perf(pi052): gate per-step .item() CUDA syncs to logging steps

Keep PI052Policy.forward's loss components as detached tensors and only
materialize loss/grad_norm/update_s to python floats on logging steps
(1-in-log_freq) via a new update_policy(log_metrics=...) gate. Also dedupe
the predict_actions .any().item() control-flow sync (2 -> 1 per step).

Keeps the training step fully async on non-logging steps so the next batch's
dataloading/enqueue overlaps GPU compute instead of stalling on a per-step
CUDA sync.

Co-authored-by: Cursor <cursoragent@cursor.com>

.dockerignore

@@ -22,10 +22,6 @@ outputs
 rl
 media
 
-# Local virtualenvs (the image provides its own)
-.venv
-venv
-
 
 # Logging
 logs

.github/workflows/benchmark_tests.yml

@@ -167,9 +167,9 @@ jobs:
 
       # ── LIBERO TRAIN+EVAL SMOKE ──────────────────────────────────────────────
       # Train SmolVLA for 1 step (batch_size=1, dataset episode 0 only) then
-      # immediately runs eval inside the training loop (env_eval_freq=1, 1 episode).
+      # immediately runs eval inside the training loop (eval_freq=1, 1 episode).
       # Tests the full train→eval-within-training pipeline end-to-end.
-      - name: Run Libero train+eval smoke (1 step, env_eval_freq=1)
+      - name: Run Libero train+eval smoke (1 step, eval_freq=1)
         if: env.HF_USER_TOKEN != ''
         run: |
           docker run --name libero-train-smoke --gpus all \
@@ -196,7 +196,7 @@ jobs:
                 --output_dir=/tmp/train-smoke \
                 --steps=1 \
                 --batch_size=1 \
-                --env_eval_freq=1 \
+                --eval_freq=1 \
                 --eval.n_episodes=1 \
                 --eval.batch_size=1 \
                 --eval.use_async_envs=false \

AGENT_GUIDE.md

@@ -138,7 +138,7 @@ lerobot-replay --robot.type=so101_follower --robot.port=<FOLLOWER_PORT> --robot.
   --dataset.repo_id=${HF_USER}/my_task --dataset.episode=0
 ```
 
-**4.9 Train** (default: ACT — fastest, lowest memory). Apple silicon: `--policy.device=mps`. No local GPU? Add `--job.target=<flavor>` (e.g. `a10g-small`, list them with `hf jobs hardware`) to run on Hugging Face Jobs instead. See §6/§7 for policy and duration.
+**4.9 Train** (default: ACT — fastest, lowest memory). Apple silicon: `--policy.device=mps`. See §6/§7 for policy and duration.
 
 ```bash
 lerobot-train \

Makefile

@@ -58,7 +58,7 @@ test-act-ete-train:
 		--dataset.episodes="[0]" \
 		--batch_size=2 \
 		--steps=4 \
-		--env_eval_freq=2 \
+		--eval_freq=2 \
 		--eval.n_episodes=1 \
 		--eval.batch_size=1 \
 		--save_freq=2 \
@@ -96,7 +96,7 @@ test-diffusion-ete-train:
 		--dataset.episodes="[0]" \
 		--batch_size=2 \
 		--steps=2 \
-		--env_eval_freq=2 \
+		--eval_freq=2 \
 		--eval.n_episodes=1 \
 		--eval.batch_size=1 \
 		--save_checkpoint=true \
@@ -126,7 +126,7 @@ test-tdmpc-ete-train:
 		--dataset.episodes="[0]" \
 		--batch_size=2 \
 		--steps=2 \
-		--env_eval_freq=2 \
+		--eval_freq=2 \
 		--eval.n_episodes=1 \
 		--eval.batch_size=1 \
 		--save_checkpoint=true \
@@ -161,7 +161,7 @@ test-smolvla-ete-train:
 		--dataset.episodes="[0]" \
 		--batch_size=2 \
 		--steps=4 \
-		--env_eval_freq=2 \
+		--eval_freq=2 \
 		--eval.n_episodes=1 \
 		--eval.batch_size=1 \
 		--save_freq=2 \

README.md

@@ -87,7 +87,7 @@ Learn more about it in the [LeRobotDataset Documentation](https://huggingface.co
 
 ## SoTA Models
 
-LeRobot implements state-of-the-art policies in pure PyTorch, covering Imitation Learning, Reinforcement Learning, Vision-Language-Action (VLA) models, World Models, and Reward Models, with more coming soon. It also provides you with the tools to instrument and inspect your training process.
+LeRobot implements state-of-the-art policies in pure PyTorch, covering Imitation Learning, Reinforcement Learning, and Vision-Language-Action (VLA) models, with more coming soon. It also provides you with the tools to instrument and inspect your training process.
 
 <p align="center">
   <img alt="Gr00t Architecture" src="./media/readme/VLA_architecture.jpg" width="640px">
@@ -97,17 +97,17 @@ Training a policy is as simple as running a script configuration:
 
 ```bash
 lerobot-train \
-  --policy.type=act \
+  --policy=act \
   --dataset.repo_id=lerobot/aloha_mobile_cabinet
 ```
 
-| Category                   | Models                                                                                                                                                                                                                                                                                                                                                                                     |
-| -------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| **Imitation Learning**     | [ACT](./docs/source/policy_act_README.md), [Diffusion](./docs/source/policy_diffusion_README.md), [VQ-BeT](./docs/source/policy_vqbet_README.md), [Multitask DiT Policy](./docs/source/policy_multi_task_dit_README.md)                                                                                                                                                                    |
-| **Reinforcement Learning** | [HIL-SERL](./docs/source/hilserl.mdx), [TDMPC](./docs/source/policy_tdmpc_README.md) & QC-FQL (coming soon)                                                                                                                                                                                                                                                                                |
-| **VLAs Models**            | [Pi0](./docs/source/pi0.mdx), [Pi0Fast](./docs/source/pi0fast.mdx), [Pi0.5](./docs/source/pi05.mdx), [GR00T N1.7](./docs/source/policy_groot_README.md), [SmolVLA](./docs/source/policy_smolvla_README.md), [XVLA](./docs/source/xvla.mdx), [EO-1](./docs/source/eo1.mdx), [MolmoAct2](./docs/source/molmoact2.mdx), [WALL-OSS](./docs/source/walloss.mdx), [EVO1](./docs/source/evo1.mdx) |
-| **World Models**           | [VLA-JEPA](./docs/source/vla_jepa.mdx), [LingBot-VA](./docs/source/lingbot_va.mdx), [FastWAM](./docs/source/fastwam.mdx)                                                                                                                                                                                                                                                                   |
-| **Reward Models**          | [SARM](./docs/source/sarm.mdx), [TOPReward](./docs/source/topreward.mdx), [Robometer](./docs/source/robometer.mdx)                                                                                                                                                                                                                                                                         |
+| Category                   | Models                                                                                                                                                                                                                                                                                                                                                     |
+| -------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| **Imitation Learning**     | [ACT](./docs/source/policy_act_README.md), [Diffusion](./docs/source/policy_diffusion_README.md), [VQ-BeT](./docs/source/policy_vqbet_README.md), [Multitask DiT Policy](./docs/source/policy_multi_task_dit_README.md)                                                                                                                                    |
+| **Reinforcement Learning** | [HIL-SERL](./docs/source/hilserl.mdx), [TDMPC](./docs/source/policy_tdmpc_README.md) & QC-FQL (coming soon)                                                                                                                                                                                                                                                |
+| **VLAs Models**            | [Pi0](./docs/source/pi0.mdx), [Pi0Fast](./docs/source/pi0fast.mdx), [Pi0.5](./docs/source/pi05.mdx), [GR00T N1.5](./docs/source/policy_groot_README.md), [SmolVLA](./docs/source/policy_smolvla_README.md), [XVLA](./docs/source/xvla.mdx), [EO-1](./docs/source/eo1.mdx), [MolmoAct2](./docs/source/molmoact2.mdx), [WALL-OSS](./docs/source/walloss.mdx) |
+| **World Models**           | [VLA-JEPA](./docs/source/vla_jepa.mdx) (more coming soon)                                                                                                                                                                                                                                                                                                  |
+| **Reward Models**          | [SARM](./docs/source/sarm.mdx), [TOPReward](./docs/source/topreward.mdx), [Robometer](./docs/source/robometer.mdx)                                                                                                                                                                                                                                         |
 
 Similarly to the hardware, you can easily implement your own policy & leverage LeRobot's data collection, training, and visualization tools, and share your model to the HF Hub
 

docs/source/_toctree.yml

@@ -69,14 +69,8 @@
     title: VLA-JEPA
   - local: eo1
     title: EO-1
-  - local: lingbot_va
-    title: LingBot-VA
-  - local: fastwam
-    title: FastWAM
-  - local: evo1
-    title: EVO1
   - local: groot
-    title: NVIDIA GR00T
+    title: NVIDIA GR00T N1.5
   - local: xvla
     title: X-VLA
   - local: multi_task_dit

docs/source/bring_your_own_policies.mdx

@@ -295,12 +295,11 @@ The file names are load-bearing: the factory does lazy imports by name, and the
 
 ### Wiring
 
-Four places need to know about your policy. All by name.
+Three places need to know about your policy. All by name.
 
 1. **`policies/__init__.py`** — re-export `MyPolicyConfig` and add it to `__all__`. **Don't** re-export the modeling class; it loads lazily through the factory (so `import lerobot` stays fast).
 2. **`factory.py:get_policy_class`** — add a branch returning `MyPolicy` from a lazy import.
 3. **`factory.py:make_policy_config`** and **`factory.py:make_pre_post_processors`** — same idea, two more branches.
-4. **`templates/lerobot_modelcard_template.md` and the root `README.md`** — the template is what `push_model_to_hub` renders into the model card of every checkpoint trained with your policy: add a one-line description of your policy in the `model_name` branches, map it in `policy_docs` so cards link to your MDX guide, and optionally add an architecture image to `diagrams`. Then add your policy to the models table in the root `README.md`, under the right category, linking to your doc page.
 
 Mirror an existing policy that's structurally similar to yours; the diff is small.
 
@@ -372,8 +371,6 @@ The general expectations are in [`CONTRIBUTING.md`](https://github.com/huggingfa
 - [ ] Optional deps live behind a `[project.optional-dependencies]` extra and the `TYPE_CHECKING + require_package` guard.
 - [ ] `tests/policies/` updated; backward-compat artifact committed & policy-specific tests.
 - [ ] `src/lerobot/policies/<name>/README.md` symlinked into `docs/source/policy_<name>_README.md`; user-facing `docs/source/<name>.mdx` written and added to `_toctree.yml`.
-- [ ] `templates/lerobot_modelcard_template.md` has a description entry and a `policy_docs` link for your policy.
-- [ ] The models table in the root `README.md` lists your policy in the right category, linking to your doc page.
 - [ ] At least one reproducible benchmark eval in the policy MDX with a published checkpoint (sim benchmark, or real-robot dataset + checkpoint).
 
 The fastest way to get a clean PR is to copy the directory of the existing policy closest to yours, rename, and replace contents method by method. Don't wait until everything is polished — open a draft PR early and iterate with us; reviewers would much rather give feedback on a half-finished branch than a fully-merged one.

docs/source/cameras.mdx

@@ -157,14 +157,6 @@ finally:
 </hfoption>
 </hfoptions>
 
-### Working with depth
-
-The Intel RealSense and Reachy 2 cameras can capture both color and depth in lockstep. Calling `read()` returns the **color** frame as `(H, W, 3)` `uint8`. Calling `read_depth()` returns the **depth map** as `(H, W, 1)` `uint16`, where each pixel value is the distance from the sensor expressed in **millimetres**. A pixel value of `0` typically means "no measurement available" (out-of-range, occluded, or low-confidence).
-
-During recording, the control loop peeks the freshest buffered frames non-blockingly via `read_latest()` (color) and `read_latest_depth()` (depth), adding the depth map as a sibling feature (e.g. `front_depth` next to `front`).
-
-For how depth streams are stored and encoded when recording a dataset, see the [Depth streams](./video_encoding_parameters#depth-streams) section of the video encoding guide.
-
 ## Use your phone's camera
 
 <hfoptions id="use phone">

docs/source/cheat-sheet.mdx

@@ -89,36 +89,6 @@ Control the data recording flow using keyboard shortcuts:
 - Press **Left Arrow (`←`)**: Delete current episode and retry.
 - Press **Escape (`ESC`)**: Stop, encode videos, and upload.
 
-### Recording depth
-
-Intel RealSense cameras (`type: intelrealsense`) record a depth stream when you set `use_depth: true`. Depth is quantized to 12-bit codes and stored as its own video.
-
-```bash
-lerobot-record \
-    ... \
-    --robot.cameras="{ head: {type: intelrealsense, serial_number_or_name: \"0123456789\", width: 640, height: 480, fps: 30, use_depth: true} }" \
-    --dataset.repo_id=${HF_USER}/so101_depth_test \
-    --dataset.single_task="put the red brick in a bowl" \
-    --dataset.depth_encoder.depth_min=0.01 \
-    --dataset.depth_encoder.depth_max=10.0 \
-    --dataset.depth_encoder.shift=0.0 \
-    --dataset.depth_encoder.use_log=true
-```
-
-### Video encoding parameters
-
-RGB and depth streams are encoded independently via the `--dataset.rgb_encoder.*` and `--dataset.depth_encoder.*` keys.
-
-```bash
-lerobot-record \
-    ... \
-    --dataset.rgb_encoder.vcodec=h264 \
-    --dataset.rgb_encoder.pix_fmt=yuv420p \
-    --dataset.rgb_encoder.crf=23 \
-    --dataset.depth_encoder.vcodec=hevc \
-    --dataset.depth_encoder.extra_options='{"x265-params": "lossless=1"}'
-```
-
 ### Training
 
 Depending on your hardware training the policy might take a few hours. That's how you train simple `ACT` policy:
@@ -150,14 +120,6 @@ lerobot-train \
     --steps=20000
 ```
 
-No local GPU? Add `--job.target=<flavor>` (e.g. `a10g-small`) to either command and `lerobot-train` runs it on [Hugging Face Jobs](https://huggingface.co/docs/hub/jobs) instead — it uploads a local-only dataset for you and pushes the trained model. List flavors with `hf jobs hardware`.
-
-To resume, point `--config_path` at a checkpoint and add `--resume=true`. It accepts a local path or a Hub repo id (the latest checkpoint is fetched), and works locally or on a job by adding `--job.target=<flavor>`:
-
-```bash
-lerobot-train --config_path=${HF_USER}/policy_test --resume=true --job.target=a10g-small
-```
-
 ### Inference
 
 Inference means running the trained policy/model on a robot. For that we use `lerobot-rollout`. You will need to provide a path to your policy. It can be a local path or a path to Hugging Face for example "lerobot/folding_latest". Your cameras configuration needs to match what was used when collecting the dataset. Duration is in seconds if unspecified, it will run forever.

docs/source/earthrover_mini_plus.mdx

@@ -194,7 +194,7 @@ lerobot-record \
     --dataset.single_task="Navigate around obstacles" \
     --dataset.streaming_encoding=true \
     --dataset.encoder_threads=2 \
-    # --dataset.rgb_encoder.vcodec=auto \
+    # --dataset.camera_encoder.vcodec=auto \
     --display_data=true
 ```
 

docs/source/envhub_isaaclab_arena.mdx

@@ -193,7 +193,7 @@ To learn more about training policies with LeRobot, please refer to the training
 
 - [SmolVLA](./smolvla)
 - [Pi0.5](./pi05)
-- [GR00T N1.7](./groot)
+- [GR00T N1.5](./groot)
 
 Sample IsaacLab Arena datasets are available on HuggingFace Hub for experimentation:
 

docs/source/evo1.mdx

@@ -1,191 +0,0 @@
-# EVO1
-
-EVO1 is a Vision-Language-Action policy for robot control built around an InternVL3 backbone and a continuous flow-matching action head. This LeRobot integration exposes EVO1 as a standard policy type so it can be trained and evaluated with the usual LeRobot dataset, checkpoint, and processor APIs.
-
-## Model Overview
-
-The policy embeds one or more camera images and the language task prompt with InternVL3, pads robot state/action vectors to fixed maximum dimensions, and predicts future action chunks with a flow-matching action head. During inference, the policy samples an action chunk and returns `n_action_steps` actions from that chunk before sampling again.
-
-### What the LeRobot Integration Covers
-
-- Standard `policy.type=evo1` configuration through LeRobot
-- InternVL3 image/text embedding with optional FlashAttention fallback
-- Stage-based finetuning controls for action-head-only and VLM finetuning runs
-- Continuous flow-matching action prediction
-- Checkpoint save/load through LeRobot policy APIs
-- Training with `lerobot-train` and evaluation with standard policy inference APIs
-
-The broader EVO1 project may include additional training scripts and dataset tooling. This page focuses on the LeRobot robot-control policy path.
-
-## Installation Requirements
-
-1. Install LeRobot by following the [Installation Guide](./installation).
-2. Install EVO1 dependencies:
-
-   ```bash
-   pip install -e ".[evo1]"
-   ```
-
-   For LIBERO evaluation, install the LIBERO extra as well:
-
-   ```bash
-   pip install -e ".[evo1,libero]"
-   ```
-
-3. Install a `flash-attn` wheel only if it is compatible with your Python, PyTorch, CUDA, and GPU stack. EVO1 falls back to standard attention when `flash_attn` is not available.
-
-EVO1 uses the native Hugging Face `transformers` InternVL implementation, so `policy.vlm_model_name` must point to a natively converted checkpoint such as `OpenGVLab/InternVL3-1B-hf` (note the `-hf` suffix). The first run may download the configured VLM checkpoint unless `policy.vlm_model_name` points to a local model directory.
-
-## Data Requirements
-
-EVO1 expects a LeRobot dataset with:
-
-- One to `policy.max_views` visual observations, for example `observation.images.image`
-- `observation.state`
-- `action`
-- A language task instruction in the dataset `task` field, or another field configured with `policy.task_field`
-
-State and action vectors are padded to `policy.max_state_dim` and `policy.max_action_dim`. Predictions are cropped back to the dataset action dimension before being returned.
-
-## Usage
-
-To use EVO1 in a LeRobot configuration, specify:
-
-```python
-policy.type=evo1
-```
-
-By default, a new EVO1 policy initializes its VLM from:
-
-```python
-policy.vlm_model_name=OpenGVLab/InternVL3-1B-hf
-```
-
-Once a LeRobot-format EVO1 checkpoint is available, load it with:
-
-```python
-policy.path=your-org/your-evo1-checkpoint
-```
-
-## Training
-
-### Stage 1
-
-Stage 1 freezes the VLM and trains the action head:
-
-```bash
-lerobot-train \
-  --dataset.repo_id=your_org/your_dataset \
-  --policy.type=evo1 \
-  --policy.training_stage=stage1 \
-  --policy.vlm_model_name=OpenGVLab/InternVL3-1B-hf \
-  --policy.device=cuda \
-  --policy.chunk_size=50 \
-  --policy.n_action_steps=50 \
-  --policy.max_state_dim=24 \
-  --policy.max_action_dim=24 \
-  --policy.optimizer_lr=1e-5 \
-  --batch_size=4 \
-  --steps=5000 \
-  --output_dir=./outputs/evo1_stage1
-```
-
-### Stage 2
-
-Stage 2 finetunes the VLM branches and action head. A common workflow starts from a Stage 1 checkpoint:
-
-```bash
-lerobot-train \
-  --dataset.repo_id=your_org/your_dataset \
-  --policy.path=./outputs/evo1_stage1/checkpoints/005000/pretrained_model \
-  --policy.training_stage=stage2 \
-  --policy.vlm_model_name=OpenGVLab/InternVL3-1B-hf \
-  --policy.device=cuda \
-  --policy.chunk_size=50 \
-  --policy.n_action_steps=50 \
-  --policy.max_state_dim=24 \
-  --policy.max_action_dim=24 \
-  --policy.optimizer_lr=1e-5 \
-  --batch_size=4 \
-  --steps=80000 \
-  --output_dir=./outputs/evo1_stage2
-```
-
-By default, `policy.training_stage` reapplies the finetuning defaults for that stage. This is important when
-starting Stage 2 from a Stage 1 checkpoint, because the Stage 1 checkpoint config stores the VLM finetuning
-flags as disabled. These stage defaults take precedence over saved or manually supplied `policy.finetune_*`
-flags unless `policy.apply_training_stage_defaults=false`, so set that flag only when manually controlling
-every finetuning flag.
-
-### Key Training Parameters
-
-| Parameter                                     | Default                     | Description                                                       |
-| --------------------------------------------- | --------------------------- | ----------------------------------------------------------------- |
-| `policy.vlm_model_name`                       | `OpenGVLab/InternVL3-1B-hf` | Natively converted InternVL3 checkpoint or local model directory  |
-| `policy.training_stage`                       | `stage1`                    | `stage1` trains the action head; `stage2` finetunes VLM branches  |
-| `policy.apply_training_stage_defaults`        | `true`                      | Reapplies stage finetuning defaults after loading a checkpoint    |
-| `policy.vlm_num_layers`                       | `14`                        | Number of InternVL3 language layers kept for the policy           |
-| `policy.vlm_dtype`                            | `bfloat16`                  | Requested VLM dtype                                               |
-| `policy.use_flash_attn`                       | `true`                      | Requests FlashAttention when installed; otherwise falls back      |
-| `policy.enable_gradient_checkpointing`        | `true`                      | Enables checkpointing on supported InternVL3 modules              |
-| `policy.gradient_checkpointing_use_reentrant` | `false`                     | Reentrant setting passed to gradient checkpointing when supported |
-| `policy.chunk_size`                           | `50`                        | Number of future actions predicted per chunk                      |
-| `policy.n_action_steps`                       | `50`                        | Number of actions consumed from a sampled chunk                   |
-| `policy.max_state_dim`                        | `24`                        | State padding dimension                                           |
-| `policy.max_action_dim`                       | `24`                        | Action padding dimension                                          |
-| `policy.postprocess_action_dim`               | `null`                      | Optional action dimension returned after EVO1 postprocessing      |
-| `policy.binarize_gripper`                     | `false`                     | Binarizes the postprocessed gripper channel for LIBERO-style eval |
-| `policy.task_field`                           | `task`                      | Batch field used as the language prompt                           |
-
-## Inference
-
-Try it out with a trained EVO1 checkpoint:
-
-```bash
-lerobot-rollout \
-  --policy.path=your-org/your-evo1-checkpoint \
-  --inference.type=rtc \ # optional
-  ...
-```
-
-## Results
-
-### LIBERO Evaluation
-
-> [!NOTE]
-> Benchmark results for a `lerobot`-hosted LIBERO checkpoint trained with this implementation
-> will be added once training completes.
-
-The official EVO1 LIBERO rollout protocol uses the raw LIBERO camera feature names
-(`observation.images.agentview_image` and `observation.images.robot0_eye_in_hand_image`), replans every
-14 actions, and binarizes the gripper command before stepping the simulator. The EVO1 policy postprocessor
-can crop the padded 24D action back to the 7D LIBERO action space and apply that gripper binarization. To
-evaluate a LIBERO checkpoint under the same one-episode-per-task setting, keep the raw camera names instead
-of the default `image`/`image2` mapping and set the LIBERO action postprocessing flags:
-
-```bash
-lerobot-eval \
-  --policy.path=your-org/your-evo1-libero-checkpoint \
-  --policy.vlm_model_name=OpenGVLab/InternVL3-1B-hf \
-  --policy.device=cuda \
-  --policy.use_flash_attn=true \
-  --policy.n_action_steps=14 \
-  --policy.postprocess_action_dim=7 \
-  --policy.binarize_gripper=true \
-  --env.type=libero \
-  --env.task=libero_object \
-  --env.camera_name_mapping="{agentview_image: agentview_image, robot0_eye_in_hand_image: robot0_eye_in_hand_image}" \
-  --env.observation_height=448 \
-  --env.observation_width=448 \
-  --eval.batch_size=1 \
-  --eval.n_episodes=1
-```
-
-## References
-
-- [EVO1 repository](https://github.com/MINT-SJTU/Evo-1)
-- [InternVL3-1B-hf](https://huggingface.co/OpenGVLab/InternVL3-1B-hf)
-
-## License
-
-This LeRobot integration follows the Apache 2.0 License used by LeRobot. Check the upstream EVO1 and InternVL3 model pages for the licenses of released checkpoints and data.

docs/source/fastwam.mdx

@@ -1,167 +0,0 @@
-# FastWAM
-
-FastWAM is a World Action Model policy for robot control. The LeRobot integration exposes FastWAM through the standard policy API so it can be configured with `policy.type=fastwam`, trained with `lerobot-train`, and loaded through the LeRobot pretrained policy interface.
-
-## Model Overview
-
-FastWAM keeps video modeling during training, but uses direct action prediction at inference time instead of iteratively generating future observations. This LeRobot policy wraps the FastWAM action model, adapts LeRobot batches to FastWAM training samples, and provides the standard processor pipeline for normalization and action postprocessing.
-
-The implementation initializes the visual world-model components from `Wan-AI/Wan2.2-TI2V-5B` by default and predicts action chunks with shape `[batch, action_horizon, action_dim]`.
-
-### What the LeRobot Integration Covers
-
-- Standard `policy.type=fastwam` configuration through LeRobot
-- Image, state, action, and language-task batch adaptation
-- Action chunk inference through `select_action` and `predict_action_chunk`
-- Checkpoint save/load through the LeRobot policy APIs
-- Configurable LIBERO gripper action postprocessing
-
-## Installation Requirements
-
-Install LeRobot from source, then install FastWAM dependencies:
-
-```bash
-pip install -e ".[fastwam]"
-```
-
-This installs the FastWAM policy extra from `pyproject.toml`: `transformers`,
-`diffusers`, `ftfy`, and `regex`, plus LeRobot's base dependencies.
-
-For LIBERO evaluation, install the benchmark dependencies too:
-
-```bash
-pip install -e ".[fastwam,libero]"
-```
-
-This installs both extras. In addition to the FastWAM dependencies above, the
-`libero` extra installs LeRobot dataset dependencies, `hf-libero` on Linux, and
-`scipy`.
-
-FastWAM uses the Wan2.2 TI2V backbone. The default model id is:
-
-```python
-policy.model_id=Wan-AI/Wan2.2-TI2V-5B
-```
-
-## Data Requirements
-
-FastWAM expects a LeRobot dataset with:
-
-- one or more visual observations whose widths concatenate to `policy.image_size[1]`
-- `observation.state` when `policy.proprio_dim` is not `None`
-- `action`
-- a language task instruction through the dataset task field, or precomputed `context` and `context_mask` tensors
-
-The default visual setup is one image feature named `observation.images.image` with shape `(3, 224, 448)`. If the dataset uses two cameras, configure `policy.input_features` so their heights match `224` and their widths sum to `448`.
-
-## Usage
-
-Create a new FastWAM policy with:
-
-```bash
-lerobot-train \
-  --dataset.repo_id=your-org/your-dataset \
-  --policy.type=fastwam \
-  --policy.action_dim=7 \
-  --policy.proprio_dim=8 \
-  --policy.action_horizon=32 \
-  --policy.n_action_steps=10 \
-  --policy.image_size='[224,448]' \
-  --output_dir=./outputs/fastwam_training \
-  --job_name=fastwam_training \
-  --steps=300000 \
-  --batch_size=8 \
-  --policy.device=cuda
-```
-
-Evaluate an existing LeRobot-format checkpoint on LIBERO-10 with:
-
-```bash
-lerobot-eval \
-  --policy.path=ZibinDong/fastwam_libero_uncond_2cam224 \
-  --policy.device=cuda \
-  --policy.torch_dtype=float32 \
-  --policy.n_action_steps=10 \
-  --env.type=libero \
-  --env.task=libero_10 \
-  --env.observation_height=224 \
-  --env.observation_width=224 \
-  --eval.batch_size=1 \
-  --eval.n_episodes=50 \
-  --seed=0 \
-  --env.episode_length=600
-```
-
-For `libero_goal`, `libero_spatial`, and `libero_object`, use
-`--env.episode_length=300`.
-
-For real-robot rollout, use the same checkpoint path:
-
-```bash
-lerobot-rollout \
-  --robot.type=so101_follower \
-  --robot.port=/dev/ttyACM0 \
-  --policy.path=your-org/fastwam-real-robot
-```
-
-## Configuration Notes
-
-### Image Features
-
-`policy.image_size` is the size of the concatenated FastWAM image tensor as `(height, width)`. Each configured image feature must have shape `(3, height, camera_width)`, and all camera widths must sum to the configured width.
-
-### Action Chunking
-
-`policy.action_horizon` controls the number of future actions supervised during training and predicted during inference. `policy.n_action_steps` controls how many actions are consumed before the policy predicts a fresh chunk. `policy.n_action_steps` must be less than or equal to `policy.action_horizon`.
-
-### Wan Components
-
-FastWAM loads the Wan VAE, video DiT, text encoder, and tokenizer from the configured Wan model directory or Hugging Face Hub model id. LeRobot-format FastWAM checkpoints saved by `save_pretrained` also copy the local Wan component files needed by `from_pretrained`.
-
-### Attention Backend
-
-FastWAM's DiT uses PyTorch's `scaled_dot_product_attention` (SDPA) for all attention. It does **not** use FlashAttention: its Mixture-of-Transformers (MoT) routing needs arbitrary boolean `[query, key]` attention masks, which the FlashAttention varlen API cannot express. Installing the `flash-attn` package therefore has no effect on the FastWAM path. (Note that SDPA itself may still select PyTorch's own flash / memory-efficient / math kernel internally — this is unrelated to the `flash-attn` package.)
-
-### LIBERO Action Toggle
-
-FastWAM LIBERO checkpoints use `policy.toggle_action_dimensions=[-1]` by
-default to match the gripper action convention used by the original FastWAM
-evaluation pipeline:
-
-```bash
---policy.toggle_action_dimensions='[-1]'
-```
-
-## Results
-
-Evaluated on LIBERO with [`ZibinDong/fastwam_libero_uncond_2cam224`](https://huggingface.co/ZibinDong/fastwam_libero_uncond_2cam224):
-
-| Suite          | Success rate | n_episodes |
-| -------------- | -----------: | ---------: |
-| libero_spatial |        97.6% |        500 |
-| libero_object  |        99.0% |        500 |
-| libero_goal    |        95.0% |        500 |
-| libero_10      |        94.0% |        500 |
-| **average**    |    **96.4%** |       2000 |
-
-Reproduce: `lerobot-eval --policy.path=ZibinDong/fastwam_libero_uncond_2cam224 --policy.device=cuda --policy.torch_dtype=float32 --policy.n_action_steps=10 --env.type=libero --env.task=libero_spatial --env.observation_height=256 --env.observation_width=256 --eval.batch_size=1 --eval.n_episodes=50 --seed=0 --env.episode_length=300` (1x H20 140 GB).
-
-## References
-
-- [Fast-WAM paper](https://arxiv.org/abs/2603.16666)
-- [Fast-WAM project page](https://yuantianyuan01.github.io/FastWAM/)
-- [Fast-WAM code](https://github.com/yuantianyuan01/FastWAM)
-- [Released upstream checkpoints](https://huggingface.co/yuanty/fastwam)
-- [Wan2.2 TI2V 5B](https://huggingface.co/Wan-AI/Wan2.2-TI2V-5B)
-
-## Citation
-
-```bibtex
-@article{yuan2026fastwam,
-  title = {Fast-WAM: Do World Action Models Need Test-time Future Imagination?},
-  author = {Tianyuan Yuan and Zibin Dong and Yicheng Liu and Hang Zhao},
-  journal = {arXiv preprint arXiv:2603.16666},
-  year = {2026},
-  url = {https://arxiv.org/abs/2603.16666}
-}
-```

docs/source/groot.mdx

@@ -1,19 +1,16 @@
-# GR00T Policy
+# GR00T N1.5 Policy
 
-GR00T is an NVIDIA foundation model family for generalized humanoid robot reasoning and skills. It is a cross-embodiment policy that accepts multimodal input, including language, images, and proprioception, to perform manipulation tasks in diverse environments.
+GR00T N1.5 is an open foundation model from NVIDIA designed for generalized humanoid robot reasoning and skills. It is a cross-embodiment model that accepts multimodal input, including language and images, to perform manipulation tasks in diverse environments.
 
-LeRobot integrates GR00T N1.7 through the `groot` policy type.
-
-> [!WARNING]
-> **Breaking change:** GR00T N1.5 support was removed from LeRobot, and current releases support GR00T N1.7 only. N1.5 checkpoints and configs are rejected with a migration note. To keep using an N1.5 checkpoint, pin the last release that supports it: `pip install 'lerobot==0.5.1'`. To use the current release, migrate to GR00T N1.7 (base model [`nvidia/GR00T-N1.7-3B`](https://huggingface.co/nvidia/GR00T-N1.7-3B)).
+This document outlines the specifics of its integration and usage within the LeRobot framework.
 
 ## Model Overview
 
-GR00T N1.7 uses a Cosmos-Reason2/Qwen3-VL backbone and provides checkpoints for SimplerEnv, DROID, and LIBERO.
+NVIDIA Isaac GR00T N1.5 is an upgraded version of the GR00T N1 foundation model. It is built to improve generalization and language-following abilities for humanoid robots.
 
-Developers and researchers can post-train GR00T with their own real or synthetic data to adapt it for specific humanoid robots or tasks.
+Developers and researchers can post-train GR00T N1.5 with their own real or synthetic data to adapt it for specific humanoid robots or tasks.
 
-GR00T uses pre-trained vision and language encoders with a flow matching action transformer to model a chunk of actions conditioned on vision, language, and proprioception.
+GR00T N1.5 (specifically the GR00T-N1.5-3B model) is built using pre-trained vision and language encoders. It utilizes a flow matching action transformer to model a chunk of actions, conditioned on vision, language, and proprioception.
 
 <img
   src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/lerobot-groot-paper1%20(1).png"
@@ -31,24 +28,33 @@ This approach allows the model to be highly adaptable through post-training for
 
 ## Installation Requirements
 
-GR00T is intended for NVIDIA GPU-accelerated systems. Install LeRobot with the GR00T extra:
+As of today, GR00T N1.5 requires flash attention for it's internal working.
+
+We are working on making this optional, but in the meantime that means that we require an extra installation step and it can only be used in CUDA enabled devices.
+
+1. Following the Environment Setup of our [Installation Guide](./installation). **Attention** don't install `lerobot` in this step.
+2. Install [Flash Attention](https://github.com/Dao-AILab/flash-attention) by running:
 
 ```bash
-pip install "lerobot[groot]"
+# Check https://pytorch.org/get-started/locally/ for your system
+pip install "torch>=2.2.1,<2.8.0" "torchvision>=0.21.0,<0.23.0" # --index-url https://download.pytorch.org/whl/cu1XX
+pip install ninja "packaging>=24.2,<26.0" # flash attention dependencies
+pip install "flash-attn>=2.5.9,<3.0.0" --no-build-isolation
+python -c "import flash_attn; print(f'Flash Attention {flash_attn.__version__} imported successfully')"
 ```
 
-For a source checkout:
+3. Install LeRobot by running:
 
 ```bash
-pip install -e ".[groot]"
+pip install lerobot[groot]
 ```
 
 ## Usage
 
-To use GR00T N1.7:
+To use GR00T in your LeRobot configuration, specify the policy type as:
 
-```bash
---policy.type=groot
+```python
+policy.type=groot
 ```
 
 ## Training
@@ -57,171 +63,72 @@ To use GR00T N1.7:
 
 Here's a complete training command for finetuning the base GR00T model on your own dataset:
 
-This command is using the `new_embodiment` flag, which is used for the SO-101 robot, [read more about how GR00T handles different embodiments.](https://github.com/NVIDIA/Isaac-GR00T/blob/main/getting_started/policy.md#--embodiment-tag).
-
 ```bash
-# install extra deps for training
-pip install "lerobot[training]"
-
-hf auth login
-wandb login
-
-export DATASET_NAME=your_data_set
-export HF_USER=your_hf_username
-export DATASET=$HF_USER/$DATASET_NAME
-export REPO_ID="${DATASET}_GR00T17" #this is the model that will be uploaded to huggingface
-export OUTPUT_DIR=outputs/train/$REPO_ID
-
-lerobot-train \
-  --dataset.repo_id=$DATASET \
-  --dataset.image_transforms.enable=true \
-  --policy.type=groot \
-  --policy.device=cuda \
-  --policy.base_model_path=nvidia/GR00T-N1.7-3B \
-  --policy.embodiment_tag=new_embodiment \
-  --policy.chunk_size=16 \
-  --policy.n_action_steps=16 \
-  --policy.use_relative_actions=true \
-  --policy.relative_exclude_joints='["gripper"]' \
-  --policy.use_bf16=true \
-  --policy.push_to_hub=true \
-  --policy.repo_id=$REPO_ID \
-  --seed=42 \
-  --batch_size=64 \
-  --steps=20000 \
-  --save_checkpoint=true \
-  --save_freq=5000 \
-  --use_policy_training_preset=true \
-  --env_eval_freq=0 \
-  --eval_steps=0 \
-  --log_freq=10 \
+# Using a multi-GPU setup
+accelerate launch \
+  --multi_gpu \
+  --num_processes=$NUM_GPUS \
+  $(which lerobot-train) \
   --output_dir=$OUTPUT_DIR \
-  --job_name=$DATASET \
+  --save_checkpoint=true \
+  --batch_size=$BATCH_SIZE \
+  --steps=$NUM_STEPS \
+  --save_freq=$SAVE_FREQ \
+  --log_freq=$LOG_FREQ \
+  --policy.push_to_hub=true \
+  --policy.type=groot \
+  --policy.repo_id=$REPO_ID \
+  --policy.tune_diffusion_model=false \
+  --dataset.repo_id=$DATASET_ID \
   --wandb.enable=true \
-  --wandb.disable_artifact=true
-
+  --wandb.disable_artifact=true \
+  --job_name=$JOB_NAME
 ```
 
 ## Performance Results
 
-### LIBERO Benchmark Results
+### Libero Benchmark Results
 
 > [!NOTE]
-> Follow the [LIBERO](./libero) setup instructions before running `lerobot-eval`.
+> Follow our instructions for Libero usage: [Libero](./libero)
 
-GR00T N1.7 has demonstrated strong performance on the LIBERO benchmark suite. To reproduce LeRobot results, follow the instructions in the [LIBERO](./libero) section.
+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.
 
-### Train on LIBERO
+| Benchmark          | LeRobot Implementation | GR00T Reference |
+| ------------------ | ---------------------- | --------------- |
+| **Libero Spatial** | 82.0%                  | 92.0%           |
+| **Libero Object**  | 99.0%                  | 92.0%           |
+| **Libero Long**    | 82.0%                  | 76.0%           |
+| **Average**        | 87.0%                  | 87.0%           |
 
-Example training command for a LIBERO suite (here `libero_spatial`):
-
-```bash
-IMAGE_TRANSFORMS='{
-  "brightness": {"weight": 1.0, "type": "ColorJitter", "kwargs": {"brightness": [0.7, 1.3]}},
-  "contrast":   {"weight": 1.0, "type": "ColorJitter", "kwargs": {"contrast":   [0.6, 1.4]}},
-  "saturation": {"weight": 1.0, "type": "ColorJitter", "kwargs": {"saturation": [0.5, 1.5]}},
-  "hue":        {"weight": 1.0, "type": "ColorJitter", "kwargs": {"hue":        [-0.08, 0.08]}}
-}'
-
-lerobot-train \
-  --dataset.repo_id=IPEC-COMMUNITY/libero_spatial_no_noops_1.0.0_lerobot \
-  --dataset.root=/datasets/libero_spatial \
-  --dataset.revision=main \
-  --dataset.video_backend=pyav \
-  --dataset.image_transforms.enable=true \
-  --dataset.image_transforms.max_num_transforms=4 \
-  --dataset.image_transforms.tfs="$IMAGE_TRANSFORMS" \
-  --policy.type=groot \
-  --policy.base_model_path=nvidia/GR00T-N1.7-3B \
-  --policy.embodiment_tag=libero_sim \
-  --policy.push_to_hub=false \
-  --policy.use_relative_actions=false \
-  --policy.max_steps=20000 \
-  --batch_size=320 \
-  --steps=20000 \
-  --save_freq=2000 \
-  --env_eval_freq=0 \
-  --eval_steps=0 \
-  --log_freq=10 \
-  --wandb.enable=true \
-  --wandb.project=lerobot \
-  --wandb.mode=online \
-  --wandb.disable_artifact=true \
-  --num_workers=4 \
-  --prefetch_factor=2 \
-  --persistent_workers=true \
-  --output_dir=$OUTPUT_DIR \
-  --job_name=$JOB_NAME
-```
-
-This will follow the recipe found [here](https://github.com/NVIDIA/Isaac-GR00T/blob/main/examples/LIBERO/README.md).
-
-### GR00T N1.7 LIBERO Results
-
-Preliminary LeRobot integration results (GR00T-LeRobot, `eval.n_episodes >= 50` per suite):
-
-| Suite            | Success rate | Checkpoint                                                                                                    |
-| ---------------- | -----------: | ------------------------------------------------------------------------------------------------------------- |
-| LIBERO Spatial   |          91% | [nvidia/gr00t17-lerobot-libero_spatial-640](https://huggingface.co/nvidia/gr00t17-lerobot-libero_spatial-640) |
-| LIBERO Object    |          81% | [nvidia/gr00t17-lerobot-libero_object-640](https://huggingface.co/nvidia/gr00t17-lerobot-libero_object-640)   |
-| LIBERO Goal      |          97% | [nvidia/gr00t17-lerobot-libero_goal-640](https://huggingface.co/nvidia/gr00t17-lerobot-libero_goal-640)       |
-| LIBERO 10 (Long) |          84% | [nvidia/gr00t17-lerobot-libero_10-640](https://huggingface.co/nvidia/gr00t17-lerobot-libero_10-640)           |
-| **Average**      |   **88.25%** |                                                                                                               |
-
-```bash
-export MODEL_ID=your_trained_model_on_huggingface
-
-lerobot-eval \
-  --policy.type=groot \
-  --policy.base_model_path=$MODEL_ID \
-  --policy.embodiment_tag=libero_sim \
-  --env.type=libero \
-  --env.task=libero_spatial \
-  --eval.n_episodes=50
-```
-
-Use `eval.n_episodes >= 50` per suite when reporting success rates.
+These results demonstrate GR00T's strong generalization capabilities across diverse robotic manipulation tasks. To reproduce these results, you can follow the instructions in the [Libero](https://huggingface.co/docs/lerobot/libero) section.
 
 ### Evaluate in your hardware setup
 
 Once you have trained your model using your parameters you can run inference in your downstream task. Follow the instructions in [Policy Deployment (lerobot-rollout)](./inference). For example:
 
 ```bash
-# install extra deps for roullout and real hardware
-pip install "lerobot[feetech,viz]"
-
-export MODEL_ID=your_trained_model_on_huggingface
-
-# make sure that camera index matches your setup!
-# find index using `uv run lerobot-find-cameras opencv`
-WRIST_CAM='wrist: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30, fourcc: "MJPG"}'
-FRONT_CAM='front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30, fourcc: "MJPG"}'
-export ROBOT_CAMERAS="{ $WRIST_CAM, $FRONT_CAM }"
-export ROBOT_ID=follower_robot
-export ROBOT_PORT=/dev/ttyACM0
-
-uv run lerobot-rollout \
-  --strategy.type=base \
-  --policy.path=$MODEL_ID \
-  --policy.base_model_path=nvidia/GR00T-N1.7-3B \
-  --policy.n_action_steps=8 \
-  --robot.type=so101_follower \
-  --robot.port=$ROBOT_PORT \
-  --robot.id=$ROBOT_ID \
-  --robot.cameras="$ROBOT_CAMERAS" \
-  --task="place the vial in the rack" \
-  --duration=60 \
-  --device=cuda \
+lerobot-rollout\
+  --strategy.type=sentry \
+  --strategy.upload_every_n_episodes=5 \
+  --robot.type=bi_so_follower \
+  --robot.left_arm_port=/dev/ttyACM1 \
+  --robot.right_arm_port=/dev/ttyACM0 \
+  --robot.id=bimanual_follower \
+  --robot.cameras='{ right: {"type": "opencv", "index_or_path": 0, "width": 640, "height": 480, "fps": 30},
+    left: {"type": "opencv", "index_or_path": 2, "width": 640, "height": 480, "fps": 30},
+    top: {"type": "opencv", "index_or_path": 4, "width": 640, "height": 480, "fps": 30},
+  }' \
   --display_data=true \
-  --inference.type=rtc \
-  --inference.rtc.enabled=True \ # set to False if it causes inference instability
-  --inference.rtc.execution_horizon=8 \
-  --inference.queue_threshold=0
+  --dataset.repo_id=<user>/eval_groot-bimanual  \
+  --dataset.single_task="Grab and handover the red cube to the other arm" \
+  --dataset.streaming_encoding=true \
+  --dataset.encoder_threads=2 \
+  # --dataset.camera_encoder.vcodec=auto \
+  --policy.path=<user>/groot-bimanual \ # your trained model
+  --duration=600
 ```
 
-> [!NOTE]
-> Value of `inference.queue_threshold` should not exceed 5 to ensure stable inference.
-
 ## License
 
-GR00T N1.7 is released under the [NVIDIA Open Model License Agreement](https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-open-model-license/).
+This model follows NVIDIA's proprietary license, consistent with the original [GR00T repository](https://github.com/NVIDIA/Isaac-GR00T). Future versions (starting from N1.7) will follow **Apache 2.0 License**.

docs/source/hardware_guide.mdx

@@ -82,18 +82,17 @@ VRAM is the first filter. Within a tier, pick by budget and availability — the
 
 ### Hugging Face Jobs
 
-[Hugging Face Jobs](https://huggingface.co/docs/hub/jobs) lets you run training on managed HF infrastructure, billed by the second, without owning a GPU. `lerobot-train` submits and streams the job for you — just add `--job.target=<flavor>` to a normal training command:
+[Hugging Face Jobs](https://huggingface.co/docs/hub/jobs) lets you run training on managed HF infrastructure, billed by the second. The repo publishes a ready-to-use image: **`huggingface/lerobot-gpu:latest`**, rebuilt **every night at 02:00 UTC from `main`** ([`docker_publish.yml`](https://github.com/huggingface/lerobot/blob/main/.github/workflows/docker_publish.yml)) — so it tracks the current state of the repo, not a tagged release.
 
 ```bash
-lerobot-train \
-  --policy.type=act --dataset.repo_id=<USER>/<DATASET> \
-  --policy.repo_id=<USER>/act_<task> \
-  --job.target=a10g-large
+hf jobs run --flavor a10g-large huggingface/lerobot-gpu:latest \
+  bash -c "nvidia-smi && lerobot-train \
+    --policy.type=act --dataset.repo_id=<USER>/<DATASET> \
+    --policy.repo_id=<USER>/act_<task> --batch_size=8 --steps=50000"
 ```
 
 Notes:
 
-- Run `hf auth login` once before submitting, the job runs under your token.
-- `--job.target` maps onto the table above: `t4-small`/`t4-medium` (T4, ACT only), `l4x1`/`l4x4` (L4 24 GB), `a10g-small/large/largex2/largex4` (A10G 24 GB scaled out), `a100-large` (A100). List the current catalogue with pricing via `hf jobs hardware`, or see [https://huggingface.co/docs/hub/jobs](https://huggingface.co/docs/hub/jobs).
-- The job defaults to a `2d` (48h) timeout. Override it with `--job.timeout=4h` (or any other valid duration string) to shorten or extend the timeout. The job automatically stops when the command completes.
-- For the full walkthrough — dataset upload, checkpoint streaming, resuming a run on a job — see the [imitation-learning training guide](./il_robots#train-using-hugging-face-jobs).
+- The leading `nvidia-smi` is a quick sanity check that CUDA is visible inside the container — useful to fail fast if the flavor or driver mismatched.
+- The default Job timeout is 30 minutes; pass `--timeout 4h` (or longer) for real training.
+- `--flavor` maps onto the table above: `t4-small`/`t4-medium` (T4, ACT only), `l4x1`/`l4x4` (L4 24 GB), `a10g-small/large/largex2/largex4` (A10G 24 GB scaled out), `a100-large` (A100). For the current full catalogue + pricing see [https://huggingface.co/docs/hub/jobs](https://huggingface.co/docs/hub/jobs).

docs/source/hilserl.mdx

@@ -719,7 +719,7 @@ Example configuration for training the [reward classifier](https://huggingface.c
   "num_workers": 4,
   "steps": 5000,
   "log_freq": 10,
-  "env_eval_freq": 1000,
+  "eval_freq": 1000,
   "save_freq": 1000,
   "save_checkpoint": true,
   "seed": 2,

docs/source/hope_jr.mdx

@@ -232,7 +232,7 @@ lerobot-record \
     --dataset.private=true \
     --dataset.streaming_encoding=true \
     --dataset.encoder_threads=2 \
-    # --dataset.rgb_encoder.vcodec=auto \
+    # --dataset.camera_encoder.vcodec=auto \
     --display_data=true
 ```
 
@@ -278,6 +278,6 @@ lerobot-record \
   --dataset.num_episodes=10 \
   --dataset.streaming_encoding=true \
   --dataset.encoder_threads=2 \
-  # --dataset.rgb_encoder.vcodec=auto \
+  # --dataset.camera_encoder.vcodec=auto \
   --policy.path=outputs/train/hopejr_hand/checkpoints/last/pretrained_model
 ```

docs/source/il_robots.mdx

@@ -126,7 +126,7 @@ import time
 from lerobot.teleoperators.so_leader import SO101Leader, SO101LeaderConfig
 from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
 from lerobot.cameras.opencv import OpenCVCameraConfig
-from lerobot.utils.visualization_utils import init_visualization, log_visualization_data, shutdown_visualization
+from lerobot.utils.visualization_utils import init_rerun, log_rerun_data, shutdown_rerun
 
 robot_config = SO101FollowerConfig(
     port="/dev/tty.usbmodem5AB90687491",
@@ -142,7 +142,7 @@ teleop_config = SO101LeaderConfig(
     id="my_leader_arm",
 )
 
-init_visualization("rerun", session_name="teleoperation")  # pass "foxglove" to stream to Foxglove instead
+init_rerun(session_name="teleoperation")
 
 robot = SO101Follower(robot_config)
 teleop_device = SO101Leader(teleop_config)
@@ -158,7 +158,7 @@ while True:
     observation = robot.get_observation()
     action = teleop_device.get_action()
     robot.send_action(action)
-    log_visualization_data("rerun", observation=observation, action=action)
+    log_rerun_data(observation=observation, action=action)
 
     elapsed_time = time.perf_counter() - start_time
     sleep_time = TIME_PER_FRAME - elapsed_time
@@ -207,7 +207,7 @@ lerobot-record \
     --dataset.num_episodes=5 \
     --dataset.single_task="Grab the black cube" \
     --dataset.streaming_encoding=true \
-    # --dataset.rgb_encoder.vcodec=auto \
+    # --dataset.camera_encoder.vcodec=auto \
     --dataset.encoder_threads=2
 ```
 </hfoption>
@@ -223,7 +223,7 @@ from lerobot.teleoperators.so_leader.config_so_leader import SO101LeaderConfig
 from lerobot.teleoperators.so_leader.so_leader import SO101Leader
 from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
-from lerobot.utils.visualization_utils import init_visualization
+from lerobot.utils.visualization_utils import init_rerun
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.processor import make_default_processors
 
@@ -270,7 +270,7 @@ def main():
 
     # Initialize the keyboard listener and rerun visualization
     _, events = init_keyboard_listener()
-    init_visualization("rerun", session_name="recording")
+    init_rerun(session_name="recording")
 
     # Connect the robot and teleoperator
     robot.connect()
@@ -390,17 +390,9 @@ Set the flow of data recording using command-line arguments:
 
 Control the data recording flow using keyboard shortcuts:
 
-- Press **Right Arrow (`→`)** or **`n`**: Early stop the current episode or reset time and move to the next.
-- Press **Left Arrow (`←`)** or **`r`**: Cancel the current episode and re-record it.
-- Press **Escape (`ESC`)** or **`q`**: Immediately stop the session, encode videos, and upload the dataset.
-
-<Tip>
-
-These control-flow shortcuts work on **X11, Wayland, and headless/SSH** sessions. When a global keyboard backend isn't available (Wayland, a headless machine, or macOS without Accessibility permission), `lerobot-record` automatically reads the same keys from the terminal — launch it from an interactive terminal and keep it focused. You can also use the letter equivalents **`n`** (next, same as `→`), **`r`** (re-record, same as `←`) and **`q`** (quit, same as `ESC`). No `$DISPLAY` setup is required.
-
-This applies to the recording control flow only. Keyboard **teleoperation** (driving the robot with the keyboard) still needs a global key backend, so it works only on an X11 session, a Windows desktop, or macOS with Accessibility/Input Monitoring granted — not on Wayland or headless sessions.
-
-</Tip>
+- Press **Right Arrow (`→`)**: Early stop the current episode or reset time and move to the next.
+- Press **Left Arrow (`←`)**: Cancel the current episode and re-record it.
+- Press **Escape (`ESC`)**: Immediately stop the session, encode videos, and upload the dataset.
 
 #### Tips for gathering data
 
@@ -414,7 +406,7 @@ If you want to dive deeper into this important topic, you can check out the [blo
 
 #### Troubleshooting:
 
-- On Linux, the recording control-flow keys (arrow keys, Escape) work on X11, Wayland, and headless/SSH sessions as long as `lerobot-record` runs in an interactive terminal — no `$DISPLAY` setup is needed. If the keys have no effect, make sure you are in an interactive (TTY) terminal, not a piped/non-TTY session, and that it is focused; the letter equivalents `n` / `r` / `q` also work. Keyboard _teleoperation_ (as opposed to the recording control flow) still requires a global key backend — an X11 session, a Windows desktop, or macOS with Accessibility/Input Monitoring granted — and is unavailable on Wayland or headless machines. See [pynput limitations](https://pynput.readthedocs.io/en/latest/limitations.html#linux).
+- On Linux, if the left and right arrow keys and escape key don't have any effect during data recording, make sure you've set the `$DISPLAY` environment variable. See [pynput limitations](https://pynput.readthedocs.io/en/latest/limitations.html#linux).
 
 ## Visualize a dataset
 
@@ -514,12 +506,6 @@ lerobot-train \
   --resume=true
 ```
 
-`--config_path` also accepts a **Hub repo id**: if a run pushed its checkpoints to the Hub (with `--save_checkpoint_to_hub=true`), you can resume straight from the repo — its latest checkpoint is downloaded and training continues, restoring the optimizer, scheduler, step counter and data order:
-
-```bash
-lerobot-train --config_path=${HF_USER}/my_policy --resume=true
-```
-
 If you do not want to push your model to the hub after training use `--policy.push_to_hub=false`.
 
 Additionally you can provide extra `tags` or specify a `license` for your model or make the model repo `private` by adding this: `--policy.private=true --policy.tags=\[ppo,rl\] --policy.license=mit`
@@ -532,48 +518,78 @@ If your local computer doesn't have a powerful GPU you could utilize Google Cola
 
 Hugging Face jobs let's you easily select hardware and run the training in the cloud. So if you don't have a powerful GPU or you need more VRAM or just want to train a model much faster use HF Jobs! It's pay as you go and you simply pay for each second of use, you can see the pricing and additional information [here](https://huggingface.co/docs/hub/jobs).
 
-`lerobot-train` runs locally by default. To run on a HuggingFace GPU, pass `--job.target` with a hardware flavor name:
+To run the training use this command:
 
+<hfoptions id="train_with_hf_jobs">
+<hfoption id="Command">
 ```bash
-lerobot-train \
-  --dataset.repo_id=${HF_USER}/so101_test \
-  --policy.type=act \
-  --policy.repo_id=${HF_USER}/my_policy \
-  --job.target=a10g-small
+hf jobs run \
+  --flavor a10g-small \
+  --timeout 4h \
+  --secrets HF_TOKEN \
+  huggingface/lerobot-gpu:latest \
+  -- \
+  python -m lerobot.scripts.lerobot_train \
+    --dataset.repo_id=username/dataset \
+    --policy.type=act \
+    --steps=5000 \
+    --batch_size=16 \
+    --policy.device=cuda \
+    --policy.repo_id=username/your_policy \
+    --log_freq=100
 ```
+</hfoption>
+<hfoption id="API example">
 
-List available flavors and pricing with `hf jobs hardware`. The run streams its logs to your terminal; press Ctrl-C to detach (the job keeps running in the cloud). Re-attach or cancel with:
+<!-- prettier-ignore-start -->
+```python
+from huggingface_hub import run_job, get_token
 
-```bash
-hf jobs logs <job-id>
-hf jobs cancel <job-id>
+run_name = "act_so101_hf_jobs"
+dataset_id = "username/dataset"
+user_hub_id = "username"
+
+command_args = [
+    "python", "-m", "lerobot.scripts.lerobot_train",
+    "--dataset.repo_id", dataset_id,
+    "--policy.type", "act",
+    "--steps", "5000",
+    "--batch_size", "16",
+    "--num_workers", "4",
+    "--policy.device", "cuda",
+    "--log_freq", "100",
+    "--save_freq", "1000",
+    "--save_checkpoint", "true",
+    "--wandb.enable", "false",
+    "--policy.repo_id", f"{user_hub_id}/{run_name}"
+]
+
+print(f"Submitting job '{run_name}' to Hugging Face Infrastructure...")
+
+job_info = run_job(
+    image="huggingface/lerobot-gpu:latest",
+    command=command_args,
+    flavor="a10g-small",
+    timeout="4h",
+    secrets={"HF_TOKEN": get_token()}
+)
+
+print("\n🚀 Job successfully launched!")
+print(f"🔹 Job ID: {job_info.id}")
+print(f"🔗 Live UI Dashboard & Logs: {job_info.url}")
 ```
+<!-- prettier-ignore-end -->
 
-If your dataset exists only locally (not yet on the Hub), it is automatically pushed to a **private** Hub repo so the job can download it by `repo_id` (nothing is made public). The trained model is pushed to the model repo at the end of the run. To also push every intermediate checkpoint to the Hub as it is saved (so you can monitor progress mid-run), add `--save_checkpoint_to_hub=true` — this requires a runtime image that includes this feature.
+</hfoption>
+</hfoptions>
 
-Every job (and any dataset pushed by the run) is tagged `lerobot` so it's easy to find on the Hub. Add your own with `--job.tags '["my-tag"]'`.
+You can modify the `--flavor` to use different hardware, for example: `t4-small`, `a100-large`, `h200`. Use `hf jobs hardware` to see the full list with pricing.
+Depending on the model you want to train and the hardware you selected you can also modify the `--batch_size` and `--number_of_workers`.
+For longer training sessions increase the timeout.
 
-By default the job is capped at `2d` (48h) of wall-clock. Override it with an HF Jobs duration string, e.g. `--job.timeout=4h` to fail faster or `--job.timeout=7d` for a longer run.
+Once the training is started you can go to [Jobs](https://huggingface.co/settings/jobs) and see if your jobs is running as well as all the outputs. Sometimes it takes a few minutes to schedule your job so be patient.
 
-> **Note:** the model repo is created up front (it holds the staged training config the job runs from). If a run fails before the model is pushed, that repo is left on the Hub so you can inspect it — it is not deleted automatically, so repeated failures can leave empty repos behind. Remove one with `hf repo delete <repo-id>`.
-
-**Prerequisites:** run `hf auth login` before submitting. For Weights & Biases integration, run `wandb login` or set `WANDB_API_KEY` on your machine — the key is forwarded to the job automatically.
-
-**Resuming on a job.** Adding `--job.target` to a resume command runs the resume in the cloud — the same command works locally or remotely. The checkpoint repo is the source of truth, and new checkpoints continue the lineage in the same repo:
-
-```bash
-# resume a Hub run on a job (its checkpoints are already on the Hub)
-lerobot-train --config_path=${HF_USER}/my_policy --resume=true --job.target=a10g-small
-
-# resume a LOCAL run on a job — the checkpoint is uploaded to a private Hub repo first,
-# then the job resumes from it (a local-only dataset is uploaded the same way)
-lerobot-train \
-  --config_path=outputs/train/act_so101_test/checkpoints/last/pretrained_model/train_config.json \
-  --resume=true \
-  --job.target=a10g-small
-```
-
-Job settings come from the current command, so override `--job.target`, `--job.timeout`, etc. as needed; for the resumed run to itself be resumable later, keep `--save_checkpoint_to_hub=true`.
+After training the model will be pushed to hub and you can use it as any other model with LeRobot.
 
 #### Upload policy checkpoints
 
@@ -596,8 +612,6 @@ hf upload ${HF_USER}/act_so101_test${CKPT} \
 
 Use `lerobot-rollout` to deploy a trained policy on your robot. You can choose different strategies depending on your needs:
 
-The examples below load the model from `--policy.path`. To pin a specific pushed version — useful once `--save_checkpoint_to_hub=true` has committed several checkpoints — add `--policy.pretrained_revision` with a commit hash, branch, or tag. Each pushed checkpoint is tagged with its step (e.g. `--policy.pretrained_revision=010000`), so you can recover a checkpoint by step without looking up its commit sha.
-
 <hfoptions id="eval">
 <hfoption id="Base mode (no recording)">
 ```bash

docs/source/language_and_recipes.mdx

@@ -141,6 +141,11 @@ sample["target_message_indices"]
 
 The renderer does not apply a tokenizer chat template. Policy processors decide how to serialize the messages for their backbone, which keeps the same dataset usable across SmolVLA, Pi0.5, and any future VLM that expects OpenAI-style chat messages.
 
+## Blends
+
+Blend recipes select one weighted sub-recipe deterministically from the sample index.
+`recipes/subtask_mem.yaml` trains the compact core blend — high-level subtask prediction, low-level execution, and memory. `recipes/subtask_mem_vqa_speech.yaml` is the fuller variant that also adds VQA and spoken interjection responses.
+
 ## Graceful absence
 
 If both language columns are missing, `None`, or empty, `RenderMessagesStep` is a no-op.

docs/source/lekiwi.mdx

@@ -319,7 +319,7 @@ If you want to dive deeper into this important topic, you can check out the [blo
 
 #### Troubleshooting:
 
-- On Linux, the recording control-flow keys (arrow keys, Escape) work on X11, Wayland, and headless/SSH sessions as long as you run the recording from an interactive terminal (keep it focused) — no `$DISPLAY` setup is needed; the letter equivalents `n` / `r` / `q` also work. Note that **keyboard teleoperation of the LeKiwi base** is different: it relies on a global key backend and therefore works only on an X11 session, a Windows desktop, or macOS with Accessibility/Input Monitoring granted — not on Wayland or headless machines. See [pynput limitations](https://pynput.readthedocs.io/en/latest/limitations.html#linux).
+- On Linux, if the left and right arrow keys and escape key don't have any effect during data recording, make sure you've set the `$DISPLAY` environment variable. See [pynput limitations](https://pynput.readthedocs.io/en/latest/limitations.html#linux).
 
 ## Replay an episode
 

docs/source/lerobot-dataset-v3.mdx

@@ -44,7 +44,7 @@ lerobot-record \
   --dataset.num_episodes=5 \
   --dataset.single_task="Grab the black cube" \
   --dataset.streaming_encoding=true \
-  # --dataset.rgb_encoder.vcodec=auto \
+  # --dataset.camera_encoder.vcodec=auto \
   --dataset.encoder_threads=2
 ```
 

docs/source/libero.mdx

@@ -143,7 +143,7 @@ lerobot-train \
   --batch_size=4 \
   --eval.batch_size=1 \
   --eval.n_episodes=1 \
-  --env_eval_freq=1000
+  --eval_freq=1000
 ```
 
 ## Reproducing published results

docs/source/libero_plus.mdx

@@ -173,7 +173,7 @@ lerobot-train \
     --batch_size=4 \
     --eval.batch_size=1 \
     --eval.n_episodes=1 \
-    --env_eval_freq=1000
+    --eval_freq=1000
 ```
 
 ## Relationship to LIBERO

docs/source/lingbot_va.mdx

@@ -1,187 +0,0 @@
-# LingBot-VA
-
-LingBot-VA is an **autoregressive video-action world-model policy** built on the **Wan2.2**
-video-diffusion stack. It interleaves, in one autoregressive sequence, the prediction of
-future **video latents** and **robot actions** ("VA" = Video-Action). The LeRobot
-integration wires LingBot-VA into the standard training, evaluation and processor
-interfaces.
-
-## Model Overview
-
-LingBot-VA is a **dual-stream "mixture-of-transformers"**: a video/latent stream
-(`patch_embedding_mlp → blocks → proj_out`) and an action stream
-(`action_embedder → blocks → action_proj_out`) share the same 30 transformer blocks and
-text conditioning.
-
-| Component                | Class                   | Role                                                        |
-| ------------------------ | ----------------------- | ----------------------------------------------------------- |
-| DiT backbone (trainable) | `WanTransformer3DModel` | ~5B-param dual-stream transformer.                          |
-| VAE (frozen)             | `AutoencoderKLWan`      | Wan2.2 VAE, `z_dim=48`. Lazy-pulled from the source repo.   |
-| Text encoder (frozen)    | `UMT5EncoderModel`      | UMT5-XXL, `d_model=4096`. Lazy-pulled from the source repo. |
-
-At inference the policy runs an autoregressive loop per chunk: it denoises the video-latent
-stream (CFG, ~20 steps) and the action stream (~50 steps) with two independent
-flow-matching schedulers, maintaining a KV cache across chunks. Real observed keyframes are
-fed back into the KV cache as the chunk is executed (closed-loop world modeling).
-
-### What the LeRobot Integration Covers
-
-- Standard `policy.type=lingbot_va` configuration through LeRobot.
-- Ready-to-use LeRobot-format checkpoints on the Hub (converted from the released upstream ones).
-- Autoregressive dual-stream inference behind the standard `select_action` interface
-  (single-environment eval, `--eval.batch_size=1`).
-- Opt-in saving of the policy's **predicted (imagined) videos** during eval / training.
-- Evaluation with `lerobot-eval` on LIBERO and RoboTwin.
-- Training / fine-tuning via the dual-stream flow-matching loss (`policy.forward`), see below.
-
-## Installation
-
-1. Install LeRobot by following the [Installation Guide](./installation).
-2. Install the LingBot-VA extra:
-
-```bash
-pip install -e ".[lingbot_va]"
-```
-
-## Checkpoints
-
-The released upstream checkpoints have been converted to LeRobot format and pushed to the Hub:
-
-| Variant                | LeRobot checkpoint               |
-| ---------------------- | -------------------------------- |
-| LIBERO-Long post-train | `lerobot/lingbot_va_libero_long` |
-| RoboTwin post-train    | `lerobot/lingbot_va_robotwin`    |
-| Pretrained base        | `lerobot/lingbot_va_base`        |
-
-Only the trainable ~5B transformer is stored in the LeRobot
-`model.safetensors`. The frozen VAE + UMT5 + tokenizer (~20 GB) are pulled from
-`config.wan_pretrained_path` at load time (defaults to the source `robbyant/*` repo). The
-UMT5-XXL text encoder runs on CPU by default (`config.text_encoder_device`) so the 5B
-transformer + VAE fit on a single 24–32 GB GPU.
-
-## Evaluation (LIBERO)
-
-```bash
-lerobot-eval \
-    --policy.path=lerobot/lingbot_va_libero_long \
-    --policy.device=cuda \
-    --env.type=libero --env.task=libero_10 \
-    --env.observation_height=128 --env.observation_width=128 \
-    --eval.n_episodes=50 --eval.batch_size=1 \
-    --output_dir=outputs/eval/lingbot_va_libero
-```
-
-LingBot-VA's streaming inference (KV cache + observed-keyframe feedback) is implemented for
-single-environment eval; use `--eval.batch_size=1`.
-
-## Evaluation (RoboTwin)
-
-RoboTwin 2.0 needs the SAPIEN + CuRobo simulator stack. You can use the benchmark Docker image
-(`docker/Dockerfile.benchmark.robotwin`, which also needs `warp-lang==1.3.1` and CuRobo built
-with the GPU's compute capability in `TORCH_CUDA_ARCH_LIST`). RoboTwin uses **end-effector-pose
-control**, so run with `--env.action_mode=ee`: the policy predicts per-arm `xyz+quaternion+gripper`
-deltas (`robotwin_tshape` latent layout) that are composed onto the episode's initial eef pose and
-executed via CuRobo IK.
-
-```bash
-lerobot-eval \
-    --policy.path=lerobot/lingbot_va_robotwin \
-    --policy.device=cuda \
-    --env.type=robotwin --env.task=beat_block_hammer --env.action_mode=ee \
-    --eval.n_episodes=10 --eval.batch_size=1 \
-    --output_dir=outputs/eval/lingbot_va_robotwin
-```
-
-### Saving predicted (imagined) videos
-
-Set `--policy.save_predicted_video=true` to additionally VAE-decode the predicted video
-latents and write `pred_episode_*.mp4` next to the env-rendered `eval_episode_*.mp4` videos.
-The same flag works for the periodic eval during `lerobot-train`.
-
-## Training / fine-tuning
-
-`LingBotVAPolicy.forward(batch)` implements the dual-stream **flow-matching** loss
-(`latent_loss + action_loss`, timestep-weighted, action-masked) from the paper: it VAE-encodes
-the camera clips into video latents, UMT5-encodes the task, noises both streams, runs the
-transformer's block-causal training pass and returns `(loss, metrics)`. Optimizer preset is AdamW
-with a linear-warmup-then-constant schedule (matching upstream).
-
-Requirements:
-
-- The block-causal masks use PyTorch **flex-attention**, so build the policy with
-  `--policy.attn_mode=flex` for training (the default `torch` SDPA is inference-only).
-- The full 5B DiT does not fit a single 24–32 GB GPU under AdamW; fine-tune with **LoRA**
-  (`--policy.use_peft=true`) and/or optimizer offload. `get_optim_params` returns only the
-  trainable (e.g. adapter) parameters; the VAE + UMT5 text encoder stay frozen.
-
-```bash
-lerobot-train \
-  --policy.path=lerobot/lingbot_va_libero_long --policy.attn_mode=flex \
-  --policy.use_peft=true \
-  --dataset.repo_id=<your LeRobot-format dataset> \
-  --batch_size=1 --steps=... --output_dir=outputs/train/lingbot_va
-```
-
-The dataset must provide camera clips (a temporal window per camera, VAE-encoded to
-`frame_chunk_size` latent frames) and `frame_chunk_size * action_per_frame` action steps per item.
-
-## Data format (action channels & camera order)
-
-LingBot-VA is an **end-effector (Cartesian) pose** policy, it predicts EEF poses + gripper, not
-joint positions. Actions live in a fixed multi-embodiment **30-dim** layout; map your robot's
-action dimensions into these channels and pad the rest with `0` (`used_action_channel_ids` selects
-the channels a given checkpoint actually uses):
-
-| channels | meaning                                               |
-| -------- | ----------------------------------------------------- |
-| 0–6      | Left-arm end-effector pose                            |
-| 7–13     | Right-arm end-effector pose                           |
-| 14–20    | Left-arm joints (unused by the released checkpoints)  |
-| 21–27    | Right-arm joints (unused by the released checkpoints) |
-| 28       | Left gripper                                          |
-| 29       | Right gripper                                         |
-
-- **LIBERO** uses channels `0–6`: a 6-DoF EEF delta (xyz + rotation) + gripper (single arm).
-- **RoboTwin** uses channels `[0–6, 28, 7–13, 29]`: left EEF (xyz + quaternion) + left gripper +
-  right EEF + right gripper (16 dims). The env converts these poses to joint trajectories via
-  CuRobo IK — joints are never predicted.
-
-Joint-space datasets (or a different EEF convention) must be remapped into this schema before
-fine-tuning these checkpoints.
-
-**Camera order is fixed and order-sensitive**, per-camera latents are concatenated spatially in
-`obs_cam_keys` order, so the physical camera→slot mapping must match training:
-
-| benchmark | `obs_cam_keys` (in order)                                                                             | `camera_layout`                                                     |
-| --------- | ----------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------- |
-| LIBERO    | `observation.images.image` (agentview / 3rd-person), `observation.images.image2` (eye-in-hand wrist)  | `width_concat` (latents concatenated on width)                      |
-| RoboTwin  | `observation.images.head_camera`, `observation.images.left_camera`, `observation.images.right_camera` | `robotwin_tshape` (full-res head below, two half-res wrists on top) |
-
-The first camera is the exterior/head view and the rest are wrist views.
-
-## Inference Hyperparameters (LIBERO)
-
-| Key                                    | Value                                                                             |
-| -------------------------------------- | --------------------------------------------------------------------------------- |
-| height × width                         | 128 × 128                                                                         |
-| cameras                                | `observation.images.image` (agentview), `observation.images.image2` (eye-in-hand) |
-| action channels used                   | 0–6 (7-DoF arm + gripper)                                                         |
-| action_per_frame / frame_chunk_size    | 4 / 4                                                                             |
-| attn_window                            | 30                                                                                |
-| video / action denoising steps         | 20 / 50                                                                           |
-| guidance_scale / action_guidance_scale | 5 / 1                                                                             |
-| snr_shift / action_snr_shift           | 5.0 / 0.05                                                                        |
-
-These are the defaults of `LingBotVAConfig`; override any of them via `--policy.<name>=...`.
-
-## Notes
-
-- **Attention backend:** inference uses the `torch` SDPA backend (always available). The
-  `flashattn` and `flex` backends are optional; `flex` is only needed for training.
-- **Model size:** the DiT is ~5B params and the frozen VAE+UMT5 add ~20 GB; inference needs
-  roughly 18–24 GB of VRAM.
-
-## License
-
-LingBot-VA is released under Apache-2.0. See the
-[upstream repository](https://github.com/Robbyant/lingbot-va).

docs/source/metaworld.mdx

@@ -120,11 +120,11 @@ lerobot-train \
   --batch_size=4 \
   --eval.batch_size=1 \
   --eval.n_episodes=1 \
-  --env_eval_freq=1000
+  --eval_freq=1000
 ```
 
 ## Practical tips
 
 - Use the one-hot task conditioning for multi-task training (MT10/MT50 conventions) so policies have explicit task context.
 - Inspect the dataset task descriptions and the `info["is_success"]` keys when writing post-processing or logging so your success metrics line up with the benchmark.
-- Adjust `batch_size`, `steps`, and `env_eval_freq` to match your compute budget.
+- Adjust `batch_size`, `steps`, and `eval_freq` to match your compute budget.

docs/source/molmoact2.mdx

@@ -17,7 +17,7 @@ the paper, see [allenai/molmoact2](https://github.com/allenai/molmoact2).
 Install LeRobot with the MolmoAct2 optional dependencies:
 
 ```bash
-uv sync --locked --extra molmoact2
+pip install -e ".[molmoact2]"
 ```
 
 To run the models in this repository, you need an NVIDIA GPU. The measurements
@@ -46,8 +46,8 @@ The repo has been tested with Ubuntu 22.04.
 
 To use MolmoAct2 in a LeRobot training config, set:
 
-```bash
---policy.type=molmoact2
+```python
+policy.type=molmoact2
 ```
 
 ## Training
@@ -103,7 +103,7 @@ accelerate launch \
   --batch_size=32 \
   --num_workers=4 \
   --log_freq=20 \
-  --env_eval_freq=-1 \
+  --eval_freq=-1 \
   --save_checkpoint=true \
   --save_freq=2000
 ```
@@ -142,7 +142,7 @@ accelerate launch \
   --batch_size=32 \
   --num_workers=4 \
   --log_freq=20 \
-  --env_eval_freq=-1 \
+  --eval_freq=-1 \
   --save_checkpoint=true \
   --save_freq=2000
 ```
@@ -386,68 +386,6 @@ These results demonstrate MolmoAct2's strong performance across diverse robotic
 manipulation tasks. To reproduce them, follow the instructions in the LIBERO
 evaluation section.
 
-## Hardware Deployment (lerobot-rollout)
-
-LeRobot-format checkpoints are available on the Hub for direct use with
-`lerobot-rollout`. Each checkpoint uses specific camera names that must
-match your robot's camera configuration.
-
-### Camera naming convention
-
-Each checkpoint expects specific `observation.images.*` keys.
-If your robot cameras have different names, use `--rename_map` to map them:
-
-| Checkpoint                    | Camera keys            | Description              |
-| ----------------------------- | ---------------------- | ------------------------ |
-| MolmoAct2-LIBERO-LeRobot      | `image`, `wrist_image` | LIBERO sim cameras       |
-| MolmoAct2-BimanualYAM-LeRobot | `top`, `left`, `right` | YAM 3-camera setup       |
-| MolmoAct2-DROID-LeRobot       | `cam0`, `cam1`         | External + wrist         |
-| MolmoAct2-SO100_101-LeRobot   | `cam0`, `cam1`         | Primary + secondary view |
-
-Example with an SO-100 robot using top and side cameras:
-
-```bash
-lerobot-rollout \
-  --policy.path=lerobot/MolmoAct2-SO100_101-LeRobot \
-  --rename_map='{"observation.images.top": "observation.images.cam0", "observation.images.side": "observation.images.cam1"}' \
-  --robot.type=so100_follower \
-  --robot.port=/dev/ttyACM0 \
-  --robot.cameras='{
-      top: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30},
-      side: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30}
-  }' \
-  --task="pick up the red cube" --duration=30
-```
-
-To use a wrist camera instead, just change the rename mapping:
-
-```bash
---rename_map='{"observation.images.top": "observation.images.cam0", "observation.images.wrist": "observation.images.cam1"}'
-```
-
-### Joint frame transform (SO-100/101 zero-shot)
-
-<Tip warning={true}>
-The MolmoAct2-SO100_101 checkpoint was trained on data that uses a different
-joint calibration convention than LeRobot >= 0.5.0. Without a frame
-correction, the arm may move in the wrong direction.
-
-This affects both **zero-shot deployment** and **fine-tuning** from the
-original checkpoint. The pretrained weights expect the old convention, so
-all joint data (observations and actions) must be transformed to match.
-
-The converted LeRobot checkpoint (`lerobot/MolmoAct2-SO100_101-LeRobot`)
-already includes this correction in its processor pipeline. If you convert
-or fine-tune the checkpoint yourself, set the following in the policy config (`configuration_molmoact2.py`):
-
-- `joint_signs`: `[1, -1, 1, 1, 1, 1]` (flips shoulder_lift direction)
-- `joint_offsets`: `[0, 90, 90, 0, 0, 0]` (shifts shoulder_lift and elbow_flex by 90°)
-
-See the [backward compatibility guide](./backwardcomp) for details on the
-calibration change.
-
-</Tip>
-
 ## Differences From the Original Implementation
 
 This LeRobot port is intended to match MolmoAct2 behavior while using LeRobot's

docs/source/multi_gpu_training.mdx

@@ -95,7 +95,7 @@ If you want to scale your hyperparameters when using multiple GPUs, you should d
 accelerate launch --num_processes=2 $(which lerobot-train) \
   --optimizer.lr=2e-4 \
   --dataset.repo_id=lerobot/pusht \
-  --policy.type=act
+  --policy=act
 ```
 
 **Training Steps Scaling:**
@@ -110,7 +110,7 @@ accelerate launch --num_processes=2 $(which lerobot-train) \
   --batch_size=8 \
   --steps=50000 \
   --dataset.repo_id=lerobot/pusht \
-  --policy.type=act
+  --policy=act
 ```
 
 ## Training Large Models with FSDP

docs/source/multi_task_dit.mdx

@@ -314,7 +314,7 @@ lerobot-train \
   --steps=30000 \
   --save_freq=1000 \
   --log_freq=100 \
-  --env_eval_freq=1000 \
+  --eval_freq=1000 \
   --policy.type=multi_task_dit \
   --policy.device=cuda \
   --policy.horizon=32 \

docs/source/pi0fast.mdx

@@ -96,7 +96,7 @@ lerobot-train \
     --policy.type=pi0_fast \
     --output_dir=./outputs/pi0fast_training \
     --job_name=pi0fast_training \
-    --policy.pretrained_path=lerobot/pi0fast-base \
+    --policy.pretrained_path=lerobot/pi0_fast_base \
     --policy.dtype=bfloat16 \
     --policy.gradient_checkpointing=true \
     --policy.chunk_size=10 \
@@ -187,7 +187,7 @@ lerobot-train \
   --dataset.repo_id=lerobot/libero \
   --output_dir=outputs/libero_pi0fast \
   --job_name=libero_pi0fast \
-  --policy.path=lerobot/pi0fast-base \
+  --policy.path=lerobot/pi0fast_base \
   --policy.dtype=bfloat16 \
   --steps=100000 \
   --save_freq=20000 \

docs/source/policy_evo1_README.md

@@ -1,18 +0,0 @@
-# EVO1
-
-EVO1 is a Vision-Language-Action policy for robot control. The LeRobot
-integration uses an InternVL3 vision-language backbone with a flow-matching
-action head, and supports staged training through the standard LeRobot policy
-APIs.
-
-The upstream EVO1 project is available at
-[MINT-SJTU/Evo-1](https://github.com/MINT-SJTU/Evo-1).
-
-```bibtex
-@misc{evo1,
-  title = {EVO1},
-  author = {{MINT-SJTU}},
-  year = {2025},
-  howpublished = {\url{https://github.com/MINT-SJTU/Evo-1}},
-}
-```

docs/source/policy_fastwam_README.md

@@ -1,56 +0,0 @@
-## Research Paper
-
-Paper: https://arxiv.org/abs/2603.16666
-
-## Repository
-
-Code: https://github.com/yuantianyuan01/FastWAM
-
-Project page: https://yuantianyuan01.github.io/FastWAM/
-
-## Citation
-
-```bibtex
-@article{yuan2026fastwam,
-  title = {Fast-WAM: Do World Action Models Need Test-time Future Imagination?},
-  author = {Tianyuan Yuan and Zibin Dong and Yicheng Liu and Hang Zhao},
-  journal = {arXiv preprint arXiv:2603.16666},
-  year = {2026},
-  url = {https://arxiv.org/abs/2603.16666}
-}
-```
-
-## Additional Resources
-
-Base video model: https://huggingface.co/Wan-AI/Wan2.2-TI2V-5B
-
-Released upstream checkpoints: https://huggingface.co/yuanty/fastwam
-
-## Results
-
-Evaluated on LIBERO with [`ZibinDong/fastwam_libero_uncond_2cam224`](https://huggingface.co/ZibinDong/fastwam_libero_uncond_2cam224):
-
-| Suite          | Success rate | n_episodes |
-| -------------- | -----------: | ---------: |
-| libero_spatial |        97.6% |        500 |
-| libero_object  |        99.0% |        500 |
-| libero_goal    |        95.0% |        500 |
-| libero_10      |        94.0% |        500 |
-| **average**    |    **96.4%** |       2000 |
-
-Reproduce: `lerobot-eval --policy.path=ZibinDong/fastwam_libero_uncond_2cam224 --policy.device=cuda --policy.torch_dtype=float32 --policy.n_action_steps=10 --env.type=libero --env.task=libero_spatial --env.observation_height=256 --env.observation_width=256 --eval.batch_size=1 --eval.n_episodes=50 --seed=0 --env.episode_length=300`.
-
-For LIBERO-10, use `--env.task=libero_10 --env.episode_length=600`:
-
-```bash
-lerobot-eval \
-    --policy.path=ZibinDong/fastwam_libero_uncond_2cam224 \
-    --policy.device=cuda \
-    --policy.torch_dtype=float32 \
-    --policy.n_action_steps=10 \
-    --env.type=libero \
-    --env.task=libero_10 --env.observation_height=256 --env.observation_width=256 \
-    --eval.batch_size=1 \
-    --eval.n_episodes=50 \
-    --seed=0 --env.episode_length=600
-```

docs/source/policy_groot_README.md

@@ -1,13 +1,6 @@
 ## Research Paper
 
-GR00T N1 technical report (covers the GR00T N1.x family, including N1.7): https://arxiv.org/abs/2503.14734
-
-GR00T N1.7 model card: https://huggingface.co/nvidia/GR00T-N1.7-3B
-
-GR00T N1.5 research page (earlier version): https://research.nvidia.com/labs/gear/gr00t-n1_5/
-
-> GR00T N1.5 support was removed from LeRobot; the last release supporting it is `lerobot==0.5.1`.
-> Current releases support GR00T N1.7 only.
+Paper: https://research.nvidia.com/labs/gear/gr00t-n1_5/
 
 ## Repository
 
@@ -31,108 +24,4 @@ Code: https://github.com/NVIDIA/Isaac-GR00T
 
 Blog: https://developer.nvidia.com/isaac/gr00t
 
-Hugging Face Models:
-
-- GR00T N1.7: https://huggingface.co/nvidia/GR00T-N1.7-3B
-- GR00T N1.7 LIBERO checkpoints: https://huggingface.co/nvidia/GR00T-N1.7-LIBERO
-
-<details>
-<summary><b>Original-vs-LeRobot parity test</b></summary>
-
-## Original-vs-LeRobot parity test
-
-`tests/policies/groot/test_groot_vs_original.py` verifies this LeRobot
-reimplementation of GR00T N1.7 (Qwen3-VL backbone + flow-matching action head)
-against NVIDIA's original `gr00t` package with two comparisons, each parametrized
-over every embodiment tag present in the checkpoint:
-
-1. **Model parity** — given byte-identical pre-processed inputs and the same
-   flow-matching seed (recorded in each artifact), both implementations must produce
-   the **same raw model output** (`get_action(...)["action_pred"]`, the normalized
-   flow-matching prediction). Output shapes must match exactly; any action-horizon
-   or action-dim mismatch fails the test.
-2. **Preprocessor parity** — given the identical raw observations (per-camera
-   frames, state vectors, language instruction), LeRobot's own preprocessor pipeline
-   (real Qwen3-VL chat template / tokenizer / image packing + checkpoint-driven
-   state normalization, no mocks) must produce the **same collated model inputs**
-   (`input_ids`, `attention_mask`, `pixel_values`, `image_grid_thw`, `state`,
-   `embodiment_id`) as the original package's processor.
-
-### Why two environments
-
-The original `gr00t` package pins `transformers==4.57.3` (Python 3.10); this
-integration requires `transformers>=5.x` (Qwen3-VL). Under 5.x, `PretrainedConfig`
-is itself a defaulted dataclass, so the original config dataclasses fail to import
-(`non-default argument follows default argument`). The two implementations therefore
-**cannot be imported in the same Python process**.
-
-So the test uses a **producer / consumer** split across two venvs:
-
-1. **Producer** — `tests/policies/groot/utils/dump_original_n1_7.py`, run in the _original_
-   gr00t venv. For each embodiment it builds dummy inputs generically from the
-   checkpoint metadata (state dims from `statistics.json`; camera/language keys from
-   the processor modality configs), runs the original model, and saves to one `.npz`
-   per tag: the raw observations (`raw::` keys), the exact collated inputs
-   (`in::` keys), the seed, and the raw `action_pred`.
-2. **Consumer** — the pytest above, run in the _LeRobot_ venv. It discovers every
-   `.npz`; the model-parity case replays the byte-identical collated inputs through
-   the LeRobot model with the recorded seed and asserts the outputs match, and the
-   preprocessor-parity case replays the raw observations through LeRobot's full
-   preprocessor pipeline and asserts the collated tensors match.
-
-> Artifacts generated by older versions of the dump script contain no `raw::`
-> fields; the preprocessor-parity case then **skips** with a regeneration hint.
-> Re-run the producer to refresh them.
-
-### Fairness controls
-
-- **Same pre-processed inputs (model parity)** — the original processor's `input_ids`,
-  `pixel_values`, `image_grid_thw`, `attention_mask`, `state`, `embodiment_id` are
-  fed verbatim to the LeRobot model (no re-tokenization / re-normalization), so the
-  model comparison isolates the model. LeRobot's own tokenization / image packing is
-  covered separately by the preprocessor-parity case, which compares its output
-  against those same collated tensors from identical raw observations.
-- **Same precision + attention kernel** — both sides run **fp32 + SDPA**. The
-  original defaults to `use_flash_attention=True` (flash_attention_2 + bf16); the
-  producer forces SDPA + fp32. (With the defaults the gap is ~3e-2 — pure
-  kernel/rounding noise, not an implementation difference.)
-- **Same flow-matching seed** — fixed right before sampling on both sides; the
-  producer records it in each artifact (`--seed`, default 42) and the consumer
-  replays the recorded value.
-
-### How to run
-
-```bash
-# Resolve a local checkpoint (GR00T-N1.7-LIBERO / libero_10)
-CKPT=$(python - <<'PY'
-import os
-from huggingface_hub import snapshot_download
-print(os.path.join(snapshot_download("nvidia/GR00T-N1.7-LIBERO",
-      allow_patterns=["libero_10/*"]), "libero_10"))
-PY
-)
-
-# 1) Produce the original-side artifacts for all embodiments (original gr00t venv, CUDA)
-CUDA_VISIBLE_DEVICES=0 /path/to/Isaac-GR00T/.venv-original/bin/python \
-    tests/policies/groot/utils/dump_original_n1_7.py \
-    --ckpt "$CKPT" --out-dir tests/policies/groot/artifacts --device cuda --seed 42
-
-# 2) Run the parity test (LeRobot venv) — one parametrized case per embodiment
-CUDA_VISIBLE_DEVICES=0 GROOT_PARITY_DEVICE=cuda \
-    uv run pytest tests/policies/groot/test_groot_vs_original.py -v -s
-```
-
-The `.npz` artifacts are local-only (gitignored, ~6–10 MB each) and are regenerated by
-the producer; they are never committed. The tests **skip** (do not fail) on CI or
-when the checkpoint / artifacts are absent.
-
-#### Env knobs (all optional)
-
-| Var                                       | Default                          | Purpose                               |
-| ----------------------------------------- | -------------------------------- | ------------------------------------- |
-| `GROOT_N1_7_PARITY_DIR`                   | `tests/policies/groot/artifacts` | directory of per-tag `.npz` artifacts |
-| `GROOT_N1_7_LIBERO_CKPT`                  | auto (HF cache)                  | override checkpoint dir               |
-| `GROOT_PARITY_DEVICE`                     | `cuda` if available              | `cpu` or `cuda`                       |
-| `GROOT_PARITY_ATOL` / `GROOT_PARITY_RTOL` | `1e-3`                           | comparison tolerance                  |
-
-</details>
+Hugging Face Model: https://huggingface.co/nvidia/GR00T-N1.5-3B

docs/source/reachy2.mdx

@@ -161,7 +161,7 @@ lerobot-record \
     --dataset.private=true \
     --dataset.streaming_encoding=true \
     --dataset.encoder_threads=2 \
-    # --dataset.rgb_encoder.vcodec=auto \
+    # --dataset.camera_encoder.vcodec=auto \
     --display_data=true
 ```
 
@@ -203,7 +203,7 @@ lerobot-record \
     --dataset.private=true \
     --dataset.streaming_encoding=true \
     --dataset.encoder_threads=2 \
-    # --dataset.rgb_encoder.vcodec=auto \
+    # --dataset.camera_encoder.vcodec=auto \
     --display_data=true
 ```
 

docs/source/robocasa.mdx

@@ -166,7 +166,7 @@ lerobot-train \
   --output_dir=./outputs/smolvla_robocasa_CloseFridge \
   --steps=100000 \
   --batch_size=4 \
-  --env_eval_freq=5000 \
+  --eval_freq=5000 \
   --eval.batch_size=1 \
   --eval.n_episodes=5 \
   --save_freq=10000

docs/source/so101.mdx

@@ -122,7 +122,7 @@ The video below shows the sequence of steps for setting the motor ids.
 
 #### Follower
 
-Connect the usb cable from your computer and the power supply to the follower arm's controller board. Then, run the following command or run the API example with the port you got from the previous step. You'll also need to give your follower arm a name with the `id` parameter.
+Connect the usb cable from your computer and the power supply to the follower arm's controller board. Then, run the following command or run the API example with the port you got from the previous step. You'll also need to give your leader arm a name with the `id` parameter.
 
 <hfoptions id="setup_motors">
 <hfoption id="Command">

docs/source/streaming_video_encoding.mdx

@@ -17,7 +17,7 @@ This makes `save_episode()` near-instant (the video is already encoded by the ti
 | Parameter               | CLI Flag                          | Type          | Default       | Description                                                       |
 | ----------------------- | --------------------------------- | ------------- | ------------- | ----------------------------------------------------------------- |
 | `streaming_encoding`    | `--dataset.streaming_encoding`    | `bool`        | `True`        | Enable real-time encoding during capture                          |
-| `vcodec`                | `--dataset.rgb_encoder.vcodec`    | `str`         | `"libsvtav1"` | Video codec. `"auto"` detects best HW encoder                     |
+| `vcodec`                | `--dataset.camera_encoder.vcodec` | `str`         | `"libsvtav1"` | Video codec. `"auto"` detects best HW encoder                     |
 | `encoder_threads`       | `--dataset.encoder_threads`       | `int \| None` | `None` (auto) | Threads per encoder instance. `None` will leave the vcoded decide |
 | `encoder_queue_maxsize` | `--dataset.encoder_queue_maxsize` | `int`         | `30`          | Max buffered frames per camera (~1s at 30fps). Consumes RAM       |
 
@@ -82,15 +82,15 @@ Use HW encoding when:
 
 ### Available HW Encoders
 
-| Encoder             | Platform      | Hardware                                                                                         | CLI Value                                        |
-| ------------------- | ------------- | ------------------------------------------------------------------------------------------------ | ------------------------------------------------ |
-| `h264_videotoolbox` | macOS         | Apple Silicon / Intel                                                                            | `--dataset.rgb_encoder.vcodec=h264_videotoolbox` |
-| `hevc_videotoolbox` | macOS         | Apple Silicon / Intel                                                                            | `--dataset.rgb_encoder.vcodec=hevc_videotoolbox` |
-| `h264_nvenc`        | Linux/Windows | NVIDIA GPU                                                                                       | `--dataset.rgb_encoder.vcodec=h264_nvenc`        |
-| `hevc_nvenc`        | Linux/Windows | NVIDIA GPU                                                                                       | `--dataset.rgb_encoder.vcodec=hevc_nvenc`        |
-| `h264_vaapi`        | Linux         | Intel/AMD GPU                                                                                    | `--dataset.rgb_encoder.vcodec=h264_vaapi`        |
-| `h264_qsv`          | Linux/Windows | Intel Quick Sync                                                                                 | `--dataset.rgb_encoder.vcodec=h264_qsv`          |
-| `auto`              | Any           | Probes the system for available HW encoders. Falls back to `libsvtav1` if no HW encoder is found | `--dataset.rgb_encoder.vcodec=auto`              |
+| Encoder             | Platform      | Hardware                                                                                         | CLI Value                                           |
+| ------------------- | ------------- | ------------------------------------------------------------------------------------------------ | --------------------------------------------------- |
+| `h264_videotoolbox` | macOS         | Apple Silicon / Intel                                                                            | `--dataset.camera_encoder.vcodec=h264_videotoolbox` |
+| `hevc_videotoolbox` | macOS         | Apple Silicon / Intel                                                                            | `--dataset.camera_encoder.vcodec=hevc_videotoolbox` |
+| `h264_nvenc`        | Linux/Windows | NVIDIA GPU                                                                                       | `--dataset.camera_encoder.vcodec=h264_nvenc`        |
+| `hevc_nvenc`        | Linux/Windows | NVIDIA GPU                                                                                       | `--dataset.camera_encoder.vcodec=hevc_nvenc`        |
+| `h264_vaapi`        | Linux         | Intel/AMD GPU                                                                                    | `--dataset.camera_encoder.vcodec=h264_vaapi`        |
+| `h264_qsv`          | Linux/Windows | Intel Quick Sync                                                                                 | `--dataset.camera_encoder.vcodec=h264_qsv`          |
+| `auto`              | Any           | Probes the system for available HW encoders. Falls back to `libsvtav1` if no HW encoder is found | `--dataset.camera_encoder.vcodec=auto`              |
 
 > [!NOTE]
 > In order to use the HW accelerated encoders you might need to upgrade your GPU drivers.
@@ -100,15 +100,15 @@ Use HW encoding when:
 
 ## 5. Troubleshooting
 
-| Symptom                                                            | Likely Cause                                 | Fix                                                                                                                                                                                                                                                                                              |
-| ------------------------------------------------------------------ | -------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| System freezes or choppy robot movement or Rerun visualization lag | CPU starved (100% load usage)                | Close other apps, reduce encoding throughput, lower `encoder_threads`, use `h264`, use `display_data=False`. If the CPU continues to be at 100% then it might be insufficient for your setup, consider `--dataset.streaming_encoding=false` or HW encoding (`--dataset.rgb_encoder.vcodec=auto`) |
-| "Encoder queue full" warnings or dropped frames in dataset         | Encoder can't keep up (Queue overflow)       | If CPU is not at 100%: Increase `encoder_threads`, increase `encoder_queue_maxsize` or use HW encoding (`--dataset.rgb_encoder.vcodec=auto`).                                                                                                                                                    |
-| High RAM usage                                                     | Queue filling faster than encoding           | `encoder_threads` too low or CPU insufficient. Reduce `encoder_queue_maxsize` or use HW encoding                                                                                                                                                                                                 |
-| Large video files                                                  | Using HW encoder or H.264                    | Expected trade-off. Switch to `libsvtav1` if CPU allows                                                                                                                                                                                                                                          |
-| `save_episode()` still slow                                        | `streaming_encoding` is `False`              | Set `--dataset.streaming_encoding=true`                                                                                                                                                                                                                                                          |
-| Encoder thread crash                                               | Codec not available or invalid settings      | Check `vcodec` is installed, try `--dataset.rgb_encoder.vcodec=auto`                                                                                                                                                                                                                             |
-| Recorded dataset is missing frames                                 | CPU/GPU starvation or occasional load spikes | If ~5% of frames are missing, your system is likely overloaded — follow the recommendations above. If fewer frames are missing (~2%), they are probably due to occasional transient load spikes (often at startup) and can be considered expected.                                               |
+| Symptom                                                            | Likely Cause                                 | Fix                                                                                                                                                                                                                                                                                                 |
+| ------------------------------------------------------------------ | -------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| System freezes or choppy robot movement or Rerun visualization lag | CPU starved (100% load usage)                | Close other apps, reduce encoding throughput, lower `encoder_threads`, use `h264`, use `display_data=False`. If the CPU continues to be at 100% then it might be insufficient for your setup, consider `--dataset.streaming_encoding=false` or HW encoding (`--dataset.camera_encoder.vcodec=auto`) |
+| "Encoder queue full" warnings or dropped frames in dataset         | Encoder can't keep up (Queue overflow)       | If CPU is not at 100%: Increase `encoder_threads`, increase `encoder_queue_maxsize` or use HW encoding (`--dataset.camera_encoder.vcodec=auto`).                                                                                                                                                    |
+| High RAM usage                                                     | Queue filling faster than encoding           | `encoder_threads` too low or CPU insufficient. Reduce `encoder_queue_maxsize` or use HW encoding                                                                                                                                                                                                    |
+| Large video files                                                  | Using HW encoder or H.264                    | Expected trade-off. Switch to `libsvtav1` if CPU allows                                                                                                                                                                                                                                             |
+| `save_episode()` still slow                                        | `streaming_encoding` is `False`              | Set `--dataset.streaming_encoding=true`                                                                                                                                                                                                                                                             |
+| Encoder thread crash                                               | Codec not available or invalid settings      | Check `vcodec` is installed, try `--dataset.camera_encoder.vcodec=auto`                                                                                                                                                                                                                             |
+| Recorded dataset is missing frames                                 | CPU/GPU starvation or occasional load spikes | If ~5% of frames are missing, your system is likely overloaded — follow the recommendations above. If fewer frames are missing (~2%), they are probably due to occasional transient load spikes (often at startup) and can be considered expected.                                                  |
 
 ## 6. Recommended Configurations
 
@@ -146,7 +146,7 @@ On very constrained systems, streaming encoding may compete too heavily with the
 # 2camsx 640x480x3 @30fps: Requires some tuning.
 
 # Use H.264, disable streaming, consider batching encoding
-lerobot-record --dataset.rgb_encoder.vcodec=h264 --dataset.streaming_encoding=false ...
+lerobot-record --dataset.camera_encoder.vcodec=h264 --dataset.streaming_encoding=false ...
 ```
 
 ## 7. Closing note

docs/source/using_dataset_tools.mdx

@@ -11,9 +11,8 @@ LeRobot provides several utilities for manipulating datasets:
 3. **Merge Datasets** - Combine multiple datasets into one. The datasets must have identical features, and episodes are concatenated in the order specified in `repo_ids`
 4. **Add Features** - Add new features to a dataset
 5. **Remove Features** - Remove features from a dataset
-6. **Convert to Video** - Convert image-based datasets to video format for efficient storage (RGB and depth cameras are encoded with separate encoders)
-7. **Re-encode Videos** - Re-encode an existing video dataset's RGB and/or depth streams with new encoder settings
-8. **Show the Info of Datasets** - Show the summary of datasets information such as number of episode etc.
+6. **Convert to Video** - Convert image-based datasets to video format for efficient storage
+7. **Show the Info of Datasets** - Show the summary of datasets information such as number of episode etc.
 
 The core implementation is in `lerobot.datasets.dataset_tools`.
 An example script detailing how to use the tools API is available in `examples/dataset/use_dataset_tools.py`.
@@ -118,19 +117,10 @@ lerobot-edit-dataset \
     --repo_id lerobot/pusht_image \
     --operation.type convert_image_to_video \
     --operation.output_dir outputs/pusht_video \
-    --operation.rgb_encoder.vcodec libsvtav1 \
-    --operation.rgb_encoder.pix_fmt yuv420p \
-    --operation.rgb_encoder.g 2 \
-    --operation.rgb_encoder.crf 30
-
-# Convert a dataset that includes depth maps, customizing the depth encoder
-lerobot-edit-dataset \
-    --repo_id lerobot/pusht_image \
-    --operation.type convert_image_to_video \
-    --operation.output_dir outputs/pusht_video \
-    --operation.depth_encoder.depth_min 0.01 \
-    --operation.depth_encoder.depth_max 10.0 \
-    --operation.depth_encoder.use_log true
+    --operation.camera_encoder.vcodec libsvtav1 \
+    --operation.camera_encoder.pix_fmt yuv420p \
+    --operation.camera_encoder.g 2 \
+    --operation.camera_encoder.crf 30
 
 # Convert only specific episodes
 lerobot-edit-dataset \
@@ -157,42 +147,11 @@ lerobot-edit-dataset \
 **Parameters:**
 
 - `output_dir`: Custom output directory (optional - by default uses `new_repo_id` or `{repo_id}_video`)
-- `rgb_encoder`: Video encoder settings applied to RGB cameras — all sub-fields accessible via `--operation.rgb_encoder.<field>`. See [Video Encoding Parameters](./video_encoding_parameters) for more details.
-- `depth_encoder`: Video encoder settings applied to depth-map cameras (e.g. from an Intel RealSense). In addition to the standard encoder fields it exposes the depth quantization knobs (`depth_min`, `depth_max`, `shift`, `use_log`), accessible via `--operation.depth_encoder.<field>`. These quantization settings are persisted to the dataset metadata so depth can be dequantized back to physical units on load. See the [Depth streams](./video_encoding_parameters#depth-streams) section for details.
+- `camera_encoder`: Video encoder settings — all sub-fields accessible via `--operation.camera_encoder.<field>. See [Video Encoding Parameters](./video_encoding_parameters) for more details.
 - `episode_indices`: List of specific episodes to convert (default: all episodes)
 - `num_workers`: Number of parallel workers for processing (default: 4)
 
-**Note:** The resulting dataset will be a proper LeRobotDataset with all cameras encoded as videos in the `videos/` directory, with parquet files containing only metadata (no raw image data). Depth-map cameras are detected automatically and routed to the `depth_encoder`, while RGB cameras use the `rgb_encoder`. All episodes, stats, and tasks are preserved.
-
-#### Re-encode Videos
-
-Re-encode the videos of an existing video dataset with different encoder settings, without going back to raw frames. RGB videos use the `rgb_encoder` and depth videos use the `depth_encoder`. Provide only the encoder(s) you want to re-encode; the other stream type is left untouched.
-
-```bash
-# Re-encode all RGB videos with new settings (saves to lerobot/pusht_reencoded by default)
-lerobot-edit-dataset \
-    --repo_id lerobot/pusht \
-    --operation.type reencode_videos \
-    --operation.rgb_encoder.vcodec h264 \
-    --operation.rgb_encoder.pix_fmt yuv420p \
-    --operation.rgb_encoder.crf 23
-
-# Re-encode both RGB and depth videos in a dataset with depth maps
-lerobot-edit-dataset \
-    --repo_id lerobot/pusht_depth \
-    --operation.type reencode_videos \
-    --operation.rgb_encoder.vcodec h264 \
-    --operation.depth_encoder.crf 50
-```
-
-**Parameters:**
-
-- `rgb_encoder`: Encoder settings applied to every RGB video. Omit to skip re-encoding RGB videos.
-- `depth_encoder`: Encoder settings applied to every depth video. Omit to skip re-encoding depth videos.
-- `num_workers`: Number of parallel workers for processing.
-
-> [!NOTE]
-> When re-encoding depth videos, the existing depth quantization parameters (`depth_min`, `depth_max`, `shift`, `use_log`) and the `is_depth_map` flag are **preserved** — re-encoding only changes the codec/quality of the stored stream, not how depth is dequantized on load.
+**Note:** The resulting dataset will be a proper LeRobotDataset with all cameras encoded as videos in the `videos/` directory, with parquet files containing only metadata (no raw image data). All episodes, stats, and tasks are preserved.
 
 ### Show the information of datasets
 
@@ -265,8 +224,6 @@ lerobot-dataset-viz \
 
 Once executed, the tool opens `rerun.io` and displays the camera streams, robot states, and actions for the selected episode.
 
-To use [Foxglove](https://foxglove.dev) instead of Rerun, install the extra add `--display-mode foxglove`. This starts a WebSocket server (connect the Foxglove app to `ws://127.0.0.1:8765`) that serves the episode as a seekable timeline you can play/pause and scrub.
-
 For advanced usage—including visualizing datasets stored on a remote server—run:
 
 ```bash

docs/source/video_encoding_parameters.mdx

@@ -2,15 +2,15 @@
 
 When video storage is enabled, LeRobot stores each camera stream as an **MP4** file instead of saving one image file per timestep. Video encoding compresses across time, which usually cuts dataset size and I/O compared to a pile of PNG, while keeping MP4 — a format every player and loader understands.
 
-Encoding frames into an MP4 is a full FFmpeg pipeline: choice of encoder, pixel format, GOP/keyframes, quality vs. speed, and optional extra encoder flags. Most of these knobs are user-tunable through `rgb_encoder`, a nested `RGBEncoderConfig` (`lerobot.configs.video.RGBEncoderConfig`) passed through PyAV.
+Encoding frames into an MP4 is a full FFmpeg pipeline: choice of encoder, pixel format, GOP/keyframes, quality vs. speed, and optional extra encoder flags. Most of these knobs are user-tunable through `camera_encoder`, a nested `VideoEncoderConfig` (`lerobot.configs.video.VideoEncoderConfig`) passed through PyAV.
 
-You can set these parameters from the CLI with `--dataset.rgb_encoder.<field>` (e.g. with `lerobot-record` or `lerobot-rollout`). The same block applies to every camera video stream in that run.
+You can set these parameters from the CLI with `--dataset.camera_encoder.<field>` (e.g. with `lerobot-record` or `lerobot-rollout`). The same block applies to every camera video stream in that run.
 
 <Tip>
-  Video storage must be on for `rgb_encoder` to have any effect —
+  Video storage must be on for `camera_encoder` to have any effect —
   `use_videos=True` in Python APIs, or `--dataset.video=true` on the CLI (the
-  recording default). With video off, inputs stay as images and `rgb_encoder` is
-  ignored.
+  recording default). With video off, inputs stay as images and `camera_encoder`
+  is ignored.
 </Tip>
 
 For details on **when** frames are written vs. encoded (streaming vs. post-episode), queues, and other top-level `--dataset.*` switches, see [Streaming Video Encoding](./streaming_video_encoding). For an encoding-parameter comparison and experiments, see the [video-benchmark Space](https://huggingface.co/spaces/lerobot/video-benchmark).
@@ -33,9 +33,9 @@ lerobot-record \
     --dataset.single_task="Grab the cube" \
     --dataset.streaming_encoding=true \
     --dataset.encoder_threads=2 \
-    --dataset.rgb_encoder.vcodec=h264 \
-    --dataset.rgb_encoder.preset=fast \
-    --dataset.rgb_encoder.extra_options={"tune": "film", "profile:v": "high", "bf": 2} \
+    --dataset.camera_encoder.vcodec=h264 \
+    --dataset.camera_encoder.preset=fast \
+    --dataset.camera_encoder.extra_options={"tune": "film", "profile:v": "high", "bf": 2} \
     --display_data=true
 ```
 
@@ -50,7 +50,7 @@ Only override these parameters if you have a specific reason to, and measure the
 
 </Tip>
 
-All flags below are prefixed with `--dataset.rgb_encoder.` on the CLI.
+All flags below are prefixed with `--dataset.camera_encoder.` on the CLI.
 
 | Parameter       | Type             | Default       | Description                                                                                                                                                                            |
 | --------------- | ---------------- | ------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
@@ -65,77 +65,6 @@ All flags below are prefixed with `--dataset.rgb_encoder.` on the CLI.
 
 ---
 
-## Depth streams
-
-Depth maps (Intel RealSense, Reachy 2) are stored as their **own video streams** alongside the RGB streams. Raw depth (`uint16` millimetres or `float32` metres) can't survive an 8-bit codec, so LeRobot **quantizes** each map to a 12-bit code (`[0, 4095]`) — logarithmically by default, to match the `1/depth` error profile of depth sensors — then packs it into a high-bit-depth pixel format (`gray12le`) and encodes it with a 12-bit codec.
-
-```mermaid
-flowchart LR
-    A["Raw depth (uint16 mm / float32 m)"] --> B["Clip to depth_min, depth_max"]
-    B --> C["Quantize to 12-bit code 0–4095 (log or linear)"]
-    C --> D["Pack into gray12le"]
-    D --> E["Encode video (hevc Main 12)"]
-    E --> F[("MP4 + metadata: depth_min/max, shift, use_log")]
-    F -. "load time (depth_output_unit)" .-> G["Dequantize to mm or m"]
-
-    classDef input fill:#e3f2fd,stroke:#1565c0,color:#0d47a1;
-    classDef encode fill:#ede7f6,stroke:#5e35b1,color:#311b92;
-    classDef store fill:#fff8e1,stroke:#f9a825,color:#e65100;
-    classDef load fill:#e8f5e9,stroke:#2e7d32,color:#1b5e20;
-
-    class A input;
-    class B,C,D,E encode;
-    class F store;
-    class G load;
-```
-
-Configure the depth pipeline through a parallel **`depth_encoder`** block (`DepthEncoderConfig`). It shares every `RGBEncoderConfig` field (`vcodec`, `pix_fmt`, `crf`, …) and adds four quantizer knobs, set via `--dataset.depth_encoder.<field>`:
-
-```bash
-lerobot-record \
-    ... \
-    --dataset.depth_encoder.vcodec=hevc \
-    --dataset.depth_encoder.depth_min=0.05 \
-    --dataset.depth_encoder.depth_max=5.0 \
-    --dataset.depth_encoder.use_log=true
-```
-
-| Parameter       | Type    | Default                         | Description                                                                                                                            |
-| --------------- | ------- | ------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------- |
-| `vcodec`        | `str`   | `"hevc"`                        | HEVC Main 12 (a 12-bit-capable codec, MP4-compatible).                                                                                 |
-| `extra_options` | `dict`  | `{"x265-params": "lossless=1"}` | **Depth defaults to lossless** (exact round-trip); `crf` is ignored. Pass `extra_options={}` and set `crf` for a smaller lossy stream. |
-| `pix_fmt`       | `str`   | `"gray12le"`                    | Single-channel 12-bit pixel format used to carry the quantized codes.                                                                  |
-| `depth_min`     | `float` | `0.01`                          | Depth in metres mapped to quantum `0`. Values below are clipped on decode.                                                             |
-| `depth_max`     | `float` | `10.0`                          | Depth in metres mapped to quantum `4095`. Values above are clipped on decode.                                                          |
-| `shift`         | `float` | `3.5`                           | Pre-log offset (metres) used in logarithmic quantization for numerical stability near zero. Must satisfy `depth_min + shift > 0`.      |
-| `use_log`       | `bool`  | `True`                          | If `true`, quantize in log-space (recommended for typical depth sensors). Set to `false` for uniform/linear quantization.              |
-
-> [!TIP]
-> `depth_min`, `depth_max`, and `shift` are always interpreted in **metres**, regardless of the input depth's unit. Inputs are auto-detected: integer arrays (e.g. `uint16` millimetres straight from a RealSense) are treated as millimetres, floating arrays as metres.
-> Pick `depth_min` / `depth_max` to bracket the actual working range of your sensor — quanta outside that range saturate, which can crush detail at the boundaries.
-
-Depth features are flagged with `"is_depth_map": true` in `meta/info.json`, and their quantizer settings (`video.depth_min`, `video.depth_max`, `video.shift`, `video.use_log`) are persisted — which is what lets depth be **dequantized back to physical units** on load.
-
-### Output unit at load time
-
-`depth_encoder` is a **record-time** concern. The unit that depth maps are dequantized to on _load_ (e.g. during training) is set separately by the read-time flag `--dataset.depth_output_unit`:
-
-```bash
-lerobot-train \
-    --dataset.repo_id=<my_username>/<my_dataset_name> \
-    --dataset.depth_output_unit=m \
-    --policy.type=act
-```
-
-| Parameter           | Type  | Default | Description                                                                                  |
-| ------------------- | ----- | ------- | -------------------------------------------------------------------------------------------- |
-| `depth_output_unit` | `str` | `"mm"`  | Physical unit depth maps are dequantized to on load: `"mm"` (millimetres) or `"m"` (metres). |
-
-> [!TIP]
-> This is purely a decode-time presentation choice — it does **not** alter the stored video or its metadata, so the same dataset can be read as `mm` or `m` without re-encoding. It has no effect on datasets without depth cameras.
-
----
-
 ## Persistence in dataset metadata
 
 After the first episode of a video stream is encoded, the encoder configuration is **persisted into the dataset metadata** (`meta/info.json`) under each video feature, alongside the values probed from the file itself. For a video feature `observation.images.<camera>`, the layout in `info.json` is:
@@ -153,7 +82,7 @@ After the first episode of a video stream is encoded, the encoder configuration
         "video.pix_fmt": "yuv420p",
         "video.fps": 30,
         "video.channels": 3,
-        "is_depth_map": false,
+        "video.is_depth_map": false,
         "video.g": 2,
         "video.crf": 30,
         "video.preset": "fast",
@@ -168,12 +97,12 @@ After the first episode of a video stream is encoded, the encoder configuration
 
 Two sources contribute to the `info` block:
 
-- **Stream-derived** (read back from the encoded MP4 with PyAV): `video.height`, `video.width`, `video.codec`, `video.pix_fmt`, `video.fps`, `video.channels`, `is_depth_map`, plus `audio.*` if an audio stream is present.
-- **Encoder-derived** (taken from `RGBEncoderConfig` or `DepthEncoderConfig`): `video.g`, `video.crf`, `video.preset`, `video.fast_decode`, `video.video_backend`, `video.extra_options`.
+- **Stream-derived** (read back from the encoded MP4 with PyAV): `video.height`, `video.width`, `video.codec`, `video.pix_fmt`, `video.fps`, `video.channels`, `video.is_depth_map`, plus `audio.*` if an audio stream is present.
+- **Encoder-derived** (taken from `VideoEncoderConfig`): `video.g`, `video.crf`, `video.preset`, `video.fast_decode`, `video.video_backend`, `video.extra_options`.
 
 <Tip>
   This block is populated **once**, from the **first** episode. It assumes every
-  episode in the dataset was encoded with the same `rgb_encoder`. Changing
+  episode in the dataset was encoded with the same `camera_encoder`. Changing
   encoder settings partway through a recording is not supported — the
   `info.json` will only reflect the parameters used for the first episode.
 </Tip>

docs/source/vlabench.mdx

@@ -165,7 +165,7 @@ lerobot-train \
   --output_dir=./outputs/smolvla_vlabench_primitive \
   --steps=100000 \
   --batch_size=4 \
-  --env_eval_freq=5000 \
+  --eval_freq=5000 \
   --eval.batch_size=1 \
   --eval.n_episodes=1 \
   --save_freq=10000

examples/lekiwi/evaluate.py

@@ -17,7 +17,7 @@
 import logging
 import time
 
-from lerobot.common.control_utils import predict_action
+from lerobot.common.control_utils import init_keyboard_listener, predict_action
 from lerobot.datasets import LeRobotDataset
 from lerobot.policies import make_pre_post_processors
 from lerobot.policies.act import ACTPolicy
@@ -26,7 +26,6 @@ from lerobot.processor import make_default_processors
 from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
 from lerobot.utils.constants import ACTION, OBS_STR
 from lerobot.utils.feature_utils import build_dataset_frame, hw_to_dataset_features
-from lerobot.utils.keyboard_input import init_keyboard_listener
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data

examples/lekiwi/record.py

@@ -14,6 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets import LeRobotDataset
 from lerobot.processor import make_default_processors
 from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
@@ -22,7 +23,6 @@ from lerobot.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
 from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
 from lerobot.utils.constants import ACTION, OBS_STR
 from lerobot.utils.feature_utils import hw_to_dataset_features
-from lerobot.utils.keyboard_input import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/phone_to_so100/evaluate.py

@@ -18,7 +18,7 @@ import logging
 import time
 
 from lerobot.cameras.opencv import OpenCVCameraConfig
-from lerobot.common.control_utils import predict_action
+from lerobot.common.control_utils import init_keyboard_listener, predict_action
 from lerobot.configs import FeatureType, PolicyFeature
 from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
@@ -41,7 +41,6 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.constants import ACTION, OBS_STR
 from lerobot.utils.feature_utils import build_dataset_frame, combine_feature_dicts
-from lerobot.utils.keyboard_input import init_keyboard_listener
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data

examples/phone_to_so100/record.py

@@ -15,6 +15,7 @@
 # limitations under the License.
 
 from lerobot.cameras.opencv import OpenCVCameraConfig
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import (
@@ -38,7 +39,6 @@ from lerobot.teleoperators.phone.config_phone import PhoneOS
 from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
 from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.feature_utils import combine_feature_dicts
-from lerobot.utils.keyboard_input import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

examples/so100_to_so100_EE/evaluate.py

@@ -18,7 +18,7 @@ import logging
 import time
 
 from lerobot.cameras.opencv import OpenCVCameraConfig
-from lerobot.common.control_utils import predict_action
+from lerobot.common.control_utils import init_keyboard_listener, predict_action
 from lerobot.configs import FeatureType, PolicyFeature
 from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
@@ -41,7 +41,6 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.constants import ACTION, OBS_STR
 from lerobot.utils.feature_utils import build_dataset_frame, combine_feature_dicts
-from lerobot.utils.keyboard_input import init_keyboard_listener
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data

examples/so100_to_so100_EE/record.py

@@ -16,6 +16,7 @@
 
 
 from lerobot.cameras.opencv import OpenCVCameraConfig
+from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import (
@@ -35,7 +36,6 @@ from lerobot.scripts.lerobot_record import record_loop
 from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
 from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.feature_utils import combine_feature_dicts
-from lerobot.utils.keyboard_input import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 

pyproject.toml

@@ -85,6 +85,11 @@ dependencies = [
     "termcolor>=2.4.0,<4.0.0",
     "tqdm>=4.66.0,<5.0.0",
 
+    # Training utilities
+    # EMA of policy parameters (Diffusion Policy / pi05 style). Tiny
+    # pure-python dependency — preferred over a hand-rolled implementation.
+    "ema-pytorch>=0.7.7,<1.0.0",
+
     # Build tools (required by opencv-python-headless on some platforms)
     "cmake>=3.29.0.1,<4.2.0",
     "setuptools>=71.0.0,<81.0.0",
@@ -124,8 +129,7 @@ hardware = [
     "lerobot[deepdiff-dep]",
 ]
 viz = [
-    "rerun-sdk>=0.24.0,<0.34.0",
-    "foxglove-sdk>=0.25.1,<0.26.0",
+    "rerun-sdk>=0.24.0,<0.27.0",
 ]
 # ── User-facing composite extras (map to CLI scripts) ─────
 # lerobot-record, lerobot-replay, lerobot-calibrate, lerobot-teleoperate, etc.
@@ -141,15 +145,9 @@ av-dep = ["av>=15.0.0,<16.0.0"]
 pygame-dep = ["pygame>=2.5.1,<2.7.0"]
 # NOTE: 0.9.16 links against liburdfdom_sensor.so.4, which is unavailable on Ubuntu 24.04
 # (noble ships urdfdom 3.x). Cap below 0.9.16 until system urdfdom 4.x is broadly available.
-#
-# NOTE: placo pulls in pin (Pinocchio), whose binary wheels dlopen specific cmeel sonames
-# (liburdfdom_sensor.so.4.0, libtinyxml2.so.10) but declare only `>=` floors on their cmeel
-# packages. The 2026-05-21 major bumps (cmeel-urdfdom 6.0.0 -> .so.6, cmeel-tinyxml2 11.0.0
-# -> .so.11) ship newer sonames, so left unpinned the resolver grabs them and `import placo`
-# fails at load with "liburdfdom_sensor.so.4.0: cannot open shared object file" (see #3755).
-# There is no cmeel-urdfdom 5.x; <5 selects the 4.x ABI the placo/pin wheels are built against.
-placo-dep = ["placo>=0.9.6,<0.9.16", "cmeel-urdfdom>=4,<5", "cmeel-tinyxml2<11"]
+placo-dep = ["placo>=0.9.6,<0.9.16"]
 transformers-dep = ["transformers>=5.4.0,<5.6.0"]
+sentencepiece-dep = ["sentencepiece>=0.2.0,<0.3.0"] # FAST action tokenizer backend (pi052, pi0_fast)
 grpcio-dep = ["grpcio>=1.73.1,<2.0.0", "protobuf>=6.31.1,<8.0.0"]
 accelerate-dep = ["accelerate>=1.14.0,<2.0.0"]
 can-dep = ["python-can>=4.2.0,<5.0.0"]
@@ -164,7 +162,6 @@ pynput-dep = ["pynput>=1.7.8,<1.9.0"]
 pyzmq-dep = ["pyzmq>=26.2.1,<28.0.0"]
 motorbridge-dep = ["motorbridge>=0.3.2,<0.4.0"]
 motorbridge-smart-servo-dep = ["motorbridge-smart-servo>=0.0.4,<0.1.0"]
-timm-dep = ["timm>=1.0.0,<1.1.0"]
 
 # Motors
 feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0", "lerobot[pyserial-dep]", "lerobot[deepdiff-dep]"]
@@ -212,7 +209,7 @@ wallx = [
     "torchdiffeq>=0.2.4,<0.3.0",
     "lerobot[qwen-vl-utils-dep]",
 ]
-pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]"]
+pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]", "lerobot[sentencepiece-dep]"]
 molmoact2 = ["lerobot[transformers-dep]", "lerobot[peft-dep]", "lerobot[scipy-dep]"]
 smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "lerobot[accelerate-dep]"]
 multi_task_dit = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]"]
@@ -220,24 +217,19 @@ groot = [
     "lerobot[transformers-dep]",
     "lerobot[peft-dep]",
     "lerobot[diffusers-dep]",
-    "lerobot[dataset]", # NOTE: processor_groot builds a LeRobotDataset for relative-action training stats
     "dm-tree>=0.1.8,<1.0.0",
-    "lerobot[timm-dep]",
+    "timm>=1.0.0,<1.1.0",
     "decord>=0.6.0,<1.0.0; (platform_machine == 'AMD64' or platform_machine == 'x86_64')",
+    "ninja>=1.11.1,<2.0.0",
+    "flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
 ]
 sarm = ["lerobot[transformers-dep]", "pydantic>=2.0.0,<3.0.0", "faker>=33.0.0,<35.0.0", "lerobot[matplotlib-dep]", "lerobot[qwen-vl-utils-dep]"]
 robometer = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]", "lerobot[peft-dep]"]
 topreward = ["lerobot[transformers-dep]"]
 xvla = ["lerobot[transformers-dep]"]
 eo1 = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]"]
-fastwam = [
-    "lerobot[transformers-dep]",
-    "lerobot[diffusers-dep]",
-]
-evo1 = ["lerobot[transformers-dep]"]
 hilserl = ["lerobot[transformers-dep]", "lerobot[dataset]", "gym-hil>=0.1.14,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
 vla_jepa = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]", "lerobot[qwen-vl-utils-dep]"]
-lingbot_va = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]", "lerobot[accelerate-dep]"]
 
 # Features
 async = ["lerobot[grpcio-dep]", "lerobot[matplotlib-dep]"]
@@ -315,13 +307,10 @@ all = [
     "lerobot[pi]",
     "lerobot[molmoact2]",
     "lerobot[smolvla]",
-    "lerobot[fastwam]",
-    "lerobot[groot]",
+    # "lerobot[groot]", TODO(Steven): Gr00t requires specific installation instructions for flash-attn
     "lerobot[xvla]",
-    "lerobot[evo1]",
     "lerobot[hilserl]",
     "lerobot[vla_jepa]",
-    "lerobot[lingbot_va]",
     "lerobot[async]",
     "lerobot[dev]",
     "lerobot[test]",
@@ -357,6 +346,8 @@ lerobot-edit-dataset="lerobot.scripts.lerobot_edit_dataset:main"
 lerobot-setup-can="lerobot.scripts.lerobot_setup_can:main"
 lerobot-annotate="lerobot.scripts.lerobot_annotate:main"
 lerobot-rollout="lerobot.scripts.lerobot_rollout:main"
+# Interactive high/low-level runtime for language-conditioned policies (pi052, ...).
+lerobot-language-runtime="lerobot.scripts.lerobot_language_runtime:main"
 
 # ---------------- Tool Configurations ----------------
 
@@ -454,8 +445,7 @@ default.extend-ignore-identifiers-re = [
     "is_compileable",
     "ROBOTIS",
     "OT_VALUE",
-    "VanderBilt",
-    "seperated_timestep",
+    "VanderBilt"
 ]
 
 # TODO: Uncomment when ready to use

requirements-macos.txt

@@ -0,0 +1,729 @@
+#
+# This file is autogenerated by pip-compile with Python 3.12
+# by the following command:
+#
+#    pip-compile --output-file=requirements-macos.txt requirements.in
+#
+-e .[all]
+    # via -[all]
+absl-py==2.4.0
+    # via
+    #   dm-control
+    #   dm-env
+    #   dm-tree
+    #   labmaze
+    #   mujoco
+accelerate==1.13.0
+    # via
+    #   lerobot
+    #   peft
+aiohappyeyeballs==2.6.1
+    # via aiohttp
+aiohttp==3.13.3
+    # via fsspec
+aiosignal==1.4.0
+    # via aiohttp
+annotated-doc==0.0.4
+    # via
+    #   fastapi
+    #   typer
+annotated-types==0.7.0
+    # via pydantic
+anyio==4.12.1
+    # via
+    #   httpx
+    #   starlette
+    #   watchfiles
+asttokens==3.0.1
+    # via stack-data
+attrs==25.4.0
+    # via
+    #   aiohttp
+    #   dm-tree
+    #   jsonlines
+    #   rerun-sdk
+av==15.1.0
+    # via
+    #   lerobot
+    #   qwen-vl-utils
+certifi==2026.2.25
+    # via
+    #   httpcore
+    #   httpx
+    #   requests
+    #   sentry-sdk
+cffi==2.0.0
+    # via pymunk
+cfgv==3.5.0
+    # via pre-commit
+charset-normalizer==3.4.5
+    # via requests
+click==8.3.1
+    # via
+    #   typer
+    #   uvicorn
+    #   wandb
+cloudpickle==3.1.2
+    # via gymnasium
+cmake==4.1.3
+    # via lerobot
+cmeel==0.59.0
+    # via
+    #   cmeel-assimp
+    #   cmeel-boost
+    #   cmeel-console-bridge
+    #   cmeel-octomap
+    #   cmeel-qhull
+    #   cmeel-tinyxml2
+    #   cmeel-urdfdom
+    #   cmeel-zlib
+    #   coal-library
+    #   eigenpy
+    #   eiquadprog
+    #   pin
+    #   placo
+    #   rhoban-cmeel-jsoncpp
+cmeel-assimp==5.4.3.1
+    # via coal-library
+cmeel-boost==1.87.0.1
+    # via
+    #   coal-library
+    #   eigenpy
+    #   eiquadprog
+    #   pin
+cmeel-console-bridge==1.0.2.3
+    # via cmeel-urdfdom
+cmeel-octomap==1.10.0
+    # via coal-library
+cmeel-qhull==8.0.2.1
+    # via coal-library
+cmeel-tinyxml2==10.0.0
+    # via cmeel-urdfdom
+cmeel-urdfdom==4.0.1
+    # via pin
+cmeel-zlib==1.3.1
+    # via cmeel-assimp
+coal-library==3.0.1
+    # via pin
+contourpy==1.3.3
+    # via
+    #   lerobot
+    #   matplotlib
+coverage[toml]==7.13.4
+    # via pytest-cov
+cycler==0.12.1
+    # via matplotlib
+datasets==4.6.1
+    # via lerobot
+debugpy==1.8.20
+    # via lerobot
+decorator==5.2.1
+    # via ipython
+deepdiff==8.6.1
+    # via lerobot
+diffusers==0.35.2
+    # via lerobot
+dill==0.4.0
+    # via
+    #   datasets
+    #   multiprocess
+distlib==0.4.0
+    # via virtualenv
+dm-control==1.0.37
+    # via gym-aloha
+dm-env==1.6
+    # via dm-control
+dm-tree==0.1.9
+    # via
+    #   dm-control
+    #   dm-env
+docopt==0.6.2
+    # via num2words
+draccus==0.10.0
+    # via lerobot
+dynamixel-sdk==3.8.4
+    # via lerobot
+eigenpy==3.10.3
+    # via coal-library
+einops==0.8.2
+    # via lerobot
+eiquadprog==1.2.9
+    # via placo
+etils[epath,epy]==1.14.0
+    # via mujoco
+executing==2.2.1
+    # via stack-data
+faker==34.0.2
+    # via lerobot
+farama-notifications==0.0.4
+    # via gymnasium
+fastapi==0.135.1
+    # via
+    #   lerobot
+    #   teleop
+feetech-servo-sdk==1.0.0
+    # via lerobot
+filelock==3.25.0
+    # via
+    #   datasets
+    #   diffusers
+    #   huggingface-hub
+    #   python-discovery
+    #   torch
+    #   virtualenv
+fonttools==4.61.1
+    # via matplotlib
+frozenlist==1.8.0
+    # via
+    #   aiohttp
+    #   aiosignal
+fsspec[http]==2026.2.0
+    # via
+    #   datasets
+    #   etils
+    #   huggingface-hub
+    #   torch
+gitdb==4.0.12
+    # via gitpython
+gitpython==3.1.46
+    # via wandb
+glfw==2.10.0
+    # via
+    #   dm-control
+    #   mujoco
+grpcio==1.73.1
+    # via
+    #   grpcio-tools
+    #   lerobot
+    #   reachy2-sdk
+    #   reachy2-sdk-api
+grpcio-tools==1.73.1
+    # via
+    #   lerobot
+    #   reachy2-sdk-api
+gym-aloha==0.1.3
+    # via lerobot
+gym-hil==0.1.13
+    # via lerobot
+gym-pusht==0.1.6
+    # via lerobot
+gymnasium==1.2.3
+    # via
+    #   gym-aloha
+    #   gym-hil
+    #   gym-pusht
+    #   lerobot
+    #   metaworld
+h11==0.16.0
+    # via
+    #   httpcore
+    #   uvicorn
+hebi-py==2.11.0
+    # via lerobot
+hf-xet==1.3.2
+    # via huggingface-hub
+hidapi==0.14.0.post4
+    # via
+    #   gym-hil
+    #   lerobot
+httpcore==1.0.9
+    # via httpx
+httptools==0.7.1
+    # via uvicorn
+httpx==0.28.1
+    # via
+    #   datasets
+    #   huggingface-hub
+huggingface-hub==1.6.0
+    # via
+    #   accelerate
+    #   datasets
+    #   diffusers
+    #   lerobot
+    #   peft
+    #   tokenizers
+    #   transformers
+identify==2.6.17
+    # via pre-commit
+idna==3.11
+    # via
+    #   anyio
+    #   httpx
+    #   requests
+    #   yarl
+imageio[ffmpeg]==2.37.2
+    # via
+    #   gym-aloha
+    #   gym-hil
+    #   lerobot
+    #   metaworld
+    #   scikit-image
+imageio-ffmpeg==0.6.0
+    # via imageio
+importlib-metadata==8.7.1
+    # via diffusers
+iniconfig==2.3.0
+    # via pytest
+ipython==9.11.0
+    # via meshcat
+ipython-pygments-lexers==1.1.1
+    # via ipython
+ischedule==1.2.7
+    # via placo
+jedi==0.19.2
+    # via ipython
+jinja2==3.1.6
+    # via torch
+jsonlines==4.0.0
+    # via lerobot
+kiwisolver==1.4.9
+    # via matplotlib
+labmaze==1.0.6
+    # via dm-control
+lazy-loader==0.5
+    # via scikit-image
+librt==0.8.1
+    # via mypy
+lxml==6.0.2
+    # via dm-control
+markdown-it-py==4.0.0
+    # via rich
+markupsafe==3.0.3
+    # via jinja2
+matplotlib==3.10.8
+    # via lerobot
+matplotlib-inline==0.2.1
+    # via ipython
+mdurl==0.1.2
+    # via markdown-it-py
+mergedeep==1.3.4
+    # via draccus
+meshcat==0.3.2
+    # via placo
+metaworld==3.0.0
+    # via lerobot
+mock-serial==0.0.1
+    # via lerobot
+mpmath==1.3.0
+    # via sympy
+mujoco==3.5.0
+    # via
+    #   dm-control
+    #   gym-aloha
+    #   gym-hil
+    #   metaworld
+multidict==6.7.1
+    # via
+    #   aiohttp
+    #   yarl
+multiprocess==0.70.18
+    # via datasets
+mypy==1.19.1
+    # via lerobot
+mypy-extensions==1.1.0
+    # via
+    #   mypy
+    #   typing-inspect
+networkx==3.6.1
+    # via
+    #   scikit-image
+    #   torch
+nodeenv==1.10.0
+    # via pre-commit
+num2words==0.5.14
+    # via lerobot
+numpy==2.2.6
+    # via
+    #   accelerate
+    #   cmeel-boost
+    #   contourpy
+    #   datasets
+    #   diffusers
+    #   dm-control
+    #   dm-env
+    #   dm-tree
+    #   gymnasium
+    #   hebi-py
+    #   imageio
+    #   labmaze
+    #   lerobot
+    #   matplotlib
+    #   meshcat
+    #   metaworld
+    #   mujoco
+    #   opencv-python
+    #   opencv-python-headless
+    #   pandas
+    #   peft
+    #   pyquaternion
+    #   reachy2-sdk
+    #   rerun-sdk
+    #   scikit-image
+    #   scipy
+    #   shapely
+    #   teleop
+    #   tifffile
+    #   torchvision
+    #   transformers
+    #   transforms3d
+opencv-python==4.13.0.92
+    # via
+    #   gym-pusht
+    #   reachy2-sdk
+opencv-python-headless==4.12.0.88
+    # via lerobot
+orderly-set==5.5.0
+    # via deepdiff
+packaging==25.0
+    # via
+    #   accelerate
+    #   datasets
+    #   huggingface-hub
+    #   lazy-loader
+    #   lerobot
+    #   matplotlib
+    #   peft
+    #   pytest
+    #   qwen-vl-utils
+    #   reachy2-sdk
+    #   scikit-image
+    #   transformers
+    #   wandb
+pandas==2.3.3
+    # via
+    #   datasets
+    #   lerobot
+parso==0.8.6
+    # via jedi
+pathspec==1.0.4
+    # via mypy
+peft==0.18.1
+    # via lerobot
+pexpect==4.9.0
+    # via ipython
+pillow==12.1.1
+    # via
+    #   diffusers
+    #   imageio
+    #   matplotlib
+    #   meshcat
+    #   qwen-vl-utils
+    #   rerun-sdk
+    #   scikit-image
+    #   torchvision
+pin==3.4.0
+    # via placo
+placo==0.9.16
+    # via lerobot
+platformdirs==4.9.4
+    # via
+    #   python-discovery
+    #   virtualenv
+    #   wandb
+pluggy==1.6.0
+    # via
+    #   pytest
+    #   pytest-cov
+pre-commit==4.5.1
+    # via lerobot
+prompt-toolkit==3.0.52
+    # via ipython
+propcache==0.4.1
+    # via
+    #   aiohttp
+    #   yarl
+protobuf==6.31.1
+    # via
+    #   dm-control
+    #   grpcio-tools
+    #   lerobot
+    #   reachy2-sdk
+    #   reachy2-sdk-api
+    #   wandb
+psutil==7.2.2
+    # via
+    #   accelerate
+    #   imageio
+    #   peft
+ptyprocess==0.7.0
+    # via pexpect
+pure-eval==0.2.3
+    # via stack-data
+pyarrow==23.0.1
+    # via
+    #   datasets
+    #   rerun-sdk
+pycparser==3.0
+    # via cffi
+pydantic==2.12.5
+    # via
+    #   fastapi
+    #   wandb
+pydantic-core==2.41.5
+    # via pydantic
+pygame==2.6.1
+    # via
+    #   gym-hil
+    #   gym-pusht
+    #   lerobot
+pygments==2.19.2
+    # via
+    #   ipython
+    #   ipython-pygments-lexers
+    #   pytest
+    #   rich
+pymunk==6.11.1
+    # via
+    #   gym-pusht
+    #   lerobot
+pyngrok==7.5.1
+    # via meshcat
+pynput==1.8.1
+    # via
+    #   gym-hil
+    #   lerobot
+pyobjc-core==12.1
+    # via
+    #   pyobjc-framework-applicationservices
+    #   pyobjc-framework-cocoa
+    #   pyobjc-framework-coretext
+    #   pyobjc-framework-quartz
+pyobjc-framework-applicationservices==12.1
+    # via pynput
+pyobjc-framework-cocoa==12.1
+    # via
+    #   pyobjc-framework-applicationservices
+    #   pyobjc-framework-coretext
+    #   pyobjc-framework-quartz
+pyobjc-framework-coretext==12.1
+    # via pyobjc-framework-applicationservices
+pyobjc-framework-quartz==12.1
+    # via
+    #   pynput
+    #   pyobjc-framework-applicationservices
+    #   pyobjc-framework-coretext
+pyopengl==3.1.10
+    # via
+    #   dm-control
+    #   mujoco
+pyparsing==3.3.2
+    # via
+    #   dm-control
+    #   matplotlib
+pyquaternion==0.9.9
+    # via reachy2-sdk
+pyrealsense2-macosx==2.56.5
+    # via lerobot
+pyserial==3.5
+    # via
+    #   dynamixel-sdk
+    #   feetech-servo-sdk
+    #   lerobot
+pytest==8.4.2
+    # via
+    #   lerobot
+    #   pytest-cov
+    #   pytest-timeout
+    #   teleop
+pytest-cov==7.0.0
+    # via lerobot
+pytest-timeout==2.4.0
+    # via lerobot
+python-dateutil==2.9.0.post0
+    # via
+    #   faker
+    #   matplotlib
+    #   pandas
+python-discovery==1.1.1
+    # via virtualenv
+python-dotenv==1.2.2
+    # via uvicorn
+pytz==2026.1.post1
+    # via pandas
+pyyaml==6.0.3
+    # via
+    #   accelerate
+    #   datasets
+    #   draccus
+    #   hebi-py
+    #   huggingface-hub
+    #   peft
+    #   pre-commit
+    #   pyngrok
+    #   pyyaml-include
+    #   transformers
+    #   uvicorn
+    #   wandb
+pyyaml-include==1.4.1
+    # via draccus
+pyzmq==27.1.0
+    # via
+    #   lerobot
+    #   meshcat
+qwen-vl-utils==0.0.14
+    # via lerobot
+reachy2-sdk==1.0.15
+    # via lerobot
+reachy2-sdk-api==1.0.21
+    # via reachy2-sdk
+regex==2026.2.28
+    # via
+    #   diffusers
+    #   transformers
+requests==2.32.5
+    # via
+    #   datasets
+    #   diffusers
+    #   dm-control
+    #   qwen-vl-utils
+    #   teleop
+    #   wandb
+rerun-sdk==0.26.2
+    # via lerobot
+rhoban-cmeel-jsoncpp==1.9.4.9
+    # via placo
+rich==14.3.3
+    # via typer
+safetensors==0.7.0
+    # via
+    #   accelerate
+    #   diffusers
+    #   lerobot
+    #   peft
+    #   transformers
+scikit-image==0.25.2
+    # via
+    #   gym-pusht
+    #   lerobot
+scipy==1.17.1
+    # via
+    #   dm-control
+    #   lerobot
+    #   metaworld
+    #   scikit-image
+    #   torchdiffeq
+sentry-sdk==2.54.0
+    # via wandb
+shapely==2.1.2
+    # via gym-pusht
+shellingham==1.5.4
+    # via typer
+six==1.17.0
+    # via
+    #   pynput
+    #   python-dateutil
+smmap==5.0.3
+    # via gitdb
+stack-data==0.6.3
+    # via ipython
+starlette==0.52.1
+    # via fastapi
+sympy==1.14.0
+    # via torch
+teleop==0.1.4
+    # via lerobot
+termcolor==3.3.0
+    # via lerobot
+tifffile==2026.3.3
+    # via scikit-image
+tokenizers==0.22.2
+    # via transformers
+toml==0.10.2
+    # via draccus
+torch==2.10.0
+    # via
+    #   accelerate
+    #   lerobot
+    #   peft
+    #   torchdiffeq
+    #   torchvision
+torchcodec==0.10.0
+    # via lerobot
+torchdiffeq==0.2.5
+    # via lerobot
+torchvision==0.25.0
+    # via lerobot
+tornado==6.5.4
+    # via meshcat
+tqdm==4.67.3
+    # via
+    #   datasets
+    #   dm-control
+    #   huggingface-hub
+    #   peft
+    #   transformers
+traitlets==5.14.3
+    # via
+    #   ipython
+    #   matplotlib-inline
+transformers==5.3.0
+    # via
+    #   lerobot
+    #   peft
+transforms3d==0.4.2
+    # via teleop
+typer==0.24.1
+    # via
+    #   huggingface-hub
+    #   transformers
+typing-extensions==4.15.0
+    # via
+    #   aiosignal
+    #   anyio
+    #   etils
+    #   faker
+    #   fastapi
+    #   gymnasium
+    #   huggingface-hub
+    #   mypy
+    #   pydantic
+    #   pydantic-core
+    #   rerun-sdk
+    #   starlette
+    #   torch
+    #   typing-inspect
+    #   typing-inspection
+    #   wandb
+typing-inspect==0.9.0
+    # via draccus
+typing-inspection==0.4.2
+    # via
+    #   fastapi
+    #   pydantic
+tzdata==2025.3
+    # via pandas
+u-msgpack-python==2.8.0
+    # via meshcat
+urllib3==2.6.3
+    # via
+    #   requests
+    #   sentry-sdk
+uvicorn[standard]==0.41.0
+    # via teleop
+uvloop==0.22.1
+    # via uvicorn
+virtualenv==21.1.0
+    # via pre-commit
+wandb==0.24.2
+    # via lerobot
+watchfiles==1.1.1
+    # via uvicorn
+wcwidth==0.6.0
+    # via prompt-toolkit
+websocket-client==1.9.0
+    # via teleop
+websockets==16.0
+    # via uvicorn
+wrapt==2.1.2
+    # via dm-tree
+xxhash==3.6.0
+    # via datasets
+yarl==1.23.0
+    # via aiohttp
+zipp==3.23.0
+    # via
+    #   etils
+    #   importlib-metadata
+
+# The following packages are considered to be unsafe in a requirements file:
+# setuptools

requirements-ubuntu.txt

@@ -0,0 +1,882 @@
+#
+# This file is autogenerated by pip-compile with Python 3.12
+# by the following command:
+#
+#    pip-compile --output-file=requirements-ubuntu.txt requirements.in
+#
+-e .[all]
+    # via -[all]
+absl-py==2.4.0
+    # via
+    #   dm-control
+    #   dm-env
+    #   dm-tree
+    #   labmaze
+    #   mujoco
+    #   tensorboard
+accelerate==1.13.0
+    # via
+    #   lerobot
+    #   peft
+aiohappyeyeballs==2.6.1
+    # via aiohttp
+aiohttp==3.13.3
+    # via fsspec
+aiosignal==1.4.0
+    # via aiohttp
+annotated-doc==0.0.4
+    # via
+    #   fastapi
+    #   typer
+annotated-types==0.7.0
+    # via pydantic
+antlr4-python3-runtime==4.9.3
+    # via
+    #   hydra-core
+    #   omegaconf
+anyio==4.12.1
+    # via
+    #   httpx
+    #   starlette
+    #   watchfiles
+asttokens==3.0.1
+    # via stack-data
+attrs==25.4.0
+    # via
+    #   aiohttp
+    #   dm-tree
+    #   jsonlines
+    #   jsonschema
+    #   referencing
+    #   rerun-sdk
+av==15.1.0
+    # via
+    #   lerobot
+    #   qwen-vl-utils
+bddl==1.0.1
+    # via hf-libero
+certifi==2026.2.25
+    # via
+    #   httpcore
+    #   httpx
+    #   requests
+    #   sentry-sdk
+cffi==2.0.0
+    # via pymunk
+cfgv==3.5.0
+    # via pre-commit
+charset-normalizer==3.4.5
+    # via requests
+click==8.3.1
+    # via
+    #   typer
+    #   uvicorn
+    #   wandb
+cloudpickle==3.1.2
+    # via
+    #   gymnasium
+    #   hf-libero
+cmake==4.1.3
+    # via lerobot
+cmeel==0.59.0
+    # via
+    #   cmeel-assimp
+    #   cmeel-boost
+    #   cmeel-console-bridge
+    #   cmeel-octomap
+    #   cmeel-qhull
+    #   cmeel-tinyxml2
+    #   cmeel-urdfdom
+    #   cmeel-zlib
+    #   coal-library
+    #   eigenpy
+    #   eiquadprog
+    #   pin
+    #   placo
+    #   rhoban-cmeel-jsoncpp
+cmeel-assimp==5.4.3.1
+    # via coal-library
+cmeel-boost==1.87.0.1
+    # via
+    #   coal-library
+    #   eigenpy
+    #   eiquadprog
+    #   pin
+cmeel-console-bridge==1.0.2.3
+    # via cmeel-urdfdom
+cmeel-octomap==1.10.0
+    # via coal-library
+cmeel-qhull==8.0.2.1
+    # via coal-library
+cmeel-tinyxml2==10.0.0
+    # via cmeel-urdfdom
+cmeel-urdfdom==4.0.1
+    # via pin
+cmeel-zlib==1.3.1
+    # via cmeel-assimp
+coal-library==3.0.1
+    # via pin
+contourpy==1.3.3
+    # via
+    #   lerobot
+    #   matplotlib
+coverage[toml]==7.13.4
+    # via pytest-cov
+cuda-bindings==12.9.4
+    # via torch
+cuda-pathfinder==1.4.1
+    # via cuda-bindings
+cycler==0.12.1
+    # via matplotlib
+datasets==4.6.1
+    # via lerobot
+debugpy==1.8.20
+    # via lerobot
+decorator==5.2.1
+    # via ipython
+deepdiff==8.6.1
+    # via lerobot
+diffusers==0.35.2
+    # via lerobot
+dill==0.4.0
+    # via
+    #   datasets
+    #   multiprocess
+distlib==0.4.0
+    # via virtualenv
+dm-control==1.0.37
+    # via gym-aloha
+dm-env==1.6
+    # via dm-control
+dm-tree==0.1.9
+    # via
+    #   dm-control
+    #   dm-env
+docopt==0.6.2
+    # via num2words
+draccus==0.10.0
+    # via lerobot
+dynamixel-sdk==3.8.4
+    # via lerobot
+easydict==1.13
+    # via hf-libero
+egl-probe==1.0.2
+    # via robomimic
+eigenpy==3.10.3
+    # via coal-library
+einops==0.8.2
+    # via
+    #   hf-libero
+    #   lerobot
+eiquadprog==1.2.9
+    # via placo
+etils[epath,epy]==1.14.0
+    # via mujoco
+evdev==1.9.3
+    # via pynput
+executing==2.2.1
+    # via stack-data
+faker==34.0.2
+    # via lerobot
+farama-notifications==0.0.4
+    # via gymnasium
+fastapi==0.135.1
+    # via
+    #   lerobot
+    #   teleop
+fastjsonschema==2.21.2
+    # via nbformat
+feetech-servo-sdk==1.0.0
+    # via lerobot
+filelock==3.25.0
+    # via
+    #   datasets
+    #   diffusers
+    #   huggingface-hub
+    #   python-discovery
+    #   torch
+    #   virtualenv
+fonttools==4.61.1
+    # via matplotlib
+frozenlist==1.8.0
+    # via
+    #   aiohttp
+    #   aiosignal
+fsspec[http]==2026.2.0
+    # via
+    #   datasets
+    #   etils
+    #   huggingface-hub
+    #   torch
+future==1.0.0
+    # via hf-libero
+gitdb==4.0.12
+    # via gitpython
+gitpython==3.1.46
+    # via wandb
+glfw==2.10.0
+    # via
+    #   dm-control
+    #   mujoco
+grpcio==1.73.1
+    # via
+    #   grpcio-tools
+    #   lerobot
+    #   reachy2-sdk
+    #   reachy2-sdk-api
+    #   tensorboard
+grpcio-tools==1.73.1
+    # via
+    #   lerobot
+    #   reachy2-sdk-api
+gym-aloha==0.1.3
+    # via lerobot
+gym-hil==0.1.13
+    # via lerobot
+gym-pusht==0.1.6
+    # via lerobot
+gymnasium==1.2.3
+    # via
+    #   gym-aloha
+    #   gym-hil
+    #   gym-pusht
+    #   hf-libero
+    #   lerobot
+    #   metaworld
+h11==0.16.0
+    # via
+    #   httpcore
+    #   uvicorn
+h5py==3.16.0
+    # via robomimic
+hebi-py==2.11.0
+    # via lerobot
+hf-egl-probe==1.0.2
+    # via hf-libero
+hf-libero==0.1.3
+    # via lerobot
+hf-xet==1.3.2
+    # via huggingface-hub
+hidapi==0.14.0.post4
+    # via
+    #   gym-hil
+    #   lerobot
+httpcore==1.0.9
+    # via httpx
+httptools==0.7.1
+    # via uvicorn
+httpx==0.28.1
+    # via
+    #   datasets
+    #   huggingface-hub
+huggingface-hub==1.6.0
+    # via
+    #   accelerate
+    #   datasets
+    #   diffusers
+    #   lerobot
+    #   peft
+    #   tokenizers
+    #   transformers
+hydra-core==1.3.2
+    # via hf-libero
+identify==2.6.17
+    # via pre-commit
+idna==3.11
+    # via
+    #   anyio
+    #   httpx
+    #   requests
+    #   yarl
+imageio[ffmpeg]==2.37.2
+    # via
+    #   gym-aloha
+    #   gym-hil
+    #   lerobot
+    #   metaworld
+    #   robomimic
+    #   scikit-image
+imageio-ffmpeg==0.6.0
+    # via
+    #   imageio
+    #   robomimic
+importlib-metadata==8.7.1
+    # via diffusers
+iniconfig==2.3.0
+    # via pytest
+ipython==9.11.0
+    # via meshcat
+ipython-pygments-lexers==1.1.1
+    # via ipython
+ischedule==1.2.7
+    # via placo
+jedi==0.19.2
+    # via ipython
+jinja2==3.1.6
+    # via torch
+jsonlines==4.0.0
+    # via lerobot
+jsonschema==4.26.0
+    # via nbformat
+jsonschema-specifications==2025.9.1
+    # via jsonschema
+jupyter-core==5.9.1
+    # via nbformat
+jupytext==1.19.1
+    # via bddl
+kiwisolver==1.4.9
+    # via matplotlib
+labmaze==1.0.6
+    # via dm-control
+lazy-loader==0.5
+    # via scikit-image
+librt==0.8.1
+    # via mypy
+llvmlite==0.46.0
+    # via numba
+lxml==6.0.2
+    # via dm-control
+markdown==3.10.2
+    # via tensorboard
+markdown-it-py==4.0.0
+    # via
+    #   jupytext
+    #   mdit-py-plugins
+    #   rich
+markupsafe==3.0.3
+    # via
+    #   jinja2
+    #   werkzeug
+matplotlib==3.10.8
+    # via
+    #   hf-libero
+    #   lerobot
+matplotlib-inline==0.2.1
+    # via ipython
+mdit-py-plugins==0.5.0
+    # via jupytext
+mdurl==0.1.2
+    # via markdown-it-py
+mergedeep==1.3.4
+    # via draccus
+meshcat==0.3.2
+    # via placo
+metaworld==3.0.0
+    # via lerobot
+mock-serial==0.0.1
+    # via lerobot
+mpmath==1.3.0
+    # via sympy
+mujoco==3.5.0
+    # via
+    #   dm-control
+    #   gym-aloha
+    #   gym-hil
+    #   hf-libero
+    #   metaworld
+    #   robosuite
+multidict==6.7.1
+    # via
+    #   aiohttp
+    #   yarl
+multiprocess==0.70.18
+    # via datasets
+mypy==1.19.1
+    # via lerobot
+mypy-extensions==1.1.0
+    # via
+    #   mypy
+    #   typing-inspect
+nbformat==5.10.4
+    # via jupytext
+networkx==3.6.1
+    # via
+    #   bddl
+    #   scikit-image
+    #   torch
+nodeenv==1.10.0
+    # via pre-commit
+num2words==0.5.14
+    # via lerobot
+numba==0.64.0
+    # via robosuite
+numpy==2.2.6
+    # via
+    #   accelerate
+    #   bddl
+    #   cmeel-boost
+    #   contourpy
+    #   datasets
+    #   diffusers
+    #   dm-control
+    #   dm-env
+    #   dm-tree
+    #   gymnasium
+    #   h5py
+    #   hebi-py
+    #   hf-libero
+    #   imageio
+    #   labmaze
+    #   lerobot
+    #   matplotlib
+    #   meshcat
+    #   metaworld
+    #   mujoco
+    #   numba
+    #   opencv-python
+    #   opencv-python-headless
+    #   pandas
+    #   peft
+    #   pyquaternion
+    #   reachy2-sdk
+    #   rerun-sdk
+    #   robomimic
+    #   robosuite
+    #   scikit-image
+    #   scipy
+    #   shapely
+    #   teleop
+    #   tensorboard
+    #   tensorboardx
+    #   tifffile
+    #   torchvision
+    #   transformers
+    #   transforms3d
+nvidia-cublas-cu12==12.8.4.1
+    # via
+    #   nvidia-cudnn-cu12
+    #   nvidia-cusolver-cu12
+    #   torch
+nvidia-cuda-cupti-cu12==12.8.90
+    # via torch
+nvidia-cuda-nvrtc-cu12==12.8.93
+    # via torch
+nvidia-cuda-runtime-cu12==12.8.90
+    # via torch
+nvidia-cudnn-cu12==9.10.2.21
+    # via torch
+nvidia-cufft-cu12==11.3.3.83
+    # via torch
+nvidia-cufile-cu12==1.13.1.3
+    # via torch
+nvidia-curand-cu12==10.3.9.90
+    # via torch
+nvidia-cusolver-cu12==11.7.3.90
+    # via torch
+nvidia-cusparse-cu12==12.5.8.93
+    # via
+    #   nvidia-cusolver-cu12
+    #   torch
+nvidia-cusparselt-cu12==0.7.1
+    # via torch
+nvidia-nccl-cu12==2.27.5
+    # via torch
+nvidia-nvjitlink-cu12==12.8.93
+    # via
+    #   nvidia-cufft-cu12
+    #   nvidia-cusolver-cu12
+    #   nvidia-cusparse-cu12
+    #   torch
+nvidia-nvshmem-cu12==3.4.5
+    # via torch
+nvidia-nvtx-cu12==12.8.90
+    # via torch
+omegaconf==2.3.0
+    # via hydra-core
+opencv-python==4.13.0.92
+    # via
+    #   gym-pusht
+    #   hf-libero
+    #   reachy2-sdk
+    #   robosuite
+opencv-python-headless==4.12.0.88
+    # via lerobot
+orderly-set==5.5.0
+    # via deepdiff
+packaging==25.0
+    # via
+    #   accelerate
+    #   datasets
+    #   huggingface-hub
+    #   hydra-core
+    #   jupytext
+    #   lazy-loader
+    #   lerobot
+    #   matplotlib
+    #   peft
+    #   pytest
+    #   qwen-vl-utils
+    #   reachy2-sdk
+    #   scikit-image
+    #   tensorboard
+    #   tensorboardx
+    #   transformers
+    #   wandb
+pandas==2.3.3
+    # via
+    #   datasets
+    #   lerobot
+parso==0.8.6
+    # via jedi
+pathspec==1.0.4
+    # via mypy
+peft==0.18.1
+    # via lerobot
+pexpect==4.9.0
+    # via ipython
+pillow==12.1.1
+    # via
+    #   diffusers
+    #   imageio
+    #   matplotlib
+    #   meshcat
+    #   qwen-vl-utils
+    #   rerun-sdk
+    #   robosuite
+    #   scikit-image
+    #   tensorboard
+    #   torchvision
+pin==3.4.0
+    # via placo
+placo==0.9.16
+    # via lerobot
+platformdirs==4.9.4
+    # via
+    #   jupyter-core
+    #   python-discovery
+    #   virtualenv
+    #   wandb
+pluggy==1.6.0
+    # via
+    #   pytest
+    #   pytest-cov
+pre-commit==4.5.1
+    # via lerobot
+prompt-toolkit==3.0.52
+    # via ipython
+propcache==0.4.1
+    # via
+    #   aiohttp
+    #   yarl
+protobuf==6.31.1
+    # via
+    #   dm-control
+    #   grpcio-tools
+    #   lerobot
+    #   reachy2-sdk
+    #   reachy2-sdk-api
+    #   tensorboard
+    #   tensorboardx
+    #   wandb
+psutil==7.2.2
+    # via
+    #   accelerate
+    #   imageio
+    #   peft
+    #   robomimic
+ptyprocess==0.7.0
+    # via pexpect
+pure-eval==0.2.3
+    # via stack-data
+pyarrow==23.0.1
+    # via
+    #   datasets
+    #   rerun-sdk
+pycparser==3.0
+    # via cffi
+pydantic==2.12.5
+    # via
+    #   fastapi
+    #   wandb
+pydantic-core==2.41.5
+    # via pydantic
+pygame==2.6.1
+    # via
+    #   gym-hil
+    #   gym-pusht
+    #   lerobot
+pygments==2.19.2
+    # via
+    #   ipython
+    #   ipython-pygments-lexers
+    #   pytest
+    #   rich
+pymunk==6.11.1
+    # via
+    #   gym-pusht
+    #   lerobot
+pyngrok==7.5.1
+    # via meshcat
+pynput==1.8.1
+    # via
+    #   gym-hil
+    #   lerobot
+pyopengl==3.1.10
+    # via
+    #   dm-control
+    #   mujoco
+pyparsing==3.3.2
+    # via
+    #   dm-control
+    #   matplotlib
+pyquaternion==0.9.9
+    # via reachy2-sdk
+pyrealsense2==2.56.5.9235
+    # via lerobot
+pyserial==3.5
+    # via
+    #   dynamixel-sdk
+    #   feetech-servo-sdk
+    #   lerobot
+pytest==8.4.2
+    # via
+    #   bddl
+    #   lerobot
+    #   pytest-cov
+    #   pytest-timeout
+    #   teleop
+pytest-cov==7.0.0
+    # via lerobot
+pytest-timeout==2.4.0
+    # via lerobot
+python-dateutil==2.9.0.post0
+    # via
+    #   faker
+    #   matplotlib
+    #   pandas
+python-discovery==1.1.1
+    # via virtualenv
+python-dotenv==1.2.2
+    # via uvicorn
+python-xlib==0.33
+    # via pynput
+pytz==2026.1.post1
+    # via pandas
+pyyaml==6.0.3
+    # via
+    #   accelerate
+    #   datasets
+    #   draccus
+    #   hebi-py
+    #   huggingface-hub
+    #   jupytext
+    #   omegaconf
+    #   peft
+    #   pre-commit
+    #   pyngrok
+    #   pyyaml-include
+    #   transformers
+    #   uvicorn
+    #   wandb
+pyyaml-include==1.4.1
+    # via draccus
+pyzmq==27.1.0
+    # via
+    #   lerobot
+    #   meshcat
+qwen-vl-utils==0.0.14
+    # via lerobot
+reachy2-sdk==1.0.15
+    # via lerobot
+reachy2-sdk-api==1.0.21
+    # via reachy2-sdk
+referencing==0.37.0
+    # via
+    #   jsonschema
+    #   jsonschema-specifications
+regex==2026.2.28
+    # via
+    #   diffusers
+    #   transformers
+requests==2.32.5
+    # via
+    #   datasets
+    #   diffusers
+    #   dm-control
+    #   qwen-vl-utils
+    #   teleop
+    #   wandb
+rerun-sdk==0.26.2
+    # via lerobot
+rhoban-cmeel-jsoncpp==1.9.4.9
+    # via placo
+rich==14.3.3
+    # via typer
+robomimic==0.2.0
+    # via hf-libero
+robosuite==1.4.0
+    # via hf-libero
+rpds-py==0.30.0
+    # via
+    #   jsonschema
+    #   referencing
+safetensors==0.7.0
+    # via
+    #   accelerate
+    #   diffusers
+    #   lerobot
+    #   peft
+    #   transformers
+scikit-image==0.25.2
+    # via
+    #   gym-pusht
+    #   lerobot
+scipy==1.17.1
+    # via
+    #   dm-control
+    #   lerobot
+    #   metaworld
+    #   robosuite
+    #   scikit-image
+    #   torchdiffeq
+sentry-sdk==2.54.0
+    # via wandb
+shapely==2.1.2
+    # via gym-pusht
+shellingham==1.5.4
+    # via typer
+six==1.17.0
+    # via
+    #   pynput
+    #   python-dateutil
+    #   python-xlib
+smmap==5.0.3
+    # via gitdb
+stack-data==0.6.3
+    # via ipython
+starlette==0.52.1
+    # via fastapi
+sympy==1.14.0
+    # via torch
+teleop==0.1.4
+    # via lerobot
+tensorboard==2.20.0
+    # via robomimic
+tensorboard-data-server==0.7.2
+    # via tensorboard
+tensorboardx==2.6.4
+    # via robomimic
+termcolor==3.3.0
+    # via
+    #   lerobot
+    #   robomimic
+thop==0.1.1.post2209072238
+    # via hf-libero
+tifffile==2026.3.3
+    # via scikit-image
+tokenizers==0.22.2
+    # via transformers
+toml==0.10.2
+    # via draccus
+torch==2.10.0
+    # via
+    #   accelerate
+    #   lerobot
+    #   peft
+    #   robomimic
+    #   thop
+    #   torchdiffeq
+    #   torchvision
+torchcodec==0.10.0
+    # via lerobot
+torchdiffeq==0.2.5
+    # via lerobot
+torchvision==0.25.0
+    # via
+    #   lerobot
+    #   robomimic
+tornado==6.5.4
+    # via meshcat
+tqdm==4.67.3
+    # via
+    #   datasets
+    #   dm-control
+    #   huggingface-hub
+    #   peft
+    #   robomimic
+    #   transformers
+traitlets==5.14.3
+    # via
+    #   ipython
+    #   jupyter-core
+    #   matplotlib-inline
+    #   nbformat
+transformers==5.3.0
+    # via
+    #   hf-libero
+    #   lerobot
+    #   peft
+transforms3d==0.4.2
+    # via teleop
+triton==3.6.0
+    # via torch
+typer==0.24.1
+    # via
+    #   huggingface-hub
+    #   transformers
+typing-extensions==4.15.0
+    # via
+    #   aiosignal
+    #   anyio
+    #   etils
+    #   faker
+    #   fastapi
+    #   gymnasium
+    #   huggingface-hub
+    #   mypy
+    #   pydantic
+    #   pydantic-core
+    #   referencing
+    #   rerun-sdk
+    #   starlette
+    #   torch
+    #   typing-inspect
+    #   typing-inspection
+    #   wandb
+typing-inspect==0.9.0
+    # via draccus
+typing-inspection==0.4.2
+    # via
+    #   fastapi
+    #   pydantic
+tzdata==2025.3
+    # via pandas
+u-msgpack-python==2.8.0
+    # via meshcat
+urllib3==2.6.3
+    # via
+    #   requests
+    #   sentry-sdk
+uvicorn[standard]==0.41.0
+    # via teleop
+uvloop==0.22.1
+    # via uvicorn
+virtualenv==21.1.0
+    # via pre-commit
+wandb==0.24.2
+    # via
+    #   hf-libero
+    #   lerobot
+watchfiles==1.1.1
+    # via uvicorn
+wcwidth==0.6.0
+    # via prompt-toolkit
+websocket-client==1.9.0
+    # via teleop
+websockets==16.0
+    # via uvicorn
+werkzeug==3.1.6
+    # via tensorboard
+wrapt==2.1.2
+    # via dm-tree
+xxhash==3.6.0
+    # via datasets
+yarl==1.23.0
+    # via aiohttp
+zipp==3.23.0
+    # via
+    #   etils
+    #   importlib-metadata
+
+# The following packages are considered to be unsafe in a requirements file:
+# setuptools

requirements.in

@@ -0,0 +1,9 @@
+# requirements.in
+
+# requirements-macos.txt was generated on macOS and is platform-specific (macOS 26.3.1 25D2128 arm64).
+# Darwin MacBook-Pro.local 25.3.0 Darwin Kernel Version 25.3.0: Wed Jan 28 20:54:55 PST 2026; root:xnu-12377.91.3~2/RELEASE_ARM64_T8132 arm64
+
+# requirements-ubuntu.txt was generated on Linux and is platform-specific (Ubuntu 24.04.4 LTS x86_64).
+# Linux lerobot-linux 6.17.0-14-generic #14~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Thu Jan 15 15:52:10 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
+
+-e .[all]

src/lerobot/annotations/steerable_pipeline/frames.py

@@ -36,7 +36,7 @@ from typing import Any, Protocol
 import PIL.Image
 import torch
 
-from lerobot.configs import RGBEncoderConfig
+from lerobot.configs.video import VideoEncoderConfig
 from lerobot.datasets.video_utils import decode_video_frames, reencode_video
 
 from .reader import EpisodeRecord, snap_to_frame
@@ -164,9 +164,7 @@ class VideoFrameProvider:
         # only for video-stored cameras. Image-stored cameras (also in
         # ``camera_keys``) would KeyError, so restrict the list — and the
         # default — to video keys.
-        # Depth cameras are excluded from the annotation pipeline for now.
-        depth_keys = set(self._meta.depth_keys)
-        keys = [key for key in self._meta.video_keys if key not in depth_keys]
+        keys = list(self._meta.video_keys)
         # Last-resort fallback: if metadata didn't surface any video keys but
         # the caller explicitly named a camera (``--vlm.camera_key=...``),
         # trust them — the key is by definition known to exist on the dataset.
@@ -278,12 +276,12 @@ class VideoFrameProvider:
         from_timestamp = float(ep[f"videos/{self.camera_key}/from_timestamp"])
         to_timestamp = float(ep[f"videos/{self.camera_key}/to_timestamp"])
         src = self.root / self._meta.get_video_file_path(record.episode_index, self.camera_key)
-        encoder = RGBEncoderConfig(vcodec="h264", pix_fmt="yuv420p", g=None, crf=23, preset="ultrafast")
+        encoder = VideoEncoderConfig(vcodec="h264", pix_fmt="yuv420p", g=None, crf=23, preset="ultrafast")
         try:
             reencode_video(
                 src,
                 out_path,
-                video_encoder=encoder,
+                camera_encoder=encoder,
                 overwrite=True,
                 start_time_s=from_timestamp,
                 end_time_s=to_timestamp,

src/lerobot/async_inference/helpers.py

@@ -105,9 +105,8 @@ def raw_observation_to_observation(
 
 
 def prepare_image(image: torch.Tensor) -> torch.Tensor:
-    """Minimal preprocessing to turn RGB uint8 images to float32 in [0, 1], and create a memory-contiguous tensor"""
-    if image.dtype == torch.uint8:
-        image = image.type(torch.float32) / 255
+    """Minimal preprocessing to turn int8 images to float32 in [0, 1], and create a memory-contiguous tensor"""
+    image = image.type(torch.float32) / 255
     image = image.contiguous()
 
     return image

src/lerobot/cameras/opencv/camera_opencv.py

@@ -436,7 +436,7 @@ class OpenCVCamera(Camera):
         Internal loop run by the background thread for asynchronous reading.
 
         On each iteration:
-        1. Reads a color frame (blocking call)
+        1. Reads a color frame
         2. Stores result in latest_frame and updates timestamp (thread-safe)
         3. Sets new_frame_event to notify listeners
 
@@ -485,8 +485,6 @@ class OpenCVCamera(Camera):
 
         if self.thread is not None and self.thread.is_alive():
             self.thread.join(timeout=2.0)
-            if self.thread.is_alive():
-                logger.warning(f"{self} read thread did not terminate within timeout.")
 
         self.thread = None
         self.stop_event = None

src/lerobot/cameras/realsense/camera_realsense.py

@@ -128,7 +128,6 @@ class RealSenseCamera(Camera):
 
         self.fps = config.fps
         self.color_mode = config.color_mode
-        self.use_rgb = config.use_rgb
         self.use_depth = config.use_depth
         self.warmup_s = config.warmup_s
 
@@ -196,15 +195,12 @@ class RealSenseCamera(Camera):
         # NOTE(Steven/Caroline): Enforcing at least one second of warmup as RS cameras need a bit of time before the first read. If we don't wait, the first read from the warmup will raise.
         self.warmup_s = max(self.warmup_s, 1)
 
-        warmup_read = self.async_read if self.use_rgb else self.async_read_depth
         start_time = time.time()
         while time.time() - start_time < self.warmup_s:
-            warmup_read(timeout_ms=self.warmup_s * 1000)
+            self.async_read(timeout_ms=self.warmup_s * 1000)
             time.sleep(0.1)
         with self.frame_lock:
-            if (self.use_rgb and self.latest_color_frame is None) or (
-                self.use_depth and self.latest_depth_frame is None
-            ):
+            if self.latest_color_frame is None or self.use_depth and self.latest_depth_frame is None:
                 raise ConnectionError(f"{self} failed to capture frames during warmup.")
 
         logger.info(f"{self} connected.")
@@ -272,13 +268,13 @@ class RealSenseCamera(Camera):
             )
 
         if len(found_devices) > 1:
-            serial_numbers = [dev["id"] for dev in found_devices]
+            serial_numbers = [dev["serial_number"] for dev in found_devices]
             raise ValueError(
                 f"Multiple RealSense cameras found with name '{name}'. "
                 f"Please use a unique serial number instead. Found SNs: {serial_numbers}"
             )
 
-        serial_number = str(found_devices[0]["id"])
+        serial_number = str(found_devices[0]["serial_number"])
         return serial_number
 
     def _configure_rs_pipeline_config(self, rs_config: Any) -> None:
@@ -286,17 +282,15 @@ class RealSenseCamera(Camera):
         rs.config.enable_device(rs_config, self.serial_number)
 
         if self.width and self.height and self.fps:
-            if self.use_rgb:
-                rs_config.enable_stream(
-                    rs.stream.color, self.capture_width, self.capture_height, rs.format.rgb8, self.fps
-                )
+            rs_config.enable_stream(
+                rs.stream.color, self.capture_width, self.capture_height, rs.format.rgb8, self.fps
+            )
             if self.use_depth:
                 rs_config.enable_stream(
                     rs.stream.depth, self.capture_width, self.capture_height, rs.format.z16, self.fps
                 )
         else:
-            if self.use_rgb:
-                rs_config.enable_stream(rs.stream.color)
+            rs_config.enable_stream(rs.stream.color)
             if self.use_depth:
                 rs_config.enable_stream(rs.stream.depth)
 
@@ -304,9 +298,8 @@ class RealSenseCamera(Camera):
     def _configure_capture_settings(self) -> None:
         """Sets fps, width, and height from device stream if not already configured.
 
-        Uses the color stream profile (or the depth stream profile when the color
-        stream is disabled) to update unset attributes. Handles rotation by swapping
-        width/height when needed. Original capture dimensions are always stored.
+        Uses the color stream profile to update unset attributes. Handles rotation by
+        swapping width/height when needed. Original capture dimensions are always stored.
 
         Raises:
             DeviceNotConnectedError: If device is not connected.
@@ -315,8 +308,7 @@ class RealSenseCamera(Camera):
         if self.rs_profile is None:
             raise RuntimeError(f"{self}: rs_profile must be initialized before use.")
 
-        rs_stream = rs.stream.color if self.use_rgb else rs.stream.depth
-        stream = self.rs_profile.get_stream(rs_stream).as_video_stream_profile()
+        stream = self.rs_profile.get_stream(rs.stream.color).as_video_stream_profile()
 
         if self.fps is None:
             self.fps = stream.fps()
@@ -331,14 +323,6 @@ class RealSenseCamera(Camera):
                 self.width, self.height = actual_width, actual_height
                 self.capture_width, self.capture_height = actual_width, actual_height
 
-    def _read(self, read_depth: bool = False) -> NDArray[Any]:
-        """Shared helper for :meth:`read`/:meth:`read_depth`: wait for a fresh color or depth frame."""
-        if self.thread is None or not self.thread.is_alive():
-            raise RuntimeError(f"{self} read thread is not running.")
-
-        self.new_frame_event.clear()
-        return self._async_read(timeout_ms=10000, read_depth=read_depth)
-
     @check_if_not_connected
     def read_depth(self, timeout_ms: int = 200) -> NDArray[Any]:
         """
@@ -348,8 +332,8 @@ class RealSenseCamera(Camera):
         from the camera hardware via the RealSense pipeline.
 
         Returns:
-            np.ndarray: The depth map as a NumPy array (height, width, 1)
-                  of type `np.uint16` (raw depth values in millimeters).
+            np.ndarray: The depth map as a NumPy array (height, width)
+                  of type `np.uint16` (raw depth values in millimeters) and rotation.
 
         Raises:
             DeviceNotConnectedError: If the camera is not connected.
@@ -365,7 +349,20 @@ class RealSenseCamera(Camera):
                 f"Failed to capture depth frame '.read_depth()'. Depth stream is not enabled for {self}."
             )
 
-        return self._read(read_depth=True)
+        if self.thread is None or not self.thread.is_alive():
+            raise RuntimeError(f"{self} read thread is not running.")
+
+        self.new_frame_event.clear()
+
+        _ = self.async_read(timeout_ms=10000)
+
+        with self.frame_lock:
+            depth_map = self.latest_depth_frame
+
+        if depth_map is None:
+            raise RuntimeError("No depth frame available. Ensure camera is streaming.")
+
+        return depth_map
 
     def _read_from_hardware(self):
         if self.rs_pipeline is None:
@@ -408,10 +405,12 @@ class RealSenseCamera(Camera):
                 f"{self} read() timeout_ms parameter is deprecated and will be removed in future versions."
             )
 
-        if not self.use_rgb:
-            raise RuntimeError(f"{self}: cannot read color — camera was configured with use_rgb=False.")
+        if self.thread is None or not self.thread.is_alive():
+            raise RuntimeError(f"{self} read thread is not running.")
 
-        frame = self._read()
+        self.new_frame_event.clear()
+
+        frame = self.async_read(timeout_ms=10000)
 
         read_duration_ms = (time.perf_counter() - start_time) * 1e3
         logger.debug(f"{self} read took: {read_duration_ms:.1f}ms")
@@ -466,8 +465,8 @@ class RealSenseCamera(Camera):
         Internal loop run by the background thread for asynchronous reading.
 
         On each iteration:
-        1. Reads a color/depth frame (blocking call with 10s timeout)
-        2. Stores result in latest_color_frame/latest_depth_frame and updates timestamp (thread-safe)
+        1. Reads a color frame with 500ms timeout
+        2. Stores result in latest_frame and updates timestamp (thread-safe)
         3. Sets new_frame_event to notify listeners
 
         Stops on DeviceNotConnectedError, logs other errors and continues.
@@ -480,24 +479,19 @@ class RealSenseCamera(Camera):
         while not stop_event.is_set():
             try:
                 frame = self._read_from_hardware()
-
-                if self.use_rgb:
-                    color_frame_raw = frame.get_color_frame()
-                    color_frame = np.asanyarray(color_frame_raw.get_data())
-                    processed_color_frame = self._postprocess_image(color_frame)
+                color_frame_raw = frame.get_color_frame()
+                color_frame = np.asanyarray(color_frame_raw.get_data())
+                processed_color_frame = self._postprocess_image(color_frame)
 
                 if self.use_depth:
                     depth_frame_raw = frame.get_depth_frame()
                     depth_frame = np.asanyarray(depth_frame_raw.get_data())
                     processed_depth_frame = self._postprocess_image(depth_frame, depth_frame=True)
-                    if processed_depth_frame.ndim == 2:  # (H, W) -> (H, W, 1)
-                        processed_depth_frame = processed_depth_frame[..., np.newaxis]
 
                 capture_time = time.perf_counter()
 
                 with self.frame_lock:
-                    if self.use_rgb:
-                        self.latest_color_frame = processed_color_frame
+                    self.latest_color_frame = processed_color_frame
                     if self.use_depth:
                         self.latest_depth_frame = processed_depth_frame
                     self.latest_timestamp = capture_time
@@ -529,8 +523,6 @@ class RealSenseCamera(Camera):
 
         if self.thread is not None and self.thread.is_alive():
             self.thread.join(timeout=2.0)
-            if self.thread.is_alive():  # pragma: no cover
-                logger.warning(f"{self} read thread did not terminate within timeout.")
 
         self.thread = None
         self.stop_event = None
@@ -541,26 +533,7 @@ class RealSenseCamera(Camera):
             self.latest_timestamp = None
             self.new_frame_event.clear()
 
-    def _async_read(self, timeout_ms: float, read_depth: bool = False) -> NDArray[Any]:
-        """Shared helper for :meth:`async_read`/:meth:`async_read_depth`: return the latest buffered frame."""
-        if self.thread is None or not self.thread.is_alive():
-            raise RuntimeError(f"{self} read thread is not running.")
-
-        if not self.new_frame_event.wait(timeout=timeout_ms / 1000.0):
-            raise TimeoutError(
-                f"Timed out waiting for frame from camera {self} after {timeout_ms} ms. "
-                f"Read thread alive: {self.thread.is_alive()}."
-            )
-
-        with self.frame_lock:
-            frame = self.latest_depth_frame if read_depth else self.latest_color_frame
-            self.new_frame_event.clear()
-
-        if frame is None:
-            raise RuntimeError(f"Internal error: Event set but no frame available for {self}.")
-
-        return frame
-
+    # NOTE(Steven): Missing implementation for depth for now
     @check_if_not_connected
     def async_read(self, timeout_ms: float = 200) -> NDArray[Any]:
         """
@@ -585,31 +558,25 @@ class RealSenseCamera(Camera):
             RuntimeError: If the background thread died unexpectedly or another error occurs.
         """
 
-        if not self.use_rgb:
-            raise RuntimeError(f"{self}: cannot read color — camera was configured with use_rgb=False.")
-
-        return self._async_read(timeout_ms=timeout_ms)
-
-    def _read_latest(self, max_age_ms: int, read_depth: bool = False) -> NDArray[Any]:
-        """Shared helper for :meth:`read_latest`/:meth:`read_latest_depth`: peek the latest buffered frame."""
         if self.thread is None or not self.thread.is_alive():
             raise RuntimeError(f"{self} read thread is not running.")
 
-        with self.frame_lock:
-            frame = self.latest_depth_frame if read_depth else self.latest_color_frame
-            timestamp = self.latest_timestamp
-
-        if frame is None or timestamp is None:
-            raise RuntimeError(f"{self} has not captured any frames yet.")
-
-        age_ms = (time.perf_counter() - timestamp) * 1e3
-        if age_ms > max_age_ms:
+        if not self.new_frame_event.wait(timeout=timeout_ms / 1000.0):
             raise TimeoutError(
-                f"{self} latest frame is too old: {age_ms:.1f} ms (max allowed: {max_age_ms} ms)."
+                f"Timed out waiting for frame from camera {self} after {timeout_ms} ms. "
+                f"Read thread alive: {self.thread.is_alive()}."
             )
 
+        with self.frame_lock:
+            frame = self.latest_color_frame
+            self.new_frame_event.clear()
+
+        if frame is None:
+            raise RuntimeError(f"Internal error: Event set but no frame available for {self}.")
+
         return frame
 
+    # NOTE(Steven): Missing implementation for depth for now
     @check_if_not_connected
     def read_latest(self, max_age_ms: int = 500) -> NDArray[Any]:
         """Return the most recent (color) frame captured immediately (Peeking).
@@ -626,48 +593,24 @@ class RealSenseCamera(Camera):
             DeviceNotConnectedError: If the camera is not connected.
             RuntimeError: If the camera is connected but has not captured any frames yet.
         """
-        if not self.use_rgb:
-            raise RuntimeError(f"{self}: cannot read color — camera was configured with use_rgb=False.")
 
-        return self._read_latest(max_age_ms=max_age_ms)
+        if self.thread is None or not self.thread.is_alive():
+            raise RuntimeError(f"{self} read thread is not running.")
 
-    @check_if_not_connected
-    def async_read_depth(self, timeout_ms: float = 200) -> NDArray[np.uint16]:
-        """Read the latest depth frame asynchronously, in millimeters.
+        with self.frame_lock:
+            frame = self.latest_color_frame
+            timestamp = self.latest_timestamp
 
-        Mirrors :meth:`async_read` but returns the depth stream rather than the
-        color stream. Output is ``np.uint16`` of shape ``(H, W, 1)``, where each
-        pixel is the distance from the sensor in millimeters.
+        if frame is None or timestamp is None:
+            raise RuntimeError(f"{self} has not captured any frames yet.")
 
-        Raises:
-            DeviceNotConnectedError: If the camera is not connected.
-            RuntimeError: If ``use_depth`` is ``False`` for this camera, or if
-                the background read thread is not running.
-            TimeoutError: If no frame becomes available within ``timeout_ms``.
-        """
-        if not self.use_depth:
-            raise RuntimeError(f"{self}: cannot read depth — camera was configured with use_depth=False.")
+        age_ms = (time.perf_counter() - timestamp) * 1e3
+        if age_ms > max_age_ms:
+            raise TimeoutError(
+                f"{self} latest frame is too old: {age_ms:.1f} ms (max allowed: {max_age_ms} ms)."
+            )
 
-        return self._async_read(timeout_ms=timeout_ms, read_depth=True)
-
-    @check_if_not_connected
-    def read_latest_depth(self, max_age_ms: int = 500) -> NDArray[Any]:
-        """Return the most recent depth frame in millimeters (peeking).
-
-        Non-blocking counterpart of :meth:`read_latest` for the depth stream.
-        Output is ``np.uint16`` of shape ``(H, W, 1)``, where each pixel is the
-        distance from the sensor in millimeters.
-
-        Raises:
-            DeviceNotConnectedError: If the camera is not connected.
-            RuntimeError: If ``use_depth`` is ``False`` for this camera, or if
-                no depth frame has been captured yet.
-            TimeoutError: If the latest depth frame is older than ``max_age_ms``.
-        """
-        if not self.use_depth:
-            raise RuntimeError(f"{self}: cannot read depth — camera was configured with use_depth=False.")
-
-        return self._read_latest(max_age_ms=max_age_ms, read_depth=True)
+        return frame
 
     def disconnect(self) -> None:
         """

src/lerobot/cameras/realsense/configuration_realsense.py

@@ -42,14 +42,12 @@ class RealSenseCameraConfig(CameraConfig):
         height: Requested frame height in pixels for the color stream.
         serial_number_or_name: Unique serial number or human-readable name to identify the camera.
         color_mode: Color mode for image output (RGB or BGR). Defaults to RGB.
-        use_rgb: Whether to enable the color stream. Defaults to True.
         use_depth: Whether to enable depth stream. Defaults to False.
         rotation: Image rotation setting (0°, 90°, 180°, or 270°). Defaults to no rotation.
         warmup_s: Time reading frames before returning from connect (in seconds)
 
     Note:
         - Either name or serial_number must be specified.
-        - At least one of `use_rgb` or `use_depth` must be enabled.
         - Depth stream configuration (if enabled) will use the same FPS as the color stream.
         - The actual resolution and FPS may be adjusted by the camera to the nearest supported mode.
         - For `fps`, `width` and `height`, either all of them need to be set, or none of them.
@@ -57,7 +55,6 @@ class RealSenseCameraConfig(CameraConfig):
 
     serial_number_or_name: str
     color_mode: ColorMode = ColorMode.RGB
-    use_rgb: bool = True
     use_depth: bool = False
     rotation: Cv2Rotation = Cv2Rotation.NO_ROTATION
     warmup_s: int = 1
@@ -66,9 +63,6 @@ class RealSenseCameraConfig(CameraConfig):
         self.color_mode = ColorMode(self.color_mode)
         self.rotation = Cv2Rotation(self.rotation)
 
-        if not self.use_rgb and not self.use_depth:
-            raise ValueError("At least one of `use_rgb` or `use_depth` must be enabled.")
-
         values = (self.fps, self.width, self.height)
         if any(v is not None for v in values) and any(v is None for v in values):
             raise ValueError(

src/lerobot/cameras/zmq/camera_zmq.py

@@ -293,8 +293,6 @@ class ZMQCamera(Camera):
 
         if self.thread is not None and self.thread.is_alive():
             self.thread.join(timeout=2.0)
-            if self.thread.is_alive():
-                logger.warning(f"{self} read thread did not terminate within timeout.")
 
         self.thread = None
         self.stop_event = None

src/lerobot/common/control_utils.py

@@ -17,9 +17,12 @@ from __future__ import annotations
 ########################################################################################
 # Utilities
 ########################################################################################
+import logging
 import time
+import traceback
 from contextlib import nullcontext
 from copy import copy
+from functools import cache
 from typing import TYPE_CHECKING, Any
 
 import numpy as np
@@ -40,6 +43,34 @@ from lerobot.robots import Robot
 from lerobot.types import PolicyAction
 
 
+@cache
+def is_headless():
+    """
+    Detects if the Python script is running in a headless environment (e.g., without a display).
+
+    This function attempts to import `pynput`, a library that requires a graphical environment.
+    If the import fails, it assumes the environment is headless. The result is cached to avoid
+    re-running the check.
+
+    Returns:
+        True if the environment is determined to be headless, False otherwise.
+    """
+    try:
+        import pynput  # noqa
+
+        return False
+    except Exception:
+        print(
+            "Error trying to import pynput. Switching to headless mode. "
+            "As a result, the video stream from the cameras won't be shown, "
+            "and you won't be able to change the control flow with keyboards. "
+            "For more info, see traceback below.\n"
+        )
+        traceback.print_exc()
+        print()
+        return True
+
+
 def predict_action(
     observation: dict[str, np.ndarray],
     policy: PreTrainedPolicy,
@@ -91,6 +122,59 @@ def predict_action(
     return action
 
 
+def init_keyboard_listener():
+    """
+    Initializes a non-blocking keyboard listener for real-time user interaction.
+
+    This function sets up a listener for specific keys (right arrow, left arrow, escape) to control
+    the program flow during execution, such as stopping recording or exiting loops. It gracefully
+    handles headless environments where keyboard listening is not possible.
+
+    Returns:
+        A tuple containing:
+        - The `pynput.keyboard.Listener` instance, or `None` if in a headless environment.
+        - A dictionary of event flags (e.g., `exit_early`) that are set by key presses.
+    """
+    # Allow to exit early while recording an episode or resetting the environment,
+    # by tapping the right arrow key '->'. This might require a sudo permission
+    # to allow your terminal to monitor keyboard events.
+    events = {}
+    events["exit_early"] = False
+    events["rerecord_episode"] = False
+    events["stop_recording"] = False
+
+    if is_headless():
+        logging.warning(
+            "Headless environment detected. On-screen cameras display and keyboard inputs will not be available."
+        )
+        listener = None
+        return listener, events
+
+    # Only import pynput if not in a headless environment
+    from pynput import keyboard
+
+    def on_press(key):
+        try:
+            if key == keyboard.Key.right:
+                print("Right arrow key pressed. Exiting loop...")
+                events["exit_early"] = True
+            elif key == keyboard.Key.left:
+                print("Left arrow key pressed. Exiting loop and rerecord the last episode...")
+                events["rerecord_episode"] = True
+                events["exit_early"] = True
+            elif key == keyboard.Key.esc:
+                print("Escape key pressed. Stopping data recording...")
+                events["stop_recording"] = True
+                events["exit_early"] = True
+        except Exception as e:
+            print(f"Error handling key press: {e}")
+
+    listener = keyboard.Listener(on_press=on_press)
+    listener.start()
+
+    return listener, events
+
+
 def sanity_check_dataset_name(repo_id, policy_cfg):
     """
     Validates the dataset repository name against the presence of a policy configuration.

src/lerobot/common/train_utils.py

@@ -15,7 +15,6 @@
 # limitations under the License.
 from pathlib import Path
 
-from huggingface_hub import HfApi, snapshot_download
 from torch.optim import Optimizer
 from torch.optim.lr_scheduler import LRScheduler
 
@@ -36,7 +35,6 @@ from lerobot.utils.constants import (
     TRAINING_STATE_DIR,
     TRAINING_STEP,
 )
-from lerobot.utils.hub import find_latest_hub_checkpoint
 from lerobot.utils.io_utils import load_json, write_json
 from lerobot.utils.random_utils import load_rng_state, save_rng_state
 
@@ -285,61 +283,3 @@ def load_fsdp_optimizer_state(model, optimizer, checkpoint_dir: Path) -> None:
     with FSDP.state_dict_type(model, StateDictType.FULL_STATE_DICT, state_cfg, optim_cfg):
         sharded_osd = FSDP.optim_state_dict_to_load(model=model, optim=optimizer, optim_state_dict=full_osd)
     optimizer.load_state_dict(sharded_osd)
-
-
-def push_checkpoint_to_hub(
-    checkpoint_dir: Path,
-    repo_id: str,
-    *,
-    private: bool | None = None,
-) -> None:
-    """Upload a saved checkpoint directory to the Hub under checkpoints/<name>/.
-
-    Called once per save step when save_checkpoint_to_hub is enabled, so a
-    timed-out or crashed run still leaves recoverable checkpoints on the Hub.
-    The model repo is created idempotently, and the commit is tagged with the
-    checkpoint step so a checkpoint can be recovered with
-    --policy.pretrained_revision=<step> instead of a commit sha.
-    """
-    api = HfApi()
-    api.create_repo(repo_id=repo_id, repo_type="model", private=private, exist_ok=True)
-    commit = api.upload_folder(
-        folder_path=str(checkpoint_dir),
-        repo_id=repo_id,
-        repo_type="model",
-        path_in_repo=f"checkpoints/{checkpoint_dir.name}",
-        commit_message=f"checkpoint {checkpoint_dir.name}",
-    )
-    api.create_tag(
-        repo_id=repo_id,
-        tag=checkpoint_dir.name,
-        revision=commit.oid,
-        repo_type="model",
-        exist_ok=True,
-    )
-
-
-def resolve_resume_checkpoint(repo_id: str, output_dir: Path) -> Path:
-    """Download the latest checkpoint of a Hub training repo into a local run dir.
-
-    The symmetric counterpart to `push_checkpoint_to_hub`: given a model repo holding
-    `checkpoints/<step>/{pretrained_model,training_state}` subtrees, download the highest-numbered step
-    into `output_dir/checkpoints/<step>/`, recreate the local `last` symlink, and return that local
-    checkpoint dir. Used to resume training from the Hub on a machine (or HF Jobs pod) that does not
-    have the original local run dir.
-    """
-    latest = find_latest_hub_checkpoint(repo_id)
-    if latest is None:
-        raise FileNotFoundError(
-            f"No checkpoint found in '{repo_id}' under '{CHECKPOINTS_DIR}/'. "
-            "Was the run trained with --save_checkpoint_to_hub?"
-        )
-    snapshot_download(
-        repo_id=repo_id,
-        repo_type="model",
-        allow_patterns=f"{latest}/*",
-        local_dir=str(output_dir),
-    )
-    checkpoint_dir = output_dir / latest
-    update_last_checkpoint(checkpoint_dir)
-    return checkpoint_dir

src/lerobot/common/wandb_utils.py

@@ -207,3 +207,91 @@ class WandBLogger:
 
         wandb_video = self._wandb.Video(video_path, fps=self.env_fps, format="mp4")
         self._wandb.log({f"{mode}/video": wandb_video}, step=step)
+
+    def log_training_examples(
+        self,
+        batch: dict,
+        step: int,
+        *,
+        camera_keys: list[str],
+        n_samples: int = 4,
+        mode: str = "train",
+    ) -> None:
+        """Log a small W&B table with sampled images/text and action endpoints."""
+        import logging  # noqa: PLC0415
+
+        import numpy as np  # noqa: PLC0415
+        import torch  # noqa: PLC0415
+
+        if mode not in {"train", "eval"}:
+            raise ValueError(mode)
+
+        # Batch size — first tensor-like value wins.
+        bsz = next(
+            (int(v.shape[0]) for v in batch.values() if hasattr(v, "shape") and v.ndim > 0),
+            None,
+        )
+        if not bsz:
+            return
+        n = min(int(n_samples), bsz)
+
+        present_cameras = [c for c in camera_keys if c in batch]
+        text_keys = [k for k in ("task", "subtask", "memory", "instruction") if k in batch]
+
+        columns = ["sample"]
+        columns.extend(c.removeprefix("observation.images.") or c for c in present_cameras)
+        columns.extend(text_keys)
+        columns += ["gt_action_first", "gt_action_last"]
+
+        table = self._wandb.Table(columns=columns)
+
+        def _to_uint8_hwc(t: torch.Tensor) -> np.ndarray:
+            if t.ndim == 4:
+                t = t[0]
+            if t.ndim == 3 and t.shape[0] in (1, 3, 4) and t.shape[-1] not in (1, 3, 4):
+                t = t.permute(1, 2, 0)
+            arr = t.detach().cpu().float().numpy()
+            if arr.size and float(arr.max()) <= 1.5:
+                arr = arr * 255.0
+            return np.clip(arr, 0, 255).astype(np.uint8)
+
+        def _action_endpoints(a: torch.Tensor) -> tuple[str, str]:
+            arr = a.detach().cpu().float().numpy()
+            if arr.ndim == 2:
+                return str(np.round(arr[0], 3).tolist()), str(np.round(arr[-1], 3).tolist())
+            if arr.ndim == 1:
+                rounded = np.round(arr, 3).tolist()
+                return str(rounded), str(rounded)
+            text = str(arr.tolist())
+            return text, text
+
+        for i in range(n):
+            row: list = [i]
+            for cam in present_cameras:
+                try:
+                    row.append(self._wandb.Image(_to_uint8_hwc(batch[cam][i])))
+                except Exception as exc:  # noqa: BLE001
+                    logging.warning(
+                        "log_training_examples: camera %s sample %d failed (%s)",
+                        cam,
+                        i,
+                        exc,
+                    )
+                    row.append(None)
+            for tk in text_keys:
+                v = batch[tk]
+                if isinstance(v, list | tuple):
+                    row.append(str(v[i]) if i < len(v) else "")
+                else:
+                    row.append(str(v))
+            action = batch.get("action")
+            if isinstance(action, torch.Tensor) and action.ndim >= 1:
+                first, last = _action_endpoints(action[i])
+                row.append(first)
+                row.append(last)
+            else:
+                row.append("")
+                row.append("")
+            table.add_data(*row)
+
+        self._wandb.log({f"{mode}/examples": table}, step=step)

src/lerobot/configs/__init__.py

@@ -22,7 +22,7 @@ Import them directly: ``from lerobot.configs.train import TrainPipelineConfig``
 """
 
 from .dataset import DatasetRecordConfig
-from .default import DatasetConfig, EvalConfig, JobConfig, PeftConfig, WandBConfig
+from .default import DatasetConfig, EvalConfig, PeftConfig, WandBConfig
 from .policies import PreTrainedConfig
 from .recipe import MessageTurn, TrainingRecipe, load_recipe
 from .types import (
@@ -33,18 +33,10 @@ from .types import (
     RTCAttentionSchedule,
 )
 from .video import (
-    DEFAULT_DEPTH_UNIT,
-    DEPTH_METER_UNIT,
-    DEPTH_MILLIMETER_UNIT,
     VALID_VIDEO_CODECS,
     VIDEO_ENCODER_INFO_KEYS,
-    DepthEncoderConfig,
-    RGBEncoderConfig,
     VideoEncoderConfig,
-    depth_encoder_defaults,
-    encoder_config_from_video_info,
-    infer_depth_unit,
-    rgb_encoder_defaults,
+    camera_encoder_defaults,
 )
 
 __all__ = [
@@ -58,7 +50,6 @@ __all__ = [
     "DatasetRecordConfig",
     "DatasetConfig",
     "EvalConfig",
-    "JobConfig",
     "MessageTurn",
     "PeftConfig",
     "PreTrainedConfig",
@@ -66,18 +57,9 @@ __all__ = [
     "WandBConfig",
     "load_recipe",
     "VideoEncoderConfig",
-    "RGBEncoderConfig",
-    "DepthEncoderConfig",
     # Defaults
-    "rgb_encoder_defaults",
-    "depth_encoder_defaults",
-    # Factories
-    "encoder_config_from_video_info",
-    "infer_depth_unit",
+    "camera_encoder_defaults",
     # Constants
-    "DEFAULT_DEPTH_UNIT",
-    "DEPTH_METER_UNIT",
-    "DEPTH_MILLIMETER_UNIT",
     "VALID_VIDEO_CODECS",
     "VIDEO_ENCODER_INFO_KEYS",
 ]

src/lerobot/configs/dataset.py

@@ -18,7 +18,7 @@ from dataclasses import dataclass, field
 from datetime import datetime
 from pathlib import Path
 
-from .video import DepthEncoderConfig, RGBEncoderConfig, depth_encoder_defaults, rgb_encoder_defaults
+from .video import VideoEncoderConfig, camera_encoder_defaults
 
 
 @dataclass
@@ -58,10 +58,8 @@ class DatasetRecordConfig:
     # Set to 1 for immediate encoding (default behavior), or higher for batched encoding
     video_encoding_batch_size: int = 1
     # Video encoder settings for camera MP4s (codec, quality, GOP, etc.). Tuned via CLI nested keys,
-    # e.g. ``--dataset.rgb_encoder.vcodec=h264`` (see ``RGBEncoderConfig``).
-    rgb_encoder: RGBEncoderConfig = field(default_factory=rgb_encoder_defaults)
-    # Video encoder settings for depth-map MP4s (codec, quality, GOP, etc.). Tuned via CLI nested keys.
-    depth_encoder: DepthEncoderConfig = field(default_factory=depth_encoder_defaults)
+    # e.g. ``--dataset.camera_encoder.vcodec=h264`` (see ``VideoEncoderConfig``).
+    camera_encoder: VideoEncoderConfig = field(default_factory=camera_encoder_defaults)
     # Enable streaming video encoding: encode frames in real-time during capture instead
     # of writing PNG images first. Makes save_episode() near-instant. More info in the documentation: https://huggingface.co/docs/lerobot/streaming_video_encoding
     streaming_encoding: bool = False

src/lerobot/configs/default.py

@@ -19,8 +19,6 @@ from dataclasses import dataclass, field
 from lerobot.transforms import ImageTransformsConfig
 from lerobot.utils.import_utils import get_safe_default_video_backend
 
-from .video import DEFAULT_DEPTH_UNIT, DEPTH_METER_UNIT, DEPTH_MILLIMETER_UNIT
-
 
 @dataclass
 class DatasetConfig:
@@ -37,23 +35,12 @@ class DatasetConfig:
     revision: str | None = None
     use_imagenet_stats: bool = True
     video_backend: str = field(default_factory=get_safe_default_video_backend)
-    # When True, RGB video frames are returned as uint8 tensors (0-255) instead of float32 (0.0-1.0).
+    # When True, video frames are returned as uint8 tensors (0-255) instead of float32 (0.0-1.0).
     # This reduces memory and speeds up DataLoader IPC. The training pipeline handles the conversion.
     return_uint8: bool = False
-    # Physical unit depth maps are dequantized to at load time: "mm" (millimeters) or "m" (metres).
-    # Has no effect on datasets without depth cameras.
-    depth_output_unit: str = DEFAULT_DEPTH_UNIT
     streaming: bool = False
-    # Fraction of episodes held out per task for offline evaluation (0.0 = disabled).
-    eval_split: float = 0.0
 
     def __post_init__(self) -> None:
-        if self.depth_output_unit not in (DEPTH_METER_UNIT, DEPTH_MILLIMETER_UNIT):
-            raise ValueError(
-                f"depth_output_unit must be '{DEPTH_METER_UNIT}' or '{DEPTH_MILLIMETER_UNIT}', got {self.depth_output_unit!r}"
-            )
-        if not (0.0 <= self.eval_split < 1.0):
-            raise ValueError(f"eval_split must be in [0.0, 1.0), got {self.eval_split}")
         if self.episodes is not None:
             if any(ep < 0 for ep in self.episodes):
                 raise ValueError(
@@ -75,6 +62,22 @@ class WandBConfig:
     run_id: str | None = None
     mode: str | None = None  # Allowed values: 'online', 'offline' 'disabled'. Defaults to 'online'
     add_tags: bool = True  # If True, save configuration as tags in the WandB run.
+    # Periodic W&B table with sampled images/text and action endpoints. Set to 0 to disable.
+    log_examples_freq: int = 5000
+    log_examples_n: int = 4
+
+
+@dataclass
+class EMAConfig:
+    """EMA shadow for flow/diffusion policies. Off by default because it doubles model memory."""
+
+    enable: bool = False
+    # Target EMA decay beta in theta_ema <- beta * theta_ema + (1 - beta) * theta_live.
+    decay: float = 0.99
+    # Initial update calls that keep the shadow as a hard copy before averaging starts.
+    warmup_steps: int = 0
+    # Use the EMA model for periodic eval.
+    use_for_eval: bool = True
 
 
 @dataclass
@@ -86,17 +89,8 @@ class EvalConfig:
     # `use_async_envs` specifies whether to use asynchronous environments (multiprocessing).
     # Defaults to True; automatically downgraded to SyncVectorEnv when batch_size=1.
     use_async_envs: bool = True
-    # Whether to record eval rollouts as a LeRobot dataset on disk.
-    recording: bool = False
-    # If set, push recorded eval datasets to the Hub under this repo id (one repo per task,
-    # suffixed by task and env index). Requires recording=true.
-    recording_repo_id: str | None = None
-    # Whether the pushed recording repositories should be private.
-    recording_private: bool = False
 
     def __post_init__(self) -> None:
-        if self.recording_repo_id is not None and not self.recording:
-            raise ValueError("eval.recording_repo_id requires eval.recording=true.")
         if self.batch_size == 0:
             self.batch_size = self._auto_batch_size()
         if self.batch_size > self.n_episodes:
@@ -145,35 +139,3 @@ class PeftConfig:
     # If None, the PEFT library defaults to alpha=8, which may dampen high-rank adapters.
     # Common values are r (alpha == rank) or 2*r.
     lora_alpha: int | None = None
-
-
-@dataclass
-class JobConfig:
-    # Where training runs. None (omitted) or "local" runs on this machine.
-    # Any other value is an HF Jobs flavor and submits the run to HF Jobs.
-    # List available flavors + pricing with `hf jobs hardware` command.
-    target: str | None = None
-    # Runtime image for the remote job (ignored for local runs).
-    image: str = "huggingface/lerobot-gpu:latest"
-    # Max wall-clock for the remote job as an HF Jobs duration string (e.g. "2h").
-    # Defaults to "2d": We pass an explicit, generous cap instead. Set a smaller
-    # value to fail fast, or a larger one for long runs.
-    timeout: str | None = "2d"
-    # Submit and exit instead of streaming the job logs in the foreground.
-    detach: bool = False
-    # Extra tags attached to the HF job and to any dataset this run pushes to the
-    # Hub. A "lerobot" tag is always added; e.g. --job.tags '["lelab"]' adds more.
-    tags: list[str] = field(default_factory=list)
-
-    # Two entry points to the same predicate: the staticmethod tests a raw target string
-    # straight from argv (before any JobConfig exists, to decide dispatch early), while the
-    # property is the ergonomic accessor for code that already holds a config instance.
-    @staticmethod
-    def is_remote_target(target: str | None) -> bool:
-        """True when `target` names an HF Jobs flavor rather than a local run."""
-        return target not in (None, "local")
-
-    @property
-    def is_remote(self) -> bool:
-        """True when training should run on HF Jobs rather than this machine."""
-        return self.is_remote_target(self.target)

src/lerobot/configs/recipe.py

@@ -147,7 +147,16 @@ class TrainingRecipe:
         return cls.from_dict(data)
 
     def _validate_message_recipe(self) -> None:
-        """Ensure every templated binding is known and at least one turn is a target."""
+        """Ensure every templated binding is known and the recipe supervises something.
+
+        A recipe is valid if it has at least one of:
+
+        * a ``target: true`` assistant turn (drives text-CE supervision), or
+        * a ``stream: low_level`` turn (drives flow / action supervision via
+          ``predict_actions=True``, even when no assistant turn is targeted —
+          e.g. π0.5-style ``low_level_execution`` where the action expert
+          conditions on a user-only ``${subtask}`` prompt).
+        """
         assert self.messages is not None
         known_bindings = set(DEFAULT_BINDINGS) | set(self.bindings or {}) | {"task"}
 
@@ -156,8 +165,14 @@ class TrainingRecipe:
             if missing:
                 raise ValueError(f"MessageTurn references unknown binding(s): {sorted(missing)}")
 
-        if not any(turn.target for turn in self.messages):
-            raise ValueError("Message recipes must contain at least one target turn.")
+        has_target = any(turn.target for turn in self.messages)
+        has_low_level = any(turn.stream == "low_level" for turn in self.messages)
+        if not (has_target or has_low_level):
+            raise ValueError(
+                "Message recipes must contain at least one supervised turn — "
+                "either ``target: true`` (text CE) or ``stream: low_level`` "
+                "(flow/action loss)."
+            )
 
     def _validate_blend_recipe(self) -> None:
         """Ensure each blend component is a non-empty, weighted message recipe."""

src/lerobot/configs/recipes/subtask_mem.yaml

@@ -0,0 +1,56 @@
+# subtask_mem — compact Hi-Robot blend with memory.
+#
+# Trains the core subtask + action objectives and memory updates:
+#
+#   high_level_subtask         — predict the subtask from the task.
+#   low_level_execution        — flow loss with [images, subtask, state].
+#   memory_update              — compress progress into a memory note.
+#
+# Plan is intentionally left out — memory is the only persistent
+# high-level state here, keeping the prompt short.
+#
+# Requires the dataset to carry `subtask` and `memory` annotations.
+# Sub-recipes whose `if_present` bindings are missing simply don't
+# render for that sample.
+
+blend:
+
+  high_level_subtask:
+    weight: 0.25
+    messages:
+      - {role: user, content: "${task}", stream: high_level}
+      - {role: assistant, content: "${subtask}", stream: high_level, target: true, if_present: subtask}
+
+  low_level_execution:
+    weight: 0.60
+    messages:
+      # The action expert is conditioned on the SUBTASK — at inference
+      # `HighLevelSubtaskFwd` generates it via the LM head and feeds it
+      # here. `stream: low_level` flips `predict_actions=True` so the
+      # flow loss fires; no text-CE target (subtask prediction is owned
+      # by `high_level_subtask`).
+      - {role: user, content: "${subtask}", stream: low_level, if_present: subtask}
+
+  memory_update:
+    # At inference, `MemoryUpdateFwd` is triggered only on
+    # `subtask_change` events (sparse). Training densely with
+    # `active_at` — i.e. on every frame inside a subtask interval,
+    # not just the boundary frame — supervises the same
+    # (prior_memory, completed_subtask) → current_memory mapping
+    # against varied observations within the interval. The model
+    # learns a stateless transformation; the *when* to emit lives in
+    # the inference trigger, not the model. Annotations only exist
+    # for ~1% of frames as boundary events, so `emitted_at` would
+    # waste 99% of the blend draws (and silently leak them into a
+    # task-conditioned fallback); `active_at` lifts the renderable
+    # rate to ~87% on this dataset.
+    weight: 0.15
+    bindings:
+      prior_memory: "nth_prev(style=memory, offset=1)"
+      current_memory: "active_at(t, style=memory)"
+      completed_subtask: "nth_prev(style=subtask, offset=1)"
+    messages:
+      - {role: user, content: "${task}", stream: high_level}
+      - {role: assistant, content: "Previous memory: ${prior_memory}", stream: high_level, if_present: prior_memory}
+      - {role: user, content: "Completed subtask: ${completed_subtask}", stream: high_level, if_present: completed_subtask}
+      - {role: assistant, content: "${current_memory}", stream: high_level, target: true, if_present: current_memory}

src/lerobot/configs/recipes/subtask_mem_vqa_speech.yaml

@@ -0,0 +1,112 @@
+# subtask_mem_vqa_speech — Hi-Robot blend + memory + spoken responses.
+#
+# Extends the compact subtask_mem recipe with VQA and spoken interjection responses:
+#
+#   high_level_subtask         — predict the subtask from the task.
+#   low_level_execution        — flow loss with [images, subtask, state].
+#   memory_update              — compress progress into a memory note.
+#   user_interjection_response — reply to a user interjection with a
+#                                spoken `say` tool call (no plan, no
+#                                subtask text — just the spoken reply).
+#   ask_vqa_{top,wrist}        — camera-grounded VQA.
+#
+# Plan is intentionally left out — memory is the only persistent
+# high-level state here, keeping the prompt short.
+#
+# Requires the dataset to carry `memory`, `interjection` and `say`-tool
+# annotations (the annotation pipeline's memory + interjection modules)
+# in addition to `subtask` and `vqa`. Sub-recipes whose `if_present`
+# bindings are missing simply don't render for that sample, so a
+# dataset without interjections still trains the rest of the blend.
+#
+# Tool-call note: the `say` tool call on the interjection-response turn
+# is flattened to a `<say>...</say>` text marker by the tokenizer step
+# (`_flatten_say_tool_calls`) so the LM head learns to emit exactly the
+# marker the runtime parses back (`_split_plan_and_say`).
+
+blend:
+
+  high_level_subtask:
+    weight: 0.25
+    messages:
+      - {role: user, content: "${task}", stream: high_level}
+      - {role: assistant, content: "${subtask}", stream: high_level, target: true, if_present: subtask}
+
+  low_level_execution:
+    weight: 0.40
+    messages:
+      # The action expert is conditioned on the SUBTASK — at inference
+      # `HighLevelSubtaskFwd` generates it via the LM head and feeds it
+      # here. `stream: low_level` flips `predict_actions=True` so the
+      # flow loss fires; no text-CE target (subtask prediction is owned
+      # by `high_level_subtask`).
+      - {role: user, content: "${subtask}", stream: low_level, if_present: subtask}
+
+  memory_update:
+    # At inference, `MemoryUpdateFwd` is triggered only on
+    # `subtask_change` events (sparse). Training densely with
+    # `active_at` — i.e. on every frame inside a subtask interval,
+    # not just the boundary frame — supervises the same
+    # (prior_memory, completed_subtask) → current_memory mapping
+    # against varied observations within the interval. The model
+    # learns a stateless transformation; the *when* to emit lives in
+    # the inference trigger, not the model. Annotations only exist
+    # for ~1% of frames as boundary events, so `emitted_at` would
+    # waste 99% of the blend draws (and silently leak them into the
+    # task-conditioned fallback); `active_at` lifts the renderable
+    # rate to ~87% on Hi-Robot-style datasets.
+    weight: 0.10
+    bindings:
+      prior_memory: "nth_prev(style=memory, offset=1)"
+      current_memory: "active_at(t, style=memory)"
+      completed_subtask: "nth_prev(style=subtask, offset=1)"
+    messages:
+      - {role: user, content: "${task}", stream: high_level}
+      - {role: assistant, content: "Previous memory: ${prior_memory}", stream: high_level, if_present: prior_memory}
+      - {role: user, content: "Completed subtask: ${completed_subtask}", stream: high_level, if_present: completed_subtask}
+      - {role: assistant, content: "${current_memory}", stream: high_level, target: true, if_present: current_memory}
+
+  user_interjection_response:
+    weight: 0.10
+    bindings:
+      interjection: "emitted_at(t, style=interjection)"
+      speech: "emitted_at(t, role=assistant, tool_name=say)"
+    messages:
+      - {role: user, content: "${task}", stream: high_level}
+      - {role: user, content: "${interjection}", stream: high_level, if_present: interjection}
+      # Spoken reply only: the assistant turn carries no text content,
+      # just a `say` tool call (`tool_calls_from: speech`). The chat
+      # tokenizer flattens it to a `<say>...</say>` marker, so the
+      # supervised target trains the model to respond to an
+      # interjection with a spoken acknowledgement.
+      - {role: assistant, stream: high_level, target: true, if_present: speech, tool_calls_from: speech}
+
+  # VQA is view-dependent — each camera gets its own sub-recipe so the
+  # resolver disambiguates via `camera=...`. Adjust camera keys to your dataset.
+  ask_vqa_top:
+    weight: 0.075
+    bindings:
+      vqa_query: "emitted_at(t, style=vqa, role=user, camera=observation.images.front)"
+      vqa: "emitted_at(t, style=vqa, role=assistant, camera=observation.images.front)"
+    messages:
+      - role: user
+        stream: high_level
+        if_present: vqa_query
+        content:
+          - {type: image, feature: observation.images.front}
+          - {type: text, text: "${vqa_query}"}
+      - {role: assistant, content: "${vqa}", stream: high_level, target: true, if_present: vqa}
+
+  ask_vqa_wrist:
+    weight: 0.075
+    bindings:
+      vqa_query: "emitted_at(t, style=vqa, role=user, camera=observation.images.wrist)"
+      vqa: "emitted_at(t, style=vqa, role=assistant, camera=observation.images.wrist)"
+    messages:
+      - role: user
+        stream: high_level
+        if_present: vqa_query
+        content:
+          - {type: image, feature: observation.images.wrist}
+          - {type: text, text: "${vqa_query}"}
+      - {role: assistant, content: "${vqa}", stream: high_level, target: true, if_present: vqa}

src/lerobot/configs/train.py

@@ -26,12 +26,11 @@ from huggingface_hub.errors import HfHubHTTPError
 
 from lerobot import envs
 from lerobot.optim import LRSchedulerConfig, OptimizerConfig
-from lerobot.utils.constants import PRETRAINED_MODEL_DIR
-from lerobot.utils.hub import HubMixin, find_latest_hub_checkpoint
+from lerobot.utils.hub import HubMixin
 from lerobot.utils.sample_weighting import SampleWeightingConfig
 
 from . import parser
-from .default import DatasetConfig, EvalConfig, JobConfig, PeftConfig, WandBConfig
+from .default import DatasetConfig, EMAConfig, EvalConfig, PeftConfig, WandBConfig
 from .policies import PreTrainedConfig
 from .rewards import RewardModelConfig
 
@@ -84,11 +83,10 @@ class TrainPipelineConfig(HubMixin):
     # with the same value for `dir` its contents will be overwritten unless you set `resume` to true.
     output_dir: Path | None = None
     job_name: str | None = None
-    # Set `resume` to true to resume a previous run. Pass `--config_path` pointing at either a local
-    # checkpoint's train_config.json or a Hub repo id holding `checkpoints/<step>/` subtrees (the
-    # latest checkpoint is downloaded and resumed from). Note that when resuming, the default behavior
-    # is to use the configuration from the checkpoint, regardless of what's provided with the training
-    # command at the time of resumption (CLI `--*` flags still override).
+    # Set `resume` to true to resume a previous run. In order for this to work, you will need to make sure
+    # `dir` is the directory of an existing run with at least one checkpoint in it.
+    # Note that when resuming a run, the default behavior is to use the configuration from the checkpoint,
+    # regardless of what's provided with the training command at the time of resumption.
     resume: bool = False
     # `seed` is used for training (eg: model initialization, dataset shuffling)
     # AND for the evaluation environments.
@@ -102,13 +100,8 @@ class TrainPipelineConfig(HubMixin):
     prefetch_factor: int = 4
     persistent_workers: bool = True
     steps: int = 100_000
-    # Run policy in the simulation environment every N steps to measure reward/success (0 = disabled).
-    env_eval_freq: int = 20_000
+    eval_freq: int = 20_000
     log_freq: int = 200
-    # Compute eval loss on held-out episodes every N steps (0 = disabled). Requires eval_split > 0.
-    eval_steps: int = 0
-    # Cap on total eval samples, split uniformly across tasks (0 = use all held-out data).
-    max_eval_samples: int = 0
     tolerance_s: float = 1e-4
     save_checkpoint: bool = True
     # Checkpoint is saved every `save_freq` training iterations and after the last training step.
@@ -118,16 +111,12 @@ class TrainPipelineConfig(HubMixin):
     scheduler: LRSchedulerConfig | None = None
     eval: EvalConfig = field(default_factory=EvalConfig)
     wandb: WandBConfig = field(default_factory=WandBConfig)
+    ema: EMAConfig = field(default_factory=EMAConfig)
     peft: PeftConfig | None = None
 
-    # Where to run training (local default, or an HF Jobs flavor). See JobConfig.
-    job: JobConfig = field(default_factory=JobConfig)
-    # Push each saved checkpoint to the Hub (policy.repo_id) as it is written, not
-    # just the final model (useful to monitor progress mid-run). Optional; the
-    # final model is pushed regardless. Works the same locally and remotely.
-    save_checkpoint_to_hub: bool = False
-
-    # Sample weighting configuration (e.g., for RA-BC training)
+    # Sample weighting configuration (e.g., for RA-BC training). Old
+    # inline ``use_rabc`` / ``rabc_*`` params are migrated to this
+    # field by ``_migrate_legacy_rabc_keys`` above.
     sample_weighting: SampleWeightingConfig | None = None
 
     # Rename map for the observation to override the image and state keys
@@ -146,17 +135,10 @@ class TrainPipelineConfig(HubMixin):
             return self.reward_model  # type: ignore[return-value]
         return self.policy  # type: ignore[return-value]
 
-    def _resolve_pretrained_from_cli(self) -> None:
-        """Resolve the pretrained source passed on the CLI into a loaded config.
-
-        The pretrained paths (`--policy.path`, `--reward_model.path`) and
-        `--config_path` are only recoverable by re-reading the CLI args: draccus
-        has already consumed them by the time `validate()` runs, so they are not
-        reflected on `self`. Exactly one source applies, in priority order:
-        reward-model path, policy path, then resume.
-        """
-        reward_model_path = parser.get_path_arg("reward_model")
+    def validate(self) -> None:
+        # HACK: We parse again the cli args here to get the pretrained paths if there was some.
         policy_path = parser.get_path_arg("policy")
+        reward_model_path = parser.get_path_arg("reward_model")
 
         if reward_model_path:
             cli_overrides = parser.get_cli_overrides("reward_model")
@@ -165,54 +147,31 @@ class TrainPipelineConfig(HubMixin):
             )
             self.reward_model.pretrained_path = str(Path(reward_model_path))
         elif policy_path:
-            overrides = parser.get_yaml_overrides("policy") + (parser.get_cli_overrides("policy") or [])
-            self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=overrides)
+            yaml_overrides = parser.get_yaml_overrides("policy")
+            cli_overrides = parser.get_cli_overrides("policy") or []
+            self.policy = PreTrainedConfig.from_pretrained(
+                policy_path, cli_overrides=yaml_overrides + cli_overrides
+            )
             self.policy.pretrained_path = Path(policy_path)
         elif self.resume:
-            self._resolve_resume_checkpoint()
+            config_path = parser.parse_arg("config_path")
+            if not config_path:
+                raise ValueError(
+                    f"A config_path is expected when resuming a run. Please specify path to {TRAIN_CONFIG_NAME}"
+                )
 
-    def _resolve_resume_checkpoint(self) -> None:
-        """Point the trainable config at the checkpoint named by `--config_path`.
+            if not Path(config_path).resolve().exists():
+                raise NotADirectoryError(
+                    f"{config_path=} is expected to be a local path. "
+                    "Resuming from the hub is not supported for now."
+                )
 
-        `config_path` is either a local path (to a checkpoint's train_config.json or its
-        pretrained_model/ dir) or a Hub repo id. For a Hub repo, the latest checkpoint is downloaded
-        into a fresh local run dir and resumed from there. The download is skipped when dispatching to
-        an HF Job (`job.is_remote`): the pod performs it when it runs the resume locally, and
-        `submit_to_hf` resolves the source repo for the remote command.
-        """
-        config_path = parser.parse_arg("config_path")
-        if not config_path:
-            raise ValueError(
-                f"A config_path is expected when resuming a run. Please specify path to {TRAIN_CONFIG_NAME}"
-            )
-
-        if Path(config_path).resolve().exists():
             policy_dir = Path(config_path).parent
+            if self.policy is not None:
+                self.policy.pretrained_path = policy_dir
+            if self.reward_model is not None:
+                self.reward_model.pretrained_path = str(policy_dir)
             self.checkpoint_path = policy_dir.parent
-        elif self.job.is_remote:
-            return
-        else:
-            from lerobot.common.train_utils import resolve_resume_checkpoint
-
-            # `self.output_dir` was loaded from the checkpoint's config and points at the original
-            # run's (now-absent) local dir. Resume into a fresh local dir instead, unless the user
-            # passed --output_dir explicitly.
-            cli_output_dir = parser.parse_arg("output_dir")
-            if cli_output_dir:
-                self.output_dir = Path(cli_output_dir)
-            else:
-                now = dt.datetime.now()
-                self.output_dir = Path("outputs/train") / f"{now:%Y-%m-%d}/{now:%H-%M-%S}_resume"
-            self.checkpoint_path = resolve_resume_checkpoint(config_path, self.output_dir)
-            policy_dir = self.checkpoint_path / PRETRAINED_MODEL_DIR
-
-        if self.policy is not None:
-            self.policy.pretrained_path = policy_dir
-        if self.reward_model is not None:
-            self.reward_model.pretrained_path = str(policy_dir)
-
-    def validate(self) -> None:
-        self._resolve_pretrained_from_cli()
 
         if self.policy is None and self.reward_model is None:
             raise ValueError(
@@ -252,22 +211,9 @@ class TrainPipelineConfig(HubMixin):
             self.optimizer = active_cfg.get_optimizer_preset()
             self.scheduler = active_cfg.get_scheduler_preset()
 
-        if self.eval_steps > 0 and self.dataset.eval_split == 0.0:
-            raise ValueError("eval_steps > 0 requires dataset.eval_split > 0.0 to hold out eval data.")
-
-        # Remote runs auto-generate the repo_id in submit_to_hf (the policy may only be
-        # resolved here, from --policy.path), so don't demand it up front for them.
-        if (
-            hasattr(active_cfg, "push_to_hub")
-            and active_cfg.push_to_hub
-            and not active_cfg.repo_id
-            and not self.job.is_remote
-        ):
+        if hasattr(active_cfg, "push_to_hub") and active_cfg.push_to_hub and not active_cfg.repo_id:
             raise ValueError("'repo_id' argument missing. Please specify it to push the model to the hub.")
 
-        if self.save_checkpoint_to_hub and not (self.policy is not None and self.policy.repo_id):
-            raise ValueError("save_checkpoint_to_hub requires --policy.repo_id.")
-
     @classmethod
     def __get_path_fields__(cls) -> list[str]:
         """Keys for draccus pretrained-path loading."""
@@ -304,30 +250,22 @@ class TrainPipelineConfig(HubMixin):
         elif Path(model_id).is_file():
             config_file = model_id
         else:
-            dl_kwargs = {
-                "repo_id": model_id,
-                "revision": revision,
-                "cache_dir": cache_dir,
-                "force_download": force_download,
-                "proxies": proxies,
-                "resume_download": resume_download,
-                "token": token,
-                "local_files_only": local_files_only,
-            }
             try:
-                config_file = hf_hub_download(filename=TRAIN_CONFIG_NAME, **dl_kwargs)
-            except HfHubHTTPError as e:
-                # No root train_config.json: this is a repo of periodic checkpoints from an
-                # interrupted run. Fall back to the latest checkpoint's config so the run can be
-                # resumed straight from the repo with `--config_path=<repo>`.
-                latest = find_latest_hub_checkpoint(model_id, token=token, revision=revision)
-                if latest is None:
-                    raise FileNotFoundError(
-                        f"{TRAIN_CONFIG_NAME} not found on the HuggingFace Hub in {model_id}"
-                    ) from e
                 config_file = hf_hub_download(
-                    filename=f"{latest}/{PRETRAINED_MODEL_DIR}/{TRAIN_CONFIG_NAME}", **dl_kwargs
+                    repo_id=model_id,
+                    filename=TRAIN_CONFIG_NAME,
+                    revision=revision,
+                    cache_dir=cache_dir,
+                    force_download=force_download,
+                    proxies=proxies,
+                    resume_download=resume_download,
+                    token=token,
+                    local_files_only=local_files_only,
                 )
+            except HfHubHTTPError as e:
+                raise FileNotFoundError(
+                    f"{TRAIN_CONFIG_NAME} not found on the HuggingFace Hub in {model_id}"
+                ) from e
 
         cli_args = kwargs.pop("cli_args", [])
         # Legacy RA-BC migration only applies to framework-saved checkpoints (always JSON).

src/lerobot/configs/video.py

@@ -20,9 +20,7 @@ from __future__ import annotations
 
 import logging
 from dataclasses import dataclass, field
-from typing import Any, ClassVar, Self
-
-import numpy as np
+from typing import Any
 
 from lerobot.utils.import_utils import require_package
 
@@ -38,12 +36,11 @@ HW_VIDEO_CODECS = [
     "h264_vaapi",  # Linux Intel/AMD
     "h264_qsv",  # Intel Quick Sync
 ]
-VALID_VIDEO_CODECS: frozenset[str] = frozenset(
-    {"h264", "hevc", "libsvtav1", "libaom-av1", "auto", *HW_VIDEO_CODECS}
-)
+VALID_VIDEO_CODECS: frozenset[str] = frozenset({"h264", "hevc", "libsvtav1", "auto", *HW_VIDEO_CODECS})
 # Aliases for legacy video codec names.
 VIDEO_CODECS_ALIASES: dict[str, str] = {"av1": "libsvtav1"}
 
+
 LIBSVTAV1_DEFAULT_PRESET: int = 12
 
 # Keys persisted under ``features[*]["info"]`` as ``video.<name>`` (from :class:`VideoEncoderConfig`).
@@ -55,54 +52,40 @@ VIDEO_ENCODER_INFO_KEYS: frozenset[str] = frozenset(
     f"video.{name}" for name in VIDEO_ENCODER_INFO_FIELD_NAMES
 )
 
-# Default depth quantization and encoding parameters.
-DEPTH_QUANT_BITS: int = 12
-DEPTH_QMAX: int = (1 << DEPTH_QUANT_BITS) - 1  # 4095
-
-DEFAULT_DEPTH_MIN: float = 0.01
-DEFAULT_DEPTH_MAX: float = 10.0
-DEFAULT_DEPTH_SHIFT: float = 3.5
-DEFAULT_DEPTH_USE_LOG: bool = True
-DEFAULT_DEPTH_PIX_FMT: str = "gray12le"
-
-DEPTH_METER_UNIT: str = "m"
-DEPTH_MILLIMETER_UNIT: str = "mm"
-DEFAULT_DEPTH_UNIT: str = DEPTH_MILLIMETER_UNIT
-
-
-def infer_depth_unit(dtype: np.dtype | type) -> str:
-    """Infer the physical unit of raw depth frames from their dtype.
-
-    Floating-point frames are assumed to be in metres, integer frames in millimetres.
-    """
-    return DEPTH_METER_UNIT if np.issubdtype(np.dtype(dtype), np.floating) else DEPTH_MILLIMETER_UNIT
-
-
-# Depth-specific tuning fields persisted under ``features[*]["info"]`` as ``video.<name>``.
-DEPTH_ENCODER_INFO_FIELD_NAMES: frozenset[str] = frozenset({"depth_min", "depth_max", "shift", "use_log"})
-
 
 @dataclass
 class VideoEncoderConfig:
-    """Video encoder configuration."""
+    """Video encoder configuration.
 
-    vcodec: str = "libsvtav1"  # Video codec name. "auto" picks a hardware codec if available, else libsvtav1.
-    pix_fmt: str = "yuv420p"  # Pixel format (e.g. yuv420p).
-    g: int | None = 2  # GOP size (keyframe interval).
-    crf: int | float | None = 30  # Quality level. Lower means better quality and larger files.
-    preset: int | str | None = None  # Speed/quality preset. Accepted values are codec-specific.
-    fast_decode: int = 0  # Fast-decode tuning. Accepted values are codec-specific, 0 disables it.
+    Attributes:
+        vcodec: Video encoder name. ``"auto"`` is resolved during
+            construction (HW encoder if available, else ``libsvtav1``).
+        pix_fmt: Pixel format (e.g. ``"yuv420p"``).
+        g: GOP size (keyframe interval).
+        crf: Quality level — mapped to the native quality parameter of the
+            codec (``crf`` for software, ``qp`` for NVENC/VAAPI,
+            ``q:v`` for VideoToolbox, ``global_quality`` for QSV).
+        preset: Speed/quality preset. Accepted type is per-codec.
+        fast_decode: Fast-decode tuning. For ``libsvtav1`` this is a level (0-2)
+            embedded in ``svtav1-params``. For ``h264`` and ``hevc`` non-zero values
+            set ``tune=fastdecode``. Ignored for other codecs.
+        video_backend: Python to be used for encoding. Only ``"pyav"``
+            is currently supported.
+        extra_options: Free-form dictionary of additional video encoder options
+            (e.g. ``{"tune": "film", "profile:v": "high", "bf": 2}``).
+    """
+
+    vcodec: str = "libsvtav1"  # TODO(CarolinePascal): rename to codec ?
+    pix_fmt: str = "yuv420p"
+    g: int | None = 2
+    crf: int | float | None = 30
+    preset: int | str | None = None
+    fast_decode: int = 0
     # TODO(CarolinePascal): add torchcodec support + find a way to unify the
     # two backends (encoding and decoding).
-    video_backend: str = "pyav"  # Encoding backend. Only "pyav" is currently supported.
-    # Extra codec options merged last, e.g. {"tune": "film"}.
+    video_backend: str = "pyav"
     extra_options: dict[str, Any] = field(default_factory=dict)
 
-    # Source-data channel count this encoder is expected to handle. ``None``
-    # disables the pix_fmt channel-count check; concrete subclasses set it
-    # (3 for RGB, 1 for depth, etc.).
-    _DEFAULT_CHANNELS: ClassVar[int | None] = None
-
     def __post_init__(self) -> None:
         self.resolve_vcodec()
         # Empty-constructor ergonomics: ``VideoEncoderConfig()`` must "just work".
@@ -111,9 +94,9 @@ class VideoEncoderConfig:
         self.validate()
 
     @classmethod
-    def _kwargs_from_video_info(cls, video_info: dict | None) -> dict[str, Any]:
-        """Parse the ``video.*`` keys of a feature ``info`` block into
-        constructor kwargs.
+    def from_video_info(cls, video_info: dict | None) -> VideoEncoderConfig:
+        """Reconstruct a :class:`VideoEncoderConfig` from a video feature's ``info`` block.
+        Missing or ``None`` values fall back to the class defaults.
         """
         video_info = video_info or {}
         kwargs: dict[str, Any] = {}
@@ -132,15 +115,7 @@ class VideoEncoderConfig:
                 continue
             kwargs[field_name] = value
 
-        return kwargs
-
-    @classmethod
-    def from_video_info(cls, video_info: dict | None) -> Self:
-        """Reconstruct an encoder config from a video feature's ``info`` block.
-
-        Missing or ``None`` values fall back to the class defaults.
-        """
-        return cls(**cls._kwargs_from_video_info(video_info))
+        return cls(**kwargs)
 
     def detect_available_encoders(self, encoders: list[str] | str) -> list[str]:
         """Return the subset of available encoders based on the specified video backend.
@@ -163,9 +138,7 @@ class VideoEncoderConfig:
             require_package("av", extra="dataset")
             from lerobot.datasets import check_video_encoder_parameters_pyav
 
-            check_video_encoder_parameters_pyav(
-                self.vcodec, self.pix_fmt, self.get_codec_options(), channels=self._DEFAULT_CHANNELS
-            )
+            check_video_encoder_parameters_pyav(self.vcodec, self.pix_fmt, self.get_codec_options())
 
     def resolve_vcodec(self) -> None:
         """Check ``vcodec`` and, when it is ``"auto"``, pick a concrete encoder.
@@ -226,24 +199,18 @@ class VideoEncoderConfig:
             if encoder_threads is not None:
                 svtav1_parts.append(f"lp={encoder_threads}")
             if svtav1_parts:
-                set_if("svtav1-params", ":".join(svtav1_parts))
+                opts["svtav1-params"] = ":".join(svtav1_parts)
         elif self.vcodec in ("h264", "hevc"):
             set_if("crf", self.crf)
             set_if("preset", self.preset)
             if self.fast_decode:
-                set_if("tune", "fastdecode")
+                opts["tune"] = "fastdecode"
             set_if("threads", encoder_threads)
-        elif self.vcodec == "libaom-av1":
-            set_if("crf", self.crf)
-            set_if("preset", self.preset)
-            if encoder_threads is not None:
-                set_if("threads", encoder_threads)
-                set_if("row-mt", 1)
         elif self.vcodec in ("h264_videotoolbox", "hevc_videotoolbox"):
             if self.crf is not None:
-                set_if("q:v", max(1, min(100, 100 - self.crf * 2)))
+                opts["q:v"] = max(1, min(100, 100 - self.crf * 2))
         elif self.vcodec in ("h264_nvenc", "hevc_nvenc"):
-            set_if("rc", 0)
+            opts["rc"] = 0
             set_if("qp", self.crf)
             set_if("preset", self.preset)
         elif self.vcodec == "h264_vaapi":
@@ -263,79 +230,6 @@ class VideoEncoderConfig:
         return opts
 
 
-@dataclass
-class RGBEncoderConfig(VideoEncoderConfig):
-    """Encoder configuration for RGB camera streams.
-
-    Identical to :class:`VideoEncoderConfig` but declares the 3-channel
-    source-data layout so ``pix_fmt`` is validated against RGB inputs.
-    """
-
-    _DEFAULT_CHANNELS: ClassVar[int] = 3
-
-
-def rgb_encoder_defaults() -> RGBEncoderConfig:
-    """Return a :class:`RGBEncoderConfig` with RGB-camera defaults."""
-    return RGBEncoderConfig()
-
-
-@dataclass
-class DepthEncoderConfig(VideoEncoderConfig):
-    """Encoder configuration for depth-map streams.
-
-    Inherits the full :class:`VideoEncoderConfig` surface (codec, GOP, CRF,
-    preset, ``extra_options``…) and adds the parameters of the depth quantizer.
-    Defaults flip ``vcodec`` to ``"hevc"`` (Main 12 profile) and ``pix_fmt`` to
-    ``"gray12le"``.
-    """
-
-    vcodec: str = "hevc"  # Video codec name. Defaults to HEVC Main 12 (a 12-bit-capable codec).
-    pix_fmt: str = "gray12le"  # Pixel format. Defaults to 12-bit grayscale.
-    extra_options: dict[str, Any] = field(default_factory=lambda: {"x265-params": "lossless=1"})
-
-    depth_min: float = DEFAULT_DEPTH_MIN  # Minimum depth in meters, mapped to the lowest quantum.
-    depth_max: float = DEFAULT_DEPTH_MAX  # Maximum depth in meters, mapped to the highest quantum.
-    shift: float = DEFAULT_DEPTH_SHIFT  # Pre-log offset in meters for numerical stability near zero.
-    use_log: bool = DEFAULT_DEPTH_USE_LOG  # Use logarithmic quantization (True) or linear (False).
-
-    _DEFAULT_CHANNELS: ClassVar[int] = 1
-
-    @classmethod
-    def _kwargs_from_video_info(cls, video_info: dict | None) -> dict[str, Any]:
-        """Layer the depth-specific tuning (``depth_min`` / ``depth_max`` /
-        ``shift`` / ``use_log``) on top of the base parser. Missing keys
-        fall back to the class defaults.
-        """
-        kwargs = super()._kwargs_from_video_info(video_info)
-        video_info = video_info or {}
-        for name in DEPTH_ENCODER_INFO_FIELD_NAMES:
-            value = video_info.get(f"video.{name}")
-            if value is not None:
-                kwargs[name] = value
-        return kwargs
-
-
-def depth_encoder_defaults() -> DepthEncoderConfig:
-    """Return a :class:`DepthEncoderConfig` with depth-camera defaults."""
-    return DepthEncoderConfig()
-
-
-def encoder_config_from_video_info(video_info: dict | None) -> VideoEncoderConfig:
-    """Build the appropriate encoder config from a feature's ``info`` block.
-
-    Dispatches to :class:`DepthEncoderConfig` when the dict marks the feature
-    as a depth map and to :class:`RGBEncoderConfig`
-    otherwise.
-
-    Args:
-        video_info: A feature's ``info`` dict as persisted in ``info.json``,
-            or ``None`` (treated as an empty dict).
-
-    Returns:
-        A :class:`DepthEncoderConfig` for depth features, otherwise a
-        :class:`RGBEncoderConfig`.
-    """
-    video_info = video_info or {}
-    is_depth = bool(video_info.get("is_depth_map") or video_info.get("video.is_depth_map"))
-    cls: type[VideoEncoderConfig] = DepthEncoderConfig if is_depth else RGBEncoderConfig
-    return cls.from_video_info(video_info)
+def camera_encoder_defaults() -> VideoEncoderConfig:
+    """Return a :class:`VideoEncoderConfig` with RGB-camera defaults."""
+    return VideoEncoderConfig()

src/lerobot/datasets/__init__.py

@@ -35,7 +35,6 @@ from .dataset_tools import (
     remove_feature,
     split_dataset,
 )
-from .factory import make_dataset, make_train_eval_datasets, resolve_delta_timestamps
 from .image_writer import safe_stop_image_writer
 from .io_utils import load_episodes, write_stats
 from .language import (
@@ -55,6 +54,19 @@ from .streaming_dataset import StreamingLeRobotDataset
 from .utils import DEFAULT_EPISODES_PATH, create_lerobot_dataset_card
 from .video_utils import VideoEncodingManager
 
+
+def make_dataset(*args, **kwargs):
+    from .factory import make_dataset as _make_dataset
+
+    return _make_dataset(*args, **kwargs)
+
+
+def resolve_delta_timestamps(*args, **kwargs):
+    from .factory import resolve_delta_timestamps as _resolve_delta_timestamps
+
+    return _resolve_delta_timestamps(*args, **kwargs)
+
+
 # NOTE: Low-level I/O functions (cast_stats_to_numpy, get_parquet_file_size_in_mb, etc.)
 # and legacy migration constants are intentionally NOT re-exported here.
 # Import directly: ``from lerobot.datasets.io_utils import ...``
@@ -89,7 +101,6 @@ __all__ = [
     "get_feature_stats",
     "load_episodes",
     "make_dataset",
-    "make_train_eval_datasets",
     "merge_datasets",
     "modify_features",
     "modify_tasks",

src/lerobot/datasets/compute_stats.py

@@ -242,12 +242,12 @@ def sample_images(image_paths: list[str]) -> np.ndarray:
     images = None
     for i, idx in enumerate(sampled_indices):
         path = image_paths[idx]
-        # we load RGB images as uint8 to reduce memory usage; depth keeps its native dtype
+        # we load as uint8 to reduce memory usage
         img = load_image_as_numpy(path, dtype=np.uint8, channel_first=True)
         img = auto_downsample_height_width(img)
 
         if images is None:
-            images = np.empty((len(sampled_indices), *img.shape), dtype=img.dtype)
+            images = np.empty((len(sampled_indices), *img.shape), dtype=np.uint8)
 
         images[i] = img
 
@@ -506,10 +506,8 @@ def compute_episode_stats(
         Each statistics dictionary contains min, max, mean, std, count, and quantiles.
 
     Note:
-        For 'image'/'video' features, stats are computed per channel and kept with a
-        leading channel axis (e.g. shape (3, 1, 1) for RGB). RGB stats are divided by
-        255 to land in [0, 1]; depth maps (features flagged with ``is_depth_map``) skip
-        this rescaling and remain in their stored units (stored in ``depth_unit``).
+        Image statistics are normalized to [0,1] range and have shape (3,1,1) for
+        per-channel values when dtype is 'image' or 'video'.
     """
     if quantile_list is None:
         quantile_list = DEFAULT_QUANTILES
@@ -533,12 +531,8 @@ def compute_episode_stats(
         )
 
         if features[key]["dtype"] in ["image", "video"]:
-            normalization_factor = (
-                255.0 if not (features[key].get("info") or {}).get("is_depth_map", False) else 1.0
-            )
             ep_stats[key] = {
-                k: v if k == "count" else np.squeeze(v / normalization_factor, axis=0)
-                for k, v in ep_stats[key].items()
+                k: v if k == "count" else np.squeeze(v / 255.0, axis=0) for k, v in ep_stats[key].items()
             }
 
     return ep_stats
@@ -558,10 +552,8 @@ def _validate_stat_value(value: np.ndarray, key: str, feature_key: str) -> None:
     if key == "count" and value.shape != (1,):
         raise ValueError(f"Shape of 'count' must be (1), but is {value.shape} instead.")
 
-    if "image" in feature_key and key != "count" and value.shape not in ((3, 1, 1), (1, 1, 1)):
-        raise ValueError(
-            f"Shape of quantile '{key}' must be (3,1,1) or (1,1,1) but is {value.shape} instead."
-        )
+    if "image" in feature_key and key != "count" and value.shape != (3, 1, 1):
+        raise ValueError(f"Shape of quantile '{key}' must be (3,1,1), but is {value.shape} instead.")
 
 
 def _assert_type_and_shape(stats_list: list[dict[str, dict]]):

src/lerobot/datasets/dataset_metadata.py

@@ -14,8 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import contextlib
-import logging
-from collections.abc import Callable, Iterable
+from collections.abc import Callable
 from copy import deepcopy
 from pathlib import Path
 
@@ -26,13 +25,12 @@ import pyarrow as pa
 import pyarrow.parquet as pq
 from huggingface_hub import snapshot_download
 
-from lerobot.configs import DEPTH_METER_UNIT, VideoEncoderConfig
+from lerobot.configs import VideoEncoderConfig
 from lerobot.utils.constants import DEFAULT_FEATURES, HF_LEROBOT_HOME, HF_LEROBOT_HUB_CACHE
 from lerobot.utils.feature_utils import _validate_feature_names
 from lerobot.utils.utils import flatten_dict
 
 from .compute_stats import aggregate_stats
-from .depth_utils import MM_PER_METRE
 from .feature_utils import create_empty_dataset_info
 from .io_utils import (
     get_file_size_in_mb,
@@ -340,54 +338,6 @@ class LeRobotDatasetMetadata:
         """Keys to access visual modalities stored as videos."""
         return [key for key, ft in self.features.items() if ft["dtype"] == "video"]
 
-    @property
-    def depth_keys(self) -> list[str]:
-        """Keys to access depth-map modalities stored as videos or images.
-
-        A depth key is a feature whose ``info`` dict carries ``"is_depth_map": True``
-        (or the legacy ``"video.is_depth_map"`` inside ``info`` or ``video_info``).
-        """
-
-        def _is_depth(ft: dict) -> bool:
-            info = ft.get("info") or {}
-            video_info = ft.get("video_info") or {}
-            return (
-                info.get("is_depth_map", False)
-                or info.get("video.is_depth_map", False)
-                or video_info.get("video.is_depth_map", False)
-            )
-
-        return [key for key, ft in self.features.items() if _is_depth(ft)]
-
-    def rescale_depth_stats(self, output_unit: str) -> None:
-        """Rescale depth feature stats in place from their recorded unit to ``output_unit``.
-
-        Depth stats are stored in the unit the frames were recorded in
-        (``features[key]["info"]["depth_unit"]``), while frames are returned in
-        ``output_unit`` on read. This converts the unit-bearing stat entries so
-        stats match the frames consumers see.
-        """
-        missing_unit_keys = [
-            key for key in self.depth_keys if (self.features[key].get("info") or {}).get("depth_unit") is None
-        ]
-        if missing_unit_keys:
-            logging.warning(
-                f"Depth feature(s) {missing_unit_keys} have no recorded 'depth_unit' in their info. "
-                f"Depth maps and stats for these keys will be returned AS IS, with no unit conversion "
-                f"to the requested output unit {output_unit!r}. Re-record the dataset or set 'depth_unit' "
-                f"in the feature info (meta/info.json) to enable conversion."
-            )
-        if self.stats is None:
-            return
-        for key in self.depth_keys:
-            stored_unit = (self.features[key].get("info") or {}).get("depth_unit")
-            if stored_unit is None or stored_unit == output_unit or key not in self.stats:
-                continue
-            factor = MM_PER_METRE if stored_unit == DEPTH_METER_UNIT else 1.0 / MM_PER_METRE
-            self.stats[key] = {
-                stat: value if stat == "count" else value * factor for stat, value in self.stats[key].items()
-            }
-
     @property
     def camera_keys(self) -> list[str]:
         """Keys to access visual modalities (regardless of their storage method)."""
@@ -631,48 +581,29 @@ class LeRobotDatasetMetadata:
     def update_video_info(
         self,
         video_key: str | None = None,
-        video_encoder: VideoEncoderConfig | None = None,
-        preserve_keys: Iterable[str] | None = None,
+        camera_encoder: VideoEncoderConfig | None = None,
     ) -> None:
-        """Populate or refresh per-feature video info in ``info.json``.
+        """Populate per-feature video info in ``info.json``.
 
         Warning: this function writes info from first episode videos, implicitly assuming that all videos have
         been encoded the same way. Also, this means it assumes the first episode exists.
 
-        Always re-probes the videos and overwrites existing info for every recomputed
-        key. ``preserve_keys`` lists keys whose existing values must be kept (e.g.
-        data-intrinsic entries like ``is_depth_map`` and depth quantization params)
-        instead of being recomputed.
-
         Args:
             video_key: If provided, only update this video key. Otherwise update
                 all video keys in the dataset.
-            video_encoder: Encoder configuration used to produce the
+            camera_encoder: Encoder configuration used to produce the
                 videos. When provided, its fields are recorded as
                 ``video.<field>`` entries alongside the stream-derived
                 ``video.*`` entries (see :func:`get_video_info`).
-            preserve_keys: Keys whose existing values are kept instead of being
-                recomputed. ``None`` (default) recomputes every key.
         """
         if video_key is not None and video_key not in self.video_keys:
             raise ValueError(f"Video key {video_key} not found in dataset")
 
         video_keys = [video_key] if video_key is not None else self.video_keys
-        preserve_set = set(preserve_keys or ())
         for key in video_keys:
-            existing = self.features[key].get("info") or {}
-            video_path = self.root / self.video_path.format(video_key=key, chunk_index=0, file_index=0)
-            new_info = get_video_info(video_path, video_encoder=video_encoder)
-            # Drop preserved keys so the existing values win on merge.
-            new_info = {k: v for k, v in new_info.items() if k not in preserve_set}
-            merged = {**existing, **new_info}
-            # Migrate the legacy depth marker to the canonical key.
-            if "video.is_depth_map" in merged:
-                logging.warning(
-                    f"Migrating legacy 'video.is_depth_map' to 'is_depth_map' for feature {key!r}."
-                )
-                merged.setdefault("is_depth_map", merged.pop("video.is_depth_map"))
-            self.info.features[key]["info"] = merged
+            if not self.features[key].get("info", None):
+                video_path = self.root / self.video_path.format(video_key=key, chunk_index=0, file_index=0)
+                self.info.features[key]["info"] = get_video_info(video_path, camera_encoder=camera_encoder)
 
     def update_chunk_settings(
         self,

src/lerobot/datasets/dataset_reader.py

@@ -22,14 +22,7 @@ from pathlib import Path
 import datasets
 import torch
 
-from lerobot.configs import (
-    DEFAULT_DEPTH_UNIT,
-    DEPTH_METER_UNIT,
-    DepthEncoderConfig,
-)
-
 from .dataset_metadata import LeRobotDatasetMetadata
-from .depth_utils import MM_PER_METRE, dequantize_depth
 from .feature_utils import (
     check_delta_timestamps,
     get_delta_indices,
@@ -58,7 +51,6 @@ class DatasetReader:
         delta_timestamps: dict[str, list[float]] | None,
         image_transforms: Callable | None,
         return_uint8: bool = False,
-        depth_output_unit: str = DEFAULT_DEPTH_UNIT,
     ):
         """Initialize the reader with metadata, filtering, and transform config.
 
@@ -76,10 +68,6 @@ class DatasetReader:
                 relative timestamp offsets for temporal context windows.
             image_transforms: Optional torchvision v2 transform applied to
                 visual features.
-            return_uint8: If True, return RGB video frames as raw uint8 tensors
-                instead of normalized float32.
-            depth_output_unit: Physical unit depth maps are dequantized to
-                (``"m"`` or ``"mm"``). Defaults to ``"mm"``.
         """
         self._meta = meta
         self.root = root
@@ -90,7 +78,6 @@ class DatasetReader:
             raise TypeError("image_transforms must be callable or None.")
         self._image_transforms = image_transforms
         self._return_uint8 = return_uint8
-        self._depth_output_unit = depth_output_unit
 
         self.hf_dataset: datasets.Dataset | None = None
         self._absolute_to_relative_idx: dict[int, int] | None = None
@@ -101,18 +88,6 @@ class DatasetReader:
             check_delta_timestamps(delta_timestamps, meta.fps, tolerance_s)
             self.delta_indices = get_delta_indices(delta_timestamps, meta.fps)
 
-        self._depth_encoder_configs: dict[str, DepthEncoderConfig] = {
-            vid_key: DepthEncoderConfig.from_video_info(self._meta.features[vid_key].get("info"))
-            for vid_key in self._meta.depth_keys
-        }
-
-        # Get the input unit of each depth feature stored as raw images.
-        self._image_depth_units: dict[str, str | None] = {
-            key: (self._meta.features[key].get("info") or {}).get("depth_unit")
-            for key in self._meta.depth_keys
-            if key in self._meta.image_keys
-        }
-
     def set_image_transforms(self, image_transforms: Callable | None) -> None:
         """Replace the transform applied to visual observations."""
         if image_transforms is not None and not callable(image_transforms):
@@ -163,10 +138,51 @@ class DatasetReader:
     def _load_hf_dataset(self) -> datasets.Dataset:
         """hf_dataset contains all the observations, states, actions, rewards, etc."""
         features = get_hf_features_from_features(self._meta.features)
+        # Datasets annotated with the PR1 language columns may have been
+        # written without registering those columns in ``meta/info.json``
+        # (e.g. they predate ``CODEBASE_VERSION="v3.1"`` and were
+        # back-filled by ``lerobot-annotate``). Probe a single parquet
+        # shard and graft the column features on so the strict
+        # ``Dataset.from_parquet`` cast doesn't fail with
+        # ``column names don't match``.
+        features = self._extend_features_with_language_columns(features)
         hf_dataset = load_nested_dataset(self.root / "data", features=features, episodes=self.episodes)
         hf_dataset.set_transform(hf_transform_to_torch)
         return hf_dataset
 
+    def _extend_features_with_language_columns(self, features: datasets.Features) -> datasets.Features:
+        """Add ``language_persistent`` / ``language_events`` to ``features``
+        when the underlying parquet shards declare them but the metadata
+        doesn't. No-op when neither column is present or both are
+        already registered.
+        """
+        # Find any one parquet to peek at; bail if there are none yet
+        # (the dataset will fail later for an unrelated reason and we
+        # want that error to surface as-is).
+        try:
+            sample = next((self.root / "data").glob("*/*.parquet"))
+        except StopIteration:
+            return features
+
+        from pyarrow import parquet as _pq  # noqa: PLC0415
+
+        schema_names = set(_pq.read_schema(sample).names)
+        from .language import (  # noqa: PLC0415
+            LANGUAGE_EVENTS,
+            LANGUAGE_PERSISTENT,
+            language_events_column_feature,
+            language_persistent_column_feature,
+        )
+
+        extra: dict[str, object] = {}
+        if LANGUAGE_PERSISTENT in schema_names and LANGUAGE_PERSISTENT not in features:
+            extra[LANGUAGE_PERSISTENT] = language_persistent_column_feature()
+        if LANGUAGE_EVENTS in schema_names and LANGUAGE_EVENTS not in features:
+            extra[LANGUAGE_EVENTS] = language_events_column_feature()
+        if not extra:
+            return features
+        return datasets.Features({**features, **extra})
+
     def _check_cached_episodes_sufficient(self) -> bool:
         """Check if the cached dataset contains all requested episodes and their video files."""
         if self.hf_dataset is None or len(self.hf_dataset) == 0:
@@ -284,18 +300,7 @@ class DatasetReader:
                 self._tolerance_s,
                 self._video_backend,
                 return_uint8=self._return_uint8,
-                is_depth=vid_key in self._meta.depth_keys,
             )
-            if vid_key in self._meta.depth_keys:
-                depth_encoder = self._depth_encoder_configs[vid_key]
-                frames = dequantize_depth(
-                    frames,
-                    depth_min=depth_encoder.depth_min,
-                    depth_max=depth_encoder.depth_max,
-                    shift=depth_encoder.shift,
-                    use_log=depth_encoder.use_log,
-                    output_unit=self._depth_output_unit,
-                )
             return vid_key, frames.squeeze(0)
 
         items = list(query_timestamps.items())
@@ -335,18 +340,10 @@ class DatasetReader:
             item = {**video_frames, **item}
 
         if self._image_transforms is not None:
-            for cam in self._meta.camera_keys:
-                if cam in self._meta.depth_keys:
-                    continue
+            image_keys = self._meta.camera_keys
+            for cam in image_keys:
                 item[cam] = self._image_transforms(item[cam])
 
-        # Convert depth features to the output unit.
-        for key, stored_unit in self._image_depth_units.items():
-            if key in item and stored_unit is not None and stored_unit != self._depth_output_unit:
-                item[key] = (
-                    item[key] * MM_PER_METRE if stored_unit == DEPTH_METER_UNIT else item[key] / MM_PER_METRE
-                )
-
         # Add task as a string
         task_idx = item["task_index"].item()
         item["task"] = self._meta.tasks.iloc[task_idx].name

src/lerobot/datasets/dataset_tools.py

@@ -37,15 +37,7 @@ import pyarrow.parquet as pq
 import torch
 from tqdm import tqdm
 
-from lerobot.configs import (
-    DepthEncoderConfig,
-    RGBEncoderConfig,
-    VideoEncoderConfig,
-    depth_encoder_defaults,
-    encoder_config_from_video_info,
-    rgb_encoder_defaults,
-)
-from lerobot.configs.video import DEPTH_ENCODER_INFO_FIELD_NAMES
+from lerobot.configs import VideoEncoderConfig, camera_encoder_defaults
 from lerobot.utils.constants import ACTION, HF_LEROBOT_HOME, OBS_IMAGE, OBS_STATE
 from lerobot.utils.utils import flatten_dict
 
@@ -56,7 +48,6 @@ from .compute_stats import (
     compute_relative_action_stats,
 )
 from .dataset_metadata import LeRobotDatasetMetadata
-from .image_writer import write_image
 from .io_utils import (
     get_parquet_file_size_in_mb,
     load_episodes,
@@ -71,13 +62,12 @@ from .utils import (
     DEFAULT_DATA_FILE_SIZE_IN_MB,
     DEFAULT_DATA_PATH,
     DEFAULT_EPISODES_PATH,
-    DEPTH_FILE_PATTERN,
-    IMAGE_FILE_PATTERN,
     VIDEO_DIR,
     update_chunk_file_indices,
 )
 from .video_utils import (
     encode_video_frames,
+    get_video_info,
     reencode_video,
 )
 
@@ -611,7 +601,7 @@ def _keep_episodes_from_video_with_av(
     output_path: Path,
     episodes_to_keep: list[tuple[int, int]],
     fps: float,
-    video_encoder: VideoEncoderConfig,
+    camera_encoder: VideoEncoderConfig,
 ) -> None:
     """Keep only specified episodes from a video file using PyAV.
 
@@ -625,7 +615,7 @@ def _keep_episodes_from_video_with_av(
             Ranges are half-open intervals: [start_frame, end_frame), where start_frame
             is inclusive and end_frame is exclusive.
         fps: Frame rate of the video.
-        video_encoder: Video encoder settings used to re-encode the kept frames.
+        camera_encoder: Video encoder settings used to re-encode the kept frames.
     """
     from fractions import Fraction
 
@@ -650,13 +640,13 @@ def _keep_episodes_from_video_with_av(
 
     # Convert fps to Fraction for PyAV compatibility.
     fps_fraction = Fraction(fps).limit_denominator(1000)
-    codec_options = video_encoder.get_codec_options(as_strings=True)
-    v_out = out.add_stream(video_encoder.vcodec, rate=fps_fraction, options=codec_options)
+    codec_options = camera_encoder.get_codec_options(as_strings=True)
+    v_out = out.add_stream(camera_encoder.vcodec, rate=fps_fraction, options=codec_options)
 
     # PyAV type stubs don't distinguish video streams from audio/subtitle streams.
     v_out.width = v_in.codec_context.width
     v_out.height = v_in.codec_context.height
-    v_out.pix_fmt = video_encoder.pix_fmt
+    v_out.pix_fmt = camera_encoder.pix_fmt
 
     # Set time_base to match the frame rate for proper timestamp handling.
     v_out.time_base = Fraction(1, int(fps))
@@ -743,7 +733,7 @@ def _copy_and_reindex_videos(
 
     for video_key in src_dataset.meta.video_keys:
         logging.info(f"Processing videos for {video_key}")
-        video_encoder = encoder_config_from_video_info(
+        camera_encoder = VideoEncoderConfig.from_video_info(
             src_dataset.meta.info.features.get(video_key, {}).get("info")
         )
 
@@ -827,7 +817,7 @@ def _copy_and_reindex_videos(
                     dst_video_path,
                     episodes_to_keep_ranges,
                     src_dataset.meta.fps,
-                    video_encoder,
+                    camera_encoder,
                 )
 
                 cumulative_ts = 0.0
@@ -884,11 +874,11 @@ def _copy_and_reindex_episodes_metadata(
             episode_meta.update(video_metadata[new_idx])
 
         # Extract episode statistics from parquet metadata.
-        # When pandas/pyarrow serializes numpy arrays with shape (C, 1, 1) to parquet,
+        # Note (maractingi): When pandas/pyarrow serializes numpy arrays with shape (3, 1, 1) to parquet,
         # they are being deserialized as nested object arrays like:
         #   array([array([array([0.])]), array([array([0.])]), array([array([0.])])])
         # This happens particularly with image/video statistics. We need to detect and flatten
-        # these nested structures back to proper (C, 1, 1) arrays so aggregate_stats can process them.
+        # these nested structures back to proper (3, 1, 1) arrays so aggregate_stats can process them.
         episode_stats = {}
         for key in src_episode_full:
             if key.startswith("stats/"):
@@ -904,16 +894,15 @@ def _copy_and_reindex_episodes_metadata(
                     if feature_name in src_dataset.meta.features:
                         feature_dtype = src_dataset.meta.features[feature_name]["dtype"]
                         if feature_dtype in ["image", "video"] and stat_name != "count":
-                            # Stats are channel-first (C, 1, 1)
                             if isinstance(value, np.ndarray) and value.dtype == object:
                                 flat_values = []
                                 for item in value:
                                     while isinstance(item, np.ndarray):
                                         item = item.flatten()[0]
                                     flat_values.append(item)
-                                value = np.array(flat_values, dtype=np.float64).reshape(-1, 1, 1)
-                            elif isinstance(value, np.ndarray) and value.ndim == 1:
-                                value = value.reshape(-1, 1, 1)
+                                value = np.array(flat_values, dtype=np.float64).reshape(3, 1, 1)
+                            elif isinstance(value, np.ndarray) and value.shape == (3,):
+                                value = value.reshape(3, 1, 1)
 
                     episode_stats[feature_name][stat_name] = value
 
@@ -1164,15 +1153,15 @@ def _save_episode_images_for_video(
     # Get all items for this episode
     episode_dataset = imgs_dataset.select(range(from_idx, to_idx))
 
-    is_depth = img_key in dataset.meta.depth_keys
-    frame_pattern = DEPTH_FILE_PATTERN if is_depth else IMAGE_FILE_PATTERN
-
     # Define function to save a single image
     def save_single_image(i_item_tuple):
         i, item = i_item_tuple
-        write_image(item[img_key], imgs_dir / frame_pattern.format(frame_index=i))
+        img = item[img_key]
+        # Use frame-XXXXXX.png format to match encode_video_frames expectations
+        img.save(str(imgs_dir / f"frame-{i:06d}.png"), quality=100)
         return i
 
+    # Save images with proper naming convention for encode_video_frames (frame-XXXXXX.png)
     items = list(enumerate(episode_dataset))
 
     with ThreadPoolExecutor(max_workers=num_workers) as executor:
@@ -1204,14 +1193,13 @@ def _save_batch_episodes_images(
     hf_dataset = dataset.hf_dataset.with_format(None)
     imgs_dataset = hf_dataset.select_columns(img_key)
 
-    is_depth = img_key in dataset.meta.depth_keys
-    frame_pattern = DEPTH_FILE_PATTERN if is_depth else IMAGE_FILE_PATTERN
-
     # Define function to save a single image with global frame index
     # Defined once outside the loop to avoid repeated closure creation
     def save_single_image(i_item_tuple, base_frame_idx, img_key_param):
         i, item = i_item_tuple
-        write_image(item[img_key_param], imgs_dir / frame_pattern.format(frame_index=base_frame_idx + i))
+        img = item[img_key_param]
+        # Use global frame index for naming
+        img.save(str(imgs_dir / f"frame-{base_frame_idx + i:06d}.png"), quality=100)
         return i
 
     episode_durations = []
@@ -1302,7 +1290,7 @@ def _estimate_frame_size_via_calibration(
     episode_indices: list[int],
     temp_dir: Path,
     fps: int,
-    video_encoder: VideoEncoderConfig,
+    camera_encoder: VideoEncoderConfig,
     num_calibration_frames: int = 30,
 ) -> float:
     """Estimate MB per frame by encoding a small calibration sample.
@@ -1316,7 +1304,7 @@ def _estimate_frame_size_via_calibration(
         episode_indices: List of episode indices being processed.
         temp_dir: Temporary directory for calibration files.
         fps: Frames per second for video encoding.
-        video_encoder: Video encoder settings used for calibration encoding.
+        camera_encoder: Video encoder settings used for calibration encoding.
         num_calibration_frames: Number of frames to use for calibration (default: 30).
 
     Returns:
@@ -1341,11 +1329,10 @@ def _estimate_frame_size_via_calibration(
         hf_dataset = dataset.hf_dataset.with_format(None)
         sample_indices = range(from_idx, from_idx + num_frames)
 
-        # Save calibration frames using the suffix/format the encoder expects.
-        is_depth = img_key in dataset.meta.depth_keys
-        frame_pattern = DEPTH_FILE_PATTERN if is_depth else IMAGE_FILE_PATTERN
+        # Save calibration frames
         for i, idx in enumerate(sample_indices):
-            write_image(hf_dataset[idx][img_key], calibration_dir / frame_pattern.format(frame_index=i))
+            img = hf_dataset[idx][img_key]
+            img.save(str(calibration_dir / f"frame-{i:06d}.png"), quality=100)
 
         # Encode calibration video
         calibration_video_path = calibration_dir / "calibration.mp4"
@@ -1353,7 +1340,7 @@ def _estimate_frame_size_via_calibration(
             imgs_dir=calibration_dir,
             video_path=calibration_video_path,
             fps=fps,
-            video_encoder=video_encoder,
+            camera_encoder=camera_encoder,
             overwrite=True,
         )
 
@@ -1626,7 +1613,6 @@ def recompute_stats(
         raise ValueError(f"No parquet files found in {data_dir}")
 
     all_episode_stats = []
-    # TODO: enable image and video stats re-computation
     numeric_keys = [k for k, v in features_to_compute.items() if v["dtype"] not in ["image", "video"]]
 
     for parquet_path in tqdm(parquet_files, desc="Computing stats from data files"):
@@ -1672,8 +1658,7 @@ def convert_image_to_video_dataset(
     dataset: LeRobotDataset,
     output_dir: Path | None = None,
     repo_id: str | None = None,
-    rgb_encoder: RGBEncoderConfig | None = None,
-    depth_encoder: DepthEncoderConfig | None = None,
+    camera_encoder: VideoEncoderConfig | None = None,
     episode_indices: list[int] | None = None,
     num_workers: int = 4,
     max_episodes_per_batch: int | None = None,
@@ -1685,32 +1670,21 @@ def convert_image_to_video_dataset(
     LeRobot dataset structure with videos stored in chunked MP4 files.
 
     Args:
-        dataset: The source LeRobot dataset with images.
-        output_dir: Root directory where the converted dataset will be stored. When
-            ``None``, defaults to ``$HF_LEROBOT_HOME/repo_id``. Equivalent to
-            ``new_root`` in ``EditDatasetConfig``.
-        repo_id: Converted dataset identifier. Equivalent to ``new_repo_id`` in
-            ``EditDatasetConfig``.
-        rgb_encoder: Video encoder settings applied to RGB cameras. When ``None``,
-            :func:`~lerobot.configs.video.rgb_encoder_defaults` is used.
-        depth_encoder: Video encoder settings applied to depth-map cameras, including
-            the quantization parameters persisted to the dataset metadata. When
-            ``None``, :func:`~lerobot.configs.video.depth_encoder_defaults` is used.
-        episode_indices: Episode indices to convert. When ``None``, all episodes are
-            converted.
-        num_workers: Number of threads for parallel processing.
-        max_episodes_per_batch: Maximum episodes per video batch, to bound memory use.
-            ``None`` means no limit.
-        max_frames_per_batch: Maximum frames per video batch, to bound memory use.
-            ``None`` means no limit.
+        dataset: The source LeRobot dataset with images
+        output_dir: Root directory where the edited dataset will be stored. If not specified, defaults to $HF_LEROBOT_HOME/repo_id. Equivalent to new_root in EditDatasetConfig.
+        repo_id: Edited dataset identifier. Equivalent to new_repo_id in EditDatasetConfig.
+        camera_encoder: Video encoder settings
+            (``None`` uses :func:`~lerobot.configs.camera_encoder_defaults`).
+        episode_indices: List of episode indices to convert (None = all episodes)
+        num_workers: Number of threads for parallel processing (default: 4)
+        max_episodes_per_batch: Maximum episodes per video batch to avoid memory issues (None = no limit)
+        max_frames_per_batch: Maximum frames per video batch to avoid memory issues (None = no limit)
 
     Returns:
-        A new :class:`LeRobotDataset` with images encoded as videos.
+        New LeRobotDataset with images encoded as videos
     """
-    if rgb_encoder is None:
-        rgb_encoder = rgb_encoder_defaults()
-    if depth_encoder is None:
-        depth_encoder = depth_encoder_defaults()
+    if camera_encoder is None:
+        camera_encoder = camera_encoder_defaults()
 
     # Check that it's an image dataset
     if len(dataset.meta.video_keys) > 0:
@@ -1735,7 +1709,10 @@ def convert_image_to_video_dataset(
     logging.info(
         f"Converting {len(episode_indices)} episodes with {len(img_keys)} cameras from {dataset.repo_id}"
     )
-    logging.info(f"RGB video encoder: {rgb_encoder}, depth video encoder: {depth_encoder}")
+    logging.info(
+        f"Video codec: {camera_encoder.vcodec}, pixel format: {camera_encoder.pix_fmt}, "
+        f"GOP: {camera_encoder.g}, CRF: {camera_encoder.crf}"
+    )
 
     # Create new features dict, converting image features to video features
     new_features = {}
@@ -1797,8 +1774,6 @@ def convert_image_to_video_dataset(
         episode_lengths = {ep_idx: dataset.meta.episodes["length"][ep_idx] for ep_idx in episode_indices}
 
         for img_key in tqdm(img_keys, desc="Processing cameras"):
-            target_encoder = depth_encoder if img_key in dataset.meta.depth_keys else rgb_encoder
-
             # Estimate size per frame by encoding a small calibration sample
             # This provides accurate compression ratio for the specific codec parameters
             size_per_frame_mb = _estimate_frame_size_via_calibration(
@@ -1807,7 +1782,7 @@ def convert_image_to_video_dataset(
                 episode_indices=episode_indices,
                 temp_dir=temp_dir,
                 fps=fps,
-                video_encoder=target_encoder,
+                camera_encoder=camera_encoder,
             )
 
             logging.info(f"Processing camera: {img_key}")
@@ -1849,7 +1824,7 @@ def convert_image_to_video_dataset(
                     imgs_dir=imgs_dir,
                     video_path=video_path,
                     fps=fps,
-                    video_encoder=target_encoder,
+                    camera_encoder=camera_encoder,
                     overwrite=True,
                 )
 
@@ -1888,11 +1863,16 @@ def convert_image_to_video_dataset(
         new_meta.info.total_tasks = dataset.meta.total_tasks
         new_meta.info.splits = {"train": f"0:{len(episode_indices)}"}
 
-        # Update video info for all image keys (now videos). They are registered as
-        # video features above, so update_video_info populates their (still-empty) info.
+        # Update video info for all image keys (now videos)
+        # We need to manually set video info since update_video_info() checks video_keys first
         for img_key in img_keys:
-            target_encoder = depth_encoder if img_key in dataset.meta.depth_keys else rgb_encoder
-            new_meta.update_video_info(video_key=img_key, video_encoder=target_encoder)
+            if not new_meta.features[img_key].get("info", None):
+                video_path = new_meta.root / new_meta.video_path.format(
+                    video_key=img_key, chunk_index=0, file_index=0
+                )
+                new_meta.info.features[img_key]["info"] = get_video_info(
+                    video_path, camera_encoder=camera_encoder
+                )
 
         write_info(new_meta.info, new_meta.root)
 
@@ -1919,11 +1899,11 @@ def convert_image_to_video_dataset(
 
 def _reencode_video_worker(args: tuple) -> Path:
     """Picklable worker for :func:`reencode_dataset`'s process pool."""
-    video_path, video_encoder, encoder_threads = args
+    video_path, camera_encoder, encoder_threads = args
     reencode_video(
         input_video_path=video_path,
         output_video_path=video_path,
-        video_encoder=video_encoder,
+        camera_encoder=camera_encoder,
         encoder_threads=encoder_threads,
         overwrite=True,
     )
@@ -1932,8 +1912,7 @@ def _reencode_video_worker(args: tuple) -> Path:
 
 def reencode_dataset(
     dataset: LeRobotDataset,
-    rgb_encoder: RGBEncoderConfig | None = None,
-    depth_encoder: DepthEncoderConfig | None = None,
+    camera_encoder: VideoEncoderConfig,
     encoder_threads: int | None = None,
     num_workers: int | None = None,
 ) -> LeRobotDataset:
@@ -1944,11 +1923,8 @@ def reencode_dataset(
     Args:
         dataset: An existing :class:`LeRobotDataset` whose videos will be
             re-encoded.
-        rgb_encoder: Target encoder configuration applied to every RGB video
-            file. If ``None``, re-encoding is skipped for RGB videos.
-        depth_encoder: Target encoder configuration applied to every depth video
-            file. If ``None``, re-encoding is skipped for depth videos.
-            Quantization parameters will not override the ones in the current dataset.
+        camera_encoder: Target encoder configuration applied to every video
+            file.
         encoder_threads: Per-encoder thread count forwarded to
             :func:`reencode_video`. ``None`` lets the codec decide.
         num_workers: Number of parallel processes. ``None`` or ``0`` means
@@ -1960,35 +1936,23 @@ def reencode_dataset(
         on disk.
     """
     meta = dataset.meta
-    video_keys_encoders_dict = {}
-    video_keys_paths_dict = {}
-
-    if rgb_encoder is None and depth_encoder is None:
-        raise ValueError("Either rgb_encoder or depth_encoder must be provided")
+    video_paths_list = []
 
     # Only re-encode if the videos are not already encoded with the given video encoding parameters
     for video_key in meta.video_keys:
         current_info = meta.info.features[video_key].get("info", {})
-        current_encoder = encoder_config_from_video_info(current_info)
-        target_encoder = depth_encoder if video_key in meta.depth_keys else rgb_encoder
-        if target_encoder is None:
-            logging.info(f"No encoder provided for {video_key} video. Skipping re-encoding.")
-        elif current_encoder != target_encoder:
-            video_keys_paths_dict[video_key] = list((meta.root / VIDEO_DIR / video_key).rglob("*.mp4"))
-            video_keys_encoders_dict[video_key] = target_encoder
+        current_encoder = VideoEncoderConfig.from_video_info(current_info)
+        if current_encoder != camera_encoder:
+            video_paths_list.extend((meta.root / VIDEO_DIR / video_key).rglob("*.mp4"))
         else:
-            logging.info(f"{video_key} videos are already encoded with {target_encoder}. Nothing to do.")
+            logging.info(f"{video_key} videos are already encoded with {camera_encoder}. Nothing to do.")
 
-    if len(video_keys_paths_dict) == 0:
+    if len(video_paths_list) == 0:
         logging.warning("Dataset has no videos to re-encode.")
         return dataset
-    logging.info(f"Re-encoding {sum(len(paths) for paths in video_keys_paths_dict.values())} video file(s).")
+    logging.info(f"Re-encoding {len(video_paths_list)} video file(s) with {camera_encoder}")
 
-    worker_args = [
-        (path, encoder, encoder_threads)
-        for video_key, encoder in video_keys_encoders_dict.items()
-        for path in video_keys_paths_dict[video_key]
-    ]
+    worker_args = [(vp, camera_encoder, encoder_threads) for vp in video_paths_list]
     if num_workers and num_workers > 1:
         with ProcessPoolExecutor(max_workers=num_workers) as pool:
             futures = [pool.submit(_reencode_video_worker, args) for args in worker_args]
@@ -2002,15 +1966,10 @@ def reencode_dataset(
         for args in tqdm(worker_args, desc="Re-encoding videos"):
             _reencode_video_worker(args)
 
-    # Refresh video info in metadata for every re-encoded key. Re-encoding only
-    # changes codec/container params, so for depth videos we preserve ``is_depth_map``
-    # and the depth quantization params (``video.depth_min`` / ``video.depth_max`` /
-    # ...), which describe the data rather than the codec and must survive a transcode.
-    # RGB videos pass an empty set: still a refresh, but nothing to preserve.
-    depth_preserve_keys = {"is_depth_map", *(f"video.{n}" for n in DEPTH_ENCODER_INFO_FIELD_NAMES)}
-    for video_key, encoder in video_keys_encoders_dict.items():
-        preserve_keys = depth_preserve_keys if video_key in meta.depth_keys else set()
-        meta.update_video_info(video_key=video_key, video_encoder=encoder, preserve_keys=preserve_keys)
+    # Refresh video info in metadata for every video key.
+    for vid_key in meta.video_keys:
+        video_path = meta.root / meta.get_video_file_path(0, vid_key)
+        meta.info.features[vid_key]["info"] = get_video_info(video_path, camera_encoder=camera_encoder)
 
     write_info(meta.info, meta.root)
     logging.info("Dataset metadata updated.")

src/lerobot/datasets/dataset_writer.py

@@ -31,14 +31,7 @@ import PIL.Image
 import pyarrow.parquet as pq
 import torch
 
-from lerobot.configs import (
-    DepthEncoderConfig,
-    RGBEncoderConfig,
-    VideoEncoderConfig,
-    depth_encoder_defaults,
-    infer_depth_unit,
-    rgb_encoder_defaults,
-)
+from lerobot.configs import VideoEncoderConfig, camera_encoder_defaults
 
 from .compute_stats import compute_episode_stats
 from .dataset_metadata import LeRobotDatasetMetadata
@@ -55,7 +48,6 @@ from .io_utils import (
     write_info,
 )
 from .utils import (
-    DEFAULT_DEPTH_PATH,
     DEFAULT_EPISODES_PATH,
     DEFAULT_IMAGE_PATH,
     update_chunk_file_indices,
@@ -75,22 +67,17 @@ def _encode_video_worker(
     episode_index: int,
     root: Path,
     fps: int,
-    video_encoder: VideoEncoderConfig | None = None,
+    camera_encoder: VideoEncoderConfig | None = None,
     encoder_threads: int | None = None,
 ) -> Path:
     temp_path = Path(tempfile.mkdtemp(dir=root)) / f"{video_key}_{episode_index:03d}.mp4"
-    path_template = (
-        DEFAULT_DEPTH_PATH
-        if video_encoder is not None and isinstance(video_encoder, DepthEncoderConfig)
-        else DEFAULT_IMAGE_PATH
-    )
-    fpath = path_template.format(image_key=video_key, episode_index=episode_index, frame_index=0)
+    fpath = DEFAULT_IMAGE_PATH.format(image_key=video_key, episode_index=episode_index, frame_index=0)
     img_dir = (root / fpath).parent
     encode_video_frames(
         img_dir,
         temp_path,
         fps,
-        video_encoder=video_encoder,
+        camera_encoder=camera_encoder,
         encoder_threads=encoder_threads,
         overwrite=True,
     )
@@ -109,8 +96,7 @@ class DatasetWriter:
         self,
         meta: LeRobotDatasetMetadata,
         root: Path,
-        rgb_encoder: RGBEncoderConfig | None,
-        depth_encoder: DepthEncoderConfig | None,
+        camera_encoder: VideoEncoderConfig | None,
         encoder_threads: int | None,
         batch_encoding_size: int,
         streaming_encoder: StreamingVideoEncoder | None = None,
@@ -122,11 +108,8 @@ class DatasetWriter:
             meta: Dataset metadata instance (used for feature schema, chunk
                 settings, and episode persistence).
             root: Local dataset root directory.
-            rgb_encoder: Video encoder settings applied to RGB cameras. When
-                ``None``, :func:`~lerobot.configs.video.rgb_encoder_defaults` is used.
-            depth_encoder: Video encoder settings applied to depth cameras, including
-                the quantization parameters. When ``None``,
-                :func:`~lerobot.configs.video.depth_encoder_defaults` is used.
+            camera_encoder: Video encoder settings applied to all cameras.
+                ``None`` uses :func:`~lerobot.configs.camera_encoder_defaults`.
             encoder_threads: Number of encoder threads (global). ``None``
                 lets the codec decide.
             batch_encoding_size: Number of episodes to accumulate before
@@ -137,8 +120,7 @@ class DatasetWriter:
         """
         self._meta = meta
         self._root = root
-        self._rgb_encoder = rgb_encoder or rgb_encoder_defaults()
-        self._depth_encoder = depth_encoder or depth_encoder_defaults()
+        self._camera_encoder = camera_encoder or camera_encoder_defaults()
         self._encoder_threads = encoder_threads
         self._batch_encoding_size = batch_encoding_size
         self._streaming_encoder = streaming_encoder
@@ -163,8 +145,7 @@ class DatasetWriter:
         return ep_buffer
 
     def _get_image_file_path(self, episode_index: int, image_key: str, frame_index: int) -> Path:
-        path_template = DEFAULT_DEPTH_PATH if image_key in self._meta.depth_keys else DEFAULT_IMAGE_PATH
-        fpath = path_template.format(
+        fpath = DEFAULT_IMAGE_PATH.format(
             image_key=image_key, episode_index=episode_index, frame_index=frame_index
         )
         return self._root / fpath
@@ -210,20 +191,10 @@ class DatasetWriter:
         self.episode_buffer["timestamp"].append(timestamp)
         self.episode_buffer["task"].append(frame.pop("task"))
 
-        # Record each depth feature's input unit once, inferred from the first frame's dtype.
-        if frame_index == 0:
-            for depth_key in self._meta.depth_keys:
-                if depth_key not in frame:
-                    continue
-                info = self._meta.features[depth_key].setdefault("info", {})
-                if info.get("depth_unit") is None:
-                    info["depth_unit"] = infer_depth_unit(np.asarray(frame[depth_key]).dtype)
-
         # Start streaming encoder on first frame of episode
         if frame_index == 0 and self._streaming_encoder is not None:
             self._streaming_encoder.start_episode(
                 video_keys=list(self._meta.video_keys),
-                depth_video_keys=list(self._meta.depth_keys),
                 temp_dir=self._root,
             )
 
@@ -311,13 +282,10 @@ class DatasetWriter:
         if use_streaming:
             streaming_results = self._streaming_encoder.finish_episode()
             for video_key in self._meta.video_keys:
-                normalization_factor = 255.0 if video_key not in self._meta.depth_keys else 1.0
                 temp_path, video_stats = streaming_results[video_key]
                 if video_stats is not None:
                     ep_stats[video_key] = {
-                        k: v
-                        if k == "count"
-                        else np.squeeze(v.reshape(1, -1, 1, 1) / normalization_factor, axis=0)
+                        k: v if k == "count" else np.squeeze(v.reshape(1, -1, 1, 1) / 255.0, axis=0)
                         for k, v in video_stats.items()
                     }
                 ep_metadata.update(self._save_episode_video(video_key, episode_index, temp_path=temp_path))
@@ -332,7 +300,7 @@ class DatasetWriter:
                             episode_index,
                             self._root,
                             self._meta.fps,
-                            self._depth_encoder if video_key in self._meta.depth_keys else self._rgb_encoder,
+                            self._camera_encoder,
                             self._encoder_threads,
                         ): video_key
                         for video_key in self._meta.video_keys
@@ -543,12 +511,7 @@ class DatasetWriter:
 
         # Update video info (only needed when first episode is encoded)
         if episode_index == 0:
-            self._meta.update_video_info(
-                video_key,
-                video_encoder=self._depth_encoder
-                if video_key in self._meta.depth_keys
-                else self._rgb_encoder,
-            )
+            self._meta.update_video_info(video_key, camera_encoder=self._camera_encoder)
             write_info(self._meta.info, self._meta.root)
 
         metadata = {
@@ -615,14 +578,13 @@ class DatasetWriter:
             self.image_writer.wait_until_done()
 
     def _encode_temporary_episode_video(self, video_key: str, episode_index: int) -> Path:
-        """Use ffmpeg to convert frames stored as png/tiff into mp4 videos."""
-        is_depth = video_key in self._meta.depth_keys
+        """Use ffmpeg to convert frames stored as png into mp4 videos."""
         return _encode_video_worker(
             video_key,
             episode_index,
             self._root,
             self._meta.fps,
-            self._depth_encoder if is_depth else self._rgb_encoder,
+            self._camera_encoder,
             self._encoder_threads,
         )
 

src/lerobot/datasets/depth_utils.py

@@ -1,265 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""
-Depth encoding/decoding helpers for :class:`DepthEncoderConfig`.
-"""
-
-import math
-from typing import Literal
-
-import av
-import numpy as np
-import torch
-from numpy.typing import NDArray
-
-from lerobot.configs.video import (
-    DEFAULT_DEPTH_MAX,
-    DEFAULT_DEPTH_MIN,
-    DEFAULT_DEPTH_PIX_FMT,
-    DEFAULT_DEPTH_SHIFT,
-    DEFAULT_DEPTH_USE_LOG,
-    DEPTH_METER_UNIT,
-    DEPTH_MILLIMETER_UNIT,
-    DEPTH_QMAX,
-    infer_depth_unit,
-)
-
-from .image_writer import squeeze_single_channel
-from .pyav_utils import write_u16_plane
-
-MM_PER_METRE = 1000.0
-_UINT16_MAX = 65535
-
-
-def _validate_log_quant_params(depth_min: float, shift: float) -> None:
-    """Ensure ``log(depth_min + shift)`` is finite."""
-    if depth_min + shift <= 0:
-        raise ValueError(
-            f"depth_min + shift must be positive for logarithmic quantization, "
-            f"got depth_min={depth_min} + shift={shift} = {depth_min + shift}"
-        )
-
-
-def _depth_input_to_float32_and_unit(
-    depth: NDArray[np.integer] | NDArray[np.floating],
-    input_unit: Literal["auto", DEPTH_METER_UNIT, DEPTH_MILLIMETER_UNIT],
-) -> tuple[NDArray[np.float32], Literal[DEPTH_METER_UNIT, DEPTH_MILLIMETER_UNIT]]:
-    """Convert depth to float32 in the chosen unit, and return the resolved unit."""
-    resolved_unit = infer_depth_unit(depth.dtype) if input_unit == "auto" else input_unit
-    return depth.astype(np.float32, order="K"), resolved_unit
-
-
-def quantize_depth(
-    depth: NDArray[np.uint16] | NDArray[np.float32] | torch.Tensor,
-    depth_min: float = DEFAULT_DEPTH_MIN,
-    depth_max: float = DEFAULT_DEPTH_MAX,
-    shift: float = DEFAULT_DEPTH_SHIFT,
-    use_log: bool = DEFAULT_DEPTH_USE_LOG,
-    pix_fmt: str = DEFAULT_DEPTH_PIX_FMT,
-    video_backend: str | None = "pyav",
-    input_unit: Literal["auto", DEPTH_METER_UNIT, DEPTH_MILLIMETER_UNIT] = "auto",
-) -> NDArray[np.uint16] | av.VideoFrame:
-    """Quantize depth to 12-bit codes (``uint16``, values ``0…DEPTH_QMAX``).
-
-    Depth maps are packed into 12-bit integer frames so they fit in standard
-    high-bit-depth pixel formats (e.g. ``yuv420p12le`` / ``gray12le``)
-    and can be encoded by widely supported video codecs (e.g. HEVC Main 12).
-    Logarithmic quantization is the default because it allocates more quanta
-    to near-range depth, which matches the (1/depth) error profile of typical
-    depth sensors. Math is ported from BEHAVIOR-1K's ``obs_utils.py``.
-
-    **Input units**:
-
-    - ``input_unit="auto"`` (default): infer from dtype (floating = m, non-floating = mm).
-    - ``input_unit="mm"``: interpret input values as millimetres.
-    - ``input_unit="m"``: interpret input values as metres.
-
-    Quantization math runs in the **resolved input unit**.
-
-    ``depth_min``, ``depth_max``, and ``shift`` are always in **metres**.
-
-    Args:
-        depth: Depth map; ``torch.Tensor`` is moved to CPU for conversion.
-        depth_min: Depth (metres) at quantum ``0``.
-        depth_max: Depth (metres) at quantum :data:`DEPTH_QMAX`.
-        shift: Depth shift (metres); used in log mode. Must satisfy ``depth_min + shift > 0``.
-        use_log: If ``True`` (default), quantize in log space.
-        video_backend: Video backend to use for encoding. Defaults to "pyav".
-        input_unit: Input unit policy (``"auto"``, ``"mm"``, ``"m"``).
-
-    Returns:
-        ``numpy.ndarray``, ``dtype=uint16``, same shape as ``depth``, values in
-        ``[0, DEPTH_QMAX]``.
-
-    Raises:
-        ValueError: If ``input_unit`` is not ``"auto"``, ``"mm"``, or ``"m"``.
-        ValueError: If ``use_log=True`` and ``depth_min + shift <= 0``.
-    """
-    if input_unit not in ("auto", DEPTH_METER_UNIT, DEPTH_MILLIMETER_UNIT):
-        raise ValueError(
-            f"input_unit must be 'auto', '{DEPTH_METER_UNIT}', or '{DEPTH_MILLIMETER_UNIT}', got {input_unit!r}"
-        )
-
-    if isinstance(depth, torch.Tensor):
-        depth = depth.detach().cpu().numpy()
-
-    # Squeeze single-channel dim: (H, W, 1) or (1, H, W) → (H, W)
-    depth = squeeze_single_channel(depth)
-
-    depth_f, resolved_unit = _depth_input_to_float32_and_unit(depth, input_unit=input_unit)
-
-    # Convert depth_min, depth_max, and shift to the resolved input unit.
-    depth_min_u = (
-        np.float32(depth_min) if resolved_unit == DEPTH_METER_UNIT else np.float32(depth_min * MM_PER_METRE)
-    )
-    depth_max_u = (
-        np.float32(depth_max) if resolved_unit == DEPTH_METER_UNIT else np.float32(depth_max * MM_PER_METRE)
-    )
-    shift_u = np.float32(shift) if resolved_unit == DEPTH_METER_UNIT else np.float32(shift * MM_PER_METRE)
-
-    # Normalization and quantization is performed in the resolved input unit.
-    if use_log:
-        _validate_log_quant_params(depth_min, shift)
-        log_min = math.log(float(depth_min_u + shift_u))
-        log_max = math.log(float(depth_max_u + shift_u))
-        norm = (np.log(depth_f + shift_u) - log_min) / (log_max - log_min)
-    else:
-        norm = (depth_f - depth_min_u) / (depth_max_u - depth_min_u)
-
-    quantized = np.rint(norm * DEPTH_QMAX).clip(0, DEPTH_QMAX).astype(np.uint16, copy=False)
-
-    if video_backend == "pyav":
-        frame = av.VideoFrame.from_ndarray(quantized, format=pix_fmt)
-        write_u16_plane(frame.planes[0], quantized)
-        return frame
-    else:
-        return quantized
-
-
-def dequantize_depth(
-    quantized: NDArray[np.uint16] | av.VideoFrame | torch.Tensor,
-    depth_min: float = DEFAULT_DEPTH_MIN,
-    depth_max: float = DEFAULT_DEPTH_MAX,
-    shift: float = DEFAULT_DEPTH_SHIFT,
-    use_log: bool = DEFAULT_DEPTH_USE_LOG,
-    pix_fmt: str = DEFAULT_DEPTH_PIX_FMT,
-    output_unit: Literal[DEPTH_METER_UNIT, DEPTH_MILLIMETER_UNIT] = DEPTH_MILLIMETER_UNIT,
-    output_tensor: bool = True,
-    output_channel_last: bool = False,
-) -> NDArray[np.uint16] | NDArray[np.float32] | torch.Tensor:
-    """Inverse of :func:`quantize_depth`.
-
-    Decoding inverts the same normalized code mapping as :func:`quantize_depth`
-    using ``depth_min`` / ``depth_max`` / ``shift`` (in metres), then returns
-    the requested output unit. Tuning arguments **must match** :func:`quantize_depth`.
-
-    Accepted input layouts :
-
-    - ``(H, W, 1)`` or ``(H, W)`` — single frame with channel-last.
-    - ``(..., 1, H, W)`` — batched frames with channel-first.
-    - ``(..., H, W, 1)`` — batched frames with channel-last.
-    Output layout is determined by ``output_channel_last``.
-
-    Args:
-        quantized: 12-bit codes in ``[0, DEPTH_QMAX]``. ``np.ndarray``,
-            ``av.VideoFrame``, or ``torch.Tensor`` (any integer or float dtype).
-        depth_min, depth_max, shift, use_log: Same as :func:`quantize_depth` (metres).
-        pix_fmt: Pixel format used to extract the plane from an ``av.VideoFrame``.
-        output_unit: ``"mm"`` returns ``uint16`` millimetres (rint, clip
-            ``[0, 65535]``) when returning a numpy array, or ``float32`` mm when
-            ``output_tensor=True``. ``"m"`` returns ``float32`` metres in
-            ``[depth_min, depth_max]``.
-        output_tensor: If True, return a ``torch.Tensor`` instead of a numpy array.
-
-    Returns:
-        Depth map in the requested unit and dtype.
-
-    Raises:
-        ValueError: If ``output_unit`` is not ``"m"`` or ``"mm"``.
-        ValueError: If ``use_log=True`` and ``depth_min + shift <= 0``.
-    """
-    if output_unit not in (DEPTH_METER_UNIT, DEPTH_MILLIMETER_UNIT):
-        raise ValueError(
-            f"output_unit must be '{DEPTH_METER_UNIT}' or '{DEPTH_MILLIMETER_UNIT}', got {output_unit!r}"
-        )
-    if use_log:
-        _validate_log_quant_params(depth_min, shift)
-
-    if isinstance(quantized, av.VideoFrame):
-        quantized = quantized.to_ndarray(format=pix_fmt)
-
-    # Compute the scale and offset first.
-    depth_min_m = float(depth_min)
-    depth_max_m = float(depth_max)
-    shift_m = float(shift)
-    if use_log:
-        log_min = math.log(depth_min_m + shift_m)
-        log_max = math.log(depth_max_m + shift_m)
-        scale = (log_max - log_min) / DEPTH_QMAX
-        offset = log_min
-    else:
-        scale = (depth_max_m - depth_min_m) / DEPTH_QMAX
-        offset = depth_min_m
-
-    # ── Torch path: stay on the input device, single fp32 allocation. ────────
-    if isinstance(quantized, torch.Tensor):
-        if quantized.ndim >= 3:
-            # Drop the single-channel dimension so the math runs on (..., H, W).
-            quantized = quantized.squeeze(-3) if quantized.shape[-3] == 1 else quantized.squeeze(-1)
-
-        # Single allocation we own; everything else is in-place.
-        buf = quantized.to(dtype=torch.float32, copy=True)
-        buf.mul_(scale).add_(offset)
-        if use_log:
-            buf.exp_().sub_(shift_m)
-        buf.clamp_(depth_min_m, depth_max_m)
-        buf.unsqueeze_(-1) if output_channel_last else buf.unsqueeze_(-3)
-
-        if output_unit == DEPTH_METER_UNIT:
-            return buf if output_tensor else buf.cpu().numpy()
-
-        # mm path: round + clamp in float32, skipping the uint16 round-trip
-        # when returning a tensor (torch.uint16 is poorly supported).
-        buf.mul_(MM_PER_METRE).round_().clamp_(0.0, _UINT16_MAX)
-        if output_tensor:
-            return buf
-        return buf.cpu().numpy().astype(np.uint16, copy=False)
-
-    # ── NumPy path: single fp32 allocation, ``out=`` for in-place math. ─────
-    arr = np.asarray(quantized)
-    if arr.ndim >= 3:
-        # Drop the single-channel dimension so the math runs on (..., H, W).
-        arr = np.squeeze(arr, axis=-3) if arr.shape[-3] == 1 else np.squeeze(arr, axis=-1)
-
-    buf = np.empty(arr.shape, dtype=np.float32)
-    np.multiply(arr, scale, out=buf)
-    np.add(buf, offset, out=buf)
-    if use_log:
-        np.exp(buf, out=buf)
-        np.subtract(buf, shift_m, out=buf)
-    np.clip(buf, depth_min_m, depth_max_m, out=buf)
-    buf = np.expand_dims(buf, axis=-1) if output_channel_last else np.expand_dims(buf, axis=-3)
-
-    if output_unit == DEPTH_METER_UNIT:
-        return torch.from_numpy(buf) if output_tensor else buf
-
-    np.multiply(buf, MM_PER_METRE, out=buf)
-    np.rint(buf, out=buf)
-    np.clip(buf, 0.0, _UINT16_MAX, out=buf)
-    if output_tensor:
-        # torch.uint16 support is very limited; return float32 millimetres.
-        return torch.from_numpy(buf)
-    return buf.astype(np.uint16, copy=False)

src/lerobot/datasets/factory.py

@@ -14,7 +14,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import logging
-import math
 from pprint import pformat
 
 import torch
@@ -97,7 +96,6 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
                 revision=cfg.dataset.revision,
                 video_backend=cfg.dataset.video_backend,
                 return_uint8=True,
-                depth_output_unit=cfg.dataset.depth_output_unit,
                 tolerance_s=cfg.tolerance_s,
             )
         else:
@@ -128,87 +126,7 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
 
     if cfg.dataset.use_imagenet_stats:
         for key in dataset.meta.camera_keys:
-            if key in dataset.meta.depth_keys:
-                continue  # Exclude depth keys from ImageNet stats
             for stats_type, stats in IMAGENET_STATS.items():
                 dataset.meta.stats[key][stats_type] = torch.tensor(stats, dtype=torch.float32)
 
     return dataset
-
-
-def make_train_eval_datasets(
-    cfg: TrainPipelineConfig,
-) -> tuple[LeRobotDataset | MultiLeRobotDataset, LeRobotDataset | None]:
-    """Create train and optional eval datasets by splitting episodes based on eval_split.
-
-    The last ceil(n_episodes * eval_split) episodes per task are held out for evaluation.
-    If eval_split == 0.0, returns (full_dataset, None).
-    """
-    full_dataset = make_dataset(cfg)
-
-    if cfg.dataset.eval_split == 0.0:
-        return full_dataset, None
-
-    base_episodes = (
-        full_dataset.episodes if full_dataset.episodes is not None else list(range(full_dataset.num_episodes))
-    )
-
-    episode_tasks = full_dataset.meta.episodes["tasks"]
-    task_to_episodes: dict[str, list[int]] = {}
-    for ep_idx in base_episodes:
-        task_key = episode_tasks[ep_idx][0] if episode_tasks[ep_idx] else ""
-        task_to_episodes.setdefault(task_key, []).append(ep_idx)
-
-    train_episodes, eval_episodes = [], []
-    for eps in task_to_episodes.values():
-        n_eval = math.ceil(len(eps) * cfg.dataset.eval_split)
-        train_episodes.extend(eps[: len(eps) - n_eval])
-        eval_episodes.extend(eps[len(eps) - n_eval :])
-
-    if not train_episodes:
-        raise ValueError(
-            f"eval_split={cfg.dataset.eval_split} leaves 0 training episodes from {len(base_episodes)} total."
-        )
-
-    logging.info(
-        f"Train/eval split: {len(train_episodes)} train, {len(eval_episodes)} eval "
-        f"(eval_split={cfg.dataset.eval_split}, {len(task_to_episodes)} tasks)"
-    )
-
-    delta_timestamps = resolve_delta_timestamps(cfg.trainable_config, full_dataset.meta)
-
-    train_image_transforms = (
-        ImageTransforms(cfg.dataset.image_transforms) if cfg.dataset.image_transforms.enable else None
-    )
-
-    train_dataset = LeRobotDataset(
-        cfg.dataset.repo_id,
-        root=cfg.dataset.root,
-        episodes=train_episodes,
-        delta_timestamps=delta_timestamps,
-        image_transforms=train_image_transforms,
-        revision=cfg.dataset.revision,
-        video_backend=cfg.dataset.video_backend,
-        return_uint8=True,
-        tolerance_s=cfg.tolerance_s,
-    )
-
-    eval_dataset = LeRobotDataset(
-        cfg.dataset.repo_id,
-        root=cfg.dataset.root,
-        episodes=eval_episodes,
-        delta_timestamps=delta_timestamps,
-        image_transforms=None,
-        revision=cfg.dataset.revision,
-        video_backend=cfg.dataset.video_backend,
-        return_uint8=True,
-        tolerance_s=cfg.tolerance_s,
-    )
-
-    if cfg.dataset.use_imagenet_stats:
-        for ds in (train_dataset, eval_dataset):
-            for key in ds.meta.camera_keys:
-                for stats_type, stats in IMAGENET_STATS.items():
-                    ds.meta.stats[key][stats_type] = torch.tensor(stats, dtype=torch.float32)
-
-    return train_dataset, eval_dataset

src/lerobot/datasets/feature_utils.py

@@ -336,7 +336,7 @@ def validate_feature_image_or_video(
 
     Args:
         name (str): The name of the feature.
-        expected_shape (list[str]): The expected shape, e.g. (C, H, W) or (H, W, C).
+        expected_shape (list[str]): The expected shape (C, H, W).
         value: The image data to validate.
 
     Returns:

src/lerobot/datasets/image_writer.py

@@ -41,51 +41,11 @@ def safe_stop_image_writer(func):
     return wrapper
 
 
-def squeeze_single_channel(array: np.ndarray) -> np.ndarray:
-    """Drop a leading or trailing singleton channel dim: ``(1, H, W)`` / ``(H, W, 1)`` -> ``(H, W)``.
-
-    Unlike ``array.squeeze()``, this only removes the channel axis, never an ``H`` or ``W`` of size 1.
-    """
-    if array.ndim == 3:
-        if array.shape[0] == 1:
-            return array[0]
-        if array.shape[-1] == 1:
-            return array[..., 0]
-    return array
-
-
 def image_array_to_pil_image(image_array: np.ndarray, range_check: bool = True) -> PIL.Image.Image:
-    """Convert a NumPy array to a PIL Image, preserving precision for grayscale.
+    # TODO(aliberts): handle 1 channel and 4 for depth images
+    if image_array.ndim != 3:
+        raise ValueError(f"The array has {image_array.ndim} dimensions, but 3 is expected for an image.")
 
-    Behaviour by shape:
-
-    - ``(H, W)`` or ``(1, H, W)`` / ``(H, W, 1)``: single-channel grayscale.
-      The native dtype is preserved using the matching PIL mode
-      (``I;16`` / ``F``). This is the path used for raw depth maps (no rescaling, clamping, or downcasting)
-    - ``(3, H, W)`` / ``(H, W, 3)``: RGB. Channels-first inputs are transposed
-      to channels-last. Float inputs in ``[0, 1]`` are scaled to ``uint8``
-      (existing behaviour, gated by ``range_check``).
-
-    Other shapes / channel counts raise ``NotImplementedError`` or
-    ``ValueError``.
-    """
-    # TODO(CarolinePascal): 4 dimensions RGB-D images
-    if image_array.ndim not in (2, 3):
-        raise ValueError(f"The array has {image_array.ndim} dimensions, but 2 or 3 is expected for an image.")
-
-    # Squeeze 3D single-channel inputs to 2D so depth maps work whether the
-    # caller emits (H, W), (1, H, W), or (H, W, 1).
-    image_array = squeeze_single_channel(image_array)
-
-    if image_array.ndim == 2:
-        if image_array.dtype not in [np.uint16, np.float32]:
-            raise ValueError(
-                f"Unsupported single-channel image dtype: {image_array.dtype}. "
-                f"Supported dtypes: {sorted(str(d) for d in [np.uint16, np.float32])}."
-            )
-        return PIL.Image.fromarray(np.ascontiguousarray(image_array))
-
-    # 3D path: must be RGB (3 channels), channels-first or channels-last.
     if image_array.shape[0] == 3:
         # Transpose from pytorch convention (C, H, W) to (H, W, C)
         image_array = image_array.transpose(1, 2, 0)
@@ -111,29 +71,13 @@ def image_array_to_pil_image(image_array: np.ndarray, range_check: bool = True)
     return PIL.Image.fromarray(image_array)
 
 
-def save_kwargs_for_path(fpath: Path, compress_level: int) -> dict:
-    """Pick the right format-specific kwargs for :meth:`PIL.Image.Image.save`.
-
-    PNG uses ``compress_level`` (0-9, zlib). TIFF uses ``compression`` (raw) for lossless raw depth maps.
-    """
-    suffix = Path(fpath).suffix.lower()
-    if suffix == ".png":
-        return {"compress_level": compress_level}
-    if suffix in (".tif", ".tiff"):
-        return {"compression": "raw"}
-    else:
-        raise ValueError(f"Unsupported image file extension: {suffix}")
-
-
 def write_image(image: np.ndarray | PIL.Image.Image, fpath: Path, compress_level: int = 1):
     """
     Saves a NumPy array or PIL Image to a file.
 
     This function handles both NumPy arrays and PIL Image objects, converting
     the former to a PIL Image before saving. It includes error handling for
-    the save operation. The output format is inferred from the *fpath*
-    extension: ``.png`` → PNG with ``compress_level``, ``.tiff`` / ``.tif``
-    → lossless raw depth maps (TIFF).
+    the save operation.
 
     Args:
         image (np.ndarray | PIL.Image.Image): The image data to save.
@@ -157,7 +101,7 @@ def write_image(image: np.ndarray | PIL.Image.Image, fpath: Path, compress_level
             img = image
         else:
             raise TypeError(f"Unsupported image type: {type(image)}")
-        img.save(fpath, **save_kwargs_for_path(fpath, compress_level))
+        img.save(fpath, compress_level=compress_level)
     except Exception as e:
         logger.error("Error writing image %s: %s", fpath, e)
 

src/lerobot/datasets/io_utils.py

@@ -226,50 +226,28 @@ def load_image_as_numpy(
     Args:
         fpath (str | Path): Path to the image file.
         dtype (np.dtype): The desired data type of the output array. If floating,
-            pixels are scaled to [0, 1]. Only used for RGB images.
+            pixels are scaled to [0, 1].
         channel_first (bool): If True, converts the image to (C, H, W) format.
             Otherwise, it remains in (H, W, C) format.
 
     Returns:
         np.ndarray: The image as a numpy array.
     """
-    is_depth = fpath.endswith(".tiff") or fpath.endswith(".tif")
-    if is_depth:
-        # Preserve the native depth dtype (uint16 -> "I;16", float32 -> "F").
-        img = PILImage.open(fpath)
-        img_array = np.array(img)
-    else:
-        img = PILImage.open(fpath).convert("RGB")
-        img_array = np.array(img, dtype=dtype)
-        if np.issubdtype(dtype, np.floating):
-            img_array /= 255.0
+    img = PILImage.open(fpath).convert("RGB")
+    img_array = np.array(img, dtype=dtype)
     if channel_first:  # (H, W, C) -> (C, H, W)
-        img_array = img_array[np.newaxis, ...] if img_array.ndim == 2 else np.transpose(img_array, (2, 0, 1))
+        img_array = np.transpose(img_array, (2, 0, 1))
+    if np.issubdtype(dtype, np.floating):
+        img_array /= 255.0
     return img_array
 
 
-# PIL modes for 16-bit unsigned depth maps.
-UINT16_PIL_MODES = {"I;16", "I;16B", "I;16L"}
-
-
-def pil_to_chw_tensor(img: PILImage.Image) -> torch.Tensor:
-    """Convert a PIL image to a channel-first tensor.
-
-    ``uint16`` depth maps become ``float32 (1, H, W)`` in native units (``ToTensor``
-    would overflow them to ``int16``); all other modes use the standard ``ToTensor`` path.
-    """
-    if img.mode in UINT16_PIL_MODES:
-        return torch.from_numpy(np.array(img, dtype=np.float32))[None, ...]
-    return transforms.ToTensor()(img)
-
-
 def hf_transform_to_torch(items_dict: dict[str, list[Any]]) -> dict[str, list[torch.Tensor | str]]:
     """Convert a batch from a Hugging Face dataset to torch tensors.
 
     This transform function converts items from Hugging Face dataset format (pyarrow)
-    to torch tensors. RGB images are converted from PIL objects (H, W, C, uint8)
-    to a torch image representation (C, H, W, float32) in the range [0, 1]. Depth
-    maps are returned as float32 (1, H, W) in their native units. Other
+    to torch tensors. Importantly, images are converted from PIL objects (H, W, C, uint8)
+    to a torch image representation (C, H, W, float32) in the range [0, 1]. Other
     types are converted to torch.tensor.
 
     Args:
@@ -284,7 +262,8 @@ def hf_transform_to_torch(items_dict: dict[str, list[Any]]) -> dict[str, list[to
             continue
         first_item = items_dict[key][0]
         if isinstance(first_item, PILImage.Image):
-            items_dict[key] = [pil_to_chw_tensor(img) for img in items_dict[key]]
+            to_tensor = transforms.ToTensor()
+            items_dict[key] = [to_tensor(img) for img in items_dict[key]]
         elif first_item is None or isinstance(first_item, dict):
             pass
         else:
@@ -350,11 +329,7 @@ def item_to_torch(item: dict) -> dict:
     """
     skip_keys = {"task", *LANGUAGE_COLUMNS}
     for key, val in item.items():
-        if key in skip_keys:
-            continue
-        if isinstance(val, PILImage.Image):
-            item[key] = pil_to_chw_tensor(val)
-        elif isinstance(val, (np.ndarray | list)):
+        if isinstance(val, (np.ndarray | list)) and key not in skip_keys:
             # Convert numpy arrays and lists to torch tensors
             item[key] = torch.tensor(val)
     return item

src/lerobot/datasets/language_render.py

@@ -170,6 +170,29 @@ def render_sample(
     """
     persistent_rows = _normalize_rows(persistent or [])
     event_rows = _normalize_rows(events or [])
+
+    # VQA-priority routing. A ``vqa`` annotation is sparse and
+    # view-dependent; the plain weighted blend would (a) waste a draw
+    # whenever it picks an ``ask_vqa*`` sub-recipe for a frame that has
+    # no VQA, and (b) silently drop a VQA-annotated frame whenever it
+    # picks a non-VQA sub-recipe. So: if the blend has ``ask_vqa*``
+    # sub-recipes and *this* frame carries one of their VQA bindings,
+    # render VQA here regardless of the weighted draw. That makes VQA's
+    # recipe-side training share equal the VQA-annotation density (the
+    # maximum reachable without a dataset-level oversampling sampler).
+    if recipe.blend is not None:
+        vqa_rendered = _render_vqa_if_present(
+            recipe,
+            persistent=persistent_rows,
+            events=event_rows,
+            t=t,
+            sample_idx=sample_idx,
+            task=task,
+            dataset_ctx=dataset_ctx,
+        )
+        if vqa_rendered is not None:
+            return vqa_rendered
+
     selected_recipe = _select_recipe(recipe, sample_idx)
     bindings = _resolve_bindings(
         selected_recipe,
@@ -183,6 +206,59 @@ def render_sample(
     return _render_message_recipe(selected_recipe, bindings)
 
 
+def _render_vqa_if_present(
+    recipe: TrainingRecipe,
+    *,
+    persistent: Sequence[LanguageRow],
+    events: Sequence[LanguageRow],
+    t: float,
+    sample_idx: int,
+    task: str | None,
+    dataset_ctx: Any | None,
+) -> RenderedMessages | None:
+    """Render an ``ask_vqa*`` sub-recipe iff this frame carries a VQA
+    annotation; otherwise return ``None`` so the caller falls back to the
+    normal weighted blend.
+
+    When several VQA sub-recipes resolve (e.g. a frame annotated for more
+    than one camera), one is chosen deterministically by relative weight.
+    """
+    assert recipe.blend is not None
+    renderable: list[tuple[float, RenderedMessages]] = []
+    for name, component in recipe.blend.items():
+        if not name.startswith("ask_vqa"):
+            continue
+        bindings = _resolve_bindings(
+            component,
+            persistent=persistent,
+            events=events,
+            t=t,
+            sample_idx=sample_idx,
+            task=task,
+            dataset_ctx=dataset_ctx,
+        )
+        rendered = _render_message_recipe(component, bindings)
+        if rendered is not None:
+            renderable.append((float(component.weight or 0.0), rendered))
+
+    if not renderable:
+        return None
+    if len(renderable) == 1:
+        return renderable[0][1]
+
+    # Multiple cameras have a VQA for this frame — deterministic pick by
+    # relative weight (fall back to a uniform draw if all weights are 0).
+    total = sum(w for w, _ in renderable) or float(len(renderable))
+    digest = hashlib.blake2b(f"vqa:{sample_idx}".encode(), digest_size=8).digest()
+    draw = int.from_bytes(digest, "big") / 2**64 * total
+    cumulative = 0.0
+    for w, rendered in renderable:
+        cumulative += w or (total / len(renderable))
+        if draw < cumulative:
+            return rendered
+    return renderable[-1][1]
+
+
 def _select_recipe(recipe: TrainingRecipe, sample_idx: int) -> TrainingRecipe:
     """Pick a deterministic blend component for ``sample_idx`` (or return ``recipe``)."""
     if recipe.blend is None:
@@ -346,7 +422,15 @@ def _render_message_recipe(
         if turn.target:
             target_indices.append(message_idx)
 
-    if not target_indices:
+    # A render is meaningful if it supervises *something*: either a
+    # text-CE target turn, or a ``low_level`` stream turn (flow / action
+    # supervision — e.g. the flow-only ``low_level_execution`` recipe,
+    # ``user(${subtask})`` with ``stream: low_level`` and no target).
+    # Without this, a flow-only recipe renders to ``None`` every time
+    # the blend draws it → ``predict_actions`` is never True → the
+    # action expert never receives a flow loss.
+    has_low_level = any(stream == "low_level" for stream in streams)
+    if not target_indices and not has_low_level:
         return None
 
     rendered = {
@@ -403,8 +487,10 @@ def _validate_rendered(rendered: RenderedMessages) -> None:
 
     if len(streams) != len(messages):
         raise ValueError("message_streams must be aligned with messages.")
-    if not target_indices:
-        raise ValueError("Rendered samples must contain at least one target message.")
+    # Valid iff it supervises something: a text-CE target turn OR a
+    # ``low_level`` stream turn (flow / action supervision).
+    if not target_indices and not any(s == "low_level" for s in streams):
+        raise ValueError("Rendered samples must contain a target message or a low_level-stream message.")
     for idx in target_indices:
         if idx < 0 or idx >= len(messages):
             raise ValueError(f"Target message index {idx} is out of bounds.")

src/lerobot/datasets/lerobot_dataset.py

@@ -24,7 +24,7 @@ import torch.utils
 from huggingface_hub import HfApi, snapshot_download
 from huggingface_hub.errors import RevisionNotFoundError
 
-from lerobot.configs import DEFAULT_DEPTH_UNIT, DepthEncoderConfig, RGBEncoderConfig
+from lerobot.configs import VideoEncoderConfig
 from lerobot.utils.constants import HF_LEROBOT_HUB_CACHE
 
 from .dataset_metadata import CODEBASE_VERSION, LeRobotDatasetMetadata
@@ -58,10 +58,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
         download_videos: bool = True,
         video_backend: str | None = None,
         return_uint8: bool = False,
-        depth_output_unit: str = DEFAULT_DEPTH_UNIT,
         batch_encoding_size: int = 1,
-        rgb_encoder: RGBEncoderConfig | None = None,
-        depth_encoder: DepthEncoderConfig | None = None,
+        camera_encoder: VideoEncoderConfig | None = None,
         encoder_threads: int | None = None,
         streaming_encoding: bool = False,
         encoder_queue_maxsize: int = 30,
@@ -185,11 +183,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
                 You can also use the 'pyav' decoder used by Torchvision, which used to be the default option, or 'video_reader' which is another decoder of Torchvision.
             batch_encoding_size (int, optional): Number of episodes to accumulate before batch encoding videos.
                 Set to 1 for immediate encoding (default), or higher for batched encoding. Defaults to 1.
-            rgb_encoder (RGBEncoderConfig | None, optional): Video encoder settings for cameras
-                (codec, quality, etc.). When ``None``, :func:`~lerobot.configs.video.rgb_encoder_defaults`
-                is used by the writer.
-            depth_encoder (DepthEncoderConfig | None, optional): Video encoder settings for depth cameras
-                (codec, quality, etc.). When ``None``, :func:`~lerobot.configs.video.depth_encoder_defaults`
+            camera_encoder (VideoEncoderConfig | None, optional): Video encoder settings for cameras
+                (codec, quality, etc.). When ``None``, :func:`~lerobot.configs.video.camera_encoder_defaults`
                 is used by the writer.
             encoder_threads (int | None, optional): Number of encoder threads (global). ``None`` lets the
                 codec decide.
@@ -211,7 +206,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
         self.revision = revision if revision else CODEBASE_VERSION
         self._video_backend = video_backend if video_backend else get_safe_default_video_backend()
         self._return_uint8 = return_uint8
-        self._depth_output_unit = depth_output_unit
         self._batch_encoding_size = batch_encoding_size
         self._encoder_threads = encoder_threads
 
@@ -224,7 +218,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
         )
         self.root = self.meta.root
         self.revision = self.meta.revision
-        self.meta.rescale_depth_stats(self._depth_output_unit)
 
         if episodes is not None and any(
             episode >= self.meta.total_episodes or episode < 0 for episode in episodes
@@ -253,7 +246,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
             delta_timestamps=delta_timestamps,
             image_transforms=image_transforms,
             return_uint8=self._return_uint8,
-            depth_output_unit=self._depth_output_unit,
         )
         self.image_transforms = image_transforms
 
@@ -279,16 +271,14 @@ class LeRobotDataset(torch.utils.data.Dataset):
             if streaming_encoding and len(self.meta.video_keys) > 0:
                 streaming_enc = self._build_streaming_encoder(
                     self.meta.fps,
-                    rgb_encoder,
-                    depth_encoder,
+                    camera_encoder,
                     encoder_queue_maxsize,
                     encoder_threads,
                 )
             self.writer = DatasetWriter(
                 meta=self.meta,
                 root=self.root,
-                rgb_encoder=rgb_encoder,
-                depth_encoder=depth_encoder,
+                camera_encoder=camera_encoder,
                 encoder_threads=encoder_threads,
                 batch_encoding_size=batch_encoding_size,
                 streaming_encoder=streaming_enc,
@@ -324,22 +314,19 @@ class LeRobotDataset(torch.utils.data.Dataset):
                 delta_timestamps=self.delta_timestamps,
                 image_transforms=self.image_transforms,
                 return_uint8=self._return_uint8,
-                depth_output_unit=self._depth_output_unit,
             )
         return self.reader
 
     @staticmethod
     def _build_streaming_encoder(
         fps: int,
-        rgb_encoder: RGBEncoderConfig | None,
-        depth_encoder: DepthEncoderConfig | None,
+        camera_encoder: VideoEncoderConfig | None,
         encoder_queue_maxsize: int,
         encoder_threads: int | None,
     ) -> StreamingVideoEncoder:
         return StreamingVideoEncoder(
             fps=fps,
-            rgb_encoder=rgb_encoder,
-            depth_encoder=depth_encoder,
+            camera_encoder=camera_encoder,
             queue_maxsize=encoder_queue_maxsize,
             encoder_threads=encoder_threads,
         )
@@ -351,11 +338,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
         """Frames per second used during data collection."""
         return self.meta.fps
 
-    @property
-    def depth_output_unit(self) -> str:
-        """Physical unit (``"m"`` or ``"mm"``) depth maps and statistics are returned in on read."""
-        return self._depth_output_unit
-
     @property
     def num_frames(self) -> int:
         """Number of frames in selected episodes."""
@@ -387,18 +369,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
             self.reader.load_and_activate()
         return self.reader.hf_dataset
 
-    @property
-    def absolute_to_relative_idx(self) -> dict[int, int] | None:
-        """Mapping from absolute frame indices to HF dataset row positions.
-
-        Non-None only for episode-filtered datasets where absolute indices
-        (from metadata) differ from row positions in the loaded HF dataset.
-        """
-        reader = self._ensure_reader()
-        if reader.hf_dataset is None:
-            reader.load_and_activate()
-        return reader._absolute_to_relative_idx
-
     # ── Writer-delegated methods ──────────────────────────────────────
 
     def add_frame(self, frame: dict) -> None:
@@ -673,8 +643,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
         image_writer_threads: int = 0,
         video_backend: str | None = None,
         batch_encoding_size: int = 1,
-        rgb_encoder: RGBEncoderConfig | None = None,
-        depth_encoder: DepthEncoderConfig | None = None,
+        camera_encoder: VideoEncoderConfig | None = None,
         metadata_buffer_size: int = 10,
         streaming_encoding: bool = False,
         encoder_queue_maxsize: int = 30,
@@ -705,10 +674,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
             video_backend: Video decoding backend (used when reading back).
             batch_encoding_size: Number of episodes to accumulate before
                 batch-encoding videos. ``1`` means encode immediately.
-            rgb_encoder: Video encoder settings for cameras (codec, quality, etc.).
-                When ``None``, :func:`~lerobot.configs.video.rgb_encoder_defaults` is used.
-            depth_encoder: Video encoder settings for depth cameras (codec, quality, etc.).
-                When ``None``, :func:`~lerobot.configs.video.depth_encoder_defaults` is used.
+            camera_encoder: Video encoder settings for cameras (codec, quality, etc.).
+                When ``None``, :func:`~lerobot.configs.video.camera_encoder_defaults` is used.
             encoder_threads: Number of encoder threads (global). ``None``
                 lets the codec decide.
             metadata_buffer_size: Number of episode metadata records to buffer
@@ -743,7 +710,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
         obj.episodes = None
         obj._video_backend = video_backend if video_backend is not None else get_safe_default_video_backend()
         obj._return_uint8 = False
-        obj._depth_output_unit = DEFAULT_DEPTH_UNIT
         obj._batch_encoding_size = batch_encoding_size
         obj._encoder_threads = encoder_threads
 
@@ -753,13 +719,12 @@ class LeRobotDataset(torch.utils.data.Dataset):
         streaming_enc = None
         if streaming_encoding and len(obj.meta.video_keys) > 0:
             streaming_enc = cls._build_streaming_encoder(
-                fps, rgb_encoder, depth_encoder, encoder_queue_maxsize, encoder_threads
+                fps, camera_encoder, encoder_queue_maxsize, encoder_threads
             )
         obj.writer = DatasetWriter(
             meta=obj.meta,
             root=obj.root,
-            rgb_encoder=rgb_encoder,
-            depth_encoder=depth_encoder,
+            camera_encoder=camera_encoder,
             encoder_threads=encoder_threads,
             batch_encoding_size=batch_encoding_size,
             streaming_encoder=streaming_enc,
@@ -782,8 +747,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
         force_cache_sync: bool = False,
         video_backend: str | None = None,
         batch_encoding_size: int = 1,
-        rgb_encoder: RGBEncoderConfig | None = None,
-        depth_encoder: DepthEncoderConfig | None = None,
+        camera_encoder: VideoEncoderConfig | None = None,
         encoder_threads: int | None = None,
         image_writer_processes: int = 0,
         image_writer_threads: int = 0,
@@ -811,10 +775,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
             video_backend: Video decoding backend for reading back data.
             batch_encoding_size: Number of episodes to accumulate before
                 batch-encoding videos.
-            rgb_encoder: Video encoder settings for cameras (codec, quality, etc.).
-                When ``None``, :func:`~lerobot.configs.video.rgb_encoder_defaults` is used.
-            depth_encoder: Video encoder settings for depth cameras (codec, quality, etc.).
-                When ``None``, :func:`~lerobot.configs.video.depth_encoder_defaults` is used.
+            camera_encoder: Video encoder settings for cameras (codec, quality, etc.).
+                When ``None``, :func:`~lerobot.configs.video.camera_encoder_defaults` is used.
             encoder_threads: Number of encoder threads (global). ``None``
                 lets the codec decide.
             image_writer_processes: Subprocesses for async image writing.
@@ -842,7 +804,6 @@ class LeRobotDataset(torch.utils.data.Dataset):
         obj.episodes = None
         obj._video_backend = video_backend if video_backend else get_safe_default_video_backend()
         obj._return_uint8 = False
-        obj._depth_output_unit = DEFAULT_DEPTH_UNIT
         obj._batch_encoding_size = batch_encoding_size
 
         if obj._requested_root is not None:
@@ -862,13 +823,12 @@ class LeRobotDataset(torch.utils.data.Dataset):
         streaming_enc = None
         if streaming_encoding and len(obj.meta.video_keys) > 0:
             streaming_enc = cls._build_streaming_encoder(
-                obj.meta.fps, rgb_encoder, depth_encoder, encoder_queue_maxsize, encoder_threads
+                obj.meta.fps, camera_encoder, encoder_queue_maxsize, encoder_threads
             )
         obj.writer = DatasetWriter(
             meta=obj.meta,
             root=obj.root,
-            rgb_encoder=rgb_encoder,
-            depth_encoder=depth_encoder,
+            camera_encoder=camera_encoder,
             encoder_threads=encoder_threads,
             batch_encoding_size=batch_encoding_size,
             streaming_encoder=streaming_enc,

src/lerobot/datasets/pyav_utils.py

@@ -24,7 +24,6 @@ import logging
 from typing import Any
 
 import av
-import numpy as np
 
 logger = logging.getLogger(__name__)
 
@@ -32,34 +31,6 @@ FFMPEG_NUMERIC_OPTION_TYPES = ("INT", "INT64", "UINT64", "FLOAT", "DOUBLE")
 FFMPEG_INTEGER_OPTION_TYPES = ("INT", "INT64", "UINT64")
 
 
-def write_u16_plane(plane: av.video.plane.VideoPlane, src: np.ndarray, fill_value: int | None = None) -> None:
-    """Copy a 2D ``uint16`` image into the plane's memory buffer, row by row.
-
-    For speed, each row is padded to a wider size than ``width``, so the true row width in
-    memory is ``plane.line_size`` (bytes), not ``width``. Copying as one straight stream
-    would skew the image, so we write only the first ``width`` columns of each row and
-    leave the padding untouched.
-
-    Args:
-        plane: Destination 16-bit plane.
-        src: Source image, shape ``(height, width)``, dtype ``uint16``.
-        fill_value: If given, every pixel (padding included) is set to this first, so the
-            padding holds clean data instead of garbage.
-    """
-    height, width = src.shape
-    stride_u16 = plane.line_size // np.dtype(np.uint16).itemsize
-    dst = np.frombuffer(plane, dtype=np.uint16).reshape(height, stride_u16)
-    if fill_value is not None:
-        dst.fill(fill_value)
-    dst[:, :width] = src
-
-
-@functools.cache
-def get_pix_fmt_channels(pix_fmt: str) -> int:
-    """Return the number of components (channels) for *pix_fmt*."""
-    return len(av.VideoFormat(pix_fmt).components)
-
-
 @functools.cache
 def get_codec(vcodec: str) -> av.codec.Codec | None:
     """PyAV write-mode ``Codec`` for *vcodec*, or ``None`` if unavailable."""
@@ -121,7 +92,7 @@ def _check_option_value(vcodec: str, label: str, value: Any, opt: av.option.Opti
                     f"{label}={value!r} is not numeric; codec {vcodec!r} expects a number for this option."
                 ) from e
         elif isinstance(value, (float, int)):
-            num_val = float(value)
+            num_val = value
         else:
             raise ValueError(
                 f"{label}={value!r} is not numeric; codec {vcodec!r} expects a number for this option."
@@ -171,16 +142,6 @@ def _check_pixel_format(vcodec: str, pix_fmt: str) -> None:
         )
 
 
-def _check_pix_fmt_channels(pix_fmt: str, channels: int) -> None:
-    """Ensure *pix_fmt* can carry at least *channels* components."""
-    pix_fmt_channels = get_pix_fmt_channels(pix_fmt)
-    if pix_fmt_channels < channels:
-        raise ValueError(
-            f"pix_fmt={pix_fmt!r} carries only {pix_fmt_channels} component(s) "
-            f"but the source data has {channels} channel(s)."
-        )
-
-
 def _check_codec_options(vcodec: str, codec_options: dict[str, Any]) -> None:
     """Validate merged encoder options (typed) against the codec's published AVOptions."""
     supported_options = _get_codec_options_by_name(vcodec)
@@ -195,18 +156,12 @@ def _check_codec_options(vcodec: str, codec_options: dict[str, Any]) -> None:
         _check_option_value(vcodec, key, value, supported_options[key])
 
 
-def check_video_encoder_parameters_pyav(
-    vcodec: str,
-    pix_fmt: str,
-    codec_options: dict[str, Any],
-    channels: int | None = None,
-) -> None:
+def check_video_encoder_parameters_pyav(vcodec: str, pix_fmt: str, codec_options: dict[str, Any]) -> None:
     """Verify *config* is compatible with the bundled FFmpeg build.
 
     Checks pixel format, abstract tuning-field compatibility, and each merged
     encoder option from :meth:`~lerobot.configs.video.VideoEncoderConfig.get_codec_options`
     against PyAV (including numeric ``extra_options`` present in that dict).
-    When given, additionally verify that *pix_fmt* carries as many components as the source data channels.
     No-op when ``config.vcodec`` isn't in the local FFmpeg build.
 
     Raises:
@@ -216,6 +171,4 @@ def check_video_encoder_parameters_pyav(
     if not options:
         raise ValueError(f"Codec {vcodec!r} is not available in the bundled FFmpeg build")
     _check_pixel_format(vcodec, pix_fmt)
-    if channels is not None:
-        _check_pix_fmt_channels(pix_fmt, channels)
     _check_codec_options(vcodec, codec_options)

src/lerobot/datasets/sampler.py

@@ -53,7 +53,6 @@ class EpisodeAwareSampler:
         drop_n_last_frames: int = 0,
         shuffle: bool = False,
         seed: int = 0,
-        absolute_to_relative_idx: dict[int, int] | None = None,
     ):
         """
         Args:
@@ -108,7 +107,6 @@ class EpisodeAwareSampler:
         self.seed = seed
         self._epoch = 0
         self._start_index = 0
-        self._absolute_to_relative = absolute_to_relative_idx
 
     @property
     def indices(self) -> list[int]:
@@ -134,10 +132,7 @@ class EpisodeAwareSampler:
     def _frame_index(self, position: int) -> int:
         episode = int(np.searchsorted(self._cum_lengths, position, side="right"))
         position_in_episode = position - (int(self._cum_lengths[episode - 1]) if episode > 0 else 0)
-        absolute_idx = int(self._starts[episode]) + position_in_episode
-        if self._absolute_to_relative is not None:
-            return self._absolute_to_relative[absolute_idx]
-        return absolute_idx
+        return int(self._starts[episode]) + position_in_episode
 
     def __iter__(self) -> Iterator[int]:
         # Advance epoch state eagerly, not on first consumption of the generator.

src/lerobot/datasets/streaming_dataset.py

@@ -22,11 +22,9 @@ import numpy as np
 import torch
 from datasets import load_dataset
 
-from lerobot.configs import DEFAULT_DEPTH_UNIT, DEPTH_METER_UNIT, DepthEncoderConfig
 from lerobot.utils.constants import HF_LEROBOT_HOME, LOOKAHEAD_BACKTRACKTABLE, LOOKBACK_BACKTRACKTABLE
 
 from .dataset_metadata import CODEBASE_VERSION, LeRobotDatasetMetadata
-from .depth_utils import MM_PER_METRE, dequantize_depth
 from .feature_utils import get_delta_indices
 from .io_utils import item_to_torch
 from .utils import (
@@ -37,7 +35,6 @@ from .utils import (
 )
 from .video_utils import (
     VideoDecoderCache,
-    decode_video_frames,
     decode_video_frames_torchcodec,
 )
 
@@ -255,7 +252,6 @@ class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
         rng: np.random.Generator | None = None,
         shuffle: bool = True,
         return_uint8: bool = False,
-        depth_output_unit: str = DEFAULT_DEPTH_UNIT,
     ):
         """Initialize a StreamingLeRobotDataset.
 
@@ -276,8 +272,6 @@ class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
             seed (int, optional): Reproducibility random seed.
             rng (np.random.Generator | None, optional): Random number generator.
             shuffle (bool, optional): Whether to shuffle the dataset across exhaustions. Defaults to True.
-            depth_output_unit (str, optional): Physical unit depth maps are dequantized to ("m" or "mm").
-                Defaults to "mm".
         """
         super().__init__()
         self.repo_id = repo_id
@@ -296,7 +290,6 @@ class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
         self.streaming = streaming
         self.buffer_size = buffer_size
         self._return_uint8 = return_uint8
-        self._depth_output_unit = depth_output_unit
 
         # We cache the video decoders to avoid re-initializing them at each frame (avoiding a ~10x slowdown)
         self.video_decoder_cache = None
@@ -310,22 +303,9 @@ class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
         )
         self.root = self.meta.root
         self.revision = self.meta.revision
-        self.meta.rescale_depth_stats(self._depth_output_unit)
         # Check version
         check_version_compatibility(self.repo_id, self.meta._version, CODEBASE_VERSION)
 
-        self._depth_encoder_configs: dict[str, DepthEncoderConfig] = {
-            vid_key: DepthEncoderConfig.from_video_info(self.meta.features[vid_key].get("info"))
-            for vid_key in self.meta.depth_keys
-        }
-
-        # Input unit of each depth feature stored as raw images (dequantized separately from videos).
-        self._image_depth_units: dict[str, str | None] = {
-            key: (self.meta.features[key].get("info") or {}).get("depth_unit")
-            for key in self.meta.depth_keys
-            if key in self.meta.image_keys
-        }
-
         self.delta_timestamps = None
         self.delta_indices = None
 
@@ -356,11 +336,6 @@ class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
     def fps(self):
         return self.meta.fps
 
-    @property
-    def depth_output_unit(self) -> str:
-        """Physical unit (``"m"`` or ``"mm"``) depth maps are returned in on read."""
-        return self._depth_output_unit
-
     @staticmethod
     def _iter_random_indices(
         rng: np.random.Generator, buffer_size: int, random_batch_size=100
@@ -543,15 +518,6 @@ class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
         for update in updates:
             result.update(update)
 
-        # Convert raw-image depth features to the output unit (video depth is already converted).
-        for key, stored_unit in self._image_depth_units.items():
-            if key in result and stored_unit is not None and stored_unit != self._depth_output_unit:
-                result[key] = (
-                    result[key] * MM_PER_METRE
-                    if stored_unit == DEPTH_METER_UNIT
-                    else result[key] / MM_PER_METRE
-                )
-
         result["task"] = self.meta.tasks.iloc[item["task_index"]].name
 
         yield result
@@ -588,34 +554,13 @@ class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
         for video_key, query_ts in query_timestamps.items():
             root = self.meta.url_root if self.streaming and not self.streaming_from_local else self.root
             video_path = f"{root}/{self.meta.get_video_file_path(ep_idx, video_key)}"
-            if video_key in self.meta.depth_keys:
-                # Depth maps are 12-bit quantized and only decodable via pyav; dequantize back
-                # to physical units to match the non-streaming reader.
-                frames = decode_video_frames(
-                    video_path,
-                    query_ts,
-                    self.tolerance_s,
-                    backend="pyav",
-                    return_uint8=False,
-                    is_depth=True,
-                )
-                depth_encoder = self._depth_encoder_configs[video_key]
-                frames = dequantize_depth(
-                    frames,
-                    depth_min=depth_encoder.depth_min,
-                    depth_max=depth_encoder.depth_max,
-                    shift=depth_encoder.shift,
-                    use_log=depth_encoder.use_log,
-                    output_unit=self._depth_output_unit,
-                )
-            else:
-                frames = decode_video_frames_torchcodec(
-                    video_path,
-                    query_ts,
-                    self.tolerance_s,
-                    decoder_cache=self.video_decoder_cache,
-                    return_uint8=self._return_uint8,
-                )
+            frames = decode_video_frames_torchcodec(
+                video_path,
+                query_ts,
+                self.tolerance_s,
+                decoder_cache=self.video_decoder_cache,
+                return_uint8=self._return_uint8,
+            )
 
             item[video_key] = frames.squeeze(0) if len(query_ts) == 1 else frames
 

src/lerobot/datasets/utils.py

@@ -26,7 +26,6 @@ import numpy as np
 import packaging.version
 import torch
 from huggingface_hub import DatasetCard, DatasetCardData, HfApi
-from huggingface_hub.errors import RevisionNotFoundError
 
 from lerobot.utils.utils import flatten_dict, unflatten_dict
 
@@ -87,14 +86,11 @@ DATA_DIR = "data"
 VIDEO_DIR = "videos"
 
 CHUNK_FILE_PATTERN = "chunk-{chunk_index:03d}/file-{file_index:03d}"
-IMAGE_FILE_PATTERN = "frame-{frame_index:06d}.png"
-DEPTH_FILE_PATTERN = "frame-{frame_index:06d}.tiff"
 DEFAULT_TASKS_PATH = "meta/tasks.parquet"
 DEFAULT_EPISODES_PATH = EPISODES_DIR + "/" + CHUNK_FILE_PATTERN + ".parquet"
 DEFAULT_DATA_PATH = DATA_DIR + "/" + CHUNK_FILE_PATTERN + ".parquet"
 DEFAULT_VIDEO_PATH = VIDEO_DIR + "/{video_key}/" + CHUNK_FILE_PATTERN + ".mp4"
-DEFAULT_IMAGE_PATH = "images/{image_key}/episode-{episode_index:06d}/" + IMAGE_FILE_PATTERN
-DEFAULT_DEPTH_PATH = "images/{image_key}/episode-{episode_index:06d}/" + DEPTH_FILE_PATTERN
+DEFAULT_IMAGE_PATH = "images/{image_key}/episode-{episode_index:06d}/frame-{frame_index:06d}.png"
 
 LEGACY_EPISODES_PATH = "meta/episodes.jsonl"
 LEGACY_EPISODES_STATS_PATH = "meta/episodes_stats.jsonl"
@@ -369,17 +365,24 @@ def get_safe_version(repo_id: str, version: str | packaging.version.Version) ->
     hub_versions = get_repo_versions(repo_id)
 
     if not hub_versions:
-        raise RevisionNotFoundError(
-            f"""Your dataset must be tagged with a codebase version.
-            Assuming _version_ is the codebase_version value in the info.json, you can run this:
-            ```python
-            from huggingface_hub import HfApi
-
-            hub_api = HfApi()
-            hub_api.create_tag("{repo_id}", tag="_version_", repo_type="dataset")
-            ```
-            """
+        msg = (
+            f"Repo {repo_id!r} has no codebase-version tags. The dataset "
+            f"either doesn't exist on the Hub yet, or it was uploaded "
+            f"without a ``v3.x``-style tag. To tag an existing dataset run:\n"
+            f"  from huggingface_hub import HfApi\n"
+            f"  HfApi().create_tag({repo_id!r}, tag='v3.0', repo_type='dataset', exist_ok=True)"
         )
+        # ``RevisionNotFoundError`` extends ``HfHubHTTPError`` whose
+        # ``__init__`` indexes ``response.headers`` unconditionally on
+        # current ``huggingface_hub`` versions. Constructing it without
+        # a real ``Response`` object crashes with either
+        # ``TypeError: missing 1 required keyword-only argument`` (old
+        # builds) or ``AttributeError: 'NoneType' object has no attribute
+        # 'headers'`` (new builds). Skip that path entirely — this isn't
+        # really an HTTP error, it's a configuration issue — and raise a
+        # plain ``RuntimeError`` so the message actually reaches the
+        # caller.
+        raise RuntimeError(msg)
 
     if target_version in hub_versions:
         return f"v{target_version}"

src/lerobot/datasets/video_utils.py

@@ -39,17 +39,11 @@ from datasets.features.features import register_feature
 from PIL import Image
 
 from lerobot.configs import (
-    DepthEncoderConfig,
-    RGBEncoderConfig,
     VideoEncoderConfig,
-    depth_encoder_defaults,
-    rgb_encoder_defaults,
+    camera_encoder_defaults,
 )
 from lerobot.utils.import_utils import get_safe_default_video_backend
 
-from .depth_utils import quantize_depth
-from .pyav_utils import get_pix_fmt_channels
-
 logger = logging.getLogger(__name__)
 
 
@@ -59,7 +53,6 @@ def decode_video_frames(
     tolerance_s: float,
     backend: str | None = None,
     return_uint8: bool = False,
-    is_depth: bool = False,
 ) -> torch.Tensor:
     """
     Decodes video frames using the specified backend.
@@ -71,35 +64,23 @@ def decode_video_frames(
         backend (str, optional): Backend to use for decoding. Defaults to "torchcodec" when available
             in the platform; otherwise, defaults to "pyav". The legacy value "video_reader" is
             accepted for one release as an alias for "pyav" and will be removed in a future version.
-        return_uint8 (bool): For RGB videos, if True return raw uint8 frames without float32 normalization.
+        return_uint8 (bool): If True, return raw uint8 frames without float32 normalization.
             This reduces memory for DataLoader IPC; normalization can be done on GPU afterward.
-        is_depth (bool): Set to True if the video is a depth map (1 channel, uint12).
 
     Returns:
-        torch.Tensor: Decoded frames (RGB: float32 in [0,1] by default, or uint8 if return_uint8=True, Depth: uint12).
+        torch.Tensor: Decoded frames (float32 in [0,1] by default, or uint8 if return_uint8=True).
 
     Currently supports torchcodec on cpu and pyav.
     """
-    if backend != "pyav" and is_depth:
-        logger.debug("Decoding depth maps is only supported with the 'pyav' backend, falling back to pyav.")
-        # We do not actually return uint8 here, but we avoid the 255 normalization step.
-        return decode_video_frames_pyav(
-            video_path, timestamps, tolerance_s, return_uint8=False, is_depth=True
-        )
-
     if backend is None:
         backend = get_safe_default_video_backend()
     if backend == "torchcodec":
         return decode_video_frames_torchcodec(video_path, timestamps, tolerance_s, return_uint8=return_uint8)
     elif backend == "pyav":
-        return decode_video_frames_pyav(
-            video_path, timestamps, tolerance_s, return_uint8=return_uint8, is_depth=is_depth
-        )
+        return decode_video_frames_pyav(video_path, timestamps, tolerance_s, return_uint8=return_uint8)
     elif backend == "video_reader":
         logger.warning("backend='video_reader' is deprecated and now aliases to 'pyav'.")
-        return decode_video_frames_pyav(
-            video_path, timestamps, tolerance_s, return_uint8=return_uint8, is_depth=is_depth
-        )
+        return decode_video_frames_pyav(video_path, timestamps, tolerance_s, return_uint8=return_uint8)
     else:
         raise ValueError(f"Unsupported video backend: {backend}")
 
@@ -110,7 +91,6 @@ def decode_video_frames_pyav(
     tolerance_s: float,
     log_loaded_timestamps: bool = False,
     return_uint8: bool = False,
-    is_depth: bool = False,
 ) -> torch.Tensor:
     """Loads frames associated to the requested timestamps of a video using PyAV.
 
@@ -129,9 +109,8 @@ def decode_video_frames_pyav(
         tolerance_s: Allowed deviation in seconds between a queried timestamp and the closest
             decoded frame.
         log_loaded_timestamps: When True, log every decoded frame's timestamp at INFO level.
-        return_uint8: For RGB videos, if True return raw uint8 frames (C, H, W).
-            Otherwise, return float32 in [0, 1] range.
-        is_depth: Set to True if the video is a depth map (1 channel, uint12).
+        return_uint8: When True, return raw uint8 frames (C, H, W). Otherwise, return float32 in
+            [0, 1] range.
 
     Returns:
         torch.Tensor of shape (len(timestamps), C, H, W).
@@ -153,13 +132,7 @@ def decode_video_frames_pyav(
     # https://pyav.basswood-io.com/docs/stable/api/container.html#av.container.InputContainer.seek
     with av.open(video_path) as container:
         stream = container.streams.video[0]
-        # Seek to the nearest keyframe at or before `first_ts` with a 1 frame margin
-        container.seek(
-            round(first_ts / stream.time_base) - 1,
-            backward=True,
-            any_frame=False,
-            stream=stream,
-        )
+        container.seek(int(first_ts * av.time_base), backward=True)
 
         for frame in container.decode(stream):
             if frame.pts is None:
@@ -167,13 +140,9 @@ def decode_video_frames_pyav(
             current_ts = float(frame.pts * stream.time_base)
             if log_loaded_timestamps:
                 logger.info(f"frame loaded at timestamp={current_ts:.4f}")
-            if is_depth:
-                arr = frame.to_ndarray(format="gray12le")  # (H, W) uint12
-                loaded_frames.append(torch.from_numpy(arr).unsqueeze(0).contiguous())
-            else:
-                arr = frame.to_ndarray(format="rgb24")  # (H, W, 3)
-                # Convert to CHW uint8 to match torchcodec's output layout.
-                loaded_frames.append(torch.from_numpy(arr).permute(2, 0, 1).contiguous())
+            # Convert to CHW uint8 to match torchcodec's output layout.
+            arr = frame.to_ndarray(format="rgb24")  # H, W, 3
+            loaded_frames.append(torch.from_numpy(arr).permute(2, 0, 1).contiguous())
             loaded_ts.append(current_ts)
             if current_ts >= last_ts:
                 break
@@ -216,7 +185,7 @@ def decode_video_frames_pyav(
             f"number of queried timestamps ({len(timestamps)})"
         )
 
-    if return_uint8 or is_depth:
+    if return_uint8:
         return closest_frames
 
     # convert to the pytorch format which is float32 in [0,1] range (and channel first)
@@ -437,38 +406,17 @@ def encode_video_frames(
     imgs_dir: Path | str,
     video_path: Path | str,
     fps: int,
-    video_encoder: VideoEncoderConfig | None = None,
+    camera_encoder: VideoEncoderConfig | None = None,
     encoder_threads: int | None = None,
     *,
     log_level: int | None = av.logging.WARNING,
     overwrite: bool = False,
 ) -> None:
-    """Encode a directory of image frames into an MP4 video.
-
-    When ``video_encoder`` is a :class:`~lerobot.configs.video.DepthEncoderConfig`,
-    frames are read from ``.tiff`` files and quantized to 12-bit depth codes using the
-    encoder's ``depth_min`` / ``depth_max`` / ``shift`` / ``use_log``; otherwise ``.png``
-    RGB frames are encoded directly.
-
-    Args:
-        imgs_dir: Directory containing the frames to encode, named ``frame-000000``
-            onwards (``.png`` for RGB, ``.tiff`` for depth).
-        video_path: Output path for the encoded ``.mp4`` file.
-        fps: Frame rate of the output video.
-        video_encoder: Encoder settings (codec, pixel format, quality, ...). When
-            ``None``, :func:`rgb_encoder_defaults` is used. Pass a
-            :class:`~lerobot.configs.video.DepthEncoderConfig` to encode depth frames.
-        encoder_threads: Per-encoder thread count forwarded to the codec. ``None``
-            lets the codec decide.
-        log_level: libav log level to set while encoding, or ``None`` to leave the
-            current logging configuration unchanged.
-        overwrite: When ``False`` and ``video_path`` already exists, skip encoding and
-            log a warning. When ``True``, re-encode and replace the existing file.
-    """
-    if video_encoder is None:
-        video_encoder = rgb_encoder_defaults()
-    vcodec = video_encoder.vcodec
-    pix_fmt = video_encoder.pix_fmt
+    """More info on ffmpeg arguments tuning on `benchmark/video/README.md`"""
+    if camera_encoder is None:
+        camera_encoder = camera_encoder_defaults()
+    vcodec = camera_encoder.vcodec
+    pix_fmt = camera_encoder.pix_fmt
 
     video_path = Path(video_path)
     imgs_dir = Path(imgs_dir)
@@ -480,19 +428,17 @@ def encode_video_frames(
     video_path.parent.mkdir(parents=True, exist_ok=True)
 
     # Get input frames
-    is_depth = isinstance(video_encoder, DepthEncoderConfig)
-    suffix = ".png" if not is_depth else ".tiff"
-    template = "frame-" + ("[0-9]" * 6) + suffix
+    template = "frame-" + ("[0-9]" * 6) + ".png"
     input_list = sorted(
         glob.glob(str(imgs_dir / template)), key=lambda x: int(x.split("-")[-1].split(".")[0])
     )
 
     if len(input_list) == 0:
-        raise FileNotFoundError(f"No images with suffix {suffix} found in {imgs_dir}.")
+        raise FileNotFoundError(f"No images found in {imgs_dir}.")
     with Image.open(input_list[0]) as dummy_image:
         width, height = dummy_image.size
 
-    video_options = video_encoder.get_codec_options(encoder_threads, as_strings=True)
+    video_options = camera_encoder.get_codec_options(encoder_threads, as_strings=True)
 
     # Set logging level
     if log_level is not None:
@@ -509,19 +455,8 @@ def encode_video_frames(
         # Loop through input frames and encode them
         for input_data in input_list:
             with Image.open(input_data) as input_image:
-                if is_depth:
-                    input_frame = quantize_depth(
-                        np.array(input_image),
-                        depth_min=video_encoder.depth_min,
-                        depth_max=video_encoder.depth_max,
-                        shift=video_encoder.shift,
-                        use_log=video_encoder.use_log,
-                        pix_fmt=video_encoder.pix_fmt,
-                        video_backend="pyav",
-                    )
-                else:
-                    input_image = input_image.convert("RGB")
-                    input_frame = av.VideoFrame.from_image(input_image)
+                input_image = input_image.convert("RGB")
+                input_frame = av.VideoFrame.from_image(input_image)
                 packet = output_stream.encode(input_frame)
                 if packet:
                     output.mux(packet)
@@ -542,7 +477,7 @@ def encode_video_frames(
 def reencode_video(
     input_video_path: Path | str,
     output_video_path: Path | str,
-    video_encoder: VideoEncoderConfig | None = None,
+    camera_encoder: VideoEncoderConfig | None = None,
     encoder_threads: int | None = None,
     log_level: int | None = av.logging.WARNING,
     overwrite: bool = False,
@@ -554,7 +489,7 @@ def reencode_video(
     Args:
         input_video_path: Existing video file to read.
         output_video_path: Path for the re-encoded file.
-        video_encoder: Encoder configuration. Defaults to :func:`rgb_encoder_defaults`.
+        camera_encoder: Encoder configuration. Defaults to :func:`camera_encoder_defaults`.
         encoder_threads: Optional thread count forwarded to :meth:`VideoEncoderConfig.get_codec_options`.
         log_level: libav log level while encoding, or ``None`` to leave logging unchanged. Defaults to WARNING.
         overwrite: When ``False`` and ``output_video_path`` already exists, skip and log a warning.
@@ -562,7 +497,7 @@ def reencode_video(
         end_time_s: When set, trim the output to end at this timestamp (seconds, exclusive).
     """
 
-    video_encoder = video_encoder or rgb_encoder_defaults()
+    camera_encoder = camera_encoder or camera_encoder_defaults()
 
     if (start_time_s is not None and start_time_s < 0) or (end_time_s is not None and end_time_s < 0):
         raise ValueError(f"Trim times must be non-negative, got start={start_time_s}, end={end_time_s}.")
@@ -577,9 +512,9 @@ def reencode_video(
 
     output_video_path.parent.mkdir(parents=True, exist_ok=True)
 
-    video_options = video_encoder.get_codec_options(encoder_threads, as_strings=True)
-    vcodec = video_encoder.vcodec
-    pix_fmt = video_encoder.pix_fmt
+    video_options = camera_encoder.get_codec_options(encoder_threads, as_strings=True)
+    vcodec = camera_encoder.vcodec
+    pix_fmt = camera_encoder.pix_fmt
 
     with tempfile.NamedTemporaryFile(suffix=".mp4", delete=False) as tmp_named_file:
         tmp_output_video_path = tmp_named_file.name
@@ -761,21 +696,22 @@ class _CameraEncoderThread(threading.Thread):
         self,
         video_path: Path,
         fps: int,
-        video_encoder: VideoEncoderConfig,
+        vcodec: str,
+        pix_fmt: str,
+        codec_options: dict[str, str],
         frame_queue: queue.Queue,
         result_queue: queue.Queue,
         stop_event: threading.Event,
-        encoder_threads: int | None = None,
     ):
         super().__init__(daemon=True)
         self.video_path = video_path
         self.fps = fps
-        self.video_encoder = video_encoder
-        self.is_depth = isinstance(video_encoder, DepthEncoderConfig)
+        self.vcodec = vcodec
+        self.pix_fmt = pix_fmt
+        self.codec_options = codec_options
         self.frame_queue = frame_queue
         self.result_queue = result_queue
         self.stop_event = stop_event
-        self.encoder_threads = encoder_threads
 
     def run(self) -> None:
         from .compute_stats import RunningQuantileStats, auto_downsample_height_width
@@ -800,12 +736,12 @@ class _CameraEncoderThread(threading.Thread):
                     # Sentinel: flush and close
                     break
 
-                # Ensure HWC (RGB or depth) uint8 (RGB only) numpy array
+                # Ensure HWC uint8 numpy array
                 if isinstance(frame_data, np.ndarray):
-                    if frame_data.ndim == 3 and frame_data.shape[0] in (1, 3):
+                    if frame_data.ndim == 3 and frame_data.shape[0] == 3:
                         # CHW -> HWC
                         frame_data = frame_data.transpose(1, 2, 0)
-                    if not self.is_depth and frame_data.dtype != np.uint8:
+                    if frame_data.dtype != np.uint8:
                         frame_data = (frame_data * 255).astype(np.uint8)
 
                 # Open container on first frame (to get width/height)
@@ -813,29 +749,15 @@ class _CameraEncoderThread(threading.Thread):
                     height, width = frame_data.shape[:2]
                     Path(self.video_path).parent.mkdir(parents=True, exist_ok=True)
                     container = av.open(str(self.video_path), "w")
-                    output_stream = container.add_stream(
-                        self.video_encoder.vcodec,
-                        self.fps,
-                        options=self.video_encoder.get_codec_options(self.encoder_threads, as_strings=True),
-                    )
-                    output_stream.pix_fmt = self.video_encoder.pix_fmt
+                    output_stream = container.add_stream(self.vcodec, self.fps, options=self.codec_options)
+                    output_stream.pix_fmt = self.pix_fmt
                     output_stream.width = width
                     output_stream.height = height
                     output_stream.time_base = Fraction(1, self.fps)
 
                 # Encode frame with explicit timestamps
-                if not self.is_depth:
-                    pil_img = Image.fromarray(frame_data)
-                    video_frame = av.VideoFrame.from_image(pil_img)
-                else:
-                    video_frame = quantize_depth(
-                        frame_data,
-                        depth_min=self.video_encoder.depth_min,
-                        depth_max=self.video_encoder.depth_max,
-                        shift=self.video_encoder.shift,
-                        use_log=self.video_encoder.use_log,
-                        video_backend=self.video_encoder.video_backend,
-                    )
+                pil_img = Image.fromarray(frame_data)
+                video_frame = av.VideoFrame.from_image(pil_img)
                 video_frame.pts = frame_count
                 video_frame.time_base = Fraction(1, self.fps)
                 packet = output_stream.encode(video_frame)
@@ -893,27 +815,22 @@ class StreamingVideoEncoder:
     def __init__(
         self,
         fps: int,
-        rgb_encoder: RGBEncoderConfig | None = None,
-        depth_encoder: DepthEncoderConfig | None = None,
+        camera_encoder: VideoEncoderConfig | None = None,
         queue_maxsize: int = 30,
         encoder_threads: int | None = None,
     ):
         """
         Args:
             fps: Frames per second for the output videos.
-            rgb_encoder: Video encoder settings applied to all RGB cameras.
-                When ``None``, :func:`rgb_encoder_defaults` is used.
-            depth_encoder: Video encoder settings applied to all depth cameras,
-                including the depth quantization parameters. When ``None``,
-                :func:`depth_encoder_defaults` is used.
-            queue_maxsize: Max frames to buffer per camera before
-                back-pressure drops frames.
+            camera_encoder: Video encoder settings applied to all cameras.
+                When ``None``, :func:`camera_encoder_defaults` is used.
             encoder_threads: Number of encoder threads (global setting).
                 ``None`` lets the codec decide.
+            queue_maxsize: Max frames to buffer per camera before
+                back-pressure drops frames.
         """
         self.fps = fps
-        self._rgb_encoder = rgb_encoder or rgb_encoder_defaults()
-        self._depth_encoder = depth_encoder or depth_encoder_defaults()
+        self._camera_encoder = camera_encoder or camera_encoder_defaults()
         self._encoder_threads = encoder_threads
         self.queue_maxsize = queue_maxsize
 
@@ -926,25 +843,18 @@ class StreamingVideoEncoder:
         self._episode_active = False
         self._closed = False
 
-    def start_episode(
-        self, video_keys: list[str], temp_dir: Path, depth_video_keys: list[str] | None = None
-    ) -> None:
+    def start_episode(self, video_keys: list[str], temp_dir: Path) -> None:
         """Start encoder threads for a new episode.
 
         Args:
             video_keys: List of video feature keys (e.g. ["observation.images.laptop"])
             temp_dir: Base directory for temporary MP4 files
-            depth_video_keys: List of video or image feature keys that carry depth maps (e.g.
-                ["observation.images.laptop_depth"]).  Defaults to ``[]`` (no depth keys).
         """
         if self._episode_active:
             self.cancel_episode()
 
         self._dropped_frames.clear()
 
-        if depth_video_keys is None:
-            depth_video_keys = []
-
         for video_key in video_keys:
             frame_queue: queue.Queue = queue.Queue(maxsize=self.queue_maxsize)
             result_queue: queue.Queue = queue.Queue(maxsize=1)
@@ -953,15 +863,17 @@ class StreamingVideoEncoder:
             temp_video_dir = Path(tempfile.mkdtemp(dir=temp_dir))
             video_path = temp_video_dir / f"{video_key.replace('/', '_')}_streaming.mp4"
 
-            encoder = self._depth_encoder if video_key in depth_video_keys else self._rgb_encoder
+            vcodec = self._camera_encoder.vcodec
+            codec_options = self._camera_encoder.get_codec_options(self._encoder_threads, as_strings=True)
             encoder_thread = _CameraEncoderThread(
                 video_path=video_path,
                 fps=self.fps,
-                video_encoder=encoder,
+                vcodec=vcodec,
+                pix_fmt=self._camera_encoder.pix_fmt,
+                codec_options=codec_options,
                 frame_queue=frame_queue,
                 result_queue=result_queue,
                 stop_event=stop_event,
-                encoder_threads=self._encoder_threads,
             )
             encoder_thread.start()
 
@@ -1168,23 +1080,15 @@ def get_audio_info(video_path: Path | str) -> dict:
 
 def get_video_info(
     video_path: Path | str,
-    video_encoder: VideoEncoderConfig | None = None,
+    camera_encoder: VideoEncoderConfig | None = None,
 ) -> dict:
     """Build the ``video.*`` / ``audio.*`` info dict persisted in ``info.json``.
 
     Args:
         video_path: Path to the encoded video file to probe.
-        video_encoder: If provided, record the exact encoder settings used to encode this
+        camera_encoder: If provided, record the exact encoder settings used to encode this
             video. Stream-derived values take precedence — encoder fields are only written for keys
-            not already populated from the video file itself. When a
-            :class:`~lerobot.configs.video.DepthEncoderConfig` is passed, the depth
-            quantization parameters (``depth_min`` / ``depth_max`` / ``shift`` /
-            ``use_log``) are recorded so frames can be dequantized on read.
-
-    Returns:
-        The ``video.*`` / ``audio.*`` info dict, including ``is_depth_map`` which is
-        ``True`` only when ``video_encoder`` is a
-        :class:`~lerobot.configs.video.DepthEncoderConfig`.
+            not already populated from the video file itself.
     """
     logging.getLogger("libav").setLevel(av.logging.WARNING)
 
@@ -1202,10 +1106,13 @@ def get_video_info(
         video_info["video.width"] = video_stream.width
         video_info["video.codec"] = video_stream.codec.canonical_name
         video_info["video.pix_fmt"] = video_stream.pix_fmt
+        video_info["video.is_depth_map"] = False
 
         # Calculate fps from r_frame_rate
         video_info["video.fps"] = int(video_stream.base_rate)
-        video_info["video.channels"] = get_pix_fmt_channels(video_stream.pix_fmt)
+
+        pixel_channels = get_video_pixel_channels(video_stream.pix_fmt)
+        video_info["video.channels"] = pixel_channels
 
     # Reset logging level
     av.logging.restore_default_callback()
@@ -1214,18 +1121,27 @@ def get_video_info(
     video_info.update(**get_audio_info(video_path))
 
     # Add additional encoder configuration if provided
-    if video_encoder is not None:
-        for field_name, field_value in asdict(video_encoder).items():
+    if camera_encoder is not None:
+        for field_name, field_value in asdict(camera_encoder).items():
             # vcodec is already populated from the video stream
             if field_name == "vcodec":
                 continue
             video_info.setdefault(f"video.{field_name}", field_value)
 
-    video_info["is_depth_map"] = isinstance(video_encoder, DepthEncoderConfig)
-
     return video_info
 
 
+def get_video_pixel_channels(pix_fmt: str) -> int:
+    if "gray" in pix_fmt or "depth" in pix_fmt or "monochrome" in pix_fmt:
+        return 1
+    elif "rgba" in pix_fmt or "yuva" in pix_fmt:
+        return 4
+    elif "rgb" in pix_fmt or "yuv" in pix_fmt:
+        return 3
+    else:
+        raise ValueError("Unknown format")
+
+
 def get_video_duration_in_s(video_path: Path | str) -> float:
     """
     Get the duration of a video file in seconds using PyAV.
@@ -1286,13 +1202,10 @@ class VideoEncodingManager:
         img_dir = self.dataset.root / "images"
         if img_dir.exists():
             png_files = list(img_dir.rglob("*.png"))
-            tiff_files = list(img_dir.rglob("*.tiff"))
-            if len(png_files) == 0 and len(tiff_files) == 0:
+            if len(png_files) == 0:
                 shutil.rmtree(img_dir)
                 logger.debug("Cleaned up empty images directory")
             else:
-                logger.debug(
-                    f"Images directory is not empty, containing {len(png_files)} PNG and {len(tiff_files)} TIFF files"
-                )
+                logger.debug(f"Images directory is not empty, containing {len(png_files)} PNG files")
 
         return False  # Don't suppress the original exception

src/lerobot/envs/configs.py

@@ -757,7 +757,7 @@ class RoboTwinEnvConfig(EnvConfig):
 
     task: str = "beat_block_hammer"  # single task or comma-separated list
     fps: int = 25
-    episode_length: int = 1200
+    episode_length: int = 300
     obs_type: str = "pixels_agent_pos"
     render_mode: str = "rgb_array"
     # Available cameras from RoboTwin's aloha-agilex embodiment: head_camera
@@ -768,9 +768,6 @@ class RoboTwinEnvConfig(EnvConfig):
     # must equal what SAPIEN actually renders.
     observation_height: int = 240
     observation_width: int = 320
-    # "joint": 14-d joint-space control. "ee": 16-d end-effector-pose deltas executed via CuRobo IK
-    # (for world-model policies like LingBot-VA that predict per-arm xyz+quaternion+gripper poses).
-    action_mode: str = "joint"
     features: dict[str, PolicyFeature] = field(
         default_factory=lambda: {
             ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(14,)),
@@ -787,8 +784,6 @@ class RoboTwinEnvConfig(EnvConfig):
     )
 
     def __post_init__(self):
-        if self.action_mode == "ee":
-            self.features[ACTION] = PolicyFeature(type=FeatureType.ACTION, shape=(16,))
         cam_list = [c.strip() for c in self.camera_names.split(",") if c.strip()]
         for cam in cam_list:
             self.features[f"pixels/{cam}"] = PolicyFeature(
@@ -831,7 +826,6 @@ class RoboTwinEnvConfig(EnvConfig):
             observation_height=self.observation_height,
             observation_width=self.observation_width,
             episode_length=self.episode_length,
-            action_mode=self.action_mode,
         )
 
 

src/lerobot/envs/robocasa.py

@@ -33,8 +33,8 @@ logger = logging.getLogger(__name__)
 
 # Dimensions for the flat action/state vectors used by the LeRobot wrapper.
 # These correspond to the PandaOmron robot in RoboCasa365.
-OBS_STATE_DIM = 16  # base_pos(3) + base_quat(4) + ee_pos_rel(3) + ee_quat_rel(4) + gripper_qpos(2)
-ACTION_DIM = 12  # base_motion(4) + control_mode(1) + ee_pos(3) + ee_rot(3) + gripper(1)
+OBS_STATE_DIM = 16  # ee_pos_rel(3) + ee_quat_rel(4) + base_pos(3) + base_quat(4) + gripper_qpos(2)
+ACTION_DIM = 12  # ee_pos(3) + ee_rot(3) + gripper(1) + base_motion(4) + control_mode(1)
 ACTION_LOW = -1.0
 ACTION_HIGH = 1.0
 
@@ -101,14 +101,15 @@ def _resolve_tasks(task: str) -> tuple[list[str], str | None]:
 def convert_action(flat_action: np.ndarray) -> dict[str, Any]:
     """Split a flat (12,) action vector into a RoboCasa action dict.
 
-    Layout: base_motion(4) + control_mode(1) + ee_pos(3) + ee_rot(3) + gripper(1)
+    Layout (openpi / robocasa.utils.env_utils.convert_action order):
+        ee_pos(3) + ee_rot(3) + gripper(1) + base_motion(4) + control_mode(1)
     """
     return {
-        "action.base_motion": flat_action[0:4],
-        "action.control_mode": flat_action[4:5],
-        "action.end_effector_position": flat_action[5:8],
-        "action.end_effector_rotation": flat_action[8:11],
-        "action.gripper_close": flat_action[11:12],
+        "action.end_effector_position": flat_action[0:3],
+        "action.end_effector_rotation": flat_action[3:6],
+        "action.gripper_close": flat_action[6:7],
+        "action.base_motion": flat_action[7:11],
+        "action.control_mode": flat_action[11:12],
     }
 
 
@@ -230,12 +231,14 @@ class RoboCasaEnv(gym.Env):
             return {"pixels": images}
 
         # `state.*` keys come from PandaOmronKeyConverter inside the wrapper.
+        # openpi state order: ee first, then base, then gripper (matches the
+        # openpi robocasa pipeline / examples/robocasa/main.py state layout).
         agent_pos = np.concatenate(
             [
-                raw_obs.get("state.base_position", np.zeros(3)),
-                raw_obs.get("state.base_rotation", np.zeros(4)),
                 raw_obs.get("state.end_effector_position_relative", np.zeros(3)),
                 raw_obs.get("state.end_effector_rotation_relative", np.zeros(4)),
+                raw_obs.get("state.base_position", np.zeros(3)),
+                raw_obs.get("state.base_rotation", np.zeros(4)),
                 raw_obs.get("state.gripper_qpos", np.zeros(2)),
             ],
             axis=-1,

src/lerobot/envs/robotwin.py

@@ -17,7 +17,6 @@ from __future__ import annotations
 
 import importlib
 import logging
-import os
 from collections import defaultdict
 from collections.abc import Callable, Sequence
 from functools import partial
@@ -29,17 +28,9 @@ import torch
 from gymnasium import spaces
 
 from lerobot.types import RobotObservation
-from lerobot.utils.import_utils import _scipy_available
 
 from .utils import _LazyAsyncVectorEnv
 
-# scipy is only used for end-effector-pose composition (``--env.action_mode=ee``); guard it so this
-# module (and its base-env unit tests, which mock the RoboTwin runtime) imports without scipy installed.
-if _scipy_available:
-    from scipy.spatial.transform import Rotation
-else:
-    Rotation = None
-
 logger = logging.getLogger(__name__)
 
 # Camera names as used by RoboTwin 2.0. The wrapper appends "_rgb" when looking
@@ -50,124 +41,10 @@ ROBOTWIN_CAMERA_NAMES: tuple[str, ...] = (
     "right_camera",
 )
 
-ACTION_DIM = 14  # 7 DOF × 2 arms (joint-space control mode)
-# End-effector-pose control mode: per arm [x, y, z, qx, qy, qz, qw, gripper] = 8, dual-arm = 16.
-# Used by world-model policies (e.g. LingBot-VA) that predict eef-pose deltas executed via CuRobo IK.
-EEF_ACTION_DIM = 16
+ACTION_DIM = 14  # 7 DOF × 2 arms
 ACTION_LOW = -1.0
 ACTION_HIGH = 1.0
-DEFAULT_EPISODE_LENGTH = 1200
-OFFICIAL_INSTRUCTION_ENV = "LEROBOT_ROBOTWIN_OFFICIAL_INSTRUCTION"
-OFFICIAL_INSTRUCTION_TYPE_ENV = "LEROBOT_ROBOTWIN_INSTRUCTION_TYPE"
-OFFICIAL_INSTRUCTION_MAX_ENV = "LEROBOT_ROBOTWIN_INSTRUCTION_MAX"
-
-
-def _compose_eef_pose(new_pose: np.ndarray, init_pose: np.ndarray) -> np.ndarray:
-    """Compose a single-arm predicted delta pose onto the initial pose.
-
-    ``new_pose`` / ``init_pose`` are 8-vectors ``[x, y, z, qx, qy, qz, qw, gripper]``. Translation
-    is added, rotation is composed (``init_R * new_R``), and the gripper is taken from the
-    prediction. Mirrors ``add_eef_pose`` in the upstream LingBot-VA RoboTwin client.
-    """
-    new_r = Rotation.from_quat(new_pose[3:7])
-    init_r = Rotation.from_quat(init_pose[3:7])
-    out_rot = (init_r * new_r).as_quat()
-    out_trans = new_pose[:3] + init_pose[:3]
-    return np.concatenate([out_trans, out_rot, new_pose[7:8]])
-
-
-def _add_init_eef_pose(delta_pose: np.ndarray, init_pose: np.ndarray) -> np.ndarray:
-    """Compose a dual-arm (16-d) predicted delta pose onto the initial eef pose, normalizing quats."""
-    left = _compose_eef_pose(delta_pose[:8], init_pose[:8])
-    right = _compose_eef_pose(delta_pose[8:], init_pose[8:])
-    out = np.concatenate([left, right])
-    # Normalize the two quaternions (indices 3:7 and 11:15) as the upstream client does.
-    out[3:7] = out[3:7] / (np.linalg.norm(out[3:7]) + 1e-8)
-    out[11:15] = out[11:15] / (np.linalg.norm(out[11:15]) + 1e-8)
-    return out
-
-
-def _env_flag(name: str, default: bool = False) -> bool:
-    raw = os.environ.get(name)
-    if raw is None:
-        return default
-    return raw.strip().lower() in {"1", "true", "yes", "on"}
-
-
-def _arm_for_block(block: Any) -> str:
-    return "left" if float(block.get_pose().p[0]) < 0 else "right"
-
-
-def _robotwin_blocks_episode_info(task_name: str, env: Any) -> dict[str, str] | None:
-    """Infer the episode-info dict used by RoboTwin's official instruction generator for block ranking."""
-    if task_name == "blocks_ranking_rgb":
-        return {
-            "{A}": "red block",
-            "{B}": "green block",
-            "{C}": "blue block",
-            "{a}": _arm_for_block(env.block1),
-            "{b}": _arm_for_block(env.block2),
-            "{c}": _arm_for_block(env.block3),
-        }
-    if task_name == "blocks_ranking_size":
-        return {
-            "{A}": "large block",
-            "{B}": "medium block",
-            "{C}": "small block",
-            "{a}": _arm_for_block(env.block1),
-            "{b}": _arm_for_block(env.block2),
-            "{c}": _arm_for_block(env.block3),
-        }
-    return None
-
-
-def _generate_robotwin_official_instruction(task_name: str, env: Any) -> str:
-    """Generate language with RoboTwin's official task templates, matching its eval client."""
-    fallback = task_name.replace("_", " ")
-    episode_info = _robotwin_blocks_episode_info(task_name, env)
-    if episode_info is None:
-        logger.warning(
-            "Official RoboTwin instruction is not implemented for task=%s; using %r.", task_name, fallback
-        )
-        return fallback
-
-    try:
-        # Part of the robotwin simulator repo, this is being pulled by the docker image running robotwin
-        # see https://github.com/RoboTwin-Platform/RoboTwin/tree/main/description
-        # Used to generate the official instructions
-        from description.utils.generate_episode_instructions import generate_episode_descriptions
-    except Exception:
-        logger.warning(
-            "Failed to import RoboTwin official instruction generator; using %r.", fallback, exc_info=True
-        )
-        return fallback
-
-    instruction_type = os.environ.get(OFFICIAL_INSTRUCTION_TYPE_ENV, "seen")
-    try:
-        max_descriptions = int(os.environ.get(OFFICIAL_INSTRUCTION_MAX_ENV, "1000000"))
-    except ValueError:
-        max_descriptions = 1000000
-
-    results = generate_episode_descriptions(task_name, [episode_info], max_descriptions=max_descriptions)
-    if not results:
-        logger.warning(
-            "RoboTwin generated no official instructions for task=%s; using %r.", task_name, fallback
-        )
-        return fallback
-
-    options = results[0].get(instruction_type) or results[0].get("seen") or results[0].get("unseen")
-    if not options:
-        logger.warning(
-            "RoboTwin generated no %s official instructions for task=%s; using %r.",
-            instruction_type,
-            task_name,
-            fallback,
-        )
-        return fallback
-
-    return str(np.random.choice(options))
-
-
+DEFAULT_EPISODE_LENGTH = 300
 # D435 dims from task_config/_camera_config.yml (what demo_clean.yml selects).
 DEFAULT_CAMERA_H = 240
 DEFAULT_CAMERA_W = 320
@@ -357,7 +234,6 @@ class RoboTwinEnv(gym.Env):
         observation_width: int | None = None,
         episode_length: int = DEFAULT_EPISODE_LENGTH,
         render_mode: str = "rgb_array",
-        action_mode: str = "joint",
     ):
         super().__init__()
         self.task_name = task_name
@@ -365,13 +241,6 @@ class RoboTwinEnv(gym.Env):
         self.task_description = task_name.replace("_", " ")
         self.episode_index = episode_index
         self._reset_stride = n_envs
-        # "joint": 14-d joint-space actions via take_action(action). "ee": 16-d end-effector-pose
-        # deltas (added onto the episode's initial eef pose) executed via take_action(.., "ee") + IK.
-        if action_mode not in ("joint", "ee"):
-            raise ValueError(f"action_mode must be 'joint' or 'ee'; got {action_mode!r}")
-        self.action_mode = action_mode
-        self._action_dim = EEF_ACTION_DIM if action_mode == "ee" else ACTION_DIM
-        self._init_eef_pose: np.ndarray | None = None
         self.camera_names = list(camera_names)
         # Default to D435 dims (the camera type baked into task_config/demo_clean.yml).
         # The YAML-driven lookup is deferred to reset() so construction doesn't
@@ -402,7 +271,7 @@ class RoboTwinEnv(gym.Env):
             }
         )
         self.action_space = spaces.Box(
-            low=ACTION_LOW, high=ACTION_HIGH, shape=(self._action_dim,), dtype=np.float32
+            low=ACTION_LOW, high=ACTION_HIGH, shape=(ACTION_DIM,), dtype=np.float32
         )
 
     def _ensure_env(self) -> None:
@@ -448,18 +317,6 @@ class RoboTwinEnv(gym.Env):
 
         return {"pixels": images, "agent_pos": joint_state}
 
-    def _read_eef_pose(self) -> np.ndarray:
-        """Read the current 16-d dual-arm eef pose [left(xyz+quat)+grip, right(xyz+quat)+grip]."""
-        assert self._env is not None, "_read_eef_pose called before _ensure_env()"
-        ep = self._env.get_obs()["endpose"]
-        pose = (
-            list(ep["left_endpose"])
-            + [ep["left_gripper"]]
-            + list(ep["right_endpose"])
-            + [ep["right_gripper"]]
-        )
-        return np.asarray(pose, dtype=np.float64)
-
     def reset(self, seed: int | None = None, **kwargs) -> tuple[RobotObservation, dict]:
         self._ensure_env()
         super().reset(seed=seed)
@@ -473,32 +330,16 @@ class RoboTwinEnv(gym.Env):
         self.episode_index += self._reset_stride
         self._step_count = 0
 
-        use_official_instruction = self.task_name in {"blocks_ranking_rgb", "blocks_ranking_size"}
-        if _env_flag(OFFICIAL_INSTRUCTION_ENV, default=use_official_instruction):
-            self.task_description = _generate_robotwin_official_instruction(self.task_name, self._env)
-            if hasattr(self._env, "set_instruction"):
-                self._env.set_instruction(instruction=self.task_description)
-            logger.info("RoboTwin official instruction | task=%s | %s", self.task_name, self.task_description)
-        else:
-            self.task_description = self.task_name.replace("_", " ")
-
-        # In eef mode the policy predicts pose deltas relative to the initial eef pose.
-        if self.action_mode == "ee":
-            self._init_eef_pose = self._read_eef_pose()
-
         obs = self._get_obs()
         return obs, {"is_success": False, "task": self.task_name}
 
     def step(self, action: np.ndarray) -> tuple[RobotObservation, float, bool, bool, dict[str, Any]]:
         assert self._env is not None, "step() called before reset()"
-        if action.ndim != 1 or action.shape[0] != self._action_dim:
-            raise ValueError(f"Expected 1-D action of shape ({self._action_dim},), got {action.shape}")
+        if action.ndim != 1 or action.shape[0] != ACTION_DIM:
+            raise ValueError(f"Expected 1-D action of shape ({ACTION_DIM},), got {action.shape}")
 
         with torch.enable_grad():
-            if self.action_mode == "ee":
-                ee_action = _add_init_eef_pose(np.asarray(action, dtype=np.float64), self._init_eef_pose)
-                self._env.take_action(ee_action, action_type="ee")
-            elif hasattr(self._env, "take_action"):
+            if hasattr(self._env, "take_action"):
                 self._env.take_action(action)
             else:
                 self._env.step(action)
@@ -557,7 +398,6 @@ def _make_env_fns(
     observation_height: int,
     observation_width: int,
     episode_length: int,
-    action_mode: str = "joint",
 ) -> list[Callable[[], RoboTwinEnv]]:
     """Return n_envs factory callables for a single task."""
 
@@ -570,7 +410,6 @@ def _make_env_fns(
             observation_height=observation_height,
             observation_width=observation_width,
             episode_length=episode_length,
-            action_mode=action_mode,
         )
 
     return [partial(_make_one, i) for i in range(n_envs)]
@@ -584,7 +423,6 @@ def create_robotwin_envs(
     observation_height: int = DEFAULT_CAMERA_H,
     observation_width: int = DEFAULT_CAMERA_W,
     episode_length: int = DEFAULT_EPISODE_LENGTH,
-    action_mode: str = "joint",
 ) -> dict[str, dict[int, Any]]:
     """Create vectorized RoboTwin 2.0 environments.
 
@@ -635,7 +473,6 @@ def create_robotwin_envs(
             observation_height=observation_height,
             observation_width=observation_width,
             episode_length=episode_length,
-            action_mode=action_mode,
         )
         if is_async:
             lazy = _LazyAsyncVectorEnv(fns, cached_obs_space, cached_act_space, cached_metadata)

src/lerobot/jobs/__init__.py

@@ -1,23 +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.
-
-from lerobot.utils.import_utils import require_package
-
-# LeRobotDataset (imported at module top in dataset.py) pulls in heavy dataset deps;
-# guard the optional dependency here so importing this package fails loudly if it's missing.
-require_package("datasets", extra="dataset")
-
-from .hf import submit_to_hf
-
-__all__ = ["submit_to_hf"]

src/lerobot/jobs/dataset.py

@@ -1,53 +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.
-"""Make a training dataset reachable from an HF Job pod.
-
-The pod can't see the host's ~/.cache/huggingface/lerobot, so the dataset has to
-live on the Hub: the pod downloads it by repo_id at train time (the forwarded
-HF_TOKEN covers private datasets). A dataset already on the Hub is used as-is; a
-local-only dataset is pushed to a PRIVATE repo first (never public).
-"""
-
-from __future__ import annotations
-
-from typing import TYPE_CHECKING
-
-from lerobot.datasets import LeRobotDataset
-from lerobot.utils.constants import HF_LEROBOT_HOME
-
-if TYPE_CHECKING:
-    from huggingface_hub import HfApi
-
-
-def ensure_dataset_available(repo_id: str, *, api: HfApi, tags: list[str] | None = None) -> None:
-    """Ensure repo_id resolves on the Hub, pushing a local-only dataset privately first.
-
-    `tags` are attached to the dataset only when we push it (an already-on-Hub
-    dataset is left untouched). Raises RuntimeError if the dataset is neither on
-    the Hub nor in the local cache.
-    """
-    if api.repo_exists(repo_id, repo_type="dataset"):
-        return
-
-    local_present = (HF_LEROBOT_HOME / repo_id / "meta" / "info.json").is_file()
-    if not local_present:
-        raise RuntimeError(
-            f"Dataset '{repo_id}' is not in the local cache ({HF_LEROBOT_HOME}) and could not be "
-            f"reached on the Hub — it may not exist, or be private and inaccessible with your "
-            f"token. Record or download it first, or run `hf auth login`."
-        )
-
-    print(f"[dataset] '{repo_id}' is local-only; pushing to a PRIVATE Hub repo...")
-    LeRobotDataset(repo_id).push_to_hub(private=True, tags=tags)
-    print(f"[dataset] '{repo_id}' uploaded (private). The job will download it by repo_id.")

src/lerobot/jobs/hf.py

@@ -1,425 +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.
-"""Run a lerobot training on HF Jobs (HuggingFace GPUs).
-
-Ported and simplified from lelab's runners/hf_cloud.py: no UI log queue, no
-registry — just submit and stream to stdout.
-"""
-
-from __future__ import annotations
-
-import copy
-import datetime as dt
-import json
-import netrc
-import os
-import re
-import signal
-import sys
-import tempfile
-import threading
-from pathlib import Path
-from typing import TYPE_CHECKING
-
-import httpx
-from huggingface_hub import (
-    HfApi,
-    create_repo,
-    fetch_job_logs,
-    get_token,
-    inspect_job,
-    run_job,
-    upload_file,
-)
-
-from lerobot.common.train_utils import push_checkpoint_to_hub
-from lerobot.configs import parser
-
-from .dataset import ensure_dataset_available
-
-if TYPE_CHECKING:
-    from lerobot.configs.train import TrainPipelineConfig
-
-_SLUG_RE = re.compile(r"[^a-zA-Z0-9._-]+")
-
-_TERMINAL_STAGES = {"COMPLETED", "CANCELED", "ERROR", "DELETED"}
-
-# huggingface_hub 1.x runs on httpx: transient HTTP/transport failures surface as
-# httpx.HTTPError and socket-level errors as OSError. Catching only these keeps real
-# bugs (TypeError, AttributeError, ...) from being silently retried or counted as
-# job failures.
-_TRANSIENT_NET_ERRORS = (OSError, httpx.HTTPError)
-
-# Always attached to remote jobs and pushed datasets so LeRobot-originated work
-# is identifiable on the Hub; callers (e.g. LeLab) add their own via --job.tags.
-LEROBOT_TAG = "lerobot"
-
-
-def resolve_job_tags(extra: list[str] | None) -> list[str]:
-    """Return the tag list for a run: the lerobot tag plus any extras, deduped, order-stable."""
-    tags = [LEROBOT_TAG, *(extra or [])]
-    seen: set[str] = set()
-    return [t for t in tags if not (t in seen or seen.add(t))]
-
-
-def resolve_wandb_api_key() -> str | None:
-    """Host's wandb key for forwarding to the job: $WANDB_API_KEY, else ~/.netrc."""
-    key = os.environ.get("WANDB_API_KEY")
-    if key:
-        return key
-    try:
-        rc = netrc.netrc()
-    except (FileNotFoundError, netrc.NetrcParseError, OSError):
-        return None
-    auth = rc.authenticators("api.wandb.ai")
-    if auth is None:
-        return None
-    _login, _account, password = auth
-    return password or None
-
-
-def build_repo_id(username: str, job_name: str, now: dt.datetime) -> str:
-    """Generate the model repo id for a remote run: <user>/<job_name>_<timestamp>."""
-    slug = _SLUG_RE.sub("-", job_name).strip("-") or "train"
-    stamp = now.strftime("%Y-%m-%d_%H-%M-%S")
-    return f"{username}/{slug}_{stamp}"
-
-
-def build_remote_config_file(cfg, repo_id: str, dest: Path, tags: list[str] | None = None) -> Path:
-    """Write a train_config.json for the pod, with remote overrides applied.
-
-    The pod runs `lerobot-train --config_path=<dest>` and downloads the dataset
-    by repo_id into its own cache. Client-only fields are stripped so the config
-    is accepted by the trainer image: `job` (pure client orchestration) is always
-    removed, and `save_checkpoint_to_hub` is removed unless explicitly enabled —
-    older lerobot images reject unknown keys, so the default keeps the config
-    compatible with the released `lerobot-gpu` image. `tags` are merged into
-    policy.tags so the trained model the pod pushes carries them too.
-    """
-    remote = copy.deepcopy(cfg)
-    remote.policy.push_to_hub = True
-    remote.policy.repo_id = repo_id
-    # Don't pin the client's resolved device (e.g. "mps"); let the pod auto-detect its GPU.
-    remote.policy.device = None
-    # Drop any host-local dataset root; the pod resolves the dataset by repo_id.
-    remote.dataset.root = None
-    if tags:
-        existing = list(remote.policy.tags or [])
-        remote.policy.tags = existing + [t for t in tags if t not in existing]
-
-    # Encode to the canonical, pod-parseable dict, then drop the keys the released
-    # trainer image doesn't know about.
-    data = remote.to_dict()
-    data.pop("job", None)
-    if not remote.save_checkpoint_to_hub:
-        data.pop("save_checkpoint_to_hub", None)
-
-    dest.parent.mkdir(parents=True, exist_ok=True)
-    dest.write_text(json.dumps(data, indent=4))
-    return dest
-
-
-def _stage_config_on_hub(cfg, repo_id: str, token: str, tags: list[str] | None = None) -> str:
-    """Upload train_config.json to the model repo and return the repo_id for --config_path."""
-    create_repo(repo_id, repo_type="model", private=True, exist_ok=True, token=token)
-    with tempfile.TemporaryDirectory() as tmp:
-        config_path = build_remote_config_file(cfg, repo_id, Path(tmp) / "train_config.json", tags=tags)
-        upload_file(
-            path_or_fileobj=config_path,
-            path_in_repo="train_config.json",
-            repo_id=repo_id,
-            repo_type="model",
-            token=token,
-        )
-    return repo_id
-
-
-def _tail_logs(
-    job_id: str,
-    done: threading.Event,
-    success_marker: str | None = None,
-    success_event: threading.Event | None = None,
-) -> None:
-    """Stream job logs to stdout, reconnecting on dropped streams until done is set.
-
-    Each reconnect re-fetches the full buffered log, so we track how many lines
-    were already printed and skip them — otherwise a fast-failing job's traceback
-    gets reprinted on every reconnect.
-
-    When `success_marker` appears in a line, set `success_event` and `done` so the
-    caller can finish as soon as the trained model lands on the Hub, rather than
-    waiting out the platform's post-run finalization (which can add ~30s).
-    """
-    printed = 0
-    while not done.is_set():
-        try:
-            seen = 0
-            for line in fetch_job_logs(job_id=job_id, follow=True):
-                seen += 1
-                if seen <= printed:
-                    continue  # already shown on a previous connection
-                printed = seen
-                # fetch_job_logs yields SSE data without trailing newlines, so add one
-                # per entry — otherwise all log lines concatenate onto a single line.
-                print(line.rstrip("\n"), flush=True)
-                if success_marker and success_event is not None and success_marker in line:
-                    success_event.set()
-                    done.set()
-                    return
-                if done.is_set():
-                    return
-            # Stream closed cleanly. Wait a moment so the status poller can mark
-            # the job terminal before we reconnect (avoids re-tailing the buffer).
-            if done.wait(3):
-                return
-        except _TRANSIENT_NET_ERRORS:
-            if done.wait(2):
-                return
-
-
-def _poll_until_done(
-    job_id: str,
-    done: threading.Event,
-    poll_interval: float = 5.0,
-    status_holder: dict | None = None,
-    max_failures: int = 6,
-) -> str | None:
-    """Poll inspect_job until a terminal stage or until `done` is set.
-
-    Returns the terminal stage string, or None if `done` was set first (detach)
-    or after `max_failures` consecutive inspect_job errors. When a terminal stage
-    is reached and `status_holder` is given, records `status_holder["message"]`
-    (the platform's status message, e.g. "Job timeout").
-    """
-    failures = 0
-    while not done.is_set():
-        try:
-            info = inspect_job(job_id=job_id)
-            failures = 0
-            # `stage` is an enum in some huggingface_hub versions and a plain str in others.
-            stage = getattr(info.status.stage, "value", info.status.stage)
-            if stage in _TERMINAL_STAGES:
-                if status_holder is not None:
-                    status_holder["message"] = getattr(info.status, "message", None)
-                done.set()
-                return stage
-        except _TRANSIENT_NET_ERRORS:
-            failures += 1
-            if failures >= max_failures:
-                done.set()
-                return None
-        done.wait(poll_interval)
-    return None
-
-
-def _pod_forwarded_args(
-    argv: list[str], drop_names: tuple[str, ...] = (), drop_prefixes: tuple[str, ...] = ()
-) -> list[str]:
-    """User CLI overrides to replay on the pod, minus flags the submitter sets itself.
-
-    Handles both `--name=value` and `--name value` forms. Forwarding the user's overrides (e.g.
-    `--steps`, `--save_checkpoint_to_hub`) makes a remote resume behave like the same local command.
-    """
-    out: list[str] = []
-    skip_next = False
-    for i, tok in enumerate(argv):
-        if skip_next:
-            skip_next = False
-            continue
-        name = tok.split("=", 1)[0]
-        if name in drop_names or any(name.startswith(p) for p in drop_prefixes):
-            if "=" not in tok and i + 1 < len(argv) and not argv[i + 1].startswith("--"):
-                skip_next = True  # also drop the space-separated value
-            continue
-        out.append(tok)
-    return out
-
-
-def _build_resume_job(cfg: TrainPipelineConfig, username: str) -> tuple[str, list[str]]:
-    """Resolve the model repo and pod command to resume a run on a job.
-
-    A Hub `config_path` is resumed from directly: its checkpoint config already targets that repo,
-    so new checkpoints continue the lineage there. A local `config_path` has its checkpoint uploaded
-    to a new PRIVATE repo first, and the resumed run is forced to push back to it. The pod command
-    always carries `--job.target=local` so the checkpoint's saved `job.target` can't make the pod
-    re-dispatch itself.
-    """
-    config_path = parser.parse_arg("config_path")
-    forwarded = _pod_forwarded_args(
-        sys.argv[1:],
-        drop_names=("--config_path", "--policy.repo_id", "--policy.push_to_hub", "--dataset.root"),
-        drop_prefixes=("--job.",),
-    )
-
-    if Path(config_path).exists():
-        # Local checkpoint: stage it on the Hub so the pod can resume from it, and push back there.
-        # Resolve so a `last` symlink uploads under its real step name (digit), which the pod's
-        # latest-checkpoint lookup keys on.
-        checkpoint_dir = Path(cfg.checkpoint_path).resolve()
-        source_repo = build_repo_id(username, cfg.job_name or "train", dt.datetime.now(dt.UTC))
-        push_checkpoint_to_hub(checkpoint_dir, source_repo, private=True)
-        extra = [f"--policy.repo_id={source_repo}", "--policy.push_to_hub=true"]
-    else:
-        source_repo = config_path
-        extra = []
-
-    command = [
-        "lerobot-train",
-        *forwarded,
-        f"--config_path={source_repo}",
-        "--job.target=local",
-        *extra,
-    ]
-    return source_repo, command
-
-
-def submit_to_hf(cfg: TrainPipelineConfig) -> None:
-    """Submit a training job to HF Jobs infrastructure.
-
-    Validates cfg, resolves credentials, ensures the dataset is on the Hub, then either stages a
-    sanitized config (fresh run) or resumes from a checkpoint repo, submits the job, and tails logs
-    until completion or detaches immediately. Ctrl-C detaches without cancelling the remote job.
-    """
-    token = get_token()
-    if not token:
-        raise RuntimeError("Not logged in to Hugging Face. Run `hf auth login` first.")
-
-    api = HfApi(token=token)
-    user_info = api.whoami(token=token)
-    username = user_info["name"]
-
-    now = dt.datetime.now(dt.UTC)
-    fresh_repo_id: str | None = None
-    if not cfg.resume:
-        # Resolve the model repo and mark it for push BEFORE validate(): validate() requires repo_id
-        # to be set whenever push_to_hub is True. (A resume reuses the checkpoint's repo instead.)
-        if cfg.policy is not None:
-            base_name = cfg.job_name or cfg.policy.type
-            fresh_repo_id = cfg.policy.repo_id or build_repo_id(username, base_name, now)
-            cfg.policy.repo_id = fresh_repo_id
-            cfg.policy.push_to_hub = True
-        else:
-            # Path-based policy is resolved inside validate(); fall back to a generic slug.
-            fresh_repo_id = build_repo_id(username, cfg.job_name or "train", now)
-
-    cfg.validate()
-
-    if cfg.is_reward_model_training:
-        raise ValueError(
-            "Remote training via --job.target only supports policy training, not reward models. "
-            "Run reward-model training locally."
-        )
-
-    secrets: dict[str, str] = {"HF_TOKEN": token}
-    if cfg.wandb.enable:
-        wandb_key = resolve_wandb_api_key()
-        if wandb_key is None:
-            raise ValueError(
-                "wandb is enabled but no WANDB_API_KEY found. "
-                "Set it via `export WANDB_API_KEY=...` or add it to ~/.netrc."
-            )
-        secrets["WANDB_API_KEY"] = wandb_key
-
-    tags = resolve_job_tags(cfg.job.tags)
-    # The dataset must be reachable from the pod for both fresh and resumed runs; a local-only
-    # dataset is pushed PRIVATE here. Hoisted before the resume/fresh branch since it applies to both.
-    ensure_dataset_available(cfg.dataset.repo_id, api=api, tags=tags)
-
-    if cfg.resume:
-        repo_id, command = _build_resume_job(cfg, username)
-    else:
-        config_repo_id = _stage_config_on_hub(cfg, fresh_repo_id, token, tags=tags)
-        repo_id = fresh_repo_id
-        command = ["lerobot-train", f"--config_path={config_repo_id}"]
-
-    print(f"Submitting job to HF Jobs (flavor={cfg.job.target}, image={cfg.job.image}) ...")
-    job_info = run_job(
-        image=cfg.job.image,
-        command=command,
-        flavor=cfg.job.target,
-        secrets=secrets,
-        timeout=cfg.job.timeout,
-        # HF Jobs labels are key/value; expose each tag as a queryable label.
-        labels=dict.fromkeys(tags, "true"),
-    )
-    job_id = job_info.id
-    job_url = getattr(job_info, "url", None)
-    print(f"Job submitted: {job_id}")
-    if job_url:
-        print(f"  Job page:   {job_url}")
-    print(f"  Model repo: https://huggingface.co/{repo_id}")
-    print(f"  Monitor:    hf jobs logs {job_id}")
-    print(f"  Cancel:     hf jobs cancel {job_id}")
-
-    if cfg.job.detach:
-        return
-
-    done = threading.Event()
-    detached = threading.Event()
-    pushed_ok = threading.Event()
-    stage_holder: dict[str, str | None] = {}
-
-    def _poll() -> None:
-        stage_holder["stage"] = _poll_until_done(job_id, done, status_holder=stage_holder)
-
-    poll_thread = threading.Thread(target=_poll, daemon=True)
-    poll_thread.start()
-    # Finish as soon as the model is pushed, rather than waiting out the platform's
-    # post-run finalization before the job stage flips to COMPLETED. This matches the
-    # exact log line emitted by PreTrainedPolicy.push_model_to_hub — the two must stay
-    # in sync. If it ever stops matching we just fall back to stage-based completion
-    # (~30s slower), so the contract is an optimization, not a correctness requirement.
-    success_marker = f"Model pushed to https://huggingface.co/{repo_id}"
-    log_thread = threading.Thread(
-        target=_tail_logs, args=(job_id, done, success_marker, pushed_ok), daemon=True
-    )
-    log_thread.start()
-
-    def _detach(sig, frame):
-        detached.set()
-        done.set()
-        print("\nDetached. Job is still running.")
-        print(f"  Monitor: hf jobs logs {job_id}")
-        print(f"  Cancel:  hf jobs cancel {job_id}")
-
-    # signal.signal only works on the main thread; when called from a worker thread
-    # (e.g. an orchestration framework) skip the Ctrl-C-detaches-instead-of-cancels
-    # handler rather than crashing with ValueError.
-    install_sigint = threading.current_thread() is threading.main_thread()
-    original_sigint = signal.getsignal(signal.SIGINT) if install_sigint else None
-    if install_sigint:
-        signal.signal(signal.SIGINT, _detach)
-    try:
-        # Timeout-based join so SIGINT is delivered to the main thread promptly.
-        while poll_thread.is_alive():
-            poll_thread.join(timeout=0.5)
-        log_thread.join(timeout=5)
-    finally:
-        if install_sigint:
-            signal.signal(signal.SIGINT, original_sigint)
-
-    if detached.is_set():
-        return
-
-    if pushed_ok.is_set():
-        print(f"\nTraining complete — model pushed to https://huggingface.co/{repo_id}")
-        return
-
-    stage = stage_holder.get("stage")
-    if stage != "COMPLETED":
-        message = stage_holder.get("message")
-        detail = f" ({message})" if message else ""
-        raise RuntimeError(
-            f"Job {job_id} ended with stage={stage}{detail}. Check logs: hf jobs logs {job_id}"
-        )

src/lerobot/optim/optimizers.py

@@ -104,6 +104,8 @@ class AdamWConfig(OptimizerConfig):
     eps: float = 1e-8
     weight_decay: float = 1e-2
     grad_clip_norm: float = 10.0
+    foreach: bool | None = None
+    fused: bool | None = None
 
     def build(self, params: OptimizerParams) -> torch.optim.Optimizer:
         kwargs = asdict(self)

src/lerobot/optim/schedulers.py

@@ -83,50 +83,6 @@ class VQBeTSchedulerConfig(LRSchedulerConfig):
         return LambdaLR(optimizer, lr_lambda, -1)
 
 
-@LRSchedulerConfig.register_subclass("constant_with_warmup")
-@dataclass
-class ConstantWithWarmupSchedulerConfig(LRSchedulerConfig):
-    """Linear warmup followed by a constant learning rate.
-
-    Mirrors the ``warmup_constant_lambda`` used by LingBot-VA (upstream ``wan_va/train.py``):
-    the LR ramps linearly from 0 to the peak over ``num_warmup_steps`` steps, then stays flat.
-    """
-
-    num_warmup_steps: int = 1000
-
-    def build(self, optimizer: Optimizer, num_training_steps: int) -> LambdaLR:
-        warmup_steps = self.num_warmup_steps or 0
-
-        def lr_lambda(current_step):
-            if current_step < warmup_steps:
-                return float(current_step) / float(max(1, warmup_steps))
-            return 1.0
-
-        return LambdaLR(optimizer, lr_lambda, -1)
-
-
-@LRSchedulerConfig.register_subclass("cosine_annealing_with_warmup")
-@dataclass
-class CosineAnnealingWithWarmupSchedulerConfig(LRSchedulerConfig):
-    """Linear warmup followed by cosine annealing from the peak LR to zero.
-
-    Used by EVO1; the annealing phase always spans the remaining training steps.
-    """
-
-    num_warmup_steps: int
-
-    def build(self, optimizer: Optimizer, num_training_steps: int) -> LambdaLR:
-        def lr_lambda(current_step: int) -> float:
-            if current_step < self.num_warmup_steps:
-                return current_step / max(1, self.num_warmup_steps)
-            progress = (current_step - self.num_warmup_steps) / max(
-                1, num_training_steps - self.num_warmup_steps
-            )
-            return max(0.0, 0.5 * (1.0 + math.cos(math.pi * progress)))
-
-        return LambdaLR(optimizer, lr_lambda, -1)
-
-
 @LRSchedulerConfig.register_subclass("cosine_decay_with_warmup")
 @dataclass
 class CosineDecayWithWarmupSchedulerConfig(LRSchedulerConfig):

src/lerobot/policies/__init__.py

@@ -17,17 +17,15 @@ from lerobot.utils.action_interpolator import ActionInterpolator as ActionInterp
 from .act.configuration_act import ACTConfig as ACTConfig
 from .diffusion.configuration_diffusion import DiffusionConfig as DiffusionConfig
 from .eo1.configuration_eo1 import EO1Config as EO1Config
-from .evo1.configuration_evo1 import Evo1Config as Evo1Config
 from .factory import get_policy_class, make_policy, make_policy_config, make_pre_post_processors
-from .fastwam.configuration_fastwam import FastWAMConfig as FastWAMConfig
 from .gaussian_actor.configuration_gaussian_actor import GaussianActorConfig as GaussianActorConfig
 from .groot.configuration_groot import GrootConfig as GrootConfig
-from .lingbot_va.configuration_lingbot_va import LingBotVAConfig as LingBotVAConfig
 from .molmoact2.configuration_molmoact2 import MolmoAct2Config as MolmoAct2Config
 from .multi_task_dit.configuration_multi_task_dit import MultiTaskDiTConfig as MultiTaskDiTConfig
 from .pi0.configuration_pi0 import PI0Config as PI0Config
 from .pi0_fast.configuration_pi0_fast import PI0FastConfig as PI0FastConfig
 from .pi05.configuration_pi05 import PI05Config as PI05Config
+from .pi052.configuration_pi052 import PI052Config as PI052Config
 from .pretrained import PreTrainedPolicy as PreTrainedPolicy
 from .smolvla.configuration_smolvla import SmolVLAConfig as SmolVLAConfig
 from .tdmpc.configuration_tdmpc import TDMPCConfig as TDMPCConfig
@@ -45,16 +43,14 @@ __all__ = [
     "ACTConfig",
     "DiffusionConfig",
     "EO1Config",
-    "FastWAMConfig",
     "GaussianActorConfig",
-    "Evo1Config",
     "GrootConfig",
-    "LingBotVAConfig",
     "MolmoAct2Config",
     "MultiTaskDiTConfig",
     "PI0Config",
     "PI0FastConfig",
     "PI05Config",
+    "PI052Config",
     "SmolVLAConfig",
     "TDMPCConfig",
     "VQBeTConfig",

src/lerobot/policies/evo1/README.md

@@ -1 +0,0 @@
-../../../../docs/source/policy_evo1_README.md

src/lerobot/policies/evo1/configuration_evo1.py

@@ -1,252 +0,0 @@
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from __future__ import annotations
-
-import logging
-from dataclasses import dataclass, field
-
-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 CosineAnnealingWithWarmupSchedulerConfig
-from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE
-
-from ..rtc.configuration_rtc import RTCConfig
-
-logger = logging.getLogger(__name__)
-
-
-@PreTrainedConfig.register_subclass("evo1")
-@dataclass
-class Evo1Config(PreTrainedConfig):
-    training_stage: str = "stage1"
-    # When True and the policy runs on CUDA, EVO1 wraps its own forward passes (training and
-    # inference) in a bfloat16 autocast block, so its numerics do not depend on the dtype of any
-    # outer autocast context opened by lerobot-train/lerobot-eval.
-    use_amp: bool = True
-
-    n_obs_steps: int = 1
-    chunk_size: int = 50
-    n_action_steps: int = 50
-
-    max_state_dim: int = 24
-    max_action_dim: int = 24
-    max_views: int = 3
-    image_resolution: tuple[int, int] = (448, 448)
-    empty_cameras: int = 0
-    postprocess_action_dim: int | None = None
-    binarize_gripper: bool = False
-    gripper_index: int = 6
-    gripper_threshold: float = 0.5
-    gripper_below_threshold_value: float = 1.0
-    gripper_above_threshold_value: float = -1.0
-
-    normalization_mapping: dict[str, NormalizationMode] = field(
-        default_factory=lambda: {
-            "VISUAL": NormalizationMode.IDENTITY,
-            "STATE": NormalizationMode.MIN_MAX,
-            "ACTION": NormalizationMode.MIN_MAX,
-        }
-    )
-
-    vlm_model_name: str = "OpenGVLab/InternVL3-1B-hf"
-    vlm_num_layers: int | None = 14
-    vlm_dtype: str = "bfloat16"
-    # Max token length for tokenizing the (image placeholders + instruction) prompt. Prompts longer
-    # than this are right-truncated, so raise it for tasks with long language instructions or many views.
-    max_text_length: int = 1024
-    use_flash_attn: bool = True
-    action_head: str = "flowmatching"
-    embed_dim: int = 896
-    hidden_dim: int = 1024
-    state_hidden_dim: int = 1024
-    num_heads: int = 8
-    num_layers: int = 8
-    dropout: float = 0.0
-    num_inference_timesteps: int = 32
-    num_categories: int = 1
-    # When True, the action head is conditioned on a single pooled VL token (the last non-padding
-    # token of the causal decoder) instead of the full fused token sequence.
-    return_cls_only: bool = False
-    enable_gradient_checkpointing: bool = True
-    gradient_checkpointing_use_reentrant: bool = False
-
-    finetune_vlm: bool | None = None
-    finetune_language_model: bool | None = None
-    finetune_vision_model: bool | None = None
-    finetune_action_head: bool | None = None
-    # Reapply stage defaults after loading checkpoint configs so stage2 cannot
-    # accidentally inherit the frozen VLM flags stored by a stage1 checkpoint.
-    apply_training_stage_defaults: bool = True
-
-    task_field: str = "task"
-    embodiment_id_field: str | None = None
-    default_embodiment_id: int = 0
-
-    # Real-Time Chunking guidance for asynchronous inference (lerobot-rollout --inference.type=rtc
-    # sets this and calls init_rtc_processor()); None disables RTC.
-    rtc_config: RTCConfig | None = None
-
-    optimizer_lr: float = 1e-5
-    optimizer_betas: tuple[float, float] = (0.9, 0.999)
-    optimizer_eps: float = 1e-8
-    optimizer_weight_decay: float = 1e-5
-    optimizer_grad_clip_norm: float = 1.0
-
-    scheduler_warmup_steps: int = 300
-
-    def __post_init__(self):
-        super().__post_init__()
-        if self.training_stage not in {"stage1", "stage2"}:
-            raise ValueError(
-                f"Unsupported EVO1 training_stage '{self.training_stage}', expected 'stage1' or 'stage2'"
-            )
-
-        if self.apply_training_stage_defaults:
-            stage_defaults = {
-                "stage1": {
-                    "finetune_vlm": False,
-                    "finetune_language_model": False,
-                    "finetune_vision_model": False,
-                    "finetune_action_head": True,
-                },
-                "stage2": {
-                    "finetune_vlm": True,
-                    "finetune_language_model": True,
-                    "finetune_vision_model": True,
-                    "finetune_action_head": True,
-                },
-            }[self.training_stage]
-            for flag_name, default_value in stage_defaults.items():
-                current_value = getattr(self, flag_name)
-                if current_value is not None and current_value != default_value:
-                    logger.warning(
-                        "EVO1 %s=%s is overridden by training_stage=%s default %s. "
-                        "Set apply_training_stage_defaults=false to keep explicit finetuning flags.",
-                        flag_name,
-                        current_value,
-                        self.training_stage,
-                        default_value,
-                    )
-                setattr(self, flag_name, default_value)
-        elif self.training_stage == "stage1":
-            if self.finetune_vlm is None:
-                self.finetune_vlm = False
-            if self.finetune_language_model is None:
-                self.finetune_language_model = False
-            if self.finetune_vision_model is None:
-                self.finetune_vision_model = False
-            if self.finetune_action_head is None:
-                self.finetune_action_head = True
-        elif self.training_stage == "stage2":
-            has_explicit_branch_flags = any(
-                flag is not None for flag in (self.finetune_language_model, self.finetune_vision_model)
-            )
-            if not has_explicit_branch_flags:
-                # An explicit finetune_vlm decides both branches; otherwise stage2 defaults to a
-                # full-VLM finetune.
-                vlm_finetune = self.finetune_vlm if self.finetune_vlm is not None else True
-                self.finetune_vlm = vlm_finetune
-                self.finetune_language_model = vlm_finetune
-                self.finetune_vision_model = vlm_finetune
-            elif self.finetune_vlm is None:
-                self.finetune_vlm = bool(self.finetune_language_model or self.finetune_vision_model)
-            if self.finetune_action_head is None:
-                self.finetune_action_head = True
-
-        if self.finetune_vlm is None:
-            self.finetune_vlm = False
-        if self.finetune_language_model is None:
-            self.finetune_language_model = False
-        if self.finetune_vision_model is None:
-            self.finetune_vision_model = False
-        if self.finetune_action_head is None:
-            self.finetune_action_head = False
-
-        branch_vlm = self.finetune_language_model or self.finetune_vision_model
-        if self.finetune_vlm != branch_vlm:
-            raise ValueError(
-                "Inconsistent EVO1 finetune config: "
-                f"finetune_vlm={self.finetune_vlm} but "
-                f"(finetune_language_model or finetune_vision_model)={branch_vlm}. "
-                "When branch-level flags are used, finetune_vlm must match their effective union."
-            )
-
-        if self.n_action_steps > self.chunk_size:
-            raise ValueError(
-                f"n_action_steps ({self.n_action_steps}) must be <= chunk_size ({self.chunk_size})"
-            )
-        if len(self.image_resolution) != 2 or self.image_resolution[0] != self.image_resolution[1]:
-            raise ValueError(
-                "EVO1 currently expects a square image_resolution because InternVL3 preprocessing "
-                f"uses a scalar image_size, got {self.image_resolution}."
-            )
-        if not 0 <= self.default_embodiment_id < self.num_categories:
-            raise ValueError(
-                f"default_embodiment_id ({self.default_embodiment_id}) must be in "
-                f"[0, num_categories={self.num_categories})"
-            )
-
-    def validate_features(self) -> None:
-        if self.input_features is None:
-            self.input_features = {}
-        if self.output_features is None:
-            self.output_features = {}
-
-        for i in range(self.empty_cameras):
-            key = OBS_IMAGES + f".empty_camera_{i}"
-            if key not in self.input_features:
-                self.input_features[key] = PolicyFeature(
-                    type=FeatureType.VISUAL,
-                    shape=(3, *self.image_resolution),
-                )
-
-        if OBS_STATE not in self.input_features:
-            self.input_features[OBS_STATE] = PolicyFeature(
-                type=FeatureType.STATE,
-                shape=(self.max_state_dim,),
-            )
-
-        if ACTION not in self.output_features:
-            self.output_features[ACTION] = PolicyFeature(
-                type=FeatureType.ACTION,
-                shape=(self.max_action_dim,),
-            )
-
-    def get_optimizer_preset(self) -> AdamWConfig:
-        return AdamWConfig(
-            lr=self.optimizer_lr,
-            betas=self.optimizer_betas,
-            eps=self.optimizer_eps,
-            weight_decay=self.optimizer_weight_decay,
-            grad_clip_norm=self.optimizer_grad_clip_norm,
-        )
-
-    def get_scheduler_preset(self):
-        return CosineAnnealingWithWarmupSchedulerConfig(
-            num_warmup_steps=self.scheduler_warmup_steps,
-        )
-
-    @property
-    def observation_delta_indices(self) -> list[int]:
-        return [0]
-
-    @property
-    def action_delta_indices(self) -> list[int]:
-        return list(range(self.chunk_size))
-
-    @property
-    def reward_delta_indices(self) -> None:
-        return None

src/lerobot/policies/evo1/evo1_model.py

@@ -1,210 +0,0 @@
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from __future__ import annotations
-
-import torch
-import torch.nn as nn
-
-from .configuration_evo1 import Evo1Config
-from .flow_matching import FlowmatchingActionHead
-from .internvl3_embedder import InternVL3Embedder
-
-
-class Evo1Model(nn.Module):
-    def __init__(self, config: Evo1Config, vlm_hub_kwargs: dict | None = None):
-        super().__init__()
-        self.config = config
-        self._device = config.device
-        self.return_cls_only = config.return_cls_only
-        # Set by Evo1Policy.init_rtc_processor() when config.rtc_config is provided.
-        self.rtc_processor = None
-
-        # Gradient checkpointing only pays off when the VLM is actually being trained; keep it off
-        # whenever every VLM branch is frozen so the frozen forward stays cheap.
-        tracks_vlm_gradients = bool(
-            config.finetune_vlm or config.finetune_language_model or config.finetune_vision_model
-        )
-        enable_gradient_checkpointing = config.enable_gradient_checkpointing and tracks_vlm_gradients
-
-        self.embedder = InternVL3Embedder(
-            model_name=config.vlm_model_name,
-            image_size=int(config.image_resolution[0]),
-            device=self._device,
-            num_language_layers=config.vlm_num_layers,
-            model_dtype=config.vlm_dtype,
-            use_flash_attn=config.use_flash_attn,
-            max_text_length=config.max_text_length,
-            enable_gradient_checkpointing=enable_gradient_checkpointing,
-            gradient_checkpointing_use_reentrant=config.gradient_checkpointing_use_reentrant,
-            hub_kwargs=vlm_hub_kwargs,
-        )
-
-        action_head_type = config.action_head.lower()
-        if action_head_type != "flowmatching":
-            raise NotImplementedError(f"Unknown action_head: {action_head_type}")
-
-        horizon = config.chunk_size
-        per_action_dim = config.max_action_dim
-        action_dim = horizon * per_action_dim
-
-        self.horizon = horizon
-        self.per_action_dim = per_action_dim
-        self.action_head = FlowmatchingActionHead(
-            embed_dim=config.embed_dim,
-            hidden_dim=config.hidden_dim,
-            action_dim=action_dim,
-            horizon=horizon,
-            per_action_dim=per_action_dim,
-            num_heads=config.num_heads,
-            num_layers=config.num_layers,
-            dropout=config.dropout,
-            num_inference_timesteps=config.num_inference_timesteps,
-            num_categories=config.num_categories,
-            state_dim=config.max_state_dim,
-            state_hidden_dim=config.state_hidden_dim,
-        ).to(self._device)
-
-    def get_vl_embeddings(
-        self,
-        images: list[torch.Tensor],
-        image_mask: torch.Tensor,
-        prompt: str | list[str] | None = None,
-        return_cls_only: bool | None = None,
-    ) -> tuple[torch.Tensor, torch.Tensor | None]:
-        """Fused VL embeddings from per-camera image batches.
-
-        Args:
-            images: list of per-camera tensors, each shaped ``(B, C, H, W)`` with values in ``[0, 1]``.
-            image_mask: bool tensor ``(B, max_views)`` marking present views.
-
-        Returns:
-            ``(embeddings, valid_mask)``: the fused tokens and the bool mask of attendable context
-            positions (None when a single pooled token is returned).
-        """
-        if return_cls_only is None:
-            return_cls_only = self.return_cls_only
-        if not images:
-            raise ValueError("EVO1 expects at least one image per sample.")
-
-        batch_size = images[0].shape[0]
-        if prompt is None:
-            prompts = [""] * batch_size
-        elif isinstance(prompt, str):
-            prompts = [prompt] * batch_size
-        else:
-            prompts = [str(p) for p in prompt]
-            if len(prompts) != batch_size:
-                raise ValueError(
-                    f"Prompt batch size {len(prompts)} does not match image batch size {batch_size}"
-                )
-
-        if image_mask.dim() == 1:
-            image_mask = image_mask.unsqueeze(0)
-        if image_mask.shape[0] != batch_size:
-            raise ValueError(
-                f"image_mask batch size {image_mask.shape[0]} does not match image batch size {batch_size}"
-            )
-
-        return self.embedder.get_fused_image_text_embedding_batched(
-            camera_images=images,
-            image_masks=image_mask,
-            text_prompts=prompts,
-            return_cls_only=return_cls_only,
-        )
-
-    def predict_action(
-        self,
-        fused_tokens: torch.Tensor,
-        state: torch.Tensor,
-        actions_gt: torch.Tensor | None = None,
-        action_mask: torch.Tensor | None = None,
-        embodiment_ids: torch.Tensor | None = None,
-        context_mask: torch.Tensor | None = None,
-        inference_delay: int | None = None,
-        prev_chunk_left_over: torch.Tensor | None = None,
-        execution_horizon: int | None = None,
-    ):
-        if actions_gt is None:
-            return self.action_head.get_action(
-                fused_tokens,
-                state=state,
-                action_mask=action_mask,
-                embodiment_id=embodiment_ids,
-                context_mask=context_mask,
-                inference_delay=inference_delay,
-                prev_chunk_left_over=prev_chunk_left_over,
-                execution_horizon=execution_horizon,
-                rtc_processor=self.rtc_processor,
-            )
-        return self.action_head(
-            fused_tokens,
-            state=state,
-            actions_gt=actions_gt,
-            action_mask=action_mask,
-            embodiment_id=embodiment_ids,
-            context_mask=context_mask,
-        )
-
-    def forward(
-        self,
-        fused_tokens: torch.Tensor,
-        state: torch.Tensor | None = None,
-        actions_gt: torch.Tensor | None = None,
-        action_mask: torch.Tensor | None = None,
-        embodiment_ids: torch.Tensor | None = None,
-        context_mask: torch.Tensor | None = None,
-        inference_delay: int | None = None,
-        prev_chunk_left_over: torch.Tensor | None = None,
-        execution_horizon: int | None = None,
-    ):
-        return self.predict_action(
-            fused_tokens,
-            state,
-            actions_gt,
-            action_mask,
-            embodiment_ids,
-            context_mask,
-            inference_delay,
-            prev_chunk_left_over,
-            execution_horizon,
-        )
-
-    def _set_module_trainable(self, module: nn.Module, trainable: bool):
-        for param in module.parameters():
-            param.requires_grad = trainable
-
-    def _vlm_submodule(self, name: str) -> nn.Module:
-        module = getattr(self.embedder.model, name, None)
-        if not isinstance(module, nn.Module):
-            raise AttributeError(
-                f"InternVL model {type(self.embedder.model).__name__} has no '{name}' submodule; "
-                "the native HF InternVL layout (language_model / vision_tower / "
-                "multi_modal_projector) is required to apply the EVO1 finetune flags."
-            )
-        return module
-
-    def set_finetune_flags(self):
-        # __post_init__ resolves every finetune flag to a concrete boolean, so branch-level flags
-        # are authoritative here. Freeze everything first, then re-enable the requested branches.
-        self._set_module_trainable(self.embedder, False)
-        self._set_module_trainable(
-            self._vlm_submodule("language_model"), bool(self.config.finetune_language_model)
-        )
-        finetune_vision = bool(self.config.finetune_vision_model)
-        self._set_module_trainable(self._vlm_submodule("vision_tower"), finetune_vision)
-        self._set_module_trainable(self._vlm_submodule("multi_modal_projector"), finetune_vision)
-
-        if not self.config.finetune_action_head:
-            self._set_module_trainable(self.action_head, False)

src/lerobot/policies/evo1/flow_matching.py

@@ -1,483 +0,0 @@
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from __future__ import annotations
-
-import logging
-import math
-
-import torch
-import torch.nn as nn
-
-logger = logging.getLogger(__name__)
-
-
-class SinusoidalPositionalEncoding(nn.Module):
-    def __init__(self, dim: int, max_len: int = 1000):
-        super().__init__()
-        pe = torch.zeros(max_len, dim)
-        position = torch.arange(0, max_len).unsqueeze(1)
-        div_term = torch.exp(torch.arange(0, dim, 2) * -(math.log(10000.0) / dim))
-        pe[:, 0::2] = torch.sin(position * div_term)
-        pe[:, 1::2] = torch.cos(position * div_term)
-        pe = pe.unsqueeze(0)
-        self.register_buffer("pe", pe)
-
-    def forward(self, seq_len: int):
-        if seq_len > self.pe.size(1):
-            self._extend_pe(seq_len)
-        return self.pe[:, :seq_len, :]
-
-    def _extend_pe(self, new_max_len):
-        old_max_len, dim = self.pe.size(1), self.pe.size(2)
-        if new_max_len <= old_max_len:
-            return
-        extra_positions = torch.arange(old_max_len, new_max_len, dtype=torch.float).unsqueeze(1)
-        div_term = torch.exp(torch.arange(0, dim, 2, dtype=torch.float) * -(math.log(10000.0) / dim))
-        extra_pe = torch.zeros(new_max_len - old_max_len, dim)
-        extra_pe[:, 0::2] = torch.sin(extra_positions * div_term)
-        extra_pe[:, 1::2] = torch.cos(extra_positions * div_term)
-        extra_pe = extra_pe.unsqueeze(0)
-        new_pe = torch.cat([self.pe, extra_pe.to(self.pe.device)], dim=1)
-        self.pe = new_pe
-
-
-class CategorySpecificLinear(nn.Module):
-    def __init__(self, in_dim: int, out_dim: int, num_categories: int = 1):
-        super().__init__()
-        self.num_categories = num_categories
-        if num_categories <= 1:
-            self.linear = nn.Linear(in_dim, out_dim)
-        else:
-            self.weight = nn.Parameter(torch.empty(num_categories, in_dim, out_dim))
-            self.bias = nn.Parameter(torch.zeros(num_categories, out_dim))
-            # Initialize each per-category (in_dim, out_dim) matrix separately: xavier on the full
-            # 3D tensor would compute fan_in = in_dim * out_dim and badly under-scale the weights.
-            for category in range(num_categories):
-                nn.init.xavier_uniform_(self.weight[category])
-
-    def forward(self, x: torch.Tensor, category_id: torch.LongTensor):
-        if self.num_categories <= 1:
-            if x.dtype != self.linear.weight.dtype:
-                x = x.to(dtype=self.linear.weight.dtype)
-            return self.linear(x)
-
-        if x.dtype != self.weight.dtype:
-            x = x.to(dtype=self.weight.dtype)
-
-        orig_shape = x.shape
-        x_flat = x.reshape(-1, orig_shape[-1])
-        if category_id.dim() == 0:
-            cid = category_id.item()
-            out = x_flat @ self.weight[cid] + self.bias[cid]
-        else:
-            category_id = category_id.reshape(-1)
-            if category_id.numel() != x_flat.size(0):
-                raise ValueError(
-                    f"category_id length {category_id.numel()} does not match flattened batch {x_flat.size(0)}"
-                )
-            weight_selected = self.weight[category_id]
-            bias_selected = self.bias[category_id]
-            out = torch.bmm(x_flat.unsqueeze(1), weight_selected).squeeze(1) + bias_selected
-        out_shape = orig_shape[:-1] + (out.shape[-1],)
-        return out.view(out_shape)
-
-
-class CategorySpecificMLP(nn.Module):
-    def __init__(self, input_dim: int, hidden_dim: int, output_dim: int, num_categories: int = 1):
-        super().__init__()
-        self.fc1 = CategorySpecificLinear(input_dim, hidden_dim, num_categories)
-        self.fc2 = CategorySpecificLinear(hidden_dim, output_dim, num_categories)
-        self.activation = nn.ReLU(inplace=True)
-
-    def forward(self, x: torch.Tensor, category_id: torch.LongTensor):
-        out = self.activation(self.fc1(x, category_id))
-        out = self.fc2(out, category_id)
-        return out
-
-
-class MultiEmbodimentActionEncoder(nn.Module):
-    def __init__(
-        self, action_dim: int, embed_dim: int, hidden_dim: int, horizon: int, num_categories: int = 1
-    ):
-        super().__init__()
-        self.horizon = horizon
-        self.embed_dim = embed_dim
-        self.num_categories = num_categories
-
-        self.W1 = CategorySpecificLinear(action_dim, hidden_dim, num_categories)
-        self.W2 = CategorySpecificLinear(hidden_dim, hidden_dim, num_categories)
-        self.W3 = CategorySpecificLinear(hidden_dim, embed_dim, num_categories)
-
-        self.pos_encoding = SinusoidalPositionalEncoding(hidden_dim, max_len=horizon)
-        self.activation = nn.ReLU(inplace=True)
-
-    def forward(self, action_seq: torch.Tensor, category_id: torch.LongTensor):
-        batch_size, horizon, action_dim = action_seq.shape
-        if self.horizon != horizon:
-            raise ValueError(
-                f"Action sequence length must match horizon: got {horizon}, expected {self.horizon}."
-            )
-
-        x = action_seq.reshape(batch_size * horizon, action_dim)
-        if category_id.dim() == 0:
-            cat_ids = category_id.expand(horizon * batch_size)
-        else:
-            cat_ids = category_id.unsqueeze(1).expand(batch_size, horizon).reshape(batch_size * horizon)
-
-        out = self.activation(self.W1(x, cat_ids))
-        pos_enc = self.pos_encoding(horizon).to(device=out.device, dtype=out.dtype)
-        out = out.view(batch_size, horizon, -1) + pos_enc
-        out = out.view(batch_size * horizon, -1)
-        out = self.activation(self.W2(out, cat_ids))
-        out = self.W3(out, cat_ids)
-        return out.view(batch_size, horizon, self.embed_dim)
-
-
-class BasicTransformerBlock(nn.Module):
-    def __init__(self, embed_dim: int, num_heads: int, hidden_dim: int, dropout: float = 0.0):
-        super().__init__()
-        self.attn = nn.MultiheadAttention(embed_dim, num_heads, dropout=dropout, batch_first=True)
-        self.norm1 = nn.LayerNorm(embed_dim)
-        self.norm2 = nn.LayerNorm(embed_dim)
-        self.ff = nn.Sequential(nn.Linear(embed_dim, hidden_dim), nn.GELU(), nn.Linear(hidden_dim, embed_dim))
-
-    def forward(
-        self,
-        action_tokens: torch.Tensor,
-        context_tokens: torch.Tensor,
-        time_emb: torch.Tensor,
-        context_key_padding_mask: torch.Tensor | None = None,
-    ):
-        x = self.norm1(action_tokens)
-        attn_out, _ = self.attn(x, context_tokens, context_tokens, key_padding_mask=context_key_padding_mask)
-        x = action_tokens + attn_out
-        x2 = self.norm2(x)
-        if time_emb is not None:
-            x2 = x2 + time_emb.unsqueeze(1)
-        ff_out = self.ff(x2)
-        return x + ff_out
-
-
-class FlowmatchingActionHead(nn.Module):
-    def __init__(
-        self,
-        embed_dim: int = 896,
-        hidden_dim: int = 1024,
-        action_dim: int = 16 * 7,
-        horizon: int = 16,
-        per_action_dim: int = 7,
-        num_heads: int = 8,
-        num_layers: int = 8,
-        dropout: float = 0.0,
-        num_inference_timesteps: int = 20,
-        num_categories: int = 1,
-        state_dim: int | None = None,
-        state_hidden_dim: int | None = None,
-    ):
-        super().__init__()
-
-        logger.info("FlowmatchingActionHead num_inference_timesteps=%s", num_inference_timesteps)
-        self.embed_dim = embed_dim
-        self.horizon = horizon
-        self.per_action_dim = per_action_dim
-        self.action_dim = action_dim
-        self.num_inference_timesteps = num_inference_timesteps
-        self.num_categories = num_categories
-
-        self.time_pos_enc = SinusoidalPositionalEncoding(embed_dim, max_len=1000)
-        self.transformer_blocks = nn.ModuleList(
-            [
-                BasicTransformerBlock(
-                    embed_dim=embed_dim,
-                    num_heads=num_heads,
-                    hidden_dim=embed_dim * 4,
-                    dropout=dropout,
-                )
-                for _ in range(num_layers)
-            ]
-        )
-        self.norm_out = nn.LayerNorm(embed_dim)
-        self.seq_pool_proj = nn.Linear(self.horizon * self.embed_dim, self.embed_dim)
-        self.mlp_head = CategorySpecificMLP(
-            input_dim=embed_dim,
-            hidden_dim=hidden_dim,
-            output_dim=action_dim,
-            num_categories=num_categories,
-        )
-
-        self.state_encoder = None
-        if state_dim is not None:
-            state_hidden = state_hidden_dim if state_hidden_dim is not None else embed_dim
-            self.state_encoder = CategorySpecificMLP(
-                input_dim=state_dim,
-                hidden_dim=state_hidden,
-                output_dim=embed_dim,
-                num_categories=num_categories,
-            )
-
-        if horizon > 1:
-            self.action_encoder = MultiEmbodimentActionEncoder(
-                action_dim=self.per_action_dim,
-                embed_dim=embed_dim,
-                hidden_dim=embed_dim,
-                horizon=horizon,
-                num_categories=num_categories,
-            )
-            self.single_action_proj = None
-        else:
-            self.action_encoder = None
-            self.single_action_proj = nn.Linear(self.per_action_dim, self.embed_dim)
-
-    def _project_actions(self, action_seq: torch.Tensor, embodiment_id: torch.LongTensor) -> torch.Tensor:
-        if self.horizon > 1 and self.action_encoder is not None:
-            return self.action_encoder(action_seq, embodiment_id)
-        if self.single_action_proj is None:
-            raise RuntimeError("single_action_proj is not initialized for horizon <= 1.")
-        return self.single_action_proj(action_seq)
-
-    def _expand_action_mask(
-        self,
-        action_mask: torch.Tensor,
-        batch_size: int,
-        per_action_dim: int,
-        device: torch.device,
-        dtype: torch.dtype,
-    ) -> torch.Tensor:
-        if action_mask is None:
-            raise ValueError("action_mask must be provided for flow matching inference.")
-
-        if action_mask.dim() == 2:
-            expected_last_dim = self.horizon * per_action_dim
-            if action_mask.shape == (batch_size, expected_last_dim):
-                expanded_mask = action_mask.reshape(batch_size, self.horizon, per_action_dim)
-            elif action_mask.shape == (batch_size, per_action_dim):
-                expanded_mask = action_mask.unsqueeze(1).expand(batch_size, self.horizon, per_action_dim)
-            else:
-                raise ValueError(
-                    f"Expected action_mask shape {(batch_size, expected_last_dim)} or "
-                    f"{(batch_size, per_action_dim)}, got {tuple(action_mask.shape)}"
-                )
-        elif action_mask.dim() == 3:
-            expected_shape = (batch_size, self.horizon, per_action_dim)
-            if tuple(action_mask.shape) != expected_shape:
-                raise ValueError(
-                    f"Expected action_mask shape {expected_shape}, got {tuple(action_mask.shape)}"
-                )
-            expanded_mask = action_mask
-        else:
-            raise ValueError(f"Unsupported action_mask rank: {action_mask.dim()}")
-
-        return expanded_mask.to(device=device, dtype=dtype)
-
-    def _prepare_context(
-        self,
-        fused_tokens: torch.Tensor,
-        state: torch.Tensor | None,
-        embodiment_id: torch.LongTensor | None,
-        context_mask: torch.Tensor | None,
-    ) -> tuple[torch.Tensor, torch.Tensor | None, torch.LongTensor]:
-        """Normalize the VL context and embodiment ids shared by training and inference.
-
-        Returns the context tokens ``(B, S, E)``, a key_padding_mask for
-        ``nn.MultiheadAttention`` (True = ignore) or None, and the resolved embodiment ids.
-        """
-        batch_size = fused_tokens.size(0)
-        device = fused_tokens.device
-        if embodiment_id is None:
-            embodiment_id = torch.zeros(batch_size, dtype=torch.long, device=device)
-        elif self.num_categories > 1 and (
-            int(embodiment_id.min()) < 0 or int(embodiment_id.max()) >= self.num_categories
-        ):
-            raise ValueError(
-                f"embodiment ids must be in [0, num_categories={self.num_categories}), "
-                f"got range [{int(embodiment_id.min())}, {int(embodiment_id.max())}]"
-            )
-
-        context_tokens = fused_tokens
-        if context_tokens.dim() == 2:
-            # A single pooled VL token (return_cls_only): give it a sequence dim of 1.
-            context_tokens = context_tokens.unsqueeze(1)
-            context_mask = None
-        if state is not None and self.state_encoder is not None:
-            state_emb = self.state_encoder(state, embodiment_id).unsqueeze(1)
-            context_tokens = torch.cat([context_tokens, state_emb], dim=1)
-            if context_mask is not None:
-                state_valid = torch.ones(batch_size, 1, dtype=torch.bool, device=context_mask.device)
-                context_mask = torch.cat([context_mask.to(torch.bool), state_valid], dim=1)
-
-        key_padding_mask = None if context_mask is None else ~context_mask.to(torch.bool)
-        return context_tokens, key_padding_mask, embodiment_id
-
-    def forward(
-        self,
-        fused_tokens: torch.Tensor,
-        state: torch.Tensor = None,
-        actions_gt: torch.Tensor = None,
-        embodiment_id: torch.LongTensor = None,
-        action_mask: torch.Tensor = None,
-        context_mask: torch.Tensor = None,
-    ):
-        if actions_gt is None:
-            return self.get_action(
-                fused_tokens,
-                state=state,
-                embodiment_id=embodiment_id,
-                action_mask=action_mask,
-                context_mask=context_mask,
-            )
-
-        batch_size = fused_tokens.size(0)
-        device = fused_tokens.device
-        context_tokens, key_padding_mask, embodiment_id = self._prepare_context(
-            fused_tokens, state, embodiment_id, context_mask
-        )
-
-        t = (
-            torch.distributions.Beta(2, 2)
-            .sample((batch_size,))
-            .clamp(0.02, 0.98)
-            .to(device)
-            .to(dtype=self.dtype)
-        )
-        time_index = (t * 999).long().clamp_(0, 999)
-        time_emb = self.time_pos_enc(1000)[:, time_index, :].squeeze(0).to(dtype=context_tokens.dtype)
-
-        actions_gt_seq = actions_gt
-        noise = torch.rand_like(actions_gt) * 2 - 1
-        if action_mask is not None:
-            action_mask = action_mask.to(dtype=noise.dtype, device=noise.device)
-            if action_mask.shape != noise.shape:
-                raise ValueError(f"action_mask shape {action_mask.shape} != noise shape {noise.shape}")
-            actions_gt_seq = actions_gt_seq * action_mask
-            noise = noise * action_mask
-
-        if self.horizon > 1:
-            noise_seq = noise.view(batch_size, self.horizon, self.per_action_dim)
-        else:
-            noise_seq = noise if noise.dim() == 3 else noise.unsqueeze(1)
-        t_broadcast = t.view(batch_size, 1, 1)
-        action_intermediate_seq = (1 - t_broadcast) * noise_seq + t_broadcast * actions_gt_seq
-
-        action_tokens = self._project_actions(action_intermediate_seq, embodiment_id)
-        target_dtype = self.dtype
-        action_tokens = action_tokens.to(dtype=target_dtype)
-        context_tokens = context_tokens.to(dtype=target_dtype)
-        time_emb = time_emb.to(dtype=target_dtype)
-
-        x = action_tokens
-        for block in self.transformer_blocks:
-            x = block(x, context_tokens, time_emb, key_padding_mask)
-        x = self.norm_out(x)
-
-        if self.horizon > 1:
-            x_flat = x.reshape(batch_size, -1)
-            x_pooled = self.seq_pool_proj(x_flat)
-        else:
-            x_pooled = x.squeeze(1)
-
-        pred_velocity = self.mlp_head(x_pooled, embodiment_id)
-        return pred_velocity, noise
-
-    def get_action(
-        self,
-        fused_tokens: torch.Tensor,
-        state: torch.Tensor = None,
-        embodiment_id: torch.LongTensor = None,
-        action_mask: torch.Tensor = None,
-        context_mask: torch.Tensor = None,
-        inference_delay: int | None = None,
-        prev_chunk_left_over: torch.Tensor | None = None,
-        execution_horizon: int | None = None,
-        rtc_processor=None,
-    ):
-        batch_size = fused_tokens.size(0)
-        device = fused_tokens.device
-        context_tokens, key_padding_mask, embodiment_id = self._prepare_context(
-            fused_tokens, state, embodiment_id, context_mask
-        )
-
-        action_dim_total = self.action_dim
-        per_action_dim = self.per_action_dim
-
-        action = torch.rand(batch_size, action_dim_total, device=device, dtype=context_tokens.dtype) * 2 - 1
-        action_seq = action.view(batch_size, self.horizon, per_action_dim)
-        action_mask = self._expand_action_mask(
-            action_mask,
-            batch_size=batch_size,
-            per_action_dim=per_action_dim,
-            device=action_seq.device,
-            dtype=action_seq.dtype,
-        )
-        action_seq = action_seq * action_mask
-
-        target_dtype = self.dtype
-        context_tokens = context_tokens.to(dtype=target_dtype)
-
-        num_steps = int(self.num_inference_timesteps)
-        if num_steps <= 0:
-            raise ValueError(f"num_inference_timesteps must be positive, got {num_steps}")
-        dt = 1.0 / num_steps
-
-        use_rtc = rtc_processor is not None and (
-            inference_delay is not None or prev_chunk_left_over is not None
-        )
-
-        def predict_velocity(seq: torch.Tensor, step_time_emb: torch.Tensor) -> torch.Tensor:
-            """Predict the masked flow velocity (x1 - x0 convention) for one integration step."""
-            seq = seq * action_mask
-            action_tokens = self._project_actions(seq, embodiment_id).to(dtype=target_dtype)
-            x = action_tokens
-            for block in self.transformer_blocks:
-                x = block(x, context_tokens, step_time_emb, key_padding_mask)
-            x = self.norm_out(x)
-            x_pooled = self.seq_pool_proj(x.reshape(batch_size, -1)) if self.horizon > 1 else x.squeeze(1)
-            pred = self.mlp_head(x_pooled, embodiment_id)
-            return pred.view(batch_size, self.horizon, per_action_dim) * action_mask
-
-        for i in range(num_steps):
-            t = i / num_steps
-            time_index = min(int(t * 999), 999)
-            time_emb = self.time_pos_enc(1000)[:, time_index, :].to(device).squeeze(0).to(dtype=target_dtype)
-            time_emb = time_emb.unsqueeze(0).repeat(batch_size, 1)
-
-            if use_rtc:
-                # RTCProcessor assumes the pi0 flow convention: its `time` runs 1 -> 0 and the
-                # clean-action estimate is x1 = x_t - time * v. EVO1 integrates t: 0 -> 1 with
-                # velocity v = x1 - x0 (so x1 = x_t + (1 - t) * v); passing time = 1 - t and
-                # flipping the velocity sign in both directions maps one convention onto the other.
-                guided = rtc_processor.denoise_step(
-                    x_t=action_seq,
-                    prev_chunk_left_over=prev_chunk_left_over,
-                    inference_delay=inference_delay,
-                    time=1.0 - t,
-                    original_denoise_step_partial=lambda seq, emb=time_emb: -predict_velocity(seq, emb),
-                    execution_horizon=execution_horizon,
-                )
-                velocity = -guided
-            else:
-                velocity = predict_velocity(action_seq, time_emb)
-
-            action_seq = action_seq + dt * velocity
-
-        action_seq = action_seq * action_mask
-        return action_seq.reshape(batch_size, -1)
-
-    @property
-    def device(self):
-        return next(self.parameters()).device
-
-    @property
-    def dtype(self):
-        return next(self.parameters()).dtype

src/lerobot/policies/evo1/internvl3_embedder.py

@@ -1,369 +0,0 @@
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from __future__ import annotations
-
-import logging
-from collections.abc import Sequence
-from typing import TYPE_CHECKING
-
-import torch
-import torch.nn as nn
-import torchvision.transforms.functional as tvf
-from torchvision.transforms.functional import InterpolationMode
-
-from lerobot.utils.import_utils import _transformers_available, require_package
-
-if TYPE_CHECKING or _transformers_available:
-    from transformers import AutoModel, AutoTokenizer
-else:
-    AutoModel = None
-    AutoTokenizer = None
-
-IMAGENET_MEAN = (0.485, 0.456, 0.406)
-IMAGENET_STD = (0.229, 0.224, 0.225)
-IMG_CONTEXT_TOKEN = "<IMG_CONTEXT>"  # nosec B105
-IMG_START_TOKEN = "<img>"  # nosec B105
-IMG_END_TOKEN = "</img>"  # nosec B105
-
-logger = logging.getLogger(__name__)
-
-
-def _batched_resize_01(images: torch.Tensor, image_size: int) -> torch.Tensor:
-    """Resize a batch of ``[0, 1]`` images to ``(image_size, image_size)`` on-device.
-
-    Numerically mirrors InternVL3's reference PIL preprocessing
-    (``to_pil_image`` -> ``Image.resize`` -> ``to_tensor``): the float input is quantized to uint8
-    exactly as ``to_pil_image`` does, then resized with bicubic interpolation and antialiasing,
-    which matches PIL's default resampler. Matching the reference pixel-for-pixel keeps the policy
-    interchangeable with checkpoints produced by the upstream EVO1 preprocessing.
-
-    Args:
-        images: float tensor of shape ``(N, C, H, W)`` with values in ``[0, 1]``.
-
-    Returns:
-        float32 tensor of shape ``(N, C, image_size, image_size)`` with values in ``[0, 1]``.
-    """
-    # to_pil_image() quantizes float [0, 1] to uint8 (x * 255, truncated); replicate that so the
-    # bicubic resample sees the same integer pixels PIL would.
-    pixels_u8 = (images * 255.0).clamp(0, 255).to(torch.uint8)
-    resized = tvf.resize(
-        pixels_u8, [image_size, image_size], interpolation=InterpolationMode.BICUBIC, antialias=True
-    )
-    return resized.to(torch.float32) / 255.0
-
-
-def _batched_pixel_values(
-    camera_images: Sequence[torch.Tensor],
-    max_views: int,
-    image_size: int,
-    mean: torch.Tensor,
-    std: torch.Tensor,
-    dtype: torch.dtype,
-    device: torch.device | str,
-) -> torch.Tensor:
-    """Build InternVL3 ``pixel_values`` from per-camera ``[0, 1]`` image batches without leaving the device.
-
-    Each image is resized, converted to ``dtype``, and ImageNet-normalized (a single tile per
-    image), batched across the whole minibatch. Absent views (fewer cameras than ``max_views``)
-    are filled with zero images; their placeholder tokens are masked out of attention downstream
-    via ``_mask_absent_image_tokens``.
-
-    Returns:
-        ``pixel_values`` of shape ``(B * max_views, C, image_size, image_size)``, ordered row-major
-        over ``(sample, view)`` to line up with the per-view image placeholders in the prompt.
-    """
-    resized: list[torch.Tensor] = []
-    for image in camera_images:
-        resized.append(_batched_resize_01(image.to(device=device), image_size).to(dtype))
-
-    batch_size = resized[0].shape[0]
-    channels = resized[0].shape[1]
-    while len(resized) < max_views:
-        resized.append(torch.zeros(batch_size, channels, image_size, image_size, dtype=dtype, device=device))
-
-    stacked = torch.stack(resized[:max_views], dim=1)  # (B, V, C, H, W)
-    mean = mean.to(device=device, dtype=dtype).view(1, 1, -1, 1, 1)
-    std = std.to(device=device, dtype=dtype).view(1, 1, -1, 1, 1)
-    normalized = (stacked - mean) / std
-    return normalized.reshape(batch_size * max_views, channels, image_size, image_size)
-
-
-class InternVL3Embedder(nn.Module):
-    """Vision-language embedder using the native HF InternVL3 model (no trust_remote_code)."""
-
-    def __init__(
-        self,
-        model_name="OpenGVLab/InternVL3-1B-hf",
-        image_size=448,
-        device="cuda",
-        num_language_layers: int | None = 14,
-        model_dtype: str | torch.dtype = "bfloat16",
-        use_flash_attn: bool = True,
-        max_text_length: int = 1024,
-        enable_gradient_checkpointing: bool = True,
-        gradient_checkpointing_use_reentrant: bool = False,
-        hub_kwargs: dict | None = None,
-    ):
-        super().__init__()
-        self._requested_device = device
-        self.image_size = image_size
-        self.num_language_layers = num_language_layers
-        self.max_text_length = max_text_length
-        self.enable_gradient_checkpointing = bool(enable_gradient_checkpointing)
-        self.gradient_checkpointing_use_reentrant = bool(gradient_checkpointing_use_reentrant)
-        hub_kwargs = hub_kwargs or {}
-
-        require_package("transformers", extra="evo1")
-
-        self.tokenizer = AutoTokenizer.from_pretrained(model_name, **hub_kwargs)
-        if isinstance(model_dtype, str):
-            try:
-                model_dtype = getattr(torch, model_dtype)
-            except AttributeError as exc:
-                raise ValueError(f"Unsupported EVO1 vlm_dtype '{model_dtype}'") from exc
-        self.model_dtype = model_dtype
-
-        attn_implementation = "flash_attention_2" if (use_flash_attn and _flash_attn_available()) else "eager"
-        if use_flash_attn and attn_implementation == "eager":
-            logger.warning("flash_attn is not installed. Falling back to eager attention.")
-
-        self.model = AutoModel.from_pretrained(
-            model_name,
-            torch_dtype=model_dtype,
-            attn_implementation=attn_implementation,
-            low_cpu_mem_usage=True,
-            **hub_kwargs,
-        ).to(self._requested_device)
-
-        checkpoint_image_size = getattr(self.model.config.vision_config, "image_size", None)
-        if isinstance(checkpoint_image_size, (list, tuple)):
-            checkpoint_image_size = checkpoint_image_size[0]
-        if checkpoint_image_size is not None and int(checkpoint_image_size) != int(image_size):
-            raise ValueError(
-                f"EVO1 image_resolution ({image_size}) must match the InternVL checkpoint's native "
-                f"image size ({checkpoint_image_size}): the checkpoint's image_seq_length assumes "
-                "its native resolution, so other sizes would desync the image placeholder tokens "
-                "from the vision features."
-            )
-
-        self.num_image_token = self.model.config.image_seq_length
-
-        # Truncate language model to the requested number of layers
-        layers = self.model.language_model.layers
-        if self.num_language_layers is not None:
-            layers = layers[: self.num_language_layers]
-        self.model.language_model.layers = torch.nn.ModuleList(layers)
-
-        self._configure_memory_features()
-        self.img_context_token_id = self.tokenizer.convert_tokens_to_ids(IMG_CONTEXT_TOKEN)
-
-    def _configure_memory_features(self) -> None:
-        checkpoint_kwargs = {"use_reentrant": self.gradient_checkpointing_use_reentrant}
-
-        if not self.enable_gradient_checkpointing:
-            language_model = self.model.language_model
-            if hasattr(language_model, "gradient_checkpointing_disable"):
-                language_model.gradient_checkpointing_disable()
-            vision_tower = getattr(self.model, "vision_tower", None)
-            if vision_tower is not None and hasattr(vision_tower, "encoder"):
-                vision_tower.encoder.gradient_checkpointing = False
-            return
-
-        def _enable_ckpt(module: nn.Module | None) -> bool:
-            if module is None:
-                return False
-            if hasattr(module, "gradient_checkpointing_enable"):
-                try:
-                    module.gradient_checkpointing_enable(gradient_checkpointing_kwargs=checkpoint_kwargs)
-                except TypeError:
-                    module.gradient_checkpointing_enable()
-                return True
-            if hasattr(module, "gradient_checkpointing"):
-                module.gradient_checkpointing = True
-                return True
-            return False
-
-        enabled_any = _enable_ckpt(self.model)
-
-        vision_tower = getattr(self.model, "vision_tower", None)
-        if vision_tower is not None:
-            enabled_any = _enable_ckpt(vision_tower) or enabled_any
-
-        language_model = self.model.language_model
-        enabled_any = _enable_ckpt(language_model) or enabled_any
-        if hasattr(language_model, "config"):
-            language_model.config.use_cache = False
-
-        if hasattr(self.model, "config"):
-            self.model.config.use_cache = False
-        if hasattr(self.model, "enable_input_require_grads"):
-            self.model.enable_input_require_grads()
-
-        if enabled_any:
-            logger.info("Gradient checkpointing enabled for InternVL3 embedder.")
-        else:
-            logger.warning(
-                "Requested gradient checkpointing, but model does not expose checkpointing controls."
-            )
-
-    def _build_multimodal_prompts(
-        self,
-        batch_num_tiles_list: list[list[int]],
-        text_prompts: Sequence[str],
-    ) -> list[str]:
-        prompts = []
-        for num_tiles_list, text_prompt in zip(batch_num_tiles_list, text_prompts, strict=True):
-            prompt_segments = []
-            for i, tile_count in enumerate(num_tiles_list):
-                token_count = self.num_image_token * tile_count
-                image_tokens = IMG_START_TOKEN + IMG_CONTEXT_TOKEN * token_count + IMG_END_TOKEN
-                prompt_segments.append(f"Image-{i + 1}: {image_tokens}\n")
-            prompts.append("".join(prompt_segments) + text_prompt.strip())
-        return prompts
-
-    def get_fused_image_text_embedding_batched(
-        self,
-        camera_images: Sequence[torch.Tensor],
-        image_masks: torch.Tensor,
-        text_prompts: Sequence[str],
-        return_cls_only: bool = True,
-    ):
-        """Fused VL embedding from per-camera ``[0, 1]`` image batches (no PIL, no host round-trip).
-
-        Args:
-            camera_images: list of per-camera tensors, each shaped ``(B, C, H, W)`` in ``[0, 1]``.
-            image_masks: bool tensor ``(B, max_views)`` marking present views.
-
-        Returns:
-            A ``(embeddings, valid_mask)`` tuple. With ``return_cls_only=False``, ``embeddings`` is
-            ``(B, L, H)`` and ``valid_mask`` is a ``(B, L)`` bool tensor marking tokens downstream
-            attention may attend to (padding and absent-view tokens are False). With
-            ``return_cls_only=True``, ``embeddings`` is the pooled ``(B, H)`` last-valid-token state
-            and ``valid_mask`` is None.
-        """
-        max_views = int(image_masks.shape[1])
-        batch_size = int(image_masks.shape[0])
-        mean = torch.tensor(IMAGENET_MEAN, device=self.device, dtype=self.model_dtype)
-        std = torch.tensor(IMAGENET_STD, device=self.device, dtype=self.model_dtype)
-        pixel_values = _batched_pixel_values(
-            camera_images, max_views, self.image_size, mean, std, self.model_dtype, self.device
-        )
-        # InternVL3 preprocessing uses a single tile per image (max_num=1).
-        batch_num_tiles_list = [[1] * max_views for _ in range(batch_size)]
-        return self._forward_vlm(
-            pixel_values, batch_num_tiles_list, image_masks, text_prompts, return_cls_only
-        )
-
-    def _mask_absent_image_tokens(
-        self,
-        input_ids: torch.Tensor,
-        attention_mask: torch.Tensor,
-        image_masks: torch.Tensor,
-        batch_num_tiles_list: list[list[int]],
-    ) -> torch.Tensor:
-        """Zero attention over the image-context tokens of absent (zero-padded) views.
-
-        Fully vectorized: runs without any host<->device synchronization.
-        """
-        # A single tile per image (max_num=1), so every image occupies the same number of
-        # context tokens.
-        tiles_per_image = (
-            batch_num_tiles_list[0][0] if batch_num_tiles_list and batch_num_tiles_list[0] else 1
-        )
-        tokens_per_image = self.num_image_token * tiles_per_image
-
-        image_masks = image_masks.to(device=input_ids.device).bool()
-        img_token_mask = input_ids == self.img_context_token_id  # (B, L)
-        # keep[b, k] tells whether the k-th image-context token (ordered view0, view1, ...) survives.
-        per_token_keep = image_masks.repeat_interleave(tokens_per_image, dim=1)  # (B, V * tokens_per_image)
-        # Rank each context token by its running position among the row's context tokens.
-        ctx_index = img_token_mask.to(torch.long).cumsum(dim=1) - 1
-        ctx_index = ctx_index.clamp(min=0, max=per_token_keep.shape[1] - 1)
-        keep_here = torch.gather(per_token_keep, 1, ctx_index)  # (B, L)
-        drop = img_token_mask & ~keep_here
-        return attention_mask.masked_fill(drop, 0)
-
-    def _forward_vlm(
-        self,
-        pixel_values: torch.Tensor,
-        batch_num_tiles_list: list[list[int]],
-        image_masks: torch.Tensor,
-        text_prompts: Sequence[str],
-        return_cls_only: bool,
-    ):
-        if pixel_values.shape[0] == 0:
-            logger.warning("InternVL3 received an empty image batch after preprocessing.")
-            hidden_size = getattr(self.model.config, "hidden_size", None)
-            if hidden_size is None:
-                hidden_size = getattr(self.model.config.text_config, "hidden_size", None)
-            if hidden_size is None:
-                raise RuntimeError("Unable to infer hidden size for empty InternVL3 batch.")
-            return torch.empty(0, hidden_size, device=self.device, dtype=torch.float32), None
-
-        prompts = self._build_multimodal_prompts(batch_num_tiles_list, text_prompts)
-
-        model_inputs = self.tokenizer(
-            list(prompts),
-            return_tensors="pt",
-            padding=True,
-            truncation=True,
-            max_length=self.max_text_length,
-        ).to(self.device)
-        input_ids = model_inputs["input_ids"]
-        if input_ids.shape[1] >= self.max_text_length:
-            # Truncation cuts from the right, so text is dropped before image placeholders — but a
-            # large max_views * image_seq_length budget can still eat into them. Fail loudly instead
-            # of letting the VLM crash on a placeholder/vision-feature count mismatch.
-            expected_image_tokens = self.num_image_token * sum(batch_num_tiles_list[0])
-            image_token_counts = (input_ids == self.img_context_token_id).sum(dim=1)
-            if not bool((image_token_counts == expected_image_tokens).all()):
-                raise ValueError(
-                    f"Prompt truncation at max_text_length={self.max_text_length} cut into the "
-                    f"image placeholder tokens ({expected_image_tokens} expected per sample). "
-                    "Increase max_text_length or reduce max_views."
-                )
-        attention_mask = self._mask_absent_image_tokens(
-            input_ids, model_inputs["attention_mask"], image_masks, batch_num_tiles_list
-        )
-
-        outputs = self.model(
-            input_ids=input_ids,
-            pixel_values=pixel_values,
-            attention_mask=attention_mask,
-            output_hidden_states=True,
-            return_dict=True,
-        )
-        fused_hidden = outputs.hidden_states[-1].to(torch.float32)
-        valid_mask = attention_mask.to(torch.bool)
-        if return_cls_only:
-            # Right-padded causal decoder: the last valid token is the only one that has attended
-            # to the full image + text prompt.
-            positions = torch.arange(valid_mask.shape[1], device=valid_mask.device)
-            last_valid = (valid_mask.long() * positions).argmax(dim=1)
-            batch_index = torch.arange(fused_hidden.shape[0], device=fused_hidden.device)
-            return fused_hidden[batch_index, last_valid], None
-        return fused_hidden, valid_mask
-
-    @property
-    def device(self) -> torch.device:
-        return next(self.model.parameters()).device
-
-
-def _flash_attn_available() -> bool:
-    try:
-        import flash_attn  # noqa: F401
-    except ModuleNotFoundError:
-        return False
-    return True

src/lerobot/policies/evo1/modeling_evo1.py

@@ -1,532 +0,0 @@
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from __future__ import annotations
-
-import builtins
-from collections import deque
-from contextlib import nullcontext
-from pathlib import Path
-from typing import TypedDict, Unpack
-
-import torch
-from torch import Tensor
-
-from lerobot.configs.policies import PreTrainedConfig
-from lerobot.policies.pretrained import PreTrainedPolicy, T
-from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE
-
-from ..rtc.modeling_rtc import RTCProcessor
-from .configuration_evo1 import Evo1Config
-from .evo1_model import Evo1Model
-
-
-class ActionSelectKwargs(TypedDict, total=False):
-    inference_delay: int | None
-    prev_chunk_left_over: Tensor | None
-    execution_horizon: int | None
-
-
-class Evo1Policy(PreTrainedPolicy):
-    config_class = Evo1Config
-    name = "evo1"
-
-    def __init__(self, config: Evo1Config, *, vlm_hub_kwargs: dict | None = None, **kwargs):
-        super().__init__(config)
-        config.validate_features()
-
-        if len(config.image_features) > config.max_views:
-            raise ValueError(
-                f"EVO1 supports at most {config.max_views} camera streams, got {len(config.image_features)}"
-            )
-
-        self.config = config
-        self.model = Evo1Model(config, vlm_hub_kwargs=vlm_hub_kwargs)
-        self.model.set_finetune_flags()
-        self._keep_frozen_embedder_eval()
-        self.init_rtc_processor()
-        self.reset()
-
-    def init_rtc_processor(self):
-        """Create the RTC processor when config.rtc_config is set.
-
-        The RTC rollout backend assigns config.rtc_config after loading the policy and re-invokes
-        this method.
-        """
-        self.rtc_processor = None
-        if self.config.rtc_config is not None:
-            self.rtc_processor = RTCProcessor(self.config.rtc_config)
-        model = getattr(self, "model", None)
-        if model is not None:
-            model.rtc_processor = self.rtc_processor
-
-    def _rtc_enabled(self) -> bool:
-        return self.config.rtc_config is not None and self.config.rtc_config.enabled
-
-    @classmethod
-    def from_pretrained(
-        cls: builtins.type[T],
-        pretrained_name_or_path: str | Path,
-        *,
-        config: PreTrainedConfig | None = None,
-        force_download: bool = False,
-        resume_download: bool | None = None,
-        proxies: dict | None = None,
-        token: str | bool | None = None,
-        cache_dir: str | Path | None = None,
-        local_files_only: bool = False,
-        revision: str | None = None,
-        strict: bool | None = None,
-        **kwargs,
-    ) -> T:
-        if strict is None:
-            strict = True
-        vlm_hub_kwargs = kwargs.pop("vlm_hub_kwargs", None)
-        if config is None:
-            config = PreTrainedConfig.from_pretrained(
-                pretrained_name_or_path=pretrained_name_or_path,
-                force_download=force_download,
-                resume_download=resume_download,
-                proxies=proxies,
-                token=token,
-                cache_dir=cache_dir,
-                local_files_only=local_files_only,
-                revision=revision,
-                **kwargs,
-            )
-        if vlm_hub_kwargs is None:
-            # Forward the hub download options to the base-VLM download as well; `revision` is not
-            # forwarded because it identifies the policy repo, not the VLM repo.
-            vlm_hub_kwargs = {
-                key: value
-                for key, value in (
-                    ("token", token),
-                    ("cache_dir", cache_dir),
-                    ("local_files_only", local_files_only),
-                    ("proxies", proxies),
-                )
-                if value not in (None, False)
-            }
-        kwargs["vlm_hub_kwargs"] = vlm_hub_kwargs
-        return super().from_pretrained(
-            pretrained_name_or_path=pretrained_name_or_path,
-            config=config,
-            force_download=force_download,
-            resume_download=resume_download,
-            proxies=proxies,
-            token=token,
-            cache_dir=cache_dir,
-            local_files_only=local_files_only,
-            revision=revision,
-            strict=strict,
-            **kwargs,
-        )
-
-    @property
-    def _camera_keys(self) -> list[str]:
-        return list(self.config.image_features)
-
-    @property
-    def _env_action_dim(self) -> int:
-        action_feature = self.config.action_feature
-        if action_feature is None:
-            return self.config.max_action_dim
-        return int(action_feature.shape[0])
-
-    @property
-    def _compute_dtype(self) -> torch.dtype:
-        return next(self.model.action_head.parameters()).dtype
-
-    @property
-    def _device(self) -> torch.device:
-        # The device the policy actually lives on. Derived from the parameters rather than
-        # config.device so the policy keeps working after accelerate (or a plain .to()) moves it.
-        return next(self.model.action_head.parameters()).device
-
-    @property
-    def _amp_enabled(self) -> bool:
-        return bool(self.config.use_amp) and self._device.type == "cuda"
-
-    def _maybe_autocast(self):
-        # EVO1 manages its own mixed precision: an explicit bf16 autocast that also overrides any
-        # outer autocast context (e.g. lerobot-eval's fp16 default), keeping train and eval
-        # numerics identical.
-        if self._amp_enabled:
-            return torch.autocast(device_type="cuda", dtype=torch.bfloat16)
-        return nullcontext()
-
-    def get_optim_params(self) -> list[dict]:
-        decay, no_decay = [], []
-        for name, param in self.named_parameters():
-            if not param.requires_grad:
-                continue
-            is_bias = name.endswith("bias") or ".bias" in name
-            is_norm = param.dim() == 1 or "norm" in name.lower()
-            if is_bias or is_norm:
-                no_decay.append(param)
-            else:
-                decay.append(param)
-        return [
-            {"params": decay, "weight_decay": self.config.optimizer_weight_decay},
-            {"params": no_decay, "weight_decay": 0.0},
-        ]
-
-    def reset(self):
-        self._action_queue = deque([], maxlen=self.config.n_action_steps)
-
-    def _normalize_task_batch(self, batch: dict[str, Tensor | list[str] | str]) -> list[str]:
-        prompts = batch.get(self.config.task_field)
-        if prompts is None and self.config.task_field != "task":
-            prompts = batch.get("task")
-        if prompts is None:
-            raise ValueError(f"EVO1 expects a '{self.config.task_field}' text field in the batch.")
-        if isinstance(prompts, str):
-            return [prompts]
-        if isinstance(prompts, (list, tuple)):
-            return [str(prompt) for prompt in prompts]
-        raise TypeError(f"Unsupported prompt batch type: {type(prompts)}")
-
-    def _prepare_state(self, batch: dict[str, Tensor]) -> tuple[Tensor, Tensor]:
-        if OBS_STATE not in batch:
-            raise ValueError(f"EVO1 requires '{OBS_STATE}' in the batch.")
-        state = batch[OBS_STATE]
-        if state.dim() == 1:
-            state = state.unsqueeze(0)
-        elif state.dim() == 3:
-            state = state[:, -1]
-        elif state.dim() != 2:
-            raise ValueError(f"Unsupported state tensor shape for EVO1: {tuple(state.shape)}")
-        batch_size, state_dim = state.shape
-        if state_dim > self.config.max_state_dim:
-            raise ValueError(
-                f"State dim {state_dim} exceeds configured max_state_dim {self.config.max_state_dim}"
-            )
-        explicit_mask = batch.get("state_mask")
-        if explicit_mask is not None:
-            if explicit_mask.dim() == 1:
-                explicit_mask = explicit_mask.unsqueeze(0)
-            elif explicit_mask.dim() == 3:
-                explicit_mask = explicit_mask[:, -1]
-            elif explicit_mask.dim() != 2:
-                raise ValueError(
-                    f"Unsupported state_mask tensor shape for EVO1: {tuple(explicit_mask.shape)}"
-                )
-            if explicit_mask.shape != (batch_size, state_dim):
-                raise ValueError(
-                    f"state_mask shape {tuple(explicit_mask.shape)} does not match state shape {(batch_size, state_dim)}"
-                )
-        device = self._device
-        padded = torch.zeros(
-            batch_size,
-            self.config.max_state_dim,
-            dtype=state.dtype,
-            device=device,
-        )
-        padded[:, :state_dim] = state.to(device=device)
-        mask = torch.zeros(
-            batch_size,
-            self.config.max_state_dim,
-            dtype=torch.bool,
-            device=device,
-        )
-        if explicit_mask is None:
-            mask[:, :state_dim] = True
-        else:
-            mask[:, :state_dim] = explicit_mask.to(device=device, dtype=torch.bool)
-        # Zero out masked state dims so an explicit state_mask actually affects the model input
-        # (the state encoder has no mask argument of its own).
-        padded = padded * mask.to(dtype=padded.dtype)
-        return padded.to(dtype=self._compute_dtype), mask
-
-    def _prepare_actions(self, batch: dict[str, Tensor]) -> tuple[Tensor, Tensor]:
-        if ACTION not in batch:
-            raise ValueError(f"EVO1 requires '{ACTION}' in the batch for training.")
-        action = batch[ACTION]
-        if action.dim() == 2:
-            action = action.unsqueeze(1)
-        batch_size, horizon, action_dim = action.shape
-        if horizon != self.config.chunk_size:
-            raise ValueError(
-                f"EVO1 expects chunk_size={self.config.chunk_size}, got action horizon {horizon}"
-            )
-        if action_dim > self.config.max_action_dim:
-            raise ValueError(
-                f"Action dim {action_dim} exceeds configured max_action_dim {self.config.max_action_dim}"
-            )
-        explicit_mask = batch.get("action_mask")
-        if explicit_mask is not None:
-            if explicit_mask.dim() == 2:
-                if horizon == 1:
-                    explicit_mask = explicit_mask.unsqueeze(1)
-                else:
-                    raise ValueError(
-                        f"2D action_mask is only supported when chunk_size=1, got action horizon {horizon}"
-                    )
-            elif explicit_mask.dim() != 3:
-                raise ValueError(
-                    f"Unsupported action_mask tensor shape for EVO1: {tuple(explicit_mask.shape)}"
-                )
-            if explicit_mask.shape != (batch_size, horizon, action_dim):
-                raise ValueError(
-                    "action_mask shape "
-                    f"{tuple(explicit_mask.shape)} does not match action shape {(batch_size, horizon, action_dim)}"
-                )
-        device = self._device
-        padded = torch.zeros(
-            batch_size,
-            horizon,
-            self.config.max_action_dim,
-            dtype=action.dtype,
-            device=device,
-        )
-        padded[:, :, :action_dim] = action.to(device=device)
-        mask = torch.zeros(
-            batch_size,
-            horizon,
-            self.config.max_action_dim,
-            dtype=torch.bool,
-            device=device,
-        )
-        if explicit_mask is None:
-            mask[:, :, :action_dim] = True
-        else:
-            mask[:, :, :action_dim] = explicit_mask.to(device=device, dtype=torch.bool)
-
-        # Timesteps beyond the episode end hold fabricated (repeated) actions; exclude them from
-        # the loss like the other chunked policies do.
-        action_is_pad = batch.get("action_is_pad")
-        if action_is_pad is not None:
-            if action_is_pad.shape != (batch_size, horizon):
-                raise ValueError(
-                    f"action_is_pad shape {tuple(action_is_pad.shape)} does not match "
-                    f"(batch_size, chunk_size)={(batch_size, horizon)}"
-                )
-            in_episode = ~action_is_pad.to(device=device, dtype=torch.bool)
-            mask = mask & in_episode.unsqueeze(-1)
-        return padded.to(dtype=self._compute_dtype), mask
-
-    def _prepare_inference_action_mask(self, batch_size: int) -> Tensor:
-        mask = torch.zeros(
-            batch_size,
-            self.config.max_action_dim,
-            dtype=torch.bool,
-            device=self._device,
-        )
-        mask[:, : self._env_action_dim] = True
-        return mask
-
-    def _get_embodiment_ids(self, batch: dict[str, Tensor], batch_size: int) -> Tensor:
-        embodiment_ids = batch.get("embodiment_id")
-        if embodiment_ids is None and self.config.embodiment_id_field:
-            embodiment_ids = batch.get(self.config.embodiment_id_field)
-        if embodiment_ids is None:
-            return torch.full(
-                (batch_size,),
-                self.config.default_embodiment_id,
-                dtype=torch.long,
-                device=self._device,
-            )
-        if embodiment_ids.dim() == 0:
-            embodiment_ids = embodiment_ids.unsqueeze(0)
-        elif embodiment_ids.dim() > 1:
-            embodiment_ids = embodiment_ids[:, -1]
-        return embodiment_ids.to(device=self._device, dtype=torch.long)
-
-    @property
-    def _tracks_vlm_gradients(self) -> bool:
-        return bool(
-            self.config.finetune_vlm
-            or self.config.finetune_language_model
-            or self.config.finetune_vision_model
-        )
-
-    def _keep_frozen_embedder_eval(self) -> None:
-        if self._tracks_vlm_gradients:
-            return
-        embedder = getattr(self.model, "embedder", None)
-        if embedder is not None:
-            embedder.eval()
-
-    def train(self, mode: bool = True):
-        super().train(mode)
-        self._keep_frozen_embedder_eval()
-        return self
-
-    def _collect_image_batches(self, batch: dict[str, Tensor]) -> tuple[list[Tensor], Tensor]:
-        camera_keys = self._camera_keys or sorted(key for key in batch if key.startswith(f"{OBS_IMAGES}."))
-        if not camera_keys:
-            raise ValueError("EVO1 requires at least one visual observation feature.")
-        camera_keys = list(camera_keys)[: self.config.max_views]
-
-        # Configured cameras may be absent from the batch up to the empty_cameras budget (e.g. the
-        # placeholder features added by validate_features); they become masked-out views that the
-        # embedder zero-pads. Any other absent camera is an error.
-        present_keys = [key for key in camera_keys if key in batch]
-        missing_keys = [key for key in camera_keys if key not in batch]
-        if len(missing_keys) > self.config.empty_cameras:
-            raise ValueError(
-                f"Missing camera features {missing_keys} in batch; at most "
-                f"empty_cameras={self.config.empty_cameras} may be absent."
-            )
-        if not present_keys:
-            raise ValueError("EVO1 requires at least one visual observation in the batch.")
-
-        # Keep each present camera as a batched (B, C, H, W) tensor on its current (GPU) device.
-        # Resizing/normalization and zero-padding of absent views happen batched inside the
-        # embedder, so images never leave the device here.
-        camera_images: list[Tensor] = []
-        for camera_key in present_keys:
-            image = batch[camera_key]
-            if image.dim() == 3:
-                # Promote an unbatched (C, H, W) frame so batch_size is read from a real batch dim.
-                image = image.unsqueeze(0)
-            elif image.dim() == 5:
-                image = image[:, -1]
-            elif image.dim() != 4:
-                raise ValueError(
-                    f"Unsupported image tensor shape for EVO1: key={camera_key} shape={tuple(image.shape)}"
-                )
-            camera_images.append(image)
-
-        batch_size = camera_images[0].shape[0]
-        n_present = len(camera_images)
-        image_masks = torch.zeros(
-            batch_size, self.config.max_views, dtype=torch.bool, device=camera_images[0].device
-        )
-        image_masks[:, :n_present] = True
-
-        return camera_images, image_masks
-
-    def _compute_fused_tokens(
-        self,
-        prompts: list[str],
-        image_batches: list[Tensor],
-        image_masks: Tensor,
-    ) -> tuple[Tensor, Tensor | None]:
-        track_vlm_gradients = self._tracks_vlm_gradients
-        grad_context = nullcontext() if track_vlm_gradients else torch.no_grad()
-        with grad_context:
-            fused_tokens, context_mask = self.model.get_vl_embeddings(
-                images=image_batches,
-                image_mask=image_masks,
-                prompt=prompts,
-                return_cls_only=self.config.return_cls_only,
-            )
-
-        if not track_vlm_gradients:
-            fused_tokens = fused_tokens.detach()
-        fused_tokens = fused_tokens.to(device=self._device, dtype=self._compute_dtype)
-        if context_mask is not None:
-            context_mask = context_mask.to(device=self._device)
-        return fused_tokens, context_mask
-
-    def _compute_masked_loss(
-        self,
-        pred_velocity: Tensor,
-        target_velocity: Tensor,
-        action_mask: Tensor,
-        reduction: str,
-    ) -> Tensor:
-        flat_mask = action_mask.view(action_mask.shape[0], -1).to(dtype=pred_velocity.dtype)
-        sq_error = ((pred_velocity - target_velocity) * flat_mask).pow(2)
-        active = flat_mask.sum(dim=1).clamp_min(1.0)
-        per_sample_loss = sq_error.sum(dim=1) / active
-        if reduction == "none":
-            return per_sample_loss
-        if reduction != "mean":
-            raise ValueError(f"Unsupported reduction '{reduction}'")
-        return sq_error.sum() / active.sum()
-
-    def forward(self, batch: dict[str, Tensor], reduction: str = "mean") -> tuple[Tensor, dict]:
-        prompts = self._normalize_task_batch(batch)
-        image_batches, image_masks = self._collect_image_batches(batch)
-        states, _state_mask = self._prepare_state(batch)
-        actions_gt, action_mask = self._prepare_actions(batch)
-        embodiment_ids = self._get_embodiment_ids(batch, states.shape[0])
-
-        with self._maybe_autocast():
-            fused_tokens, context_mask = self._compute_fused_tokens(prompts, image_batches, image_masks)
-            pred_velocity, noise = self.model(
-                fused_tokens,
-                state=states,
-                actions_gt=actions_gt,
-                action_mask=action_mask.to(device=self._device, dtype=self._compute_dtype),
-                embodiment_ids=embodiment_ids,
-                context_mask=context_mask,
-            )
-
-        # Compute the flow-matching regression loss in fp32, outside the autocast block.
-        pred_velocity = pred_velocity.float()
-        noise = noise.float()
-        flat_action_mask = action_mask.view(action_mask.shape[0], -1).to(dtype=torch.float32)
-        # Flow-matching velocity target. Padded (masked-out) action dims are already zero on both sides
-        # here (`actions_gt` is zero-padded in `_prepare_actions`, and `noise` is masked inside the head),
-        # and the whole difference is multiplied by `flat_action_mask`, so padded dims contribute nothing.
-        target_velocity = (actions_gt.float() - noise).view(actions_gt.shape[0], -1) * flat_action_mask
-        loss = self._compute_masked_loss(pred_velocity, target_velocity, action_mask, reduction)
-        loss_mean = loss.mean().item() if loss.ndim > 0 else loss.item()
-        return loss, {
-            "loss": loss_mean,
-            "active_action_dims": float(action_mask.sum(dim=(1, 2)).float().mean().item()),
-        }
-
-    @torch.no_grad()
-    def predict_action_chunk(self, batch: dict[str, Tensor], **kwargs: Unpack[ActionSelectKwargs]) -> Tensor:
-        inference_delay = kwargs.get("inference_delay")
-        prev_chunk_left_over = kwargs.get("prev_chunk_left_over")
-        execution_horizon = kwargs.get("execution_horizon")
-        if (inference_delay is not None or prev_chunk_left_over is not None) and not self._rtc_enabled():
-            raise RuntimeError(
-                "Received RTC arguments but RTC is not configured for this EVO1 policy: set "
-                "config.rtc_config and call init_rtc_processor() (lerobot-rollout does this for "
-                "--inference.type=rtc)."
-            )
-        self.eval()
-
-        prompts = self._normalize_task_batch(batch)
-        image_batches, image_masks = self._collect_image_batches(batch)
-        states, _state_mask = self._prepare_state(batch)
-        embodiment_ids = self._get_embodiment_ids(batch, states.shape[0])
-        action_mask = self._prepare_inference_action_mask(states.shape[0])
-        if prev_chunk_left_over is not None:
-            prev_chunk_left_over = prev_chunk_left_over.to(device=self._device)
-
-        with self._maybe_autocast():
-            fused_tokens, context_mask = self._compute_fused_tokens(prompts, image_batches, image_masks)
-            actions = self.model(
-                fused_tokens,
-                state=states,
-                action_mask=action_mask,
-                embodiment_ids=embodiment_ids,
-                context_mask=context_mask,
-                inference_delay=inference_delay,
-                prev_chunk_left_over=prev_chunk_left_over,
-                execution_horizon=execution_horizon,
-            )
-        actions = actions.view(states.shape[0], self.config.chunk_size, self.config.max_action_dim)
-        return actions.to(dtype=torch.float32)
-
-    @torch.no_grad()
-    def select_action(self, batch: dict[str, Tensor], **kwargs) -> Tensor:
-        assert not self._rtc_enabled(), (
-            "RTC is not supported for select_action, use it with predict_action_chunk"
-        )
-        self.eval()
-        if len(self._action_queue) == 0:
-            action_chunk = self.predict_action_chunk(batch)[:, : self.config.n_action_steps]
-            self._action_queue.extend(action_chunk.transpose(0, 1))
-        # Returns one step of shape (B, max_action_dim): actions are emitted at the padded max_action_dim
-        # width and cropped to the real action dim downstream by the postprocessor (Evo1ActionProcessorStep).
-        # Callers that bypass the postprocessor receive the padded width.
-        return self._action_queue.popleft()

src/lerobot/policies/evo1/processor_evo1.py

@@ -1,430 +0,0 @@
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from __future__ import annotations
-
-from copy import deepcopy
-from dataclasses import dataclass
-from typing import Any
-
-import torch
-
-from lerobot.configs import FeatureType, PipelineFeatureType, PolicyFeature
-from lerobot.processor import (
-    AddBatchDimensionProcessorStep,
-    DeviceProcessorStep,
-    NormalizerProcessorStep,
-    ObservationProcessorStep,
-    PolicyAction,
-    PolicyActionProcessorStep,
-    PolicyProcessorPipeline,
-    ProcessorStep,
-    ProcessorStepRegistry,
-    RenameObservationsProcessorStep,
-    UnnormalizerProcessorStep,
-)
-from lerobot.processor.converters import (
-    batch_to_transition,
-    create_transition,
-    policy_action_to_transition,
-    transition_to_policy_action,
-)
-from lerobot.types import EnvTransition, TransitionKey
-from lerobot.utils.constants import (
-    ACTION,
-    DONE,
-    INFO,
-    OBS_PREFIX,
-    OBS_STATE,
-    POLICY_POSTPROCESSOR_DEFAULT_NAME,
-    POLICY_PREPROCESSOR_DEFAULT_NAME,
-    REWARD,
-    TRUNCATED,
-)
-
-from .configuration_evo1 import Evo1Config
-
-
-def evo1_batch_to_transition(batch: dict[str, Any]):
-    transition = batch_to_transition(batch)
-    complementary_data = dict(transition.get("complementary_data") or {})
-    reserved = {ACTION, REWARD, DONE, TRUNCATED, INFO}
-    for key, value in batch.items():
-        if key in reserved or key.startswith(OBS_PREFIX):
-            continue
-        complementary_data.setdefault(key, value)
-    return create_transition(
-        observation=transition.get("observation"),
-        action=transition.get("action"),
-        reward=transition.get("reward", 0.0),
-        done=transition.get("done", False),
-        truncated=transition.get("truncated", False),
-        info=transition.get("info", {}),
-        complementary_data=complementary_data,
-    )
-
-
-@dataclass
-@ProcessorStepRegistry.register(name="evo1_pad_state_processor")
-class Evo1PadStateProcessorStep(ObservationProcessorStep):
-    """Pad policy observations to EVO1's fixed state width before normalization."""
-
-    max_state_dim: int = 24
-
-    def observation(self, observation: dict[str, Any]) -> dict[str, Any]:
-        if OBS_STATE not in observation:
-            return observation
-
-        state = observation[OBS_STATE]
-        state_dim = state.shape[-1]
-        if state_dim > self.max_state_dim:
-            raise ValueError(
-                f"EVO1 state has {state_dim} dims, which exceeds max_state_dim={self.max_state_dim}."
-            )
-        if state_dim < self.max_state_dim:
-            observation = observation.copy()
-            observation[OBS_STATE] = torch.nn.functional.pad(state, (0, self.max_state_dim - state_dim))
-        return observation
-
-    def transform_features(
-        self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
-    ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-        new_features = {ft: feats.copy() for ft, feats in features.items()}
-        obs_feats = new_features.setdefault(PipelineFeatureType.OBSERVATION, {})
-        if OBS_STATE in obs_feats:
-            obs_feats[OBS_STATE] = PolicyFeature(type=FeatureType.STATE, shape=(self.max_state_dim,))
-        return new_features
-
-    def get_config(self) -> dict[str, Any]:
-        return {"max_state_dim": self.max_state_dim}
-
-
-@dataclass
-@ProcessorStepRegistry.register(name="evo1_pad_action_processor")
-class Evo1PadActionProcessorStep(ProcessorStep):
-    """Pad training actions and preserve the active action dimensions with action_mask."""
-
-    max_action_dim: int = 24
-
-    def __call__(self, transition: EnvTransition) -> EnvTransition:
-        action = transition.get(TransitionKey.ACTION)
-        if action is None:
-            return transition
-        if not isinstance(action, PolicyAction):
-            raise ValueError(f"EVO1 action should be a PolicyAction tensor, but got {type(action)}.")
-
-        action_dim = action.shape[-1]
-        if action_dim > self.max_action_dim:
-            raise ValueError(
-                f"EVO1 action has {action_dim} dims, which exceeds max_action_dim={self.max_action_dim}."
-            )
-
-        new_transition = transition.copy()
-        new_action = action
-        if action_dim < self.max_action_dim:
-            new_action = torch.nn.functional.pad(action, (0, self.max_action_dim - action_dim))
-
-        complementary_data = dict(new_transition.get(TransitionKey.COMPLEMENTARY_DATA) or {})
-        action_mask = complementary_data.get("action_mask")
-        if action_mask is None:
-            action_mask = torch.ones(action.shape, dtype=torch.bool, device=action.device)
-        else:
-            action_mask = torch.as_tensor(action_mask, dtype=torch.bool, device=action.device)
-            if action_mask.shape != action.shape:
-                raise ValueError(
-                    f"action_mask shape {tuple(action_mask.shape)} does not match action shape {tuple(action.shape)}."
-                )
-        if action_dim < self.max_action_dim:
-            action_mask = torch.nn.functional.pad(action_mask, (0, self.max_action_dim - action_dim))
-
-        complementary_data["action_mask"] = action_mask
-        new_transition[TransitionKey.ACTION] = new_action
-        new_transition[TransitionKey.COMPLEMENTARY_DATA] = complementary_data
-        return new_transition
-
-    def transform_features(
-        self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
-    ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-        new_features = {ft: feats.copy() for ft, feats in features.items()}
-        action_feats = new_features.setdefault(PipelineFeatureType.ACTION, {})
-        action_feats[ACTION] = PolicyFeature(type=FeatureType.ACTION, shape=(self.max_action_dim,))
-        return new_features
-
-    def get_config(self) -> dict[str, Any]:
-        return {"max_action_dim": self.max_action_dim}
-
-
-@dataclass
-@ProcessorStepRegistry.register(name="evo1_action_processor")
-class Evo1ActionProcessorStep(PolicyActionProcessorStep):
-    """Crop padded EVO1 actions and optionally binarize the LIBERO gripper channel."""
-
-    action_dim: int
-    binarize_gripper: bool = False
-    gripper_index: int = 6
-    gripper_threshold: float = 0.5
-    gripper_below_threshold_value: float = 1.0
-    gripper_above_threshold_value: float = -1.0
-
-    def action(self, action: PolicyAction) -> PolicyAction:
-        if action.shape[-1] < self.action_dim:
-            raise ValueError(
-                f"EVO1 action has {action.shape[-1]} dims, which is smaller than action_dim={self.action_dim}."
-            )
-
-        action = action[..., : self.action_dim]
-        if not self.binarize_gripper:
-            return action
-
-        if not 0 <= self.gripper_index < self.action_dim:
-            raise ValueError(
-                f"gripper_index={self.gripper_index} must be within action_dim={self.action_dim}."
-            )
-
-        action = action.clone()
-        below = torch.as_tensor(
-            self.gripper_below_threshold_value,
-            dtype=action.dtype,
-            device=action.device,
-        )
-        above = torch.as_tensor(
-            self.gripper_above_threshold_value,
-            dtype=action.dtype,
-            device=action.device,
-        )
-        action[..., self.gripper_index] = torch.where(
-            action[..., self.gripper_index] > self.gripper_threshold,
-            above,
-            below,
-        )
-        return action
-
-    def transform_features(
-        self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
-    ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-        new_features = {ft: feats.copy() for ft, feats in features.items()}
-        action_feats = new_features.setdefault(PipelineFeatureType.ACTION, {})
-        action_feats[ACTION] = PolicyFeature(type=FeatureType.ACTION, shape=(self.action_dim,))
-        return new_features
-
-    def get_config(self) -> dict[str, Any]:
-        return {
-            "action_dim": self.action_dim,
-            "binarize_gripper": self.binarize_gripper,
-            "gripper_index": self.gripper_index,
-            "gripper_threshold": self.gripper_threshold,
-            "gripper_below_threshold_value": self.gripper_below_threshold_value,
-            "gripper_above_threshold_value": self.gripper_above_threshold_value,
-        }
-
-
-def _evo1_action_dim(config: Evo1Config) -> int:
-    if config.postprocess_action_dim is not None:
-        return config.postprocess_action_dim
-    action_feature = config.action_feature
-    if action_feature is None:
-        return config.max_action_dim
-    return int(action_feature.shape[0])
-
-
-def _evo1_normalization_features(config: Evo1Config) -> dict[str, PolicyFeature]:
-    features = {**config.input_features, **config.output_features}
-    features[OBS_STATE] = PolicyFeature(type=FeatureType.STATE, shape=(config.max_state_dim,))
-    features[ACTION] = PolicyFeature(type=FeatureType.ACTION, shape=(config.max_action_dim,))
-    return features
-
-
-def _evo1_action_features(config: Evo1Config) -> dict[str, PolicyFeature]:
-    return {ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(config.max_action_dim,))}
-
-
-_STAT_PAD_VALUES = {
-    "mean": 0.0,
-    "std": 1.0,
-    "min": -1.0,
-    "max": 1.0,
-    "q01": -1.0,
-    "q99": 1.0,
-    "q10": -1.0,
-    "q90": 1.0,
-}
-
-
-def _pad_stat_value(value: Any, target_dim: int, stat_name: str) -> torch.Tensor:
-    tensor = torch.as_tensor(value)
-    if not tensor.is_floating_point():
-        tensor = tensor.to(dtype=torch.float32)
-    if tensor.ndim == 0 or tensor.shape[-1] >= target_dim:
-        return tensor
-
-    pad_shape = (*tensor.shape[:-1], target_dim - tensor.shape[-1])
-    pad_value = _STAT_PAD_VALUES.get(stat_name, 0.0)
-    padding = torch.full(pad_shape, pad_value, dtype=tensor.dtype, device=tensor.device)
-    return torch.cat([tensor, padding], dim=-1)
-
-
-def _pad_feature_stats(
-    stats: dict[str, dict[str, Any]],
-    feature_key: str,
-    target_dim: int,
-) -> None:
-    if feature_key not in stats:
-        return
-    stats[feature_key] = {
-        stat_name: _pad_stat_value(stat_value, target_dim, stat_name)
-        for stat_name, stat_value in stats[feature_key].items()
-    }
-
-
-def _pad_evo1_stats(
-    config: Evo1Config,
-    stats: dict[str, dict[str, Any]] | None,
-) -> dict[str, dict[str, Any]] | None:
-    if stats is None:
-        return None
-
-    padded_stats = deepcopy(stats)
-    # Added dimensions represent zero-padding inside EVO1. These neutral stats keep
-    # padded observations at normalized zero and only provide shape compatibility.
-    _pad_feature_stats(padded_stats, OBS_STATE, config.max_state_dim)
-    _pad_feature_stats(padded_stats, ACTION, config.max_action_dim)
-    return padded_stats
-
-
-def _refresh_evo1_normalization_steps(
-    config: Evo1Config,
-    preprocessor: PolicyProcessorPipeline,
-    postprocessor: PolicyProcessorPipeline,
-) -> None:
-    """Re-pad checkpoint-loaded (un)normalizer stats/features to EVO1's fixed widths.
-
-    Loading a checkpoint injects the raw dataset stats (unpadded to max_state_dim/max_action_dim)
-    into the (un)normalizer via the generic override path in make_pre_post_processors. Those stats
-    and their declared features must be re-padded/reshaped to EVO1's fixed widths, otherwise
-    normalization fails against the padded state/action tensors (e.g. state padded to 24 vs. 8-dim
-    LIBERO stats). Padding is a no-op when stats are already at the target width.
-    """
-    normalization_features = _evo1_normalization_features(config)
-    action_features = _evo1_action_features(config)
-    for step in preprocessor.steps:
-        if isinstance(step, NormalizerProcessorStep):
-            step.features = normalization_features
-            step.stats = _pad_evo1_stats(config, step.stats)
-            step.to(device=step.device, dtype=step.dtype)
-    for step in postprocessor.steps:
-        if isinstance(step, UnnormalizerProcessorStep):
-            step.features = action_features
-            step.stats = _pad_evo1_stats(config, step.stats)
-            step.to(device=step.device, dtype=step.dtype)
-
-
-def reconcile_evo1_processors(
-    config: Evo1Config,
-    preprocessor: PolicyProcessorPipeline,
-    postprocessor: PolicyProcessorPipeline,
-) -> tuple[PolicyProcessorPipeline, PolicyProcessorPipeline]:
-    """Reconcile checkpoint-loaded pipelines with the current EVO1 config.
-
-    Three things cannot be restored from a serialized pipeline alone: the EVO1 batch converter
-    (converters are plain functions and are never serialized), eval-time CLI overrides of the
-    action postprocessing flags (`postprocess_action_dim`, `binarize_gripper`, `gripper_*`), and the
-    (un)normalizer stats/features when the generic override path injects raw, unpadded dataset
-    stats. This restores the converter, re-pads the normalization stats to EVO1's fixed widths, and
-    rebuilds the action step from the current config so those overrides take effect.
-    """
-    # Pipelines reloaded from a checkpoint come back with the default batch converter, which drops
-    # non-observation extras (embodiment_id, state_mask, custom task fields) needed by EVO1.
-    preprocessor.to_transition = evo1_batch_to_transition
-
-    _refresh_evo1_normalization_steps(config, preprocessor, postprocessor)
-
-    action_step = Evo1ActionProcessorStep(
-        action_dim=_evo1_action_dim(config),
-        binarize_gripper=config.binarize_gripper,
-        gripper_index=config.gripper_index,
-        gripper_threshold=config.gripper_threshold,
-        gripper_below_threshold_value=config.gripper_below_threshold_value,
-        gripper_above_threshold_value=config.gripper_above_threshold_value,
-    )
-    steps = list(postprocessor.steps)
-    action_step_idx = next(
-        (idx for idx, step in enumerate(steps) if isinstance(step, Evo1ActionProcessorStep)), None
-    )
-    if action_step_idx is None:
-        insert_idx = next(
-            (idx + 1 for idx, step in enumerate(steps) if isinstance(step, UnnormalizerProcessorStep)),
-            0,
-        )
-        steps.insert(insert_idx, action_step)
-    else:
-        steps[action_step_idx] = action_step
-    postprocessor.steps = steps
-
-    return preprocessor, postprocessor
-
-
-def make_evo1_pre_post_processors(
-    config: Evo1Config,
-    dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
-) -> tuple[
-    PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
-    PolicyProcessorPipeline[PolicyAction, PolicyAction],
-]:
-    normalization_features = _evo1_normalization_features(config)
-    action_features = _evo1_action_features(config)
-    normalization_stats = _pad_evo1_stats(config, dataset_stats)
-
-    input_steps = [
-        RenameObservationsProcessorStep(rename_map={}),
-        AddBatchDimensionProcessorStep(),
-        Evo1PadStateProcessorStep(max_state_dim=config.max_state_dim),
-        Evo1PadActionProcessorStep(max_action_dim=config.max_action_dim),
-        NormalizerProcessorStep(
-            features=normalization_features,
-            norm_map=config.normalization_mapping,
-            stats=normalization_stats,
-        ),
-        DeviceProcessorStep(device=config.device),
-    ]
-    output_steps = [
-        UnnormalizerProcessorStep(
-            features=action_features,
-            norm_map=config.normalization_mapping,
-            stats=normalization_stats,
-        ),
-        Evo1ActionProcessorStep(
-            action_dim=_evo1_action_dim(config),
-            binarize_gripper=config.binarize_gripper,
-            gripper_index=config.gripper_index,
-            gripper_threshold=config.gripper_threshold,
-            gripper_below_threshold_value=config.gripper_below_threshold_value,
-            gripper_above_threshold_value=config.gripper_above_threshold_value,
-        ),
-        # float32 so downstream numpy conversion works even when the policy computes in bf16.
-        DeviceProcessorStep(device="cpu", float_dtype="float32"),
-    ]
-
-    return (
-        PolicyProcessorPipeline[dict[str, Any], dict[str, Any]](
-            steps=input_steps,
-            name=POLICY_PREPROCESSOR_DEFAULT_NAME,
-            to_transition=evo1_batch_to_transition,
-        ),
-        PolicyProcessorPipeline[PolicyAction, PolicyAction](
-            steps=output_steps,
-            name=POLICY_POSTPROCESSOR_DEFAULT_NAME,
-            to_transition=policy_action_to_transition,
-            to_output=transition_to_policy_action,
-        ),
-    )