = (0.0, 5.0)
-
-# CAN frame command IDs
-CAN_CMD_ENABLE = 0xFC
-CAN_CMD_DISABLE = 0xFD
-CAN_CMD_SET_ZERO = 0xFE
-CAN_CMD_REFRESH = 0xCC
-CAN_CMD_QUERY_PARAM = 0x33
-CAN_CMD_WRITE_PARAM = 0x55
-CAN_CMD_SAVE_PARAM = 0xAA
-
-# CAN ID for parameter operations
-CAN_PARAM_ID = 0x7FF

src/lerobot/motors/dynamixel/dynamixel.py

@@ -24,7 +24,7 @@ from enum import Enum
 
 from lerobot.motors.encoding_utils import decode_twos_complement, encode_twos_complement
 
-from ..motors_bus import Motor, MotorCalibration, NameOrID, SerialMotorsBus, Value, get_address
+from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value, get_address
 from .tables import (
     AVAILABLE_BAUDRATES,
     MODEL_BAUDRATE_TABLE,
@@ -100,7 +100,7 @@ def _split_into_byte_chunks(value: int, length: int) -> list[int]:
     return data
 
 
-class DynamixelMotorsBus(SerialMotorsBus):
+class DynamixelMotorsBus(MotorsBus):
     """
     The Dynamixel implementation for a MotorsBus. It relies on the python dynamixel sdk to communicate with
     the motors. For more info, see the Dynamixel SDK Documentation:

src/lerobot/motors/feetech/feetech.py

@@ -19,7 +19,7 @@ from pprint import pformat
 
 from lerobot.motors.encoding_utils import decode_sign_magnitude, encode_sign_magnitude
 
-from ..motors_bus import Motor, MotorCalibration, NameOrID, SerialMotorsBus, Value, get_address
+from ..motors_bus import Motor, MotorCalibration, MotorsBus, NameOrID, Value, get_address
 from .tables import (
     FIRMWARE_MAJOR_VERSION,
     FIRMWARE_MINOR_VERSION,
@@ -96,7 +96,7 @@ def patch_setPacketTimeout(self, packet_length):  # noqa: N802
     self.packet_timeout = (self.tx_time_per_byte * packet_length) + (self.tx_time_per_byte * 3.0) + 50
 
 
-class FeetechMotorsBus(SerialMotorsBus):
+class FeetechMotorsBus(MotorsBus):
     """
     The FeetechMotorsBus class allows to efficiently read and write to the attached motors. It relies on the
     python feetech sdk to communicate with the motors, which is itself based on the dynamixel sdk.
@@ -165,7 +165,7 @@ class FeetechMotorsBus(SerialMotorsBus):
 
     def _handshake(self) -> None:
         self._assert_motors_exist()
-        #self._assert_same_firmware()
+        self._assert_same_firmware()
 
     def _find_single_motor(self, motor: str, initial_baudrate: int | None = None) -> tuple[int, int]:
         if self.protocol_version == 0:

src/lerobot/motors/motors_bus.py

@@ -19,8 +19,6 @@
 # TODO(aliberts): Add block noqa when feature below is available
 # https://github.com/astral-sh/ruff/issues/3711
 
-from __future__ import annotations
-
 import abc
 import logging
 from contextlib import contextmanager
@@ -43,92 +41,6 @@ Value: TypeAlias = int | float
 logger = logging.getLogger(__name__)
 
 
-class MotorsBusBase(abc.ABC):
-    """
-    Base class for all motor bus implementations.
-    
-    This is a minimal interface that all motor buses must implement, regardless of their
-    communication protocol (serial, CAN, etc.).
-    """
-
-    def __init__(
-        self,
-        port: str,
-        motors: dict[str, Motor],
-        calibration: dict[str, MotorCalibration] | None = None,
-    ):
-        self.port = port
-        self.motors = motors
-        self.calibration = calibration if calibration else {}
-
-    @abc.abstractmethod
-    def connect(self, handshake: bool = True) -> None:
-        """Establish connection to the motors."""
-        pass
-
-    @abc.abstractmethod
-    def disconnect(self, disable_torque: bool = True) -> None:
-        """Disconnect from the motors."""
-        pass
-
-    @property
-    @abc.abstractmethod
-    def is_connected(self) -> bool:
-        """Check if connected to the motors."""
-        pass
-
-    @abc.abstractmethod
-    def read(self, data_name: str, motor: str, *, normalize: bool = True, num_retry: int = 0) -> Value:
-        """Read a value from a single motor."""
-        pass
-
-    @abc.abstractmethod
-    def write(
-        self, data_name: str, motor: str, value: Value, *, normalize: bool = True, num_retry: int = 0
-    ) -> None:
-        """Write a value to a single motor."""
-        pass
-
-    @abc.abstractmethod
-    def sync_read(
-        self, data_name: str, motors: str | list[str] | None = None, *, normalize: bool = True
-    ) -> dict[str, Value]:
-        """Read a value from multiple motors."""
-        pass
-
-    @abc.abstractmethod
-    def sync_write(
-        self,
-        data_name: str,
-        values: Value | dict[str, Value],
-        motors: str | list[str] | None = None,
-        *,
-        normalize: bool = True,
-    ) -> None:
-        """Write values to multiple motors."""
-        pass
-
-    @abc.abstractmethod
-    def enable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None:
-        """Enable torque on selected motors."""
-        pass
-
-    @abc.abstractmethod
-    def disable_torque(self, motors: int | str | list[str] | None = None, num_retry: int = 0) -> None:
-        """Disable torque on selected motors."""
-        pass
-
-    @abc.abstractmethod
-    def read_calibration(self) -> dict[str, MotorCalibration]:
-        """Read calibration parameters from the motors."""
-        pass
-
-    @abc.abstractmethod
-    def write_calibration(self, calibration_dict: dict[str, MotorCalibration], cache: bool = True) -> None:
-        """Write calibration parameters to the motors."""
-        pass
-
-
 def get_ctrl_table(model_ctrl_table: dict[str, dict], model: str) -> dict[str, tuple[int, int]]:
     ctrl_table = model_ctrl_table.get(model)
     if ctrl_table is None:
@@ -291,15 +203,15 @@ class GroupSyncWrite(Protocol):
     def txPacket(self): ...
 
 
-class SerialMotorsBus(MotorsBusBase):
+class MotorsBus(abc.ABC):
     """
-    A SerialMotorsBus allows to efficiently read and write to motors connected via serial communication.
+    A MotorsBus allows to efficiently read and write to the attached motors.
     It represents several motors daisy-chained together and connected through a serial port.
-    There are currently two implementations of this class:
+    There are currently two implementations of this abstract class:
         - DynamixelMotorsBus
         - FeetechMotorsBus
 
-    This class is specifically for serial-based motor protocols (Dynamixel, Feetech, etc.).
+    Note: This class may evolve in the future should we add support for other types of bus.
 
     A MotorsBus subclass instance requires a port (e.g. `FeetechMotorsBus(port="/dev/tty.usbmodem575E0031751"`)).
     To find the port, you can run our utility script:
@@ -1300,7 +1212,3 @@ class SerialMotorsBus(MotorsBusBase):
         for id_, value in ids_values.items():
             data = self._serialize_data(value, length)
             self.sync_writer.addParam(id_, data)
-
-
-# Backward compatibility alias
-MotorsBus = SerialMotorsBus

src/lerobot/policies/factory.py

@@ -38,6 +38,7 @@ from lerobot.policies.sac.configuration_sac import SACConfig
 from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
 from lerobot.policies.tdmpc.configuration_tdmpc import TDMPCConfig
+from lerobot.policies.utils import validate_visual_features_consistency
 from lerobot.policies.vqbet.configuration_vqbet import VQBeTConfig
 from lerobot.processor import PolicyAction, PolicyProcessorPipeline
 from lerobot.processor.converters import (
@@ -420,20 +421,7 @@ def make_policy(
     # policy = torch.compile(policy, mode="reduce-overhead")
 
     if not rename_map:
-        expected_features = set(cfg.input_features.keys()) | set(cfg.output_features.keys())
-        provided_features = set(features.keys())
-        if expected_features and provided_features != expected_features:
-            missing = expected_features - provided_features
-            extra = provided_features - expected_features
-            # TODO (jadechoghari): provide a dynamic rename map suggestion to the user.
-            raise ValueError(
-                f"Feature mismatch between dataset/environment and policy config.\n"
-                f"- Missing features: {sorted(missing) if missing else 'None'}\n"
-                f"- Extra features: {sorted(extra) if extra else 'None'}\n\n"
-                f"Please ensure your dataset and policy use consistent feature names.\n"
-                f"If your dataset uses different observation keys (e.g., cameras named differently), "
-                f"use the `--rename_map` argument, for example:\n"
-                f'  --rename_map=\'{{"observation.images.left": "observation.images.camera1", '
-                f'"observation.images.top": "observation.images.camera2"}}\''
-            )
+        validate_visual_features_consistency(cfg, features)
+        # TODO: (jadechoghari) - add a check_state(cfg, features) and check_action(cfg, features)
+
     return policy

src/lerobot/policies/pi0/configuration_pi0.py

@@ -20,6 +20,7 @@ from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
 from lerobot.optim.optimizers import AdamWConfig
 from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
 from lerobot.utils.constants import OBS_IMAGES
 
 
@@ -47,6 +48,9 @@ class PI0Config(PreTrainedConfig):
     min_period: float = 4e-3
     max_period: float = 4.0
 
+    # Real-Time Chunking (RTC) configuration
+    rtc_config: RTCConfig | None = None
+
     image_resolution: tuple[int, int] = (224, 224)  # see openpi `preprocessing_pytorch.py`
 
     # Add empty images. Used to add empty cameras when no image features are present.

src/lerobot/policies/pi0/modeling_pi0.py

@@ -19,11 +19,12 @@ import logging
 import math
 from collections import deque
 from pathlib import Path
-from typing import TYPE_CHECKING, Literal
+from typing import TYPE_CHECKING, Literal, TypedDict
 
 import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
+from typing_extensions import Unpack
 
 from lerobot.utils.import_utils import _transformers_available
 
@@ -42,6 +43,7 @@ else:
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.policies.pretrained import PreTrainedPolicy, T
+from lerobot.policies.rtc.modeling_rtc import RTCProcessor
 from lerobot.utils.constants import (
     ACTION,
     OBS_LANGUAGE_ATTENTION_MASK,
@@ -51,6 +53,12 @@ from lerobot.utils.constants import (
 )
 
 
+class ActionSelectKwargs(TypedDict, total=False):
+    inference_delay: int | None
+    prev_chunk_left_over: Tensor | None
+    execution_horizon: int | None
+
+
 def get_safe_dtype(target_dtype, device_type):
     """Get a safe dtype for the given device type."""
     if device_type == "mps" and target_dtype == torch.float64:
@@ -503,9 +511,10 @@ class PaliGemmaWithExpertModel(
 class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
     """Core PI0 PyTorch model."""
 
-    def __init__(self, config: PI0Config):
+    def __init__(self, config: PI0Config, rtc_processor: RTCProcessor | None = None):
         super().__init__()
         self.config = config
+        self.rtc_processor = rtc_processor
 
         paligemma_config = get_gemma_config(config.paligemma_variant)
         action_expert_config = get_gemma_config(config.action_expert_variant)
@@ -560,6 +569,9 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         self.paligemma_with_expert.gemma_expert.model.gradient_checkpointing = False
         logging.info("Disabled gradient checkpointing for PI0Pytorch model")
 
+    def _rtc_enabled(self):
+        return self.config.rtc_config is not None and self.config.rtc_config.enabled
+
     def _apply_checkpoint(self, func, *args, **kwargs):
         """Helper method to apply gradient checkpointing if enabled."""
         if self.gradient_checkpointing_enabled and self.training:
@@ -756,7 +768,15 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
 
     @torch.no_grad()  # see openpi `sample_actions` (slightly adapted)
     def sample_actions(
-        self, images, img_masks, lang_tokens, lang_masks, state, noise=None, num_steps=None
+        self,
+        images,
+        img_masks,
+        lang_tokens,
+        lang_masks,
+        state,
+        noise=None,
+        num_steps=None,
+        **kwargs: Unpack[ActionSelectKwargs],
     ) -> Tensor:
         """Do a full inference forward and compute the action."""
         if num_steps is None:
@@ -798,14 +818,41 @@ class PI0Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         time = torch.tensor(1.0, dtype=torch.float32, device=device)
         while time >= -dt / 2:
             expanded_time = time.expand(bsize)
-            v_t = self.denoise_step(
-                state,
-                prefix_pad_masks,
-                past_key_values,
-                x_t,
-                expanded_time,
-            )
-            x_t = x_t + dt * v_t
+
+            # Define a closure function to properly capture expanded_time
+            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
+            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
+                return self.denoise_step(
+                    state=state,
+                    prefix_pad_masks=prefix_pad_masks,
+                    past_key_values=past_key_values,
+                    x_t=input_x_t,
+                    timestep=current_timestep,
+                )
+
+            if self._rtc_enabled():
+                inference_delay = kwargs.get("inference_delay")
+                prev_chunk_left_over = kwargs.get("prev_chunk_left_over")
+                execution_horizon = kwargs.get("execution_horizon")
+
+                v_t = self.rtc_processor.denoise_step(
+                    x_t=x_t,
+                    prev_chunk_left_over=prev_chunk_left_over,
+                    inference_delay=inference_delay,
+                    time=time,
+                    original_denoise_step_partial=denoise_step_partial_call,
+                    execution_horizon=execution_horizon,
+                )
+            else:
+                v_t = denoise_step_partial_call(x_t)
+
+            # Euler step
+            x_t += dt * v_t
+
+            # Record x_t and v_t after Euler step
+            if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
+                self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
+
             time += dt
 
         return x_t
@@ -869,7 +916,8 @@ class PI0Policy(PreTrainedPolicy):
         self.config = config
 
         # Initialize the core PI0 model
-        self.model = PI0Pytorch(config)
+        self.init_rtc_processor()
+        self.model = PI0Pytorch(config, rtc_processor=self.rtc_processor)
 
         # Enable gradient checkpointing if requested
         if config.gradient_checkpointing:
@@ -1059,6 +1107,22 @@ class PI0Policy(PreTrainedPolicy):
             ACTION: deque(maxlen=self.config.n_action_steps),
         }
 
+    def init_rtc_processor(self):
+        """Initialize RTC processor if RTC is enabled in config."""
+        self.rtc_processor = None
+
+        # Create processor if config provided
+        # If RTC is not enabled - we can still track the denoising data
+        if self.config.rtc_config is not None:
+            self.rtc_processor = RTCProcessor(self.config.rtc_config)
+
+            model_value = getattr(self, "model", None)
+            if model_value is not None:
+                model_value.rtc_processor = self.rtc_processor
+
+    def _rtc_enabled(self) -> bool:
+        return self.config.rtc_config is not None and self.config.rtc_config.enabled
+
     def _preprocess_images(self, batch: dict[str, Tensor]) -> tuple[list[Tensor], list[Tensor]]:
         """Preprocess images for the model.
 
@@ -1137,6 +1201,10 @@ class PI0Policy(PreTrainedPolicy):
     @torch.no_grad()
     def select_action(self, batch: dict[str, Tensor]) -> Tensor:
         """Select a single action given environment observations."""
+        assert not self._rtc_enabled(), (
+            "RTC is not supported for select_action, use it with predict_action_chunk"
+        )
+
         self.eval()
 
         # Action queue logic for n_action_steps > 1
@@ -1148,7 +1216,7 @@ class PI0Policy(PreTrainedPolicy):
         return self._action_queue.popleft()
 
     @torch.no_grad()
-    def predict_action_chunk(self, batch: dict[str, Tensor]) -> Tensor:
+    def predict_action_chunk(self, batch: dict[str, Tensor], **kwargs: Unpack[ActionSelectKwargs]) -> Tensor:
         """Predict a chunk of actions given environment observations."""
         self.eval()
 
@@ -1157,8 +1225,8 @@ class PI0Policy(PreTrainedPolicy):
         lang_tokens, lang_masks = batch[f"{OBS_LANGUAGE_TOKENS}"], batch[f"{OBS_LANGUAGE_ATTENTION_MASK}"]
         state = self.prepare_state(batch)
 
-        # Sample actions using the model
-        actions = self.model.sample_actions(images, img_masks, lang_tokens, lang_masks, state)
+        # Sample actions using the model (pass through RTC kwargs)
+        actions = self.model.sample_actions(images, img_masks, lang_tokens, lang_masks, state, **kwargs)
 
         # Unpad actions to actual action dimension
         original_action_dim = self.config.output_features[ACTION].shape[0]

src/lerobot/policies/pi05/configuration_pi05.py

@@ -20,6 +20,7 @@ from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
 from lerobot.optim.optimizers import AdamWConfig
 from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
 
 
 @PreTrainedConfig.register_subclass("pi05")
@@ -46,6 +47,9 @@ class PI05Config(PreTrainedConfig):
     min_period: float = 4e-3
     max_period: float = 4.0
 
+    # Real-Time Chunking (RTC) configuration
+    rtc_config: RTCConfig | None = None
+
     image_resolution: tuple[int, int] = (224, 224)  # see openpi `preprocessing_pytorch.py`
 
     # Add empty images. Used to add empty cameras when no image features are present.

src/lerobot/policies/pi05/modeling_pi05.py

@@ -19,11 +19,12 @@ import logging
 import math
 from collections import deque
 from pathlib import Path
-from typing import TYPE_CHECKING, Literal
+from typing import TYPE_CHECKING, Literal, TypedDict
 
 import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
+from typing_extensions import Unpack
 
 from lerobot.utils.import_utils import _transformers_available
 
@@ -42,6 +43,7 @@ else:
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.policies.pi05.configuration_pi05 import PI05Config
 from lerobot.policies.pretrained import PreTrainedPolicy, T
+from lerobot.policies.rtc.modeling_rtc import RTCProcessor
 from lerobot.utils.constants import (
     ACTION,
     OBS_LANGUAGE_ATTENTION_MASK,
@@ -50,6 +52,12 @@ from lerobot.utils.constants import (
 )
 
 
+class ActionSelectKwargs(TypedDict, total=False):
+    inference_delay: int | None
+    prev_chunk_left_over: Tensor | None
+    execution_horizon: int | None
+
+
 def get_safe_dtype(target_dtype, device_type):
     """Get a safe dtype for the given device type."""
     if device_type == "mps" and target_dtype == torch.float64:
@@ -502,9 +510,10 @@ class PaliGemmaWithExpertModel(
 class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
     """Core PI05 PyTorch model."""
 
-    def __init__(self, config: PI05Config):
+    def __init__(self, config: PI05Config, rtc_processor: RTCProcessor | None = None):
         super().__init__()
         self.config = config
+        self.rtc_processor = rtc_processor
 
         paligemma_config = get_gemma_config(config.paligemma_variant)
         action_expert_config = get_gemma_config(config.action_expert_variant)
@@ -556,6 +565,9 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         self.paligemma_with_expert.gemma_expert.model.gradient_checkpointing = False
         logging.info("Disabled gradient checkpointing for PI05Pytorch model")
 
+    def _rtc_enabled(self):
+        return self.config.rtc_config is not None and self.config.rtc_config.enabled
+
     def _apply_checkpoint(self, func, *args, **kwargs):
         """Helper method to apply gradient checkpointing if enabled."""
         if self.gradient_checkpointing_enabled and self.training:
@@ -731,7 +743,16 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         return F.mse_loss(u_t, v_t, reduction="none")
 
     @torch.no_grad()  # see openpi `sample_actions` (slightly adapted)
-    def sample_actions(self, images, img_masks, tokens, masks, noise=None, num_steps=None) -> Tensor:
+    def sample_actions(
+        self,
+        images,
+        img_masks,
+        tokens,
+        masks,
+        noise=None,
+        num_steps=None,
+        **kwargs: Unpack[ActionSelectKwargs],
+    ) -> Tensor:
         """Do a full inference forward and compute the action."""
         if num_steps is None:
             num_steps = self.config.num_inference_steps
@@ -770,13 +791,40 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         time = torch.tensor(1.0, dtype=torch.float32, device=device)
         while time >= -dt / 2:
             expanded_time = time.expand(bsize)
-            v_t = self.denoise_step(
-                prefix_pad_masks,
-                past_key_values,
-                x_t,
-                expanded_time,
-            )
-            x_t = x_t + dt * v_t
+
+            # Define a closure function to properly capture expanded_time
+            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
+            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
+                return self.denoise_step(
+                    prefix_pad_masks=prefix_pad_masks,
+                    past_key_values=past_key_values,
+                    x_t=input_x_t,
+                    timestep=current_timestep,
+                )
+
+            if self._rtc_enabled():
+                inference_delay = kwargs.get("inference_delay")
+                prev_chunk_left_over = kwargs.get("prev_chunk_left_over")
+                execution_horizon = kwargs.get("execution_horizon")
+
+                v_t = self.rtc_processor.denoise_step(
+                    x_t=x_t,
+                    prev_chunk_left_over=prev_chunk_left_over,
+                    inference_delay=inference_delay,
+                    time=time,
+                    original_denoise_step_partial=denoise_step_partial_call,
+                    execution_horizon=execution_horizon,
+                )
+            else:
+                v_t = denoise_step_partial_call(x_t)
+
+            # Euler step
+            x_t += dt * v_t
+
+            # Record x_t and v_t after Euler step
+            if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
+                self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
+
             time += dt
 
         return x_t
@@ -839,7 +887,8 @@ class PI05Policy(PreTrainedPolicy):
         self.config = config
 
         # Initialize the core PI05 model
-        self.model = PI05Pytorch(config)
+        self.init_rtc_processor()
+        self.model = PI05Pytorch(config, rtc_processor=self.rtc_processor)
 
         # Enable gradient checkpointing if requested
         if config.gradient_checkpointing:
@@ -1035,6 +1084,22 @@ class PI05Policy(PreTrainedPolicy):
             ACTION: deque(maxlen=self.config.n_action_steps),
         }
 
+    def init_rtc_processor(self):
+        """Initialize RTC processor if RTC is enabled in config."""
+        self.rtc_processor = None
+
+        # Create processor if config provided
+        # If RTC is not enabled - we can still track the denoising data
+        if self.config.rtc_config is not None:
+            self.rtc_processor = RTCProcessor(self.config.rtc_config)
+
+            model_value = getattr(self, "model", None)
+            if model_value is not None:
+                model_value.rtc_processor = self.rtc_processor
+
+    def _rtc_enabled(self) -> bool:
+        return self.config.rtc_config is not None and self.config.rtc_config.enabled
+
     def _preprocess_images(self, batch: dict[str, Tensor]) -> tuple[list[Tensor], list[Tensor]]:
         """Preprocess images for the model.
 
@@ -1109,6 +1174,10 @@ class PI05Policy(PreTrainedPolicy):
     @torch.no_grad()
     def select_action(self, batch: dict[str, Tensor]) -> Tensor:
         """Select a single action given environment observations."""
+        assert not self._rtc_enabled(), (
+            "RTC is not supported for select_action, use it with predict_action_chunk"
+        )
+
         self.eval()
 
         # Action queue logic for n_action_steps > 1
@@ -1120,7 +1189,7 @@ class PI05Policy(PreTrainedPolicy):
         return self._action_queue.popleft()
 
     @torch.no_grad()
-    def predict_action_chunk(self, batch: dict[str, Tensor]) -> Tensor:
+    def predict_action_chunk(self, batch: dict[str, Tensor], **kwargs: Unpack[ActionSelectKwargs]) -> Tensor:
         """Predict a chunk of actions given environment observations."""
         self.eval()
 
@@ -1128,8 +1197,8 @@ class PI05Policy(PreTrainedPolicy):
         images, img_masks = self._preprocess_images(batch)
         tokens, masks = batch[f"{OBS_LANGUAGE_TOKENS}"], batch[f"{OBS_LANGUAGE_ATTENTION_MASK}"]
 
-        # Sample actions using the model (no separate state needed for PI05)
-        actions = self.model.sample_actions(images, img_masks, tokens, masks)
+        # Sample actions using the model (pass through RTC kwargs, no separate state needed for PI05)
+        actions = self.model.sample_actions(images, img_masks, tokens, masks, **kwargs)
 
         # Unpad actions to actual action dimension
         original_action_dim = self.config.output_features[ACTION].shape[0]

src/lerobot/policies/rtc/README.md

@@ -0,0 +1,38 @@
+# Real-Time Chunking (RTC)
+
+This module contains the LeRobot implementation of **Real-Time Chunking (RTC)**, an inference-time technique for flow-matching based policies.
+
+**Note**: RTC is not a policy itself, but rather an inference enhancement that works with flow-matching based policies including [π₀](../pi0/), [π₀.₅](../pi05/), and [SmolVLA](../smolvla/).
+
+---
+
+## Citation
+
+If you use Real-Time Chunking in your work, please cite:
+
+```bibtex
+@misc{openpi2024,
+  author       = {Physical Intelligence Lab},
+  title        = {OpenPI: PyTorch Implementation of π0 and π0.5 Policies},
+  year         = {2024},
+  publisher    = {GitHub},
+  howpublished = {\url{https://github.com/Physical-Intelligence/openpi}},
+  license      = {Apache-2.0}
+}
+
+@misc{black2025realtimeexecutionactionchunking,
+      title={Real-Time Execution of Action Chunking Flow Policies},
+      author={Kevin Black and Manuel Y. Galliker and Sergey Levine},
+      year={2025},
+      eprint={2506.07339},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2506.07339},
+}
+```
+
+---
+
+## License
+
+This implementation follows the **Apache 2.0 License**, consistent with the LeRobot project.

src/lerobot/policies/rtc/action_queue.py

@@ -0,0 +1,219 @@
+#!/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.
+
+"""Action queue management for Real-Time Chunking (RTC).
+
+This module provides ActionQueue, a thread-safe queue for managing action chunks
+in real-time control scenarios. It supports both RTC-enabled and non-RTC modes,
+handling action merging and leftover tracking.
+"""
+
+import logging
+from threading import Lock
+
+import torch
+from torch import Tensor
+
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
+
+logger = logging.getLogger(__name__)
+
+
+class ActionQueue:
+    """Thread-safe queue for managing action chunks in real-time control.
+
+    This queue handles two types of action sequences:
+    - Original actions: Used for RTC to compute leftovers from previous chunks
+    - Processed actions: Post-processed actions ready for robot execution
+
+    The queue operates in two modes:
+    1. RTC-enabled: Replaces the entire queue with new actions, accounting for inference delay
+    2. RTC-disabled: Appends new actions to the queue, maintaining continuity
+
+    Args:
+        cfg (RTCConfig): Configuration for Real-Time Chunking behavior.
+
+    Attributes:
+        queue (Tensor | None): Processed actions for robot rollout (time_steps, action_dim).
+        original_queue (Tensor | None): Original actions for RTC computation (time_steps, action_dim).
+        last_index (int): Current consumption index in the queue.
+    """
+
+    def __init__(self, cfg: RTCConfig):
+        """Initialize the action queue.
+
+        Args:
+            cfg: RTC configuration controlling queue behavior.
+        """
+        self.queue = None  # Processed actions for robot rollout
+        self.original_queue = None  # Original actions for RTC
+        self.lock = Lock()
+        self.last_index = 0
+        self.cfg = cfg
+
+    def get(self) -> Tensor | None:
+        """Get the next action from the queue.
+
+        Returns:
+            Tensor | None: The next action (action_dim,) or None if queue is empty.
+                          Returns a clone to prevent external modifications.
+        """
+        with self.lock:
+            if self.queue is None or self.last_index >= len(self.queue):
+                return None
+
+            action = self.queue[self.last_index]
+            self.last_index += 1
+            return action.clone()
+
+    def qsize(self) -> int:
+        """Get the number of remaining actions in the queue.
+
+        Returns:
+            int: Number of unconsumed actions.
+        """
+        if self.queue is None:
+            return 0
+        length = len(self.queue)
+        return length - self.last_index
+
+    def empty(self) -> bool:
+        """Check if the queue is empty.
+
+        Returns:
+            bool: True if no actions remain, False otherwise.
+        """
+        if self.queue is None:
+            return True
+
+        length = len(self.queue)
+        return length - self.last_index <= 0
+
+    def get_action_index(self) -> int:
+        """Get the current action consumption index.
+
+        Returns:
+            int: Index of the next action to be consumed.
+        """
+        return self.last_index
+
+    def get_left_over(self) -> Tensor | None:
+        """Get leftover original actions for RTC prev_chunk_left_over.
+
+        These are the unconsumed actions from the current chunk, which will be
+        used by RTC to compute corrections for the next chunk.
+
+        Returns:
+            Tensor | None: Remaining original actions (remaining_steps, action_dim),
+                          or None if no original queue exists.
+        """
+        with self.lock:
+            if self.original_queue is None:
+                return None
+            return self.original_queue[self.last_index :]
+
+    def merge(
+        self,
+        original_actions: Tensor,
+        processed_actions: Tensor,
+        real_delay: int,
+        action_index_before_inference: int | None = 0,
+    ):
+        """Merge new actions into the queue.
+
+        This method operates differently based on RTC mode:
+        - RTC enabled: Replaces the queue, accounting for inference delay
+        - RTC disabled: Appends to the queue, maintaining continuity
+
+        Args:
+            original_actions: Unprocessed actions from policy (time_steps, action_dim).
+            processed_actions: Post-processed actions for robot (time_steps, action_dim).
+            real_delay: Number of time steps of inference delay.
+            action_index_before_inference: Index before inference started, for validation.
+        """
+        with self.lock:
+            self._check_delays(real_delay, action_index_before_inference)
+
+            if self.cfg.enabled:
+                self._replace_actions_queue(original_actions, processed_actions, real_delay)
+                return
+
+            self._append_actions_queue(original_actions, processed_actions)
+
+    def _replace_actions_queue(self, original_actions: Tensor, processed_actions: Tensor, real_delay: int):
+        """Replace the queue with new actions (RTC mode).
+
+        Discards the first `real_delay` actions since they correspond to the time
+        spent during inference, when the robot was executing previous actions.
+
+        Args:
+            original_actions: Unprocessed actions from policy.
+            processed_actions: Post-processed actions for robot.
+            real_delay: Number of time steps to skip due to inference delay.
+        """
+        self.original_queue = original_actions[real_delay:].clone()
+        self.queue = processed_actions[real_delay:].clone()
+
+        logger.debug(f"original_actions shape: {self.original_queue.shape}")
+        logger.debug(f"processed_actions shape: {self.queue.shape}")
+        logger.debug(f"real_delay: {real_delay}")
+
+        self.last_index = 0
+
+    def _append_actions_queue(self, original_actions: Tensor, processed_actions: Tensor):
+        """Append new actions to the queue (non-RTC mode).
+
+        Removes already-consumed actions and appends new ones, maintaining
+        queue continuity without replacement.
+
+        Args:
+            original_actions: Unprocessed actions from policy.
+            processed_actions: Post-processed actions for robot.
+        """
+        if self.queue is None:
+            self.original_queue = original_actions.clone()
+            self.queue = processed_actions.clone()
+            return
+
+        self.original_queue = torch.cat([self.original_queue, original_actions.clone()])
+        self.original_queue = self.original_queue[self.last_index :]
+
+        self.queue = torch.cat([self.queue, processed_actions.clone()])
+        self.queue = self.queue[self.last_index :]
+
+        self.last_index = 0
+
+    def _check_delays(self, real_delay: int, action_index_before_inference: int | None = None):
+        """Validate that computed delays match expectations.
+
+        Compares the delay computed from inference latency with the actual
+        number of actions consumed during inference.
+
+        Args:
+            real_delay: Delay computed from inference latency.
+            action_index_before_inference: Action index when inference started.
+        """
+        if action_index_before_inference is None:
+            return
+
+        indexes_diff = self.last_index - action_index_before_inference
+        if indexes_diff != real_delay:
+            # Let's check that action index difference (real delay calculated based on action queue)
+            # is the same as delay calculated based on inference latency
+            logger.warning(
+                f"[ACTION_QUEUE] Indexes diff is not equal to real delay. "
+                f"Indexes diff: {indexes_diff}, real delay: {real_delay}"
+            )

src/lerobot/policies/rtc/configuration_rtc.py

@@ -0,0 +1,55 @@
+#!/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.
+
+"""
+Real Time Chunking (RTC) and Bidirectional Decoding (BID) configuration classes.
+
+Based on:
+- Real Time Chunking: https://www.physicalintelligence.company/research/real_time_chunking
+"""
+
+from dataclasses import dataclass
+
+from lerobot.configs.types import RTCAttentionSchedule
+
+
+@dataclass
+class RTCConfig:
+    """Configuration for Real Time Chunking (RTC) inference.
+
+    RTC improves real-time inference by treating chunk generation as an inpainting problem,
+    strategically handling overlapping timesteps between action chunks using prefix attention.
+    """
+
+    # Infrastructure
+    enabled: bool = False
+
+    # Core RTC settings
+    # Todo change to exp
+    prefix_attention_schedule: RTCAttentionSchedule = RTCAttentionSchedule.LINEAR
+    max_guidance_weight: float = 10.0
+    execution_horizon: int = 10
+
+    # Debug settings
+    debug: bool = False
+    debug_maxlen: int = 100
+
+    def __post_init__(self):
+        """Validate RTC configuration parameters."""
+        if self.max_guidance_weight <= 0:
+            raise ValueError(f"max_guidance_weight must be positive, got {self.max_guidance_weight}")
+        if self.debug_maxlen <= 0:
+            raise ValueError(f"debug_maxlen must be positive, got {self.debug_maxlen}")

src/lerobot/policies/rtc/debug_tracker.py

@@ -0,0 +1,233 @@
+#!/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.
+
+"""Debug information handler for Real-Time Chunking (RTC)."""
+
+from dataclasses import dataclass, field
+from typing import Any
+
+import torch
+from torch import Tensor
+
+
+@dataclass
+class DebugStep:
+    """Container for debug information from a single denoising step.
+
+    Attributes:
+        step_idx (int): Step index/counter.
+        x_t (Tensor | None): Current latent/state tensor.
+        v_t (Tensor | None): Velocity from denoiser.
+        x1_t (Tensor | None): Denoised prediction (x_t - time * v_t).
+        correction (Tensor | None): Correction gradient tensor.
+        err (Tensor | None): Weighted error term.
+        weights (Tensor | None): Prefix attention weights.
+        guidance_weight (float | Tensor | None): Applied guidance weight.
+        time (float | Tensor | None): Time parameter.
+        inference_delay (int | None): Inference delay parameter.
+        execution_horizon (int | None): Execution horizon parameter.
+        metadata (dict[str, Any]): Additional metadata.
+    """
+
+    step_idx: int = 0
+    x_t: Tensor | None = None
+    v_t: Tensor | None = None
+    x1_t: Tensor | None = None
+    correction: Tensor | None = None
+    err: Tensor | None = None
+    weights: Tensor | None = None
+    guidance_weight: float | Tensor | None = None
+    time: float | Tensor | None = None
+    inference_delay: int | None = None
+    execution_horizon: int | None = None
+    metadata: dict[str, Any] = field(default_factory=dict)
+
+    def to_dict(self, include_tensors: bool = False) -> dict[str, Any]:
+        """Convert debug step to dictionary.
+
+        Args:
+            include_tensors (bool): If True, include tensor values. If False, only include
+                tensor statistics (shape, mean, std, min, max).
+
+        Returns:
+            Dictionary representation of the debug step.
+        """
+        result = {
+            "step_idx": self.step_idx,
+            "guidance_weight": (
+                self.guidance_weight.item()
+                if isinstance(self.guidance_weight, Tensor)
+                else self.guidance_weight
+            ),
+            "time": self.time.item() if isinstance(self.time, Tensor) else self.time,
+            "inference_delay": self.inference_delay,
+            "execution_horizon": self.execution_horizon,
+            "metadata": self.metadata.copy(),
+        }
+
+        # Add tensor information
+        tensor_fields = ["x_t", "v_t", "x1_t", "correction", "err", "weights"]
+        for field_name in tensor_fields:
+            tensor = getattr(self, field_name)
+            if tensor is not None:
+                if include_tensors:
+                    result[field_name] = tensor.detach().cpu()
+                else:
+                    result[f"{field_name}_stats"] = {
+                        "shape": tuple(tensor.shape),
+                        "mean": tensor.mean().item(),
+                        "std": tensor.std().item(),
+                        "min": tensor.min().item(),
+                        "max": tensor.max().item(),
+                    }
+
+        return result
+
+
+class Tracker:
+    """Collects and manages debug information for RTC processing.
+
+    This tracker stores debug information from recent denoising steps in a dictionary,
+    using time as the key for efficient lookups and updates.
+
+    Args:
+        enabled (bool): Whether debug collection is enabled.
+        maxlen (int | None): Optional sliding window size. If provided, only the
+            most recent ``maxlen`` debug steps are kept. If ``None``, keeps all.
+    """
+
+    def __init__(self, enabled: bool = False, maxlen: int = 100):
+        self.enabled = enabled
+        self._steps = {} if enabled else None  # Dictionary with time as key
+        self._maxlen = maxlen
+        self._step_counter = 0
+
+    def reset(self) -> None:
+        """Clear all recorded debug information."""
+        if self.enabled and self._steps is not None:
+            self._steps.clear()
+        self._step_counter = 0
+
+    @torch._dynamo.disable
+    def track(
+        self,
+        time: float | Tensor,
+        x_t: Tensor | None = None,
+        v_t: Tensor | None = None,
+        x1_t: Tensor | None = None,
+        correction: Tensor | None = None,
+        err: Tensor | None = None,
+        weights: Tensor | None = None,
+        guidance_weight: float | Tensor | None = None,
+        inference_delay: int | None = None,
+        execution_horizon: int | None = None,
+        **metadata,
+    ) -> None:
+        """Track debug information for a denoising step at a given time.
+
+        If a step with the given time already exists, it will be updated with the new data.
+        Otherwise, a new step will be created. Only non-None fields are updated/set.
+
+        Note: This method is excluded from torch.compile to avoid graph breaks from
+        operations like .item() which are incompatible with compiled graphs.
+
+        Args:
+            time (float | Tensor): Time parameter - used as the key to identify the step.
+            x_t (Tensor | None): Current latent/state tensor.
+            v_t (Tensor | None): Velocity from denoiser.
+            x1_t (Tensor | None): Denoised prediction.
+            correction (Tensor | None): Correction gradient tensor.
+            err (Tensor | None): Weighted error term.
+            weights (Tensor | None): Prefix attention weights.
+            guidance_weight (float | Tensor | None): Applied guidance weight.
+            inference_delay (int | None): Inference delay parameter.
+            execution_horizon (int | None): Execution horizon parameter.
+            **metadata: Additional metadata to store.
+        """
+        if not self.enabled:
+            return
+
+        # Convert time to float and round to avoid float precision issues
+        time_value = time.item() if isinstance(time, Tensor) else time
+        time_key = round(time_value, 6)  # Use rounded time as dictionary key
+
+        # Check if step with this time already exists
+        if time_key in self._steps:
+            # Update existing step with non-None fields
+            existing_step = self._steps[time_key]
+            if x_t is not None:
+                existing_step.x_t = x_t.detach().clone()
+            if v_t is not None:
+                existing_step.v_t = v_t.detach().clone()
+            if x1_t is not None:
+                existing_step.x1_t = x1_t.detach().clone()
+            if correction is not None:
+                existing_step.correction = correction.detach().clone()
+            if err is not None:
+                existing_step.err = err.detach().clone()
+            if weights is not None:
+                existing_step.weights = weights.detach().clone()
+            if guidance_weight is not None:
+                existing_step.guidance_weight = guidance_weight
+            if inference_delay is not None:
+                existing_step.inference_delay = inference_delay
+            if execution_horizon is not None:
+                existing_step.execution_horizon = execution_horizon
+            if metadata:
+                existing_step.metadata.update(metadata)
+        else:
+            # Create new step
+            step = DebugStep(
+                step_idx=self._step_counter,
+                x_t=x_t.detach().clone() if x_t is not None else None,
+                v_t=v_t.detach().clone() if v_t is not None else None,
+                x1_t=x1_t.detach().clone() if x1_t is not None else None,
+                correction=correction.detach().clone() if correction is not None else None,
+                err=err.detach().clone() if err is not None else None,
+                weights=weights.detach().clone() if weights is not None else None,
+                guidance_weight=guidance_weight,
+                time=time_value,
+                inference_delay=inference_delay,
+                execution_horizon=execution_horizon,
+                metadata=metadata,
+            )
+
+            # Add to dictionary
+            self._steps[time_key] = step
+            self._step_counter += 1
+
+            # Enforce maxlen if set
+            if self._maxlen is not None and len(self._steps) > self._maxlen:
+                # Remove oldest entry (first key in dict - Python 3.7+ preserves insertion order)
+                oldest_key = next(iter(self._steps))
+                del self._steps[oldest_key]
+
+    def get_all_steps(self) -> list[DebugStep]:
+        """Get all recorded debug steps.
+
+        Returns:
+            List of all DebugStep objects (may be empty if disabled).
+        """
+        if not self.enabled or self._steps is None:
+            return []
+
+        return list(self._steps.values())
+
+    def __len__(self) -> int:
+        """Return the number of recorded debug steps."""
+        if not self.enabled or self._steps is None:
+            return 0
+        return len(self._steps)

src/lerobot/policies/rtc/debug_visualizer.py

@@ -0,0 +1,113 @@
+#!/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.
+
+"""Visualization utilities for RTC debug information."""
+
+import torch
+
+
+class RTCDebugVisualizer:
+    """Visualizer for RTC debug information.
+
+    This class provides methods to visualize debug information collected by the Tracker,
+    including corrections, errors, weights, and guidance weights over denoising steps.
+    """
+
+    @staticmethod
+    def plot_waypoints(
+        axes,
+        tensor,
+        start_from: int = 0,
+        color: str = "blue",
+        label: str = "",
+        alpha: float = 0.7,
+        linewidth: float = 2,
+        marker: str | None = None,
+        markersize: int = 4,
+    ):
+        """Plot trajectories across multiple dimensions.
+
+        This function plots a tensor's values across time for multiple dimensions,
+        with each dimension plotted on a separate axis.
+
+        Args:
+            axes: Array of matplotlib axes (one for each dimension).
+            tensor: The tensor to plot (can be torch.Tensor or numpy array).
+                   Shape should be (time_steps, num_dims) or (batch, time_steps, num_dims).
+            start_from: Starting index for the x-axis.
+            color: Color for the plot lines.
+            label: Label for the plot legend.
+            alpha: Transparency level for the plot.
+            linewidth: Width of the plot lines.
+            marker: Marker style for data points (e.g., 'o', 's', '^').
+            markersize: Size of the markers.
+        """
+        import numpy as np
+
+        # Handle None tensor
+        if tensor is None:
+            return
+
+        # Convert tensor to numpy if needed
+        tensor_np = tensor.detach().cpu().numpy() if isinstance(tensor, torch.Tensor) else tensor
+
+        # Handle different tensor shapes
+        if tensor_np.ndim == 3:
+            # If batch dimension present, take first batch
+            tensor_np = tensor_np[0]
+        elif tensor_np.ndim == 1:
+            # If 1D, reshape to (time_steps, 1)
+            tensor_np = tensor_np.reshape(-1, 1)
+
+        # Get dimensions
+        time_steps, num_dims = tensor_np.shape
+
+        # Create x-axis indices
+        x_indices = np.arange(start_from, start_from + time_steps)
+
+        # Plot each dimension on its corresponding axis
+        num_axes = len(axes) if hasattr(axes, "__len__") else 1
+        for dim_idx in range(min(num_dims, num_axes)):
+            ax = axes[dim_idx] if hasattr(axes, "__len__") else axes
+
+            # Plot the trajectory
+            if marker:
+                ax.plot(
+                    x_indices,
+                    tensor_np[:, dim_idx],
+                    color=color,
+                    label=label if dim_idx == 0 else "",  # Only show label once
+                    alpha=alpha,
+                    linewidth=linewidth,
+                    marker=marker,
+                    markersize=markersize,
+                )
+            else:
+                ax.plot(
+                    x_indices,
+                    tensor_np[:, dim_idx],
+                    color=color,
+                    label=label if dim_idx == 0 else "",  # Only show label once
+                    alpha=alpha,
+                    linewidth=linewidth,
+                )
+
+            # Add grid and labels if not already present
+            if not ax.xaxis.get_label().get_text():
+                ax.set_xlabel("Step", fontsize=10)
+            if not ax.yaxis.get_label().get_text():
+                ax.set_ylabel(f"Dim {dim_idx}", fontsize=10)
+            ax.grid(True, alpha=0.3)

src/lerobot/policies/rtc/latency_tracker.py

@@ -0,0 +1,72 @@
+#!/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.
+
+"""Latency tracking utilities for Real-Time Chunking (RTC)."""
+
+from collections import deque
+
+import numpy as np
+
+
+class LatencyTracker:
+    """Tracks recent latencies and provides max/percentile queries.
+
+    Args:
+        maxlen (int | None): Optional sliding window size. If provided, only the
+            most recent ``maxlen`` latencies are kept. If ``None``, keeps all.
+    """
+
+    def __init__(self, maxlen: int = 100):
+        self._values = deque(maxlen=maxlen)
+        self.reset()
+
+    def reset(self) -> None:
+        """Clear all recorded latencies."""
+        self._values.clear()
+        self.max_latency = 0.0
+
+    def add(self, latency: float) -> None:
+        """Add a latency sample (seconds)."""
+        # Ensure numeric and non-negative
+        val = float(latency)
+
+        if val < 0:
+            return
+        self._values.append(val)
+        self.max_latency = max(self.max_latency, val)
+
+    def __len__(self) -> int:
+        return len(self._values)
+
+    def max(self) -> float | None:
+        """Return the maximum latency or None if empty."""
+        return self.max_latency
+
+    def percentile(self, q: float) -> float | None:
+        """Return the q-quantile (q in [0,1]) of recorded latencies or None if empty."""
+        if not self._values:
+            return 0.0
+        q = float(q)
+        if q <= 0.0:
+            return min(self._values)
+        if q >= 1.0:
+            return self.max_latency
+        vals = np.array(list(self._values), dtype=np.float32)
+        return float(np.quantile(vals, q))
+
+    def p95(self) -> float | None:
+        """Return the 95th percentile latency or None if empty."""
+        return self.percentile(0.95)

src/lerobot/policies/rtc/modeling_rtc.py

@@ -0,0 +1,297 @@
+#!/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.
+
+"""
+Real-Time Chunking (RTC) implementation for LeRobot.
+
+Based on Physical Intelligence's Kinetix implementation:
+https://github.com/Physical-Intelligence/real-time-chunking-kinetix/blob/main/src/model.py#L214
+"""
+
+import logging
+import math
+
+import torch
+from torch import Tensor
+
+from lerobot.configs.types import RTCAttentionSchedule
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
+from lerobot.policies.rtc.debug_tracker import Tracker
+
+logger = logging.getLogger(__name__)
+
+
+class RTCProcessor:
+    """Real-Time Chunking processor for action chunking policies.
+
+    This class implements RTC techniques including velocity calculation,
+    prefix attention, and adaptive chunk processing.
+    """
+
+    def __init__(self, rtc_config: RTCConfig):
+        self.rtc_config = rtc_config
+
+        self.tracker = None
+
+        if rtc_config.debug:
+            self.tracker = Tracker(
+                enabled=rtc_config.debug,
+                maxlen=rtc_config.debug_maxlen,
+            )
+
+    # ====================== Tracker Proxy Methods ======================
+    def track(
+        self,
+        time: float | Tensor,
+        x_t: Tensor | None = None,
+        v_t: Tensor | None = None,
+        x1_t: Tensor | None = None,
+        correction: Tensor | None = None,
+        err: Tensor | None = None,
+        weights: Tensor | None = None,
+        guidance_weight: float | Tensor | None = None,
+        inference_delay: int | None = None,
+        execution_horizon: int | None = None,
+        **metadata,
+    ) -> None:
+        """Proxy method to track debug information.
+
+        If tracker is None or disabled, this method does nothing.
+        Otherwise, it forwards the call to tracker.track().
+        """
+        if self.tracker is not None:
+            self.tracker.track(
+                time=time,
+                x_t=x_t,
+                v_t=v_t,
+                x1_t=x1_t,
+                correction=correction,
+                err=err,
+                weights=weights,
+                guidance_weight=guidance_weight,
+                inference_delay=inference_delay,
+                execution_horizon=execution_horizon,
+                **metadata,
+            )
+
+    def get_all_debug_steps(self) -> list:
+        """Get all debug steps from tracker.
+
+        Returns empty list if tracker is disabled or None.
+        """
+        if self.tracker is not None:
+            return self.tracker.get_all_steps()
+        return []
+
+    def is_debug_enabled(self) -> bool:
+        """Check if debug tracking is enabled.
+
+        Returns True if tracker exists and is enabled.
+        """
+        return self.tracker is not None and self.tracker.enabled
+
+    def reset_tracker(self) -> None:
+        """Reset the tracker, clearing all recorded steps.
+
+        Does nothing if tracker is None.
+        """
+        if self.tracker is not None:
+            self.tracker.reset()
+
+    # ====================== End Tracker Proxy Methods ======================
+
+    def denoise_step(
+        self,
+        x_t,
+        prev_chunk_left_over,
+        inference_delay,
+        time,
+        original_denoise_step_partial,
+        execution_horizon=None,
+    ) -> Tensor:
+        """RTC guidance wrapper around an existing denoiser.
+
+        This method wraps an original denoising callable that only takes ``x_t`` and
+        returns a base denoised velocity ``v_t``. It then applies Real-Time Chunking
+        (RTC) prefix guidance using the leftover prefix from the previous chunk.
+
+        Args:
+            x_t (Tensor): Current latent/state to denoise. Shape ``(B, T, A)`` or ``(T, A)``.
+            prev_chunk_left_over (Tensor | None): Unexecuted prefix from the previous
+                chunk. Shape ``(B, T_prev, A)`` or ``(T_prev, A)``. If ``None``, no guidance
+                is applied and the method returns ``v_t`` from the original denoiser.
+            inference_delay (int): Number of timesteps from the prefix to use for guidance.
+            time (float | Tensor): Scalar in [0, 1] indicating normalized time. Must be
+                broadcastable with ``x_t``.
+            original_denoise_step_partial (Callable[[Tensor], Tensor]): Callable that
+                computes the base denoised velocity given only ``x_t``.
+            execution_horizon (int | None): Horizon used to build prefix weights. If
+                ``None``, defaults to ``self.rtc_config.execution_horizon``.
+
+        Returns:
+            Tensor: Guided velocity with the same shape as ``v_t``.
+
+        Notes:
+            - If inputs are 2D, a batch dimension is temporarily added and removed at the end.
+            - If ``prev_chunk_left_over`` is shorter than the current chunk length ``T``, it is
+              right-padded with zeros to match ``T``.
+            - Prefix weights are constructed via ``get_prefix_weights(inference_delay, execution_horizon, T)``
+              and broadcast to ``(B, T, A)``.
+            - Guidance correction is computed via autograd using ``x1_t = x_t + time * v_t`` and
+              ``error = (prev_chunk_left_over - x1_t) * weights``.
+            - The final guidance weight is clamped by ``max_guidance_weight`` from the config.
+
+        Reference:
+            https://www.physicalintelligence.company/download/real_time_chunking.pdf
+        """
+
+        # In the original implementation, the time goes from 0 to 1 and
+        # In our implementation, the time goes from 1 to 0
+        # So we need to invert the time
+        tau = 1 - time
+
+        if prev_chunk_left_over is None:
+            # First step, no guidance - return v_t
+            v_t = original_denoise_step_partial(x_t)
+            return v_t
+
+        x_t = x_t.clone().detach()
+
+        squeezed = False
+        if len(x_t.shape) < 3:
+            # Add batch dimension
+            x_t = x_t.unsqueeze(0)
+            squeezed = True
+
+        if len(prev_chunk_left_over.shape) < 3:
+            # Add batch dimension
+            prev_chunk_left_over = prev_chunk_left_over.unsqueeze(0)
+
+        if execution_horizon is None:
+            execution_horizon = self.rtc_config.execution_horizon
+
+        # If the previous action chunk is to short then it doesn't make sense to use long execution horizon
+        # because there is nothing to merge
+        if execution_horizon > prev_chunk_left_over.shape[1]:
+            execution_horizon = prev_chunk_left_over.shape[1]
+
+        batch_size = x_t.shape[0]
+        action_chunk_size = x_t.shape[1]
+        action_dim = x_t.shape[2]
+
+        if prev_chunk_left_over.shape[1] < action_chunk_size or prev_chunk_left_over.shape[2] < action_dim:
+            padded = torch.zeros(batch_size, action_chunk_size, action_dim).to(x_t.device)
+            padded[:, : prev_chunk_left_over.shape[1], : prev_chunk_left_over.shape[2]] = prev_chunk_left_over
+            prev_chunk_left_over = padded
+
+        assert prev_chunk_left_over.shape == x_t.shape, (
+            "The padded previous chunk must be the same size as the input tensor"
+        )
+
+        weights = (
+            self.get_prefix_weights(inference_delay, execution_horizon, action_chunk_size)
+            .to(x_t.device)
+            .unsqueeze(0)
+            .unsqueeze(-1)
+        )
+
+        with torch.enable_grad():
+            v_t = original_denoise_step_partial(x_t)
+            x_t.requires_grad_(True)
+
+            x1_t = x_t - time * v_t  # noqa: N806
+            err = (prev_chunk_left_over - x1_t) * weights
+            grad_outputs = err.clone().detach()
+            correction = torch.autograd.grad(x1_t, x_t, grad_outputs, retain_graph=False)[0]
+
+        max_guidance_weight = torch.as_tensor(self.rtc_config.max_guidance_weight)
+        tau_tensor = torch.as_tensor(tau)
+        squared_one_minus_tau = (1 - tau_tensor) ** 2
+        inv_r2 = (squared_one_minus_tau + tau_tensor**2) / (squared_one_minus_tau)
+        c = torch.nan_to_num((1 - tau_tensor) / tau_tensor, posinf=max_guidance_weight)
+        guidance_weight = torch.nan_to_num(c * inv_r2, posinf=max_guidance_weight)
+        guidance_weight = torch.minimum(guidance_weight, max_guidance_weight)
+
+        result = v_t - guidance_weight * correction
+
+        # Remove the batch dimension if it was added
+        if squeezed:
+            result = result.squeeze(0)
+            correction = correction.squeeze(0)
+            x1_t = x1_t.squeeze(0)
+            err = err.squeeze(0)
+
+        self.track(
+            time=time,
+            x1_t=x1_t,
+            correction=correction,
+            err=err,
+            weights=weights,
+            guidance_weight=guidance_weight,
+            inference_delay=inference_delay,
+            execution_horizon=execution_horizon,
+        )
+
+        return result
+
+    def get_prefix_weights(self, start, end, total):
+        start = min(start, end)
+
+        if self.rtc_config.prefix_attention_schedule == RTCAttentionSchedule.ZEROS:
+            weights = torch.zeros(total)
+            weights[:start] = 1.0
+        elif self.rtc_config.prefix_attention_schedule == RTCAttentionSchedule.ONES:
+            weights = torch.ones(total)
+            weights[end:] = 0.0
+        elif self.rtc_config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR:
+            lin_weights = self._linweights(start, end, total)
+            weights = self._add_trailing_zeros(lin_weights, total, end)
+            weights = self._add_leading_ones(weights, start, total)
+        elif self.rtc_config.prefix_attention_schedule == RTCAttentionSchedule.EXP:
+            lin_weights = self._linweights(start, end, total)
+            lin_weights = lin_weights * torch.expm1(lin_weights).div(math.e - 1)
+            weights = self._add_trailing_zeros(lin_weights, total, end)
+            weights = self._add_leading_ones(weights, start, total)
+
+        return weights
+
+    def _linweights(self, start, end, total):
+        skip_steps_at_end = max(total - end, 0)
+
+        linspace_steps = total - skip_steps_at_end - start
+
+        if end <= start or linspace_steps <= 0:
+            return torch.tensor([])
+
+        return torch.linspace(1, 0, linspace_steps + 2)[1:-1]
+
+    def _add_trailing_zeros(self, weights, total, end):
+        zeros_len = total - end
+
+        if zeros_len <= 0:
+            return weights
+
+        zeros = torch.zeros(zeros_len)
+        return torch.cat([weights, zeros])
+
+    def _add_leading_ones(self, weights, start, total):
+        ones_len = min(start, total)
+
+        if ones_len <= 0:
+            return weights
+
+        ones = torch.ones(ones_len)
+        return torch.cat([ones, weights])

src/lerobot/policies/smolvla/configuration_smolvla.py

@@ -20,6 +20,7 @@ from lerobot.optim.optimizers import AdamWConfig
 from lerobot.optim.schedulers import (
     CosineDecayWithWarmupSchedulerConfig,
 )
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
 from lerobot.utils.constants import OBS_IMAGES
 
 
@@ -102,6 +103,9 @@ class SmolVLAConfig(PreTrainedConfig):
     min_period: float = 4e-3  # sensitivity range for the timestep used in sine-cosine positional encoding
     max_period: float = 4.0
 
+    # Real-Time Chunking (RTC) configuration
+    rtc_config: RTCConfig | None = None
+
     def __post_init__(self):
         super().__post_init__()
 

src/lerobot/policies/smolvla/modeling_smolvla.py

@@ -54,12 +54,15 @@ policy = SmolVLAPolicy.from_pretrained("lerobot/smolvla_base")
 
 import math
 from collections import deque
+from typing import TypedDict
 
 import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
+from typing_extensions import Unpack
 
 from lerobot.policies.pretrained import PreTrainedPolicy
+from lerobot.policies.rtc.modeling_rtc import RTCProcessor
 from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig
 from lerobot.policies.smolvla.smolvlm_with_expert import SmolVLMWithExpertModel
 from lerobot.policies.utils import (
@@ -69,6 +72,12 @@ from lerobot.utils.constants import ACTION, OBS_LANGUAGE_ATTENTION_MASK, OBS_LAN
 from lerobot.utils.utils import get_safe_dtype
 
 
+class ActionSelectKwargs(TypedDict, total=False):
+    inference_delay: int | None
+    prev_chunk_left_over: Tensor | None
+    execution_horizon: int | None
+
+
 def create_sinusoidal_pos_embedding(
     time: torch.tensor, dimension: int, min_period: float, max_period: float, device="cpu"
 ) -> Tensor:
@@ -232,8 +241,8 @@ class SmolVLAPolicy(PreTrainedPolicy):
         super().__init__(config)
         config.validate_features()
         self.config = config
-
-        self.model = VLAFlowMatching(config)
+        self.init_rtc_processor()
+        self.model = VLAFlowMatching(config, rtc_processor=self.rtc_processor)
         self.reset()
 
     def reset(self):
@@ -242,10 +251,28 @@ class SmolVLAPolicy(PreTrainedPolicy):
             ACTION: deque(maxlen=self.config.n_action_steps),
         }
 
+    def init_rtc_processor(self):
+        """Initialize RTC processor if RTC is enabled in config."""
+        self.rtc_processor = None
+
+        # Lets create processor if the config provided
+        # If RTC is not enabled - we still can track the denoising data
+        if self.config.rtc_config is not None:
+            self.rtc_processor = RTCProcessor(self.config.rtc_config)
+
+            # In case of calling init_rtc_processor after the model is created
+            # We need to set the rtc_processor to the model
+            # During the normal initialization process the model is not created yet
+            model_value = getattr(self, "model", None)
+            if model_value is not None:
+                model_value.rtc_processor = self.rtc_processor
+
     def get_optim_params(self) -> dict:
         return self.parameters()
 
-    def _get_action_chunk(self, batch: dict[str, Tensor], noise: Tensor | None = None) -> Tensor:
+    def _get_action_chunk(
+        self, batch: dict[str, Tensor], noise: Tensor | None = None, **kwargs: Unpack[ActionSelectKwargs]
+    ) -> Tensor:
         # TODO: Check if this for loop is needed.
         # Context: In fact, self.queues contains only ACTION field, and in inference, we don't have action in the batch
         # In the case of offline inference, we have the action in the batch
@@ -260,7 +287,9 @@ class SmolVLAPolicy(PreTrainedPolicy):
         lang_tokens = batch[f"{OBS_LANGUAGE_TOKENS}"]
         lang_masks = batch[f"{OBS_LANGUAGE_ATTENTION_MASK}"]
 
-        actions = self.model.sample_actions(images, img_masks, lang_tokens, lang_masks, state, noise=noise)
+        actions = self.model.sample_actions(
+            images, img_masks, lang_tokens, lang_masks, state, noise=noise, **kwargs
+        )
 
         # Unpad actions
         original_action_dim = self.config.action_feature.shape[0]
@@ -278,30 +307,37 @@ class SmolVLAPolicy(PreTrainedPolicy):
         return batch
 
     @torch.no_grad()
-    def predict_action_chunk(self, batch: dict[str, Tensor], noise: Tensor | None = None) -> Tensor:
+    def predict_action_chunk(
+        self, batch: dict[str, Tensor], noise: Tensor | None = None, **kwargs: Unpack[ActionSelectKwargs]
+    ) -> Tensor:
         self.eval()
 
         batch = self._prepare_batch(batch)
         self._queues = populate_queues(self._queues, batch, exclude_keys=[ACTION])
 
-        actions = self._get_action_chunk(batch, noise)
+        actions = self._get_action_chunk(batch, noise, **kwargs)
         return actions
 
     @torch.no_grad()
-    def select_action(self, batch: dict[str, Tensor], noise: Tensor | None = None) -> Tensor:
+    def select_action(
+        self, batch: dict[str, Tensor], noise: Tensor | None = None, **kwargs: Unpack[ActionSelectKwargs]
+    ) -> Tensor:
         """Select a single action given environment observations.
 
         This method wraps `select_actions` in order to return one action at a time for execution in the
         environment. It works by managing the actions in a queue and only calling `select_actions` when the
         queue is empty.
         """
+
+        assert not self._rtc_enabled(), (
+            "RTC is not supported for select_action, use it with predict_action_chunk"
+        )
+
         self.eval()
         batch = self._prepare_batch(batch)
         self._queues = populate_queues(self._queues, batch, exclude_keys=[ACTION])
 
-        # Action queue logic for n_action_steps > 1. When the action_queue is depleted, populate it by
-        # querying the policy.
-        if len(self._queues[ACTION]) == 0:
+        if self._check_get_actions_condition():
             actions = self._get_action_chunk(batch, noise)
 
             # `self.predict_action_chunk` returns a (batch_size, n_action_steps, action_dim) tensor, but the queue
@@ -310,6 +346,12 @@ class SmolVLAPolicy(PreTrainedPolicy):
 
         return self._queues[ACTION].popleft()
 
+    def _check_get_actions_condition(self) -> bool:
+        return len(self._queues[ACTION]) == 0
+
+    def _rtc_enabled(self) -> bool:
+        return self.config.rtc_config is not None and self.config.rtc_config.enabled
+
     def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> dict[str, Tensor]:
         """Do a full training forward pass to compute the loss"""
         if self.config.adapt_to_pi_aloha:
@@ -471,7 +513,7 @@ class VLAFlowMatching(nn.Module):
     └──────────────────────────────┘
     """
 
-    def __init__(self, config: SmolVLAConfig):
+    def __init__(self, config: SmolVLAConfig, rtc_processor: RTCProcessor | None = None):
         super().__init__()
         self.config = config
 
@@ -485,7 +527,6 @@ class VLAFlowMatching(nn.Module):
             num_vlm_layers=self.config.num_vlm_layers,
             self_attn_every_n_layers=self.config.self_attn_every_n_layers,
             expert_width_multiplier=self.config.expert_width_multiplier,
-            device=self.config.device,
         )
         self.state_proj = nn.Linear(
             self.config.max_state_dim, self.vlm_with_expert.config.text_config.hidden_size
@@ -510,6 +551,10 @@ class VLAFlowMatching(nn.Module):
         self.add_image_special_tokens = self.config.add_image_special_tokens
         self.image_end_token = torch.tensor([self.fake_image_token], dtype=torch.long)
         self.prefix_length = self.config.prefix_length
+        self.rtc_processor = rtc_processor
+
+    def _rtc_enabled(self):
+        return self.config.rtc_config is not None and self.config.rtc_config.enabled
 
     def set_requires_grad(self):
         for params in self.state_proj.parameters():
@@ -706,7 +751,16 @@ class VLAFlowMatching(nn.Module):
         losses = F.mse_loss(u_t, v_t, reduction="none")
         return losses
 
-    def sample_actions(self, images, img_masks, lang_tokens, lang_masks, state, noise=None) -> Tensor:
+    def sample_actions(
+        self,
+        images,
+        img_masks,
+        lang_tokens,
+        lang_masks,
+        state,
+        noise=None,
+        **kwargs: Unpack[ActionSelectKwargs],
+    ) -> Tensor:
         """Do a full inference forward and compute the action (batch_size x num_steps x num_motors)"""
         bsize = state.shape[0]
         device = state.device
@@ -734,17 +788,45 @@ class VLAFlowMatching(nn.Module):
 
         x_t = noise
         time = torch.tensor(1.0, dtype=torch.float32, device=device)
+
         while time >= -dt / 2:
             expanded_time = time.expand(bsize)
-            v_t = self.denoise_step(
-                prefix_pad_masks,
-                past_key_values,
-                x_t,
-                expanded_time,
-            )
+
+            # Define a closure function to properly capture expanded_time
+            # This avoids the lambda expression (E731) and loop variable binding (B023) issues
+            def denoise_step_partial_call(input_x_t, current_timestep=expanded_time):
+                return self.denoise_step(
+                    x_t=input_x_t,
+                    prefix_pad_masks=prefix_pad_masks,
+                    past_key_values=past_key_values,
+                    timestep=current_timestep,
+                )
+
+            if self._rtc_enabled():
+                inference_delay = kwargs.get("inference_delay")
+                prev_chunk_left_over = kwargs.get("prev_chunk_left_over")
+                execution_horizon = kwargs.get("execution_horizon")
+
+                v_t = self.rtc_processor.denoise_step(
+                    x_t=x_t,
+                    prev_chunk_left_over=prev_chunk_left_over,
+                    inference_delay=inference_delay,
+                    time=time,
+                    original_denoise_step_partial=denoise_step_partial_call,
+                    execution_horizon=execution_horizon,
+                )
+            else:
+                v_t = denoise_step_partial_call(x_t)
+
             # Euler step
             x_t += dt * v_t
+
+            # Record x_t and v_t after Euler step (other params are recorded in rtc_processor.denoise_step)
+            if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
+                self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
+
             time += dt
+
         return x_t
 
     def denoise_step(

src/lerobot/policies/utils.py

@@ -22,6 +22,8 @@ import numpy as np
 import torch
 from torch import nn
 
+from lerobot.configs.policies import PreTrainedConfig
+from lerobot.configs.types import FeatureType, PolicyFeature
 from lerobot.datasets.utils import build_dataset_frame
 from lerobot.processor import PolicyAction, RobotAction, RobotObservation
 from lerobot.utils.constants import ACTION, OBS_STR
@@ -198,3 +200,42 @@ def make_robot_action(action_tensor: PolicyAction, ds_features: dict[str, dict])
         f"{name}": float(action_tensor[i]) for i, name in enumerate(action_names)
     }
     return act_processed_policy
+
+
+def raise_feature_mismatch_error(
+    provided_features: set[str],
+    expected_features: set[str],
+) -> None:
+    """
+    Raises a standardized ValueError for feature mismatches between dataset/environment and policy config.
+    """
+    missing = expected_features - provided_features
+    extra = provided_features - expected_features
+    # TODO (jadechoghari): provide a dynamic rename map suggestion to the user.
+    raise ValueError(
+        f"Feature mismatch between dataset/environment and policy config.\n"
+        f"- Missing features: {sorted(missing) if missing else 'None'}\n"
+        f"- Extra features: {sorted(extra) if extra else 'None'}\n\n"
+        f"Please ensure your dataset and policy use consistent feature names.\n"
+        f"If your dataset uses different observation keys (e.g., cameras named differently), "
+        f"use the `--rename_map` argument, for example:\n"
+        f'  --rename_map=\'{{"observation.images.left": "observation.images.camera1", '
+        f'"observation.images.top": "observation.images.camera2"}}\''
+    )
+
+
+def validate_visual_features_consistency(
+    cfg: PreTrainedConfig,
+    features: dict[str, PolicyFeature],
+) -> None:
+    """
+    Validates visual feature consistency between a policy config and provided dataset/environment features.
+
+    Args:
+        cfg (PreTrainedConfig): The model or policy configuration containing input_features and type.
+        features (Dict[str, PolicyFeature]): A mapping of feature names to PolicyFeature objects.
+    """
+    expected_visuals = {k for k, v in cfg.input_features.items() if v.type == FeatureType.VISUAL}
+    provided_visuals = {k for k, v in features.items() if v.type == FeatureType.VISUAL}
+    if not provided_visuals.issubset(expected_visuals):
+        raise_feature_mismatch_error(provided_visuals, expected_visuals)

src/lerobot/robots/openarms/__init__.py

@@ -1,20 +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.
-
-from .config_openarms_follower import OpenArmsFollowerConfig
-from .openarms_follower import OpenArmsFollower
-
-__all__ = ["OpenArmsFollower", "OpenArmsFollowerConfig"]

src/lerobot/robots/openarms/config_openarms_follower.py

@@ -1,118 +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.
-
-from dataclasses import dataclass, field
-from typing import Dict, Optional
-
-from lerobot.cameras import CameraConfig
-from lerobot.motors.damiao.tables import MotorType
-
-from ..config import RobotConfig
-
-
-@RobotConfig.register_subclass("openarms_follower")
-@dataclass
-class OpenArmsFollowerConfig(RobotConfig):
-    """Configuration for the OpenArms follower robot with Damiao motors."""
-    
-    # CAN interfaces - one per arm
-    # Right arm CAN interface (e.g., "can0")
-    # Left arm CAN interface (e.g., "can1")
-    # Linux: "can0", "can1", etc.
-    # macOS: "/dev/cu.usbmodem*" (serial device)
-    port_right: str = "can0"    # CAN interface for right arm
-    port_left: str = "can1"     # CAN interface for left arm
-    
-    # CAN interface type: "socketcan" (Linux), "slcan" (macOS/serial), or "auto" (auto-detect)
-    can_interface: str = "socketcan"
-    
-    # CAN FD settings (OpenArms uses CAN FD by default)
-    use_can_fd: bool = True
-    can_bitrate: int = 1000000      # Nominal bitrate (1 Mbps)
-    can_data_bitrate: int = 5000000  # Data bitrate for CAN FD (5 Mbps)
-    
-    # Whether to disable torque when disconnecting
-    disable_torque_on_disconnect: bool = True
-    
-    # Safety limit for relative target positions
-    # Set to a positive scalar for all motors, or a dict mapping motor names to limits
-    max_relative_target: Optional[float | Dict[str, float]] = None
-    
-    # Camera configurations
-    cameras: Dict[str, CameraConfig] = field(default_factory=dict)
-    
-    # Motor configuration for OpenArms (7 DOF per arm)
-    # Maps motor names to (send_can_id, recv_can_id, motor_type)
-    # Based on: https://docs.openarm.dev/software/setup/configure-test
-    # OpenArms uses 4 types of motors:
-    # - DM8009 (DM-J8009P-2EC) for shoulders (high torque)
-    # - DM4340P and DM4340 for shoulder rotation and elbow
-    # - DM4310 (DM-J4310-2EC V1.1) for wrist and gripper
-    motor_config: Dict[str, tuple[int, int, str]] = field(default_factory=lambda: {
-        "joint_1": (0x01, 0x11, "dm8009"),   # J1 - Shoulder pan (DM8009)
-        "joint_2": (0x02, 0x12, "dm8009"),   # J2 - Shoulder lift (DM8009)
-        "joint_3": (0x03, 0x13, "dm4340"),   # J3 - Shoulder rotation (DM4340)
-        "joint_4": (0x04, 0x14, "dm4340"),   # J4 - Elbow flex (DM4340)
-        "joint_5": (0x05, 0x15, "dm4310"),   # J5 - Wrist roll (DM4310)
-        "joint_6": (0x06, 0x16, "dm4310"),   # J6 - Wrist pitch (DM4310)
-        "joint_7": (0x07, 0x17, "dm4310"),   # J7 - Wrist rotation (DM4310)
-        "gripper": (0x08, 0x18, "dm4310"),   # J8 - Gripper (DM4310)
-    })
-    
-    # MIT control parameters for position control (used in send_action)
-    # List of 8 values: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7, gripper]
-    position_kp: list[float] = field(default_factory=lambda: [240.0, 240.0, 240.0, 240.0, 24.0, 31.0, 25.0, 25.0])
-    position_kd: list[float] = field(default_factory=lambda: [3.0, 3.0, 3.0, 3.0, 0.2, 0.2, 0.2, 0.2])
-    
-    # Damping gains for stability when applying torque compensation (gravity/friction)
-    # Used when kp=0 and only torque is applied
-    damping_kd: list[float] = field(default_factory=lambda: [0.5, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.1])
-    
-    # Friction model parameters: τ_fric(ω) = Fo + Fv·ω + Fc·tanh(k·ω)
-    # From OpenArms config/follower.yaml
-    friction_fc: list[float] = field(default_factory=lambda: [0.306, 0.306, 0.40, 0.166, 0.050, 0.093, 0.172, 0.0512])  # Coulomb friction [Nm]
-    friction_k: list[float] = field(default_factory=lambda: [28.417, 28.417, 29.065, 130.038, 151.771, 242.287, 7.888, 4.000])  # tanh steepness
-    friction_fv: list[float] = field(default_factory=lambda: [0.063, 0.0630, 0.604, 0.813, 0.029, 0.072, 0.084, 0.084])  # Viscous friction [Nm·s/rad]
-    friction_fo: list[float] = field(default_factory=lambda: [0.088, 0.088, 0.008, -0.058, 0.005, 0.009, -0.059, -0.050])  # Offset torque [Nm]
-    
-    # Calibration parameters
-    calibration_mode: str = "manual"  # "manual" or "auto"
-    zero_position_on_connect: bool = False  # Set zero position on connect
-    
-    # Joint limits for position clipping (degrees)
-    # Format: [min, max] for each joint
-    # These limits clip commands in send_action to prevent mechanical damage
-    joint_limits_right: Dict[str, tuple[float, float]] = field(default_factory=lambda: {
-        "joint_1": (-75.0, 75.0),
-        "joint_2": (-9.0, 90.0),
-        "joint_3": (-85.0, 85.0),
-        "joint_4": (0.0, 135.0),
-        "joint_5": (-85.0, 85.0),
-        "joint_6": (-40.0, 40.0),
-        "joint_7": (-80.0, 80.0),
-        "gripper": (-65.0, 0.0),
-    })
-    
-    joint_limits_left: Dict[str, tuple[float, float]] = field(default_factory=lambda: {
-        "joint_1": (-75.0, 75.0),
-        "joint_2": (-90.0, 9.0),
-        "joint_3": (-85.0, 85.0),
-        "joint_4": (0.0, 135.0),
-        "joint_5": (-85.0, 85.0),
-        "joint_6": (-40.0, 40.0),
-        "joint_7": (-80.0, 80.0),
-        "gripper": (-65.0, 0.0),
-    })

src/lerobot/robots/openarms/openarms_follower.py

@@ -1,698 +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
-import time
-from functools import cached_property
-from typing import Any, Dict, Optional
-
-import numpy as np
-import pinocchio as pin
-
-from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.motors import Motor, MotorCalibration, MotorNormMode
-from lerobot.motors.damiao import DamiaoMotorsBus
-from lerobot.motors.damiao.tables import MotorType
-from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-
-from ..robot import Robot
-from ..utils import ensure_safe_goal_position
-from .config_openarms_follower import OpenArmsFollowerConfig
-
-logger = logging.getLogger(__name__)
-
-
-class OpenArmsFollower(Robot):
-    """
-    OpenArms Follower Robot which uses CAN bus communication to control 7 DOF arm with a gripper.
-    The arm uses Damiao motors in MIT control mode.
-    """
-
-    config_class = OpenArmsFollowerConfig
-    name = "openarms_follower"
-
-    def __init__(self, config: OpenArmsFollowerConfig):
-        super().__init__(config)
-        self.config = config
-        
-        norm_mode_body = MotorNormMode.DEGREES  # Always use degrees for Damiao motors
-        
-        # Right arm motors (on port_right)
-        # Each arm uses the same CAN IDs since they're on separate buses
-        motors_right = {}
-        for motor_name, (send_id, recv_id, motor_type_str) in config.motor_config.items():
-            motor = Motor(send_id, motor_type_str, norm_mode_body)
-            motor.recv_id = recv_id
-            motor.motor_type = getattr(MotorType, motor_type_str.upper().replace("-", "_"))
-            motors_right[motor_name] = motor
-        
-        # Left arm motors (on port_left, same IDs as right since separate bus)
-        motors_left = {}
-        for motor_name, (send_id, recv_id, motor_type_str) in config.motor_config.items():
-            motor = Motor(send_id, motor_type_str, norm_mode_body)
-            motor.recv_id = recv_id
-            motor.motor_type = getattr(MotorType, motor_type_str.upper().replace("-", "_"))
-            motors_left[motor_name] = motor
-        
-        # Initialize separate Damiao motors buses (one per arm) with CAN FD support
-        self.bus_right = DamiaoMotorsBus(
-            port=self.config.port_right,
-            motors=motors_right,
-            calibration={k.replace("right_", ""): v for k, v in (self.calibration or {}).items() if k.startswith("right_")},
-            can_interface=self.config.can_interface,
-            use_can_fd=self.config.use_can_fd,
-            bitrate=self.config.can_bitrate,
-            data_bitrate=self.config.can_data_bitrate if self.config.use_can_fd else None,
-        )
-        
-        self.bus_left = DamiaoMotorsBus(
-            port=self.config.port_left,
-            motors=motors_left,
-            calibration={k.replace("left_", ""): v for k, v in (self.calibration or {}).items() if k.startswith("left_")},
-            can_interface=self.config.can_interface,
-            use_can_fd=self.config.use_can_fd,
-            bitrate=self.config.can_bitrate,
-            data_bitrate=self.config.can_data_bitrate if self.config.use_can_fd else None,
-        )
-        
-        # Initialize cameras
-        self.cameras = make_cameras_from_configs(config.cameras)
-        # Cache for last valid camera frames (to avoid blocking on slow USB reads)
-        self.camera_frame_cache = {key: None for key in self.cameras.keys()}
-        
-        # Initialize Pinocchio robot model for dynamics (optional)
-        self.pin_robot = None
-        try:
-            # Load URDF - try external path first (with meshes), then repository
-            import os
-            from os.path import expanduser, dirname
-            
-            # Try external URDF with meshes first
-            external_urdf_path = expanduser("~/Documents/openarm_description/openarm_bimanual_pybullet.urdf")
-            if os.path.exists(external_urdf_path):
-                urdf_path = external_urdf_path
-                urdf_dir = dirname(urdf_path)
-            
-                self.pin_robot = pin.RobotWrapper.BuildFromURDF(urdf_path, urdf_dir)
-                self.pin_robot.data = self.pin_robot.model.createData()
-                logger.info(f"Loaded OpenArms URDF for dynamics computation from {urdf_path}")
-        except Exception as e:
-            logger.warning(f"Could not load URDF for dynamics: {e}. Gravity compensation will not be available.")
-
-    @property
-    def _motors_ft(self) -> Dict[str, type]:
-        """Motor features for observation and action spaces."""
-        features = {}
-        # Right arm motors - only positions stored in dataset
-        for motor in self.bus_right.motors:
-            features[f"right_{motor}.pos"] = float
-        # Left arm motors - only positions stored in dataset
-        for motor in self.bus_left.motors:
-            features[f"left_{motor}.pos"] = float
-        return features
-
-    @property
-    def _cameras_ft(self) -> Dict[str, tuple]:
-        """Camera features for observation space."""
-        return {
-            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3)
-            for cam in self.cameras
-        }
-
-    @cached_property
-    def observation_features(self) -> Dict[str, type | tuple]:
-        """Combined observation features from motors and cameras."""
-        return {**self._motors_ft, **self._cameras_ft}
-
-    @cached_property
-    def action_features(self) -> Dict[str, type]:
-        """Action features (motor positions only)."""
-        return self._motors_ft
-
-    @property
-    def is_connected(self) -> bool:
-        """Check if robot is connected."""
-        return (self.bus_right.is_connected and 
-                self.bus_left.is_connected and 
-                all(cam.is_connected for cam in self.cameras.values()))
-
-    def connect(self, calibrate: bool = True) -> None:
-        """
-        Connect to the robot and optionally calibrate.
-        
-        We assume that at connection time, the arms are in a safe rest position,
-        and torque can be safely disabled to run calibration if needed.
-        """
-        if self.is_connected:
-            raise DeviceAlreadyConnectedError(f"{self} already connected")
-
-        # Connect to both CAN buses
-        logger.info(f"Connecting right arm on {self.config.port_right}...")
-        self.bus_right.connect()
-        logger.info(f"Connecting left arm on {self.config.port_left}...")
-        self.bus_left.connect()
-        
-        # Run calibration if needed
-        if calibrate:
-            logger.info(
-                "No calibration found or overwriting calibration. Running calibration..."
-            )
-            self.calibrate()
-        
-        # Connect cameras
-        for cam in self.cameras.values():
-            cam.connect()
-        
-        # Configure motors
-        self.configure()
-        
-        # Optionally set zero position
-        if self.config.zero_position_on_connect:
-            logger.info("Setting current position as zero...")
-            self.bus_right.set_zero_position()
-            self.bus_left.set_zero_position()
-        
-        logger.info(f"{self} connected.")
-
-    @property
-    def is_calibrated(self) -> bool:
-        """Check if robot is calibrated."""
-        return self.bus_right.is_calibrated and self.bus_left.is_calibrated
-
-    def calibrate(self) -> None:
-        """
-        Run calibration procedure for OpenArms robot.
-        
-        The calibration procedure:
-        1. Disable torque
-        2. Ask user to position arms in hanging position with grippers closed
-        3. Set this as zero position
-        4. Record range of motion for each joint
-        5. Save calibration
-        """
-        if self.calibration:
-            # Ask user whether to use existing calibration
-            user_input = input(
-                f"Press ENTER to use existing calibration for {self.id}, "
-                f"or type 'c' and press ENTER to run new calibration: "
-            )
-            if user_input.strip().lower() != "c":
-                logger.info(f"Using existing calibration for {self.id}")
-                # Split calibration for each bus
-                cal_right = {k.replace("right_", ""): v for k, v in self.calibration.items() if k.startswith("right_")}
-                cal_left = {k.replace("left_", ""): v for k, v in self.calibration.items() if k.startswith("left_")}
-                self.bus_right.write_calibration(cal_right)
-                self.bus_left.write_calibration(cal_left)
-                return
-        
-        logger.info(f"\nRunning calibration for {self}")
-        
-        # Calibrate each arm separately
-        self._calibrate_arm("right", self.bus_right)
-        self._calibrate_arm("left", self.bus_left)
-        
-        print(f"\nCalibration complete and saved to {self.calibration_fpath}")
-    
-    def _calibrate_arm(self, arm_name: str, bus: DamiaoMotorsBus) -> None:
-        """Calibrate a single arm."""
-        logger.info(f"\n=== Calibrating {arm_name.upper()} arm ===")
-        
-        # Disable torque for manual positioning
-        bus.disable_torque()
-        time.sleep(0.1)
-        
-        # Step 1: Set zero position
-        input(
-            f"\nCalibration: Zero Position ({arm_name.upper()} arm)\n"
-            "Position the arm in the following configuration:\n"
-            "  - Arm hanging straight down\n"
-            "  - Gripper closed\n"
-            "Press ENTER when ready..."
-        )
-        
-        # Set current position as zero for all motors
-        bus.set_zero_position()
-        logger.info(f"{arm_name.capitalize()} arm zero position set.")
-        
-        # Automatically set range to -90° to +90° for all joints
-        print(
-            f"\nAutomatically setting range: -90° to +90° for all joints"
-        )
-        
-        # Create calibration data with fixed ranges
-        if self.calibration is None:
-            self.calibration = {}
-            
-        for motor_name, motor in bus.motors.items():
-            # Prefix motor name with arm name for storage
-            prefixed_name = f"{arm_name}_{motor_name}"
-            
-            # Use -90 to +90 for all joints and gripper (integers required)
-            self.calibration[prefixed_name] = MotorCalibration(
-                id=motor.id,
-                drive_mode=0,  # Normal direction
-                homing_offset=0,  # Already set via set_zero_position
-                range_min=-90,  # -90 degrees (integer)
-                range_max=90,   # +90 degrees (integer)
-            )
-            logger.info(f"  {prefixed_name}: range set to [-90°, +90°]")
-        
-        # Write calibration to this arm's motors
-        cal_for_bus = {k.replace(f"{arm_name}_", ""): v for k, v in self.calibration.items() if k.startswith(f"{arm_name}_")}
-        bus.write_calibration(cal_for_bus)
-        
-        # Re-enable torque
-        bus.enable_torque()
-        
-        # Save calibration after each arm
-        self._save_calibration()
-
-    def configure(self) -> None:
-        """Configure motors with appropriate settings."""
-        # Configure right arm
-        with self.bus_right.torque_disabled():
-            self.bus_right.configure_motors()
-        
-        # Configure left arm
-        with self.bus_left.torque_disabled():
-            self.bus_left.configure_motors()
-
-    def setup_motors(self) -> None:
-        raise NotImplementedError("Motor ID configuration is typically done via manufacturer tools for CAN motors.")
-
-    def get_observation(self) -> Dict[str, Any]:
-        """
-        Get current observation from robot including position, velocity, and torque.
-        
-        OPTIMIZED: Reads all motor states (pos/vel/torque) in one CAN refresh cycle
-        instead of 3 separate reads.
-        
-        Note: Velocity and torque are read but not stored in dataset (only used for
-        internal calculations). Only positions and camera images are stored.
-        """
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-        
-        obs_dict = {}
-        
-        # Detailed profiling for bottleneck analysis
-        timings = {}
-        
-        # OPTIMIZED: Use sync_read_all_states to get pos/vel/torque in one go
-        t0 = time.perf_counter()
-        right_states = self.bus_right.sync_read_all_states()
-        timings["right_motors"] = (time.perf_counter() - t0) * 1000
-        
-        for motor in self.bus_right.motors:
-            state = right_states.get(motor, {})
-            obs_dict[f"right_{motor}.pos"] = state.get("position", 0.0)
-            obs_dict[f"right_{motor}.vel"] = state.get("velocity", 0.0)
-            obs_dict[f"right_{motor}.torque"] = state.get("torque", 0.0)
-        
-        # OPTIMIZED: Use sync_read_all_states to get pos/vel/torque in one go
-        t0 = time.perf_counter()
-        left_states = self.bus_left.sync_read_all_states()
-        timings["left_motors"] = (time.perf_counter() - t0) * 1000
-        
-        for motor in self.bus_left.motors:
-            state = left_states.get(motor, {})
-            obs_dict[f"left_{motor}.pos"] = state.get("position", 0.0)
-            obs_dict[f"left_{motor}.vel"] = state.get("velocity", 0.0)
-            obs_dict[f"left_{motor}.torque"] = state.get("torque", 0.0)
-        
-        # Capture images from cameras (with individual timing)
-        # Use async_read with very short timeout to avoid blocking on slow USB cameras
-        for cam_key, cam in self.cameras.items():
-            t0 = time.perf_counter()
-            try:
-                # Use 5ms timeout - if frame isn't ready, reuse last frame
-                frame = cam.async_read(timeout_ms=5)
-                self.camera_frame_cache[cam_key] = frame  # Update cache
-                obs_dict[cam_key] = frame
-            except TimeoutError:
-                # If no new frame available, reuse last valid frame from cache
-                # This prevents blocking the entire control loop on slow USB reads
-                if self.camera_frame_cache[cam_key] is not None:
-                    obs_dict[cam_key] = self.camera_frame_cache[cam_key]
-                    logger.debug(f"Camera {cam_key} timeout, reusing cached frame")
-
-            # Store timing with padded name to align output (e.g. "left_wrist    ")
-            timings[f"{cam_key:14s}"] = (time.perf_counter() - t0) * 1000
-        
-        # Log detailed timings (for debugging slow observations)
-        if logger.isEnabledFor(logging.DEBUG):
-            total_time = sum(timings.values())
-            breakdown = " | ".join([f"{k}: {v:.1f}ms" for k, v in timings.items()])
-            logger.debug(f"{self} get_observation: {total_time:.1f}ms total | {breakdown}")
-        
-        # Store timings in obs_dict for external profiling
-        obs_dict["_timing_breakdown"] = timings
-        
-        return obs_dict
-
-    def send_action(
-        self, 
-        action: Dict[str, Any], 
-        custom_kp: Optional[Dict[str, float]] = None,
-        custom_kd: Optional[Dict[str, float]] = None
-    ) -> Dict[str, Any]:
-        """
-        Send action command to robot.
-        
-        The action magnitude may be clipped based on safety limits.
-        
-        Args:
-            action: Dictionary with motor positions (e.g., "right_joint_1.pos", "left_joint_2.pos")
-            custom_kp: Optional custom kp gains per motor (e.g., {"right_joint_1": 120.0, "left_joint_2": 150.0})
-            custom_kd: Optional custom kd gains per motor (e.g., {"right_joint_1": 1.5, "left_joint_2": 2.0})
-            
-        Returns:
-            The action actually sent (potentially clipped)
-        """
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-        
-        # Extract motor positions from action and split by arm
-        goal_pos_right = {}
-        goal_pos_left = {}
-        
-        for key, val in action.items():
-            if key.endswith(".pos"):
-                motor_name = key.removesuffix(".pos")
-                if motor_name.startswith("right_"):
-                    # Remove "right_" prefix for bus access
-                    goal_pos_right[motor_name.removeprefix("right_")] = val
-                elif motor_name.startswith("left_"):
-                    # Remove "left_" prefix for bus access
-                    goal_pos_left[motor_name.removeprefix("left_")] = val
-        
-        # Apply joint limit clipping to right arm
-        for motor_name, position in goal_pos_right.items():
-            if motor_name in self.config.joint_limits_right:
-                min_limit, max_limit = self.config.joint_limits_right[motor_name]
-                clipped_position = max(min_limit, min(max_limit, position))
-                if clipped_position != position:
-                    logger.debug(f"Clipped right_{motor_name} from {position:.2f}° to {clipped_position:.2f}°")
-                goal_pos_right[motor_name] = clipped_position
-        
-        # Apply joint limit clipping to left arm
-        for motor_name, position in goal_pos_left.items():
-            if motor_name in self.config.joint_limits_left:
-                min_limit, max_limit = self.config.joint_limits_left[motor_name]
-                clipped_position = max(min_limit, min(max_limit, position))
-                if clipped_position != position:
-                    logger.debug(f"Clipped left_{motor_name} from {position:.2f}° to {clipped_position:.2f}°")
-                goal_pos_left[motor_name] = clipped_position
-        
-        # Apply safety limits if configured
-        if self.config.max_relative_target is not None:
-            # Get current positions
-            present_pos_right = self.bus_right.sync_read("Present_Position")
-            present_pos_left = self.bus_left.sync_read("Present_Position")
-            
-            # Apply safety limits to right arm
-            if goal_pos_right:
-                goal_present_pos_right = {
-                    key: (g_pos, present_pos_right.get(key, 0.0)) 
-                    for key, g_pos in goal_pos_right.items()
-                }
-                goal_pos_right = ensure_safe_goal_position(
-                    goal_present_pos_right, 
-                    self.config.max_relative_target
-                )
-            
-            # Apply safety limits to left arm
-            if goal_pos_left:
-                goal_present_pos_left = {
-                    key: (g_pos, present_pos_left.get(key, 0.0)) 
-                    for key, g_pos in goal_pos_left.items()
-                }
-                goal_pos_left = ensure_safe_goal_position(
-                    goal_present_pos_left, 
-                    self.config.max_relative_target
-                )
-        
-        # Motor name to index mapping for gains
-        motor_index = {
-            "joint_1": 0,
-            "joint_2": 1,
-            "joint_3": 2,
-            "joint_4": 3,
-            "joint_5": 4,
-            "joint_6": 5,
-            "joint_7": 6,
-            "gripper": 7,
-        }
-        
-        # Use batch MIT control for right arm (sends all commands, then collects responses)
-        if goal_pos_right:
-            commands_right = {}
-            for motor_name, position_degrees in goal_pos_right.items():
-                idx = motor_index.get(motor_name, 0)
-                
-                # Use custom gains if provided, otherwise use config defaults
-                full_motor_name = f"right_{motor_name}"
-                if custom_kp is not None and full_motor_name in custom_kp:
-                    kp = custom_kp[full_motor_name]
-                else:
-                    kp = self.config.position_kp[idx] if isinstance(self.config.position_kp, list) else self.config.position_kp
-                
-                if custom_kd is not None and full_motor_name in custom_kd:
-                    kd = custom_kd[full_motor_name]
-                else:
-                    kd = self.config.position_kd[idx] if isinstance(self.config.position_kd, list) else self.config.position_kd
-                
-                commands_right[motor_name] = (kp, kd, position_degrees, 0.0, 0.0)
-            self.bus_right._mit_control_batch(commands_right)
-        
-        # Use batch MIT control for left arm (sends all commands, then collects responses)
-        if goal_pos_left:
-            commands_left = {}
-            for motor_name, position_degrees in goal_pos_left.items():
-                idx = motor_index.get(motor_name, 0)
-                
-                # Use custom gains if provided, otherwise use config defaults
-                full_motor_name = f"left_{motor_name}"
-                if custom_kp is not None and full_motor_name in custom_kp:
-                    kp = custom_kp[full_motor_name]
-                else:
-                    kp = self.config.position_kp[idx] if isinstance(self.config.position_kp, list) else self.config.position_kp
-                
-                if custom_kd is not None and full_motor_name in custom_kd:
-                    kd = custom_kd[full_motor_name]
-                else:
-                    kd = self.config.position_kd[idx] if isinstance(self.config.position_kd, list) else self.config.position_kd
-                
-                commands_left[motor_name] = (kp, kd, position_degrees, 0.0, 0.0)
-            self.bus_left._mit_control_batch(commands_left)
-        
-        # Return the actions that were actually sent
-        result = {}
-        for motor, val in goal_pos_right.items():
-            result[f"right_{motor}.pos"] = val
-        for motor, val in goal_pos_left.items():
-            result[f"left_{motor}.pos"] = val
-        return result
-
-    def disconnect(self):
-        """Disconnect from robot."""
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-        
-        # Disconnect from CAN buses
-        self.bus_right.disconnect(self.config.disable_torque_on_disconnect)
-        self.bus_left.disconnect(self.config.disable_torque_on_disconnect)
-        
-        # Disconnect cameras
-        for cam in self.cameras.values():
-            cam.disconnect()
-        
-        logger.info(f"{self} disconnected.")
-    
-    def _deg_to_rad(self, deg: Dict[str, float | int]) -> Dict[str, float]:
-        """Convert degrees to radians for all motors."""
-        return {m: np.deg2rad(float(v)) for m, v in deg.items()}
-    
-    def _gravity_from_q(self, q_rad: Dict[str, float]) -> Dict[str, float]:
-        """
-        Compute g(q) [N·m] for all joints in the robot.
-        The order of joints in the URDF matches the concatenated motor lists (right then left).
-        
-        Args:
-            q_rad: Dictionary mapping motor names (with arm prefix) to positions in radians
-            
-        Returns:
-            Dictionary mapping motor names to gravity torques in N·m
-            
-        Raises:
-            RuntimeError: If URDF model is not loaded
-        """
-        if self.pin_robot is None:
-            raise RuntimeError(
-                "Cannot compute gravity: URDF model not loaded. "
-                "Ensure urdf/openarms.urdf exists and is valid."
-            )
-        
-        # Build position vector in the order of motors (left arm, then right arm)
-        # This order must match the URDF joint order
-        # URDF has: left_joint1-7, left_finger_joint1-2, right_joint1-7, right_finger_joint1-2
-        q = np.zeros(self.pin_robot.model.nq)
-        idx = 0
-        
-        # Left arm motors (first in URDF) - joints 1-7
-        for motor_name in self.bus_left.motors:
-            if motor_name == "gripper":
-                continue  # Skip gripper, will be handled separately
-            full_name = f"left_{motor_name}"
-            q[idx] = q_rad.get(full_name, 0.0)
-            idx += 1
-        
-        # Skip left finger joints (leave as zeros)
-        idx += 2
-        
-        # Right arm motors (second in URDF) - joints 1-7
-        for motor_name in self.bus_right.motors:
-            if motor_name == "gripper":
-                continue  # Skip gripper, will be handled separately
-            full_name = f"right_{motor_name}"
-            q[idx] = q_rad.get(full_name, 0.0)
-            idx += 1
-        
-        # Skip right finger joints (leave as zeros)
-        idx += 2
-        
-        # Compute generalized gravity vector
-        g = pin.computeGeneralizedGravity(self.pin_robot.model, self.pin_robot.data, q)
-        
-        # Map back to motor names (only arm joints, not fingers)
-        result = {}
-        idx = 0
-        
-        # Left arm torques (joints 1-7)
-        for motor_name in self.bus_left.motors:
-            if motor_name == "gripper":
-                result["left_gripper"] = 0.0  # No gravity compensation for gripper
-                continue
-            result[f"left_{motor_name}"] = float(g[idx])
-            idx += 1
-        
-        # Skip left finger joint torques in output
-        idx += 2
-        
-        # Right arm torques (joints 1-7)
-        for motor_name in self.bus_right.motors:
-            if motor_name == "gripper":
-                result["right_gripper"] = 0.0  # No gravity compensation for gripper
-                continue
-            result[f"right_{motor_name}"] = float(g[idx])
-            idx += 1
-        
-        # Skip right finger joint torques in output
-        idx += 2
-        
-        return result
-    
-    def _friction_from_velocity(
-        self, 
-        velocity_rad_per_sec: Dict[str, float],
-        friction_scale: float = 1.0,
-        amp_tmp: float = 1.0,
-        coef_tmp: float = 0.1
-    ) -> Dict[str, float]:
-        """
-        Compute friction torques for all joints in the robot using tanh friction model.
-        
-        Args:
-            velocity_rad_per_sec: Dictionary mapping motor names (with arm prefix) to velocities in rad/s
-            friction_scale: Scale factor for friction compensation (default 1.0, use 0.3 for stability)
-            amp_tmp: Amplitude factor for tanh term (default 1.0)
-            coef_tmp: Coefficient for tanh steepness (default 0.1)
-            
-        Returns:
-            Dictionary mapping motor names to friction torques in N·m
-        """
-        # Motor name to index mapping
-        motor_name_to_index = {
-            "joint_1": 0,
-            "joint_2": 1,
-            "joint_3": 2,
-            "joint_4": 3,
-            "joint_5": 4,
-            "joint_6": 5,
-            "joint_7": 6,
-            "gripper": 7,
-        }
-        
-        result = {}
-        
-        # Process all motors (left and right)
-        for motor_full_name, velocity in velocity_rad_per_sec.items():
-            # Extract motor name without arm prefix
-            if motor_full_name.startswith("right_"):
-                motor_name = motor_full_name.removeprefix("right_")
-            elif motor_full_name.startswith("left_"):
-                motor_name = motor_full_name.removeprefix("left_")
-            else:
-                result[motor_full_name] = 0.0
-                continue
-            
-            # Get motor index for friction parameters
-            motor_index = motor_name_to_index.get(motor_name, 0)
-            
-            # Get friction parameters from config
-            Fc = self.config.friction_fc[motor_index]
-            k = self.config.friction_k[motor_index]
-            Fv = self.config.friction_fv[motor_index]
-            Fo = self.config.friction_fo[motor_index]
-            
-            # Friction model: τ_fric = amp * Fc * tanh(coef * k * ω) + Fv * ω + Fo
-            friction_torque = (
-                amp_tmp * Fc * np.tanh(coef_tmp * k * velocity) +
-                Fv * velocity +
-                Fo
-            )
-            
-            # Apply scale factor
-            friction_torque *= friction_scale
-            
-            result[motor_full_name] = float(friction_torque)
-        
-        return result
-    
-    def get_damping_kd(self, motor_name: str) -> float:
-        """
-        Get damping gain (Kd) for a specific motor.
-        
-        Args:
-            motor_name: Motor name without arm prefix (e.g., "joint_1", "gripper")
-            
-        Returns:
-            Damping gain value
-        """
-        motor_name_to_index = {
-            "joint_1": 0,
-            "joint_2": 1,
-            "joint_3": 2,
-            "joint_4": 3,
-            "joint_5": 4,
-            "joint_6": 5,
-            "joint_7": 6,
-            "gripper": 7,
-        }
-        
-        motor_index = motor_name_to_index.get(motor_name, 0)
-        return self.config.damping_kd[motor_index]
-    

src/lerobot/scratch.txt

@@ -1,41 +0,0 @@
-# Eun visualizer locally
-
-# login to hf an set your access token
-hf auth login
-# if not installed, install with: pip install huggingface_hub
-git clone https://github.com/huggingface/lerobot-dataset-visualizer.git
-cd lerobot-dataset-visualizer
-python -m lerobot_dataset_viz --repo-id lerobot-data-collection/repo-id-nez --episode-index 0
-git checkout feat/private_repo_viz
-npm install
-npm run dev
-# open http://localhost:3000 in your browser
-
-
-# ======================================================
-
-
-# default merge command; copy your list of datasets ids in repo_ids
-
-python -m lerobot.scripts.lerobot_edit_dataset \
---repo_id lerobot-data-collection/repo-id-nez \
---operation.type merge --push_to_hub true \
---operation.repo_ids "[]"
-
-
-# merge test datasets into one
-
-python -m lerobot.scripts.lerobot_edit_dataset \
---repo_id lerobot-data-collection/test-2025-11-03-merged \
---operation.type merge --push_to_hub true \
---operation.repo_ids "['lerobot-data-collection/test-2025-11-03-13-18', 'lerobot-data-collection/test-2025-11-03-13-19', 'lerobot-data-collection/test-2025-11-03-13-20', 'lerobot-data-collection/test-2025-11-03-13-21', 'lerobot-data-collection/test-2025-11-03-13-23', 'lerobot-data-collection/test-2025-11-03-13-24', 'lerobot-data-collection/test-2025-11-03-13-25', 'lerobot-data-collection/test-2025-11-03-13-26', 'lerobot-data-collection/test-2025-11-03-13-27', 'lerobot-data-collection/test-2025-11-03-13-29', 'lerobot-data-collection/test-2025-11-03-13-30', 'lerobot-data-collection/test-2025-11-03-13-31', 'lerobot-data-collection/test-2025-11-03-13-34', 'lerobot-data-collection/test-2025-11-03-13-41', 'lerobot-data-collection/test-2025-11-03-13-42', 'lerobot-data-collection/test-2025-11-03-13-43', 'lerobot-data-collection/test-2025-11-03-13-44', 'lerobot-data-collection/test-2025-11-03-13-45', 'lerobot-data-collection/test-2025-11-03-13-46', 'lerobot-data-collection/test-2025-11-03-13-47', 'lerobot-data-collection/test-2025-11-03-13-48', 'lerobot-data-collection/test-2025-11-03-13-49']"
-
-# RUN loop_dataset.py to get your repo_ids
-
-# ========================================================= Two folds datasets
-
-#merge
-python -m lerobot.scripts.lerobot_edit_dataset \
---repo_id lerobot-data-collection/two-folds-dataset-full-11-04 \
---operation.type merge --push_to_hub true \
---operation.repo_ids "['lerobot-data-collection/two-folds-dataset-2025-11-04-15-06', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-08', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-10', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-11', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-12', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-14', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-16', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-18', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-20', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-22', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-24', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-25', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-27', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-28', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-29', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-33', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-34', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-35', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-36', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-52', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-53', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-54', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-55', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-56', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-57', 'lerobot-data-collection/two-folds-dataset-2025-11-04-15-59', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-00', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-01', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-02', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-03', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-04', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-05', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-06', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-07', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-08', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-09', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-26', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-28', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-29', 'lerobot-data-collection/two-folds-dataset-2025-11-04-16-30']"

src/lerobot/scripts/lerobot_setup_motors.py

@@ -42,7 +42,6 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     so100_leader,
     so101_leader,
-    openarms_mini
 )
 
 COMPATIBLE_DEVICES = [
@@ -53,7 +52,6 @@ COMPATIBLE_DEVICES = [
     "so101_follower",
     "so101_leader",
     "lekiwi",
-    "openarms_mini",
 ]
 
 

src/lerobot/teleoperators/openarms/__init__.py

@@ -1,20 +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.
-
-from .config_openarms_leader import OpenArmsLeaderConfig
-from .openarms_leader import OpenArmsLeader
-
-__all__ = ["OpenArmsLeader", "OpenArmsLeaderConfig"]

src/lerobot/teleoperators/openarms/config_openarms_leader.py

@@ -1,80 +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.
-
-from dataclasses import dataclass, field
-from typing import Dict
-
-from ..config import TeleoperatorConfig
-
-
-@TeleoperatorConfig.register_subclass("openarms_leader")
-@dataclass
-class OpenArmsLeaderConfig(TeleoperatorConfig):
-    """Configuration for the OpenArms leader/teleoperator with Damiao motors."""
-    
-    # CAN interfaces - one per arm
-    # Right arm CAN interface (e.g., "can2")
-    # Left arm CAN interface (e.g., "can3")
-    # Linux: "can0", "can1", etc.
-    # macOS: "/dev/cu.usbmodem*" (serial device)
-    port_right: str = "can2"    # CAN interface for right arm
-    port_left: str = "can3"     # CAN interface for left arm
-    
-    # CAN interface type: "socketcan" (Linux), "slcan" (macOS/serial), or "auto" (auto-detect)
-    can_interface: str = "socketcan"
-    
-    # CAN FD settings (OpenArms uses CAN FD by default)
-    use_can_fd: bool = True
-    can_bitrate: int = 1000000      # Nominal bitrate (1 Mbps)
-    can_data_bitrate: int = 5000000  # Data bitrate for CAN FD (5 Mbps)
-    
-    # Motor configuration for OpenArms (7 DOF per arm)
-    # Maps motor names to (send_can_id, recv_can_id, motor_type)
-    # Based on: https://docs.openarm.dev/software/setup/configure-test
-    # OpenArms uses 4 types of motors:
-    # - DM8009 (DM-J8009P-2EC) for shoulders (high torque)
-    # - DM4340P and DM4340 for shoulder rotation and elbow
-    # - DM4310 (DM-J4310-2EC V1.1) for wrist and gripper
-    motor_config: Dict[str, tuple[int, int, str]] = field(default_factory=lambda: {
-        "joint_1": (0x01, 0x11, "dm8009"),   # J1 - Shoulder pan (DM8009)
-        "joint_2": (0x02, 0x12, "dm8009"),   # J2 - Shoulder lift (DM8009)
-        "joint_3": (0x03, 0x13, "dm4340"),   # J3 - Shoulder rotation (DM4340)
-        "joint_4": (0x04, 0x14, "dm4340"),   # J4 - Elbow flex (DM4340)
-        "joint_5": (0x05, 0x15, "dm4310"),   # J5 - Wrist roll (DM4310)
-        "joint_6": (0x06, 0x16, "dm4310"),   # J6 - Wrist pitch (DM4310)
-        "joint_7": (0x07, 0x17, "dm4310"),   # J7 - Wrist rotation (DM4310)
-        "gripper": (0x08, 0x18, "dm4310"),   # J8 - Gripper (DM4310)
-    })
-    
-    # Torque mode settings for manual control
-    # When enabled, motors have torque disabled for manual movement
-    manual_control: bool = True
-    
-    # MIT control parameters (used when manual_control=False for torque control)
-    # List of 8 values: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7, gripper]
-    position_kp: list[float] = field(default_factory=lambda: [240.0, 240.0, 240.0, 240.0, 24.0, 31.0, 25.0, 16.0])
-    position_kd: list[float] = field(default_factory=lambda: [3.0, 3.0, 3.0, 3.0, 0.2, 0.2, 0.2, 0.2])
-    
-    # Damping gains for stability when applying torque compensation (gravity/friction)
-    # Used when kp=0 and only torque is applied
-    damping_kd: list[float] = field(default_factory=lambda: [0.5, 0.5, 0.5, 0.5, 0.1, 0.1, 0.1, 0.1])
-    
-    # Friction model parameters: τ_fric(ω) = Fo + Fv·ω + Fc·tanh(k·ω)
-    # From OpenArms config/leader.yaml (note: Fc[5] is slightly different: 0.083 vs 0.093)
-    friction_fc: list[float] = field(default_factory=lambda: [0.306, 0.306, 0.40, 0.166, 0.050, 0.083, 0.172, 0.0512])  # Coulomb friction [Nm]
-    friction_k: list[float] = field(default_factory=lambda: [28.417, 28.417, 29.065, 130.038, 151.771, 242.287, 7.888, 4.000])  # tanh steepness
-    friction_fv: list[float] = field(default_factory=lambda: [0.063, 0.0630, 0.604, 0.813, 0.029, 0.072, 0.084, 0.084])  # Viscous friction [Nm·s/rad]
-    friction_fo: list[float] = field(default_factory=lambda: [0.088, 0.088, 0.008, -0.058, 0.005, 0.009, -0.059, -0.050])  # Offset torque [Nm]

src/lerobot/teleoperators/openarms/openarms_leader.py

@@ -1,503 +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
-import time
-from typing import Any, Dict
-
-import numpy as np
-import pinocchio as pin
-
-from lerobot.motors import Motor, MotorCalibration, MotorNormMode
-from lerobot.motors.damiao import DamiaoMotorsBus
-from lerobot.motors.damiao.tables import MotorType
-from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-
-from ..teleoperator import Teleoperator
-from .config_openarms_leader import OpenArmsLeaderConfig
-
-logger = logging.getLogger(__name__)
-
-
-class OpenArmsLeader(Teleoperator):
-    """
-    OpenArms Leader/Teleoperator Arm with Damiao motors.
-    
-    This teleoperator uses CAN bus communication to read positions from 
-    Damiao motors that are manually moved (torque disabled).
-    """
-
-    config_class = OpenArmsLeaderConfig
-    name = "openarms_leader"
-
-    def __init__(self, config: OpenArmsLeaderConfig):
-        super().__init__(config)
-        self.config = config
-        
-        norm_mode_body = MotorNormMode.DEGREES  # Always use degrees for Damiao motors
-        
-        # Right arm motors (on port_right)
-        # Each arm uses the same CAN IDs since they're on separate buses
-        motors_right = {}
-        for motor_name, (send_id, recv_id, motor_type_str) in config.motor_config.items():
-            motor = Motor(send_id, motor_type_str, norm_mode_body)
-            motor.recv_id = recv_id
-            motor.motor_type = getattr(MotorType, motor_type_str.upper().replace("-", "_"))
-            motors_right[motor_name] = motor
-        
-        # Left arm motors (on port_left, same IDs as right since separate bus)
-        motors_left = {}
-        for motor_name, (send_id, recv_id, motor_type_str) in config.motor_config.items():
-            motor = Motor(send_id, motor_type_str, norm_mode_body)
-            motor.recv_id = recv_id
-            motor.motor_type = getattr(MotorType, motor_type_str.upper().replace("-", "_"))
-            motors_left[motor_name] = motor
-        
-        # Initialize separate Damiao motors buses (one per arm) with CAN FD support
-        self.bus_right = DamiaoMotorsBus(
-            port=self.config.port_right,
-            motors=motors_right,
-            calibration={k.replace("right_", ""): v for k, v in (self.calibration or {}).items() if k.startswith("right_")},
-            can_interface=self.config.can_interface,
-            use_can_fd=self.config.use_can_fd,
-            bitrate=self.config.can_bitrate,
-            data_bitrate=self.config.can_data_bitrate if self.config.use_can_fd else None,
-        )
-        
-        self.bus_left = DamiaoMotorsBus(
-            port=self.config.port_left,
-            motors=motors_left,
-            calibration={k.replace("left_", ""): v for k, v in (self.calibration or {}).items() if k.startswith("left_")},
-            can_interface=self.config.can_interface,
-            use_can_fd=self.config.use_can_fd,
-            bitrate=self.config.can_bitrate,
-            data_bitrate=self.config.can_data_bitrate if self.config.use_can_fd else None,
-        )
-
-        # Initialize Pinocchio robot model for dynamics (optional)
-        self.pin_robot = None
-        try:
-            # Load URDF - try external path first (with meshes), then repository
-            import os
-            from os.path import expanduser, dirname
-            
-            # Try external URDF with meshes first
-            external_urdf_path = expanduser("~/Documents/openarm_description/openarm_bimanual_pybullet.urdf")
-            if os.path.exists(external_urdf_path):
-                urdf_path = external_urdf_path
-                urdf_dir = dirname(urdf_path)
-            
-                self.pin_robot = pin.RobotWrapper.BuildFromURDF(urdf_path, urdf_dir)
-                self.pin_robot.data = self.pin_robot.model.createData()
-                logger.info(f"Loaded OpenArms URDF for dynamics computation from {urdf_path}")
-        except Exception as e:
-            logger.warning(f"Could not load URDF for dynamics: {e}. Gravity compensation will not be available.")
-
-    @property
-    def action_features(self) -> Dict[str, type]:
-        """Features produced by this teleoperator."""
-        features = {}
-        # Right arm motors - only positions stored in dataset
-        for motor in self.bus_right.motors:
-            features[f"right_{motor}.pos"] = float
-        # Left arm motors - only positions stored in dataset
-        for motor in self.bus_left.motors:
-            features[f"left_{motor}.pos"] = float
-        return features
-
-    @property
-    def feedback_features(self) -> Dict[str, type]:
-        """Feedback features (not implemented for OpenArms)."""
-        return {}
-
-    @property
-    def is_connected(self) -> bool:
-        """Check if teleoperator is connected."""
-        return self.bus_right.is_connected and self.bus_left.is_connected
-
-    def connect(self, calibrate: bool = True) -> None:
-        """
-        Connect to the teleoperator.
-        
-        For manual control, we disable torque after connecting so the
-        arm can be moved by hand.
-        """
-        if self.is_connected:
-            raise DeviceAlreadyConnectedError(f"{self} already connected")
-
-        # Connect to CAN buses
-        logger.info(f"Connecting right arm on {self.config.port_right}...")
-        self.bus_right.connect()
-        logger.info(f"Connecting left arm on {self.config.port_left}...")
-        self.bus_left.connect()
-        
-        # Run calibration if needed
-        if calibrate:
-            logger.info(
-                "No calibration found or overwriting calibration. Running calibration..."
-            )
-            self.calibrate()
-        
-        # Configure for manual control
-        self.configure()
-        
-        logger.info(f"{self} connected.")
-
-    @property
-    def is_calibrated(self) -> bool:
-        """Check if teleoperator is calibrated."""
-        return self.bus_right.is_calibrated and self.bus_left.is_calibrated
-
-    def calibrate(self) -> None:
-        """
-        Run calibration procedure for OpenArms leader.
-        
-        The calibration procedure:
-        1. Disable torque (if not already disabled)
-        2. Ask user to position arm in zero position (hanging with gripper closed)
-        3. Set this as zero position
-        4. Record range of motion for each joint
-        5. Save calibration
-        """
-        if self.calibration:
-            # Ask user whether to use existing calibration
-            user_input = input(
-                f"Press ENTER to use existing calibration for {self.id}, "
-                f"or type 'c' and press ENTER to run new calibration: "
-            )
-            if user_input.strip().lower() != "c":
-                logger.info(f"Using existing calibration for {self.id}")
-                # Split calibration for each bus
-                cal_right = {k.replace("right_", ""): v for k, v in self.calibration.items() if k.startswith("right_")}
-                cal_left = {k.replace("left_", ""): v for k, v in self.calibration.items() if k.startswith("left_")}
-                self.bus_right.write_calibration(cal_right)
-                self.bus_left.write_calibration(cal_left)
-                return
-        
-        logger.info(f"\nRunning calibration for {self}")
-        
-        # Calibrate each arm separately
-        self._calibrate_arm("right", self.bus_right)
-        self._calibrate_arm("left", self.bus_left)
-        
-        print(f"\nCalibration complete and saved to {self.calibration_fpath}")
-    
-    def _calibrate_arm(self, arm_name: str, bus: DamiaoMotorsBus) -> None:
-        """Calibrate a single arm."""
-        logger.info(f"\n=== Calibrating {arm_name.upper()} arm ===")
-        
-        # Ensure torque is disabled for manual positioning
-        bus.disable_torque()
-        time.sleep(0.1)
-        
-        # Step 1: Set zero position
-        input(
-            f"\nCalibration: Zero Position ({arm_name.upper()} arm)\n"
-            "Position the arm in the following configuration:\n"
-            "  - Arm hanging straight down\n"
-            "  - Gripper closed\n"
-            "Press ENTER when ready..."
-        )
-        
-        # Set current position as zero for all motors
-        bus.set_zero_position()
-        logger.info(f"{arm_name.capitalize()} arm zero position set.")
-        
-        # Automatically set range to -90° to +90° for all joints
-        print(
-            f"\nAutomatically setting range: -90° to +90° for all joints"
-        )
-        
-        # Create calibration data with fixed ranges
-        if self.calibration is None:
-            self.calibration = {}
-            
-        for motor_name, motor in bus.motors.items():
-            # Prefix motor name with arm name for storage
-            prefixed_name = f"{arm_name}_{motor_name}"
-            
-            # Use -90 to +90 for all joints and gripper (integers required)
-            self.calibration[prefixed_name] = MotorCalibration(
-                id=motor.id,
-                drive_mode=0,  # Normal direction
-                homing_offset=0,  # Already set via set_zero_position
-                range_min=-90,  # -90 degrees (integer)
-                range_max=90,   # +90 degrees (integer)
-            )
-            logger.info(f"  {prefixed_name}: range set to [-90°, +90°]")
-        
-        # Write calibration to this arm's motors
-        cal_for_bus = {k.replace(f"{arm_name}_", ""): v for k, v in self.calibration.items() if k.startswith(f"{arm_name}_")}
-        bus.write_calibration(cal_for_bus)
-        
-        # Save calibration after each arm
-        self._save_calibration()
-
-    def configure(self) -> None:
-        """
-        Configure motors for manual teleoperation.
-        
-        For manual control, we disable torque so the arm can be moved by hand.
-        """
-        if self.config.manual_control:
-            # Disable torque for manual control
-            logger.info("Disabling torque for manual control...")
-            self.bus_right.disable_torque()
-            self.bus_left.disable_torque()
-        else:
-            # Configure motors normally
-            self.bus_right.configure_motors()
-            self.bus_left.configure_motors()
-
-    def setup_motors(self) -> None:
-        raise NotImplementedError("Motor ID configuration is typically done via manufacturer tools for CAN motors.")
-
-
-    def get_action(self) -> Dict[str, Any]:
-        """
-        Get current action from the leader arm.
-        
-        This is the main method for teleoperators - it reads the current state
-        of the leader arm and returns it as an action that can be sent to a follower.
-        
-        Reads all motor states (pos/vel/torque) in one CAN refresh cycle.
-        Note: Velocity and torque are read but not stored in dataset (only used for
-        gravity/friction compensation during recording).
-        """
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-        
-        action_dict = {}
-        start = time.perf_counter()
-        
-        # OPTIMIZED: Use sync_read_all_states to get pos/vel/torque in one go
-        right_states = self.bus_right.sync_read_all_states()
-        for motor in self.bus_right.motors:
-            state = right_states.get(motor, {})
-            action_dict[f"right_{motor}.pos"] = state.get("position", 0.0)
-            action_dict[f"right_{motor}.vel"] = state.get("velocity", 0.0)
-            action_dict[f"right_{motor}.torque"] = state.get("torque", 0.0)
-        
-        # OPTIMIZED: Use sync_read_all_states to get pos/vel/torque in one go
-        left_states = self.bus_left.sync_read_all_states()
-        for motor in self.bus_left.motors:
-            state = left_states.get(motor, {})
-            action_dict[f"left_{motor}.pos"] = state.get("position", 0.0)
-            action_dict[f"left_{motor}.vel"] = state.get("velocity", 0.0)
-            action_dict[f"left_{motor}.torque"] = state.get("torque", 0.0)
-        
-        dt_ms = (time.perf_counter() - start) * 1e3
-        logger.debug(f"{self} read state: {dt_ms:.1f}ms")
-        
-        return action_dict
-
-    def send_feedback(self, feedback: Dict[str, float]) -> None:
-        raise NotImplementedError("Feedback is not yet implemented for OpenArms leader.")
-
-    def disconnect(self) -> None:
-        """Disconnect from teleoperator."""
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-        
-        # For manual control, ensure torque is disabled before disconnecting
-        if self.config.manual_control:
-            try:
-                self.bus_right.disable_torque()
-                self.bus_left.disable_torque()
-            except Exception as e:
-                logger.warning(f"Failed to disable torque during disconnect: {e}")
-        
-        # Disconnect from CAN buses
-        self.bus_right.disconnect(disable_torque=False)  # Already disabled above if needed
-        self.bus_left.disconnect(disable_torque=False)
-        
-        logger.info(f"{self} disconnected.")
-
-    def _deg_to_rad(self, deg: Dict[str, float | int]) -> Dict[str, float]:
-        """Convert degrees to radians for all motors."""
-        return {m: np.deg2rad(float(v)) for m, v in deg.items()}
-    
-    def _gravity_from_q(self, q_rad: Dict[str, float]) -> Dict[str, float]:
-        """
-        Compute g(q) [N·m] for all joints in the robot.
-        The order of joints in the URDF matches the concatenated motor lists (right then left).
-        
-        Args:
-            q_rad: Dictionary mapping motor names (with arm prefix) to positions in radians
-            
-        Returns:
-            Dictionary mapping motor names to gravity torques in N·m
-            
-        Raises:
-            RuntimeError: If URDF model is not loaded
-        """
-        if self.pin_robot is None:
-            raise RuntimeError(
-                "Cannot compute gravity: URDF model not loaded. "
-                "Ensure urdf/openarms.urdf exists and is valid."
-            )
-        
-        # Build position vector in the order of motors (left arm, then right arm)
-        # This order must match the URDF joint order
-        # URDF has: left_joint1-7, left_finger_joint1-2, right_joint1-7, right_finger_joint1-2
-        q = np.zeros(self.pin_robot.model.nq)
-        idx = 0
-        
-        # Left arm motors (first in URDF) - joints 1-7
-        for motor_name in self.bus_left.motors:
-            if motor_name == "gripper":
-                continue  # Skip gripper, will be handled separately
-            full_name = f"left_{motor_name}"
-            q[idx] = q_rad.get(full_name, 0.0)
-            idx += 1
-        
-        # Skip left finger joints (leave as zeros)
-        idx += 2
-        
-        # Right arm motors (second in URDF) - joints 1-7
-        for motor_name in self.bus_right.motors:
-            if motor_name == "gripper":
-                continue  # Skip gripper, will be handled separately
-            full_name = f"right_{motor_name}"
-            q[idx] = q_rad.get(full_name, 0.0)
-            idx += 1
-        
-        # Skip right finger joints (leave as zeros)
-        idx += 2
-        
-        # Compute generalized gravity vector
-        g = pin.computeGeneralizedGravity(self.pin_robot.model, self.pin_robot.data, q)
-        
-        # Map back to motor names (only arm joints, not fingers)
-        result = {}
-        idx = 0
-        
-        # Left arm torques (joints 1-7)
-        for motor_name in self.bus_left.motors:
-            if motor_name == "gripper":
-                result["left_gripper"] = 0.0  # No gravity compensation for gripper
-                continue
-            result[f"left_{motor_name}"] = float(g[idx])
-            idx += 1
-        
-        # Skip left finger joint torques in output
-        idx += 2
-        
-        # Right arm torques (joints 1-7)
-        for motor_name in self.bus_right.motors:
-            if motor_name == "gripper":
-                result["right_gripper"] = 0.0  # No gravity compensation for gripper
-                continue
-            result[f"right_{motor_name}"] = float(g[idx])
-            idx += 1
-        
-        # Skip right finger joint torques in output
-        idx += 2
-        
-        return result
-    
-    def _friction_from_velocity(
-        self, 
-        velocity_rad_per_sec: Dict[str, float],
-        friction_scale: float = 1.0,
-        amp_tmp: float = 1.0,
-        coef_tmp: float = 0.1
-    ) -> Dict[str, float]:
-        """
-        Compute friction torques for all joints in the robot using tanh friction model.
-        
-        Args:
-            velocity_rad_per_sec: Dictionary mapping motor names (with arm prefix) to velocities in rad/s
-            friction_scale: Scale factor for friction compensation (default 1.0, use 0.3 for stability)
-            amp_tmp: Amplitude factor for tanh term (default 1.0)
-            coef_tmp: Coefficient for tanh steepness (default 0.1)
-            
-        Returns:
-            Dictionary mapping motor names to friction torques in N·m
-        """
-        # Motor name to index mapping
-        motor_name_to_index = {
-            "joint_1": 0,
-            "joint_2": 1,
-            "joint_3": 2,
-            "joint_4": 3,
-            "joint_5": 4,
-            "joint_6": 5,
-            "joint_7": 6,
-            "gripper": 7,
-        }
-        
-        result = {}
-        
-        # Process all motors (left and right)
-        for motor_full_name, velocity in velocity_rad_per_sec.items():
-            # Extract motor name without arm prefix
-            if motor_full_name.startswith("right_"):
-                motor_name = motor_full_name.removeprefix("right_")
-            elif motor_full_name.startswith("left_"):
-                motor_name = motor_full_name.removeprefix("left_")
-            else:
-                result[motor_full_name] = 0.0
-                continue
-            
-            # Get motor index for friction parameters
-            motor_index = motor_name_to_index.get(motor_name, 0)
-            
-            # Get friction parameters from config
-            Fc = self.config.friction_fc[motor_index]
-            k = self.config.friction_k[motor_index]
-            Fv = self.config.friction_fv[motor_index]
-            Fo = self.config.friction_fo[motor_index]
-            
-            # Friction model: τ_fric = amp * Fc * tanh(coef * k * ω) + Fv * ω + Fo
-            friction_torque = (
-                amp_tmp * Fc * np.tanh(coef_tmp * k * velocity) +
-                Fv * velocity +
-                Fo
-            )
-            
-            # Apply scale factor
-            friction_torque *= friction_scale
-            
-            result[motor_full_name] = float(friction_torque)
-        
-        return result
-    
-    def get_damping_kd(self, motor_name: str) -> float:
-        """
-        Get damping gain (Kd) for a specific motor.
-        
-        Args:
-            motor_name: Motor name without arm prefix (e.g., "joint_1", "gripper")
-            
-        Returns:
-            Damping gain value
-        """
-        motor_name_to_index = {
-            "joint_1": 0,
-            "joint_2": 1,
-            "joint_3": 2,
-            "joint_4": 3,
-            "joint_5": 4,
-            "joint_6": 5,
-            "joint_7": 6,
-            "gripper": 7,
-        }
-        
-        motor_index = motor_name_to_index.get(motor_name, 0)
-        return self.config.damping_kd[motor_index]
-
-

src/lerobot/teleoperators/openarms_mini/__init__.py

@@ -1,21 +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.
-
-from .config_openarms_mini import OpenArmsMiniConfig
-from .openarms_mini import OpenArmsMini
-
-__all__ = ["OpenArmsMini", "OpenArmsMiniConfig"]
-

src/lerobot/teleoperators/openarms_mini/config_openarms_mini.py

@@ -1,33 +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.
-
-from dataclasses import dataclass
-
-from ..teleoperator import TeleoperatorConfig
-
-
-@TeleoperatorConfig.register_subclass("openarms_mini")
-@dataclass
-class OpenArmsMiniConfig(TeleoperatorConfig):
-    """Configuration for OpenArms Mini teleoperator with Feetech motors (dual arms)."""
-    
-    # Serial ports for left and right arms
-    port_right: str = "/dev/ttyUSB0"  # Serial port for right arm
-    port_left: str = "/dev/ttyUSB1"   # Serial port for left arm
-    
-    # Whether to use degrees mode (True) or normalized mode (False)
-    use_degrees: bool = True
-

src/lerobot/teleoperators/openarms_mini/openarms_mini.py

@@ -1,333 +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
-import time
-
-from lerobot.motors import Motor, MotorCalibration, MotorNormMode
-from lerobot.motors.feetech import (
-    FeetechMotorsBus,
-    OperatingMode,
-)
-from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-
-from ..teleoperator import Teleoperator
-from .config_openarms_mini import OpenArmsMiniConfig
-
-logger = logging.getLogger(__name__)
-
-
-class OpenArmsMini(Teleoperator):
-    """
-    OpenArms Mini Teleoperator with dual Feetech-based arms (8 motors per arm).
-    Each arm has 7 joints plus a gripper, using the same DOF as OpenArms.
-    """
-
-    config_class = OpenArmsMiniConfig
-    name = "openarms_mini"
-
-    def __init__(self, config: OpenArmsMiniConfig):
-        super().__init__(config)
-        self.config = config
-        
-        # Use degrees mode for all motors
-        norm_mode_body = MotorNormMode.DEGREES
-        
-        # Right arm motors (8 motors: joint_1 to joint_7 + gripper)
-        motors_right = {
-            "joint_1": Motor(1, "sts3215", norm_mode_body),
-            "joint_2": Motor(2, "sts3215", norm_mode_body),
-            "joint_3": Motor(3, "sts3215", norm_mode_body),
-            "joint_4": Motor(4, "sts3215", norm_mode_body),
-            "joint_5": Motor(5, "sts3215", norm_mode_body),
-            "joint_6": Motor(6, "sts3215", norm_mode_body),
-            "joint_7": Motor(7, "sts3215", norm_mode_body),
-            "gripper": Motor(8, "sts3215", MotorNormMode.RANGE_0_100),
-        }
-        
-        # Left arm motors (8 motors: joint_1 to joint_7 + gripper)
-        # Note: Left arm uses IDs 11-18 to avoid conflicts if on same bus
-        motors_left = {
-            "joint_1": Motor(1, "sts3215", norm_mode_body),
-            "joint_2": Motor(2, "sts3215", norm_mode_body),
-            "joint_3": Motor(3, "sts3215", norm_mode_body),
-            "joint_4": Motor(4, "sts3215", norm_mode_body),
-            "joint_5": Motor(5, "sts3215", norm_mode_body),
-            "joint_6": Motor(6, "sts3215", norm_mode_body),
-            "joint_7": Motor(7, "sts3215", norm_mode_body),
-            "gripper": Motor(8, "sts3215", MotorNormMode.RANGE_0_100),
-        }
-        
-        # Initialize Feetech motor buses for each arm
-        self.bus_right = FeetechMotorsBus(
-            port=self.config.port_right,
-            motors=motors_right,
-            calibration={k.replace("right_", ""): v for k, v in (self.calibration or {}).items() if k.startswith("right_")},
-        )
-        
-        self.bus_left = FeetechMotorsBus(
-            port=self.config.port_left,
-            motors=motors_left,
-            calibration={k.replace("left_", ""): v for k, v in (self.calibration or {}).items() if k.startswith("left_")},
-        )
-
-    @property
-    def action_features(self) -> dict[str, type]:
-        """Action features include positions for all motors (16 total: 8 per arm)."""
-        features = {}
-        # Right arm motors
-        for motor in self.bus_right.motors:
-            features[f"right_{motor}.pos"] = float
-        # Left arm motors
-        for motor in self.bus_left.motors:
-            features[f"left_{motor}.pos"] = float
-        return features
-
-    @property
-    def feedback_features(self) -> dict[str, type]:
-        """No feedback features for now."""
-        return {}
-
-    @property
-    def is_connected(self) -> bool:
-        """Check if both arms are connected."""
-        return self.bus_right.is_connected and self.bus_left.is_connected
-
-    def connect(self, calibrate: bool = True) -> None:
-        """Connect to both arms and optionally calibrate."""
-        if self.is_connected:
-            raise DeviceAlreadyConnectedError(f"{self} already connected")
-
-        # Connect to both buses
-        logger.info(f"Connecting right arm on {self.config.port_right}...")
-        self.bus_right.connect()
-        logger.info(f"Connecting left arm on {self.config.port_left}...")
-        self.bus_left.connect()
-        
-        # Calibrate if requested (always prompt user)
-        if calibrate:
-            self.calibrate()
-
-        # Configure motors
-        self.configure()
-        logger.info(f"{self} connected.")
-
-    @property
-    def is_calibrated(self) -> bool:
-        """Check if both arms are calibrated."""
-        return self.bus_right.is_calibrated and self.bus_left.is_calibrated
-
-    def calibrate(self) -> None:
-        """
-        Run calibration procedure for OpenArms Mini.
-        
-        The calibration procedure:
-        1. Disable torque
-        2. Ask user to position arms in hanging position with grippers closed
-        3. Set this as zero position
-        4. Set fixed range of -90° to +90° for all joints (0-100 for gripper)
-        5. Save calibration
-        """
-        if self.calibration:
-            # Ask user whether to use existing calibration
-            user_input = input(
-                f"Press ENTER to use existing calibration for {self.id}, "
-                f"or type 'c' and press ENTER to run new calibration: "
-            )
-            if user_input.strip().lower() != "c":
-                logger.info(f"Using existing calibration for {self.id}")
-                # Split calibration for each bus
-                cal_right = {k.replace("right_", ""): v for k, v in self.calibration.items() if k.startswith("right_")}
-                cal_left = {k.replace("left_", ""): v for k, v in self.calibration.items() if k.startswith("left_")}
-                self.bus_right.write_calibration(cal_right)
-                self.bus_left.write_calibration(cal_left)
-                return
-
-        logger.info(f"\nRunning calibration for {self}")
-        
-        # Calibrate each arm separately
-        self._calibrate_arm("right", self.bus_right)
-        self._calibrate_arm("left", self.bus_left)
-        
-        self._save_calibration()
-        print(f"\nCalibration complete and saved to {self.calibration_fpath}")
-
-    def _calibrate_arm(self, arm_name: str, bus: FeetechMotorsBus) -> None:
-        """Calibrate a single arm with Feetech motors."""
-        logger.info(f"\n=== Calibrating {arm_name.upper()} arm ===")
-        
-        # Disable torque for manual positioning
-        bus.disable_torque()
-        
-        # Set Phase to 12 for all motors
-        logger.info(f"Setting Phase to 12 for all motors in {arm_name.upper()} arm...")
-        for motor in bus.motors:
-            bus.write("Phase", motor, 12)
-        logger.info(f"Phase set to 12 for all motors in {arm_name.upper()} arm")
-        
-        # Set all motors to position mode
-        for motor in bus.motors:
-            bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)
-        
-        # Step 1: Set zero position
-        input(
-            f"\nCalibration: Zero Position ({arm_name.upper()} arm)\n"
-            "Position the arm in the following configuration:\n"
-            "  - Arm hanging straight down\n"
-            "  - Gripper closed\n"
-            "Press ENTER when ready..."
-        )
-        
-        # Set current position as zero (half-turn homing)
-        homing_offsets = bus.set_half_turn_homings()
-        logger.info(f"{arm_name.capitalize()} arm zero position set.")
-        
-        # Step 2: Set ranges for joints and gripper
-        print(f"\nSetting motor ranges for {arm_name.upper()} arm\n")
-        
-        # Create calibration data with full motor ranges
-        if self.calibration is None:
-            self.calibration = {}
-        
-        # Get motor resolution
-        motor_resolution = bus.model_resolution_table[list(bus.motors.values())[0].model]
-        max_res = motor_resolution - 1
-        
-        for motor_name, motor in bus.motors.items():
-            # Prefix motor name with arm name for storage
-            prefixed_name = f"{arm_name}_{motor_name}"
-            
-            if motor_name == "gripper":
-                # Interactive calibration for gripper
-                input(
-                    f"\nGripper Calibration ({arm_name.upper()} arm)\n"
-                    f"Step 1: CLOSE the gripper fully\n"
-                    f"Press ENTER when gripper is closed..."
-                )
-                closed_pos = bus.read("Present_Position", motor_name, normalize=False)
-                logger.info(f"  Gripper closed position recorded: {closed_pos}")
-                
-                input(
-                    f"\nStep 2: OPEN the gripper fully\n"
-                    f"Press ENTER when gripper is fully open..."
-                )
-                open_pos = bus.read("Present_Position", motor_name, normalize=False)
-                logger.info(f"  Gripper open position recorded: {open_pos}")
-                
-                # For RANGE_0_100: range_min maps to 0 (closed), range_max maps to 100 (open)
-                # If gripper motor direction is reversed (closed > open), we need to swap and use drive_mode=1
-                if closed_pos < open_pos:
-                    # Normal direction: 0=closed, 100=open
-                    range_min = int(closed_pos)
-                    range_max = int(open_pos)
-                    drive_mode = 0
-                else:
-                    # Reversed direction: swap so min < max, and set drive_mode=1 to reverse
-                    range_min = int(open_pos)
-                    range_max = int(closed_pos)
-                    drive_mode = 1
-                
-                logger.info(f"  {prefixed_name}: range set to [{range_min}, {range_max}] (0=closed, 100=open, drive_mode={drive_mode})")
-            else:
-                # Use full motor range for joint motors (will use degrees normalization)
-                range_min = 0
-                range_max = max_res
-                drive_mode = 0  # Normal direction for non-gripper motors
-                logger.info(f"  {prefixed_name}: range set to [0, {max_res}] (full motor range)")
-            
-            self.calibration[prefixed_name] = MotorCalibration(
-                id=motor.id,
-                drive_mode=drive_mode,
-                homing_offset=homing_offsets[motor_name],
-                range_min=range_min,
-                range_max=range_max,
-            )
-        
-        # Write calibration to this arm's motors
-        cal_for_bus = {k.replace(f"{arm_name}_", ""): v for k, v in self.calibration.items() if k.startswith(f"{arm_name}_")}
-        bus.write_calibration(cal_for_bus)
-
-    def configure(self) -> None:
-        """Configure motors with appropriate settings."""
-        # Configure right arm
-        self.bus_right.disable_torque()
-        self.bus_right.configure_motors()
-        for motor in self.bus_right.motors:
-            self.bus_right.write("Operating_Mode", motor, OperatingMode.POSITION.value)
-        
-        # Configure left arm
-        self.bus_left.disable_torque()
-        self.bus_left.configure_motors()
-        for motor in self.bus_left.motors:
-            self.bus_left.write("Operating_Mode", motor, OperatingMode.POSITION.value)
-
-    def setup_motors(self) -> None:
-        """Setup motor IDs for both arms."""
-        print("\nSetting up RIGHT arm motors...")
-        for motor in reversed(self.bus_right.motors):
-            input(f"Connect the controller board to the RIGHT '{motor}' motor only and press enter.")
-            self.bus_right.setup_motor(motor)
-            print(f"RIGHT '{motor}' motor id set to {self.bus_right.motors[motor].id}")
-        
-        print("\nSetting up LEFT arm motors...")
-        for motor in reversed(self.bus_left.motors):
-            input(f"Connect the controller board to the LEFT '{motor}' motor only and press enter.")
-            self.bus_left.setup_motor(motor)
-            print(f"LEFT '{motor}' motor id set to {self.bus_left.motors[motor].id}")
-
-    def get_action(self) -> dict[str, float]:
-        """Get current action from both arms (read positions from all motors)."""
-        start = time.perf_counter()
-        
-        # Motors to flip (invert direction) - different for each arm
-        right_motors_to_flip = ["joint_1", "joint_2", "joint_3", "joint_4", "joint_5"]
-        left_motors_to_flip = ["joint_1", "joint_3", "joint_4", "joint_5", "joint_6", "joint_7"]
-        
-        # Read positions from both arms
-        right_positions = self.bus_right.sync_read("Present_Position")
-        left_positions = self.bus_left.sync_read("Present_Position")
-        
-        # Combine into single action dict with arm prefixes and flip specified motors
-        action = {}
-        for motor, val in right_positions.items():
-            if motor in right_motors_to_flip:
-                action[f"right_{motor}.pos"] = -val
-            else:
-                action[f"right_{motor}.pos"] = val
-        for motor, val in left_positions.items():
-            if motor in left_motors_to_flip:
-                action[f"left_{motor}.pos"] = -val
-            else:
-                action[f"left_{motor}.pos"] = val
-        
-        dt_ms = (time.perf_counter() - start) * 1e3
-        logger.debug(f"{self} read action: {dt_ms:.1f}ms")
-        return action
-
-    def send_feedback(self, feedback: dict[str, float]) -> None:
-        """Send feedback to teleoperator (not implemented)."""
-        raise NotImplementedError
-
-    def disconnect(self) -> None:
-        """Disconnect from both arms."""
-        if not self.is_connected:
-            raise DeviceNotConnectedError(f"{self} is not connected.")
-
-        # Disconnect both buses
-        self.bus_right.disconnect()
-        self.bus_left.disconnect()
-        logger.info(f"{self} disconnected.")
-

src/lerobot/teleoperators/utils.py

@@ -77,10 +77,6 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
         from .reachy2_teleoperator import Reachy2Teleoperator
 
         return Reachy2Teleoperator(config)
-    elif config.type == "openarms_mini":
-        from .openarms_mini import OpenArmsMini
-
-        return OpenArmsMini(config)
     else:
         try:
             return cast(Teleoperator, make_device_from_device_class(config))

tests/conftest.py

@@ -32,39 +32,6 @@ pytest_plugins = [
 ]
 
 
-def pytest_addoption(parser):
-    """Add custom command line option for hardware tests."""
-    parser.addoption(
-        "--run-hardware",
-        action="store_true",
-        default=False,
-        help="Run hardware tests that require actual motors connected",
-    )
-    parser.addoption(
-        "--can-port",
-        action="store",
-        default=None,
-        help="CAN interface port (e.g., 'can0' for Linux, '/dev/cu.usbmodem*' for macOS)",
-    )
-
-
-def pytest_configure(config):
-    """Register custom marker for hardware tests."""
-    config.addinivalue_line("markers", "hardware: mark test as requiring hardware")
-
-
-def pytest_collection_modifyitems(config, items):
-    """Skip hardware tests unless --run-hardware flag is provided."""
-    if config.getoption("--run-hardware"):
-        # --run-hardware given in cli: do not skip hardware tests
-        return
-    
-    skip_hardware = pytest.mark.skip(reason="need --run-hardware option to run")
-    for item in items:
-        if "hardware" in item.keywords:
-            item.add_marker(skip_hardware)
-
-
 def pytest_collection_finish():
     print(f"\nTesting with {DEVICE=}")
 

tests/envs/test_envs.py

@@ -17,6 +17,7 @@ import importlib
 from dataclasses import dataclass, field
 
 import gymnasium as gym
+import numpy as np
 import pytest
 import torch
 from gymnasium.envs.registration import register, registry as gym_registry
@@ -26,7 +27,11 @@ import lerobot
 from lerobot.configs.types import PolicyFeature
 from lerobot.envs.configs import EnvConfig
 from lerobot.envs.factory import make_env, make_env_config
-from lerobot.envs.utils import preprocess_observation
+from lerobot.envs.utils import (
+    _normalize_hub_result,
+    _parse_hub_url,
+    preprocess_observation,
+)
 from tests.utils import require_env
 
 OBS_TYPES = ["state", "pixels", "pixels_agent_pos"]
@@ -108,3 +113,156 @@ def test_factory_custom_gym_id():
     finally:
         if gym_id in gym_registry:
             del gym_registry[gym_id]
+
+
+# Hub environment loading tests
+
+
+def test_make_env_hub_url_parsing():
+    """Test URL parsing for hub environment references."""
+    # simple repo_id
+    repo_id, revision, file_path = _parse_hub_url("user/repo")
+    assert repo_id == "user/repo"
+    assert revision is None
+    assert file_path == "env.py"
+
+    # repo with revision
+    repo_id, revision, file_path = _parse_hub_url("user/repo@main")
+    assert repo_id == "user/repo"
+    assert revision == "main"
+    assert file_path == "env.py"
+
+    # repo with custom file path
+    repo_id, revision, file_path = _parse_hub_url("user/repo:custom_env.py")
+    assert repo_id == "user/repo"
+    assert revision is None
+    assert file_path == "custom_env.py"
+
+    # repo with revision and custom file path
+    repo_id, revision, file_path = _parse_hub_url("user/repo@v1.0:envs/my_env.py")
+    assert repo_id == "user/repo"
+    assert revision == "v1.0"
+    assert file_path == "envs/my_env.py"
+
+    # repo with commit hash
+    repo_id, revision, file_path = _parse_hub_url("org/repo@abc123def456")
+    assert repo_id == "org/repo"
+    assert revision == "abc123def456"
+    assert file_path == "env.py"
+
+
+def test_normalize_hub_result():
+    """Test normalization of different return types from hub make_env."""
+    # test with VectorEnv (most common case)
+    mock_vec_env = gym.vector.SyncVectorEnv([lambda: gym.make("CartPole-v1")])
+    result = _normalize_hub_result(mock_vec_env)
+    assert isinstance(result, dict)
+    assert len(result) == 1
+    suite_name = next(iter(result))
+    assert 0 in result[suite_name]
+    assert isinstance(result[suite_name][0], gym.vector.VectorEnv)
+    mock_vec_env.close()
+
+    # test with single Env
+    mock_env = gym.make("CartPole-v1")
+    result = _normalize_hub_result(mock_env)
+    assert isinstance(result, dict)
+    suite_name = next(iter(result))
+    assert 0 in result[suite_name]
+    assert isinstance(result[suite_name][0], gym.vector.VectorEnv)
+    result[suite_name][0].close()
+
+    # test with dict (already normalized)
+    mock_vec_env = gym.vector.SyncVectorEnv([lambda: gym.make("CartPole-v1")])
+    input_dict = {"my_suite": {0: mock_vec_env}}
+    result = _normalize_hub_result(input_dict)
+    assert result == input_dict
+    assert "my_suite" in result
+    assert 0 in result["my_suite"]
+    mock_vec_env.close()
+
+    # test with invalid type
+    with pytest.raises(ValueError, match="Hub `make_env` must return"):
+        _normalize_hub_result("invalid_type")
+
+
+def test_make_env_from_hub_requires_trust_remote_code():
+    """Test that loading from hub requires explicit trust_remote_code=True."""
+    hub_id = "lerobot/cartpole-env"
+
+    # Should raise RuntimeError when trust_remote_code=False (default)
+    with pytest.raises(RuntimeError, match="Refusing to execute remote code"):
+        make_env(hub_id, trust_remote_code=False)
+
+    # Should also raise when not specified (defaults to False)
+    with pytest.raises(RuntimeError, match="Refusing to execute remote code"):
+        make_env(hub_id)
+
+
+@pytest.mark.parametrize(
+    "hub_id",
+    [
+        "lerobot/cartpole-env",
+        "lerobot/cartpole-env@main",
+        "lerobot/cartpole-env:env.py",
+    ],
+)
+def test_make_env_from_hub_with_trust(hub_id):
+    """Test loading environment from Hugging Face Hub with trust_remote_code=True."""
+    # load environment from hub
+    envs_dict = make_env(hub_id, n_envs=2, trust_remote_code=True)
+
+    # verify structure
+    assert isinstance(envs_dict, dict)
+    assert len(envs_dict) >= 1
+
+    # get the first suite and task
+    suite_name = next(iter(envs_dict))
+    task_id = next(iter(envs_dict[suite_name]))
+    env = envs_dict[suite_name][task_id]
+
+    # verify it's a vector environment
+    assert isinstance(env, gym.vector.VectorEnv)
+    assert env.num_envs == 2
+
+    # test basic environment interaction
+    obs, info = env.reset()
+    assert obs is not None
+    assert isinstance(obs, (dict, np.ndarray))
+
+    # take a random action
+    action = env.action_space.sample()
+    obs, reward, terminated, truncated, info = env.step(action)
+    assert obs is not None
+    assert isinstance(reward, np.ndarray)
+    assert len(reward) == 2
+
+    # clean up
+    env.close()
+
+
+def test_make_env_from_hub_async():
+    """Test loading hub environment with async vector environments."""
+    hub_id = "lerobot/cartpole-env"
+
+    # load with async envs
+    envs_dict = make_env(hub_id, n_envs=2, use_async_envs=True, trust_remote_code=True)
+
+    suite_name = next(iter(envs_dict))
+    task_id = next(iter(envs_dict[suite_name]))
+    env = envs_dict[suite_name][task_id]
+
+    # verify it's an async vector environment
+    assert isinstance(env, gym.vector.AsyncVectorEnv)
+    assert env.num_envs == 2
+
+    # test basic interaction
+    obs, info = env.reset()
+    assert obs is not None
+
+    action = env.action_space.sample()
+    obs, reward, terminated, truncated, info = env.step(action)
+    assert len(reward) == 2
+
+    # clean up
+    env.close()

tests/motors/test_damiao.py

@@ -1,338 +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.
-
-"""
-Test script for Damiao motor communication and control.
-
-This script tests basic functionality of a single Damiao motor via CAN bus:
-1. Connects to CAN interface
-2. Discovers and enables the motor
-3. Reads current position
-4. Sets zero position
-5. Writes target positions
-6. Disables torque
-
-Requirements:
-- Motor must be connected and powered (24V)
-- CAN interface must be configured (e.g., can0)
-- Motor ID must be set to 0x01 (send) and 0x11 (receive)
-
-Setup CAN interface:
-    sudo ip link set can0 type can bitrate 1000000
-    sudo ip link set can0 up
-    
-Verify connection:
-    candump can0  # In another terminal
-    cansend can0 001#FFFFFFFFFFFFFFFC  # Should enable motor and LED turns green
-"""
-
-import time
-
-import pytest
-
-from lerobot.motors import Motor, MotorNormMode
-from lerobot.motors.damiao import DamiaoMotorsBus
-from lerobot.motors.damiao.tables import MotorType
-
-@pytest.fixture
-def can_port(request):
-    """Get CAN port from command line or raise error if not provided."""
-    port = request.config.getoption("--can-port")
-    if port is None:
-        pytest.skip("CAN port not specified. Use --can-port to specify the CAN interface.")
-    return port
-
-
-@pytest.mark.hardware
-def test_single_motor_basic_operations(can_port):
-    """
-    Test basic operations with a single Damiao motor.
-    
-    This test requires actual hardware and is skipped by default.
-    To run with hardware, use: pytest tests/motors/test_damiao.py --run-hardware --can-port PORT
-    """
-    
-    # Configuration
-    MOTOR_ID = 0x01  # Sender CAN ID
-    MOTOR_RECV_ID = 0x11  # Receiver/Master ID
-    MOTOR_TYPE = "dm4310"
-    MOTOR_NAME = "test_motor"
-    
-    print(f"\n{'='*60}")
-    print("Damiao Motor Test - Single Motor Basic Operations")
-    print(f"{'='*60}\n")
-    
-    # Step 1: Create motor configuration
-    print(f"Step 1: Creating motor configuration...")
-    print(f"  - Motor ID: 0x{MOTOR_ID:02X} (send) / 0x{MOTOR_RECV_ID:02X} (recv)")
-    print(f"  - Motor Type: {MOTOR_TYPE}")
-    print(f"  - CAN Port: {can_port}")
-    
-    motor = Motor(MOTOR_ID, MOTOR_TYPE, MotorNormMode.DEGREES)
-    motor.recv_id = MOTOR_RECV_ID
-    motor.motor_type = MotorType.DM4310
-    
-    motors = {MOTOR_NAME: motor}
-    
-    # Step 2: Connect to CAN bus
-    print(f"\nStep 2: Connecting to CAN bus...")
-    bus = DamiaoMotorsBus(port=can_port, motors=motors)
-    
-    try:
-        bus.connect(handshake=True)
-        print(f"  ✓ Connected to {can_port}")
-    except Exception as e:
-        print(f"  ✗ Failed to connect: {e}")
-        print("\nTroubleshooting:")
-        print(f"  1. Check CAN interface is up: ip link show {can_port}")
-        print(f"  2. Setup if needed: sudo ip link set {can_port} type can bitrate 1000000")
-        print(f"  3. Bring up: sudo ip link set {can_port} up")
-        print(f"  4. Test with: cansend {can_port} 001#FFFFFFFFFFFFFFFC")
-        return
-    
-    try:
-        # Step 3: Enable motor (torque on)
-        print(f"\nStep 3: Enabling motor...")
-        bus.enable_torque(MOTOR_NAME)
-        time.sleep(0.1)
-        print(f"  ✓ Motor enabled (LED should be green)")
-        
-        # Step 4: Read current position
-        print(f"\nStep 4: Reading current position...")
-        current_pos = bus.read("Present_Position", MOTOR_NAME, normalize=False)
-        current_vel = bus.read("Present_Velocity", MOTOR_NAME, normalize=False)
-        current_torque = bus.read("Present_Torque", MOTOR_NAME, normalize=False)
-        
-        print(f"  Current State:")
-        print(f"    Position: {current_pos:8.2f}°")
-        print(f"    Velocity: {current_vel:8.2f}°/s")
-        print(f"    Torque:   {current_torque:8.3f} N·m")
-        
-        # Step 5: Set zero position
-        print(f"\nStep 5: Setting current position as zero...")
-        bus.set_zero_position([MOTOR_NAME])
-        time.sleep(0.2)
-        
-        new_pos = bus.read("Present_Position", MOTOR_NAME, normalize=False)
-        print(f"  Position after zero: {new_pos:8.2f}°")
-        print(f"  ✓ Zero position set")
-        
-        # Step 6: Test position commands
-        print(f"\nStep 6: Testing position control...")
-        
-        test_positions = [0.0, 45.0, -45.0, 0.0]
-        
-        for target_pos in test_positions:
-            print(f"\n  Moving to {target_pos:6.1f}°...")
-            bus.write("Goal_Position", MOTOR_NAME, target_pos, normalize=False)
-            time.sleep(1.0)  # Allow motor to move
-            
-            actual_pos = bus.read("Present_Position", MOTOR_NAME, normalize=False)
-            error = abs(actual_pos - target_pos)
-            
-            print(f"    Target:   {target_pos:8.2f}°")
-            print(f"    Actual:   {actual_pos:8.2f}°")
-            print(f"    Error:    {error:8.2f}°")
-            
-            if error > 10.0:
-                print(f"    ⚠ Large position error!")
-            else:
-                print(f"    ✓ Position reached")
-        
-        # Step 7: Test MIT control with custom gains
-        print(f"\nStep 7: Testing MIT control with custom gains...")
-        print(f"  Using lower gains for gentler movement...")
-        
-        # Lower gains for smoother motion
-        bus._mit_control(
-            MOTOR_NAME,
-            kp=5.0,   # Lower position gain
-            kd=0.3,   # Lower damping
-            position_degrees=30.0,
-            velocity_deg_per_sec=0.0,
-            torque=0.0
-        )
-        time.sleep(1.5)
-        
-        final_pos = bus.read("Present_Position", MOTOR_NAME, normalize=False)
-        print(f"  Final position: {final_pos:8.2f}°")
-        print(f"  ✓ MIT control test complete")
-        
-        # Step 8: Return to zero
-        print(f"\nStep 8: Returning to zero position...")
-        bus.write("Goal_Position", MOTOR_NAME, 0.0, normalize=False)
-        time.sleep(1.0)
-        
-        final_pos = bus.read("Present_Position", MOTOR_NAME, normalize=False)
-        print(f"  Final position: {final_pos:8.2f}°")
-        
-    finally:
-        # Step 9: Disable motor
-        print(f"\nStep 9: Disabling motor...")
-        if bus.is_connected:
-            bus.disable_torque(MOTOR_NAME)
-            time.sleep(0.1)
-            print(f"  ✓ Motor disabled (torque off)")
-        
-        # Step 10: Disconnect
-        print(f"\nStep 10: Disconnecting...")
-        if bus.is_connected:
-            bus.disconnect(disable_torque=False)  # Already disabled
-            print(f"  ✓ Disconnected from {can_port}")
-    
-    print(f"\n{'='*60}")
-    print("Test completed successfully!")
-    print(f"{'='*60}\n")
-
-
-@pytest.mark.hardware
-def test_motor_discovery_and_setup(can_port):
-    """
-    Test motor discovery and ID configuration.
-    
-    Note: This test requires the Damiao Debugging Tools for actual ID changes.
-    This test only demonstrates the bus scan functionality.
-    """
-    
-    print(f"\n{'='*60}")
-    print("Damiao Motor Discovery Test")
-    print(f"{'='*60}\n")
-    
-    print("Note: Motor ID configuration must be done via Damiao Debugging Tools")
-    print("See: https://docs.openarm.dev/software/setup/motor-id")
-    print()
-    
-    # Test if CAN interface is accessible
-    print(f"Testing CAN interface: {can_port}")
-    
-    # Create a minimal motor bus for testing
-    test_motor = Motor(0x01, "dm4310", MotorNormMode.DEGREES)
-    test_motor.recv_id = 0x11
-    test_motor.motor_type = MotorType.DM4310
-    
-    bus = DamiaoMotorsBus(port=can_port, motors={"test": test_motor})
-    
-    try:
-        bus.connect(handshake=False)
-        print(f"✓ CAN interface {can_port} is accessible")
-        
-        # Try to communicate with motor at 0x01
-        print(f"\nLooking for motor at ID 0x01...")
-        try:
-            bus._refresh_motor("test")
-            msg = bus._recv_motor_response(timeout=0.5)
-            if msg:
-                print(f"✓ Motor found at ID 0x01, response ID: 0x{msg.arbitration_id:02X}")
-            else:
-                print(f"✗ No response from motor")
-                print("\nTroubleshooting:")
-                print("  1. Verify motor is powered (24V)")
-                print("  2. Check CAN wiring (CANH, CANL)")
-                print("  3. Verify motor ID is set to 0x01")
-                print("  4. Enable with: cansend can0 001#FFFFFFFFFFFFFFFC")
-        except Exception as e:
-                print(f"✗ Error communicating with motor: {e}")
-        
-    except Exception as e:
-        print(f"✗ Failed to access CAN interface: {e}")
-        print("\nSetup CAN interface:")
-        print(f"  sudo ip link set {can_port} type can bitrate 1000000")
-        print(f"  sudo ip link set {can_port} up")
-    
-    finally:
-        if bus.is_connected:
-            bus.disconnect(disable_torque=True)
-    
-    print(f"\n{'='*60}\n")
-
-
-@pytest.mark.hardware
-def test_multi_motor_sync_operations(can_port):
-    """
-    Test synchronized read/write with multiple motors.
-    
-    This demonstrates how to control multiple motors simultaneously.
-    """
-    
-    print(f"\n{'='*60}")
-    print("Damiao Multi-Motor Sync Test")
-    print(f"{'='*60}\n")
-    
-    # Setup motors (adjust IDs as needed)
-    motors = {
-        "joint_1": Motor(0x01, "dm4310", MotorNormMode.DEGREES),
-        "joint_2": Motor(0x02, "dm4310", MotorNormMode.DEGREES),
-    }
-    
-    motors["joint_1"].recv_id = 0x11
-    motors["joint_1"].motor_type = MotorType.DM4310
-    motors["joint_2"].recv_id = 0x12
-    motors["joint_2"].motor_type = MotorType.DM4310
-    
-    bus = DamiaoMotorsBus(port=can_port, motors=motors)
-    
-    try:
-        bus.connect()
-        bus.enable_torque()
-        
-        print("Reading all motor positions...")
-        positions = bus.sync_read("Present_Position")
-        for motor, pos in positions.items():
-            print(f"  {motor}: {pos:.2f}°")
-        
-        print("\nMoving all motors to 45°...")
-        target_positions = {motor: 45.0 for motor in motors}
-        bus.sync_write("Goal_Position", target_positions)
-        time.sleep(2.0)
-        
-        positions = bus.sync_read("Present_Position")
-        print("Final positions:")
-        for motor, pos in positions.items():
-            print(f"  {motor}: {pos:.2f}°")
-        
-    except Exception as e:
-        print(f"✗ Test failed: {e}")
-        print("\nThis is expected on macOS without proper CAN hardware.")
-        print("macOS does not support SocketCAN natively (Linux-only feature).")
-        print("For macOS, you need a USB-CAN adapter with SLCAN support.")
-    finally:
-        if bus.is_connected:
-            bus.disable_torque()
-            bus.disconnect()
-    
-    print(f"\n{'='*60}\n")
-
-
-if __name__ == "__main__":
-    print("Damiao Motor Test Suite")
-    print("=" * 60)
-    print("\nThese tests require actual hardware to run.")
-    print("Please ensure:")
-    print("  1. Motor is connected and powered (24V)")
-    print("  2. CAN interface is configured")
-    print("  3. Motor ID is set to 0x01/0x11")
-    print("\nTo run tests with hardware:")
-    print("\n  Linux (SocketCAN):")
-    print("    sudo ip link set can0 type can bitrate 1000000")
-    print("    sudo ip link set can0 up")
-    print("    pytest tests/motors/test_damiao.py --run-hardware --can-port can0")
-    print("\n  macOS (USB-CAN adapter with SLCAN):")
-    print("    pytest tests/motors/test_damiao.py --run-hardware --can-port /dev/cu.usbmodem00000000050C1")
-    print("\nTo run without hardware (tests will be skipped):")
-    print("  pytest tests/motors/test_damiao.py")
-    print("\nNote: The --run-hardware and --can-port flags are configured in tests/conftest.py")
-    print("=" * 60)
-

tests/policies/pi0_pi05/test_pi05_rtc.py

@@ -0,0 +1,336 @@
+#!/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.
+
+"""Test PI0.5 policy with Real-Time Chunking (RTC) enabled during inference."""
+
+import os
+
+import pytest
+import torch
+
+# Skip this entire module in CI
+pytestmark = pytest.mark.skipif(
+    os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
+    reason="This test requires local OpenPI installation and is not meant for CI",
+)
+
+from lerobot.configs.types import FeatureType, PolicyFeature, RTCAttentionSchedule  # noqa: E402
+from lerobot.policies.pi05 import PI05Config, PI05Policy, make_pi05_pre_post_processors  # noqa: E402
+from lerobot.policies.rtc.configuration_rtc import RTCConfig  # noqa: E402
+from lerobot.utils.random_utils import set_seed  # noqa: E402
+from tests.utils import require_cuda  # noqa: E402
+
+
+@require_cuda
+def test_pi05_rtc_initialization():
+    """Test PI0.5 policy can initialize RTC processor."""
+    set_seed(42)
+
+    config = PI05Config(max_action_dim=7, max_state_dim=14, dtype="float32")
+
+    # Add RTC config
+    config.rtc_config = RTCConfig(
+        enabled=True,
+        execution_horizon=10,
+        max_guidance_weight=5.0,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        debug=False,
+    )
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Instantiate policy
+    policy = PI05Policy(config)
+
+    # Verify RTC processor is initialized
+    assert hasattr(policy, "rtc_processor")
+    assert policy.rtc_processor is not None
+    assert policy.rtc_processor.rtc_config.enabled is True
+
+    print("✓ PI0.5 RTC initialization: Test passed")
+
+
+@require_cuda
+def test_pi05_rtc_initialization_without_rtc_config():
+    """Test PI0.5 policy can initialize without RTC config."""
+    set_seed(42)
+
+    config = PI05Config(max_action_dim=7, max_state_dim=14, dtype="float32")
+
+    # Instantiate policy
+    policy = PI05Policy(config)
+
+    # Verify RTC processor is not initialized
+    assert hasattr(policy, "rtc_processor")
+    assert policy.rtc_processor is None
+    assert policy.model.rtc_processor is None
+    assert policy._rtc_enabled() is False
+
+    print("✓ PI0.5 RTC initialization without RTC config: Test passed")
+
+
+@require_cuda
+def test_pi05_rtc_inference_with_prev_chunk():
+    """Test PI0.5 policy inference with RTC and previous chunk."""
+    set_seed(42)
+
+    config = PI05Config(max_action_dim=7, max_state_dim=14, chunk_size=50, dtype="float32")
+
+    # Add RTC config
+    config.rtc_config = RTCConfig(
+        enabled=True,
+        execution_horizon=10,
+        max_guidance_weight=5.0,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        debug=False,
+    )
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Create dataset stats (PI0.5 uses QUANTILES normalization)
+    dataset_stats = {
+        "observation.state": {
+            "mean": torch.zeros(14),
+            "std": torch.ones(14),
+            "q01": -torch.ones(14),
+            "q99": torch.ones(14),
+        },
+        "action": {
+            "mean": torch.zeros(7),
+            "std": torch.ones(7),
+            "q01": -torch.ones(7),
+            "q99": torch.ones(7),
+        },
+        "observation.images.base_0_rgb": {"mean": torch.zeros(3, 224, 224), "std": torch.ones(3, 224, 224)},
+    }
+
+    # Instantiate policy and preprocessor
+    policy = PI05Policy(config)
+    policy.eval()
+    preprocessor, _ = make_pi05_pre_post_processors(config=config, dataset_stats=dataset_stats)
+
+    device = config.device
+
+    # Create dummy batch
+    batch = {
+        "observation.state": torch.randn(1, 14, dtype=torch.float32, device=device),
+        "observation.images.base_0_rgb": torch.rand(1, 3, 224, 224, dtype=torch.float32, device=device),
+        "task": ["Pick up the object"],
+    }
+    batch = preprocessor(batch)
+
+    # Create previous chunk
+    prev_chunk = torch.randn(1, 25, 7, dtype=torch.float32, device=device)
+
+    with torch.no_grad():
+        # Use same noise for fair comparison
+        noise = policy.model.sample_noise((1, config.chunk_size, 7), device)
+
+        # Test with RTC and previous chunk
+        actions_with_rtc = policy.predict_action_chunk(
+            batch,
+            noise=noise.clone(),
+            prev_chunk_left_over=prev_chunk,
+            inference_delay=4,
+            execution_horizon=10,
+        )
+
+        # Test without RTC for comparison
+        policy.config.rtc_config.enabled = False
+        actions_without_rtc = policy.predict_action_chunk(batch, noise=noise.clone())
+        policy.config.rtc_config.enabled = True
+
+    # Verify shapes
+    assert actions_with_rtc.shape == (1, config.chunk_size, 7)
+    assert actions_without_rtc.shape == (1, config.chunk_size, 7)
+
+    # With previous chunk, actions should be different (RTC guidance applied)
+    assert not torch.allclose(actions_with_rtc, actions_without_rtc, rtol=1e-3)
+
+    print("✓ PI0.5 RTC inference with prev_chunk: Test passed")
+
+
+@require_cuda
+def test_pi05_rtc_inference_without_prev_chunk():
+    """Test PI0.5 policy inference with RTC but no previous chunk (RTC should have no effect)."""
+    set_seed(42)
+
+    config = PI05Config(max_action_dim=7, max_state_dim=14, chunk_size=50, dtype="float32")
+
+    # Add RTC config
+    config.rtc_config = RTCConfig(
+        enabled=True,
+        execution_horizon=10,
+        max_guidance_weight=5.0,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        debug=False,
+    )
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Create dataset stats (PI0.5 uses QUANTILES normalization)
+    dataset_stats = {
+        "observation.state": {
+            "mean": torch.zeros(14),
+            "std": torch.ones(14),
+            "q01": -torch.ones(14),
+            "q99": torch.ones(14),
+        },
+        "action": {
+            "mean": torch.zeros(7),
+            "std": torch.ones(7),
+            "q01": -torch.ones(7),
+            "q99": torch.ones(7),
+        },
+        "observation.images.base_0_rgb": {"mean": torch.zeros(3, 224, 224), "std": torch.ones(3, 224, 224)},
+    }
+
+    # Instantiate policy and preprocessor
+    policy = PI05Policy(config)
+    policy.eval()
+    preprocessor, _ = make_pi05_pre_post_processors(config=config, dataset_stats=dataset_stats)
+
+    device = config.device
+
+    # Create dummy batch
+    batch = {
+        "observation.state": torch.randn(1, 14, dtype=torch.float32, device=device),
+        "observation.images.base_0_rgb": torch.rand(1, 3, 224, 224, dtype=torch.float32, device=device),
+        "task": ["Pick up the object"],
+    }
+    batch = preprocessor(batch)
+
+    with torch.no_grad():
+        # Use same noise for fair comparison
+        noise = policy.model.sample_noise((1, config.chunk_size, 7), device)
+
+        # Test with RTC enabled but no previous chunk
+        actions_with_rtc_no_prev = policy.predict_action_chunk(
+            batch,
+            noise=noise.clone(),
+            prev_chunk_left_over=None,
+        )
+
+        # Test without RTC
+        policy.config.rtc_config.enabled = False
+        actions_without_rtc = policy.predict_action_chunk(batch, noise=noise.clone())
+        policy.config.rtc_config.enabled = True
+
+    # Without previous chunk, RTC should have no effect
+    assert torch.allclose(actions_with_rtc_no_prev, actions_without_rtc, rtol=1e-5)
+
+    print("✓ PI0.5 RTC inference without prev_chunk: Test passed")
+
+
+@require_cuda
+def test_pi05_rtc_validation_rules():
+    """Test PI0.5 policy with RTC follows all three validation rules."""
+    set_seed(42)
+
+    config = PI05Config(max_action_dim=7, max_state_dim=14, chunk_size=50, dtype="float32")
+
+    # Add RTC config
+    config.rtc_config = RTCConfig(
+        enabled=True,
+        execution_horizon=10,
+        max_guidance_weight=5.0,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        debug=False,
+    )
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Create dataset stats (PI0.5 uses QUANTILES normalization)
+    dataset_stats = {
+        "observation.state": {
+            "mean": torch.zeros(14),
+            "std": torch.ones(14),
+            "q01": -torch.ones(14),
+            "q99": torch.ones(14),
+        },
+        "action": {
+            "mean": torch.zeros(7),
+            "std": torch.ones(7),
+            "q01": -torch.ones(7),
+            "q99": torch.ones(7),
+        },
+        "observation.images.base_0_rgb": {"mean": torch.zeros(3, 224, 224), "std": torch.ones(3, 224, 224)},
+    }
+
+    # Instantiate policy and preprocessor
+    policy = PI05Policy(config)
+    policy.eval()
+    preprocessor, _ = make_pi05_pre_post_processors(config=config, dataset_stats=dataset_stats)
+
+    device = config.device
+
+    # Create dummy batch
+    batch = {
+        "observation.state": torch.randn(1, 14, dtype=torch.float32, device=device),
+        "observation.images.base_0_rgb": torch.rand(1, 3, 224, 224, dtype=torch.float32, device=device),
+        "task": ["Pick up the object"],
+    }
+    batch = preprocessor(batch)
+
+    # Create previous chunk
+    prev_chunk = torch.randn(1, 25, 7, dtype=torch.float32, device=device)
+
+    inference_delay = 4
+    execution_horizon = 10
+
+    with torch.no_grad():
+        # Use same noise for fair comparison
+        noise = policy.model.sample_noise((1, config.chunk_size, 7), device)
+
+        # Test with RTC
+        actions_with_rtc = policy.predict_action_chunk(
+            batch,
+            noise=noise.clone(),
+            prev_chunk_left_over=prev_chunk,
+            inference_delay=inference_delay,
+            execution_horizon=execution_horizon,
+        )
+
+        # Test without RTC
+        policy.config.rtc_config.enabled = False
+        actions_without_rtc = policy.predict_action_chunk(batch, noise=noise.clone())
+        policy.config.rtc_config.enabled = True
+
+    assert not torch.allclose(actions_with_rtc, actions_without_rtc, rtol=1e-3)

tests/policies/pi0_pi05/test_pi0_rtc.py

@@ -0,0 +1,378 @@
+#!/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.
+
+"""Test PI0 policy with Real-Time Chunking (RTC) enabled during inference."""
+
+import os
+
+import pytest
+import torch
+
+# Skip this entire module in CI
+pytestmark = pytest.mark.skipif(
+    os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
+    reason="This test requires local OpenPI installation and is not meant for CI",
+)
+
+from lerobot.configs.types import FeatureType, PolicyFeature, RTCAttentionSchedule  # noqa: E402
+from lerobot.policies.pi0 import PI0Config, PI0Policy, make_pi0_pre_post_processors  # noqa: E402
+from lerobot.policies.rtc.configuration_rtc import RTCConfig  # noqa: E402
+from lerobot.utils.random_utils import set_seed  # noqa: E402
+from tests.utils import require_cuda  # noqa: E402
+
+
+@require_cuda
+def test_pi0_rtc_initialization():
+    """Test PI0 policy can initialize RTC processor."""
+    set_seed(42)
+
+    config = PI0Config(max_action_dim=7, max_state_dim=14, dtype="float32")
+
+    # Add RTC config
+    config.rtc_config = RTCConfig(
+        enabled=True,
+        execution_horizon=10,
+        max_guidance_weight=5.0,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        debug=False,
+    )
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Instantiate policy
+    policy = PI0Policy(config)
+
+    # Verify RTC processor is initialized
+    assert hasattr(policy, "rtc_processor")
+    assert policy.rtc_processor is not None
+    assert policy.rtc_processor.rtc_config.enabled is True
+
+    print("✓ PI0 RTC initialization: Test passed")
+
+
+@require_cuda
+def test_pi0_rtc_initialization_without_rtc_config():
+    """Test PI0 policy can initialize without RTC config."""
+    set_seed(42)
+
+    config = PI0Config(max_action_dim=7, max_state_dim=14, dtype="float32")
+
+    # Instantiate policy
+    policy = PI0Policy(config)
+
+    # Verify RTC processor is not initialized
+    assert hasattr(policy, "rtc_processor")
+    assert policy.rtc_processor is None
+    assert policy.model.rtc_processor is None
+    assert policy._rtc_enabled() is False
+
+    print("✓ PI0 RTC initialization without RTC config: Test passed")
+
+
+def test_pi0_rtc_inference_with_prev_chunk():
+    """Test PI0 policy inference with RTC and previous chunk."""
+    set_seed(42)
+
+    config = PI0Config(max_action_dim=7, max_state_dim=14, chunk_size=50, dtype="float32")
+
+    # Add RTC config
+    config.rtc_config = RTCConfig(
+        enabled=True,
+        execution_horizon=10,
+        max_guidance_weight=5.0,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        debug=False,
+    )
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Create dataset stats
+    dataset_stats = {
+        "observation.state": {"mean": torch.zeros(14), "std": torch.ones(14)},
+        "action": {"mean": torch.zeros(7), "std": torch.ones(7)},
+        "observation.images.base_0_rgb": {"mean": torch.zeros(3, 224, 224), "std": torch.ones(3, 224, 224)},
+    }
+
+    # Instantiate policy and preprocessor
+    policy = PI0Policy(config)
+    policy.eval()
+    preprocessor, _ = make_pi0_pre_post_processors(config=config, dataset_stats=dataset_stats)
+
+    device = config.device
+
+    # Create dummy batch
+    batch = {
+        "observation.state": torch.randn(1, 14, dtype=torch.float32, device=device),
+        "observation.images.base_0_rgb": torch.rand(1, 3, 224, 224, dtype=torch.float32, device=device),
+        "task": ["Pick up the object"],
+    }
+    batch = preprocessor(batch)
+
+    # Create previous chunk
+    prev_chunk = torch.randn(1, 25, 7, dtype=torch.float32, device=device)
+
+    with torch.no_grad():
+        # Use same noise for fair comparison
+        noise = policy.model.sample_noise((1, config.chunk_size, 7), device)
+
+        # Test with RTC and previous chunk
+        actions_with_rtc = policy.predict_action_chunk(
+            batch,
+            noise=noise.clone(),
+            prev_chunk_left_over=prev_chunk,
+            inference_delay=4,
+            execution_horizon=10,
+        )
+
+        # Test without RTC for comparison
+        policy.config.rtc_config.enabled = False
+        actions_without_rtc = policy.predict_action_chunk(batch, noise=noise.clone())
+        policy.config.rtc_config.enabled = True
+
+    # Verify shapes
+    assert actions_with_rtc.shape == (1, config.chunk_size, 7)
+    assert actions_without_rtc.shape == (1, config.chunk_size, 7)
+
+    # With previous chunk, actions should be different (RTC guidance applied)
+    assert not torch.allclose(actions_with_rtc, actions_without_rtc, rtol=1e-3)
+
+    print("✓ PI0 RTC inference with prev_chunk: Test passed")
+
+
+@require_cuda
+def test_pi0_rtc_inference_without_prev_chunk():
+    """Test PI0 policy inference with RTC but no previous chunk (RTC should have no effect)."""
+    set_seed(42)
+
+    config = PI0Config(max_action_dim=7, max_state_dim=14, chunk_size=50, dtype="float32")
+
+    # Add RTC config
+    config.rtc_config = RTCConfig(
+        enabled=True,
+        execution_horizon=10,
+        max_guidance_weight=5.0,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        debug=False,
+    )
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Create dataset stats
+    dataset_stats = {
+        "observation.state": {"mean": torch.zeros(14), "std": torch.ones(14)},
+        "action": {"mean": torch.zeros(7), "std": torch.ones(7)},
+        "observation.images.base_0_rgb": {"mean": torch.zeros(3, 224, 224), "std": torch.ones(3, 224, 224)},
+    }
+
+    # Instantiate policy and preprocessor
+    policy = PI0Policy(config)
+    policy.eval()
+    preprocessor, _ = make_pi0_pre_post_processors(config=config, dataset_stats=dataset_stats)
+
+    device = config.device
+
+    # Create dummy batch
+    batch = {
+        "observation.state": torch.randn(1, 14, dtype=torch.float32, device=device),
+        "observation.images.base_0_rgb": torch.rand(1, 3, 224, 224, dtype=torch.float32, device=device),
+        "task": ["Pick up the object"],
+    }
+    batch = preprocessor(batch)
+
+    with torch.no_grad():
+        # Use same noise for fair comparison
+        noise = policy.model.sample_noise((1, config.chunk_size, 7), device)
+
+        # Test with RTC enabled but no previous chunk
+        actions_with_rtc_no_prev = policy.predict_action_chunk(
+            batch,
+            noise=noise.clone(),
+            prev_chunk_left_over=None,
+        )
+
+        # Test without RTC
+        policy.config.rtc_config.enabled = False
+        actions_without_rtc = policy.predict_action_chunk(batch, noise=noise.clone())
+        policy.config.rtc_config.enabled = True
+
+    # Without previous chunk, RTC should have no effect
+    assert torch.allclose(actions_with_rtc_no_prev, actions_without_rtc, rtol=1e-5)
+
+    print("✓ PI0 RTC inference without prev_chunk: Test passed")
+
+
+@require_cuda
+def test_pi0_rtc_validation_rules():
+    """Test PI0 policy with RTC follows all three validation rules."""
+    set_seed(42)
+
+    config = PI0Config(max_action_dim=7, max_state_dim=14, chunk_size=50, dtype="float32")
+
+    # Add RTC config
+    config.rtc_config = RTCConfig(
+        enabled=True,
+        execution_horizon=10,
+        max_guidance_weight=5.0,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        debug=False,
+    )
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Create dataset stats
+    dataset_stats = {
+        "observation.state": {"mean": torch.zeros(14), "std": torch.ones(14)},
+        "action": {"mean": torch.zeros(7), "std": torch.ones(7)},
+        "observation.images.base_0_rgb": {"mean": torch.zeros(3, 224, 224), "std": torch.ones(3, 224, 224)},
+    }
+
+    # Instantiate policy and preprocessor
+    policy = PI0Policy(config)
+    policy.eval()
+    preprocessor, _ = make_pi0_pre_post_processors(config=config, dataset_stats=dataset_stats)
+
+    device = config.device
+
+    # Create dummy batch
+    batch = {
+        "observation.state": torch.randn(1, 14, dtype=torch.float32, device=device),
+        "observation.images.base_0_rgb": torch.rand(1, 3, 224, 224, dtype=torch.float32, device=device),
+        "task": ["Pick up the object"],
+    }
+    batch = preprocessor(batch)
+
+    # Create previous chunk
+    prev_chunk = torch.randn(1, 25, 7, dtype=torch.float32, device=device)
+
+    inference_delay = 4
+    execution_horizon = 10
+
+    with torch.no_grad():
+        # Use same noise for fair comparison
+        noise = policy.model.sample_noise((1, config.chunk_size, 7), device)
+
+        # Test with RTC
+        actions_with_rtc = policy.predict_action_chunk(
+            batch,
+            noise=noise.clone(),
+            prev_chunk_left_over=prev_chunk,
+            inference_delay=inference_delay,
+            execution_horizon=execution_horizon,
+        )
+
+        # Test without RTC
+        policy.config.rtc_config.enabled = False
+        actions_without_rtc = policy.predict_action_chunk(batch, noise=noise.clone())
+        policy.config.rtc_config.enabled = True
+
+    assert not torch.allclose(actions_with_rtc, actions_without_rtc, rtol=1e-3)
+
+    """Test PI0 with different RTC attention schedules."""
+    set_seed(42)
+
+    schedules = [
+        RTCAttentionSchedule.ZEROS,
+        RTCAttentionSchedule.ONES,
+        RTCAttentionSchedule.LINEAR,
+        RTCAttentionSchedule.EXP,
+    ]
+
+    config = PI0Config(max_action_dim=7, max_state_dim=14, chunk_size=50, dtype="float32")
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Create dataset stats
+    dataset_stats = {
+        "observation.state": {"mean": torch.zeros(14), "std": torch.ones(14)},
+        "action": {"mean": torch.zeros(7), "std": torch.ones(7)},
+        "observation.images.base_0_rgb": {"mean": torch.zeros(3, 224, 224), "std": torch.ones(3, 224, 224)},
+    }
+
+    device = config.device
+
+    for schedule in schedules:
+        print(f"Testing schedule: {schedule}")
+
+        # Add RTC config with specific schedule
+        config.rtc_config = RTCConfig(
+            enabled=True,
+            execution_horizon=10,
+            max_guidance_weight=5.0,
+            prefix_attention_schedule=schedule,
+            debug=False,
+        )
+
+        # Instantiate policy
+        policy = PI0Policy(config)
+        policy.eval()
+        preprocessor, _ = make_pi0_pre_post_processors(config=config, dataset_stats=dataset_stats)
+
+        # Create dummy batch
+        batch = {
+            "observation.state": torch.randn(1, 14, dtype=torch.float32, device=device),
+            "observation.images.base_0_rgb": torch.rand(1, 3, 224, 224, dtype=torch.float32, device=device),
+            "task": ["Pick up the object"],
+        }
+        batch = preprocessor(batch)
+
+        # Create previous chunk
+        prev_chunk = torch.randn(1, 25, 7, dtype=torch.float32, device=device)
+
+        with torch.no_grad():
+            noise = policy.model.sample_noise((1, config.chunk_size, 7), device)
+            actions = policy.predict_action_chunk(
+                batch,
+                noise=noise,
+                prev_chunk_left_over=prev_chunk,
+                inference_delay=4,
+                execution_horizon=10,
+            )
+
+        # Verify shape
+        assert actions.shape == (1, config.chunk_size, 7)
+        print(f"  ✓ Schedule {schedule}: Test passed")
+
+    print("✓ PI0 RTC different schedules: All schedules tested")

tests/policies/rtc/test_action_queue.py

@@ -0,0 +1,825 @@
+#!/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.
+
+"""Tests for RTC ActionQueue module."""
+
+import threading
+import time
+
+import pytest
+import torch
+
+from lerobot.policies.rtc.action_queue import ActionQueue
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
+
+# ====================== Fixtures ======================
+
+
+@pytest.fixture
+def rtc_config_enabled():
+    """Create an RTC config with RTC enabled."""
+    return RTCConfig(enabled=True, execution_horizon=10, max_guidance_weight=1.0)
+
+
+@pytest.fixture
+def rtc_config_disabled():
+    """Create an RTC config with RTC disabled."""
+    return RTCConfig(enabled=False, execution_horizon=10, max_guidance_weight=1.0)
+
+
+@pytest.fixture
+def sample_actions():
+    """Create sample action tensors for testing."""
+    return {
+        "original": torch.randn(50, 6),  # (time_steps, action_dim)
+        "processed": torch.randn(50, 6),
+        "short": torch.randn(10, 6),
+        "longer": torch.randn(100, 6),
+    }
+
+
+@pytest.fixture
+def action_queue_rtc_enabled(rtc_config_enabled):
+    """Create an ActionQueue with RTC enabled."""
+    return ActionQueue(rtc_config_enabled)
+
+
+@pytest.fixture
+def action_queue_rtc_disabled(rtc_config_disabled):
+    """Create an ActionQueue with RTC disabled."""
+    return ActionQueue(rtc_config_disabled)
+
+
+# ====================== Initialization Tests ======================
+
+
+def test_action_queue_initialization_rtc_enabled(rtc_config_enabled):
+    """Test ActionQueue initializes correctly with RTC enabled."""
+    queue = ActionQueue(rtc_config_enabled)
+    assert queue.queue is None
+    assert queue.original_queue is None
+    assert queue.last_index == 0
+    assert queue.cfg.enabled is True
+
+
+def test_action_queue_initialization_rtc_disabled(rtc_config_disabled):
+    """Test ActionQueue initializes correctly with RTC disabled."""
+    queue = ActionQueue(rtc_config_disabled)
+    assert queue.queue is None
+    assert queue.original_queue is None
+    assert queue.last_index == 0
+    assert queue.cfg.enabled is False
+
+
+# ====================== get() Tests ======================
+
+
+def test_get_returns_none_when_empty(action_queue_rtc_enabled):
+    """Test get() returns None when queue is empty."""
+    action = action_queue_rtc_enabled.get()
+    assert action is None
+
+
+def test_get_returns_actions_sequentially(action_queue_rtc_enabled, sample_actions):
+    """Test get() returns actions in sequence."""
+    # Initialize queue with actions
+    action_queue_rtc_enabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=0)
+
+    # Get first action
+    action1 = action_queue_rtc_enabled.get()
+    assert action1 is not None
+    assert action1.shape == (6,)
+    assert torch.equal(action1, sample_actions["processed"][0])
+
+    # Get second action
+    action2 = action_queue_rtc_enabled.get()
+    assert action2 is not None
+    assert torch.equal(action2, sample_actions["processed"][1])
+
+
+def test_get_returns_none_after_exhaustion(action_queue_rtc_enabled, sample_actions):
+    """Test get() returns None after all actions are consumed."""
+    # Use short action sequence
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    # Consume all actions
+    for _ in range(10):
+        action = action_queue_rtc_enabled.get()
+        assert action is not None
+
+    # Next get should return None
+    action = action_queue_rtc_enabled.get()
+    assert action is None
+
+
+def test_get_increments_last_index(action_queue_rtc_enabled, sample_actions):
+    """Test get() increments last_index correctly."""
+    action_queue_rtc_enabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=0)
+
+    assert action_queue_rtc_enabled.last_index == 0
+    action_queue_rtc_enabled.get()
+    assert action_queue_rtc_enabled.last_index == 1
+    action_queue_rtc_enabled.get()
+    assert action_queue_rtc_enabled.last_index == 2
+
+
+# ====================== qsize() Tests ======================
+
+
+def test_qsize_returns_zero_when_empty(action_queue_rtc_enabled):
+    """Test qsize() returns 0 when queue is empty."""
+    assert action_queue_rtc_enabled.qsize() == 0
+
+
+def test_qsize_returns_correct_size(action_queue_rtc_enabled, sample_actions):
+    """Test qsize() returns correct number of remaining actions."""
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+    assert action_queue_rtc_enabled.qsize() == 10
+
+    action_queue_rtc_enabled.get()
+    assert action_queue_rtc_enabled.qsize() == 9
+
+    action_queue_rtc_enabled.get()
+    assert action_queue_rtc_enabled.qsize() == 8
+
+
+def test_qsize_after_exhaustion(action_queue_rtc_enabled, sample_actions):
+    """Test qsize() returns 0 after queue is exhausted."""
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    # Consume all actions
+    for _ in range(10):
+        action_queue_rtc_enabled.get()
+
+    assert action_queue_rtc_enabled.qsize() == 0
+
+
+# ====================== empty() Tests ======================
+
+
+def test_empty_returns_true_when_empty(action_queue_rtc_enabled):
+    """Test empty() returns True when queue is empty."""
+    assert action_queue_rtc_enabled.empty() is True
+
+
+def test_empty_returns_false_when_not_empty(action_queue_rtc_enabled, sample_actions):
+    """Test empty() returns False when queue has actions."""
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+    assert action_queue_rtc_enabled.empty() is False
+
+
+def test_empty_after_partial_consumption(action_queue_rtc_enabled, sample_actions):
+    """Test empty() returns False after partial consumption."""
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    action_queue_rtc_enabled.get()
+    action_queue_rtc_enabled.get()
+
+    assert action_queue_rtc_enabled.empty() is False
+
+
+def test_empty_after_full_consumption(action_queue_rtc_enabled, sample_actions):
+    """Test empty() returns True after all actions consumed."""
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    # Consume all
+    for _ in range(10):
+        action_queue_rtc_enabled.get()
+
+    assert action_queue_rtc_enabled.empty() is True
+
+
+# ====================== get_action_index() Tests ======================
+
+
+def test_get_action_index_initial_value(action_queue_rtc_enabled):
+    """Test get_action_index() returns 0 initially."""
+    assert action_queue_rtc_enabled.get_action_index() == 0
+
+
+def test_get_action_index_after_consumption(action_queue_rtc_enabled, sample_actions):
+    """Test get_action_index() tracks consumption correctly."""
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    assert action_queue_rtc_enabled.get_action_index() == 0
+    action_queue_rtc_enabled.get()
+    assert action_queue_rtc_enabled.get_action_index() == 1
+    action_queue_rtc_enabled.get()
+    action_queue_rtc_enabled.get()
+    assert action_queue_rtc_enabled.get_action_index() == 3
+
+
+# ====================== get_left_over() Tests ======================
+
+
+def test_get_left_over_returns_none_when_empty(action_queue_rtc_enabled):
+    """Test get_left_over() returns None when queue is empty."""
+    leftover = action_queue_rtc_enabled.get_left_over()
+    assert leftover is None
+
+
+def test_get_left_over_returns_all_when_unconsumed(action_queue_rtc_enabled, sample_actions):
+    """Test get_left_over() returns all original actions when none consumed."""
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    leftover = action_queue_rtc_enabled.get_left_over()
+    assert leftover is not None
+    assert leftover.shape == (10, 6)
+    assert torch.equal(leftover, sample_actions["short"])
+
+
+def test_get_left_over_returns_remaining_after_consumption(action_queue_rtc_enabled, sample_actions):
+    """Test get_left_over() returns only remaining original actions."""
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    # Consume 3 actions
+    action_queue_rtc_enabled.get()
+    action_queue_rtc_enabled.get()
+    action_queue_rtc_enabled.get()
+
+    leftover = action_queue_rtc_enabled.get_left_over()
+    assert leftover is not None
+    assert leftover.shape == (7, 6)
+    assert torch.equal(leftover, sample_actions["short"][3:])
+
+
+def test_get_left_over_returns_empty_after_exhaustion(action_queue_rtc_enabled, sample_actions):
+    """Test get_left_over() returns empty tensor after all consumed."""
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    # Consume all
+    for _ in range(10):
+        action_queue_rtc_enabled.get()
+
+    leftover = action_queue_rtc_enabled.get_left_over()
+    assert leftover is not None
+    assert leftover.shape == (0, 6)
+
+
+# ====================== merge() with RTC Enabled Tests ======================
+
+
+def test_merge_replaces_queue_when_rtc_enabled(action_queue_rtc_enabled, sample_actions):
+    """Test merge() replaces queue when RTC is enabled."""
+    # Add initial actions
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+    assert action_queue_rtc_enabled.qsize() == 10
+
+    # Consume some actions
+    action_queue_rtc_enabled.get()
+    action_queue_rtc_enabled.get()
+    assert action_queue_rtc_enabled.qsize() == 8
+
+    # Merge new actions - should replace, not append
+    action_queue_rtc_enabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=5)
+
+    # Queue should be replaced with new actions minus delay
+    # Original has 50 actions, delay is 5, so remaining is 45
+    assert action_queue_rtc_enabled.qsize() == 45
+    assert action_queue_rtc_enabled.get_action_index() == 0
+
+
+def test_merge_respects_real_delay(action_queue_rtc_enabled, sample_actions):
+    """Test merge() correctly applies real_delay when RTC is enabled."""
+    delay = 10
+    action_queue_rtc_enabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=delay)
+
+    # Queue should have original length minus delay
+    expected_size = len(sample_actions["original"]) - delay
+    assert action_queue_rtc_enabled.qsize() == expected_size
+
+    # First action should be the one at index [delay]
+    first_action = action_queue_rtc_enabled.get()
+    assert torch.equal(first_action, sample_actions["processed"][delay])
+
+
+def test_merge_resets_last_index_when_rtc_enabled(action_queue_rtc_enabled, sample_actions):
+    """Test merge() resets last_index to 0 when RTC is enabled."""
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+    action_queue_rtc_enabled.get()
+    action_queue_rtc_enabled.get()
+    assert action_queue_rtc_enabled.last_index == 2
+
+    # Merge new actions
+    action_queue_rtc_enabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=5)
+
+    assert action_queue_rtc_enabled.last_index == 0
+
+
+def test_merge_with_zero_delay(action_queue_rtc_enabled, sample_actions):
+    """Test merge() with zero delay keeps all actions."""
+    action_queue_rtc_enabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=0)
+
+    assert action_queue_rtc_enabled.qsize() == len(sample_actions["original"])
+
+
+def test_merge_with_large_delay(action_queue_rtc_enabled, sample_actions):
+    """Test merge() with delay larger than action sequence."""
+    # Delay is larger than sequence length
+    delay = 100
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=delay)
+
+    # Queue should be empty (delay >= length)
+    assert action_queue_rtc_enabled.qsize() == 0
+
+
+# ====================== merge() with RTC Disabled Tests ======================
+
+
+def test_merge_appends_when_rtc_disabled(action_queue_rtc_disabled, sample_actions):
+    """Test merge() appends actions when RTC is disabled."""
+    # Add initial actions
+    action_queue_rtc_disabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+    initial_size = action_queue_rtc_disabled.qsize()
+    assert initial_size == 10
+
+    # Merge more actions
+    action_queue_rtc_disabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    # Should have appended
+    assert action_queue_rtc_disabled.qsize() == initial_size + 10
+
+
+def test_merge_removes_consumed_actions_when_appending(action_queue_rtc_disabled, sample_actions):
+    """Test merge() removes consumed actions before appending when RTC is disabled."""
+    # Add initial actions
+    action_queue_rtc_disabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+    assert action_queue_rtc_disabled.qsize() == 10
+
+    # Consume 3 actions
+    action_queue_rtc_disabled.get()
+    action_queue_rtc_disabled.get()
+    action_queue_rtc_disabled.get()
+    assert action_queue_rtc_disabled.qsize() == 7
+
+    # Merge more actions
+    action_queue_rtc_disabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    # Should have 7 remaining + 10 new = 17
+    assert action_queue_rtc_disabled.qsize() == 17
+
+
+def test_merge_resets_last_index_after_append(action_queue_rtc_disabled, sample_actions):
+    """Test merge() resets last_index after appending when RTC is disabled."""
+    action_queue_rtc_disabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+    action_queue_rtc_disabled.get()
+    action_queue_rtc_disabled.get()
+    assert action_queue_rtc_disabled.last_index == 2
+
+    # Merge more actions
+    action_queue_rtc_disabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    # last_index should be reset to 0
+    assert action_queue_rtc_disabled.last_index == 0
+
+
+def test_merge_ignores_delay_when_rtc_disabled(action_queue_rtc_disabled, sample_actions):
+    """Test merge() ignores real_delay parameter when RTC is disabled."""
+    action_queue_rtc_disabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=10)
+
+    # All actions should be in queue (delay ignored)
+    assert action_queue_rtc_disabled.qsize() == len(sample_actions["original"])
+
+
+def test_merge_first_call_with_rtc_disabled(action_queue_rtc_disabled, sample_actions):
+    """Test merge() on first call with RTC disabled."""
+    action_queue_rtc_disabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=0)
+
+    assert action_queue_rtc_disabled.qsize() == len(sample_actions["original"])
+    assert action_queue_rtc_disabled.last_index == 0
+
+
+# ====================== merge() with Different Action Shapes Tests ======================
+
+
+def test_merge_with_different_action_dims():
+    """Test merge() handles actions with different dimensions."""
+    cfg = RTCConfig(enabled=True, execution_horizon=10)
+    queue = ActionQueue(cfg)
+
+    # Actions with 4 dimensions instead of 6
+    actions_4d = torch.randn(20, 4)
+    queue.merge(actions_4d, actions_4d, real_delay=5)
+
+    action = queue.get()
+    assert action.shape == (4,)
+
+
+def test_merge_with_different_lengths():
+    """Test merge() handles action sequences of varying lengths."""
+    cfg = RTCConfig(enabled=False, execution_horizon=10)
+    queue = ActionQueue(cfg)
+
+    # Add sequences of different lengths
+    queue.merge(torch.randn(10, 6), torch.randn(10, 6), real_delay=0)
+    assert queue.qsize() == 10
+
+    queue.merge(torch.randn(25, 6), torch.randn(25, 6), real_delay=0)
+    assert queue.qsize() == 35
+
+
+# ====================== merge() Delay Validation Tests ======================
+
+
+def test_merge_validates_delay_consistency(action_queue_rtc_enabled, sample_actions, caplog):
+    """Test merge() validates that real_delay matches action index difference."""
+    import logging
+
+    caplog.set_level(logging.WARNING)
+
+    # Initialize queue
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    # Consume 5 actions
+    for _ in range(5):
+        action_queue_rtc_enabled.get()
+
+    # Merge with mismatched delay (should log warning)
+    # We consumed 5 actions, so index is 5. If we pass action_index_before_inference=0,
+    # then indexes_diff=5, but if real_delay=3, it will warn
+    action_queue_rtc_enabled.merge(
+        sample_actions["original"],
+        sample_actions["processed"],
+        real_delay=3,
+        action_index_before_inference=0,
+    )
+
+    # Check warning was logged
+    assert "Indexes diff is not equal to real delay" in caplog.text
+
+
+def test_merge_no_warning_when_delays_match(action_queue_rtc_enabled, sample_actions, caplog):
+    """Test merge() doesn't warn when delays are consistent."""
+    import logging
+
+    caplog.set_level(logging.WARNING)
+
+    # Initialize queue
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    # Consume 5 actions
+    for _ in range(5):
+        action_queue_rtc_enabled.get()
+
+    # Merge with matching delay
+    action_queue_rtc_enabled.merge(
+        sample_actions["original"],
+        sample_actions["processed"],
+        real_delay=5,
+        action_index_before_inference=0,
+    )
+
+    # Should not have warning
+    assert "Indexes diff is not equal to real delay" not in caplog.text
+
+
+def test_merge_skips_validation_when_action_index_none(action_queue_rtc_enabled, sample_actions, caplog):
+    """Test merge() skips delay validation when action_index_before_inference is None."""
+    import logging
+
+    caplog.set_level(logging.WARNING)
+
+    action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+    for _ in range(5):
+        action_queue_rtc_enabled.get()
+
+    # Pass None for action_index_before_inference
+    action_queue_rtc_enabled.merge(
+        sample_actions["original"],
+        sample_actions["processed"],
+        real_delay=999,  # Doesn't matter
+        action_index_before_inference=None,
+    )
+
+    # Should not warn (validation skipped)
+    assert "Indexes diff is not equal to real delay" not in caplog.text
+
+
+# ====================== Thread Safety Tests ======================
+
+
+def test_get_is_thread_safe(action_queue_rtc_enabled, sample_actions):
+    """Test get() is thread-safe with multiple consumers."""
+    action_queue_rtc_enabled.merge(sample_actions["longer"], sample_actions["longer"], real_delay=0)
+
+    results = []
+    errors = []
+
+    def consumer():
+        try:
+            for _ in range(25):
+                action = action_queue_rtc_enabled.get()
+                if action is not None:
+                    results.append(action)
+                time.sleep(0.001)
+        except Exception as e:
+            errors.append(e)
+
+    threads = [threading.Thread(target=consumer) for _ in range(4)]
+
+    for t in threads:
+        t.start()
+
+    for t in threads:
+        t.join()
+
+    # Should not have errors
+    assert len(errors) == 0
+
+    # Should have consumed all actions (100 total, 4 threads * 25 each)
+    assert len(results) == 100
+
+    # All results should be unique (no duplicate consumption)
+    # We can verify by checking that indices are not duplicated
+    # Since we don't track indices in results, we check total count is correct
+    assert action_queue_rtc_enabled.qsize() == 0
+
+
+def test_merge_is_thread_safe(action_queue_rtc_disabled, sample_actions):
+    """Test merge() is thread-safe with multiple producers."""
+    errors = []
+
+    def producer():
+        try:
+            for _ in range(5):
+                action_queue_rtc_disabled.merge(
+                    sample_actions["short"], sample_actions["short"], real_delay=0
+                )
+                time.sleep(0.001)
+        except Exception as e:
+            errors.append(e)
+
+    threads = [threading.Thread(target=producer) for _ in range(3)]
+
+    for t in threads:
+        t.start()
+
+    for t in threads:
+        t.join()
+
+    # Should not have errors
+    assert len(errors) == 0
+
+    # Should have accumulated all actions (3 threads * 5 merges * 10 actions = 150)
+    assert action_queue_rtc_disabled.qsize() == 150
+
+
+def test_concurrent_get_and_merge(action_queue_rtc_disabled, sample_actions):
+    """Test concurrent get() and merge() operations."""
+    errors = []
+    consumed_count = [0]
+
+    def consumer():
+        try:
+            for _ in range(50):
+                action = action_queue_rtc_disabled.get()
+                if action is not None:
+                    consumed_count[0] += 1
+                time.sleep(0.001)
+        except Exception as e:
+            errors.append(e)
+
+    def producer():
+        try:
+            for _ in range(10):
+                action_queue_rtc_disabled.merge(
+                    sample_actions["short"], sample_actions["short"], real_delay=0
+                )
+                time.sleep(0.005)
+        except Exception as e:
+            errors.append(e)
+
+    consumer_threads = [threading.Thread(target=consumer) for _ in range(2)]
+    producer_threads = [threading.Thread(target=producer) for _ in range(2)]
+
+    for t in consumer_threads + producer_threads:
+        t.start()
+
+    for t in consumer_threads + producer_threads:
+        t.join()
+
+    # Should not have errors
+    assert len(errors) == 0
+
+    # Should have consumed some or all actions (non-deterministic due to timing)
+    # Total produced: 2 producers * 10 merges * 10 actions = 200
+    # Total consumed attempts: 2 consumers * 50 = 100
+    assert consumed_count[0] <= 200
+
+
+# ====================== get_left_over() Thread Safety Tests ======================
+
+
+def test_get_left_over_is_thread_safe(action_queue_rtc_enabled, sample_actions):
+    """Test get_left_over() is thread-safe with concurrent access."""
+    action_queue_rtc_enabled.merge(sample_actions["longer"], sample_actions["longer"], real_delay=0)
+
+    errors = []
+    leftovers = []
+
+    def reader():
+        try:
+            for _ in range(20):
+                leftover = action_queue_rtc_enabled.get_left_over()
+                if leftover is not None:
+                    leftovers.append(leftover.shape[0])
+                time.sleep(0.001)
+        except Exception as e:
+            errors.append(e)
+
+    threads = [threading.Thread(target=reader) for _ in range(3)]
+
+    # Also consume some actions concurrently
+    def consumer():
+        try:
+            for _ in range(10):
+                action_queue_rtc_enabled.get()
+                time.sleep(0.002)
+        except Exception as e:
+            errors.append(e)
+
+    consumer_thread = threading.Thread(target=consumer)
+
+    all_threads = threads + [consumer_thread]
+
+    for t in all_threads:
+        t.start()
+
+    for t in all_threads:
+        t.join()
+
+    # Should not have errors
+    assert len(errors) == 0
+
+    # Leftovers should be monotonically decreasing or stable
+    # (as actions are consumed, leftover size decreases)
+    assert len(leftovers) > 0
+
+
+# ====================== Edge Cases Tests ======================
+
+
+def test_queue_with_single_action(action_queue_rtc_enabled):
+    """Test queue behavior with a single action."""
+    single_action_original = torch.randn(1, 6)
+    single_action_processed = torch.randn(1, 6)
+
+    action_queue_rtc_enabled.merge(single_action_original, single_action_processed, real_delay=0)
+
+    assert action_queue_rtc_enabled.qsize() == 1
+    action = action_queue_rtc_enabled.get()
+    assert action is not None
+    assert action.shape == (6,)
+    assert action_queue_rtc_enabled.qsize() == 0
+
+
+def test_queue_behavior_after_multiple_merge_cycles(action_queue_rtc_enabled, sample_actions):
+    """Test queue maintains correct state through multiple merge cycles."""
+    for _ in range(5):
+        action_queue_rtc_enabled.merge(sample_actions["short"], sample_actions["short"], real_delay=0)
+
+        # Consume half
+        for _ in range(5):
+            action_queue_rtc_enabled.get()
+
+        # Merge again
+        action_queue_rtc_enabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=3)
+
+        assert action_queue_rtc_enabled.qsize() > 0
+
+
+def test_queue_with_all_zeros_actions(action_queue_rtc_enabled):
+    """Test queue handles all-zero action tensors."""
+    zeros_actions = torch.zeros(20, 6)
+    action_queue_rtc_enabled.merge(zeros_actions, zeros_actions, real_delay=0)
+
+    action = action_queue_rtc_enabled.get()
+    assert torch.all(action == 0)
+
+
+def test_queue_clones_input_tensors(action_queue_rtc_enabled, sample_actions):
+    """Test that merge() clones input tensors, not storing references."""
+    original_copy = sample_actions["original"].clone()
+    processed_copy = sample_actions["processed"].clone()
+
+    action_queue_rtc_enabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=0)
+
+    # Modify original tensors
+    sample_actions["original"].fill_(999.0)
+    sample_actions["processed"].fill_(-999.0)
+
+    # Queue should have cloned values
+    action = action_queue_rtc_enabled.get()
+    assert not torch.equal(action, sample_actions["processed"][0])
+    assert torch.equal(action, processed_copy[0])
+
+    leftover = action_queue_rtc_enabled.get_left_over()
+    assert not torch.equal(leftover, sample_actions["original"][1:])
+    assert torch.equal(leftover, original_copy[1:])
+
+
+@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
+def test_queue_handles_gpu_tensors():
+    """Test queue correctly handles GPU tensors."""
+    cfg = RTCConfig(enabled=True, execution_horizon=10)
+    queue = ActionQueue(cfg)
+
+    actions_gpu = torch.randn(20, 6, device="cuda")
+    queue.merge(actions_gpu, actions_gpu, real_delay=0)
+
+    action = queue.get()
+    assert action.device.type == "cuda"
+
+    leftover = queue.get_left_over()
+    assert leftover.device.type == "cuda"
+
+
+def test_queue_handles_different_dtypes():
+    """Test queue handles actions with different dtypes."""
+    cfg = RTCConfig(enabled=True, execution_horizon=10)
+    queue = ActionQueue(cfg)
+
+    # Use float64 instead of default float32
+    actions_f64 = torch.randn(20, 6, dtype=torch.float64)
+    queue.merge(actions_f64, actions_f64, real_delay=0)
+
+    action = queue.get()
+    assert action.dtype == torch.float64
+
+
+def test_empty_with_none_queue(action_queue_rtc_enabled):
+    """Test empty() correctly handles None queue."""
+    assert action_queue_rtc_enabled.queue is None
+    assert action_queue_rtc_enabled.empty() is True
+
+
+def test_qsize_with_none_queue(action_queue_rtc_enabled):
+    """Test qsize() correctly handles None queue."""
+    assert action_queue_rtc_enabled.queue is None
+    assert action_queue_rtc_enabled.qsize() == 0
+
+
+# ====================== Integration Tests ======================
+
+
+def test_typical_rtc_workflow(action_queue_rtc_enabled, sample_actions):
+    """Test a typical RTC workflow: merge, consume, merge with delay."""
+    # First inference
+    action_queue_rtc_enabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=0)
+    initial_size = action_queue_rtc_enabled.qsize()
+    assert initial_size == 50
+
+    # Consume 10 actions (execution_horizon)
+    for _ in range(10):
+        action = action_queue_rtc_enabled.get()
+        assert action is not None
+
+    assert action_queue_rtc_enabled.qsize() == 40
+
+    # Second inference with delay
+    action_index_before = action_queue_rtc_enabled.get_action_index()
+
+    action_queue_rtc_enabled.merge(
+        sample_actions["original"],
+        sample_actions["processed"],
+        real_delay=5,
+        action_index_before_inference=action_index_before,
+    )
+
+    # Queue should be replaced, minus delay
+    assert action_queue_rtc_enabled.qsize() == 45
+    assert action_queue_rtc_enabled.get_action_index() == 0
+
+
+def test_typical_non_rtc_workflow(action_queue_rtc_disabled, sample_actions):
+    """Test a typical non-RTC workflow: merge, consume, merge again."""
+    # First inference
+    action_queue_rtc_disabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=0)
+    assert action_queue_rtc_disabled.qsize() == 50
+
+    # Consume 40 actions
+    for _ in range(40):
+        action = action_queue_rtc_disabled.get()
+        assert action is not None
+
+    assert action_queue_rtc_disabled.qsize() == 10
+
+    # Second inference (should append)
+    action_queue_rtc_disabled.merge(sample_actions["original"], sample_actions["processed"], real_delay=0)
+
+    # Should have 10 remaining + 50 new = 60
+    assert action_queue_rtc_disabled.qsize() == 60

tests/policies/rtc/test_configuration_rtc.py

@@ -0,0 +1,65 @@
+#!/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.
+
+"""Tests for RTC configuration module."""
+
+from lerobot.configs.types import RTCAttentionSchedule
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
+
+# ====================== Initialization Tests ======================
+
+
+def test_rtc_config_default_initialization():
+    """Test RTCConfig initializes with default values."""
+    config = RTCConfig()
+
+    assert config.enabled is False
+    assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
+    assert config.max_guidance_weight == 10.0
+    assert config.execution_horizon == 10
+    assert config.debug is False
+    assert config.debug_maxlen == 100
+
+
+def test_rtc_config_custom_initialization():
+    """Test RTCConfig initializes with custom values."""
+    config = RTCConfig(
+        enabled=True,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        max_guidance_weight=5.0,
+        execution_horizon=20,
+        debug=True,
+        debug_maxlen=200,
+    )
+
+    assert config.enabled is True
+    assert config.prefix_attention_schedule == RTCAttentionSchedule.EXP
+    assert config.max_guidance_weight == 5.0
+    assert config.execution_horizon == 20
+    assert config.debug is True
+    assert config.debug_maxlen == 200
+
+
+def test_rtc_config_partial_initialization():
+    """Test RTCConfig with partial custom values."""
+    config = RTCConfig(enabled=True, max_guidance_weight=15.0)
+
+    assert config.enabled is True
+    assert config.max_guidance_weight == 15.0
+    # Other values should be defaults
+    assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
+    assert config.execution_horizon == 10
+    assert config.debug is False

tests/policies/rtc/test_debug_tracker.py

@@ -0,0 +1,488 @@
+#!/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.
+
+"""Tests for RTC debug tracker module."""
+
+import pytest
+import torch
+
+from lerobot.policies.rtc.debug_tracker import DebugStep, Tracker
+
+# ====================== Fixtures ======================
+
+
+@pytest.fixture
+def sample_tensors():
+    """Create sample tensors for testing."""
+    return {
+        "x_t": torch.randn(1, 50, 6),
+        "v_t": torch.randn(1, 50, 6),
+        "x1_t": torch.randn(1, 50, 6),
+        "correction": torch.randn(1, 50, 6),
+        "err": torch.randn(1, 50, 6),
+        "weights": torch.randn(1, 50, 1),
+    }
+
+
+@pytest.fixture
+def enabled_tracker():
+    """Create an enabled tracker with default settings."""
+    return Tracker(enabled=True, maxlen=100)
+
+
+@pytest.fixture
+def disabled_tracker():
+    """Create a disabled tracker."""
+    return Tracker(enabled=False)
+
+
+# ====================== DebugStep Tests ======================
+
+
+def test_debug_step_initialization():
+    """Test that DebugStep can be initialized with default values."""
+    step = DebugStep()
+    assert step.step_idx == 0
+    assert step.x_t is None
+    assert step.v_t is None
+    assert step.x1_t is None
+    assert step.correction is None
+    assert step.err is None
+    assert step.weights is None
+    assert step.guidance_weight is None
+    assert step.time is None
+    assert step.inference_delay is None
+    assert step.execution_horizon is None
+    assert step.metadata == {}
+
+
+def test_debug_step_with_values(sample_tensors):
+    """Test DebugStep initialization with actual values."""
+    step = DebugStep(
+        step_idx=5,
+        x_t=sample_tensors["x_t"],
+        v_t=sample_tensors["v_t"],
+        x1_t=sample_tensors["x1_t"],
+        correction=sample_tensors["correction"],
+        err=sample_tensors["err"],
+        weights=sample_tensors["weights"],
+        guidance_weight=2.5,
+        time=0.8,
+        inference_delay=4,
+        execution_horizon=8,
+        metadata={"custom_key": "custom_value"},
+    )
+
+    assert step.step_idx == 5
+    assert torch.equal(step.x_t, sample_tensors["x_t"])
+    assert torch.equal(step.v_t, sample_tensors["v_t"])
+    assert torch.equal(step.x1_t, sample_tensors["x1_t"])
+    assert torch.equal(step.correction, sample_tensors["correction"])
+    assert torch.equal(step.err, sample_tensors["err"])
+    assert torch.equal(step.weights, sample_tensors["weights"])
+    assert step.guidance_weight == 2.5
+    assert step.time == 0.8
+    assert step.inference_delay == 4
+    assert step.execution_horizon == 8
+    assert step.metadata == {"custom_key": "custom_value"}
+
+
+def test_debug_step_to_dict_without_tensors(sample_tensors):
+    """Test converting DebugStep to dictionary without tensor values."""
+    step = DebugStep(
+        step_idx=3,
+        x_t=sample_tensors["x_t"],
+        v_t=sample_tensors["v_t"],
+        guidance_weight=torch.tensor(3.0),
+        time=torch.tensor(0.5),
+        inference_delay=2,
+        execution_horizon=10,
+    )
+
+    result = step.to_dict(include_tensors=False)
+
+    assert result["step_idx"] == 3
+    assert result["guidance_weight"] == 3.0
+    assert result["time"] == 0.5
+    assert result["inference_delay"] == 2
+    assert result["execution_horizon"] == 10
+
+    # Check tensor statistics are included
+    assert "x_t_stats" in result
+    assert "v_t_stats" in result
+    assert "x1_t_stats" not in result  # x1_t was None
+
+    # Verify statistics structure
+    assert "shape" in result["x_t_stats"]
+    assert "mean" in result["x_t_stats"]
+    assert "std" in result["x_t_stats"]
+    assert "min" in result["x_t_stats"]
+    assert "max" in result["x_t_stats"]
+
+    # Verify shape matches original tensor
+    assert result["x_t_stats"]["shape"] == tuple(sample_tensors["x_t"].shape)
+
+
+def test_debug_step_to_dict_with_tensors(sample_tensors):
+    """Test converting DebugStep to dictionary with tensor values."""
+    step = DebugStep(
+        step_idx=1,
+        x_t=sample_tensors["x_t"],
+        v_t=sample_tensors["v_t"],
+        guidance_weight=1.5,
+        time=0.9,
+    )
+
+    result = step.to_dict(include_tensors=True)
+
+    assert result["step_idx"] == 1
+    assert result["guidance_weight"] == 1.5
+    assert result["time"] == 0.9
+
+    # Check tensors are included (as CPU tensors)
+    assert "x_t" in result
+    assert "v_t" in result
+    assert isinstance(result["x_t"], torch.Tensor)
+    assert isinstance(result["v_t"], torch.Tensor)
+    assert result["x_t"].device.type == "cpu"
+    assert result["v_t"].device.type == "cpu"
+
+
+def test_debug_step_to_dict_with_none_guidance_weight():
+    """Test to_dict handles None guidance_weight correctly."""
+    step = DebugStep(step_idx=0, time=1.0, guidance_weight=None)
+    result = step.to_dict(include_tensors=False)
+    assert result["guidance_weight"] is None
+
+
+def test_tracker_initialization_enabled():
+    """Test tracker initialization when enabled."""
+    tracker = Tracker(enabled=True, maxlen=50)
+    assert tracker.enabled is True
+    assert tracker._steps == {}
+    assert tracker._maxlen == 50
+    assert tracker._step_counter == 0
+    assert len(tracker) == 0
+
+
+def test_tracker_reset_when_enabled(enabled_tracker, sample_tensors):
+    """Test reset clears all steps when tracker is enabled."""
+    # Add some steps
+    enabled_tracker.track(time=1.0, x_t=sample_tensors["x_t"])
+    enabled_tracker.track(time=0.9, x_t=sample_tensors["x_t"])
+    assert len(enabled_tracker) == 2
+
+    # Reset
+    enabled_tracker.reset()
+    assert len(enabled_tracker) == 0
+    assert enabled_tracker._step_counter == 0
+    assert enabled_tracker._steps == {}
+
+
+def test_tracker_reset_when_disabled(disabled_tracker):
+    """Test reset on disabled tracker doesn't cause errors."""
+    disabled_tracker.reset()
+    assert len(disabled_tracker) == 0
+
+
+# ====================== Tracker.track() Tests ======================
+
+
+def test_track_creates_new_step(enabled_tracker, sample_tensors):
+    """Test that track creates a new step when time doesn't exist."""
+    enabled_tracker.track(
+        time=1.0,
+        x_t=sample_tensors["x_t"],
+        v_t=sample_tensors["v_t"],
+        guidance_weight=5.0,
+        inference_delay=4,
+        execution_horizon=8,
+    )
+
+    assert len(enabled_tracker) == 1
+    steps = enabled_tracker.get_all_steps()
+    assert len(steps) == 1
+    assert steps[0].step_idx == 0
+    assert steps[0].time == 1.0
+    assert torch.equal(steps[0].x_t, sample_tensors["x_t"])
+    assert torch.equal(steps[0].v_t, sample_tensors["v_t"])
+    assert steps[0].guidance_weight == 5.0
+    assert steps[0].inference_delay == 4
+    assert steps[0].execution_horizon == 8
+
+
+def test_track_updates_existing_step(enabled_tracker, sample_tensors):
+    """Test that track updates an existing step at the same time."""
+    # Create initial step
+    enabled_tracker.track(time=0.9, x_t=sample_tensors["x_t"])
+    assert len(enabled_tracker) == 1
+    steps = enabled_tracker.get_all_steps()
+    assert steps[0].v_t is None
+
+    # Update the same timestep with v_t
+    enabled_tracker.track(time=0.9, v_t=sample_tensors["v_t"])
+    assert len(enabled_tracker) == 1  # Still only one step
+    steps = enabled_tracker.get_all_steps()
+    assert torch.equal(steps[0].x_t, sample_tensors["x_t"])  # Original x_t preserved
+    assert torch.equal(steps[0].v_t, sample_tensors["v_t"])  # New v_t added
+
+
+def test_track_with_tensor_time(enabled_tracker, sample_tensors):
+    """Test track handles tensor time values correctly."""
+    time_tensor = torch.tensor(0.8)
+    enabled_tracker.track(time=time_tensor, x_t=sample_tensors["x_t"])
+
+    steps = enabled_tracker.get_all_steps()
+    assert len(steps) == 1
+    assert abs(steps[0].time - 0.8) < 1e-6  # Use approximate comparison for floating point
+
+
+def test_track_time_rounding(enabled_tracker, sample_tensors):
+    """Test that track rounds time to avoid floating point precision issues."""
+    # These times should be treated as the same after rounding to 6 decimals
+    enabled_tracker.track(time=0.9000001, x_t=sample_tensors["x_t"])
+    enabled_tracker.track(time=0.9000002, v_t=sample_tensors["v_t"])
+
+    # Should still be one step (times rounded to same value)
+    assert len(enabled_tracker) == 1
+    steps = enabled_tracker.get_all_steps()
+    assert torch.equal(steps[0].x_t, sample_tensors["x_t"])
+    assert torch.equal(steps[0].v_t, sample_tensors["v_t"])
+
+
+def test_track_does_nothing_when_disabled(disabled_tracker, sample_tensors):
+    """Test that track does nothing when tracker is disabled."""
+    disabled_tracker.track(time=1.0, x_t=sample_tensors["x_t"])
+    assert len(disabled_tracker) == 0
+
+
+def test_track_with_metadata(enabled_tracker, sample_tensors):
+    """Test track stores custom metadata."""
+    enabled_tracker.track(time=0.7, x_t=sample_tensors["x_t"], custom_field="custom_value", count=42)
+
+    steps = enabled_tracker.get_all_steps()
+    assert steps[0].metadata["custom_field"] == "custom_value"
+    assert steps[0].metadata["count"] == 42
+
+
+def test_track_updates_metadata(enabled_tracker):
+    """Test that track updates metadata for existing steps."""
+    enabled_tracker.track(time=0.6, meta1="value1")
+    enabled_tracker.track(time=0.6, meta2="value2")
+
+    steps = enabled_tracker.get_all_steps()
+    assert steps[0].metadata["meta1"] == "value1"
+    assert steps[0].metadata["meta2"] == "value2"
+
+
+def test_track_clones_tensors(enabled_tracker, sample_tensors):
+    """Test that track clones tensors instead of storing references."""
+    x_t_original = sample_tensors["x_t"].clone()
+    enabled_tracker.track(time=0.5, x_t=sample_tensors["x_t"])
+
+    # Modify original tensor
+    sample_tensors["x_t"].fill_(999.0)
+
+    # Tracked tensor should not be affected
+    steps = enabled_tracker.get_all_steps()
+    assert not torch.equal(steps[0].x_t, sample_tensors["x_t"])
+    assert torch.equal(steps[0].x_t, x_t_original)
+
+
+def test_track_with_none_values(enabled_tracker):
+    """Test track handles None values correctly."""
+    enabled_tracker.track(
+        time=0.4,
+        x_t=None,
+        v_t=None,
+        guidance_weight=None,
+        inference_delay=None,
+    )
+
+    steps = enabled_tracker.get_all_steps()
+    assert len(steps) == 1
+    assert steps[0].x_t is None
+    assert steps[0].v_t is None
+    assert steps[0].guidance_weight is None
+    assert steps[0].inference_delay is None
+
+
+def test_track_updates_only_non_none_fields(enabled_tracker, sample_tensors):
+    """Test that update preserves existing values when None is passed."""
+    # Create step with x_t
+    enabled_tracker.track(time=0.3, x_t=sample_tensors["x_t"], guidance_weight=2.0)
+
+    # Update with v_t only (pass None for other fields)
+    enabled_tracker.track(time=0.3, v_t=sample_tensors["v_t"], x_t=None, guidance_weight=None)
+
+    # Original values should be preserved
+    steps = enabled_tracker.get_all_steps()
+    assert torch.equal(steps[0].x_t, sample_tensors["x_t"])  # Still has x_t
+    assert torch.equal(steps[0].v_t, sample_tensors["v_t"])  # Now has v_t
+    assert steps[0].guidance_weight == 2.0  # Still has guidance_weight
+
+
+# ====================== Tracker.maxlen Tests ======================
+
+
+def test_tracker_enforces_maxlen():
+    """Test that tracker enforces maxlen limit."""
+    tracker = Tracker(enabled=True, maxlen=3)
+
+    # Add 5 steps
+    for i in range(5):
+        time = 1.0 - i * 0.1  # 1.0, 0.9, 0.8, 0.7, 0.6
+        tracker.track(time=time, x_t=torch.randn(1, 10, 6))
+
+    # Should only keep the last 3
+    assert len(tracker) == 3
+
+    # Verify oldest steps were removed (should have 0.6, 0.7, 0.8)
+    steps = tracker.get_all_steps()
+    times = sorted([step.time for step in steps])
+    assert times == [0.6, 0.7, 0.8]
+
+
+def test_tracker_step_idx_increments_despite_maxlen():
+    """Test that step_idx continues incrementing even when maxlen is enforced."""
+    tracker = Tracker(enabled=True, maxlen=2)
+
+    # Add 4 steps
+    for i in range(4):
+        time = 1.0 - i * 0.1
+        tracker.track(time=time, x_t=torch.randn(1, 10, 6))
+
+    # Should have 2 steps with step_idx 2 and 3 (oldest removed)
+    steps = sorted(tracker.get_all_steps(), key=lambda s: s.step_idx)
+    assert len(steps) == 2
+    assert steps[0].step_idx == 2
+    assert steps[1].step_idx == 3
+
+
+def test_tracker_without_maxlen_keeps_all():
+    """Test that tracker without maxlen keeps all steps."""
+    tracker = Tracker(enabled=True, maxlen=None)
+
+    # Add 100 steps
+    for i in range(100):
+        time = 1.0 - i * 0.01
+        tracker.track(time=time, x_t=torch.randn(1, 10, 6))
+
+    assert len(tracker) == 100
+
+
+def test_get_all_steps_returns_empty_when_disabled(disabled_tracker):
+    """Test get_all_steps returns empty list when disabled."""
+    steps = disabled_tracker.get_all_steps()
+    assert steps == []
+    assert isinstance(steps, list)
+
+
+def test_get_all_steps_returns_empty_when_no_steps(enabled_tracker):
+    """Test get_all_steps returns empty list when no steps tracked."""
+    steps = enabled_tracker.get_all_steps()
+    assert steps == []
+
+
+def test_get_all_steps_returns_all_tracked_steps(enabled_tracker, sample_tensors):
+    """Test get_all_steps returns all tracked steps."""
+    # Track 5 steps
+    for i in range(5):
+        time = 1.0 - i * 0.1
+        enabled_tracker.track(time=time, x_t=sample_tensors["x_t"])
+
+    steps = enabled_tracker.get_all_steps()
+    assert len(steps) == 5
+
+    # Verify all are DebugStep instances
+    for step in steps:
+        assert isinstance(step, DebugStep)
+
+
+def test_get_all_steps_preserves_insertion_order(enabled_tracker):
+    """Test that get_all_steps preserves insertion order (Python 3.7+)."""
+    times = [0.9, 0.8, 0.7, 0.6, 0.5]
+    for time in times:
+        enabled_tracker.track(time=time, x_t=torch.randn(1, 10, 6))
+
+    steps = enabled_tracker.get_all_steps()
+    retrieved_times = [step.time for step in steps]
+
+    # Should be in insertion order
+    assert retrieved_times == times
+
+
+# ====================== Tracker.__len__() Tests ======================
+
+
+def test_len_returns_zero_when_disabled(disabled_tracker):
+    """Test __len__ returns 0 when tracker is disabled."""
+    assert len(disabled_tracker) == 0
+
+
+def test_len_returns_zero_when_empty(enabled_tracker):
+    """Test __len__ returns 0 when no steps are tracked."""
+    assert len(enabled_tracker) == 0
+
+
+def test_len_returns_correct_count(enabled_tracker, sample_tensors):
+    """Test __len__ returns correct number of tracked steps."""
+    assert len(enabled_tracker) == 0
+
+    enabled_tracker.track(time=1.0, x_t=sample_tensors["x_t"])
+    assert len(enabled_tracker) == 1
+
+    enabled_tracker.track(time=0.9, x_t=sample_tensors["x_t"])
+    assert len(enabled_tracker) == 2
+
+    enabled_tracker.track(time=0.8, x_t=sample_tensors["x_t"])
+    assert len(enabled_tracker) == 3
+
+
+def test_len_after_reset(enabled_tracker, sample_tensors):
+    """Test __len__ returns 0 after reset."""
+    enabled_tracker.track(time=1.0, x_t=sample_tensors["x_t"])
+    enabled_tracker.track(time=0.9, x_t=sample_tensors["x_t"])
+    assert len(enabled_tracker) == 2
+
+    enabled_tracker.reset()
+    assert len(enabled_tracker) == 0
+
+
+@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
+def test_tracker_handles_gpu_tensors():
+    """Test tracker correctly handles GPU tensors."""
+    tracker = Tracker(enabled=True, maxlen=10)
+    x_t_gpu = torch.randn(1, 50, 6, device="cuda")
+
+    tracker.track(time=1.0, x_t=x_t_gpu)
+
+    steps = tracker.get_all_steps()
+    # Tracker should clone and detach tensors
+    assert steps[0].x_t.device.type == "cuda"
+
+
+def test_tracker_with_varying_tensor_shapes(enabled_tracker):
+    """Test tracker handles varying tensor shapes across steps."""
+    enabled_tracker.track(time=1.0, x_t=torch.randn(1, 50, 6))
+    enabled_tracker.track(time=0.9, x_t=torch.randn(1, 25, 6))
+    enabled_tracker.track(time=0.8, x_t=torch.randn(2, 50, 8))
+
+    steps = enabled_tracker.get_all_steps()
+    assert len(steps) == 3
+    assert steps[0].x_t.shape == (1, 50, 6)
+    assert steps[1].x_t.shape == (1, 25, 6)
+    assert steps[2].x_t.shape == (2, 50, 8)

tests/policies/rtc/test_latency_tracker.py

@@ -0,0 +1,322 @@
+#!/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.
+
+"""Tests for RTC LatencyTracker module."""
+
+import pytest
+
+from lerobot.policies.rtc.latency_tracker import LatencyTracker
+
+# ====================== Fixtures ======================
+
+
+@pytest.fixture
+def tracker():
+    """Create a LatencyTracker with default maxlen."""
+    return LatencyTracker(maxlen=100)
+
+
+@pytest.fixture
+def small_tracker():
+    """Create a LatencyTracker with small maxlen for overflow testing."""
+    return LatencyTracker(maxlen=5)
+
+
+# ====================== Initialization Tests ======================
+
+
+def test_latency_tracker_initialization():
+    """Test LatencyTracker initializes correctly."""
+    tracker = LatencyTracker(maxlen=50)
+    assert len(tracker) == 0
+    assert tracker.max_latency == 0.0
+    assert tracker.max() == 0.0
+
+
+def test_latency_tracker_default_maxlen():
+    """Test LatencyTracker uses default maxlen."""
+    tracker = LatencyTracker()
+    # Should accept default maxlen=100
+    assert len(tracker) == 0
+
+
+# ====================== add() Tests ======================
+
+
+def test_add_single_latency(tracker):
+    """Test adding a single latency value."""
+    tracker.add(0.5)
+    assert len(tracker) == 1
+    assert tracker.max() == 0.5
+
+
+def test_add_multiple_latencies(tracker):
+    """Test adding multiple latency values."""
+    latencies = [0.1, 0.5, 0.3, 0.8, 0.2]
+    for lat in latencies:
+        tracker.add(lat)
+
+    assert len(tracker) == 5
+    assert tracker.max() == 0.8
+
+
+def test_add_negative_latency_ignored(tracker):
+    """Test that negative latencies are ignored."""
+    tracker.add(0.5)
+    tracker.add(-0.1)
+    tracker.add(0.3)
+
+    # Should only have 2 valid latencies
+    assert len(tracker) == 2
+    assert tracker.max() == 0.5
+
+
+def test_add_zero_latency(tracker):
+    """Test adding zero latency."""
+    tracker.add(0.0)
+    assert len(tracker) == 1
+    assert tracker.max() == 0.0
+
+
+def test_add_converts_to_float(tracker):
+    """Test add() converts input to float."""
+    tracker.add(5)  # Integer
+    tracker.add("3.5")  # String
+
+    assert len(tracker) == 2
+    assert tracker.max() == 5.0
+
+
+def test_add_updates_max_latency(tracker):
+    """Test that max_latency is updated correctly."""
+    tracker.add(0.5)
+    assert tracker.max_latency == 0.5
+
+    tracker.add(0.3)
+    assert tracker.max_latency == 0.5  # Should not decrease
+
+    tracker.add(0.9)
+    assert tracker.max_latency == 0.9  # Should increase
+
+
+# ====================== reset() Tests ======================
+
+
+def test_reset_clears_values(tracker):
+    """Test reset() clears all values."""
+    tracker.add(0.5)
+    tracker.add(0.8)
+    tracker.add(0.3)
+    assert len(tracker) == 3
+
+    tracker.reset()
+    assert len(tracker) == 0
+    assert tracker.max_latency == 0.0
+
+
+def test_reset_clears_max_latency(tracker):
+    """Test reset() resets max_latency."""
+    tracker.add(1.5)
+    assert tracker.max_latency == 1.5
+
+    tracker.reset()
+    assert tracker.max_latency == 0.0
+
+
+def test_reset_allows_new_values(tracker):
+    """Test that tracker works correctly after reset."""
+    tracker.add(0.5)
+    tracker.reset()
+
+    tracker.add(0.3)
+    assert len(tracker) == 1
+    assert tracker.max() == 0.3
+
+
+# ====================== max() Tests ======================
+
+
+def test_max_returns_zero_when_empty(tracker):
+    """Test max() returns 0.0 when tracker is empty."""
+    assert tracker.max() == 0.0
+
+
+def test_max_returns_maximum_value(tracker):
+    """Test max() returns the maximum latency."""
+    latencies = [0.2, 0.8, 0.3, 0.5, 0.1]
+    for lat in latencies:
+        tracker.add(lat)
+
+    assert tracker.max() == 0.8
+
+
+def test_max_persists_after_sliding_window(small_tracker):
+    """Test max() persists even after values slide out of window."""
+    # Add values that will exceed maxlen=5
+    small_tracker.add(0.1)
+    small_tracker.add(0.9)  # This is max
+    small_tracker.add(0.2)
+    small_tracker.add(0.3)
+    small_tracker.add(0.4)
+    small_tracker.add(0.5)  # This pushes out 0.1
+
+    # Max should still be 0.9 even though only last 5 values kept
+    assert small_tracker.max() == 0.9
+
+
+def test_max_after_reset(tracker):
+    """Test max() returns 0.0 after reset."""
+    tracker.add(1.5)
+    tracker.reset()
+    assert tracker.max() == 0.0
+
+
+# ====================== p95() Tests ======================
+
+
+def test_p95_returns_zero_when_empty(tracker):
+    """Test p95() returns 0.0 when tracker is empty."""
+    assert tracker.p95() == 0.0
+
+
+def test_p95_returns_95th_percentile(tracker):
+    """Test p95() returns the 95th percentile."""
+    # Add 100 values
+    for i in range(100):
+        tracker.add(i / 100.0)
+
+    p95 = tracker.p95()
+    assert 0.93 <= p95 <= 0.96
+
+
+def test_p95_equals_percentile_95(tracker):
+    """Test p95() equals percentile(0.95)."""
+    for i in range(50):
+        tracker.add(i / 50.0)
+
+    assert tracker.p95() == tracker.percentile(0.95)
+
+
+# ====================== Edge Cases Tests ======================
+
+
+def test_single_value(tracker):
+    """Test tracker behavior with single value."""
+    tracker.add(0.75)
+
+    assert len(tracker) == 1
+    assert tracker.max() == 0.75
+    assert tracker.percentile(0.0) == 0.75
+    assert tracker.percentile(0.5) == 0.75
+    assert tracker.percentile(1.0) == 0.75
+
+
+def test_all_same_values(tracker):
+    """Test tracker with all identical values."""
+    for _ in range(10):
+        tracker.add(0.5)
+
+    assert len(tracker) == 10
+    assert tracker.max() == 0.5
+    assert tracker.percentile(0.0) == 0.5
+    assert tracker.percentile(0.5) == 0.5
+    assert tracker.percentile(1.0) == 0.5
+
+
+def test_very_small_values(tracker):
+    """Test tracker with very small float values."""
+    tracker.add(1e-10)
+    tracker.add(2e-10)
+    tracker.add(3e-10)
+
+    assert len(tracker) == 3
+    assert tracker.max() == pytest.approx(3e-10)
+
+
+def test_very_large_values(tracker):
+    """Test tracker with very large float values."""
+    tracker.add(1e10)
+    tracker.add(2e10)
+    tracker.add(3e10)
+
+    assert len(tracker) == 3
+    assert tracker.max() == pytest.approx(3e10)
+
+
+# ====================== Integration Tests ======================
+
+
+def test_typical_usage_pattern(tracker):
+    """Test a typical usage pattern of the tracker."""
+    # Simulate adding latencies over time
+    latencies = [0.05, 0.08, 0.12, 0.07, 0.15, 0.09, 0.11, 0.06, 0.14, 0.10]
+
+    for lat in latencies:
+        tracker.add(lat)
+
+    # Check statistics
+    assert len(tracker) == 10
+    assert tracker.max() == 0.15
+
+    # p95 should be close to max since we have only 10 values
+    p95 = tracker.p95()
+    assert p95 >= tracker.percentile(0.5)  # p95 should be >= median
+    assert p95 <= tracker.max()  # p95 should be <= max
+
+
+def test_reset_and_reuse(tracker):
+    """Test resetting and reusing tracker."""
+    # First batch
+    tracker.add(1.0)
+    tracker.add(2.0)
+    assert tracker.max() == 2.0
+
+    # Reset
+    tracker.reset()
+
+    # Second batch
+    tracker.add(0.5)
+    tracker.add(0.8)
+    assert len(tracker) == 2
+    assert tracker.max() == 0.8
+    assert tracker.percentile(0.5) <= 0.8
+
+
+# ====================== Type Conversion Tests ======================
+
+
+def test_add_with_integer(tracker):
+    """Test adding integer values."""
+    tracker.add(5)
+    assert len(tracker) == 1
+    assert tracker.max() == 5.0
+
+
+def test_add_with_string_number(tracker):
+    """Test adding string representation of number."""
+    tracker.add("3.14")
+    assert len(tracker) == 1
+    assert tracker.max() == pytest.approx(3.14)
+
+
+def test_percentile_converts_q_to_float(tracker):
+    """Test percentile converts q parameter to float."""
+    tracker.add(0.5)
+    tracker.add(0.8)
+
+    # Pass integer q
+    result = tracker.percentile(1)
+    assert result == 0.8

tests/policies/rtc/test_modeling_rtc.py

@@ -0,0 +1,773 @@
+#!/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.
+
+"""Tests for RTC modeling module (RTCProcessor)."""
+
+import pytest
+import torch
+
+from lerobot.configs.types import RTCAttentionSchedule
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
+from lerobot.policies.rtc.modeling_rtc import RTCProcessor
+
+# ====================== Fixtures ======================
+
+
+@pytest.fixture
+def rtc_config_debug_enabled():
+    """Create RTC config with debug enabled."""
+    return RTCConfig(
+        enabled=True,
+        prefix_attention_schedule=RTCAttentionSchedule.LINEAR,
+        max_guidance_weight=10.0,
+        execution_horizon=10,
+        debug=True,
+        debug_maxlen=100,
+    )
+
+
+@pytest.fixture
+def rtc_config_debug_disabled():
+    """Create RTC config with debug disabled."""
+    return RTCConfig(
+        enabled=True,
+        prefix_attention_schedule=RTCAttentionSchedule.LINEAR,
+        max_guidance_weight=10.0,
+        execution_horizon=10,
+        debug=False,
+    )
+
+
+@pytest.fixture
+def rtc_processor_debug_enabled(rtc_config_debug_enabled):
+    """Create RTCProcessor with debug enabled."""
+    return RTCProcessor(rtc_config_debug_enabled)
+
+
+@pytest.fixture
+def rtc_processor_debug_disabled(rtc_config_debug_disabled):
+    """Create RTCProcessor with debug disabled."""
+    return RTCProcessor(rtc_config_debug_disabled)
+
+
+@pytest.fixture
+def sample_x_t():
+    """Create sample x_t tensor (batch, time, action_dim)."""
+    return torch.randn(1, 50, 6)
+
+
+@pytest.fixture
+def sample_prev_chunk():
+    """Create sample previous chunk tensor."""
+    return torch.randn(1, 50, 6)
+
+
+# ====================== Initialization Tests ======================
+
+
+def test_rtc_processor_initialization_with_debug(rtc_config_debug_enabled):
+    """Test RTCProcessor initializes with debug tracker."""
+    processor = RTCProcessor(rtc_config_debug_enabled)
+    assert processor.rtc_config == rtc_config_debug_enabled
+    assert processor.tracker is not None
+    assert processor.tracker.enabled is True
+
+
+def test_rtc_processor_initialization_without_debug(rtc_config_debug_disabled):
+    """Test RTCProcessor initializes without debug tracker."""
+    processor = RTCProcessor(rtc_config_debug_disabled)
+    assert processor.rtc_config == rtc_config_debug_disabled
+    assert processor.tracker is None
+
+
+# ====================== Tracker Proxy Methods Tests ======================
+
+
+def test_track_when_tracker_enabled(rtc_processor_debug_enabled, sample_x_t):
+    """Test track() forwards to tracker when enabled."""
+    rtc_processor_debug_enabled.track(
+        time=torch.tensor(0.5),
+        x_t=sample_x_t,
+        v_t=sample_x_t,
+        guidance_weight=2.0,
+    )
+
+    # Should have tracked one step
+    steps = rtc_processor_debug_enabled.get_all_debug_steps()
+    assert len(steps) == 1
+    assert steps[0].time == 0.5
+
+
+def test_track_when_tracker_disabled(rtc_processor_debug_disabled, sample_x_t):
+    """Test track() does nothing when tracker disabled."""
+    # Should not raise error
+    rtc_processor_debug_disabled.track(
+        time=torch.tensor(0.5),
+        x_t=sample_x_t,
+        v_t=sample_x_t,
+    )
+
+    # Should return empty list
+    steps = rtc_processor_debug_disabled.get_all_debug_steps()
+    assert len(steps) == 0
+
+
+def test_get_all_debug_steps_when_enabled(rtc_processor_debug_enabled, sample_x_t):
+    """Test get_all_debug_steps() returns tracked steps."""
+    rtc_processor_debug_enabled.track(time=torch.tensor(0.5), x_t=sample_x_t)
+    rtc_processor_debug_enabled.track(time=torch.tensor(0.4), x_t=sample_x_t)
+
+    steps = rtc_processor_debug_enabled.get_all_debug_steps()
+    assert len(steps) == 2
+
+
+def test_get_all_debug_steps_when_disabled(rtc_processor_debug_disabled):
+    """Test get_all_debug_steps() returns empty list when disabled."""
+    steps = rtc_processor_debug_disabled.get_all_debug_steps()
+    assert steps == []
+    assert isinstance(steps, list)
+
+
+def test_is_debug_enabled_when_tracker_exists(rtc_processor_debug_enabled):
+    """Test is_debug_enabled() returns True when tracker enabled."""
+    assert rtc_processor_debug_enabled.is_debug_enabled() is True
+
+
+def test_is_debug_enabled_when_tracker_disabled(rtc_processor_debug_disabled):
+    """Test is_debug_enabled() returns False when tracker disabled."""
+    assert rtc_processor_debug_disabled.is_debug_enabled() is False
+
+
+def test_reset_tracker_when_enabled(rtc_processor_debug_enabled, sample_x_t):
+    """Test reset_tracker() clears tracked steps."""
+    rtc_processor_debug_enabled.track(time=torch.tensor(0.5), x_t=sample_x_t)
+    rtc_processor_debug_enabled.track(time=torch.tensor(0.4), x_t=sample_x_t)
+    assert len(rtc_processor_debug_enabled.get_all_debug_steps()) == 2
+
+    rtc_processor_debug_enabled.reset_tracker()
+    assert len(rtc_processor_debug_enabled.get_all_debug_steps()) == 0
+
+
+def test_reset_tracker_when_disabled(rtc_processor_debug_disabled):
+    """Test reset_tracker() doesn't error when tracker disabled."""
+    rtc_processor_debug_disabled.reset_tracker()  # Should not raise
+
+
+# ====================== get_prefix_weights Tests ======================
+
+
+def test_get_prefix_weights_zeros_schedule():
+    """Test get_prefix_weights with ZEROS schedule."""
+    config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.ZEROS)
+    processor = RTCProcessor(config)
+
+    weights = processor.get_prefix_weights(start=5, end=10, total=20)
+
+    # First 5 should be 1.0, rest should be 0.0
+    assert weights.shape == (20,)
+    assert torch.all(weights[:5] == 1.0)
+    assert torch.all(weights[5:] == 0.0)
+
+
+def test_get_prefix_weights_ones_schedule():
+    """Test get_prefix_weights with ONES schedule."""
+    config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.ONES)
+    processor = RTCProcessor(config)
+
+    weights = processor.get_prefix_weights(start=5, end=15, total=20)
+
+    # First 15 should be 1.0, rest should be 0.0
+    assert weights.shape == (20,)
+    assert torch.all(weights[:15] == 1.0)
+    assert torch.all(weights[15:] == 0.0)
+
+
+def test_get_prefix_weights_linear_schedule():
+    """Test get_prefix_weights with LINEAR schedule."""
+    config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.LINEAR)
+    processor = RTCProcessor(config)
+
+    weights = processor.get_prefix_weights(start=5, end=14, total=25)
+
+    # Should have shape (20,)
+    assert weights.shape == (25,)
+
+    # First 5 should be 1.0 (leading ones)
+    assert torch.all(weights[:5] == 1.0)
+
+    # Middle section (5:15) should be linearly decreasing from 1 to 0
+    middle_weights = torch.tensor([0.9, 0.8, 0.7, 0.6, 0.5, 0.4, 0.3, 0.2, 0.1])
+    assert torch.allclose(weights[5:14], middle_weights)
+
+    # Last 5 should be 0.0 (trailing zeros)
+    assert torch.all(weights[14:] == 0.0)
+
+
+def test_get_prefix_weights_exp_schedule():
+    """Test get_prefix_weights with EXP schedule."""
+    config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.EXP)
+    processor = RTCProcessor(config)
+
+    weights = processor.get_prefix_weights(start=5, end=14, total=25)
+
+    # Should have shape (20,)
+    assert weights.shape == (25,)
+
+    # First 5 should be 1.0 (leading ones)
+    assert torch.all(weights[:5] == 1.0)
+
+    # Middle section should be exponentially weighted
+    middle_weights = torch.tensor([0.7645, 0.5706, 0.4130, 0.2871, 0.1888, 0.1145, 0.0611, 0.0258, 0.0061])
+    assert torch.allclose(weights[5:14], middle_weights, atol=1e-4)
+
+    # Last 5 should be 0.0 (trailing zeros)
+    assert torch.all(weights[14:] == 0.0)
+
+
+def test_get_prefix_weights_with_start_equals_end():
+    """Test get_prefix_weights when start equals end."""
+    config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.LINEAR)
+    processor = RTCProcessor(config)
+
+    weights = processor.get_prefix_weights(start=10, end=10, total=20)
+
+    # Should have ones up to start, then zeros
+    assert torch.all(weights[:10] == 1.0)
+    assert torch.all(weights[10:] == 0.0)
+
+
+def test_get_prefix_weights_with_start_greater_than_end():
+    """Test get_prefix_weights when start > end (gets clamped)."""
+    config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.LINEAR)
+    processor = RTCProcessor(config)
+
+    # start > end should use min(start, end) = end
+    weights = processor.get_prefix_weights(start=15, end=10, total=20)
+
+    # Should have ones up to end (10), then zeros
+    assert torch.all(weights[:10] == 1.0)
+    assert torch.all(weights[10:] == 0.0)
+
+
+# ====================== Helper Method Tests ======================
+
+
+def test_linweights_with_end_equals_start():
+    """Test _linweights when end equals start."""
+    config = RTCConfig()
+    processor = RTCProcessor(config)
+
+    weights = processor._linweights(start=10, end=10, total=20)
+
+    # Should return empty tensor
+    assert len(weights) == 0
+
+
+def test_linweights_with_end_less_than_start():
+    """Test _linweights when end < start."""
+    config = RTCConfig()
+    processor = RTCProcessor(config)
+
+    weights = processor._linweights(start=15, end=10, total=20)
+
+    # Should return empty tensor
+    assert len(weights) == 0
+
+
+def test_add_trailing_zeros_normal():
+    """Test _add_trailing_zeros adds zeros correctly."""
+    config = RTCConfig()
+    processor = RTCProcessor(config)
+
+    weights = torch.tensor([1.0, 0.8, 0.6, 0.4, 0.2])
+    result = processor._add_trailing_zeros(weights, total=10, end=5)
+
+    # Should add 5 zeros (total - end = 10 - 5 = 5)
+    assert len(result) == 10
+    assert torch.all(result[:5] == weights)
+    assert torch.all(result[5:] == 0.0)
+
+
+def test_add_trailing_zeros_no_zeros_needed():
+    """Test _add_trailing_zeros when no zeros needed."""
+    config = RTCConfig()
+    processor = RTCProcessor(config)
+
+    weights = torch.tensor([1.0, 0.8, 0.6])
+    result = processor._add_trailing_zeros(weights, total=3, end=5)
+
+    # zeros_len = 3 - 5 = -2 <= 0, so no zeros added
+    assert torch.equal(result, weights)
+
+
+def test_add_leading_ones_normal():
+    """Test _add_leading_ones adds ones correctly."""
+    config = RTCConfig()
+    processor = RTCProcessor(config)
+
+    weights = torch.tensor([0.8, 0.6, 0.4, 0.2, 0.0])
+    result = processor._add_leading_ones(weights, start=3, total=10)
+
+    # Should add 3 ones at the start
+    assert len(result) == 8
+    assert torch.all(result[:3] == 1.0)
+    assert torch.all(result[3:] == weights)
+
+
+def test_add_leading_ones_no_ones_needed():
+    """Test _add_leading_ones when no ones needed."""
+    config = RTCConfig()
+    processor = RTCProcessor(config)
+
+    weights = torch.tensor([0.8, 0.6, 0.4])
+    result = processor._add_leading_ones(weights, start=0, total=10)
+
+    # ones_len = 0, so no ones added
+    assert torch.equal(result, weights)
+
+
+def test_get_prefix_weights_with_start_equals_total():
+    """Test get_prefix_weights when start equals total."""
+    config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.LINEAR)
+    processor = RTCProcessor(config)
+
+    weights = processor.get_prefix_weights(start=10, end=10, total=20)
+
+    # Should have ones up to start, then zeros
+    assert len(weights) == 20
+    assert torch.all(weights[:10] == 1.0)
+    assert torch.all(weights[10:] == 0.0)
+
+
+def test_get_prefix_weights_with_total_less_than_start():
+    """Test get_prefix_weights when total less than start."""
+    config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.LINEAR)
+    processor = RTCProcessor(config)
+
+    weights = processor.get_prefix_weights(start=10, end=10, total=5)
+
+    # Should have ones up to start, then zeros
+    assert len(weights) == 5
+    assert torch.all(weights == 1.0)
+
+
+# ====================== denoise_step Tests ======================
+
+
+def test_denoise_step_without_prev_chunk(rtc_processor_debug_disabled):
+    """Test denoise_step without previous chunk (no guidance)."""
+    x_t = torch.randn(1, 50, 6)
+
+    # Mock denoiser that returns fixed velocity
+    def mock_denoiser(x):
+        return torch.ones_like(x) * 0.5
+
+    result = rtc_processor_debug_disabled.denoise_step(
+        x_t=x_t,
+        prev_chunk_left_over=None,
+        inference_delay=5,
+        time=torch.tensor(0.5),
+        original_denoise_step_partial=mock_denoiser,
+    )
+
+    # Should return v_t unchanged (no guidance)
+    expected = mock_denoiser(x_t)
+    assert torch.allclose(result, expected)
+
+
+def test_denoise_step_with_prev_chunk(rtc_processor_debug_disabled):
+    """Test denoise_step with previous chunk applies guidance."""
+    x_t = torch.ones(1, 20, 1)
+    prev_chunk = torch.full((1, 20, 1), 0.1)
+
+    def mock_denoiser(x):
+        return x * 0.5
+
+    result = rtc_processor_debug_disabled.denoise_step(
+        x_t=x_t,
+        prev_chunk_left_over=prev_chunk,
+        inference_delay=5,
+        time=torch.tensor(0.5),
+        original_denoise_step_partial=mock_denoiser,
+    )
+
+    expected_result = torch.tensor(
+        [
+            [
+                [1.8000],
+                [1.8000],
+                [1.8000],
+                [1.8000],
+                [1.8000],
+                [1.5833],
+                [1.3667],
+                [1.1500],
+                [0.9333],
+                [0.7167],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+            ]
+        ]
+    )
+
+    assert torch.allclose(result, expected_result, atol=1e-4)
+
+
+def test_denoise_step_adds_batch_dimension():
+    """Test denoise_step handles 2D input by adding batch dimension."""
+    config = RTCConfig(execution_horizon=10, max_guidance_weight=5.0)
+    processor = RTCProcessor(config)
+
+    # 2D input (no batch dimension)
+    x_t = torch.randn(10, 6)
+    prev_chunk = torch.randn(5, 6)
+
+    def mock_denoiser(x):
+        return x * 0.5
+
+    result = processor.denoise_step(
+        x_t=x_t,
+        prev_chunk_left_over=prev_chunk,
+        inference_delay=5,
+        time=torch.tensor(0.5),
+        original_denoise_step_partial=mock_denoiser,
+    )
+
+    # Output should be 2D (batch dimension removed)
+    assert result.ndim == 2
+    assert result.shape == (10, 6)
+
+
+def test_denoise_step_uses_custom_execution_horizon():
+    """Test denoise_step uses custom execution_horizon parameter."""
+    config = RTCConfig(execution_horizon=10)
+    processor = RTCProcessor(config)
+
+    x_t = torch.ones(1, 20, 1)
+    prev_chunk = torch.full((1, 15, 1), 0.1)
+
+    def mock_denoiser(x):
+        return x * 0.5
+
+    result = processor.denoise_step(
+        x_t=x_t,
+        prev_chunk_left_over=prev_chunk,
+        inference_delay=5,
+        time=torch.tensor(0.5),
+        original_denoise_step_partial=mock_denoiser,
+        execution_horizon=15,
+    )
+
+    expected_result = torch.tensor(
+        [
+            [
+                [1.8000],
+                [1.8000],
+                [1.8000],
+                [1.8000],
+                [1.8000],
+                [1.6818],
+                [1.5636],
+                [1.4455],
+                [1.3273],
+                [1.2091],
+                [1.0909],
+                [0.9727],
+                [0.8545],
+                [0.7364],
+                [0.6182],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+            ]
+        ]
+    )
+
+    assert torch.allclose(result, expected_result, atol=1e-4)
+
+
+def test_denoise_step_guidance_weight_at_time_zero():
+    """Test denoise_step handles time=0 (tau=1) without NaN/Inf."""
+    config = RTCConfig(max_guidance_weight=10.0)
+    processor = RTCProcessor(config)
+
+    x_t = torch.ones(1, 20, 1)
+    prev_chunk = torch.full((1, 20, 1), 0.1)
+
+    def mock_denoiser(x):
+        return x * 0.5
+
+    result = processor.denoise_step(
+        x_t=x_t,
+        prev_chunk_left_over=prev_chunk,
+        inference_delay=5,
+        time=torch.tensor(0.0),
+        original_denoise_step_partial=mock_denoiser,
+    )
+
+    expected_result = torch.tensor(
+        [
+            [
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+                [0.5000],
+            ]
+        ]
+    )
+
+    assert torch.allclose(result, expected_result, atol=1e-4)
+
+
+def test_denoise_step_with_real_denoise_step_partial():
+    """Test denoise_step with a real denoiser."""
+    config = RTCConfig(max_guidance_weight=10.0)
+    processor = RTCProcessor(config)
+
+    batch_size = 10
+    action_dim = 6
+    chunk_size = 20
+
+    x_t = torch.ones(batch_size, chunk_size, action_dim)
+    prev_chunk = torch.full((batch_size, chunk_size, action_dim), 0.1)
+
+    velocity_function = torch.nn.Sequential(
+        torch.nn.Linear(action_dim, 1000),
+        torch.nn.ReLU(),
+        torch.nn.Linear(1000, 256),
+        torch.nn.ReLU(),
+        torch.nn.Linear(256, action_dim),
+    )
+
+    def mock_denoiser(x):
+        return velocity_function(x)
+
+    result = processor.denoise_step(
+        x_t=x_t,
+        prev_chunk_left_over=prev_chunk,
+        inference_delay=5,
+        time=torch.tensor(0.5),
+        original_denoise_step_partial=mock_denoiser,
+    )
+
+    assert result.shape == (batch_size, chunk_size, action_dim)
+
+
+def test_denoise_step_guidance_weight_at_time_one():
+    """Test denoise_step handles time=1 (tau=0) with max_guidance_weight clamping."""
+    config = RTCConfig(max_guidance_weight=10.0)
+    processor = RTCProcessor(config)
+
+    x_t = torch.randn(1, 50, 6)
+    prev_chunk = torch.randn(1, 50, 6)
+
+    def mock_denoiser(x):
+        return torch.ones_like(x) * 0.5
+
+    # Time = 1 => tau = 0, c = (1-tau)/tau = 1/0 = inf (clamped to max_guidance_weight)
+    result = processor.denoise_step(
+        x_t=x_t,
+        prev_chunk_left_over=prev_chunk,
+        inference_delay=5,
+        time=torch.tensor(1.0),
+        original_denoise_step_partial=mock_denoiser,
+    )
+
+    # Should clamp to max_guidance_weight (no Inf)
+    assert not torch.any(torch.isinf(result))
+
+
+def test_denoise_step_tracks_debug_info(rtc_processor_debug_enabled):
+    """Test denoise_step tracks debug information when enabled."""
+    x_t = torch.randn(1, 50, 6)
+    prev_chunk = torch.randn(1, 50, 6)
+
+    def mock_denoiser(x):
+        return torch.ones_like(x) * 0.5
+
+    rtc_processor_debug_enabled.denoise_step(
+        x_t=x_t,
+        prev_chunk_left_over=prev_chunk,
+        inference_delay=5,
+        time=torch.tensor(0.5),
+        original_denoise_step_partial=mock_denoiser,
+    )
+
+    # Should have tracked one step
+    steps = rtc_processor_debug_enabled.get_all_debug_steps()
+    assert len(steps) == 1
+
+    # Check tracked values
+    step = steps[0]
+    assert step.time == 0.5
+    assert step.x1_t is not None
+    assert step.correction is not None
+    assert step.err is not None
+    assert step.weights is not None
+    assert step.guidance_weight is not None
+    assert step.inference_delay == 5
+
+
+def test_denoise_step_doesnt_track_without_debug(rtc_processor_debug_disabled):
+    """Test denoise_step doesn't track when debug disabled."""
+    x_t = torch.randn(1, 50, 6)
+    prev_chunk = torch.randn(1, 50, 6)
+
+    def mock_denoiser(x):
+        return torch.ones_like(x) * 0.5
+
+    rtc_processor_debug_disabled.denoise_step(
+        x_t=x_t,
+        prev_chunk_left_over=prev_chunk,
+        inference_delay=5,
+        time=torch.tensor(0.5),
+        original_denoise_step_partial=mock_denoiser,
+    )
+
+    # Should not track
+    steps = rtc_processor_debug_disabled.get_all_debug_steps()
+    assert len(steps) == 0
+
+
+# ====================== Integration Tests ======================
+
+
+def test_denoise_step_full_workflow():
+    """Test complete denoise_step workflow."""
+    config = RTCConfig(
+        enabled=True,
+        prefix_attention_schedule=RTCAttentionSchedule.LINEAR,
+        max_guidance_weight=5.0,
+        execution_horizon=10,
+        debug=True,
+    )
+    processor = RTCProcessor(config)
+
+    # Simulate two denoising steps
+    x_t1 = torch.randn(1, 50, 6)
+    x_t2 = torch.randn(1, 50, 6)
+
+    def mock_denoiser(x):
+        return torch.randn_like(x) * 0.1
+
+    # First step - no guidance
+    result1 = processor.denoise_step(
+        x_t=x_t1,
+        prev_chunk_left_over=None,
+        inference_delay=5,
+        time=torch.tensor(0.8),
+        original_denoise_step_partial=mock_denoiser,
+    )
+
+    # Second step - with guidance
+    result2 = processor.denoise_step(
+        x_t=x_t2,
+        prev_chunk_left_over=result1,
+        inference_delay=5,
+        time=torch.tensor(0.6),
+        original_denoise_step_partial=mock_denoiser,
+    )
+
+    # Both should complete successfully
+    assert result1.shape == (1, 50, 6)
+    assert result2.shape == (1, 50, 6)
+
+    # Should have tracked one step (second one, first had no prev_chunk)
+    steps = processor.get_all_debug_steps()
+    assert len(steps) == 1
+
+
+@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
+def test_denoise_step_with_cuda_tensors():
+    """Test denoise_step works with CUDA tensors."""
+    config = RTCConfig(execution_horizon=10, max_guidance_weight=5.0)
+    processor = RTCProcessor(config)
+
+    x_t = torch.randn(1, 50, 6, device="cuda")
+    prev_chunk = torch.randn(1, 50, 6, device="cuda")
+
+    def mock_denoiser(x):
+        return torch.ones_like(x) * 0.5
+
+    result = processor.denoise_step(
+        x_t=x_t,
+        prev_chunk_left_over=prev_chunk,
+        inference_delay=5,
+        time=torch.tensor(0.5),
+        original_denoise_step_partial=mock_denoiser,
+    )
+
+    # Result should be on CUDA
+    assert result.device.type == "cuda"
+    assert result.shape == x_t.shape
+
+
+def test_denoise_step_deterministic_with_same_inputs():
+    """Test denoise_step produces same output with same inputs."""
+    config = RTCConfig(execution_horizon=10, max_guidance_weight=5.0)
+    processor = RTCProcessor(config)
+
+    torch.manual_seed(42)
+    x_t = torch.randn(1, 50, 6)
+    prev_chunk = torch.randn(1, 50, 6)
+
+    def deterministic_denoiser(x):
+        return torch.ones_like(x) * 0.5
+
+    result1 = processor.denoise_step(
+        x_t=x_t.clone(),
+        prev_chunk_left_over=prev_chunk.clone(),
+        inference_delay=5,
+        time=torch.tensor(0.5),
+        original_denoise_step_partial=deterministic_denoiser,
+    )
+
+    result2 = processor.denoise_step(
+        x_t=x_t.clone(),
+        prev_chunk_left_over=prev_chunk.clone(),
+        inference_delay=5,
+        time=torch.tensor(0.5),
+        original_denoise_step_partial=deterministic_denoiser,
+    )
+
+    # Should produce identical results
+    assert torch.allclose(result1, result2)

tests/policies/smolvla/test_smolvla_rtc.py

@@ -0,0 +1,323 @@
+#!/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.
+
+"""Test SmolVLA policy with Real-Time Chunking (RTC) enabled during inference."""
+
+import pytest
+import torch
+
+from lerobot.configs.types import FeatureType, PolicyFeature, RTCAttentionSchedule  # noqa: E402
+from lerobot.policies.factory import make_pre_post_processors  # noqa: E402
+from lerobot.policies.rtc.configuration_rtc import RTCConfig  # noqa: E402
+from lerobot.policies.smolvla.configuration_smolvla import SmolVLAConfig  # noqa: F401
+from lerobot.utils.random_utils import set_seed  # noqa: E402
+from tests.utils import require_cuda, require_package  # noqa: E402
+
+
+@require_package("transformers")
+@require_cuda
+def test_smolvla_rtc_initialization():
+    from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy  # noqa: F401
+
+    """Test SmolVLA policy can initialize RTC processor."""
+    set_seed(42)
+
+    config = SmolVLAConfig(max_action_dim=7, chunk_size=50)
+
+    # Add RTC config
+    config.rtc_config = RTCConfig(
+        enabled=True,
+        execution_horizon=10,
+        max_guidance_weight=5.0,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        debug=False,
+    )
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Instantiate policy
+    policy = SmolVLAPolicy(config)
+
+    # Verify RTC processor is initialized
+    assert hasattr(policy, "rtc_processor")
+    assert policy.rtc_processor is not None
+    assert policy.rtc_processor.rtc_config.enabled is True
+
+    print("✓ SmolVLA RTC initialization: Test passed")
+
+
+@require_package("transformers")
+@require_cuda
+def test_smolvla_rtc_initialization_without_rtc_config():
+    from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy  # noqa: F401
+
+    """Test SmolVLA policy can initialize without RTC config."""
+    set_seed(42)
+
+    config = SmolVLAConfig(max_action_dim=7, chunk_size=50)
+
+    # Instantiate policy
+    policy = SmolVLAPolicy(config)
+
+    # Verify RTC processor is not initialized
+    assert hasattr(policy, "rtc_processor")
+    assert policy.rtc_processor is None
+    assert policy.model.rtc_processor is None
+    assert policy._rtc_enabled() is False
+
+    print("✓ SmolVLA RTC initialization without RTC config: Test passed")
+
+
+@require_package("transformers")
+@require_cuda
+@pytest.mark.skipif(True, reason="Requires pretrained SmolVLA model weights")
+def test_smolvla_rtc_inference_with_prev_chunk():
+    from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy  # noqa: F401
+
+    """Test SmolVLA policy inference with RTC and previous chunk."""
+    set_seed(42)
+
+    config = SmolVLAConfig(max_action_dim=7, chunk_size=50)
+
+    # Add RTC config
+    config.rtc_config = RTCConfig(
+        enabled=True,
+        execution_horizon=10,
+        max_guidance_weight=5.0,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        debug=False,
+    )
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Create dataset stats
+    dataset_stats = {
+        "observation.state": {"mean": torch.zeros(14), "std": torch.ones(14)},
+        "action": {"mean": torch.zeros(7), "std": torch.ones(7)},
+        "observation.images.base_0_rgb": {"mean": torch.zeros(3, 224, 224), "std": torch.ones(3, 224, 224)},
+    }
+
+    # Instantiate policy and create preprocessor
+    policy = SmolVLAPolicy(config)
+    policy.eval()
+    preprocessor, _ = make_pre_post_processors(
+        policy_cfg=config, pretrained_path=None, dataset_stats=dataset_stats
+    )
+
+    device = config.device
+
+    # Create dummy batch
+    batch = {
+        "observation.state": torch.randn(1, 14, dtype=torch.float32, device=device),
+        "observation.images.base_0_rgb": torch.rand(1, 3, 224, 224, dtype=torch.float32, device=device),
+        "task": ["Pick up the object"],
+    }
+    batch = preprocessor(batch)
+
+    # Create previous chunk
+    prev_chunk = torch.randn(1, 25, 7, dtype=torch.float32, device=device)
+
+    with torch.no_grad():
+        # Use same noise for fair comparison
+        noise = policy.model.sample_noise((1, config.chunk_size, 7), device)
+
+        # Test with RTC and previous chunk
+        actions_with_rtc = policy.predict_action_chunk(
+            batch,
+            noise=noise.clone(),
+            prev_chunk_left_over=prev_chunk,
+            inference_delay=4,
+            execution_horizon=10,
+        )
+
+        # Test without RTC for comparison
+        policy.config.rtc_config.enabled = False
+        actions_without_rtc = policy.predict_action_chunk(batch, noise=noise.clone())
+        policy.config.rtc_config.enabled = True
+
+    # Verify shapes
+    assert actions_with_rtc.shape == (1, config.chunk_size, 7)
+    assert actions_without_rtc.shape == (1, config.chunk_size, 7)
+
+    # With previous chunk, actions should be different (RTC guidance applied)
+    assert not torch.allclose(actions_with_rtc, actions_without_rtc, rtol=1e-3)
+
+    print("✓ SmolVLA RTC inference with prev_chunk: Test passed")
+
+
+@require_package("transformers")
+@require_cuda
+@pytest.mark.skipif(True, reason="Requires pretrained SmolVLA model weights")
+def test_smolvla_rtc_inference_without_prev_chunk():
+    from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy  # noqa: F401
+
+    """Test SmolVLA policy inference with RTC but no previous chunk (RTC should have no effect)."""
+    set_seed(42)
+
+    config = SmolVLAConfig(max_action_dim=7, chunk_size=50)
+
+    # Add RTC config
+    config.rtc_config = RTCConfig(
+        enabled=True,
+        execution_horizon=10,
+        max_guidance_weight=5.0,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        debug=False,
+    )
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Create dataset stats
+    dataset_stats = {
+        "observation.state": {"mean": torch.zeros(14), "std": torch.ones(14)},
+        "action": {"mean": torch.zeros(7), "std": torch.ones(7)},
+        "observation.images.base_0_rgb": {"mean": torch.zeros(3, 224, 224), "std": torch.ones(3, 224, 224)},
+    }
+
+    # Instantiate policy and create preprocessor
+    policy = SmolVLAPolicy(config)
+    policy.eval()
+    preprocessor, _ = make_pre_post_processors(
+        policy_cfg=config, pretrained_path=None, dataset_stats=dataset_stats
+    )
+
+    device = config.device
+
+    # Create dummy batch
+    batch = {
+        "observation.state": torch.randn(1, 14, dtype=torch.float32, device=device),
+        "observation.images.base_0_rgb": torch.rand(1, 3, 224, 224, dtype=torch.float32, device=device),
+        "task": ["Pick up the object"],
+    }
+    batch = preprocessor(batch)
+
+    with torch.no_grad():
+        # Use same noise for fair comparison
+        noise = policy.model.sample_noise((1, config.chunk_size, 7), device)
+
+        # Test with RTC enabled but no previous chunk
+        actions_with_rtc_no_prev = policy.predict_action_chunk(
+            batch,
+            noise=noise.clone(),
+            prev_chunk_left_over=None,
+        )
+
+        # Test without RTC
+        policy.config.rtc_config.enabled = False
+        actions_without_rtc = policy.predict_action_chunk(batch, noise=noise.clone())
+        policy.config.rtc_config.enabled = True
+
+    # Without previous chunk, RTC should have no effect
+    assert torch.allclose(actions_with_rtc_no_prev, actions_without_rtc, rtol=1e-5)
+
+    print("✓ SmolVLA RTC inference without prev_chunk: Test passed")
+
+
+@require_package("transformers")
+@require_cuda
+@pytest.mark.skipif(True, reason="Requires pretrained SmolVLA model weights")
+def test_smolvla_rtc_validation_rules():
+    from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy  # noqa: F401
+
+    """Test SmolVLA policy with RTC follows all three validation rules."""
+    set_seed(42)
+
+    config = SmolVLAConfig(max_action_dim=7, chunk_size=50)
+
+    # Add RTC config
+    config.rtc_config = RTCConfig(
+        enabled=True,
+        execution_horizon=10,
+        max_guidance_weight=5.0,
+        prefix_attention_schedule=RTCAttentionSchedule.EXP,
+        debug=False,
+    )
+
+    config.input_features = {
+        "observation.state": PolicyFeature(type=FeatureType.STATE, shape=(14,)),
+        "observation.images.base_0_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        "action": PolicyFeature(type=FeatureType.ACTION, shape=(7,)),
+    }
+
+    # Create dataset stats
+    dataset_stats = {
+        "observation.state": {"mean": torch.zeros(14), "std": torch.ones(14)},
+        "action": {"mean": torch.zeros(7), "std": torch.ones(7)},
+        "observation.images.base_0_rgb": {"mean": torch.zeros(3, 224, 224), "std": torch.ones(3, 224, 224)},
+    }
+
+    # Instantiate policy and create preprocessor
+    policy = SmolVLAPolicy(config)
+    policy.eval()
+    preprocessor, _ = make_pre_post_processors(
+        policy_cfg=config, pretrained_path=None, dataset_stats=dataset_stats
+    )
+
+    device = config.device
+
+    # Create dummy batch
+    batch = {
+        "observation.state": torch.randn(1, 14, dtype=torch.float32, device=device),
+        "observation.images.base_0_rgb": torch.rand(1, 3, 224, 224, dtype=torch.float32, device=device),
+        "task": ["Pick up the object"],
+    }
+    batch = preprocessor(batch)
+
+    # Create previous chunk
+    prev_chunk = torch.randn(1, 25, 7, dtype=torch.float32, device=device)
+
+    inference_delay = 4
+    execution_horizon = 10
+
+    with torch.no_grad():
+        # Use same noise for fair comparison
+        noise = policy.model.sample_noise((1, config.chunk_size, 7), device)
+
+        # Test with RTC
+        actions_with_rtc = policy.predict_action_chunk(
+            batch,
+            noise=noise.clone(),
+            prev_chunk_left_over=prev_chunk,
+            inference_delay=inference_delay,
+            execution_horizon=execution_horizon,
+        )
+
+        # Test without RTC
+        policy.config.rtc_config.enabled = False
+        actions_without_rtc = policy.predict_action_chunk(batch, noise=noise.clone())
+        policy.config.rtc_config.enabled = True
+
+    assert not torch.allclose(actions_with_rtc, actions_without_rtc, rtol=1e-3)

tests/training/test_visual_validation.py

@@ -0,0 +1,157 @@
+#!/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.
+
+"""
+Visual Feature Consistency Tests
+
+This module tests the `validate_visual_features_consistency` function,
+which ensures that visual features (camera observations) in a dataset/env
+match the expectations defined in a policy configuration.
+
+The purpose of this check is to prevent mismatches between what a policy expects
+(e.g., `observation.images.camera1`, `camera2`, `camera3`) and what a dataset or
+environment actually provides (e.g., `observation.images.top`, `side`, or fewer cameras).
+"""
+
+from pathlib import Path
+
+import numpy as np
+import pytest
+
+from lerobot.configs.default import DatasetConfig
+from lerobot.configs.policies import PreTrainedConfig
+from lerobot.configs.train import TrainPipelineConfig
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.policies.factory import make_policy_config
+from lerobot.scripts.lerobot_train import train
+from lerobot.utils.utils import auto_select_torch_device
+
+pytest.importorskip("transformers")
+
+DUMMY_REPO_ID = "dummy/repo"
+
+
+@pytest.fixture
+def temp_dir(tmp_path):
+    return tmp_path
+
+
+DUMMY_STATE_DIM = 6
+DUMMY_ACTION_DIM = 6
+IMAGE_SIZE = 8
+DEVICE = auto_select_torch_device()
+
+
+def make_dummy_dataset(camera_keys, tmp_path):
+    """Creates a minimal dummy dataset for testing rename_mapping logic."""
+    features = {
+        "action": {"dtype": "float32", "shape": (DUMMY_ACTION_DIM,), "names": None},
+        "observation.state": {"dtype": "float32", "shape": (DUMMY_STATE_DIM,), "names": None},
+    }
+    for cam in camera_keys:
+        features[f"observation.images.{cam}"] = {
+            "dtype": "image",
+            "shape": (IMAGE_SIZE, IMAGE_SIZE, 3),
+            "names": ["height", "width", "channel"],
+        }
+    dataset = LeRobotDataset.create(
+        repo_id=DUMMY_REPO_ID,
+        fps=30,
+        features=features,
+        root=tmp_path / "_dataset",
+    )
+    root = tmp_path / "_dataset"
+    for ep_idx in range(2):
+        for _ in range(3):
+            frame = {
+                "action": np.random.randn(DUMMY_ACTION_DIM).astype(np.float32),
+                "observation.state": np.random.randn(DUMMY_STATE_DIM).astype(np.float32),
+            }
+            for cam in camera_keys:
+                frame[f"observation.images.{cam}"] = np.random.randint(
+                    0, 255, size=(IMAGE_SIZE, IMAGE_SIZE, 3), dtype=np.uint8
+                )
+            frame["task"] = f"task_{ep_idx}"
+            dataset.add_frame(frame)
+        dataset.save_episode()
+
+    dataset.finalize()
+    return dataset, root
+
+
+def custom_validate(train_config: TrainPipelineConfig, policy_path: str, empty_cameras: int):
+    train_config.policy = PreTrainedConfig.from_pretrained(policy_path)
+    train_config.policy.pretrained_path = Path(policy_path)
+    # override empty_cameras and push_to_hub for testing
+    train_config.policy.empty_cameras = empty_cameras
+    train_config.policy.push_to_hub = False
+    if train_config.use_policy_training_preset:
+        train_config.optimizer = train_config.policy.get_optimizer_preset()
+        train_config.scheduler = train_config.policy.get_scheduler_preset()
+    return train_config
+
+
+@pytest.mark.skip(reason="Skipping this test as it results OOM")
+@pytest.mark.parametrize(
+    "camera_keys, empty_cameras, rename_map, expect_success",
+    [
+        # case 1: dataset has fewer cameras than policy (3 instead of 4), but we specify empty_cameras=1 for smolvla, pi0, pi05
+        (["camera1", "camera2", "camera3"], 1, {}, True),
+        # case 2: dataset has 2 cameras with different names, rename_mapping provided
+        (
+            ["top", "side"],
+            0,
+            {
+                "observation.images.top": "observation.images.camera1",
+                "observation.images.side": "observation.images.camera2",
+            },
+            True,
+        ),
+        # case 3: dataset has 2 cameras, policy expects 3, names do not match, no empty_cameras
+        (["top", "side"], 0, {}, False),
+        # TODO: case 4: dataset has 2 cameras, policy expects 3, no rename_map, no empty_cameras, should raise for smolvla
+        # (["camera1", "camera2"], 0, {}, False),
+    ],
+)
+def test_train_with_camera_mismatch(camera_keys, empty_cameras, rename_map, expect_success, tmp_path):
+    """Tests that training works or fails depending on camera/feature alignment."""
+
+    _dataset, root = make_dummy_dataset(camera_keys, tmp_path)
+    pretrained_path = "lerobot/smolvla_base"
+    dataset_config = DatasetConfig(repo_id=DUMMY_REPO_ID, root=root)
+    policy_config = make_policy_config(
+        "smolvla",
+        optimizer_lr=0.01,
+        push_to_hub=False,
+        pretrained_path=pretrained_path,
+        device=DEVICE,
+    )
+    policy_config.empty_cameras = empty_cameras
+    train_config = TrainPipelineConfig(
+        dataset=dataset_config,
+        policy=policy_config,
+        rename_map=rename_map,
+        output_dir=tmp_path / "_output",
+        steps=1,
+    )
+    train_config = custom_validate(train_config, policy_path=pretrained_path, empty_cameras=empty_cameras)
+    # HACK: disable the internal CLI validation step for tests, we did it with custom_validate
+    train_config.validate = lambda: None
+    if expect_success:
+        train(train_config)
+    else:
+        with pytest.raises(ValueError):
+            train(train_config)