feat(dataset-viz): render generic custom scalar columns

Salvage of huggingface/lerobot#3918 by @nathon-lee — rebased to main.

lerobot-dataset-viz only logged known scalars; custom float/bool fields
now appear in the Rerun blueprint and frame stream when shape is scalar.

refactor(viz): add new non-default colums viz

Co-authored-by: nathon-lee <leejianwoo@gmail.com>

docs/source/hil_data_collection.mdx

@@ -59,7 +59,6 @@ The `lerobot-rollout --strategy.type=dagger` mode requires **teleoperators with
 
 - `bi_openarm_mini` - Bimanual OpenArm Mini
 - `so_leader` - SO100 / SO101 leader arm
-- `bi_so_leader` - Bimanual SO100 / SO101 leader arms
 
 > [!IMPORTANT]
 > The provided commands default to `bi_openarm_follower` + `bi_openarm_mini`.

docs/source/robocasa.mdx

@@ -82,8 +82,6 @@ By default the env samples objects only from the `lightwheel` registry (what `--
 
 All eval snippets below mirror the CI command (see `.github/workflows/benchmark_tests.yml`). The `--rename_map` argument maps RoboCasa's native camera keys (`robot0_agentview_left` / `robot0_eye_in_hand` / `robot0_agentview_right`) onto the three-camera (`camera1` / `camera2` / `camera3`) input layout the released `smolvla_robocasa` policy was trained on.
 
-By default, each task uses the rollout horizon registered by RoboCasa. Set `--env.episode_length=<steps>` to apply the same explicit horizon to every selected task.
-
 ### Single-task evaluation (recommended for quick iteration)
 
 ```bash

docs/source/so101.mdx

@@ -338,7 +338,7 @@ It is advisable to install one 3-pin cable in the motor after placing them befor
 <hfoption id="Leader">
 
 - Mount the leader holder onto the wrist and secure it with 4 M3x6mm screws.
-- Attach the handle to the leader holder using 1 M2x6mm screw.
+- Attach the handle to motor 5 using 1 M2x6mm screw.
 - Insert the gripper motor, secure it with 2 M2x6mm screws on each side, attach a motor horn using a M3x6mm horn screw.
 - Attach the follower trigger with 4 M3x6mm screws.
 

examples/isaac_teleop_to_so101/common.py

@@ -44,7 +44,6 @@ from typing import Protocol
 
 import numpy as np
 
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import (
     RobotProcessorPipeline,
@@ -57,6 +56,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
     EEBoundsAndSafety,
     InverseKinematicsEEToJoints,
 )
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.constants import HF_LEROBOT_CALIBRATION, HF_LEROBOT_HOME, TELEOPERATORS
 from lerobot.utils.robot_utils import precise_sleep
 

examples/isaac_teleop_to_so101/isaac_teleop/teleop_so101_leader_arm.py

@@ -38,7 +38,7 @@ from typing import TYPE_CHECKING
 
 import numpy as np
 
-from lerobot.lerobot_types import RobotAction
+from lerobot.types import RobotAction
 
 from .base import _GRIPPER_MOTOR_SCALE, IsaacTeleopTeleoperator, _isaacteleop_available
 from .config_isaac_teleop import SO101LeaderArmConfig

examples/isaac_teleop_to_so101/isaac_teleop/teleop_xr_controller.py

@@ -32,7 +32,7 @@ from typing import TYPE_CHECKING, Any
 
 import numpy as np
 
-from lerobot.lerobot_types import RobotAction
+from lerobot.types import RobotAction
 
 from .base import IsaacTeleopTeleoperator, _isaacteleop_available
 from .config_isaac_teleop import XRControllerConfig

examples/isaac_teleop_to_so101/isaac_teleop/xr_controller_processor.py

@@ -26,8 +26,8 @@ from __future__ import annotations
 from dataclasses import dataclass
 
 from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import RobotAction
 from lerobot.processor import ProcessorStepRegistry, RobotActionProcessorStep
+from lerobot.types import RobotAction
 from lerobot.utils.rotation import Rotation
 
 from .base import _GRIPPER_MOTOR_SCALE

examples/phone_to_so100/evaluate.py

@@ -21,7 +21,6 @@ from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.common.control_utils import predict_action
 from lerobot.configs import FeatureType, PolicyFeature
 from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.policies import make_pre_post_processors
 from lerobot.policies.act import ACTPolicy
@@ -39,6 +38,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
     ForwardKinematicsJointsToEE,
     InverseKinematicsEEToJoints,
 )
+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

examples/phone_to_so100/record.py

@@ -16,7 +16,6 @@
 
 from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import (
     RobotProcessorPipeline,
@@ -37,6 +36,7 @@ from lerobot.scripts.lerobot_record import record_loop
 from lerobot.teleoperators.phone import Phone, PhoneConfig
 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

examples/phone_to_so100/replay.py

@@ -17,7 +17,6 @@
 import time
 
 from lerobot.datasets import LeRobotDataset
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import (
     RobotProcessorPipeline,
@@ -28,6 +27,7 @@ from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 from lerobot.robots.so_follower.robot_kinematic_processor import (
     InverseKinematicsEEToJoints,
 )
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.constants import ACTION
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say

examples/phone_to_so100/rollout.py

@@ -27,7 +27,6 @@ Highlight, or DAgger via ``lerobot-rollout --strategy.type=...``.
 
 from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.configs import PreTrainedConfig
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import (
     RobotProcessorPipeline,
@@ -44,6 +43,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 from lerobot.rollout import BaseStrategyConfig, RolloutConfig, build_rollout_context
 from lerobot.rollout.inference import SyncInferenceConfig
 from lerobot.rollout.strategies import BaseStrategy
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.process import ProcessSignalHandler
 from lerobot.utils.utils import init_logging
 

examples/phone_to_so100/teleoperate.py

@@ -15,7 +15,6 @@
 
 import time
 
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import (
     RobotProcessorPipeline,
@@ -32,6 +31,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 from lerobot.teleoperators.phone import Phone, PhoneConfig
 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.robot_utils import precise_sleep
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
 

examples/so100_to_so100_EE/evaluate.py

@@ -21,7 +21,6 @@ from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.common.control_utils import predict_action
 from lerobot.configs import FeatureType, PolicyFeature
 from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.policies import make_pre_post_processors
 from lerobot.policies.act import ACTPolicy
@@ -39,6 +38,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
     ForwardKinematicsJointsToEE,
     InverseKinematicsEEToJoints,
 )
+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

examples/so100_to_so100_EE/record.py

@@ -17,7 +17,6 @@
 
 from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import (
     RobotProcessorPipeline,
@@ -34,6 +33,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 )
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.feature_utils import combine_feature_dicts
 from lerobot.utils.keyboard_input import init_keyboard_listener
 from lerobot.utils.utils import log_say

examples/so100_to_so100_EE/replay.py

@@ -18,7 +18,6 @@
 import time
 
 from lerobot.datasets import LeRobotDataset
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import (
     RobotProcessorPipeline,
@@ -29,6 +28,7 @@ from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 from lerobot.robots.so_follower.robot_kinematic_processor import (
     InverseKinematicsEEToJoints,
 )
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.constants import ACTION
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say

examples/so100_to_so100_EE/rollout.py

@@ -25,7 +25,6 @@ forward/inverse kinematics.
 
 from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.configs import PreTrainedConfig
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import (
     RobotProcessorPipeline,
@@ -42,6 +41,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
 from lerobot.rollout import BaseStrategyConfig, RolloutConfig, build_rollout_context
 from lerobot.rollout.inference import SyncInferenceConfig
 from lerobot.rollout.strategies import BaseStrategy
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.process import ProcessSignalHandler
 from lerobot.utils.utils import init_logging
 

examples/so100_to_so100_EE/teleoperate.py

@@ -16,7 +16,6 @@
 
 import time
 
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import (
     RobotProcessorPipeline,
@@ -31,6 +30,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
     InverseKinematicsEEToJoints,
 )
 from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
 

pyproject.toml

@@ -67,7 +67,7 @@ dependencies = [
     "einops>=0.8.0,<0.9.0",
 
     # Config & Hub
-    "draccus>=0.11.6,<0.12.0",
+    "draccus==0.10.0", # TODO: Relax version constraint
     "huggingface-hub>=1.0.0,<2.0.0",
     "requests>=2.32.0,<3.0.0",
 

src/lerobot/async_inference/policy_server.py

@@ -38,7 +38,6 @@ import draccus
 import grpc
 import torch
 
-from lerobot.lerobot_types import PolicyAction
 from lerobot.policies import get_policy_class, make_pre_post_processors
 from lerobot.processor import PolicyProcessorPipeline
 from lerobot.transport import (
@@ -46,6 +45,7 @@ from lerobot.transport import (
     services_pb2_grpc,  # type: ignore
 )
 from lerobot.transport.utils import receive_bytes_in_chunks
+from lerobot.types import PolicyAction
 
 from .configs import PolicyServerConfig
 from .constants import SUPPORTED_POLICIES

src/lerobot/common/control_utils.py

@@ -35,9 +35,9 @@ else:
 
 if TYPE_CHECKING:
     from lerobot.datasets import LeRobotDataset
-from lerobot.lerobot_types import PolicyAction
 from lerobot.processor import PolicyProcessorPipeline
 from lerobot.robots import Robot
+from lerobot.types import PolicyAction
 
 
 def predict_action(

src/lerobot/configs/policies.py

@@ -163,10 +163,8 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):  # type: igno
         return None
 
     def _save_pretrained(self, save_directory: Path) -> None:
-        # Encode against the base class so draccus includes the choice "type" key,
-        # which `from_pretrained` needs to resolve the concrete subclass.
-        with open(save_directory / CONFIG_NAME, "w") as f:
-            json.dump(draccus.encode(self, PreTrainedConfig), f, indent=4)
+        with open(save_directory / CONFIG_NAME, "w") as f, draccus.config_type("json"):
+            draccus.dump(self, f, indent=4)
 
     @classmethod
     def from_pretrained(

src/lerobot/configs/rewards.py

@@ -103,10 +103,8 @@ class RewardModelConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
         pass
 
     def _save_pretrained(self, save_directory: Path) -> None:
-        # Encode against the base class so draccus includes the choice "type" key,
-        # which `from_pretrained` needs to resolve the concrete subclass.
-        with open(save_directory / CONFIG_NAME, "w") as f:
-            json.dump(draccus.encode(self, RewardModelConfig), f, indent=4)
+        with open(save_directory / CONFIG_NAME, "w") as f, draccus.config_type("json"):
+            draccus.dump(self, f, indent=4)
 
     @classmethod
     def from_pretrained(

src/lerobot/configs/train.py

@@ -194,11 +194,7 @@ class TrainPipelineConfig(HubMixin):
             )
 
         if Path(config_path).resolve().exists():
-            # `config_path` may point at the checkpoint's train_config.json or at its
-            # pretrained_model/ directory (both documented above) — resolve either to
-            # the pretrained_model/ directory.
-            config_path_obj = Path(config_path)
-            policy_dir = config_path_obj.parent if config_path_obj.is_file() else config_path_obj
+            policy_dir = Path(config_path).parent
             self.checkpoint_path = policy_dir.parent
         elif self.job.is_remote:
             return

src/lerobot/datasets/pipeline_features.py

@@ -17,8 +17,8 @@ from collections.abc import Sequence
 from typing import Any
 
 from lerobot.configs import PipelineFeatureType
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.processor import DataProcessorPipeline
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.constants import ACTION, OBS_IMAGES, OBS_STATE, OBS_STR
 from lerobot.utils.feature_utils import hw_to_dataset_features
 

src/lerobot/datasets/streaming_dataset.py

@@ -58,10 +58,6 @@ class LookAheadError(Exception):
     pass
 
 
-class _ShardExhaustedError(Exception):
-    """Raised when a streaming dataset shard has no more items."""
-
-
 class Backtrackable[T]:
     """
     Wrap any iterator/iterable so you can step back up to `history` items
@@ -182,7 +178,7 @@ class Backtrackable[T]:
         """
         Check if we can go back `steps` items without raising an IndexError.
         """
-        return steps < len(self._back_buf) + self._cursor
+        return steps <= len(self._back_buf) + self._cursor
 
     def can_peek_ahead(self, steps: int = 1) -> bool:
         """
@@ -426,7 +422,10 @@ class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
                     else:
                         frames_buffer.append(frame)
                     break  # random shard sampled, switch shard
-            except _ShardExhaustedError:
+            except (
+                RuntimeError,
+                StopIteration,
+            ):  # NOTE: StopIteration inside a generator throws a RuntimeError since python 3.7
                 del idx_to_backtrack_dataset[shard_key]  # Remove exhausted shard, onto another shard
 
         # Once shards are all exhausted, shuffle the buffer and yield the remaining frames
@@ -504,11 +503,7 @@ class StreamingLeRobotDataset(torch.utils.data.IterableDataset):
 
     def make_frame(self, dataset_iterator: Backtrackable) -> Generator:
         """Makes a frame starting from a dataset iterator"""
-        try:
-            item = next(dataset_iterator)
-        except StopIteration as e:
-            # Translate exhaustion here, before PEP 479 turns it into an indistinguishable RuntimeError.
-            raise _ShardExhaustedError from e
+        item = next(dataset_iterator)
         item = item_to_torch(item)
 
         updates = []  # list of "updates" to apply to the item retrieved from hf_dataset (w/o camera features)

src/lerobot/envs/configs.py

@@ -507,7 +507,7 @@ class MetaworldEnv(EnvConfig):
 class RoboCasaEnv(EnvConfig):
     task: str = "CloseFridge"
     fps: int = 20
-    episode_length: int | None = None
+    episode_length: int = 1000
     obs_type: str = "pixels_agent_pos"
     render_mode: str = "rgb_array"
     camera_name: str = "robot0_agentview_left,robot0_eye_in_hand,robot0_agentview_right"

src/lerobot/envs/libero.py

@@ -30,7 +30,7 @@ from gymnasium import spaces
 from libero.libero import benchmark, get_libero_path
 from libero.libero.envs import OffScreenRenderEnv
 
-from lerobot.lerobot_types import RobotObservation
+from lerobot.types import RobotObservation
 
 from .utils import _LazyAsyncVectorEnv, parse_camera_names
 

src/lerobot/envs/metaworld.py

@@ -25,7 +25,7 @@ import metaworld.policies as policies
 import numpy as np
 from gymnasium import spaces
 
-from lerobot.lerobot_types import RobotObservation
+from lerobot.types import RobotObservation
 
 from .utils import _LazyAsyncVectorEnv
 

src/lerobot/envs/robocasa.py

@@ -25,7 +25,7 @@ import gymnasium as gym
 import numpy as np
 from gymnasium import spaces
 
-from lerobot.lerobot_types import RobotObservation
+from lerobot.types import RobotObservation
 
 from .utils import _LazyAsyncVectorEnv, parse_camera_names
 
@@ -98,19 +98,6 @@ def _resolve_tasks(task: str) -> tuple[list[str], str | None]:
     return names, None
 
 
-def _get_task_horizon(task: str) -> int:
-    """Return the rollout horizon registered by RoboCasa for a task."""
-    from robocasa.utils.dataset_registry_utils import get_task_horizon
-
-    try:
-        return int(get_task_horizon(task))
-    except ValueError as exc:
-        raise ValueError(
-            f"No RoboCasa horizon is registered for task '{task}'. "
-            "Set `--env.episode_length=<steps>` explicitly."
-        ) from exc
-
-
 def convert_action(flat_action: np.ndarray) -> dict[str, Any]:
     """Split a flat (12,) action vector into a RoboCasa action dict.
 
@@ -167,7 +154,7 @@ class RoboCasaEnv(gym.Env):
 
         self.camera_name = parse_camera_names(camera_name)
 
-        self._max_episode_steps = episode_length if episode_length is not None else _get_task_horizon(task)
+        self._max_episode_steps = episode_length if episode_length is not None else 1000
 
         # Deferred — created on first reset() inside the worker subprocess
         # to avoid inheriting stale GPU/EGL contexts across fork().

src/lerobot/envs/robotwin.py

@@ -28,7 +28,7 @@ import numpy as np
 import torch
 from gymnasium import spaces
 
-from lerobot.lerobot_types import RobotObservation
+from lerobot.types import RobotObservation
 from lerobot.utils.import_utils import _scipy_available
 
 from .utils import _LazyAsyncVectorEnv

src/lerobot/envs/vlabench.py

@@ -37,7 +37,7 @@ import numpy as np
 from gymnasium import spaces
 from scipy.spatial.transform import Rotation
 
-from lerobot.lerobot_types import RobotObservation
+from lerobot.types import RobotObservation
 
 from .utils import _LazyAsyncVectorEnv
 

src/lerobot/policies/eo1/processor_eo1.py

@@ -22,7 +22,6 @@ from typing import TYPE_CHECKING, Any
 import torch
 
 from lerobot.configs.types import FeatureType, PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import TransitionKey
 from lerobot.processor import (
     ComplementaryDataProcessorStep,
     PolicyAction,
@@ -32,6 +31,7 @@ from lerobot.processor import (
     make_default_policy_processor_steps,
     make_policy_processor_pipelines,
 )
+from lerobot.types import TransitionKey
 from lerobot.utils.constants import OBS_STATE
 from lerobot.utils.import_utils import _transformers_available, require_package
 

src/lerobot/policies/evo1/modeling_evo1.py

@@ -42,9 +42,6 @@ class Evo1Policy(PreTrainedPolicy):
     config_class = Evo1Config
     name = "evo1"
 
-    def supports_rtc(self) -> bool:
-        return True
-
     def __init__(self, config: Evo1Config, *, vlm_hub_kwargs: dict | None = None, **kwargs):
         super().__init__(config)
         config.validate_features()

src/lerobot/policies/evo1/processor_evo1.py

@@ -21,7 +21,6 @@ from typing import Any
 import torch
 
 from lerobot.configs import FeatureType, PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, TransitionKey
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
     DeviceProcessorStep,
@@ -41,6 +40,7 @@ from lerobot.processor.converters import (
     policy_action_to_transition,
     transition_to_policy_action,
 )
+from lerobot.types import EnvTransition, TransitionKey
 from lerobot.utils.constants import (
     ACTION,
     DONE,

src/lerobot/policies/factory.py

@@ -28,7 +28,6 @@ if TYPE_CHECKING:
 
 from lerobot.configs import FeatureType, PreTrainedConfig
 from lerobot.envs import EnvConfig, env_to_policy_features
-from lerobot.lerobot_types import PolicyAction
 from lerobot.processor import (
     AbsoluteActionsProcessorStep,
     PolicyProcessorPipeline,
@@ -38,6 +37,7 @@ from lerobot.processor import (
     transition_to_batch,
     transition_to_policy_action,
 )
+from lerobot.types import PolicyAction
 from lerobot.utils.constants import (
     ACTION,
     POLICY_POSTPROCESSOR_DEFAULT_NAME,

src/lerobot/policies/groot/modeling_groot.py

@@ -68,9 +68,6 @@ class GrootPolicy(PreTrainedPolicy):
     name = "groot"
     config_class = GrootConfig
 
-    def supports_rtc(self) -> bool:
-        return True
-
     def __init__(self, config: GrootConfig, **kwargs):
         """Initialize Groot policy wrapper."""
         require_package("transformers", extra="groot")

src/lerobot/policies/groot/processor_groot.py

@@ -50,7 +50,6 @@ if TYPE_CHECKING or _datasets_available:
 else:
     LeRobotDataset = None
 
-from lerobot.lerobot_types import EnvTransition, TransitionKey
 from lerobot.processor import (
     AbsoluteActionsProcessorStep,
     AddBatchDimensionProcessorStep,
@@ -67,6 +66,7 @@ from lerobot.processor import (
     transition_to_batch,
     transition_to_policy_action,
 )
+from lerobot.types import EnvTransition, TransitionKey
 from lerobot.utils.constants import (
     ACTION,
     OBS_IMAGE,

src/lerobot/policies/molmoact2/modeling_molmoact2.py

@@ -520,9 +520,6 @@ class MolmoAct2Policy(PreTrainedPolicy):
     config_class = MolmoAct2Config
     name = "molmoact2"
 
-    def supports_rtc(self) -> bool:
-        return self.config.inference_action_mode == "continuous"
-
     def __init__(
         self,
         config: MolmoAct2Config,

src/lerobot/policies/molmoact2/processor_molmoact2.py

@@ -36,7 +36,6 @@ import torch
 from torch import Tensor
 
 from lerobot.configs import FeatureType, PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, TransitionKey
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
     DeviceProcessorStep,
@@ -50,6 +49,7 @@ from lerobot.processor import (
     policy_action_to_transition,
     transition_to_policy_action,
 )
+from lerobot.types import EnvTransition, TransitionKey
 from lerobot.utils.constants import (
     ACTION,
     OBS_IMAGES,

src/lerobot/policies/pi0/modeling_pi0.py

@@ -749,9 +749,6 @@ class PI0Policy(PreTrainedPolicy):
     config_class = PI0Config
     name = "pi0"
 
-    def supports_rtc(self) -> bool:
-        return True
-
     def __init__(
         self,
         config: PI0Config,

src/lerobot/policies/pi05/modeling_pi05.py

@@ -714,9 +714,6 @@ class PI05Policy(PreTrainedPolicy):
     config_class = PI05Config
     name = "pi05"
 
-    def supports_rtc(self) -> bool:
-        return True
-
     def __init__(
         self,
         config: PI05Config,

src/lerobot/policies/pi05/processor_pi05.py

@@ -22,7 +22,6 @@ import numpy as np
 import torch
 
 from lerobot.configs import PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, TransitionKey
 from lerobot.processor import (
     AbsoluteActionsProcessorStep,
     PolicyAction,
@@ -34,6 +33,7 @@ from lerobot.processor import (
     make_default_policy_processor_steps,
     make_policy_processor_pipelines,
 )
+from lerobot.types import EnvTransition, TransitionKey
 from lerobot.utils.constants import OBS_STATE
 
 from .configuration_pi05 import PI05Config

src/lerobot/policies/pi0_fast/processor_pi0_fast.py

@@ -22,7 +22,6 @@ import numpy as np
 import torch
 
 from lerobot.configs import PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, TransitionKey
 from lerobot.processor import (
     AbsoluteActionsProcessorStep,
     ActionTokenizerProcessorStep,
@@ -35,6 +34,7 @@ from lerobot.processor import (
     make_default_policy_processor_steps,
     make_policy_processor_pipelines,
 )
+from lerobot.types import EnvTransition, TransitionKey
 from lerobot.utils.constants import OBS_STATE
 
 from .configuration_pi0_fast import PI0FastConfig

src/lerobot/policies/pretrained.py

@@ -249,10 +249,6 @@ class PreTrainedPolicy(nn.Module, HubMixin, abc.ABC):
         """
         raise NotImplementedError
 
-    def supports_rtc(self) -> bool:
-        """Whether this policy implements Real-Time Chunking inference semantics."""
-        return False
-
     # TODO(aliberts, rcadene): split into 'forward' and 'compute_loss'?
     @abc.abstractmethod
     def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, dict | None]:

src/lerobot/policies/smolvla/modeling_smolvla.py

@@ -145,9 +145,6 @@ class SmolVLAPolicy(PreTrainedPolicy):
     config_class = SmolVLAConfig
     name = "smolvla"
 
-    def supports_rtc(self) -> bool:
-        return True
-
     def __init__(
         self,
         config: SmolVLAConfig,

src/lerobot/policies/smolvla/smolvlm_with_expert.py

@@ -168,23 +168,14 @@ class SmolVLMWithExpertModel(nn.Module):
                 last_layers.append(self.num_vlm_layers - 2)
             frozen_layers = [
                 "lm_head",
-                "text_model.norm.weight",
+                "text_model.model.norm.weight",
             ]
             for layer in last_layers:
-                frozen_layers.append(f"text_model.layers.{layer}.")
+                frozen_layers.append(f"text_model.model.layers.{layer}.")
 
-            unmatched_patterns = set(frozen_layers)
             for name, params in self.vlm.named_parameters():
-                matched_patterns = [k for k in frozen_layers if k in name]
-                if matched_patterns:
+                if any(k in name for k in frozen_layers):
                     params.requires_grad = False
-                    unmatched_patterns.difference_update(matched_patterns)
-            if unmatched_patterns:
-                raise RuntimeError(
-                    "Some frozen layer patterns matched no VLM parameters, so the corresponding layers "
-                    "would silently remain trainable (parameter naming may have changed in transformers): "
-                    f"{sorted(unmatched_patterns)}"
-                )
         # To avoid unused params issue with distributed training
         for name, params in self.lm_expert.named_parameters():
             if "lm_head" in name:

src/lerobot/policies/utils.py

@@ -22,7 +22,7 @@ import torch
 from torch import nn
 
 from lerobot.configs import FeatureType, PolicyFeature, PreTrainedConfig
-from lerobot.lerobot_types import PolicyAction, RobotAction, RobotObservation
+from lerobot.types import PolicyAction, RobotAction, RobotObservation
 from lerobot.utils.constants import ACTION, OBS_STR
 from lerobot.utils.feature_utils import build_dataset_frame
 

src/lerobot/policies/vla_jepa/configuration_vla_jepa.py

@@ -15,13 +15,11 @@
 from __future__ import annotations
 
 from dataclasses import dataclass, field
-from typing import Any
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
+from lerobot.configs.types import NormalizationMode
 from lerobot.optim.optimizers import AdamWConfig
 from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
-from lerobot.utils.constants import OBS_STATE
 
 
 @PreTrainedConfig.register_subclass("vla_jepa")
@@ -124,13 +122,6 @@ class VLAJEPAConfig(PreTrainedConfig):
         if self.robot_state_feature is not None:
             self.state_dim = self.robot_state_feature.shape[0]
 
-    def set_dataset_feature_metadata(self, dataset_features: dict[str, Any]) -> None:
-        """Add `observation.state` to `input_features` if missing, so it gets normalized."""
-        if OBS_STATE in self.input_features or OBS_STATE not in dataset_features:
-            return
-        shape = tuple(dataset_features[OBS_STATE]["shape"])
-        self.input_features[OBS_STATE] = PolicyFeature(type=FeatureType.STATE, shape=shape)
-
     def get_optimizer_preset(self) -> AdamWConfig:
         return AdamWConfig(
             lr=self.optimizer_lr,

src/lerobot/policies/vla_jepa/modeling_vla_jepa.py

@@ -399,8 +399,7 @@ class VLAJEPAPolicy(PreTrainedPolicy):
         state = batch.get(OBS_STATE)
         if state is not None:
             if state.ndim > 2:
-                # deltas are forward-looking here, so index 0 is the current observation, not -1.
-                state = state[:, 0, :]
+                state = state[:, -1, :]
             inputs["state"] = (state.unsqueeze(1) if state.ndim == 2 else state).float()  # [B, 1, dim]
 
         return inputs

src/lerobot/policies/xvla/modeling_xvla.py

@@ -150,7 +150,7 @@ class XVLAModel(nn.Module):
         # Freeze or unfreeze policy transformer
         if not self.config.train_policy_transformer:
             for name, param in self.transformer.named_parameters():
-                if "soft_prompt" not in name:
+                if "soft_prompts" not in name:
                     param.requires_grad = False
 
         # Freeze or unfreeze soft prompts

src/lerobot/policies/xvla/processor_xvla.py

@@ -21,7 +21,6 @@ import numpy as np
 import torch
 
 from lerobot.configs import PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, TransitionKey
 from lerobot.processor import (
     ObservationProcessorStep,
     PolicyAction,
@@ -32,6 +31,7 @@ from lerobot.processor import (
     make_default_policy_processor_steps,
     make_policy_processor_pipelines,
 )
+from lerobot.types import EnvTransition, TransitionKey
 from lerobot.utils.constants import (
     IMAGENET_STATS,
     OBS_IMAGES,

src/lerobot/processor/__init__.py

@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.lerobot_types import (
+from lerobot.types import (
     EnvAction,
     EnvTransition,
     PolicyAction,

src/lerobot/processor/batch_processor.py

@@ -25,7 +25,7 @@ from dataclasses import dataclass, field
 from torch import Tensor
 
 from lerobot.configs import PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, PolicyAction
+from lerobot.types import EnvTransition, PolicyAction
 from lerobot.utils.constants import OBS_ENV_STATE, OBS_IMAGE, OBS_IMAGES, OBS_STATE
 
 from .pipeline import (

src/lerobot/processor/converters.py

@@ -23,7 +23,7 @@ from typing import Any
 import numpy as np
 import torch
 
-from lerobot.lerobot_types import EnvTransition, PolicyAction, RobotAction, RobotObservation, TransitionKey
+from lerobot.types import EnvTransition, PolicyAction, RobotAction, RobotObservation, TransitionKey
 from lerobot.utils.constants import ACTION, DONE, INFO, OBS_PREFIX, REWARD, TRUNCATED
 
 

src/lerobot/processor/delta_action_processor.py

@@ -17,7 +17,7 @@
 from dataclasses import dataclass
 
 from lerobot.configs import FeatureType, PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import PolicyAction, RobotAction
+from lerobot.types import PolicyAction, RobotAction
 
 from .pipeline import ActionProcessorStep, ProcessorStepRegistry, RobotActionProcessorStep
 

src/lerobot/processor/device_processor.py

@@ -25,7 +25,7 @@ from typing import Any
 import torch
 
 from lerobot.configs import PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, PolicyAction, TransitionKey
+from lerobot.types import EnvTransition, PolicyAction, TransitionKey
 from lerobot.utils.device_utils import get_safe_torch_device
 
 from .pipeline import ProcessorStep, ProcessorStepRegistry

src/lerobot/processor/factory.py

@@ -20,7 +20,7 @@ from typing import Any
 import torch
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.lerobot_types import PolicyAction, RobotAction, RobotObservation
+from lerobot.types import PolicyAction, RobotAction, RobotObservation
 from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
 from .batch_processor import AddBatchDimensionProcessorStep

src/lerobot/processor/gym_action_processor.py

@@ -17,7 +17,7 @@
 from dataclasses import dataclass
 
 from lerobot.configs import PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvAction, EnvTransition, PolicyAction, TransitionKey
+from lerobot.types import EnvAction, EnvTransition, PolicyAction, TransitionKey
 
 from .converters import to_tensor
 from .hil_processor import TELEOP_ACTION_KEY

src/lerobot/processor/hil_processor.py

@@ -29,7 +29,7 @@ from lerobot.teleoperators.utils import TeleopEvents
 if TYPE_CHECKING:
     from lerobot.teleoperators.teleoperator import Teleoperator
 
-from lerobot.lerobot_types import EnvTransition, PolicyAction, TransitionKey
+from lerobot.types import EnvTransition, PolicyAction, TransitionKey
 
 from .pipeline import (
     ComplementaryDataProcessorStep,

src/lerobot/processor/normalize_processor.py

@@ -25,7 +25,7 @@ import torch
 from torch import Tensor
 
 from lerobot.configs import FeatureType, NormalizationMode, PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, PolicyAction, TransitionKey
+from lerobot.types import EnvTransition, PolicyAction, TransitionKey
 
 if TYPE_CHECKING:
     from lerobot.datasets import LeRobotDataset

src/lerobot/processor/pipeline.py

@@ -45,14 +45,7 @@ from huggingface_hub import hf_hub_download
 from safetensors.torch import load_file, save_file
 
 from lerobot.configs import PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import (
-    EnvAction,
-    EnvTransition,
-    PolicyAction,
-    RobotAction,
-    RobotObservation,
-    TransitionKey,
-)
+from lerobot.types import EnvAction, EnvTransition, PolicyAction, RobotAction, RobotObservation, TransitionKey
 from lerobot.utils.constants import HF_LEROBOT_HOME
 from lerobot.utils.hub import HubMixin
 

src/lerobot/processor/policy_robot_bridge.py

@@ -20,7 +20,7 @@ from typing import Any
 import torch
 
 from lerobot.configs import FeatureType, PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import PolicyAction, RobotAction
+from lerobot.types import PolicyAction, RobotAction
 from lerobot.utils.constants import ACTION
 
 from .pipeline import ActionProcessorStep, ProcessorStepRegistry

src/lerobot/processor/relative_action_processor.py

@@ -20,7 +20,7 @@ import torch
 from torch import Tensor
 
 from lerobot.configs import PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, TransitionKey
+from lerobot.types import EnvTransition, TransitionKey
 from lerobot.utils.constants import OBS_STATE
 
 from .delta_action_processor import MapDeltaActionToRobotActionStep, MapTensorToDeltaActionDictStep

src/lerobot/processor/render_messages_processor.py

@@ -23,7 +23,7 @@ from lerobot.configs import PipelineFeatureType, PolicyFeature
 from lerobot.configs.recipe import TrainingRecipe
 from lerobot.datasets.language import LANGUAGE_EVENTS, LANGUAGE_PERSISTENT
 from lerobot.datasets.language_render import render_sample
-from lerobot.lerobot_types import EnvTransition, TransitionKey
+from lerobot.types import EnvTransition, TransitionKey
 from lerobot.utils.utils import unwrap_scalar
 
 from .pipeline import ProcessorStep, ProcessorStepRegistry

src/lerobot/processor/tokenizer_processor.py

@@ -30,7 +30,7 @@ from typing import TYPE_CHECKING, Any
 import torch
 
 from lerobot.configs import FeatureType, PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, RobotObservation, TransitionKey
+from lerobot.types import EnvTransition, RobotObservation, TransitionKey
 from lerobot.utils.constants import (
     ACTION_TOKEN_MASK,
     ACTION_TOKENS,

src/lerobot/rewards/robometer/compute_rabc_weights.py

@@ -57,10 +57,10 @@ import torch
 from tqdm import tqdm
 
 from lerobot.datasets import LeRobotDataset
-from lerobot.lerobot_types import TransitionKey
 from lerobot.rewards.robometer.configuration_robometer import RobometerConfig
 from lerobot.rewards.robometer.modeling_robometer import RobometerRewardModel
 from lerobot.rewards.robometer.processor_robometer import RobometerEncoderProcessorStep
+from lerobot.types import TransitionKey
 
 DEFAULT_OUTPUT_FILENAME = "robometer_progress.parquet"
 

src/lerobot/rewards/robometer/processor_robometer.py

@@ -25,7 +25,6 @@ from PIL import Image
 from torch import Tensor
 
 from lerobot.configs import PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, TransitionKey
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
     DeviceProcessorStep,
@@ -40,6 +39,7 @@ from lerobot.rewards.robometer.configuration_robometer import (
     RobometerConfig,
 )
 from lerobot.rewards.robometer.modeling_robometer import ROBOMETER_FEATURE_PREFIX
+from lerobot.types import EnvTransition, TransitionKey
 from lerobot.utils.constants import (
     OBS_IMAGES,
     POLICY_POSTPROCESSOR_DEFAULT_NAME,

src/lerobot/rewards/sarm/processor_sarm.py

@@ -47,7 +47,6 @@ else:
     Faker = None  # type: ignore[assignment, misc]
 
 from lerobot.configs import FeatureType, PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, PolicyAction, TransitionKey
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
     DeviceProcessorStep,
@@ -59,6 +58,7 @@ from lerobot.processor import (
     policy_action_to_transition,
     transition_to_policy_action,
 )
+from lerobot.types import EnvTransition, PolicyAction, TransitionKey
 from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
 from .configuration_sarm import SARMConfig

src/lerobot/rewards/topreward/compute_rabc_weights.py

@@ -48,10 +48,10 @@ import torch
 from tqdm import tqdm
 
 from lerobot.datasets import LeRobotDataset
-from lerobot.lerobot_types import TransitionKey
 from lerobot.rewards.topreward.configuration_topreward import TOPRewardConfig
 from lerobot.rewards.topreward.modeling_topreward import TOPRewardModel
 from lerobot.rewards.topreward.processor_topreward import TOPRewardEncoderProcessorStep
+from lerobot.types import TransitionKey
 
 DEFAULT_OUTPUT_FILENAME = "topreward_progress.parquet"
 

src/lerobot/rewards/topreward/processor_topreward.py

@@ -23,7 +23,6 @@ import torch
 from torch import Tensor
 
 from lerobot.configs import PipelineFeatureType, PolicyFeature
-from lerobot.lerobot_types import EnvTransition, TransitionKey
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
     DeviceProcessorStep,
@@ -38,6 +37,7 @@ from lerobot.rewards.topreward.configuration_topreward import (
     DEFAULT_PROMPT_SUFFIX_TEMPLATE,
     TOPRewardConfig,
 )
+from lerobot.types import EnvTransition, TransitionKey
 from lerobot.utils.constants import (
     OBS_IMAGES,
     OBS_PREFIX,

src/lerobot/rl/algorithms/base.py

@@ -28,7 +28,7 @@ from huggingface_hub.errors import HfHubHTTPError
 from safetensors.torch import load_file as load_safetensors, save_file as save_safetensors
 from torch.optim import Optimizer
 
-from lerobot.lerobot_types import BatchType
+from lerobot.types import BatchType
 from lerobot.utils.hub import HubMixin
 
 from .configs import RLAlgorithmConfig, TrainingStats

src/lerobot/rl/algorithms/configs.py

@@ -16,7 +16,6 @@ from __future__ import annotations
 
 import abc
 import builtins
-import json
 import logging
 import os
 from dataclasses import dataclass, field
@@ -79,10 +78,8 @@ class RLAlgorithmConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
 
     def _save_pretrained(self, save_directory: Path) -> None:
         """Serialize this config as ``config.json`` inside ``save_directory``."""
-        # Encode against the base class so draccus includes the choice "type" key,
-        # which `from_pretrained` needs to resolve the concrete subclass.
-        with open(save_directory / CONFIG_NAME, "w") as f:
-            json.dump(draccus.encode(self, RLAlgorithmConfig), f, indent=4)
+        with open(save_directory / CONFIG_NAME, "w") as f, draccus.config_type("json"):
+            draccus.dump(self, f, indent=4)
 
     @classmethod
     def from_pretrained(

src/lerobot/rl/algorithms/sac/sac_algorithm.py

@@ -26,7 +26,6 @@ import torch.nn.functional as F  # noqa: N812
 from torch import Tensor
 from torch.optim import Optimizer
 
-from lerobot.lerobot_types import BatchType
 from lerobot.policies.gaussian_actor.modeling_gaussian_actor import (
     DISCRETE_DIMENSION_INDEX,
     MLP,
@@ -36,6 +35,7 @@ from lerobot.policies.gaussian_actor.modeling_gaussian_actor import (
     orthogonal_init,
 )
 from lerobot.policies.utils import get_device_from_parameters
+from lerobot.types import BatchType
 from lerobot.utils.constants import ACTION
 from lerobot.utils.transition import move_state_dict_to_device
 

src/lerobot/rl/data_sources/__init__.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.lerobot_types import BatchType
+from lerobot.types import BatchType
 
 from .data_mixer import DataMixer, OnlineOfflineMixer
 

src/lerobot/rl/data_sources/data_mixer.py

@@ -16,7 +16,7 @@ from __future__ import annotations
 
 import abc
 
-from lerobot.lerobot_types import BatchType
+from lerobot.types import BatchType
 
 from ..buffer import ReplayBuffer, concatenate_batch_transitions
 

src/lerobot/rl/trainer.py

@@ -17,7 +17,7 @@ from __future__ import annotations
 from collections.abc import Iterator
 from typing import Any
 
-from lerobot.lerobot_types import BatchType
+from lerobot.types import BatchType
 
 from .algorithms.base import RLAlgorithm
 from .algorithms.configs import TrainingStats

src/lerobot/robots/bi_openarm_follower/bi_openarm_follower.py

@@ -17,7 +17,7 @@
 import logging
 from functools import cached_property
 
-from lerobot.lerobot_types import RobotAction, RobotObservation
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.bimanual import BimanualMixin
 from lerobot.utils.decorators import check_if_not_connected
 

src/lerobot/robots/bi_rebot_b601_follower/bi_rebot_b601_follower.py

@@ -17,7 +17,7 @@
 import logging
 from functools import cached_property
 
-from lerobot.lerobot_types import RobotAction, RobotObservation
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.bimanual import BimanualMixin
 from lerobot.utils.decorators import check_if_not_connected
 

src/lerobot/robots/bi_so_follower/bi_so_follower.py

@@ -17,7 +17,7 @@
 import logging
 from functools import cached_property
 
-from lerobot.lerobot_types import RobotAction, RobotObservation
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.bimanual import BimanualMixin
 from lerobot.utils.decorators import check_if_not_connected
 
@@ -62,7 +62,6 @@ class BiSOFollower(BimanualMixin, Robot):
             position_i_coefficient=config.left_arm_config.position_i_coefficient,
             position_d_coefficient=config.left_arm_config.position_d_coefficient,
             use_degrees=config.left_arm_config.use_degrees,
-            num_read_retries=config.left_arm_config.num_read_retries,
             cameras=left_arm_cameras,
         )
 
@@ -76,7 +75,6 @@ class BiSOFollower(BimanualMixin, Robot):
             position_i_coefficient=config.right_arm_config.position_i_coefficient,
             position_d_coefficient=config.right_arm_config.position_d_coefficient,
             use_degrees=config.right_arm_config.use_degrees,
-            num_read_retries=config.right_arm_config.num_read_retries,
             cameras=config.right_arm_config.cameras,
         )
 

src/lerobot/robots/earthrover_mini_plus/robot_earthrover_mini_plus.py

@@ -23,7 +23,7 @@ import cv2
 import numpy as np
 import requests
 
-from lerobot.lerobot_types import RobotAction, RobotObservation
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 from lerobot.utils.errors import DeviceNotConnectedError
 

src/lerobot/robots/hope_jr/hope_jr_arm.py

@@ -19,12 +19,12 @@ import time
 from functools import cached_property
 
 from lerobot.cameras import make_cameras_from_configs
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.motors import Motor, MotorNormMode
 from lerobot.motors.calibration_gui import RangeFinderGUI
 from lerobot.motors.feetech import (
     FeetechMotorsBus,
 )
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 
 from ..robot import Robot

src/lerobot/robots/hope_jr/hope_jr_hand.py

@@ -19,12 +19,12 @@ import time
 from functools import cached_property
 
 from lerobot.cameras import make_cameras_from_configs
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.motors import Motor, MotorNormMode
 from lerobot.motors.calibration_gui import RangeFinderGUI
 from lerobot.motors.feetech import (
     FeetechMotorsBus,
 )
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 
 from ..robot import Robot

src/lerobot/robots/koch_follower/koch_follower.py

@@ -19,12 +19,12 @@ import time
 from functools import cached_property
 
 from lerobot.cameras import make_cameras_from_configs
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.dynamixel import (
     DynamixelMotorsBus,
     OperatingMode,
 )
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 
 from ..robot import Robot

src/lerobot/robots/lekiwi/lekiwi.py

@@ -23,12 +23,12 @@ from typing import Any
 import numpy as np
 
 from lerobot.cameras import make_cameras_from_configs
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.feetech import (
     FeetechMotorsBus,
     OperatingMode,
 )
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 
 from ..robot import Robot

src/lerobot/robots/lekiwi/lekiwi_client.py

@@ -22,7 +22,7 @@ from functools import cached_property
 import cv2
 import numpy as np
 
-from lerobot.lerobot_types import RobotAction, RobotObservation
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.constants import ACTION, OBS_STATE
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 from lerobot.utils.errors import DeviceNotConnectedError

src/lerobot/robots/omx_follower/omx_follower.py

@@ -19,13 +19,13 @@ import time
 from functools import cached_property
 
 from lerobot.cameras import make_cameras_from_configs
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.dynamixel import (
     DriveMode,
     DynamixelMotorsBus,
     OperatingMode,
 )
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 
 from ..robot import Robot

src/lerobot/robots/openarm_follower/openarm_follower.py

@@ -20,9 +20,9 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.cameras import make_cameras_from_configs
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.damiao import DamiaoMotorsBus
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 
 from ..robot import Robot

src/lerobot/robots/reachy2/robot_reachy2.py

@@ -19,7 +19,7 @@ import time
 from typing import TYPE_CHECKING, Any
 
 from lerobot.cameras import make_cameras_from_configs
-from lerobot.lerobot_types import RobotAction, RobotObservation
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.import_utils import _reachy2_sdk_available, require_package
 
 from ..robot import Robot

src/lerobot/robots/rebot_b601_follower/rebot_b601_follower.py

@@ -21,8 +21,8 @@ from functools import cached_property
 from typing import TYPE_CHECKING
 
 from lerobot.cameras import make_cameras_from_configs
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.motors import MotorCalibration
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 from lerobot.utils.import_utils import _motorbridge_available, require_package
 

src/lerobot/robots/robot.py

@@ -18,8 +18,8 @@ from pathlib import Path
 
 import draccus
 
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.motors import MotorCalibration
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.constants import HF_LEROBOT_CALIBRATION, ROBOTS
 
 from .config import RobotConfig

src/lerobot/robots/so_follower/so_follower.py

@@ -19,12 +19,12 @@ import time
 from functools import cached_property
 
 from lerobot.cameras import make_cameras_from_configs
-from lerobot.lerobot_types import RobotAction, RobotObservation
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.feetech import (
     FeetechMotorsBus,
     OperatingMode,
 )
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 
 from ..robot import Robot

src/lerobot/robots/unitree_g1/unitree_g1.py

@@ -26,7 +26,7 @@ from typing import TYPE_CHECKING, Protocol, runtime_checkable
 import numpy as np
 
 from lerobot.cameras import make_cameras_from_configs
-from lerobot.lerobot_types import RobotAction, RobotObservation
+from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.import_utils import _unitree_sdk_available, require_package
 
 from ..robot import Robot

src/lerobot/rollout/context.py

@@ -57,7 +57,6 @@ from .inference import (
     SyncInferenceConfig,
     create_inference_engine,
 )
-from .inference.rtc import supports_rtc_inference
 from .robot_wrapper import ThreadSafeRobot
 
 if TYPE_CHECKING or _peft_available:
@@ -227,12 +226,6 @@ def build_rollout_context(
     policy = _load_pretrained_policy(policy_config)
 
     if is_rtc:
-        if not supports_rtc_inference(policy):
-            raise ValueError(
-                f"RTC inference is not supported by policy type '{policy_config.type}': "
-                "the policy must implement RTC semantics and predict_action_chunk must accept "
-                "inference_delay and prev_chunk_left_over. Use '--inference.type=sync' instead."
-            )
         policy.config.rtc_config = cfg.inference.rtc
         if hasattr(policy, "init_rtc_processor"):
             policy.init_rtc_processor()

src/lerobot/rollout/inference/rtc.py

@@ -22,7 +22,6 @@ way via ``notify_observation``.
 
 from __future__ import annotations
 
-import inspect
 import logging
 import math
 import time
@@ -63,23 +62,6 @@ _RTC_JOIN_TIMEOUT_S: float = 3.0
 # ---------------------------------------------------------------------------
 
 
-def supports_rtc_inference(policy: PreTrainedPolicy) -> bool:
-    """Whether a policy declares RTC support and accepts the RTC call shape."""
-    supports_rtc = getattr(policy, "supports_rtc", None)
-    if not callable(supports_rtc) or not supports_rtc():
-        return False
-
-    try:
-        inspect.signature(policy.predict_action_chunk).bind(
-            object(),
-            inference_delay=0,
-            prev_chunk_left_over=None,
-        )
-    except (TypeError, ValueError):
-        return False
-    return True
-
-
 def _normalize_prev_actions_length(prev_actions: torch.Tensor, target_steps: int) -> torch.Tensor:
     """Pad or truncate RTC prefix actions to a fixed length for stable compiled inference."""
     if prev_actions.ndim != 2:

src/lerobot/scripts/lerobot_dataset_viz.py

@@ -87,6 +87,11 @@ import tqdm
 from lerobot.configs import DEPTH_MILLIMETER_UNIT
 from lerobot.datasets import LeRobotDataset
 from lerobot.utils.constants import ACTION, DONE, OBS_STATE, REWARD, SUCCESS
+from lerobot.utils.dataset_visualization_utils import (
+    get_extra_scalar_keys,
+    is_scalar_like,
+    scalar_to_float,
+)
 from lerobot.utils.utils import init_logging
 
 logger = logging.getLogger(__name__)
@@ -153,6 +158,8 @@ def build_blueprint_from_dataset(dataset: LeRobotDataset):
     for key in (DONE, REWARD, SUCCESS):
         if key in dataset.features:
             views.append(rrb.TimeSeriesView(origin=key, name=key))
+    for key in get_extra_scalar_keys(dataset):
+        views.append(rrb.TimeSeriesView(origin=key, name=key))
 
     return rrb.Blueprint(rrb.Grid(*views))
 
@@ -244,6 +251,8 @@ def visualize_dataset(
         hi = stats["q99"] if "q99" in stats else stats["max"]
         depth_ranges[key] = (float(np.asarray(lo).item()), float(np.asarray(hi).item()))
 
+    extra_scalar_keys = get_extra_scalar_keys(dataset)
+
     first_index = None
     for batch in tqdm.tqdm(dataloader, total=len(dataloader)):
         if first_index is None:
@@ -287,6 +296,10 @@ def visualize_dataset(
             if SUCCESS in batch:
                 rr.log(SUCCESS, rr.Scalars(batch[SUCCESS][i].item()))
 
+            for key in extra_scalar_keys:
+                if key in batch and is_scalar_like(batch[key][i]):
+                    rr.log(key, rr.Scalars(scalar_to_float(batch[key][i])))
+
     # save .rrd locally
     if mode == "local" and save:
         output_dir.mkdir(parents=True, exist_ok=True)

src/lerobot/scripts/lerobot_eval.py

@@ -82,9 +82,9 @@ from lerobot.envs import (
     make_env_pre_post_processors,
     preprocess_observation,
 )
-from lerobot.lerobot_types import PolicyAction
 from lerobot.policies import PreTrainedPolicy, make_policy, make_pre_post_processors
 from lerobot.processor import PolicyProcessorPipeline
+from lerobot.types import PolicyAction
 from lerobot.utils.constants import ACTION, DONE, OBS_IMAGE, OBS_IMAGES, OBS_STR, REWARD
 from lerobot.utils.device_utils import get_safe_torch_device
 from lerobot.utils.import_utils import _peft_available, register_third_party_plugins, require_package

src/lerobot/scripts/lerobot_train.py

@@ -348,6 +348,7 @@ def train(cfg: TrainPipelineConfig, accelerator: "Accelerator | None" = None):
         preprocessor_overrides = {
             "device_processor": {"device": device.type},
             "normalizer_processor": {
+                "stats": dataset.meta.stats,
                 "features": {**policy.config.input_features, **policy.config.output_features},
                 "norm_map": policy.config.normalization_mapping,
             },
@@ -355,17 +356,11 @@ def train(cfg: TrainPipelineConfig, accelerator: "Accelerator | None" = None):
         }
         postprocessor_overrides = {
             "unnormalizer_processor": {
+                "stats": dataset.meta.stats,
                 "features": policy.config.output_features,
                 "norm_map": policy.config.normalization_mapping,
             },
         }
-        # On resume, the checkpoint's saved processor stats are authoritative: they may have
-        # been adapted by the policy (e.g. EVO1 pads state/action stats to max_state_dim),
-        # and force-feeding raw dataset stats over them crashes normalization (#4006).
-        # This mirrors the `dataset_stats` kwarg above, which is also skipped on resume.
-        if not cfg.resume:
-            preprocessor_overrides["normalizer_processor"]["stats"] = dataset.meta.stats
-            postprocessor_overrides["unnormalizer_processor"]["stats"] = dataset.meta.stats
         if getattr(active_cfg, "use_relative_actions", False):
             preprocessor_overrides["relative_actions_processor"] = {
                 "enabled": True,

src/lerobot/teleoperators/bi_openarm_leader/bi_openarm_leader.py

@@ -17,7 +17,7 @@
 import logging
 from functools import cached_property
 
-from lerobot.lerobot_types import RobotAction
+from lerobot.types import RobotAction
 from lerobot.utils.bimanual import BimanualMixin
 from lerobot.utils.decorators import check_if_not_connected
 

src/lerobot/teleoperators/bi_openarm_mini/bi_openarm_mini.py

@@ -17,7 +17,7 @@
 import logging
 from functools import cached_property
 
-from lerobot.lerobot_types import RobotAction
+from lerobot.types import RobotAction
 from lerobot.utils.bimanual import BimanualMixin
 from lerobot.utils.decorators import check_if_not_connected
 

src/lerobot/teleoperators/bi_rebot_102_leader/bi_rebot_102_leader.py

@@ -17,7 +17,7 @@
 import logging
 from functools import cached_property
 
-from lerobot.lerobot_types import RobotAction
+from lerobot.types import RobotAction
 from lerobot.utils.bimanual import BimanualMixin
 from lerobot.utils.decorators import check_if_not_connected