chore(format)

* fix(utils): validate precise_sleep spin/margin args

Negative spin_threshold/sleep_margin make remaining arithmetic wrong
and can overshoot. Reject them early; cover the no-op path.

* test: drop flaky wall-clock assertion in no-op test

Per review: the 50ms wall-clock check can exceed its bound on a preempted
CI worker even when precise_sleep returns immediately. The direct calls
already exercise the non-positive no-op path, so the assertion is redundant.

* chore(tests): remove precise_sleep test negative values

---------

Co-authored-by: Bartok9 <danielrpike9@gmail.com>

AGENT_GUIDE.md

@@ -61,16 +61,20 @@ Full details in [`docs/source/so101.mdx`](./docs/source/so101.mdx) and [`docs/so
 **4.1 Install**
 
 ```bash
-pip install 'lerobot[feetech]'              # SO-100/SO-101 motor stack
+# uv (recommended — see AGENTS.md and CLAUDE.md)
-# pip install 'lerobot[all]'                # everything
+uv sync --locked --extra feetech          # SO-100/SO-101 motor stack
-# pip install 'lerobot[aloha,pusht]'        # specific features
+# uv sync --locked --extra all            # everything
-# pip install 'lerobot[smolvla]'            # add SmolVLA deps
+# uv sync --locked --extra smolvla        # add SmolVLA deps
+
+# pip (alternative, e.g. when not working from source)
+# pip install 'lerobot[feetech]'
+# pip install 'lerobot[all]'
+# pip install 'lerobot[smolvla]'
+
 git lfs install && git lfs pull
 hf auth login                             # required to push datasets/policies
 ```
 
-Contributors can alternatively use `uv sync --locked --extra feetech` (see `AGENTS.md`).
-
 **4.2 Find USB ports** — run once per arm, unplug when prompted.
 
 ```bash

docs/source/backwardcomp.mdx

@@ -58,7 +58,7 @@ final_action = postprocessor(action)
 
 ## Hardware API redesign
 
-PR [#777](https://github.com/huggingface/lerobot/pull/777) improves the LeRobot calibration but is **not backward-compatible**. Below is a overview of what changed and how you can continue to work with datasets created before this pull request.
+PR [#777](https://github.com/huggingface/lerobot/pull/777) improves the LeRobot calibration but is **not backward-compatible**. Below is an overview of what changed and how you can continue to work with datasets created before this pull request.
 
 ### What changed?
 
@@ -129,8 +129,8 @@ python examples/backward_compatibility/replay.py \
 
 Policies output actions in the same format as the datasets (`torch.Tensors`). Therefore, the same transformations should be applied.
 
-To find these transformations, we recommend to first try and and replay an episode of the dataset your policy was trained on using the section above.
+To find these transformations, we recommend first replaying an episode of the dataset your policy was trained on using the section above.
-Then, add these same transformations on your inference script (shown here in the `record.py` script):
+Then, add these same transformations to your inference script (shown here in the `record.py` script):
 
 ```diff
 action_values = predict_action(

docs/source/cameras.mdx

@@ -164,8 +164,8 @@ includes the range reported by the sensor. Requesting an unsupported control als
 Omitted controls leave the sensor's existing automatic or manual setting unchanged. These options
 require `use_rgb=True`.
 
-On the RealSense D405, the color stream is provided by the Stereo Module, so changing manual
+Manual color controls require a dedicated RGB module. Cameras without one, such as the RealSense
-exposure or gain also affects the depth stream.
+D405, do not support them and raise an error at connection time.
 
 </hfoption>
 </hfoptions>

docs/source/feetech.mdx

@@ -40,10 +40,10 @@ This tutorial guides you through updating the firmware of Feetech motors using t
 For each motor you want to update:
 
 1. **Select the motor** from the list by clicking on it
-2. **Click on Upgrade tab**:
+2. **Click the Upgrade tab**:
-3. **Click on Online button**:
+3. **Click the Online button**:
-   - If an potential firmware update is found, it will be displayed in the box
+   - If a potential firmware update is found, it will be displayed in the box
-4. **Click on Upgrade button**:
+4. **Click the Upgrade button**:
    - The update progress will be displayed
 
 ## Step 6: Verify Update

docs/source/processors_robots_teleop.mdx

@@ -22,7 +22,7 @@ With processors, you choose the learning features you want to use for your polic
 ## Three pipelines
 
 We often compose three pipelines. Depending on your setup, some can be empty if action and observation spaces already match.
-Each of these pipelines handle different conversions between different action and observation spaces. Below is a quick explanation of each pipeline.
+Each of these pipelines handles different conversions between different action and observation spaces. Below is a quick explanation of each pipeline.
 
 1. Pipeline 1: Teleop action space → dataset action space (phone pose → EE targets)
 2. Pipeline 2: Dataset action space → robot command space (EE targets → joints)
@@ -74,7 +74,7 @@ In the phone to SO-100 follower examples we use the following adapters:
 - `robot_action_to_transition`: transforms the teleop action dict to a pipeline transition.
 - `transition_to_robot_action`: transforms the pipeline transition to a robot action dict.
 - `observation_to_transition`: transforms the robot observation dict to a pipeline transition.
-- `transition_to_observation`: transforms the pipeline transition to a observation dict.
+- `transition_to_observation`: transforms the pipeline transition to an observation dict.
 
 Check out [src/lerobot/processor/converters.py](https://github.com/huggingface/lerobot/blob/main/src/lerobot/processor/converters.py) for more details.
 
@@ -82,7 +82,7 @@ Checkout [src/lerobot/processor/converters.py](https://github.com/huggingface/le
 
 Dataset features are determined by the keys saved in the dataset. Each step can declare what features it modifies in a contract called `transform_features(...)`. Once you build a processor, the processor can then aggregate all of these features with `aggregate_pipeline_dataset_features()` and merge multiple feature dicts with `combine_feature_dicts(...)`.
 
-Below is and example of how we declare features with the `transform_features` method in the phone to SO-100 follower examples:
+Below is an example of how we declare features with the `transform_features` method in the phone to SO-100 follower examples:
 
 ```python
     def transform_features(

docs/source/rtc.mdx

@@ -57,7 +57,7 @@ policy_cfg.rtc_config = RTCConfig(
 policy = PI0Policy.from_pretrained("lerobot/pi0_base", policy_cfg=policy_cfg, device="cuda")
 
 # Now use predict_action_chunk with RTC parameters
-inference_delay = 4  # How many steps of inference latency, this values should be calculated based on the inference latency of the policy
+inference_delay = 4  # How many steps of inference latency, this value should be calculated based on the inference latency of the policy
 
 # Initialize the action queue
 action_queue = ActionQueue(policy_cfg.rtc_config)
@@ -100,7 +100,7 @@ Typical values: 8-12 steps
 RTCConfig(execution_horizon=10)
 ```
 
-**`max_guidance_weight`**: How strongly to enforce consistency with the previous chunk. This is a hyperparameter that can be tuned to balance the smoothness of the transitions and the reactivity of the policy. For 10 steps flow matching (SmolVLA, Pi0, Pi0.5), a value of 10.0 is a optimal value.
+**`max_guidance_weight`**: How strongly to enforce consistency with the previous chunk. This is a hyperparameter that can be tuned to balance the smoothness of the transitions and the reactivity of the policy. For 10 steps flow matching (SmolVLA, Pi0, Pi0.5), a value of 10.0 is an optimal value.
 
 **`prefix_attention_schedule`**: How to weight consistency across the overlap region.
 

docs/source/using_dataset_tools.mdx

@@ -50,11 +50,11 @@ lerobot-edit-dataset \
 Divide a dataset into multiple subsets.
 
 ```bash
-# Split by fractions (e.g. 80% train, 20% test, 20% val)
+# Split by fractions (e.g. 60% train, 20% val, 20% test)
 lerobot-edit-dataset \
     --repo_id lerobot/pusht \
     --operation.type split \
-    --operation.splits '{"train": 0.8, "test": 0.2, "val": 0.2}'
+    --operation.splits '{"train": 0.6, "val": 0.2, "test": 0.2}'
 
 # Split by specific episode indices
 lerobot-edit-dataset \

src/lerobot/cameras/realsense/camera_realsense.py

@@ -365,11 +365,12 @@ class RealSenseCamera(Camera):
         return self._async_read(timeout_ms=10000, read_depth=read_depth)
 
     def _get_color_sensor(self) -> "rs.sensor":
-        """Returns the sensor that controls the color stream.
+        """Returns the dedicated "RGB Camera" sensor that controls the color stream.
 
-        Most RealSense cameras expose "RGB Camera" for color. The D405 has no
+        Manual color controls are only applied to a dedicated RGB module. Cameras
-        separate RGB module — its color stream comes from "Stereo Module".
+        without one (e.g. the D405, whose color stream comes from the shared
-        We try RGB Camera first, then fall back to Stereo Module.
+        "Stereo Module") are unsupported, so we never fall back to another sensor
+        to avoid altering the depth stream.
         """
         if self.rs_profile is None:
             raise RuntimeError(f"{self}: rs_profile must be initialized before use.")
@@ -377,12 +378,14 @@ class RealSenseCamera(Camera):
         device = self.rs_profile.get_device()
         sensors = {s.get_info(rs.camera_info.name): s for s in device.query_sensors()}
 
-        for name in ("RGB Camera", "Stereo Module"):
+        if "RGB Camera" in sensors:
-            if name in sensors:
+            return sensors["RGB Camera"]
-                return sensors[name]
 
         available = list(sensors.keys())
-        raise RuntimeError(f"{self}: no color sensor found. Available sensors: {available}")
+        raise RuntimeError(
+            f"{self}: manual color controls require a dedicated 'RGB Camera' module, which this camera does not have. ",
+            f"Available sensors: {available}.",
+        )
 
     def _set_sensor_option(self, sensor: "rs.sensor", option: "rs.option", value: float, label: str) -> None:
         """Sets a sensor option, re-raising range errors with actionable diagnostics."""

src/lerobot/datasets/aggregate.py

@@ -19,6 +19,7 @@ import copy
 import logging
 import shutil
 from pathlib import Path
+from typing import Any, NotRequired, TypedDict
 
 import datasets
 import pandas as pd
@@ -49,8 +50,32 @@ from .utils import (
 )
 from .video_utils import concatenate_video_files, get_video_duration_in_s
 
+logger = logging.getLogger(__name__)
 
-def merge_video_feature_info_for_aggregate(all_metadata: list[LeRobotDatasetMetadata]) -> dict[str, dict]:
+type FeatureDict = dict[str, dict[str, Any]]
+type ChunkFile = tuple[int, int]
+
+
+class IndexState(TypedDict):
+    chunk: int
+    file: int
+    src_to_dst: NotRequired[dict[ChunkFile, ChunkFile]]
+
+
+class VideoIndex(TypedDict):
+    chunk: int
+    file: int
+    latest_duration: float
+    episode_duration: float
+    src_to_offset: NotRequired[dict[ChunkFile, float]]
+    src_to_dst: NotRequired[dict[ChunkFile, ChunkFile]]
+    dst_file_durations: NotRequired[dict[ChunkFile, float]]
+
+
+type VideoIndexState = dict[str, VideoIndex]
+
+
+def merge_video_feature_info_for_aggregate(all_metadata: list[LeRobotDatasetMetadata]) -> FeatureDict:
     """Create a merged video feature info dictionary for aggregation. The video encoder info is merged field-by-field: each key is kept only when every source agrees; otherwise that key is set to ``null`` (or ``{}`` for ``video.extra_options``) and a warning is logged.
 
     Args:
@@ -59,14 +84,14 @@ def merge_video_feature_info_for_aggregate(all_metadata: list[LeRobotDatasetMeta
     Returns:
         dict: A dictionary of merged video feature info.
     """
-    merged_info = copy.deepcopy(all_metadata[0].features)
+    merged_info: FeatureDict = copy.deepcopy(all_metadata[0].features)
     video_keys = [k for k in merged_info if merged_info[k].get("dtype") == "video"]
 
     for vk in video_keys:
         video_infos = [m.features.get(vk, {}).get("info") or {} for m in all_metadata]
         base_video_info = video_infos[0]
 
-        merged_encoder_info: dict = {}
+        merged_encoder_info: dict[str, Any] = {}
         fallback_keys: list[str] = []
         for info_key in VIDEO_ENCODER_INFO_KEYS:
             values = [info.get(info_key, None) for info in video_infos]
@@ -80,7 +105,7 @@ def merge_video_feature_info_for_aggregate(all_metadata: list[LeRobotDatasetMeta
                 merged_encoder_info[info_key] = {} if info_key == "video.extra_options" else None
 
         if fallback_keys:
-            logging.warning(
+            logger.warning(
                 f"Merging heterogeneous or incomplete video encoder metadata for feature {vk}. "
                 f"Setting these keys to null: {fallback_keys}.",
             )
@@ -92,7 +117,7 @@ def merge_video_feature_info_for_aggregate(all_metadata: list[LeRobotDatasetMeta
     return merged_info
 
 
-def validate_all_metadata(all_metadata: list[LeRobotDatasetMetadata]):
+def validate_all_metadata(all_metadata: list[LeRobotDatasetMetadata]) -> tuple[int, str | None, FeatureDict]:
     """Validates that all dataset metadata have consistent properties.
 
     Ensures all datasets have the same fps, robot_type, and features to guarantee
@@ -129,7 +154,9 @@ def validate_all_metadata(all_metadata: list[LeRobotDatasetMetadata]):
     return fps, robot_type, features
 
 
-def update_data_df(df, src_meta, dst_meta):
+def update_data_df(
+    df: pd.DataFrame, src_meta: LeRobotDatasetMetadata, dst_meta: LeRobotDatasetMetadata
+) -> pd.DataFrame:
     """Updates a data DataFrame with new indices and task mappings for aggregation.
 
     Adjusts episode indices, frame indices, and task indices to account for
@@ -154,12 +181,12 @@ def update_data_df(df, src_meta, dst_meta):
 
 
 def update_meta_data(
-    df,
+    df: pd.DataFrame,
-    dst_meta,
+    dst_meta: LeRobotDatasetMetadata,
-    meta_idx,
+    meta_idx: IndexState,
-    data_idx,
+    data_idx: IndexState,
-    videos_idx,
+    videos_idx: VideoIndexState,
-):
+) -> pd.DataFrame:
     """Updates metadata DataFrame with new chunk, file, and timestamp indices.
 
     Adjusts all indices and timestamps to account for previously aggregated
@@ -289,7 +316,7 @@ def aggregate_datasets(
     chunk_size: int | None = None,
     concatenate_videos: bool = True,
     concatenate_data: bool = True,
-):
+) -> None:
     """Aggregates multiple LeRobot datasets into a single unified dataset.
 
     This is the main function that orchestrates the aggregation process by:
@@ -309,7 +336,7 @@ def aggregate_datasets(
         concatenate_videos: When False, keep one mp4 per source file instead of packing into shards.
         concatenate_data: When False, keep one parquet per source file instead of packing into shards.
     """
-    logging.info("Start aggregate_datasets")
+    logger.info("Start aggregate_datasets")
 
     if data_files_size_in_mb is None:
         data_files_size_in_mb = DEFAULT_DATA_FILE_SIZE_IN_MB
@@ -341,15 +368,15 @@ def aggregate_datasets(
         video_files_size_in_mb=video_files_size_in_mb,
     )
 
-    logging.info("Find all tasks")
+    logger.info("Find all tasks")
     unique_tasks = pd.concat([m.tasks for m in all_metadata]).index.unique()
     dst_meta.tasks = pd.DataFrame(
         {"task_index": range(len(unique_tasks))}, index=pd.Index(unique_tasks, name="task")
     )
 
-    meta_idx = {"chunk": 0, "file": 0}
+    meta_idx: IndexState = {"chunk": 0, "file": 0}
-    data_idx = {"chunk": 0, "file": 0}
+    data_idx: IndexState = {"chunk": 0, "file": 0}
-    videos_idx = {
+    videos_idx: VideoIndexState = {
         key: {"chunk": 0, "file": 0, "latest_duration": 0, "episode_duration": 0} for key in video_keys
     }
 
@@ -373,12 +400,17 @@ def aggregate_datasets(
         dst_meta.info.total_frames += src_meta.total_frames
 
     finalize_aggregation(dst_meta, all_metadata)
-    logging.info("Aggregation complete.")
+    logger.info("Aggregation complete.")
 
 
 def aggregate_videos(
-    src_meta, dst_meta, videos_idx, video_files_size_in_mb, chunk_size, concatenate_videos=True
+    src_meta: LeRobotDatasetMetadata,
-):
+    dst_meta: LeRobotDatasetMetadata,
+    videos_idx: VideoIndexState,
+    video_files_size_in_mb: float,
+    chunk_size: int,
+    concatenate_videos: bool = True,
+) -> VideoIndexState:
     """Aggregates video chunks from a source dataset into the destination dataset.
 
     Handles video file concatenation and rotation based on file size limits.
@@ -406,7 +438,8 @@ def aggregate_videos(
             videos_idx[key]["dst_file_durations"] = {}
 
     for key, video_idx in videos_idx.items():
-        unique_chunk_file_pairs = {
+        unique_chunk_file_pairs: list[ChunkFile] = sorted(
+            {
                 (chunk, file)
                 for chunk, file in zip(
                     src_meta.episodes[f"videos/{key}/chunk_index"],
@@ -414,7 +447,7 @@ def aggregate_videos(
                     strict=False,
                 )
             }
-        unique_chunk_file_pairs = sorted(unique_chunk_file_pairs)
+        )
 
         chunk_idx = video_idx["chunk"]
         file_idx = video_idx["file"]
@@ -489,7 +522,14 @@ def aggregate_videos(
     return videos_idx
 
 
-def aggregate_data(src_meta, dst_meta, data_idx, data_files_size_in_mb, chunk_size, concatenate_data=True):
+def aggregate_data(
+    src_meta: LeRobotDatasetMetadata,
+    dst_meta: LeRobotDatasetMetadata,
+    data_idx: IndexState,
+    data_files_size_in_mb: float,
+    chunk_size: int,
+    concatenate_data: bool = True,
+) -> IndexState:
     """Aggregates data chunks from a source dataset into the destination dataset.
 
     Reads source data files, updates indices to match the aggregated dataset,
@@ -510,14 +550,16 @@ def aggregate_data(src_meta, dst_meta, data_idx, data_files_size_in_mb, chunk_si
     Returns:
         dict: Updated data_idx with current chunk and file indices.
     """
-    unique_chunk_file_ids = {
+    unique_chunk_file_ids: list[ChunkFile] = sorted(
+        {
             (c, f)
             for c, f in zip(
-            src_meta.episodes["data/chunk_index"], src_meta.episodes["data/file_index"], strict=False
+                src_meta.episodes["data/chunk_index"],
+                src_meta.episodes["data/file_index"],
+                strict=False,
             )
         }
-
+    )
-    unique_chunk_file_ids = sorted(unique_chunk_file_ids)
     contains_images = len(dst_meta.image_keys) > 0
 
     # retrieve features schema for proper image typing in parquet
@@ -525,7 +567,7 @@ def aggregate_data(src_meta, dst_meta, data_idx, data_files_size_in_mb, chunk_si
 
     # Track source to destination file mapping for metadata update
     # This is critical for handling datasets that are already results of a merge
-    src_to_dst: dict[tuple[int, int], tuple[int, int]] = {}
+    src_to_dst: dict[ChunkFile, ChunkFile] = {}
 
     for src_chunk_idx, src_file_idx in unique_chunk_file_ids:
         src_path = src_meta.root / DEFAULT_DATA_PATH.format(
@@ -564,7 +606,13 @@ def aggregate_data(src_meta, dst_meta, data_idx, data_files_size_in_mb, chunk_si
     return data_idx
 
 
-def aggregate_metadata(src_meta, dst_meta, meta_idx, data_idx, videos_idx):
+def aggregate_metadata(
+    src_meta: LeRobotDatasetMetadata,
+    dst_meta: LeRobotDatasetMetadata,
+    meta_idx: IndexState,
+    data_idx: IndexState,
+    videos_idx: VideoIndexState,
+) -> IndexState:
     """Aggregates metadata from a source dataset into the destination dataset.
 
     Reads source metadata files, updates all indices and timestamps,
@@ -580,7 +628,8 @@ def aggregate_metadata(src_meta, dst_meta, meta_idx, data_idx, videos_idx):
     Returns:
         dict: Updated meta_idx with current chunk and file indices.
     """
-    chunk_file_ids = {
+    chunk_file_ids: list[ChunkFile] = sorted(
+        {
             (c, f)
             for c, f in zip(
                 src_meta.episodes["meta/episodes/chunk_index"],
@@ -588,8 +637,7 @@ def aggregate_metadata(src_meta, dst_meta, meta_idx, data_idx, videos_idx):
                 strict=False,
             )
         }
-
+    )
-    chunk_file_ids = sorted(chunk_file_ids)
     for chunk_idx, file_idx in chunk_file_ids:
         src_path = src_meta.root / DEFAULT_EPISODES_PATH.format(chunk_index=chunk_idx, file_index=file_idx)
         df = pd.read_parquet(src_path)
@@ -622,16 +670,16 @@ def aggregate_metadata(src_meta, dst_meta, meta_idx, data_idx, videos_idx):
 def append_or_create_parquet_file(
     df: pd.DataFrame,
     src_path: Path,
-    idx: dict[str, int],
+    idx: IndexState,
     max_mb: float,
     chunk_size: int,
     default_path: str,
     contains_images: bool = False,
-    aggr_root: Path = None,
+    aggr_root: Path | None = None,
     hf_features: datasets.Features | None = None,
     concatenate: bool = True,
     one_row_group_per_episode: bool = False,
-) -> tuple[dict[str, int], tuple[int, int]]:
+) -> tuple[IndexState, ChunkFile]:
     """Appends data to an existing parquet file or creates a new one based on size constraints.
 
     Manages file rotation when size limits are exceeded to prevent individual files
@@ -654,7 +702,13 @@ def append_or_create_parquet_file(
     Returns:
         tuple: (updated_idx, (dst_chunk, dst_file)) where updated_idx is the index dict
                and (dst_chunk, dst_file) is the actual destination file the data was written to.
+
+    Raises:
+        ValueError: If aggr_root is not provided.
     """
+    if aggr_root is None:
+        raise ValueError("aggr_root must be provided.")
+
     dst_chunk, dst_file = idx["chunk"], idx["file"]
     dst_path = aggr_root / default_path.format(chunk_index=dst_chunk, file_index=dst_file)
 
@@ -698,7 +752,9 @@ def append_or_create_parquet_file(
     return idx, (dst_chunk, dst_file)
 
 
-def finalize_aggregation(aggr_meta, all_metadata):
+def finalize_aggregation(
+    aggr_meta: LeRobotDatasetMetadata, all_metadata: list[LeRobotDatasetMetadata]
+) -> None:
     """Finalizes the dataset aggregation by writing summary files and statistics.
 
     Writes the tasks file, info file with total counts and splits, and
@@ -708,16 +764,16 @@ def finalize_aggregation(aggr_meta, all_metadata):
         aggr_meta: Aggregated dataset metadata.
         all_metadata: List of all source dataset metadata objects.
     """
-    logging.info("write tasks")
+    logger.info("write tasks")
     write_tasks(aggr_meta.tasks, aggr_meta.root)
 
-    logging.info("write info")
+    logger.info("write info")
     aggr_meta.info.total_tasks = len(aggr_meta.tasks)
     aggr_meta.info.total_episodes = sum(m.total_episodes for m in all_metadata)
     aggr_meta.info.total_frames = sum(m.total_frames for m in all_metadata)
     aggr_meta.info.splits = {"train": f"0:{sum(m.total_episodes for m in all_metadata)}"}
     write_info(aggr_meta.info, aggr_meta.root)
 
-    logging.info("write stats")
+    logger.info("write stats")
     aggr_meta.stats = aggregate_stats([m.stats for m in all_metadata])
     write_stats(aggr_meta.stats, aggr_meta.root)

src/lerobot/policies/evo1/processor_evo1.py

@@ -302,6 +302,33 @@ def _pad_evo1_stats(
     return padded_stats
 
 
+def _refresh_evo1_normalization_steps(
+    config: Evo1Config,
+    preprocessor: PolicyProcessorPipeline,
+    postprocessor: PolicyProcessorPipeline,
+) -> None:
+    """Re-pad checkpoint-loaded (un)normalizer stats/features to EVO1's fixed widths.
+
+    Loading a checkpoint injects the raw dataset stats (unpadded to max_state_dim/max_action_dim)
+    into the (un)normalizer via the generic override path in make_pre_post_processors. Those stats
+    and their declared features must be re-padded/reshaped to EVO1's fixed widths, otherwise
+    normalization fails against the padded state/action tensors (e.g. state padded to 24 vs. 8-dim
+    LIBERO stats). Padding is a no-op when stats are already at the target width.
+    """
+    normalization_features = _evo1_normalization_features(config)
+    action_features = _evo1_action_features(config)
+    for step in preprocessor.steps:
+        if isinstance(step, NormalizerProcessorStep):
+            step.features = normalization_features
+            step.stats = _pad_evo1_stats(config, step.stats)
+            step.to(device=step.device, dtype=step.dtype)
+    for step in postprocessor.steps:
+        if isinstance(step, UnnormalizerProcessorStep):
+            step.features = action_features
+            step.stats = _pad_evo1_stats(config, step.stats)
+            step.to(device=step.device, dtype=step.dtype)
+
+
 def reconcile_evo1_processors(
     config: Evo1Config,
     preprocessor: PolicyProcessorPipeline,
@@ -309,16 +336,19 @@ def reconcile_evo1_processors(
 ) -> tuple[PolicyProcessorPipeline, PolicyProcessorPipeline]:
     """Reconcile checkpoint-loaded pipelines with the current EVO1 config.
 
-    Two things cannot be restored from a serialized pipeline alone: the EVO1 batch converter
+    Three things cannot be restored from a serialized pipeline alone: the EVO1 batch converter
-    (converters are plain functions and are never serialized), and eval-time CLI overrides of the
+    (converters are plain functions and are never serialized), eval-time CLI overrides of the
-    action postprocessing flags (`postprocess_action_dim`, `binarize_gripper`, `gripper_*`). This
+    action postprocessing flags (`postprocess_action_dim`, `binarize_gripper`, `gripper_*`), and the
-    restores the converter and rebuilds the action step from the current config so those overrides
+    (un)normalizer stats/features when the generic override path injects raw, unpadded dataset
-    take effect.
+    stats. This restores the converter, re-pads the normalization stats to EVO1's fixed widths, and
+    rebuilds the action step from the current config so those overrides take effect.
     """
     # Pipelines reloaded from a checkpoint come back with the default batch converter, which drops
     # non-observation extras (embodiment_id, state_mask, custom task fields) needed by EVO1.
     preprocessor.to_transition = evo1_batch_to_transition
 
+    _refresh_evo1_normalization_steps(config, preprocessor, postprocessor)
+
     action_step = Evo1ActionProcessorStep(
         action_dim=_evo1_action_dim(config),
         binarize_gripper=config.binarize_gripper,

src/lerobot/rl/buffer.py

@@ -18,7 +18,7 @@ import functools
 import threading
 from collections.abc import Callable, Sequence
 from contextlib import suppress
-from typing import TypedDict
+from typing import NotRequired, TypedDict
 
 import torch
 import torch.nn.functional as F  # noqa: N812
@@ -36,7 +36,7 @@ class BatchTransition(TypedDict):
     next_state: dict[str, torch.Tensor]
     done: torch.Tensor
     truncated: torch.Tensor
-    complementary_info: dict[str, torch.Tensor | float | int] | None = None
+    complementary_info: NotRequired[dict[str, torch.Tensor | float | int] | None]
 
 
 def random_crop_vectorized(images: torch.Tensor, output_size: tuple) -> torch.Tensor:

src/lerobot/robots/so_follower/robot_kinematic_processor.py

@@ -510,10 +510,10 @@ class ForwardKinematicsJointsToEEAction(RobotActionProcessorStep):
         # We only use the ee pose in the dataset, so we don't need the joint positions
         for n in self.motor_names:
             features[PipelineFeatureType.ACTION].pop(f"{n}.pos", None)
-        # We specify the dataset features of this step that we want to be stored in the dataset
+        # Store end-effector features as actions in the dataset schema
         for k in ["x", "y", "z", "wx", "wy", "wz", "gripper_pos"]:
             features[PipelineFeatureType.ACTION][f"ee.{k}"] = PolicyFeature(
-                type=FeatureType.STATE, shape=(1,)
+                type=FeatureType.ACTION, shape=(1,)
             )
         return features
 

src/lerobot/scripts/lerobot_find_cameras.py

@@ -28,7 +28,6 @@ lerobot-find-cameras
 # NOTE(Steven): macOS cameras sometimes report different FPS at init time, not an issue here as we don't specify FPS when opening the cameras, but the information displayed might not be truthful.
 
 import argparse
-import concurrent.futures
 import logging
 import time
 from pathlib import Path
@@ -133,7 +132,7 @@ def save_image(
     camera_identifier: str | int,
     images_dir: Path,
     camera_type: str,
-):
+) -> None:
     """
     Saves a single image to disk using Pillow. Handles color conversion if necessary.
     """
@@ -152,7 +151,7 @@ def save_image(
         logger.error(f"Failed to save image for camera {camera_identifier} (type {camera_type}): {e}")
 
 
-def create_camera_instance(cam_meta: dict[str, Any]) -> dict[str, Any] | None:
+def create_camera_instance(cam_meta: dict[str, Any], *, warmup_s: int = 1) -> dict[str, Any] | None:
     """Create and connect to a camera instance based on metadata."""
     cam_type = cam_meta.get("type")
     cam_id = cam_meta.get("id")
@@ -165,12 +164,14 @@ def create_camera_instance(cam_meta: dict[str, Any]) -> dict[str, Any] | None:
             cv_config = OpenCVCameraConfig(
                 index_or_path=cam_id,
                 color_mode=ColorMode.RGB,
+                warmup_s=warmup_s,
             )
             instance = OpenCVCamera(cv_config)
         elif cam_type == "RealSense":
             rs_config = RealSenseCameraConfig(
                 serial_number_or_name=cam_id,
                 color_mode=ColorMode.RGB,
+                warmup_s=warmup_s,
             )
             instance = RealSenseCamera(rs_config)
         else:
@@ -188,9 +189,7 @@ def create_camera_instance(cam_meta: dict[str, Any]) -> dict[str, Any] | None:
         return None
 
 
-def process_camera_image(
+def process_camera_image(cam_dict: dict[str, Any], output_dir: Path, current_time: float) -> None:
-    cam_dict: dict[str, Any], output_dir: Path, current_time: float
-) -> concurrent.futures.Future | None:
     """Capture and process an image from a single camera."""
     cam = cam_dict["instance"]
     meta = cam_dict["meta"]
@@ -200,7 +199,7 @@ def process_camera_image(
     try:
         image_data = cam.read()
 
-        return save_image(
+        save_image(
             image_data,
             cam_id_str,
             output_dir,
@@ -215,10 +214,9 @@ def process_camera_image(
     return None
 
 
-def cleanup_cameras(cameras_to_use: list[dict[str, Any]]):
+def cleanup_camera(cam_dict: dict[str, Any]) -> None:
     """Disconnect all cameras."""
-    logger.info(f"Disconnecting {len(cameras_to_use)} cameras...")
+    logger.info(f"Disconnecting camera with ID {cam_dict['meta'].get('id')}...")
-    for cam_dict in cameras_to_use:
     try:
         if cam_dict["instance"] and cam_dict["instance"].is_connected:
             cam_dict["instance"].disconnect()
@@ -230,6 +228,7 @@ def save_images_from_all_cameras(
     output_dir: Path,
     record_time_s: float = 2.0,
     camera_type: str | None = None,
+    warmup_s: int = 1,
 ):
     """
     Connects to detected cameras (optionally filtered by type) and saves images from each.
@@ -240,6 +239,7 @@ def save_images_from_all_cameras(
         record_time_s: Duration in seconds to record images.
         camera_type: Optional string to filter cameras ("realsense" or "opencv").
                             If None, uses all detected cameras.
+        warmup_s: Duration in seconds to warmup camera before recording images.
     """
     output_dir.mkdir(parents=True, exist_ok=True)
     logger.info(f"Saving images to {output_dir}")
@@ -249,39 +249,23 @@ def save_images_from_all_cameras(
         logger.warning("No cameras detected matching the criteria. Cannot save images.")
         return
 
-    cameras_to_use = []
+    logger.info(
-    for cam_meta in all_camera_metadata:
+        f"Starting image capture for {record_time_s} seconds from {len(all_camera_metadata)} cameras."
-        camera_instance = create_camera_instance(cam_meta)
+    )
-        if camera_instance:
-            cameras_to_use.append(camera_instance)
 
-    if not cameras_to_use:
-        logger.warning("No cameras could be connected. Aborting image save.")
-        return
-
-    logger.info(f"Starting image capture for {record_time_s} seconds from {len(cameras_to_use)} cameras.")
-    start_time = time.perf_counter()
-
-    with concurrent.futures.ThreadPoolExecutor(max_workers=len(cameras_to_use) * 2) as executor:
     try:
+        for cam_meta in all_camera_metadata:
+            cam_dict = create_camera_instance(cam_meta, warmup_s=warmup_s)
+            if cam_dict is None:
+                continue
+            start_time = time.perf_counter()
             while time.perf_counter() - start_time < record_time_s:
-                futures = []
                 current_capture_time = time.perf_counter()
-
+                process_camera_image(cam_dict, output_dir, current_capture_time)
-                for cam_dict in cameras_to_use:
+            cleanup_camera(cam_dict)
-                    future = process_camera_image(cam_dict, output_dir, current_capture_time)
-                    if future:
-                        futures.append(future)
-
-                if futures:
-                    concurrent.futures.wait(futures)
-
     except KeyboardInterrupt:
         logger.info("Capture interrupted by user.")
     finally:
-            print("\nFinalizing image saving...")
-            executor.shutdown(wait=True)
-            cleanup_cameras(cameras_to_use)
         print(f"Image capture finished. Images saved to {output_dir}")
 
 
@@ -291,7 +275,6 @@ def main():
     parser = argparse.ArgumentParser(
         description="Unified camera utility script for listing cameras and capturing images."
     )
-
     parser.add_argument(
         "camera_type",
         type=str,
@@ -309,8 +292,14 @@ def main():
     parser.add_argument(
         "--record-time-s",
         type=float,
-        default=6.0,
+        default=2.0,
-        help="Time duration to attempt capturing frames. Default: 6 seconds.",
+        help="Time duration to attempt capturing frames. Default: 2 seconds.",
+    )
+    parser.add_argument(
+        "--warmup-s",
+        type=int,
+        default=1,
+        help="Time duration to warmup camera before attempting to capture frames. Default: 1 second.",
     )
     args = parser.parse_args()
     save_images_from_all_cameras(**vars(args))

src/lerobot/teleoperators/phone/teleop_phone.py

@@ -171,7 +171,13 @@ class IOSPhone(BasePhone, Teleoperator):
         # HEBI provides orientation in w, x, y, z format.
         # Scipy's Rotation expects x, y, z, w.
         quat_xyzw = np.concatenate((ar_quat[1:], [ar_quat[0]]))  # wxyz to xyzw
+        # ARKit can emit zero/NaN quaternions before tracking is ready or on a
+        # dropped packet. Rotation.from_quat now rejects those; degrade the same
+        # way as a missing pose so teleop stays alive mid-session.
+        try:
             rot = Rotation.from_quat(quat_xyzw)
+        except ValueError:
+            return False, None, None, None
         pos = ar_pos - rot.apply(self.config.camera_offset)
         return True, pos, rot, pose
 

src/lerobot/transforms/__init__.py

@@ -13,34 +13,18 @@
 # limitations under the License.
 
 from .transforms import (
-    CoarseDropout,
-    GammaCorrection,
-    GaussianNoise,
-    GaussianPatchBrightness,
     ImageTransformConfig,
     ImageTransforms,
     ImageTransformsConfig,
-    JPEGCompression,
-    MotionBlur,
-    PlanckianJitter,
-    RandomShadow,
     RandomSubsetApply,
     SharpnessJitter,
     make_transform_from_config,
 )
 
 __all__ = [
-    "CoarseDropout",
-    "GammaCorrection",
-    "GaussianNoise",
-    "GaussianPatchBrightness",
     "ImageTransformConfig",
     "ImageTransforms",
     "ImageTransformsConfig",
-    "JPEGCompression",
-    "MotionBlur",
-    "PlanckianJitter",
-    "RandomShadow",
     "RandomSubsetApply",
     "SharpnessJitter",
     "make_transform_from_config",

src/lerobot/transforms/transforms.py

@@ -14,13 +14,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import collections
-import math
 from collections.abc import Callable, Sequence
 from dataclasses import dataclass, field
 from typing import Any
 
 import torch
-from torchvision.io import decode_image, encode_jpeg
 from torchvision.transforms import v2
 from torchvision.transforms.v2 import (
     Transform,
@@ -146,471 +144,6 @@ class SharpnessJitter(Transform):
         return self._call_kernel(F.adjust_sharpness, inpt, sharpness_factor=sharpness_factor)
 
 
-class GaussianNoise(Transform):
-    """Add Gaussian noise to simulate camera sensor noise.
-
-    Models readout noise from ADC quantization, which increases in low-light conditions.
-    Common in real-robot setups where wrist cameras operate in suboptimal lighting.
-
-    Args:
-        std: Range (min, max) for noise standard deviation in pixel-value scale (0-255).
-    """
-
-    def __init__(self, std: float | Sequence[float] = (5.0, 25.0)) -> None:
-        super().__init__()
-        if isinstance(std, (int, float)):
-            self.std = (0.0, float(std))
-        elif isinstance(std, Sequence) and len(std) == 2:
-            self.std = (float(std[0]), float(std[1]))
-        else:
-            raise TypeError("std must be a number or a sequence with length 2.")
-        if not 0.0 <= self.std[0] <= self.std[1]:
-            raise ValueError(f"std must satisfy 0 <= min <= max, but got {self.std}.")
-
-    def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
-        return {
-            "std": torch.empty(1).uniform_(self.std[0], self.std[1]).item(),
-            "seed": torch.randint(0, torch.iinfo(torch.int64).max, ()).item(),
-        }
-
-    def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
-        if isinstance(inpt, torch.Tensor) and inpt.is_floating_point():
-            generator = torch.Generator(device=inpt.device).manual_seed(params["seed"])
-            noise = torch.randn(inpt.shape, device=inpt.device, dtype=inpt.dtype, generator=generator)
-            return (inpt + noise * (params["std"] / 255.0)).clamp(0.0, 1.0)
-        return inpt
-
-
-class MotionBlur(Transform):
-    """Apply directional motion blur to simulate fast robot or object movement.
-
-    Generates a 1D averaging kernel along a random direction, applied via depthwise convolution.
-
-    Args:
-        kernel_size: An odd kernel size or a range containing at least one odd kernel size.
-    """
-
-    def __init__(self, kernel_size: int | Sequence[int] = (3, 11)) -> None:
-        super().__init__()
-        if isinstance(kernel_size, int):
-            self.kernel_size = (kernel_size, kernel_size)
-        elif isinstance(kernel_size, Sequence) and len(kernel_size) == 2:
-            self.kernel_size = (int(kernel_size[0]), int(kernel_size[1]))
-        else:
-            raise TypeError("kernel_size must be an int or a sequence with length 2.")
-        if not 1 <= self.kernel_size[0] <= self.kernel_size[1]:
-            raise ValueError(f"kernel_size must satisfy 1 <= min <= max, but got {self.kernel_size}.")
-        self._first_odd_kernel_size = self.kernel_size[0] + (self.kernel_size[0] + 1) % 2
-        if self._first_odd_kernel_size > self.kernel_size[1]:
-            raise ValueError(f"kernel_size range must contain an odd value, but got {self.kernel_size}.")
-
-    def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
-        num_odd_sizes = (self.kernel_size[1] - self._first_odd_kernel_size) // 2 + 1
-        size_index = int(torch.randint(0, num_odd_sizes, ()).item())
-        ks = self._first_odd_kernel_size + 2 * size_index
-        angle = torch.empty(1).uniform_(0, 360).item()
-        return {"kernel_size": ks, "angle": angle}
-
-    def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
-        if not isinstance(inpt, torch.Tensor) or not inpt.is_floating_point():
-            return inpt
-        if inpt.ndim < 3:
-            raise ValueError(f"MotionBlur expects [..., C, H, W] input, but got shape {inpt.shape}.")
-
-        kernel_size = params["kernel_size"]
-        radius = kernel_size // 2
-        angle = math.radians(params["angle"])
-        positions = torch.linspace(-radius, radius, kernel_size, device=inpt.device)
-        x_coords = (positions * math.cos(angle)).round().to(torch.long) + radius
-        y_coords = (positions * math.sin(angle)).round().to(torch.long) + radius
-        kernel = torch.zeros((kernel_size, kernel_size), device=inpt.device, dtype=inpt.dtype)
-        kernel[y_coords, x_coords] = 1
-        kernel /= kernel.sum()
-
-        channels, height, width = inpt.shape[-3:]
-        flat_input = inpt.reshape(-1, channels, height, width)
-        depthwise_kernel = kernel.expand(channels, 1, kernel_size, kernel_size)
-        padded = torch.nn.functional.pad(flat_input, (radius,) * 4, mode="replicate")
-        output = torch.nn.functional.conv2d(padded, depthwise_kernel, groups=channels)
-        return output.reshape(inpt.shape).clamp(0.0, 1.0)
-
-
-class JPEGCompression(Transform):
-    """Simulate JPEG compression artifacts (block artifacts, color banding).
-
-    Models quality degradation from video compression in network-streamed camera feeds.
-
-    Args:
-        quality: Range (min, max) for JPEG quality factor (lower = more artifacts).
-    """
-
-    def __init__(self, quality: int | Sequence[int] = (15, 75)) -> None:
-        super().__init__()
-        if isinstance(quality, int):
-            self.quality = (quality, quality)
-        elif isinstance(quality, Sequence) and len(quality) == 2:
-            self.quality = (int(quality[0]), int(quality[1]))
-        else:
-            raise TypeError("quality must be an int or a sequence with length 2.")
-        if not 1 <= self.quality[0] <= self.quality[1] <= 100:
-            raise ValueError(f"quality must satisfy 1 <= min <= max <= 100, but got {self.quality}.")
-
-    def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
-        return {"quality": int(torch.randint(self.quality[0], self.quality[1] + 1, (1,)).item())}
-
-    def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
-        if not isinstance(inpt, torch.Tensor) or not inpt.is_floating_point():
-            return inpt
-        if inpt.ndim < 3:
-            raise ValueError(f"JPEGCompression expects [..., C, H, W] input, but got shape {inpt.shape}.")
-
-        channels, height, width = inpt.shape[-3:]
-        if channels not in (1, 3):
-            raise ValueError(f"JPEGCompression expects 1 or 3 channels, but got {channels}.")
-
-        flat_input = inpt.reshape(-1, channels, height, width)
-        flat_uint8 = (flat_input.clamp(0.0, 1.0) * 255).round().to(torch.uint8).cpu()
-        decoded_frames = [
-            decode_image(encode_jpeg(frame, quality=params["quality"])) for frame in flat_uint8.unbind()
-        ]
-        output = torch.stack(decoded_frames).to(device=inpt.device, dtype=inpt.dtype) / 255.0
-        return output.reshape(inpt.shape)
-
-
-class GaussianPatchBrightness(Transform):
-    """Apply spatially-varying brightness with Gaussian patches.
-
-    Simulates uneven overhead lighting, spotlights, and shadow patches commonly
-    encountered in real robot workspaces with multiple light sources.
-
-    Args:
-        num_patches: Range (min, max) for number of brightness patches.
-        sigma_range: Range for Gaussian sigma as fraction of image size.
-        factor_range: Range for brightness factor (< 1 darkens, > 1 brightens).
-    """
-
-    def __init__(
-        self,
-        num_patches: int | Sequence[int] = (1, 4),
-        sigma_range: Sequence[float] = (0.05, 0.25),
-        factor_range: Sequence[float] = (0.4, 1.6),
-    ) -> None:
-        super().__init__()
-        if isinstance(num_patches, int):
-            self.num_patches = (num_patches, num_patches)
-        elif isinstance(num_patches, Sequence) and len(num_patches) == 2:
-            self.num_patches = (int(num_patches[0]), int(num_patches[1]))
-        else:
-            raise TypeError("num_patches must be an int or a sequence with length 2.")
-        if not 1 <= self.num_patches[0] <= self.num_patches[1]:
-            raise ValueError(f"num_patches must satisfy 1 <= min <= max, but got {self.num_patches}.")
-        if not isinstance(sigma_range, Sequence) or len(sigma_range) != 2:
-            raise TypeError("sigma_range must be a sequence with length 2.")
-        self.sigma_range = (float(sigma_range[0]), float(sigma_range[1]))
-        if not 0.0 < self.sigma_range[0] <= self.sigma_range[1]:
-            raise ValueError(f"sigma_range must satisfy 0 < min <= max, but got {self.sigma_range}.")
-        if not isinstance(factor_range, Sequence) or len(factor_range) != 2:
-            raise TypeError("factor_range must be a sequence with length 2.")
-        self.factor_range = (float(factor_range[0]), float(factor_range[1]))
-        if not 0.0 <= self.factor_range[0] <= self.factor_range[1]:
-            raise ValueError(f"factor_range must satisfy 0 <= min <= max, but got {self.factor_range}.")
-
-    def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
-        n = int(torch.randint(self.num_patches[0], self.num_patches[1] + 1, (1,)).item())
-        return {
-            "centers": torch.rand(n, 2).tolist(),
-            "sigmas": torch.empty(n).uniform_(self.sigma_range[0], self.sigma_range[1]).tolist(),
-            "factors": torch.empty(n).uniform_(self.factor_range[0], self.factor_range[1]).tolist(),
-        }
-
-    def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
-        if not isinstance(inpt, torch.Tensor) or not inpt.is_floating_point():
-            return inpt
-        h, w = inpt.shape[-2:]
-        mask = torch.ones(h, w, device=inpt.device, dtype=inpt.dtype)
-        grid_y = torch.linspace(0, 1, h, device=inpt.device, dtype=inpt.dtype)
-        grid_x = torch.linspace(0, 1, w, device=inpt.device, dtype=inpt.dtype)
-        yy, xx = torch.meshgrid(grid_y, grid_x, indexing="ij")
-        for (cy, cx), sigma, factor in zip(
-            params["centers"], params["sigmas"], params["factors"], strict=True
-        ):
-            gauss = torch.exp(-((yy - cy) ** 2 + (xx - cx) ** 2) / (2 * sigma**2))
-            mask = mask * (1.0 + (factor - 1.0) * gauss)
-        broadcast_shape = (1,) * (inpt.ndim - 2) + (h, w)
-        return (inpt * mask.reshape(broadcast_shape)).clamp(0.0, 1.0)
-
-
-class RandomShadow(Transform):
-    """Add random vertical band shadow with smooth edges.
-
-    Simulates cast shadows from objects or people near the robot workspace.
-    Symmetric: randomly brightens or darkens to prevent BatchNorm stats shift.
-
-    Args:
-        opacity: Range (min, max) for shadow/highlight opacity.
-    """
-
-    def __init__(self, opacity: float | Sequence[float] = (0.3, 0.6)) -> None:
-        super().__init__()
-        if isinstance(opacity, (int, float)):
-            self.opacity = (float(opacity), float(opacity))
-        elif isinstance(opacity, Sequence) and len(opacity) == 2:
-            self.opacity = (float(opacity[0]), float(opacity[1]))
-        else:
-            raise TypeError("opacity must be a number or a sequence with length 2.")
-        if not 0.0 <= self.opacity[0] <= self.opacity[1] <= 1.0:
-            raise ValueError(f"opacity must satisfy 0 <= min <= max <= 1, but got {self.opacity}.")
-
-    def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
-        return {
-            "opacity": torch.empty(1).uniform_(self.opacity[0], self.opacity[1]).item(),
-            "start": torch.rand(1).item(),
-            "width": torch.empty(1).uniform_(1 / 3, 2 / 3).item(),
-            "direction": -1.0 if torch.rand(1).item() < 0.5 else 1.0,
-        }
-
-    def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
-        if not isinstance(inpt, torch.Tensor) or not inpt.is_floating_point():
-            return inpt
-        if inpt.ndim < 3:
-            raise ValueError(f"RandomShadow expects [..., C, H, W] input, but got shape {inpt.shape}.")
-
-        h, w = inpt.shape[-2:]
-        band_width = max(1, min(w, round(params["width"] * w)))
-        x_start = round(params["start"] * (w - band_width))
-        x_end = x_start + band_width
-        mask = torch.ones(h, w, device=inpt.device, dtype=inpt.dtype)
-        mask[:, x_start:x_end] = 1.0 + params["direction"] * params["opacity"]
-
-        smoothing_size = min(8, h, w)
-        if smoothing_size > 1:
-            batched_mask = mask[None, None]
-            small = torch.nn.functional.avg_pool2d(batched_mask, smoothing_size, stride=smoothing_size)
-            mask = torch.nn.functional.interpolate(small, size=(h, w), mode="bilinear", align_corners=False)[
-                0, 0
-            ]
-
-        broadcast_shape = (1,) * (inpt.ndim - 2) + (h, w)
-        return (inpt * mask.reshape(broadcast_shape)).clamp(0.0, 1.0)
-
-
-class CoarseDropout(Transform):
-    """Drop random rectangular patches to simulate partial occlusion.
-
-    Models objects, hands, or cables passing through the camera field of view
-    during robot manipulation.
-
-    Args:
-        max_holes: Maximum number of rectangular patches to drop.
-        max_height_frac: Maximum patch height as fraction of image height.
-        max_width_frac: Maximum patch width as fraction of image width.
-        fill_value: Value to fill dropped regions with.
-    """
-
-    def __init__(
-        self,
-        max_holes: int = 8,
-        max_height_frac: float = 0.07,
-        max_width_frac: float = 0.07,
-        fill_value: float = 0.0,
-    ) -> None:
-        super().__init__()
-        if not isinstance(max_holes, int):
-            raise TypeError("max_holes must be an int.")
-        if max_holes < 1:
-            raise ValueError(f"max_holes must be at least 1, but got {max_holes}.")
-        if not 0.0 < max_height_frac <= 1.0:
-            raise ValueError(f"max_height_frac must be in (0, 1], but got {max_height_frac}.")
-        if not 0.0 < max_width_frac <= 1.0:
-            raise ValueError(f"max_width_frac must be in (0, 1], but got {max_width_frac}.")
-        if not 0.0 <= fill_value <= 1.0:
-            raise ValueError(f"fill_value must be in [0, 1], but got {fill_value}.")
-        self.max_holes = max_holes
-        self.max_height_frac = max_height_frac
-        self.max_width_frac = max_width_frac
-        self.fill_value = fill_value
-
-    def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
-        n = int(torch.randint(1, self.max_holes + 1, (1,)).item())
-        sizes = torch.rand(n, 2)
-        sizes[:, 0] *= self.max_height_frac
-        sizes[:, 1] *= self.max_width_frac
-        return {"sizes": sizes.tolist(), "positions": torch.rand(n, 2).tolist()}
-
-    def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
-        if not isinstance(inpt, torch.Tensor) or not inpt.is_floating_point():
-            return inpt
-        if inpt.ndim < 3:
-            raise ValueError(f"CoarseDropout expects [..., C, H, W] input, but got shape {inpt.shape}.")
-
-        h, w = inpt.shape[-2:]
-        result = inpt.clone()
-        for (height_frac, width_frac), (y_frac, x_frac) in zip(
-            params["sizes"], params["positions"], strict=True
-        ):
-            hole_h = max(1, min(h, round(height_frac * h)))
-            hole_w = max(1, min(w, round(width_frac * w)))
-            y = round(y_frac * (h - hole_h))
-            x = round(x_frac * (w - hole_w))
-            result[..., y : y + hole_h, x : x + hole_w] = self.fill_value
-        return result
-
-
-class GammaCorrection(Transform):
-    """Apply random gamma correction to simulate exposure variation.
-
-    Models different camera auto-exposure settings and sensor response curves.
-    Uses log-symmetric sampling so brightening and darkening are equally likely,
-    preventing BatchNorm statistics shift.
-
-    Args:
-        gamma: Range (min, max) for gamma value. Values < 1 brighten, > 1 darken.
-    """
-
-    def __init__(self, gamma: float | Sequence[float] = (0.5, 2.0)) -> None:
-        super().__init__()
-        if isinstance(gamma, (int, float)):
-            gamma = float(gamma)
-            if gamma <= 0:
-                raise ValueError(f"gamma must be positive, but got {gamma}.")
-            self.gamma = (min(gamma, 1.0 / gamma), max(gamma, 1.0 / gamma))
-        elif isinstance(gamma, Sequence) and len(gamma) == 2:
-            self.gamma = (float(gamma[0]), float(gamma[1]))
-        else:
-            raise TypeError("gamma must be a number or a sequence with length 2.")
-        if not 0.0 < self.gamma[0] <= self.gamma[1]:
-            raise ValueError(f"gamma must satisfy 0 < min <= max, but got {self.gamma}.")
-
-    def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
-        log_lo = math.log(self.gamma[0])
-        log_hi = math.log(self.gamma[1])
-        gamma = math.exp(torch.empty(1).uniform_(log_lo, log_hi).item())
-        return {"gamma": gamma}
-
-    def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
-        if isinstance(inpt, torch.Tensor) and inpt.is_floating_point():
-            return inpt.pow(params["gamma"]).clamp(0.0, 1.0)
-        return inpt
-
-
-# From the paper authors' MIT-licensed reference implementation:
-# https://github.com/TheZino/PlanckianJitter
-_PLANCKIAN_BLACKBODY_COEFFICIENTS = (
-    (0.6743, 0.4029, 0.0013),
-    (0.6281, 0.4241, 0.1665),
-    (0.5919, 0.4372, 0.2513),
-    (0.5623, 0.4457, 0.3154),
-    (0.5376, 0.4515, 0.3672),
-    (0.5163, 0.4555, 0.4103),
-    (0.4979, 0.4584, 0.4468),
-    (0.4816, 0.4604, 0.4782),
-    (0.4672, 0.4619, 0.5053),
-    (0.4542, 0.4630, 0.5289),
-    (0.4426, 0.4638, 0.5497),
-    (0.4320, 0.4644, 0.5681),
-    (0.4223, 0.4648, 0.5844),
-    (0.4135, 0.4651, 0.5990),
-    (0.4054, 0.4653, 0.6121),
-    (0.3980, 0.4654, 0.6239),
-    (0.3911, 0.4655, 0.6346),
-    (0.3847, 0.4656, 0.6444),
-    (0.3787, 0.4656, 0.6532),
-    (0.3732, 0.4656, 0.6613),
-    (0.3680, 0.4655, 0.6688),
-    (0.3632, 0.4655, 0.6756),
-    (0.3586, 0.4655, 0.6820),
-    (0.3544, 0.4654, 0.6878),
-    (0.3503, 0.4653, 0.6933),
-)
-_PLANCKIAN_MIN_TEMPERATURE = 3_000
-_PLANCKIAN_MAX_TEMPERATURE = 15_000
-_PLANCKIAN_TEMPERATURE_STEP = 500
-
-
-class PlanckianJitter(Transform):
-    """Simulate color temperature shift along the Planckian locus.
-
-    Samples one black-body temperature and applies the corresponding correlated red
-    and blue channel scaling while preserving the green channel. Coefficients between
-    the tabulated 500 K intervals are linearly interpolated.
-
-    Reference: Zini et al., "Planckian Jitter", CVPR 2022 Workshop.
-
-    Args:
-        temperature: A fixed color temperature or range in Kelvin. Supported values
-            are between 3000 K and 15000 K.
-    """
-
-    def __init__(self, temperature: int | Sequence[int] = (3_000, 15_000)) -> None:
-        super().__init__()
-        if isinstance(temperature, int):
-            self.temperature = (temperature, temperature)
-        elif isinstance(temperature, Sequence) and len(temperature) == 2:
-            self.temperature = (int(temperature[0]), int(temperature[1]))
-        else:
-            raise TypeError("temperature must be an int or a sequence with length 2.")
-        if not (
-            _PLANCKIAN_MIN_TEMPERATURE
-            <= self.temperature[0]
-            <= self.temperature[1]
-            <= _PLANCKIAN_MAX_TEMPERATURE
-        ):
-            raise ValueError(
-                "temperature must satisfy "
-                f"{_PLANCKIAN_MIN_TEMPERATURE} <= min <= max <= {_PLANCKIAN_MAX_TEMPERATURE}, "
-                f"but got {self.temperature}."
-            )
-
-    def make_params(self, flat_inputs: list[Any]) -> dict[str, Any]:
-        temperature = int(torch.randint(self.temperature[0], self.temperature[1] + 1, ()).item())
-        return {"temperature": temperature}
-
-    def transform(self, inpt: Any, params: dict[str, Any]) -> Any:
-        if not isinstance(inpt, torch.Tensor) or not inpt.is_floating_point():
-            return inpt
-        if inpt.ndim < 3 or inpt.shape[-3] != 3:
-            raise ValueError(f"PlanckianJitter expects [..., 3, H, W] input, but got shape {inpt.shape}.")
-
-        table_position = (params["temperature"] - _PLANCKIAN_MIN_TEMPERATURE) / _PLANCKIAN_TEMPERATURE_STEP
-        left_index = math.floor(table_position)
-        right_index = min(left_index + 1, len(_PLANCKIAN_BLACKBODY_COEFFICIENTS) - 1)
-        interpolation_weight = table_position - left_index
-
-        left = torch.tensor(
-            _PLANCKIAN_BLACKBODY_COEFFICIENTS[left_index],
-            device=inpt.device,
-            dtype=inpt.dtype,
-        )
-        right = torch.tensor(
-            _PLANCKIAN_BLACKBODY_COEFFICIENTS[right_index],
-            device=inpt.device,
-            dtype=inpt.dtype,
-        )
-        coefficients = torch.lerp(left, right, interpolation_weight)
-        scale = torch.stack(
-            (
-                coefficients[0] / coefficients[1],
-                coefficients.new_tensor(1.0),
-                coefficients[2] / coefficients[1],
-            )
-        )
-        broadcast_shape = (1,) * (inpt.ndim - 3) + (3, 1, 1)
-        return (inpt * scale.reshape(broadcast_shape)).clamp(0.0, 1.0)
-
-
-_CUSTOM_TRANSFORMS: dict[str, type[Transform]] = {
-    "SharpnessJitter": SharpnessJitter,
-    "GaussianNoise": GaussianNoise,
-    "MotionBlur": MotionBlur,
-    "JPEGCompression": JPEGCompression,
-    "GaussianPatchBrightness": GaussianPatchBrightness,
-    "RandomShadow": RandomShadow,
-    "CoarseDropout": CoarseDropout,
-    "GammaCorrection": GammaCorrection,
-    "PlanckianJitter": PlanckianJitter,
-}
-
-
 @dataclass
 class ImageTransformConfig:
     """
@@ -683,17 +216,16 @@ class ImageTransformsConfig:
 
 
 def make_transform_from_config(cfg: ImageTransformConfig) -> Transform:
-    if cfg.type in _CUSTOM_TRANSFORMS:
+    if cfg.type == "SharpnessJitter":
-        return _CUSTOM_TRANSFORMS[cfg.type](**cfg.kwargs)
+        return SharpnessJitter(**cfg.kwargs)
 
     transform_cls = getattr(v2, cfg.type, None)
     if isinstance(transform_cls, type) and issubclass(transform_cls, Transform):
         return transform_cls(**cfg.kwargs)
 
-    valid_custom = ", ".join(sorted(_CUSTOM_TRANSFORMS.keys()))
     raise ValueError(
         f"Transform '{cfg.type}' is not valid. It must be a class in "
-        f"torchvision.transforms.v2 or one of: {valid_custom}."
+        f"torchvision.transforms.v2 or 'SharpnessJitter'."
     )
 
 

src/lerobot/utils/device_utils.py

@@ -37,16 +37,25 @@ def auto_select_torch_device() -> torch.device:
 
 # TODO(Steven): Remove log. log shouldn't be an argument, this should be handled by the logger level
 def get_safe_torch_device(try_device: str, log: bool = False) -> torch.device:
-    """Given a string, return a torch.device with checks on whether the device is available."""
+    """Given a string, return a torch.device with checks on whether the device is available.
+
+    Raises:
+        ValueError: If the requested device family is known but not available on
+            this machine (``AssertionError`` was previously used and is easy to
+            mistake for a programmer bug under ``python -O`` where asserts vanish).
+    """
     try_device = str(try_device)
     if try_device.startswith("cuda"):
-        assert torch.cuda.is_available()
+        if not torch.cuda.is_available():
+            raise ValueError(f"Requested device {try_device!r} but CUDA is not available.")
         device = torch.device(try_device)
     elif try_device == "mps":
-        assert torch.backends.mps.is_available()
+        if not torch.backends.mps.is_available():
+            raise ValueError("Requested device 'mps' but MPS is not available.")
         device = torch.device("mps")
     elif try_device == "xpu":
-        assert torch.xpu.is_available()
+        if not torch.xpu.is_available():
+            raise ValueError("Requested device 'xpu' but XPU is not available.")
         device = torch.device("xpu")
     elif try_device == "cpu":
         device = torch.device("cpu")

src/lerobot/utils/io_utils.py

@@ -32,21 +32,21 @@ def load_json(fpath: Path) -> Any:
     Returns:
         Any: The data loaded from the JSON file.
     """
-    with open(fpath) as f:
+    with open(fpath, encoding="utf-8") as f:
         return json.load(f)
 
 
-def write_json(data: dict, fpath: Path) -> None:
+def write_json(data: JsonLike, fpath: Path) -> None:
-    """Write data to a JSON file.
+    """Write JSON-serializable data to a file.
 
     Creates parent directories if they don't exist.
 
     Args:
-        data (dict): The dictionary to write.
+        data: JSON-serializable data to write.
         fpath (Path): The path to the output JSON file.
     """
     fpath.parent.mkdir(exist_ok=True, parents=True)
-    with open(fpath, "w") as f:
+    with open(fpath, "w", encoding="utf-8") as f:
         json.dump(data, f, indent=4, ensure_ascii=False)
 
 

src/lerobot/utils/robot_utils.py

@@ -30,6 +30,10 @@ def precise_sleep(seconds: float, spin_threshold: float = 0.010, sleep_margin: f
     """
     if seconds <= 0:
         return
+    if spin_threshold < 0:
+        raise ValueError(f"spin_threshold must be >= 0, got {spin_threshold}")
+    if sleep_margin < 0:
+        raise ValueError(f"sleep_margin must be >= 0, got {sleep_margin}")
 
     system = platform.system()
     # On macOS and Windows the scheduler / sleep granularity can make

src/lerobot/utils/rotation.py

@@ -29,9 +29,12 @@ class Rotation:
     def __init__(self, quat: np.ndarray) -> None:
         """Initialize rotation from quaternion [x, y, z, w]."""
         self._quat = np.asarray(quat, dtype=float)
-        # Normalize quaternion
+        if self._quat.shape != (4,):
+            raise ValueError(f"Quaternion must have shape (4,), got {self._quat.shape}")
+        # Normalize quaternion. Reject the zero vector — it has no orientation.
         norm = np.linalg.norm(self._quat)
-        if norm > 0:
+        if norm <= 0.0 or not np.isfinite(norm):
+            raise ValueError(f"Quaternion must be a non-zero finite vector; got {self._quat} (norm={norm})")
         self._quat = self._quat / norm
 
     @classmethod

src/lerobot/utils/transition.py

@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from typing import TypedDict
+from typing import NotRequired, TypedDict
 
 import torch
 
@@ -28,7 +28,7 @@ class Transition(TypedDict):
     next_state: dict[str, torch.Tensor]
     done: bool
     truncated: bool
-    complementary_info: dict[str, torch.Tensor | float | int] | None = None
+    complementary_info: NotRequired[dict[str, torch.Tensor | float | int] | None]
 
 
 def move_transition_to_device(transition: Transition, device: str = "cpu") -> Transition:

src/lerobot/utils/utils.py

@@ -24,7 +24,6 @@ import sys
 import time
 from collections.abc import Iterator
 from copy import copy, deepcopy
-from datetime import datetime
 from pathlib import Path
 from statistics import mean
 from typing import TYPE_CHECKING, Any
@@ -61,14 +60,16 @@ def init_logging(
         accelerator: Optional Accelerator instance (for multi-GPU detection)
     """
 
-    def custom_format(record: logging.LogRecord) -> str:
+    class LeRobotFormatter(logging.Formatter):
-        dt = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+        def format(self, record: logging.LogRecord) -> str:
-        fnameline = f"{record.pathname}:{record.lineno}"
+            record.lerobot_location = f"{record.pathname}:{record.lineno}"[-15:]
-        pid_str = f"[PID: {os.getpid()}] " if display_pid else ""
+            record.lerobot_pid = f"[PID: {os.getpid()}] " if display_pid else ""
-        return f"{record.levelname} {pid_str}{dt} {fnameline[-15:]:>15} {record.getMessage()}"
+            return super().format(record)
 
-    formatter = logging.Formatter()
+    formatter = LeRobotFormatter(
-    formatter.format = custom_format
+        "%(levelname)s %(lerobot_pid)s%(asctime)s %(lerobot_location)15s %(message)s",
+        datefmt="%Y-%m-%d %H:%M:%S",
+    )
 
     logger = logging.getLogger()
     logger.setLevel(logging.NOTSET)

tests/cameras/test_realsense.py

@@ -322,15 +322,16 @@ def test_get_color_sensor_prefers_rgb_camera():
     assert camera._get_color_sensor() is rgb
 
 
-def test_get_color_sensor_falls_back_to_stereo_module():
+def test_get_color_sensor_raises_without_dedicated_rgb_module():
-    """D405 has no separate RGB module; color comes from Stereo Module."""
+    """D405 has no separate RGB module; we refuse to touch the shared Stereo Module."""
     config = RealSenseCameraConfig(serial_number_or_name="042")
     camera = RealSenseCamera(config)
 
     stereo = _make_mock_sensor("Stereo Module")
     _attach_mock_color_sensor(camera, stereo)
 
-    assert camera._get_color_sensor() is stereo
+    with pytest.raises(RuntimeError, match="dedicated 'RGB Camera' module"):
+        camera._get_color_sensor()
 
 
 def test_get_color_sensor_raises_with_available_sensors():

tests/datasets/test_image_transforms.py

@@ -28,17 +28,9 @@ from lerobot.scripts.lerobot_imgtransform_viz import (
     save_each_transform,
 )
 from lerobot.transforms import (
-    CoarseDropout,
-    GammaCorrection,
-    GaussianNoise,
-    GaussianPatchBrightness,
     ImageTransformConfig,
     ImageTransforms,
     ImageTransformsConfig,
-    JPEGCompression,
-    MotionBlur,
-    PlanckianJitter,
-    RandomShadow,
     RandomSubsetApply,
     SharpnessJitter,
     make_transform_from_config,
@@ -463,153 +455,3 @@ def test_save_each_transform(img_tensor_factory, tmp_path):
             assert (transform_dir / file_name).exists(), (
                 f"{file_name} was not found in {transform} directory."
             )
-
-
-# --- Tests for robotics-relevant augmentations ---
-
-ROBOTICS_TRANSFORMS = [
-    ("GaussianNoise", GaussianNoise, {"std": (5.0, 25.0)}),
-    ("MotionBlur", MotionBlur, {"kernel_size": (3, 11)}),
-    ("JPEGCompression", JPEGCompression, {"quality": (15, 75)}),
-    ("GaussianPatchBrightness", GaussianPatchBrightness, {}),
-    ("RandomShadow", RandomShadow, {"opacity": (0.3, 0.6)}),
-    ("CoarseDropout", CoarseDropout, {"max_holes": 8}),
-    ("GammaCorrection", GammaCorrection, {"gamma": (0.5, 2.0)}),
-    ("PlanckianJitter", PlanckianJitter, {"temperature": (3_000, 15_000)}),
-]
-
-
-@pytest.mark.parametrize("name,cls,kwargs", ROBOTICS_TRANSFORMS, ids=[t[0] for t in ROBOTICS_TRANSFORMS])
-def test_robotics_transform_shape_preserved(name, cls, kwargs, img_tensor_factory):
-    img = img_tensor_factory()
-    tf = cls(**kwargs)
-    out = tf(img)
-    assert out.shape == img.shape, f"{name} changed shape: {img.shape} -> {out.shape}"
-
-
-@pytest.mark.parametrize("name,cls,kwargs", ROBOTICS_TRANSFORMS, ids=[t[0] for t in ROBOTICS_TRANSFORMS])
-def test_robotics_transform_output_range(name, cls, kwargs, img_tensor_factory):
-    img = img_tensor_factory()
-    tf = cls(**kwargs)
-    out = tf(img)
-    assert out.min() >= -0.01, f"{name} min below range: {out.min():.4f}"
-    assert out.max() <= 1.01, f"{name} max above range: {out.max():.4f}"
-
-
-@pytest.mark.parametrize("name,cls,kwargs", ROBOTICS_TRANSFORMS, ids=[t[0] for t in ROBOTICS_TRANSFORMS])
-def test_robotics_transform_float_output(name, cls, kwargs, img_tensor_factory):
-    img = img_tensor_factory()
-    tf = cls(**kwargs)
-    out = tf(img)
-    assert out.is_floating_point(), f"{name} output dtype={out.dtype}"
-
-
-@pytest.mark.parametrize("name,cls,kwargs", ROBOTICS_TRANSFORMS, ids=[t[0] for t in ROBOTICS_TRANSFORMS])
-def test_robotics_transform_non_float_passthrough(name, cls, kwargs):
-    int_img = torch.randint(0, 255, (3, 32, 32), dtype=torch.uint8)
-    tf = cls(**kwargs)
-    out = tf(int_img)
-    assert torch.equal(out, int_img), f"{name} modified non-float input"
-
-
-@pytest.mark.parametrize("name,cls,kwargs", ROBOTICS_TRANSFORMS, ids=[t[0] for t in ROBOTICS_TRANSFORMS])
-def test_robotics_transform_via_config(name, cls, kwargs):
-    cfg = ImageTransformConfig(type=name, kwargs=kwargs)
-    tf = make_transform_from_config(cfg)
-    assert isinstance(tf, cls), f"Config produced {type(tf)}, expected {cls}"
-
-
-def test_make_transform_error_message_includes_custom():
-    """Error message should list all registered custom transforms."""
-    with pytest.raises(ValueError, match="GaussianNoise"):
-        make_transform_from_config(ImageTransformConfig(type="NonExistent"))
-
-
-@pytest.mark.parametrize("name,cls,kwargs", ROBOTICS_TRANSFORMS, ids=[t[0] for t in ROBOTICS_TRANSFORMS])
-@pytest.mark.parametrize("shape", [(4, 3, 32, 32), (2, 4, 3, 16, 16)])
-def test_robotics_transform_supports_temporal_batches(name, cls, kwargs, shape):
-    img = torch.rand(shape)
-    out = cls(**kwargs)(img)
-    assert out.shape == img.shape, f"{name} changed shape: {img.shape} -> {out.shape}"
-    assert out.min() >= 0
-    assert out.max() <= 1
-
-
-@pytest.mark.parametrize(
-    "cls,kwargs",
-    [
-        (GaussianNoise, {"std": (25.0, 25.0)}),
-        (MotionBlur, {"kernel_size": 5}),
-        (JPEGCompression, {"quality": 10}),
-        (
-            GaussianPatchBrightness,
-            {"num_patches": 1, "sigma_range": (0.2, 0.2), "factor_range": (0.5, 0.5)},
-        ),
-        (RandomShadow, {"opacity": 0.5}),
-        (CoarseDropout, {"max_holes": 1, "fill_value": 0.0}),
-        (GammaCorrection, {"gamma": (2.0, 2.0)}),
-        (PlanckianJitter, {"temperature": 3_000}),
-    ],
-)
-def test_robotics_transform_is_not_silent_noop(cls, kwargs):
-    img = torch.rand(3, 32, 32)
-    out = cls(**kwargs)(img)
-    assert not torch.equal(out, img)
-
-
-@pytest.mark.parametrize(
-    "transform",
-    [
-        GaussianNoise(std=25),
-        RandomShadow(opacity=0.5),
-        CoarseDropout(max_holes=4),
-    ],
-)
-def test_robotics_transform_random_params_are_reused(transform):
-    img = torch.rand(3, 32, 32)
-    params = transform.make_params([img])
-    torch.testing.assert_close(transform.transform(img, params), transform.transform(img, params))
-
-
-def test_motion_blur_kernel_size_stays_in_configured_range():
-    transform = MotionBlur(kernel_size=(4, 10))
-    sampled_sizes = {transform.make_params([])["kernel_size"] for _ in range(100)}
-    assert sampled_sizes <= {5, 7, 9}
-    assert sampled_sizes
-
-
-def test_gamma_correction_scalar_below_one_defines_symmetric_range():
-    transform = GammaCorrection(gamma=0.5)
-    assert transform.gamma == (0.5, 2.0)
-    assert transform(torch.rand(3, 8, 8)).shape == (3, 8, 8)
-
-
-def test_planckian_jitter_uses_correlated_temperature_coefficients():
-    img = torch.full((2, 3, 8, 8), 0.25)
-    out = PlanckianJitter(temperature=3_000)(img)
-    torch.testing.assert_close(out[:, 1], img[:, 1])
-    assert torch.all(out[:, 0] > out[:, 1])
-    assert torch.all(out[:, 2] < out[:, 1])
-
-
-def test_random_shadow_supports_small_images():
-    img = torch.rand(3, 7, 7)
-    assert RandomShadow()(img).shape == img.shape
-
-
-@pytest.mark.parametrize(
-    "cls,kwargs",
-    [
-        (GaussianNoise, {"std": (-1.0, 1.0)}),
-        (MotionBlur, {"kernel_size": 4}),
-        (JPEGCompression, {"quality": (0, 75)}),
-        (GaussianPatchBrightness, {"sigma_range": (0.0, 0.25)}),
-        (RandomShadow, {"opacity": (0.3, 1.1)}),
-        (CoarseDropout, {"max_holes": 0}),
-        (GammaCorrection, {"gamma": 0.0}),
-        (PlanckianJitter, {"temperature": (2_000, 6_500)}),
-    ],
-)
-def test_robotics_transform_rejects_invalid_config(cls, kwargs):
-    with pytest.raises(ValueError):
-        cls(**kwargs)

tests/policies/evo1/test_evo1.py

@@ -496,6 +496,60 @@ def test_evo1_processor_save_load_round_trip_applies_config_overrides(tmp_path):
     assert "embodiment_id" in processed
 
 
+def test_reconcile_evo1_processors_repads_overridden_stats(tmp_path):
+    """Loading a checkpoint and injecting raw (unpadded) dataset stats must be re-padded.
+
+    Regression test: lerobot-train passes the raw dataset stats as normalizer/unnormalizer
+    overrides when resuming from a checkpoint (e.g. stage2 from a stage1 checkpoint). Those stats
+    are at the dataset dims (e.g. LIBERO state=8/action=7), but EVO1 pads state/action to
+    max_state_dim/max_action_dim before normalization, so reconcile_evo1_processors must re-pad the
+    stats or normalization crashes with a shape mismatch.
+    """
+    config = make_config()
+    preprocessor, postprocessor = make_evo1_pre_post_processors(config, dataset_stats=make_stats())
+    preprocessor.save_pretrained(tmp_path)
+    postprocessor.save_pretrained(tmp_path)
+
+    # Reload with the generic override path injecting raw, unpadded dataset stats.
+    raw_stats = make_stats()
+    loaded_pre = PolicyProcessorPipeline.from_pretrained(
+        tmp_path,
+        config_filename=f"{POLICY_PREPROCESSOR_DEFAULT_NAME}.json",
+        overrides={"normalizer_processor": {"stats": raw_stats}},
+        to_transition=batch_to_transition,
+        to_output=transition_to_batch,
+    )
+    loaded_post = PolicyProcessorPipeline.from_pretrained(
+        tmp_path,
+        config_filename=f"{POLICY_POSTPROCESSOR_DEFAULT_NAME}.json",
+        overrides={"unnormalizer_processor": {"stats": raw_stats}},
+        to_transition=policy_action_to_transition,
+        to_output=transition_to_policy_action,
+    )
+
+    # Sanity: the override really injected unpadded stats before reconciliation.
+    normalizer = next(step for step in loaded_pre.steps if isinstance(step, NormalizerProcessorStep))
+    assert normalizer._tensor_stats[OBS_STATE]["min"].shape == (STATE_DIM,)
+
+    loaded_pre, loaded_post = reconcile_evo1_processors(config, loaded_pre, loaded_post)
+
+    normalizer = next(step for step in loaded_pre.steps if isinstance(step, NormalizerProcessorStep))
+    unnormalizer = next(step for step in loaded_post.steps if isinstance(step, UnnormalizerProcessorStep))
+    assert normalizer._tensor_stats[OBS_STATE]["min"].shape == (MAX_STATE_DIM,)
+    assert normalizer._tensor_stats[ACTION]["min"].shape == (MAX_ACTION_DIM,)
+    assert unnormalizer._tensor_stats[ACTION]["min"].shape == (MAX_ACTION_DIM,)
+
+    # Normalizing a padded state must not raise (this is the exact runtime path that crashed).
+    processed = loaded_pre(
+        {
+            "task": "pick the block",
+            OBS_STATE: torch.zeros(STATE_DIM),
+            f"{OBS_IMAGES}.front": torch.rand(3, 16, 16),
+        }
+    )
+    assert processed[OBS_STATE].shape == (1, MAX_STATE_DIM)
+
+
 def test_evo1_policy_forward_and_inference_use_batched_embedding(monkeypatch):
     monkeypatch.setattr(modeling_evo1, "Evo1Model", DummyEvo1Model)
     policy = modeling_evo1.Evo1Policy(make_config())

tests/robots/test_robot_kinematic_processor.py

@@ -0,0 +1,45 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import pytest
+
+from lerobot.configs import FeatureType, PipelineFeatureType, PolicyFeature
+from lerobot.robots.so_follower.robot_kinematic_processor import (
+    ForwardKinematicsJointsToEEAction,
+    ForwardKinematicsJointsToEEObservation,
+)
+
+MOTOR_NAMES = ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]
+EE_KEYS = {f"ee.{k}" for k in ["x", "y", "z", "wx", "wy", "wz", "gripper_pos"]}
+
+
+def _joint_bucket(feature_type: FeatureType) -> dict[str, PolicyFeature]:
+    return {f"{n}.pos": PolicyFeature(type=feature_type, shape=(1,)) for n in MOTOR_NAMES}
+
+
+@pytest.mark.parametrize(
+    ("step_cls", "bucket", "feature_type"),
+    [
+        (ForwardKinematicsJointsToEEAction, PipelineFeatureType.ACTION, FeatureType.ACTION),
+        (ForwardKinematicsJointsToEEObservation, PipelineFeatureType.OBSERVATION, FeatureType.STATE),
+    ],
+)
+def test_fk_feature_schema(step_cls, bucket, feature_type):
+    features = {PipelineFeatureType.ACTION: {}, PipelineFeatureType.OBSERVATION: {}}
+    features[bucket] = _joint_bucket(feature_type)
+    out = step_cls(kinematics=None, motor_names=MOTOR_NAMES).transform_features(features)[bucket]
+    assert set(out) == EE_KEYS
+    assert {feature.type for feature in out.values()} == {feature_type}

tests/utils/test_device_utils.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from unittest.mock import patch
+
+import pytest
+import torch
+
+from lerobot.utils.device_utils import get_safe_torch_device, is_torch_device_available
+
+
+def test_cpu_always_available():
+    assert get_safe_torch_device("cpu") == torch.device("cpu")
+    assert is_torch_device_available("cpu")
+
+
+def test_missing_cuda_raises_valueerror():
+    with patch("torch.cuda.is_available", return_value=False), pytest.raises(ValueError, match="CUDA"):
+        get_safe_torch_device("cuda")
+
+
+def test_missing_mps_raises_valueerror():
+    with patch("torch.backends.mps.is_available", return_value=False), pytest.raises(ValueError, match="MPS"):
+        get_safe_torch_device("mps")

tests/utils/test_rotation.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import numpy as np
+import pytest
+
+from lerobot.utils.rotation import Rotation
+
+
+def test_zero_quaternion_rejected():
+    with pytest.raises(ValueError, match="non-zero"):
+        Rotation(np.zeros(4))
+
+
+def test_non_finite_quaternion_rejected():
+    with pytest.raises(ValueError, match="non-zero|finite"):
+        Rotation(np.array([np.nan, 0.0, 0.0, 1.0]))
+
+
+def test_wrong_shape_rejected():
+    with pytest.raises(ValueError, match="shape"):
+        Rotation(np.array([1.0, 0.0, 0.0]))
+
+
+def test_identity_roundtrip():
+    r = Rotation.from_rotvec(np.zeros(3))
+    assert np.allclose(r.as_rotvec(), 0.0)
+    assert np.allclose(r.as_matrix(), np.eye(3))
+
+
+def test_rotvec_roundtrip():
+    rotvec = np.array([0.1, -0.2, 0.3])
+    r = Rotation.from_rotvec(rotvec)
+    assert np.allclose(r.as_rotvec(), rotvec, atol=1e-6)