add for rest of policies

Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>

src/lerobot/async_inference/robot_client.py

@@ -49,23 +49,18 @@ import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
-from lerobot.robots import (  # noqa: F401
-    Robot,
-    RobotConfig,
-    bi_so_follower,
-    koch_follower,
+from lerobot.robots import (
+    RobotConfig,  # noqa: F401
     make_robot_from_config,
-    omx_follower,
-    so_follower,
 )
 from lerobot.transport import (
     services_pb2,  # type: ignore
     services_pb2_grpc,  # type: ignore
 )
 from lerobot.transport.utils import grpc_channel_options, send_bytes_in_chunks
+from lerobot.utils.import_utils import register_third_party_plugins
 
 from .configs import RobotClientConfig
-from .constants import SUPPORTED_ROBOTS
 from .helpers import (
     Action,
     FPSTracker,
@@ -485,8 +480,9 @@ class RobotClient:
 def async_client(cfg: RobotClientConfig):
     logging.info(pformat(asdict(cfg)))
 
-    if cfg.robot.type not in SUPPORTED_ROBOTS:
-        raise ValueError(f"Robot {cfg.robot.type} not yet supported!")
+    # TODO: Assert if checking robot support is still needed with the plugin system
+    # if cfg.robot.type not in SUPPORTED_ROBOTS:
+    #     raise ValueError(f"Robot {cfg.robot.type} not yet supported!")
 
     client = RobotClient(cfg)
 
@@ -512,4 +508,5 @@ def async_client(cfg: RobotClientConfig):
 
 
 if __name__ == "__main__":
+    register_third_party_plugins()
     async_client()  # run the client

src/lerobot/datasets/lerobot_dataset.py

@@ -1771,11 +1771,12 @@ class MultiLeRobotDataset(torch.utils.data.Dataset):
             )
         for repo_id, ds in zip(self.repo_ids, self._datasets, strict=True):
             extra_keys = set(ds.features).difference(intersection_features)
-            logging.warning(
-                f"keys {extra_keys} of {repo_id} were disabled as they are not contained in all the "
-                "other datasets."
-            )
-            self.disabled_features.update(extra_keys)
+            if extra_keys:
+                logging.warning(
+                    f"keys {extra_keys} of {repo_id} were disabled as they are not contained in all the "
+                    "other datasets."
+                )
+                self.disabled_features.update(extra_keys)
 
         self.image_transforms = image_transforms
         self.delta_timestamps = delta_timestamps

src/lerobot/policies/pi0/modeling_pi0.py

@@ -995,7 +995,14 @@ class PI0Policy(PreTrainedPolicy):
 
         # Initialize model without loading weights
         # Check if dataset_stats were provided in kwargs
-        model = cls(config, **kwargs)
+        if _transformers_available:
+            from transformers.modeling_utils import no_init_weights
+
+            with no_init_weights():
+                model = cls(config, **kwargs)
+            model.model.paligemma_with_expert.paligemma.tie_weights()
+        else:
+            model = cls(config, **kwargs)
 
         # Now manually load and remap the state dict
         try:

src/lerobot/policies/pi05/modeling_pi05.py

@@ -967,7 +967,14 @@ class PI05Policy(PreTrainedPolicy):
 
         # Initialize model without loading weights
         # Check if dataset_stats were provided in kwargs
-        model = cls(config, **kwargs)
+        if _transformers_available:
+            from transformers.modeling_utils import no_init_weights
+
+            with no_init_weights():
+                model = cls(config, **kwargs)
+            model.model.paligemma_with_expert.paligemma.tie_weights()
+        else:
+            model = cls(config, **kwargs)
 
         # Now manually load and remap the state dict
         try:

src/lerobot/policies/pi0_fast/modeling_pi0_fast.py

@@ -895,7 +895,14 @@ class PI0FastPolicy(PreTrainedPolicy):
 
         # Initialize model without loading weights
         # Check if dataset_stats were provided in kwargs
-        model = cls(config, **kwargs)
+        if _transformers_available:
+            from transformers.modeling_utils import no_init_weights
+
+            with no_init_weights():
+                model = cls(config, **kwargs)
+            model.model.paligemma_with_expert.paligemma.tie_weights()
+        else:
+            model = cls(config, **kwargs)
 
         # Now manually load and remap the state dict
         try:

src/lerobot/policies/smolvla/smolvlm_with_expert.py

@@ -77,7 +77,6 @@ class SmolVLMWithExpertModel(nn.Module):
             print(f"Loading  {model_id} weights ...")
             self.vlm = AutoModelForImageTextToText.from_pretrained(
                 model_id,
-                device_map=device,
                 torch_dtype="bfloat16",
                 low_cpu_mem_usage=True,
             )

src/lerobot/scripts/lerobot_calibrate.py

@@ -56,6 +56,7 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     omx_leader,
     openarm_leader,
+    openarm_mini,
     so_leader,
     unitree_g1,
 )

src/lerobot/scripts/lerobot_find_joint_limits.py

@@ -61,6 +61,7 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     omx_leader,
     openarm_leader,
+    openarm_mini,
     so_leader,
 )
 from lerobot.utils.robot_utils import precise_sleep

src/lerobot/scripts/lerobot_record.py

@@ -125,6 +125,7 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     omx_leader,
     openarm_leader,
+    openarm_mini,
     reachy2_teleoperator,
     so_leader,
     unitree_g1,
@@ -333,6 +334,7 @@ def record_loop(
         preprocessor.reset()
         postprocessor.reset()
 
+    no_action_count = 0
     timestamp = 0
     start_episode_t = time.perf_counter()
     while timestamp < control_time_s:
@@ -380,11 +382,13 @@ def record_loop(
             act = {**arm_action, **base_action} if len(base_action) > 0 else arm_action
             act_processed_teleop = teleop_action_processor((act, obs))
         else:
-            logging.info(
-                "No policy or teleoperator provided, skipping action generation."
-                "This is likely to happen when resetting the environment without a teleop device."
-                "The robot won't be at its rest position at the start of the next episode."
-            )
+            no_action_count += 1
+            if no_action_count == 1 or no_action_count % 10 == 0:
+                logging.warning(
+                    "No policy or teleoperator provided, skipping action generation. "
+                    "This is likely to happen when resetting the environment without a teleop device. "
+                    "The robot won't be at its rest position at the start of the next episode."
+                )
             continue
 
         # Applies a pipeline to the action, default is IdentityProcessor

src/lerobot/scripts/lerobot_teleoperate.py

@@ -94,6 +94,7 @@ from lerobot.teleoperators import (  # noqa: F401
     make_teleoperator_from_config,
     omx_leader,
     openarm_leader,
+    openarm_mini,
     reachy2_teleoperator,
     so_leader,
     unitree_g1,