chore(dependencies): update uv.lock

src/lerobot/configs/eval.py

@@ -48,13 +48,8 @@ class EvalPipelineConfig:
         if policy_path:
             yaml_overrides = parser.get_yaml_overrides("policy")
             cli_overrides = parser.get_cli_overrides("policy") or []
-            pretrained_revision = parser.parse_arg("pretrained_revision", cli_overrides)
-            if pretrained_revision is None:
-                pretrained_revision = parser.parse_arg("pretrained_revision", yaml_overrides)
             self.policy = PreTrainedConfig.from_pretrained(
-                policy_path,
-                revision=pretrained_revision,
-                cli_overrides=yaml_overrides + cli_overrides,
+                policy_path, cli_overrides=yaml_overrides + cli_overrides
             )
             self.policy.pretrained_path = Path(policy_path)
 

src/lerobot/configs/policies.py

@@ -29,7 +29,7 @@ from huggingface_hub.errors import HfHubHTTPError
 from lerobot.optim import LRSchedulerConfig, OptimizerConfig
 from lerobot.utils.constants import ACTION, OBS_STATE
 from lerobot.utils.device_utils import auto_select_torch_device, is_amp_available, is_torch_device_available
-from lerobot.utils.hub import HubMixin, extract_commit_hash
+from lerobot.utils.hub import HubMixin
 
 from .types import FeatureType, PolicyFeature
 
@@ -82,26 +82,6 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):  # type: igno
     # Optional Hub revision (commit hash, branch, or tag) to pin the pretrained model version.
     pretrained_revision: str | None = None
 
-    @property
-    def _commit_hash(self) -> str | None:
-        """Resolved Hub commit for this runtime load; never serialized."""
-        return self.__dict__.get("_runtime_commit_hash")
-
-    @property
-    def _commit_hash_source(self) -> str | None:
-        """Hub repo whose revision resolved to ``_commit_hash``."""
-        return self.__dict__.get("_runtime_commit_hash_source")
-
-    def _set_hub_commit_hash(self, commit_hash: str | None, source: str | None) -> None:
-        self.__dict__["_runtime_commit_hash"] = commit_hash
-        self.__dict__["_runtime_commit_hash_source"] = source if commit_hash is not None else None
-
-    def get_hub_revision(self, source: str | Path | None, revision: str | None = None) -> str | None:
-        """Return the pinned revision when ``source`` owns the resolved commit."""
-        if self._commit_hash is not None and self._commit_hash_source == str(source):
-            return self._commit_hash
-        return revision
-
     def __post_init__(self) -> None:
         if not self.device or not is_torch_device_available(self.device):
             auto_device = auto_select_torch_device()
@@ -202,8 +182,7 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):  # type: igno
     ) -> T:
         model_id = str(pretrained_name_or_path)
         config_file: str | None = None
-        is_local = Path(model_id).is_dir()
-        if is_local:
+        if Path(model_id).is_dir():
             if CONFIG_NAME in os.listdir(model_id):
                 config_file = os.path.join(model_id, CONFIG_NAME)
             else:
@@ -229,12 +208,8 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):  # type: igno
         if config_file is None:
             raise FileNotFoundError(f"{CONFIG_NAME} not found in {model_id}")
 
-        commit_hash = None if is_local else extract_commit_hash(config_file, revision)
         with open(config_file) as f:
             config = json.load(f)
-        # Runtime Hub metadata must never become part of the serialized config schema.
-        config.pop("_commit_hash", None)
-        config.pop("_commit_hash_source", None)
 
         # Resolve the concrete config subclass from the serialized "type" tag, then parse
         # the config (with CLI overrides) directly for that class. The "type" key is
@@ -256,6 +231,4 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):  # type: igno
 
         cli_overrides = policy_kwargs.pop("cli_overrides", [])
         with draccus.config_type("json"):
-            parsed_config = draccus.parse(config_cls, config_file, args=cli_overrides)
-        parsed_config._set_hub_commit_hash(commit_hash, model_id)
-        return parsed_config
+            return draccus.parse(config_cls, config_file, args=cli_overrides)

src/lerobot/configs/train.py

@@ -172,16 +172,8 @@ class TrainPipelineConfig(HubMixin):
             )
             self.reward_model.pretrained_path = str(Path(reward_model_path))
         elif policy_path:
-            yaml_overrides = parser.get_yaml_overrides("policy")
-            cli_overrides = parser.get_cli_overrides("policy") or []
-            pretrained_revision = parser.parse_arg("pretrained_revision", cli_overrides)
-            if pretrained_revision is None:
-                pretrained_revision = parser.parse_arg("pretrained_revision", yaml_overrides)
-            self.policy = PreTrainedConfig.from_pretrained(
-                policy_path,
-                revision=pretrained_revision,
-                cli_overrides=yaml_overrides + cli_overrides,
-            )
+            overrides = parser.get_yaml_overrides("policy") + (parser.get_cli_overrides("policy") or [])
+            self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=overrides)
             self.policy.pretrained_path = Path(policy_path)
         elif self.resume:
             self._resolve_resume_checkpoint()

src/lerobot/policies/factory.py

@@ -171,9 +171,6 @@ def make_pre_post_processors(
         ValueError: If no processor factory exists for the given policy configuration type.
     """
     if pretrained_path:
-        revision_resolver = getattr(policy_cfg, "get_hub_revision", None)
-        if callable(revision_resolver):
-            pretrained_revision = revision_resolver(pretrained_path, pretrained_revision)
         if isinstance(policy_cfg, GrootConfig):
             from .groot.processor_groot import make_groot_pre_post_processors_from_pretrained
 

src/lerobot/policies/groot/modeling_groot.py

@@ -37,7 +37,6 @@ from torch import Tensor
 
 from lerobot.configs import FeatureType, PolicyFeature
 from lerobot.utils.constants import ACTION, OBS_IMAGES
-from lerobot.utils.hub import extract_commit_hash
 from lerobot.utils.import_utils import _transformers_available, require_package
 
 from ..pretrained import PreTrainedPolicy
@@ -196,8 +195,6 @@ class GrootPolicy(PreTrainedPolicy):
         )
 
         model_id = str(pretrained_name_or_path)
-        if config is not None:
-            revision = config.get_hub_revision(model_id, revision)
         is_finetuned_checkpoint = False
 
         # Check if this is a fine-tuned LeRobot checkpoint (has model.safetensors)
@@ -207,7 +204,7 @@ class GrootPolicy(PreTrainedPolicy):
             else:
                 # Try to download the safetensors file to check if it exists
                 try:
-                    resolved_model_file = hf_hub_download(
+                    hf_hub_download(
                         repo_id=model_id,
                         filename=SAFETENSORS_SINGLE_FILE,
                         revision=revision,
@@ -217,10 +214,6 @@ class GrootPolicy(PreTrainedPolicy):
                         token=token,
                         local_files_only=local_files_only,
                     )
-                    resolved_commit_hash = extract_commit_hash(resolved_model_file, revision)
-                    revision = resolved_commit_hash or revision
-                    if config is not None and config._commit_hash is None:
-                        config._set_hub_commit_hash(resolved_commit_hash, model_id)
                     is_finetuned_checkpoint = True
                 except HfHubHTTPError:
                     is_finetuned_checkpoint = False

src/lerobot/policies/pi0/modeling_pi0.py

@@ -53,7 +53,6 @@ from lerobot.utils.constants import (
     OBS_LANGUAGE_TOKENS,
     OBS_STATE,
 )
-from lerobot.utils.hub import extract_commit_hash
 
 from ..common.flow_matching import euler_integrate, sample_noise, sample_time_beta
 from ..common.vla_utils import (
@@ -815,8 +814,6 @@ class PI0Policy(PreTrainedPolicy):
                 **kwargs,
             )
 
-        revision = config.get_hub_revision(pretrained_name_or_path, revision)
-
         # Initialize model without loading weights
         # Check if dataset_stats were provided in kwargs
         model = cls(config, **kwargs)
@@ -835,13 +832,9 @@ class PI0Policy(PreTrainedPolicy):
                     resume_download=kwargs.get("resume_download"),
                     proxies=kwargs.get("proxies"),
                     token=kwargs.get("token"),
-                    revision=revision,
+                    revision=kwargs.get("revision"),
                     local_files_only=kwargs.get("local_files_only", False),
                 )
-                if config._commit_hash is None:
-                    config._set_hub_commit_hash(
-                        extract_commit_hash(resolved_file, revision), str(pretrained_name_or_path)
-                    )
                 from safetensors.torch import load_file
 
                 original_state_dict = load_file(resolved_file)

src/lerobot/policies/pi05/modeling_pi05.py

@@ -50,7 +50,6 @@ from lerobot.utils.constants import (
     OBS_LANGUAGE_ATTENTION_MASK,
     OBS_LANGUAGE_TOKENS,
 )
-from lerobot.utils.hub import extract_commit_hash
 
 from ..common.flow_matching import euler_integrate, sample_noise, sample_time_beta
 from ..common.vla_utils import (
@@ -780,8 +779,6 @@ class PI05Policy(PreTrainedPolicy):
                 **kwargs,
             )
 
-        revision = config.get_hub_revision(pretrained_name_or_path, revision)
-
         # Initialize model without loading weights
         # Check if dataset_stats were provided in kwargs
         model = cls(config, **kwargs)
@@ -800,13 +797,9 @@ class PI05Policy(PreTrainedPolicy):
                     resume_download=kwargs.get("resume_download"),
                     proxies=kwargs.get("proxies"),
                     token=kwargs.get("token"),
-                    revision=revision,
+                    revision=kwargs.get("revision"),
                     local_files_only=kwargs.get("local_files_only", False),
                 )
-                if config._commit_hash is None:
-                    config._set_hub_commit_hash(
-                        extract_commit_hash(resolved_file, revision), str(pretrained_name_or_path)
-                    )
                 from safetensors.torch import load_file
 
                 original_state_dict = load_file(resolved_file)

src/lerobot/policies/pi0_fast/modeling_pi0_fast.py

@@ -55,7 +55,6 @@ from lerobot.utils.constants import (
     OBS_LANGUAGE_ATTENTION_MASK,
     OBS_LANGUAGE_TOKENS,
 )
-from lerobot.utils.hub import extract_commit_hash
 
 from ..common.vla_utils import pad_vector, prepare_attention_masks_4d, resize_with_pad_torch
 from ..pretrained import PreTrainedPolicy, T
@@ -809,8 +808,6 @@ class PI0FastPolicy(PreTrainedPolicy):
                 **kwargs,
             )
 
-        revision = config.get_hub_revision(pretrained_name_or_path, revision)
-
         # Initialize model without loading weights
         # Check if dataset_stats were provided in kwargs
         model = cls(config, **kwargs)
@@ -829,13 +826,9 @@ class PI0FastPolicy(PreTrainedPolicy):
                     resume_download=kwargs.get("resume_download"),
                     proxies=kwargs.get("proxies"),
                     token=kwargs.get("token"),
-                    revision=revision,
+                    revision=kwargs.get("revision"),
                     local_files_only=kwargs.get("local_files_only", False),
                 )
-                if config._commit_hash is None:
-                    config._set_hub_commit_hash(
-                        extract_commit_hash(resolved_file, revision), str(pretrained_name_or_path)
-                    )
                 from safetensors.torch import load_file
 
                 original_state_dict = load_file(resolved_file)

src/lerobot/policies/pretrained.py

@@ -33,7 +33,7 @@ from lerobot.__version__ import __version__
 from lerobot.configs import PreTrainedConfig
 from lerobot.configs.train import TrainPipelineConfig
 from lerobot.utils.device_utils import resolve_safetensors_device
-from lerobot.utils.hub import HubMixin, extract_commit_hash
+from lerobot.utils.hub import HubMixin
 
 from .utils import log_model_loading_keys
 
@@ -190,7 +190,6 @@ class PreTrainedPolicy(nn.Module, HubMixin, abc.ABC):
                 **kwargs,
             )
         model_id = str(pretrained_name_or_path)
-        revision = config.get_hub_revision(model_id, revision)
         instance = cls(config, **kwargs)
         if os.path.isdir(model_id):
             print("Loading weights from local directory")
@@ -209,8 +208,6 @@ class PreTrainedPolicy(nn.Module, HubMixin, abc.ABC):
                     token=token,
                     local_files_only=local_files_only,
                 )
-                if config._commit_hash is None:
-                    config._set_hub_commit_hash(extract_commit_hash(model_file, revision), model_id)
                 policy = cls._load_as_safetensor(instance, model_file, config.device, strict)
             except HfHubHTTPError as e:
                 raise FileNotFoundError(

src/lerobot/policies/xvla/modeling_xvla.py

@@ -31,7 +31,6 @@ from torch import Tensor, nn
 
 from lerobot.configs import PreTrainedConfig
 from lerobot.utils.constants import ACTION, OBS_LANGUAGE_TOKENS, OBS_STATE
-from lerobot.utils.hub import extract_commit_hash
 from lerobot.utils.import_utils import _transformers_available, require_package
 
 from ..common.vla_utils import pad_vector, resize_with_pad
@@ -460,7 +459,6 @@ class XVLAPolicy(PreTrainedPolicy):
             )
 
         model_id = str(pretrained_name_or_path)
-        revision = config.get_hub_revision(model_id, revision)
         instance = cls(config, **kwargs)
         # step 2: locate model.safetensors
         if os.path.isdir(model_id):
@@ -482,8 +480,6 @@ class XVLAPolicy(PreTrainedPolicy):
                     token=token,
                     local_files_only=local_files_only,
                 )
-                if config._commit_hash is None:
-                    config._set_hub_commit_hash(extract_commit_hash(model_file, revision), model_id)
             except HfHubHTTPError as e:
                 raise FileNotFoundError(f"model.safetensors not found on the Hub at {model_id}") from e
 

src/lerobot/processor/delta_action_processor.py

@@ -132,20 +132,10 @@ class MapDeltaActionToRobotActionStep(RobotActionProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-        for axis in ["x", "y", "z"]:
+        for axis in ["x", "y", "z", "gripper"]:
             features[PipelineFeatureType.ACTION].pop(f"delta_{axis}", None)
-        features[PipelineFeatureType.ACTION].pop("gripper", None)
 
-        for feat in [
-            "enabled",
-            "target_x",
-            "target_y",
-            "target_z",
-            "target_wx",
-            "target_wy",
-            "target_wz",
-            "gripper_vel",
-        ]:
+        for feat in ["enabled", "target_x", "target_y", "target_z", "target_wx", "target_wy", "target_wz"]:
             features[PipelineFeatureType.ACTION][f"{feat}"] = PolicyFeature(
                 type=FeatureType.ACTION, shape=(1,)
             )

src/lerobot/processor/pipeline.py

@@ -47,7 +47,7 @@ from safetensors.torch import load_file, save_file
 from lerobot.configs import PipelineFeatureType, PolicyFeature
 from lerobot.types import EnvAction, EnvTransition, PolicyAction, RobotAction, RobotObservation, TransitionKey
 from lerobot.utils.constants import HF_LEROBOT_HOME
-from lerobot.utils.hub import HubMixin, extract_commit_hash
+from lerobot.utils.hub import HubMixin
 
 from .converters import batch_to_transition, create_transition, transition_to_batch
 
@@ -727,10 +727,6 @@ class DataProcessorPipeline[TInput, TOutput](HubMixin):
 
         # 1. Load configuration using simplified 3-way logic
         loaded_config, base_path = cls._load_config(model_id, config_filename, hub_download_kwargs)
-        if not is_local_source:
-            commit_hash = extract_commit_hash(base_path, revision)
-            if commit_hash is not None:
-                hub_download_kwargs["revision"] = commit_hash
 
         # 2. Validate configuration and handle migration
         cls._validate_loaded_config(model_id, loaded_config, config_filename)

src/lerobot/rollout/context.py

@@ -161,12 +161,7 @@ class RolloutContext:
 
 def _load_pretrained_policy(policy_config: PreTrainedConfig) -> PreTrainedPolicy:
     """Load policy weights, keeping adapter and base-model revisions independent."""
-    revision_resolver = getattr(policy_config, "get_hub_revision", None)
-    pretrained_revision = (
-        revision_resolver(policy_config.pretrained_path, policy_config.pretrained_revision)
-        if callable(revision_resolver)
-        else policy_config.pretrained_revision
-    )
+    pretrained_revision = policy_config.pretrained_revision
     policy_class = get_policy_class(policy_config.type)
 
     if not policy_config.use_peft:

src/lerobot/utils/hub.py

@@ -13,7 +13,6 @@
 # limitations under the License.
 
 import builtins
-import re
 from pathlib import Path
 from tempfile import TemporaryDirectory
 from typing import Any, TypeVar
@@ -24,29 +23,6 @@ from huggingface_hub.utils import validate_hf_hub_args
 from .constants import CHECKPOINTS_DIR
 
 T = TypeVar("T", bound="HubMixin")
-REGEX_COMMIT_HASH = re.compile(r"^[0-9a-f]{40}$")
-
-
-def extract_commit_hash(resolved_file: str | Path | None, revision: str | None = None) -> str | None:
-    """Extract the immutable commit hash backing a resolved Hub file.
-
-    Hub cache paths contain ``snapshots/<commit_hash>/``. If the requested
-    revision is already a full commit hash, use it as a fallback for custom
-    cache layouts that do not expose the standard snapshot path.
-    """
-    if resolved_file is not None:
-        path_parts = Path(resolved_file).parts
-        try:
-            snapshot_index = path_parts.index("snapshots")
-            commit_hash = path_parts[snapshot_index + 1]
-            if REGEX_COMMIT_HASH.fullmatch(commit_hash):
-                return commit_hash
-        except (ValueError, IndexError):
-            pass
-
-    if revision is not None and REGEX_COMMIT_HASH.fullmatch(revision):
-        return revision
-    return None
 
 
 def find_latest_hub_checkpoint(

tests/configs/test_policy_revision_pinning.py

@@ -1,77 +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.
-
-import json
-from dataclasses import dataclass
-
-from lerobot.configs import PreTrainedConfig
-
-
-@PreTrainedConfig.register_subclass("revision_pinning_test")
-@dataclass
-class RevisionPinningTestConfig(PreTrainedConfig):
-    @property
-    def observation_delta_indices(self) -> list | None:
-        return None
-
-    @property
-    def action_delta_indices(self) -> list | None:
-        return None
-
-    @property
-    def reward_delta_indices(self) -> list | None:
-        return None
-
-    def get_optimizer_preset(self):
-        raise NotImplementedError
-
-    def get_scheduler_preset(self):
-        raise NotImplementedError
-
-    def validate_features(self) -> None:
-        pass
-
-
-def test_pretrained_config_pins_resolved_hub_commit(monkeypatch, tmp_path):
-    commit_hash = "a" * 40
-    snapshot_dir = tmp_path / "models--user--policy" / "snapshots" / commit_hash
-    RevisionPinningTestConfig(device="cpu").save_pretrained(snapshot_dir)
-    calls = []
-
-    def fake_hub_download(**kwargs):
-        calls.append(kwargs)
-        return str(snapshot_dir / "config.json")
-
-    monkeypatch.setattr("lerobot.configs.policies.hf_hub_download", fake_hub_download)
-
-    config = PreTrainedConfig.from_pretrained("user/policy", revision="main")
-
-    assert calls[0]["revision"] == "main"
-    assert config._commit_hash == commit_hash
-    assert config._commit_hash_source == "user/policy"
-    assert config.get_hub_revision("user/policy", "main") == commit_hash
-    assert config.get_hub_revision("user/base-policy", "base-tag") == "base-tag"
-
-
-def test_runtime_commit_hash_is_not_serialized(tmp_path):
-    config = RevisionPinningTestConfig(device="cpu")
-    config._set_hub_commit_hash("a" * 40, "user/policy")
-
-    config.save_pretrained(tmp_path)
-
-    serialized_config = json.loads((tmp_path / "config.json").read_text())
-    assert "_commit_hash" not in serialized_config
-    assert "_commit_hash_source" not in serialized_config
-    assert "_runtime_commit_hash" not in serialized_config
-    assert "_runtime_commit_hash_source" not in serialized_config

tests/policies/test_pretrained_revision_pinning.py

@@ -1,122 +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.
-
-import torch
-
-from lerobot.policies import factory
-from lerobot.policies.act.configuration_act import ACTConfig
-from lerobot.policies.pretrained import PreTrainedPolicy
-from lerobot.processor import PolicyProcessorPipeline
-
-
-class _MinimalPolicy(PreTrainedPolicy):
-    config_class = ACTConfig
-    name = "minimal_revision_test"
-
-    def get_optim_params(self) -> dict:
-        return {}
-
-    def reset(self) -> None:
-        pass
-
-    def forward(self, batch: dict[str, torch.Tensor]) -> tuple[torch.Tensor, dict | None]:
-        return torch.tensor(0), None
-
-    def predict_action_chunk(self, batch: dict[str, torch.Tensor], **kwargs) -> torch.Tensor:
-        return torch.tensor(0)
-
-    def select_action(self, batch: dict[str, torch.Tensor], **kwargs) -> torch.Tensor:
-        return torch.tensor(0)
-
-
-def _skip_safetensor_loading(monkeypatch):
-    monkeypatch.setattr(
-        _MinimalPolicy,
-        "_load_as_safetensor",
-        classmethod(lambda cls, model, model_file, map_location, strict: model),
-    )
-
-
-def test_policy_weights_use_config_commit_hash(monkeypatch):
-    config = ACTConfig(device="cpu")
-    config._set_hub_commit_hash("a" * 40, "user/policy")
-    calls = []
-
-    def fake_hub_download(**kwargs):
-        calls.append(kwargs)
-        return "/unused/model.safetensors"
-
-    monkeypatch.setattr("lerobot.policies.pretrained.hf_hub_download", fake_hub_download)
-    _skip_safetensor_loading(monkeypatch)
-
-    _MinimalPolicy.from_pretrained("user/policy", config=config, revision="main")
-
-    assert calls[0]["revision"] == "a" * 40
-
-
-def test_policy_does_not_reuse_commit_hash_for_another_repo(monkeypatch):
-    config = ACTConfig(device="cpu")
-    config._set_hub_commit_hash("a" * 40, "user/adapter")
-    calls = []
-
-    def fake_hub_download(**kwargs):
-        calls.append(kwargs)
-        return "/unused/model.safetensors"
-
-    monkeypatch.setattr("lerobot.policies.pretrained.hf_hub_download", fake_hub_download)
-    _skip_safetensor_loading(monkeypatch)
-
-    _MinimalPolicy.from_pretrained("user/base-policy", config=config, revision="base-tag")
-
-    assert calls[0]["revision"] == "base-tag"
-
-
-def test_policy_records_weight_commit_for_explicit_config(monkeypatch):
-    commit_hash = "a" * 40
-    config = ACTConfig(device="cpu")
-
-    def fake_hub_download(**kwargs):
-        return f"/cache/models--user--policy/snapshots/{commit_hash}/model.safetensors"
-
-    monkeypatch.setattr("lerobot.policies.pretrained.hf_hub_download", fake_hub_download)
-    _skip_safetensor_loading(monkeypatch)
-
-    _MinimalPolicy.from_pretrained("user/policy", config=config, revision="main")
-
-    assert config._commit_hash == commit_hash
-    assert config._commit_hash_source == "user/policy"
-
-
-def test_processor_factory_uses_config_commit_hash(monkeypatch):
-    config = ACTConfig(device="cpu")
-    config._set_hub_commit_hash("a" * 40, "user/policy")
-    calls = []
-
-    def fake_from_pretrained(cls, **kwargs):
-        calls.append(kwargs)
-        return PolicyProcessorPipeline(steps=[])
-
-    monkeypatch.setattr(
-        factory.PolicyProcessorPipeline,
-        "from_pretrained",
-        classmethod(fake_from_pretrained),
-    )
-
-    factory.make_pre_post_processors(
-        config,
-        pretrained_path="user/policy",
-        pretrained_revision="main",
-    )
-
-    assert [call["revision"] for call in calls] == ["a" * 40, "a" * 40]

tests/processor/test_pipeline_from_pretrained_helpers.py

@@ -241,68 +241,6 @@ def test_from_pretrained_hub_source_missing_local_state_still_calls_hub(monkeypa
         ProcessorStepRegistry.unregister("hub_state_step")
 
 
-def test_from_pretrained_pins_hub_state_to_config_commit(monkeypatch, tmp_path):
-    """A mutable processor revision is resolved once and reused for state files."""
-
-    @ProcessorStepRegistry.register("pinned_hub_state_step")
-    class PinnedHubStateStep(ProcessorStep):
-        def __init__(self):
-            self.value = torch.tensor(0)
-
-        def __call__(self, transition: EnvTransition) -> EnvTransition:
-            return transition
-
-        def transform_features(
-            self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
-        ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
-            return features
-
-        def load_state_dict(self, state: dict[str, torch.Tensor]) -> None:
-            self.value = state["value"]
-
-    try:
-        commit_hash = "a" * 40
-        snapshot_dir = tmp_path / "models--user--policy" / "snapshots" / commit_hash
-        snapshot_dir.mkdir(parents=True)
-        config_path = snapshot_dir / "processor.json"
-        config_path.write_text(
-            json.dumps(
-                {
-                    "name": "PinnedHubStatePipeline",
-                    "steps": [
-                        {
-                            "registry_name": "pinned_hub_state_step",
-                            "state_file": "hub_state.safetensors",
-                        }
-                    ],
-                }
-            )
-        )
-        state_path = tmp_path / "downloaded.safetensors"
-        save_file({"value": torch.tensor(7)}, state_path)
-        calls = []
-
-        def fake_hub_download(**kwargs):
-            calls.append(kwargs)
-            if kwargs["filename"] == "processor.json":
-                return str(config_path)
-            return str(state_path)
-
-        monkeypatch.setattr("lerobot.processor.pipeline.hf_hub_download", fake_hub_download)
-
-        pipeline = DataProcessorPipeline.from_pretrained(
-            "user/policy",
-            config_filename="processor.json",
-            revision="main",
-        )
-
-        assert calls[0]["revision"] == "main"
-        assert calls[1]["revision"] == commit_hash
-        assert pipeline.steps[0].value.item() == 7
-    finally:
-        ProcessorStepRegistry.unregister("pinned_hub_state_step")
-
-
 # Config Validation Tests
 
 

tests/utils/test_hub.py

@@ -14,7 +14,7 @@
 
 from unittest.mock import MagicMock
 
-from lerobot.utils.hub import extract_commit_hash, find_latest_hub_checkpoint
+from lerobot.utils.hub import find_latest_hub_checkpoint
 
 
 def _patch_list_files(monkeypatch, files):
@@ -52,20 +52,3 @@ def test_find_latest_hub_checkpoint_ignores_non_step_entries(monkeypatch):
 def test_find_latest_hub_checkpoint_none_when_no_checkpoints(monkeypatch):
     _patch_list_files(monkeypatch, ["config.json", "model.safetensors"])
     assert find_latest_hub_checkpoint("u/run") is None
-
-
-def test_extract_commit_hash_from_hub_snapshot_path():
-    commit_hash = "a" * 40
-    resolved_file = f"/cache/models--user--policy/snapshots/{commit_hash}/config.json"
-
-    assert extract_commit_hash(resolved_file, revision="main") == commit_hash
-
-
-def test_extract_commit_hash_falls_back_to_full_sha_revision():
-    commit_hash = "b" * 40
-
-    assert extract_commit_hash("/custom/cache/config.json", revision=commit_hash) == commit_hash
-
-
-def test_extract_commit_hash_rejects_mutable_revision_without_snapshot():
-    assert extract_commit_hash("/custom/cache/config.json", revision="main") is None

uv.lock

@@ -1,5 +1,5 @@
 version = 1
-revision = 3
+revision = 2
 requires-python = ">=3.12"
 resolution-markers = [
     "(python_full_version >= '3.15' and platform_machine == 'AMD64' and sys_platform == 'linux') or (python_full_version >= '3.15' and platform_machine == 'x86_64' and sys_platform == 'linux')",
@@ -402,10 +402,10 @@ name = "bddl"
 version = "1.0.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "jupytext" },
-    { name = "networkx" },
-    { name = "numpy" },
-    { name = "pytest" },
+    { name = "jupytext", marker = "sys_platform == 'linux'" },
+    { name = "networkx", marker = "sys_platform == 'linux'" },
+    { name = "numpy", marker = "sys_platform == 'linux'" },
+    { name = "pytest", marker = "sys_platform == 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/5c/37/0211f82891a9f14efcfd2b2096f8d9e4351398ad637fdd1ee59cfc580b0e/bddl-1.0.1.tar.gz", hash = "sha256:1fa4e6e5050b93888ff6fd8455c39bfb29d3864ce06b4c37c0f781f513a2ae26", size = 164809, upload-time = "2022-03-08T01:48:23.564Z" }
 
@@ -1010,7 +1010,7 @@ name = "cuda-bindings"
 version = "12.9.7"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "cuda-pathfinder" },
+    { name = "cuda-pathfinder", marker = "sys_platform == 'linux'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/32/45/557d4ed1fa54f0c7db8aee083229f624990d69f7d00f55477eed5c7e169a/cuda_bindings-12.9.7-cp312-cp312-manylinux_2_24_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:0666d3c082ef8f4b2d670950589373550e9f3bf564d635dd883f24a0b40402ff", size = 7071026, upload-time = "2026-05-27T18:44:13.356Z" },
@@ -1043,37 +1043,37 @@ wheels = [
 
 [package.optional-dependencies]
 cublas = [
-    { name = "nvidia-cublas-cu12" },
+    { name = "nvidia-cublas-cu12", marker = "sys_platform == 'linux'" },
 ]
 cudart = [
-    { name = "nvidia-cuda-runtime-cu12" },
+    { name = "nvidia-cuda-runtime-cu12", marker = "sys_platform == 'linux'" },
 ]
 cufft = [
-    { name = "nvidia-cufft-cu12" },
+    { name = "nvidia-cufft-cu12", marker = "sys_platform == 'linux'" },
 ]
 cufile = [
-    { name = "nvidia-cufile-cu12" },
+    { name = "nvidia-cufile-cu12", marker = "sys_platform == 'linux'" },
 ]
 cupti = [
-    { name = "nvidia-cuda-cupti-cu12" },
+    { name = "nvidia-cuda-cupti-cu12", marker = "sys_platform == 'linux'" },
 ]
 curand = [
-    { name = "nvidia-curand-cu12" },
+    { name = "nvidia-curand-cu12", marker = "sys_platform == 'linux'" },
 ]
 cusolver = [
-    { name = "nvidia-cusolver-cu12" },
+    { name = "nvidia-cusolver-cu12", marker = "sys_platform == 'linux'" },
 ]
 cusparse = [
-    { name = "nvidia-cusparse-cu12" },
+    { name = "nvidia-cusparse-cu12", marker = "sys_platform == 'linux'" },
 ]
 nvjitlink = [
-    { name = "nvidia-nvjitlink-cu12" },
+    { name = "nvidia-nvjitlink-cu12", marker = "sys_platform == 'linux'" },
 ]
 nvrtc = [
-    { name = "nvidia-cuda-nvrtc-cu12" },
+    { name = "nvidia-cuda-nvrtc-cu12", marker = "sys_platform == 'linux'" },
 ]
 nvtx = [
-    { name = "nvidia-nvtx-cu12" },
+    { name = "nvidia-nvtx-cu12", marker = "sys_platform == 'linux'" },
 ]
 
 [[package]]
@@ -1145,7 +1145,7 @@ name = "decord"
 version = "0.6.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "(platform_machine != 'arm64' and sys_platform == 'darwin') or (platform_machine == 'AMD64' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux') or (sys_platform != 'darwin' and sys_platform != 'linux')" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/11/79/936af42edf90a7bd4e41a6cac89c913d4b47fa48a26b042d5129a9242ee3/decord-0.6.0-py3-none-manylinux2010_x86_64.whl", hash = "sha256:51997f20be8958e23b7c4061ba45d0efcd86bffd5fe81c695d0befee0d442976", size = 13602299, upload-time = "2021-06-14T21:30:55.486Z" },
@@ -1283,10 +1283,10 @@ resolution-markers = [
     "python_full_version == '3.14.*' and sys_platform == 'win32'",
 ]
 dependencies = [
-    { name = "absl-py" },
-    { name = "attrs" },
-    { name = "numpy" },
-    { name = "wrapt" },
+    { name = "absl-py", marker = "python_full_version >= '3.14'" },
+    { name = "attrs", marker = "python_full_version >= '3.14'" },
+    { name = "numpy", marker = "python_full_version >= '3.14'" },
+    { name = "wrapt", marker = "python_full_version >= '3.14'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/a6/83/ce29720ccf934c6cfa9b9c95ebbe96558386e66886626066632b5e44afed/dm_tree-0.1.9.tar.gz", hash = "sha256:a4c7db3d3935a5a2d5e4b383fc26c6b0cd6f78c6d4605d3e7b518800ecd5342b", size = 35623, upload-time = "2025-01-30T20:45:37.13Z" }
 wheels = [
@@ -1324,10 +1324,10 @@ resolution-markers = [
     "python_full_version < '3.13' and sys_platform == 'win32'",
 ]
 dependencies = [
-    { name = "absl-py" },
-    { name = "attrs" },
-    { name = "numpy" },
-    { name = "wrapt" },
+    { name = "absl-py", marker = "python_full_version < '3.14'" },
+    { name = "attrs", marker = "python_full_version < '3.14'" },
+    { name = "numpy", marker = "python_full_version < '3.14'" },
+    { name = "wrapt", marker = "python_full_version < '3.14'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/5a/66/a3ec619d22b6baffa5ab853e8dc6ec9d0c837127948af59bb15b988d7312/dm_tree-0.1.10.tar.gz", hash = "sha256:22f37b599e01cc3402a17f79c257a802aebd8d326de05b54657650845956208a", size = 35748, upload-time = "2026-03-31T17:35:39.03Z" }
 wheels = [
@@ -1502,7 +1502,7 @@ wheels = [
 
 [[package]]
 name = "fastapi"
-version = "0.139.2"
+version = "0.140.7"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "annotated-doc" },
@@ -1511,18 +1511,18 @@ dependencies = [
     { name = "typing-extensions" },
     { name = "typing-inspection" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/cd/95/d3f0ae10836324a2eab98a52b61210ac609f08200bf4bb0dc8132d32f78a/fastapi-0.139.2.tar.gz", hash = "sha256:333145a6891e9b5b3cfceb69baf817e8240cde4d4588ae5a10bf56ffacb6255e", size = 423428, upload-time = "2026-07-16T15:06:17.912Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/e1/33/e0dfa29ccce4eb8c9a073f9e557b0d6bacbb3aa32e7ad595f678de4d036a/fastapi-0.140.7.tar.gz", hash = "sha256:09a640af2d29006345e1f28e4f031fa60f89b1a75d29f26070f3afa677d66cce", size = 422051, upload-time = "2026-07-27T17:34:45.908Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/5f/c7/cb03251d9dfb177246a9809a76f189d21df32dbd4a845951881d11323b7f/fastapi-0.139.2-py3-none-any.whl", hash = "sha256:b9ad015a835173d59865e2f5d8296fbc2b317bf56a2ba1a5bfbdd03de2fd4b1c", size = 130234, upload-time = "2026-07-16T15:06:19.557Z" },
+    { url = "https://files.pythonhosted.org/packages/7b/0e/00cddd6b8668884e9c7588ab0eeb73becbd1efa3eaead34397f2e9a8de49/fastapi-0.140.7-py3-none-any.whl", hash = "sha256:960bb9696d8fd19dff488aa4f67f276364542cfcce9f7e68a82fe49dce126626", size = 131085, upload-time = "2026-07-27T17:34:47.036Z" },
 ]
 
 [[package]]
 name = "fastjsonschema"
-version = "2.21.2"
+version = "2.22.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/20/b5/23b216d9d985a956623b6bd12d4086b60f0059b27799f23016af04a74ea1/fastjsonschema-2.21.2.tar.gz", hash = "sha256:b1eb43748041c880796cd077f1a07c3d94e93ae84bba5ed36800a33554ae05de", size = 374130, upload-time = "2025-08-14T18:49:36.666Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/e4/98/474719c58eddaf77fa443b063693e76d49db32bbe851bcbaf58d2700119f/fastjsonschema-2.22.1.tar.gz", hash = "sha256:0b83d1ce8d7845b959dcb20e1a5c3c8883b6541d9c52ab02cce5166b75ec805f", size = 382291, upload-time = "2026-07-27T13:31:08.515Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/cb/a8/20d0723294217e47de6d9e2e40fd4a9d2f7c4b6ef974babd482a59743694/fastjsonschema-2.21.2-py3-none-any.whl", hash = "sha256:1c797122d0a86c5cace2e54bf4e819c36223b552017172f32c5c024a6b77e463", size = 24024, upload-time = "2025-08-14T18:49:34.776Z" },
+    { url = "https://files.pythonhosted.org/packages/17/e1/62cc96341f01bdff2ba967441939178fcd1900d11ce7e6554d9954a5d7ec/fastjsonschema-2.22.1-py3-none-any.whl", hash = "sha256:cf377ff5c9a6f4f3125fb35f75a2c5767bd824ffbcf62c209a93cd48d1453999", size = 26239, upload-time = "2026-07-27T13:31:03.251Z" },
 ]
 
 [[package]]
@@ -1747,14 +1747,14 @@ wheels = [
 
 [[package]]
 name = "gitpython"
-version = "3.1.55"
+version = "3.1.57"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "gitdb" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/b2/ab/ba0d29f2fa2277ed6256b2ac09003494045355f3a10bf32f351761287870/gitpython-3.1.55.tar.gz", hash = "sha256:781e3b1624dad81b24e9524bf0297b69786a0706db2cbceec1e2b05c38e5152f", size = 225071, upload-time = "2026-07-23T02:52:43.246Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/ba/0d/132ed135c871b6bf91adf16a0e43797cd535b81d4973b5d09291c54fc5ee/gitpython-3.1.57.tar.gz", hash = "sha256:c493ec57c0ef6b19743798b6a5af859c71814b524e7e6f97baa2f8e658961488", size = 225898, upload-time = "2026-07-26T07:33:26.351Z" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/41/6e/2139de986d9c7c3ac86f1f8be43858ce90bdfe2f7175e6c80c650ba15242/gitpython-3.1.57-py3-none-any.whl", hash = "sha256:4ccf7d73c10f5c9e76043fbb2675ac5a1b3ff5b41e648f56bcbed5f63792ecaf", size = 217151, upload-time = "2026-07-26T07:33:24.838Z" },
 ]
 
 [[package]]
@@ -1912,7 +1912,7 @@ name = "h5py"
 version = "3.16.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy" },
+    { name = "numpy", marker = "sys_platform == 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/db/33/acd0ce6863b6c0d7735007df01815403f5589a21ff8c2e1ee2587a38f548/h5py-3.16.0.tar.gz", hash = "sha256:a0dbaad796840ccaa67a4c144a0d0c8080073c34c76d5a6941d6818678ef2738", size = 446526, upload-time = "2026-03-06T13:49:08.07Z" }
 wheels = [
@@ -1956,23 +1956,23 @@ name = "hf-libero"
 version = "0.1.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "bddl" },
-    { name = "cloudpickle" },
-    { name = "easydict" },
-    { name = "einops" },
-    { name = "future" },
-    { name = "gymnasium" },
-    { name = "hf-egl-probe" },
-    { name = "hydra-core" },
-    { name = "matplotlib" },
-    { name = "mujoco" },
-    { name = "numpy" },
-    { name = "opencv-python" },
-    { name = "robomimic" },
-    { name = "robosuite" },
-    { name = "thop" },
-    { name = "transformers" },
-    { name = "wandb" },
+    { name = "bddl", marker = "sys_platform == 'linux'" },
+    { name = "cloudpickle", marker = "sys_platform == 'linux'" },
+    { name = "easydict", marker = "sys_platform == 'linux'" },
+    { name = "einops", marker = "sys_platform == 'linux'" },
+    { name = "future", marker = "sys_platform == 'linux'" },
+    { name = "gymnasium", marker = "sys_platform == 'linux'" },
+    { name = "hf-egl-probe", marker = "sys_platform == 'linux'" },
+    { name = "hydra-core", marker = "sys_platform == 'linux'" },
+    { name = "matplotlib", marker = "sys_platform == 'linux'" },
+    { name = "mujoco", marker = "sys_platform == 'linux'" },
+    { name = "numpy", marker = "sys_platform == 'linux'" },
+    { name = "opencv-python", marker = "sys_platform == 'linux'" },
+    { name = "robomimic", marker = "sys_platform == 'linux'" },
+    { name = "robosuite", marker = "sys_platform == 'linux'" },
+    { name = "thop", marker = "sys_platform == 'linux'" },
+    { name = "transformers", marker = "sys_platform == 'linux'" },
+    { name = "wandb", marker = "sys_platform == 'linux'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/af/aa/4e9eb8715e0bff9cb6553db563a35d253393097d446f82bd53575e8b253d/hf_libero-0.1.4.tar.gz", hash = "sha256:c058d67ad5a2b589529c14d614282ef4cca3a7763dafa134f58a6c9039657e34", size = 2961319, upload-time = "2026-06-10T09:56:13.994Z" }
 wheels = [
@@ -2100,7 +2100,7 @@ wheels = [
 
 [[package]]
 name = "huggingface-hub"
-version = "1.24.0"
+version = "1.25.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "click" },
@@ -2113,9 +2113,9 @@ dependencies = [
     { name = "tqdm" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/df/9b/d3bb4e7d792835daf34dd7091bbc7d7b4e0437d9388f1ea7239cce49f478/huggingface_hub-1.24.0.tar.gz", hash = "sha256:18431ff4daae0749aa9ba102fc952e314c98e1d30ebdec5319d85ca0a83e1ae5", size = 921848, upload-time = "2026-07-17T09:54:01.022Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/4b/50/db3771a6e4fad4bd28fb055d4363b51cb0ae98c1aa504b79d41fdcab5483/huggingface_hub-1.25.1.tar.gz", hash = "sha256:21129595ca7a753be479b319913e22cc8808361ac118bd76cc413db831b28a99", size = 928426, upload-time = "2026-07-27T09:24:10.117Z" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/f7/3f/21e816831c6d16f88a6c784974413fa0421ce8a5d04380c2666ed5b503e5/huggingface_hub-1.25.1-py3-none-any.whl", hash = "sha256:004d4e70350517e24c68a7dbb7dc5e40b2b6aefef8f94bf7a85f6f9835102ea5", size = 774909, upload-time = "2026-07-27T09:24:08.079Z" },
 ]
 
 [[package]]
@@ -2123,9 +2123,9 @@ name = "hydra-core"
 version = "1.3.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "antlr4-python3-runtime" },
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-    { name = "setuptools" },
-    { name = "sympy" },
-    { name = "triton" },
-    { name = "typing-extensions" },
+    { name = "cuda-bindings", marker = "sys_platform == 'linux'" },
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 source = { registry = "https://pypi.org/simple" }
 dependencies = [
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