feat(eval): add per-episode timing logs to eval worker

Logs avg env step time, avg inference call time, and totals per episode
to identify whether env or policy server is the bottleneck.

Made-with: Cursor

.dockerignore

@@ -12,6 +12,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+# Python virtual environments — never copy into Docker images
+.venv
+venv
+env/
+
 # Misc
 .git
 tmp

.github/workflows/fast_tests.yml

@@ -44,7 +44,7 @@ permissions:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.10"
+  PYTHON_VERSION: "3.12"
 
 # Ensures that only the latest commit for a PR or branch is built, canceling older runs.
 concurrency:
@@ -91,6 +91,7 @@ jobs:
         run: uv sync --extra "test"
 
       - name: Login to Hugging Face
+        if: env.HF_USER_TOKEN != ''
         run: |
           uv run hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
           uv run hf auth whoami

.github/workflows/full_tests.yml

@@ -37,7 +37,7 @@ permissions:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.10"
+  PYTHON_VERSION: "3.12"
   DOCKER_IMAGE_NAME: huggingface/lerobot-gpu
 
 # Ensures that only the latest action is built, canceling older runs.
@@ -89,6 +89,7 @@ jobs:
         run: uv sync --extra all # TODO(Steven): Make flash-attn optional
 
       - name: Login to Hugging Face
+        if: env.HF_USER_TOKEN != ''
         run: |
           uv run hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
           uv run hf auth whoami
@@ -181,11 +182,12 @@ jobs:
         working-directory: /lerobot
     steps:
       - name: Login to Hugging Face
+        if: env.HF_USER_TOKEN != ''
         run: |
           hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
           hf auth whoami
       - name: Fix ptxas permissions
-        run: chmod +x /lerobot/.venv/lib/python3.10/site-packages/triton/backends/nvidia/bin/ptxas
+        run: chmod +x /lerobot/.venv/lib/python3.12/site-packages/triton/backends/nvidia/bin/ptxas
       - name: Run pytest on GPU
         run: pytest tests -vv --maxfail=10
       - name: Run end-to-end tests

.github/workflows/nightly.yml

@@ -28,7 +28,7 @@ on:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.10"
+  PYTHON_VERSION: "3.12"
   DOCKER_IMAGE_NAME_CPU: huggingface/lerobot-cpu:latest
   DOCKER_IMAGE_NAME_GPU: huggingface/lerobot-gpu:latest
 
@@ -132,6 +132,7 @@ jobs:
         working-directory: /lerobot
     steps:
       - name: Login to Hugging Face
+        if: env.HF_USER_TOKEN != ''
         run: |
           hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
           hf auth whoami
@@ -164,6 +165,7 @@ jobs:
         working-directory: /lerobot
     steps:
       - name: Login to Hugging Face
+        if: env.HF_USER_TOKEN != ''
         run: |
           hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
           hf auth whoami
@@ -197,6 +199,7 @@ jobs:
         working-directory: /lerobot
     steps:
       - name: Login to Hugging Face
+        if: env.HF_USER_TOKEN != ''
         run: |
           hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
           hf auth whoami
@@ -206,5 +209,4 @@ jobs:
           python -c "import torch; print(f'PyTorch CUDA available: {torch.cuda.is_available()}'); print(f'Number of GPUs: {torch.cuda.device_count()}')"
 
       - name: Run multi-GPU training tests
-      # TODO(Steven): Investigate why motors tests are failing in multi-GPU setup
-        run: pytest tests -vv --maxfail=10 --ignore=tests/motors/
+        run: pytest -vv tests/training/

.github/workflows/quality.yml

@@ -50,7 +50,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: '3.10'
+          python-version: '3.12'
 
       - name: Run pre-commit hooks
         uses: pre-commit/action@v3.0.1 # zizmor: ignore[unpinned-uses]

.github/workflows/release.yml

@@ -22,7 +22,7 @@ on:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.10"
+  PYTHON_VERSION: "3.12"
 
 jobs:
   # This job builds the Python package and publishes it to PyPI
@@ -45,7 +45,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: '3.10'
+          python-version: '3.12'
 
       - name: Extract Version
         id: extract_info
@@ -83,14 +83,6 @@ jobs:
             exit 1
           fi
 
-      - name: Remove Tags with Git dependencies
-        # TODO(Steven): Temporary patch to remove pi from PyPi 0.4.0 release due to its reliance on git dependencies.
-        run: |
-          echo "::info:: Checking for Git dependencies to remove from pyproject.toml..."
-          grep -E '@ git\+https|lerobot\[pi\]' pyproject.toml | sed 's/^/::warning:: Removing line: /' || true
-          sed -E -i '/@ git\+https|lerobot\[pi\]/d' pyproject.toml
-          echo "::info:: Git dependencies removed. Proceeding with build."
-
       - name: Install build dependencies
         run: python -m pip install build
 

.github/workflows/unbound_deps_tests.yml

@@ -29,7 +29,7 @@ permissions:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.10"
+  PYTHON_VERSION: "3.12"
   DOCKER_IMAGE_NAME: huggingface/lerobot-gpu:unbound
 
 # Ensures that only the latest action is built, canceling older runs.
@@ -81,6 +81,7 @@ jobs:
       - name: Install lerobot with all extras
         run: uv sync --extra all # TODO(Steven): Make flash-attn optional
       - name: Login to Hugging Face
+        if: env.HF_USER_TOKEN != ''
         run: |
           uv run hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
           uv run hf auth whoami
@@ -154,6 +155,7 @@ jobs:
         working-directory: /lerobot
     steps:
       - name: Login to Hugging Face
+        if: env.HF_USER_TOKEN != ''
         run: |
           hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
           hf auth whoami

.pre-commit-config.yaml

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 default_language_version:
-    python: python3.10
+    python: python3.12
 
 exclude: "tests/artifacts/.*\\.safetensors$"
 
@@ -55,7 +55,7 @@ repos:
     rev: v3.21.0
     hooks:
     -   id: pyupgrade
-        args: [--py310-plus]
+        args: [--py312-plus]
 
   ##### Markdown Quality #####
   - repo: https://github.com/rbubley/mirrors-prettier

README.md

@@ -135,7 +135,7 @@ Learn how to implement your own simulation environment or benchmark and distribu
 
 ## Citation
 
-If you use LeRobot in your research, please cite:
+If you use LeRobot in your project, please cite the GitHub repository to acknowledge the ongoing development and contributors:
 
 ```bibtex
 @misc{cadene2024lerobot,
@@ -146,6 +146,23 @@ If you use LeRobot in your research, please cite:
 }
 ```
 
+If you are referencing our research or the academic paper, please also cite our ICLR publication:
+
+<details>
+<summary><b>ICLR 2026 Paper</b></summary>
+
+```bibtex
+@inproceedings{cadenelerobot,
+  title={LeRobot: An Open-Source Library for End-to-End Robot Learning},
+  author={Cadene, Remi and Alibert, Simon and Capuano, Francesco and Aractingi, Michel and Zouitine, Adil and Kooijmans, Pepijn and Choghari, Jade and Russi, Martino and Pascal, Caroline and Palma, Steven and Shukor, Mustafa and Moss, Jess and Soare, Alexander and Aubakirova, Dana and Lhoest, Quentin and Gallou\'edec, Quentin and Wolf, Thomas},
+  booktitle={The Fourteenth International Conference on Learning Representations},
+  year={2026},
+  url={https://arxiv.org/abs/2602.22818}
+}
+```
+
+</details>
+
 ## Contribute
 
 We welcome contributions from everyone in the community! To get started, please read our [CONTRIBUTING.md](./CONTRIBUTING.md) guide. Whether you're adding a new feature, improving documentation, or fixing a bug, your help and feedback are invaluable. We're incredibly excited about the future of open-source robotics and can't wait to work with you on what's next—thank you for your support!

docker/Dockerfile.benchmark

@@ -0,0 +1,200 @@
+# 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.
+
+# Benchmark evaluation container — one image per benchmark, built via BENCHMARK arg.
+#
+# Supported values for BENCHMARK:
+#   libero       — LIBERO suite (spatial / object / goal / 10 / 90)
+#   libero_plus  — LIBERO-plus extended benchmark (requires robosuite, bddl, robomimic)
+#   robomme      — RoboMME memory-augmented manipulation benchmark
+#   robocasa     — RoboCasa kitchen composite-task benchmark
+#
+# Build:
+#   docker build --build-arg BENCHMARK=libero -f docker/Dockerfile.benchmark \
+#                -t lerobot-benchmark-libero .
+#
+# Run (interactive):
+#   docker run --gpus all --rm -it lerobot-benchmark-libero
+# Run eval:
+#   docker run --gpus all --rm lerobot-benchmark-libero lerobot-eval --help
+
+ARG CUDA_VERSION=12.4.1
+ARG OS_VERSION=22.04
+FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
+
+ARG PYTHON_VERSION=3.12
+ARG BENCHMARK=libero
+
+ENV DEBIAN_FRONTEND=noninteractive \
+    MUJOCO_GL=egl \
+    PYOPENGL_PLATFORM=egl \
+    EGL_PLATFORM=device \
+    NVIDIA_DRIVER_CAPABILITIES=all \
+    NVIDIA_VISIBLE_DEVICES=all \
+    PATH=/lerobot/.venv/bin:$PATH \
+    CMAKE_POLICY_VERSION_MINIMUM=3.5 \
+    CUDA_VISIBLE_DEVICES=0 \
+    DEVICE=cuda \
+    BENCHMARK=${BENCHMARK}
+
+# ── Base system deps (shared across all benchmarks) ───────────────────────────
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    software-properties-common build-essential git curl \
+    libglib2.0-0 libgl1 libgl1-mesa-glx libgles2 \
+    libegl1 libegl1-mesa libegl1-mesa-dev \
+    libglew-dev libglfw3 libglfw3-dev libgl1-mesa-dri \
+    libglvnd-dev libosmesa6 libosmesa6-dev \
+    libvulkan1 mesa-vulkan-drivers \
+    libsm6 libxext6 libxrender-dev \
+    ffmpeg libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
+    cmake pkg-config ninja-build \
+    && add-apt-repository -y ppa:deadsnakes/ppa \
+    && apt-get update \
+    && apt-get install -y --no-install-recommends \
+       python${PYTHON_VERSION} \
+       python${PYTHON_VERSION}-venv \
+       python${PYTHON_VERSION}-dev \
+    && curl -LsSf https://astral.sh/uv/install.sh | sh \
+    && mv /root/.local/bin/uv /usr/local/bin/uv \
+    && useradd --create-home --shell /bin/bash user_lerobot \
+    && usermod -aG sudo user_lerobot \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# ── NVIDIA EGL + Vulkan vendor ICDs (lets GLVND find the GPU driver) ──────────
+RUN mkdir -p /usr/share/vulkan/icd.d /usr/share/glvnd/egl_vendor.d \
+    && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libGLX_nvidia.so.0","api_version":"1.2.155"}}\n' \
+       > /usr/share/vulkan/icd.d/nvidia_icd.json \
+    && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libEGL_nvidia.so.0"}}\n' \
+       > /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+
+# ── Benchmark-specific system deps ────────────────────────────────────────────
+# libero_plus: the `wand` Python package requires ImageMagick headers.
+RUN case "${BENCHMARK}" in \
+    libero_plus) \
+        apt-get update && apt-get install -y --no-install-recommends \
+            libmagickwand-dev \
+        && apt-get clean && rm -rf /var/lib/apt/lists/* ;; \
+    esac
+
+WORKDIR /lerobot
+RUN chown -R user_lerobot:user_lerobot /lerobot
+
+USER user_lerobot
+
+ENV HOME=/home/user_lerobot \
+    HF_HOME=/home/user_lerobot/.cache/huggingface \
+    HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
+    TORCH_HOME=/home/user_lerobot/.cache/torch \
+    TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
+
+RUN uv venv --seed --python python${PYTHON_VERSION}
+
+# Copy only the dependency manifests first so Docker can cache this layer
+# independently of source-code changes.
+COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml README.md MANIFEST.in ./
+COPY --chown=user_lerobot:user_lerobot src/ src/
+
+ARG UNBOUND_DEPS=false
+RUN if [ "$UNBOUND_DEPS" = "true" ]; then \
+    sed -i 's/,[[:space:]]*<[0-9\.]*//g' pyproject.toml; \
+    echo "Dependencies unbound:" && cat pyproject.toml; \
+    fi
+
+# Install lerobot core + the selected benchmark extra.
+# LIBERO-plus needs a dedicated install path because the upstream package is
+# import-broken when installed via the extras chain alone.
+RUN case "${BENCHMARK}" in \
+    libero_plus) \
+        PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH /lerobot/.venv/bin/python -m pip install --no-cache-dir \
+            "hf-libero>=0.1.3,<0.2.0" \
+            "hf-egl-probe>=1.0.1" \
+            "transformers>=5.3.0,<6.0.0" \
+            "scipy>=1.14.0,<2.0.0" \
+            "bddl>=1.0.1,<2.0.0" \
+            "future" \
+            "easydict>=1.9" \
+            "wand" \
+            "scikit-image>=0.20.0" \
+            "gym>=0.25.0,<0.27.0" \
+        && git clone --depth 1 https://github.com/sylvestf/LIBERO-plus.git /tmp/LIBERO-plus \
+        && PATH=/usr/bin:/bin:/lerobot/.venv/bin:$PATH /lerobot/.venv/bin/python -m pip install --no-cache-dir --no-deps /tmp/LIBERO-plus \
+        && /lerobot/.venv/bin/python -c "import pathlib, site; pathlib.Path(site.getsitepackages()[0], 'libero_plus_repo.pth').write_text('/tmp/LIBERO-plus\n')" \
+        && /lerobot/.venv/bin/python -m pip install --no-cache-dir . \
+        && /lerobot/.venv/bin/python -c "\
+import os, yaml, importlib.util; \
+root = os.path.dirname(importlib.util.find_spec('libero.libero').origin); \
+d = dict(benchmark_root=root, bddl_files=os.path.join(root,'bddl_files'), \
+init_states=os.path.join(root,'init_files'), datasets=os.path.join(root,'..','datasets'), \
+assets=os.path.join(root,'assets')); \
+cfg_dir = os.path.expanduser('~/.libero'); os.makedirs(cfg_dir, exist_ok=True); \
+yaml.dump(d, open(os.path.join(cfg_dir,'config.yaml'),'w')); print('libero config created')" \
+        && /lerobot/.venv/bin/python -c "from libero.libero import benchmark, get_libero_path; print('libero OK')" ;; \
+    libero) \
+        uv pip install --no-cache ".[libero]" \
+        && /lerobot/.venv/bin/python -c "\
+import os, yaml, importlib.util; \
+root = os.path.dirname(importlib.util.find_spec('libero.libero').origin); \
+d = dict(benchmark_root=root, bddl_files=os.path.join(root,'bddl_files'), \
+init_states=os.path.join(root,'init_files'), datasets=os.path.join(root,'..','datasets'), \
+assets=os.path.join(root,'assets')); \
+cfg_dir = os.path.expanduser('~/.libero'); os.makedirs(cfg_dir, exist_ok=True); \
+yaml.dump(d, open(os.path.join(cfg_dir,'config.yaml'),'w')); print('libero config created')" \
+        && /lerobot/.venv/bin/python -c "from libero.libero import benchmark, get_libero_path; print('libero OK')" ;; \
+    *) \
+        uv pip install --no-cache ".[${BENCHMARK}]" ;; \
+    esac
+
+# LIBERO-plus requires ~6 GB of scene/texture/object assets from HuggingFace.
+# Download at build time so containers don't need network access at runtime.
+USER root
+COPY <<'FETCH_ASSETS' /tmp/fetch_assets.py
+from huggingface_hub import hf_hub_download
+hf_hub_download("Sylvest/LIBERO-plus", "assets.zip",
+                repo_type="dataset", local_dir="/tmp/libero-plus-assets")
+FETCH_ASSETS
+COPY <<'VERIFY_ASSETS' /tmp/verify_assets.py
+from pathlib import Path
+from libero.libero import get_libero_path
+d = Path(get_libero_path("benchmark_root")) / "assets" / "scenes"
+assert d.is_dir(), f"assets missing at {d}"
+print("assets OK:", d)
+VERIFY_ASSETS
+RUN if [ "${BENCHMARK}" = "libero_plus" ]; then \
+    apt-get update && apt-get install -y --no-install-recommends unzip \
+    && apt-get clean && rm -rf /var/lib/apt/lists/* \
+    && /lerobot/.venv/bin/python /tmp/fetch_assets.py \
+    && unzip -q /tmp/libero-plus-assets/assets.zip -d /tmp/libero-plus-unzipped \
+    && ASSETS_DIR=$(/lerobot/.venv/bin/python -c "from libero.libero import get_libero_path; print(get_libero_path('benchmark_root'))") \
+    && SRC=$(find /tmp/libero-plus-unzipped -type d -name assets | head -1) \
+    && mv "$SRC" "$ASSETS_DIR/assets" \
+    && chown -R user_lerobot:user_lerobot "$ASSETS_DIR/assets" \
+    && rm -rf /tmp/libero-plus-assets /tmp/libero-plus-unzipped /tmp/fetch_assets.py \
+    && /lerobot/.venv/bin/python /tmp/verify_assets.py \
+    && rm /tmp/verify_assets.py; \
+    fi
+USER user_lerobot
+
+# Triton requires its ptxas binary to be executable (NVIDIA-specific).
+RUN if [ -f /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas ]; then \
+    chmod +x /lerobot/.venv/lib/python${PYTHON_VERSION}/site-packages/triton/backends/nvidia/bin/ptxas; \
+    fi
+
+# Verify EGL probe is importable (runtime GPU check requires NVIDIA drivers at container start).
+RUN /lerobot/.venv/bin/python -c "import egl_probe; print('egl_probe OK')" \
+    2>/dev/null || echo 'NOTE: egl_probe not installed (non-libero build), skipping'
+
+# Copy full source (tests, examples, configs, etc.)
+COPY --chown=user_lerobot:user_lerobot . .
+
+CMD ["/bin/bash"]

docker/Dockerfile.eval-base

@@ -0,0 +1,78 @@
+# 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.
+
+ARG CUDA_VERSION=12.4.1
+ARG OS_VERSION=22.04
+FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
+
+ARG PYTHON_VERSION=3.12
+
+ENV DEBIAN_FRONTEND=noninteractive \
+    MUJOCO_GL=egl \
+    PYOPENGL_PLATFORM=egl \
+    EGL_PLATFORM=device \
+    NVIDIA_DRIVER_CAPABILITIES=all \
+    NVIDIA_VISIBLE_DEVICES=all \
+    PATH=/lerobot/.venv/bin:$PATH \
+    # cmake 4.x removed backward compat with cmake_minimum_required < 3.5.
+    # This env var re-enables it so packages like egl-probe can compile.
+    CMAKE_POLICY_VERSION_MINIMUM=3.5
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    software-properties-common build-essential git curl \
+    libglib2.0-0 libgl1 libgl1-mesa-glx libgles2 \
+    libegl1 libegl1-mesa libegl1-mesa-dev \
+    libglew-dev libglfw3 libglvnd-dev \
+    libosmesa6 libosmesa6-dev \
+    libvulkan1 mesa-vulkan-drivers \
+    libsm6 libxext6 libxrender-dev \
+    ffmpeg libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
+    cmake pkg-config ninja-build \
+    && add-apt-repository -y ppa:deadsnakes/ppa \
+    && apt-get update \
+    && apt-get install -y --no-install-recommends \
+       python${PYTHON_VERSION} \
+       python${PYTHON_VERSION}-venv \
+       python${PYTHON_VERSION}-dev \
+    && curl -LsSf https://astral.sh/uv/install.sh | sh \
+    && mv /root/.local/bin/uv /usr/local/bin/uv \
+    && useradd --create-home --shell /bin/bash user_lerobot \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# NVIDIA EGL + Vulkan vendor ICDs (lets GLVND find the GPU driver)
+RUN mkdir -p /usr/share/vulkan/icd.d /usr/share/glvnd/egl_vendor.d \
+    && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libGLX_nvidia.so.0","api_version":"1.2.155"}}\n' \
+       > /usr/share/vulkan/icd.d/nvidia_icd.json \
+    && printf '{"file_format_version":"1.0.0","ICD":{"library_path":"libEGL_nvidia.so.0"}}\n' \
+       > /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+
+WORKDIR /lerobot
+RUN chown -R user_lerobot:user_lerobot /lerobot
+USER user_lerobot
+
+ENV HOME=/home/user_lerobot \
+    HF_HOME=/home/user_lerobot/.cache/huggingface \
+    HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
+    TORCH_HOME=/home/user_lerobot/.cache/torch \
+    TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
+
+RUN uv venv --seed --python python${PYTHON_VERSION}
+
+COPY --chown=user_lerobot:user_lerobot setup.py pyproject.toml README.md MANIFEST.in ./
+COPY --chown=user_lerobot:user_lerobot src/ src/
+RUN uv pip install --no-cache .
+
+COPY --chown=user_lerobot:user_lerobot . .
+
+CMD ["/bin/bash"]

docker/Dockerfile.eval-libero

@@ -0,0 +1,20 @@
+# 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 lerobot-eval-base:latest
+
+RUN uv pip install --no-cache ".[libero]" \
+    && python -c "import libero"
+
+CMD ["/bin/bash"]

docker/Dockerfile.eval-libero-plus

@@ -0,0 +1,47 @@
+# 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 lerobot-eval-base:latest
+
+# Install libero_plus deps explicitly rather than via ".[libero_plus]" extras chain.
+# uv has a bug where it considers packages "already resolved" when coming through
+# a nested lerobot[libero] → lerobot[libero_plus] extras chain, silently skipping them.
+RUN uv pip install --no-cache \
+    "hf-libero>=0.1.3,<0.2.0" \
+    "hf-egl-probe>=1.0.1" \
+    "transformers>=5.3.0,<6.0.0" \
+    "scipy>=1.14.0,<2.0.0" \
+    "bddl>=1.0.1,<2.0.0" \
+    "future" \
+    "easydict>=1.9" \
+    "wand" \
+    "scikit-image>=0.20.0" \
+    "gym>=0.25.0,<0.27.0"
+
+# Clone LIBERO-plus; install with --no-deps (runtime deps declared above via hf-libero).
+# Add .pth so the libero module can locate its data files at runtime.
+RUN git clone --depth 1 https://github.com/sylvestf/LIBERO-plus.git /tmp/LIBERO-plus \
+    && uv pip install --no-cache --no-deps /tmp/LIBERO-plus \
+    && python -c "import pathlib, site; pathlib.Path(site.getsitepackages()[0], 'libero_plus_repo.pth').write_text('/tmp/LIBERO-plus\n')" \
+    && python -c "\
+import os, yaml, importlib.util; \
+root = os.path.dirname(importlib.util.find_spec('libero.libero').origin); \
+d = dict(benchmark_root=root, bddl_files=os.path.join(root,'bddl_files'), \
+init_states=os.path.join(root,'init_files'), datasets=os.path.join(root,'..','datasets'), \
+assets=os.path.join(root,'assets')); \
+cfg_dir = os.path.expanduser('~/.libero'); os.makedirs(cfg_dir, exist_ok=True); \
+yaml.dump(d, open(os.path.join(cfg_dir,'config.yaml'),'w')); print('libero config created')" \
+    && python -c "from libero.libero import benchmark, get_libero_path; print('libero OK')"
+
+CMD ["/bin/bash"]

docker/Dockerfile.eval-metaworld

@@ -0,0 +1,20 @@
+# 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 lerobot-eval-base:latest
+
+RUN uv pip install --no-cache ".[metaworld]" \
+    && python -c "import metaworld"
+
+CMD ["/bin/bash"]

docker/Dockerfile.eval-robocasa

@@ -0,0 +1,40 @@
+# 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 lerobot-eval-base:latest
+
+# robocasa README says to use master branch of ARISE-Initiative/robosuite.
+# Install it with deps (robosuite from master has modern dep declarations).
+RUN git clone --depth 1 https://github.com/ARISE-Initiative/robosuite.git /tmp/robosuite \
+    && uv pip install --no-cache /tmp/robosuite
+
+# Clone robocasa and install with --no-deps to skip its lerobot==0.3.3 pin.
+# Install robocasa's actual runtime deps explicitly instead.
+RUN git clone --depth 1 https://github.com/robocasa/robocasa.git /tmp/robocasa \
+    && uv pip install --no-cache --no-deps /tmp/robocasa \
+    && uv pip install --no-cache \
+        "scikit-image>=0.20.0" \
+        "numba>=0.61.0,<0.62.0" \
+        "mujoco==3.3.1" \
+        "h5py" \
+        "lxml" \
+        "tianshou==0.4.10" \
+        "easydict>=1.9"
+
+# robocasa/__init__.py asserts numpy.__version__ in ["2.2.5"] — pin it last
+# so no subsequent package can bump it away.
+RUN uv pip install --no-cache "numpy==2.2.5" \
+    && python -c "import robocasa"
+
+CMD ["/bin/bash"]

docker/Dockerfile.eval-robomme

@@ -0,0 +1,26 @@
+# 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 lerobot-eval-base:latest
+
+# mani-skill==3.0.0b21 (robomme dep) pins gymnasium==0.29.1 and numpy<2.0.0,
+# conflicting with lerobot's gymnasium>=1.1.1 and numpy>=2.0.0.
+# Both overrides are safe at runtime:
+#   - gymnasium 0.29.x has the same 5-tuple step() API as 1.x (since gym 0.26)
+#   - numpy 1.26.4 is API-compatible with lerobot's actual usage (no 2.x-only APIs used)
+RUN printf 'gymnasium==0.29.1\nnumpy==1.26.4\n' > /tmp/robomme_override.txt \
+    && uv pip install --no-cache --override /tmp/robomme_override.txt ".[robomme]" \
+    && python -c "import robomme"
+
+CMD ["/bin/bash"]

docker/Dockerfile.internal

@@ -24,7 +24,7 @@ ARG OS_VERSION=22.04
 FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
 
 # Define Python version argument
-ARG PYTHON_VERSION=3.10
+ARG PYTHON_VERSION=3.12
 
 # Configure environment variables
 ENV DEBIAN_FRONTEND=noninteractive \

docker/Dockerfile.user

@@ -19,7 +19,7 @@
 # docker run -it --rm lerobot-user
 
 # Configure the base image
-ARG PYTHON_VERSION=3.10
+ARG PYTHON_VERSION=3.12
 FROM python:${PYTHON_VERSION}-slim
 
 # Configure environment variables

docker/build_benchmark_images.sh

@@ -0,0 +1,120 @@
+#!/usr/bin/env bash
+# Build (and optionally push) all lerobot benchmark eval images.
+#
+# Usage:
+#   # Build locally only (for testing on this machine)
+#   bash docker/build_benchmark_images.sh
+#
+#   # Build and push to Docker Hub under your org
+#   bash docker/build_benchmark_images.sh --push --hub_org=pepijn223
+#
+#   # Force-rebuild base image (e.g. after Dockerfile.eval-base changes)
+#   bash docker/build_benchmark_images.sh --no-cache-base --push --hub_org=pepijn223
+#
+#   # Build only specific benchmarks
+#   bash docker/build_benchmark_images.sh --benchmarks="libero_plus robomme"
+#
+# After building, run eval with:
+#   lerobot-eval --eval.runtime=docker --eval.docker.pull=false \
+#     --eval.docker.image=<hub_org>/lerobot-benchmark-<benchmark>:latest ...
+#   OR (if run locally with the default tag):
+#   lerobot-eval --eval.runtime=docker --eval.docker.pull=false \
+#     --env.type=<benchmark> ...   # auto-resolves to lerobot-benchmark-<benchmark>
+
+set -euo pipefail
+
+PUSH=false
+HUB_ORG=""
+BENCHMARKS="libero libero_plus robomme robocasa metaworld"
+NO_CACHE_BASE=false
+PROGRESS="auto"
+
+for arg in "$@"; do
+    case "$arg" in
+        --push)            PUSH=true ;;
+        --hub_org=*)       HUB_ORG="${arg#*=}" ;;
+        --benchmarks=*)    BENCHMARKS="${arg#*=}" ;;
+        --no-cache-base)   NO_CACHE_BASE=true ;;
+        --plain)           PROGRESS="plain" ;;
+        *)                 echo "Unknown arg: $arg"; exit 1 ;;
+    esac
+done
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(cd "${SCRIPT_DIR}/.." && pwd)"
+
+if [[ "$PUSH" == "true" && -z "$HUB_ORG" ]]; then
+    echo "ERROR: --push requires --hub_org=<your-dockerhub-org>"
+    exit 1
+fi
+
+ok()   { echo "[OK]   $*"; }
+fail() { echo "[FAIL] $*"; exit 1; }
+
+BASE_CACHE_FLAG=""
+if [[ "$NO_CACHE_BASE" == "true" ]]; then
+    BASE_CACHE_FLAG="--no-cache"
+fi
+
+echo "=== Building lerobot-eval-base ==="
+docker build \
+    ${BASE_CACHE_FLAG} \
+    --progress="${PROGRESS}" \
+    -f "${SCRIPT_DIR}/Dockerfile.eval-base" \
+    -t lerobot-eval-base:latest \
+    "${REPO_ROOT}" || fail "lerobot-eval-base build failed"
+ok "lerobot-eval-base"
+
+for BENCHMARK in $BENCHMARKS; do
+    LOCAL_TAG="lerobot-benchmark-${BENCHMARK}:latest"
+    DOCKERFILE="${SCRIPT_DIR}/Dockerfile.eval-${BENCHMARK//_/-}"
+
+    # Handle underscore → hyphen mapping for filename lookup
+    DOCKERFILE_HYPHEN="${SCRIPT_DIR}/Dockerfile.eval-${BENCHMARK//_/-}"
+    DOCKERFILE_UNDERSCORE="${SCRIPT_DIR}/Dockerfile.eval-${BENCHMARK}"
+    if [[ -f "$DOCKERFILE_HYPHEN" ]]; then
+        DOCKERFILE="$DOCKERFILE_HYPHEN"
+    elif [[ -f "$DOCKERFILE_UNDERSCORE" ]]; then
+        DOCKERFILE="$DOCKERFILE_UNDERSCORE"
+    else
+        fail "No Dockerfile found for benchmark '${BENCHMARK}' (tried ${DOCKERFILE_HYPHEN} and ${DOCKERFILE_UNDERSCORE})"
+    fi
+
+    echo ""
+    echo "=== Building ${LOCAL_TAG} from $(basename ${DOCKERFILE}) ==="
+    docker build \
+        --progress="${PROGRESS}" \
+        -f "${DOCKERFILE}" \
+        -t "${LOCAL_TAG}" \
+        "${REPO_ROOT}" || fail "${LOCAL_TAG} build failed"
+    ok "${LOCAL_TAG}"
+
+    if [[ "$PUSH" == "true" ]]; then
+        HUB_TAG="${HUB_ORG}/lerobot-benchmark-${BENCHMARK}:latest"
+        docker tag "${LOCAL_TAG}" "${HUB_TAG}"
+        docker push "${HUB_TAG}" || fail "push ${HUB_TAG} failed"
+        ok "Pushed ${HUB_TAG}"
+    fi
+done
+
+echo ""
+echo "=== Smoke-testing images ==="
+for BENCHMARK in $BENCHMARKS; do
+    LOCAL_TAG="lerobot-benchmark-${BENCHMARK}:latest"
+    echo "  Smoke test: ${LOCAL_TAG}"
+    docker run --rm -e BENCHMARK="${BENCHMARK}" \
+        "${LOCAL_TAG}" bash docker/smoke_test_benchmark.sh \
+        && ok "smoke test ${BENCHMARK}" \
+        || echo "[WARN] smoke test failed for ${BENCHMARK} (may need GPU)"
+done
+
+echo ""
+echo "All benchmark images built successfully."
+if [[ "$PUSH" == "true" ]]; then
+    echo "Pushed to Docker Hub under: ${HUB_ORG}/"
+    echo ""
+    echo "To use Hub images in eval, pass:"
+    for BENCHMARK in $BENCHMARKS; do
+        echo "  --eval.docker.image=${HUB_ORG}/lerobot-benchmark-${BENCHMARK}:latest"
+    done
+fi

docker/smoke_test_benchmark.sh

@@ -0,0 +1,115 @@
+#!/usr/bin/env bash
+# Smoke-test a benchmark container: verifies imports and CLI entry-points.
+#
+# Build and run for a specific benchmark:
+#   docker build --build-arg BENCHMARK=libero -f docker/Dockerfile.benchmark -t lerobot-benchmark-libero .
+#   docker run --gpus all --rm -e BENCHMARK=libero lerobot-benchmark-libero bash docker/smoke_test_benchmark.sh
+#
+# Test all benchmarks individually:
+#   for b in libero libero_plus robomme robocasa; do
+#     docker build --build-arg BENCHMARK=$b -f docker/Dockerfile.benchmark -t lerobot-benchmark-$b .
+#     docker run --gpus all --rm -e BENCHMARK=$b lerobot-benchmark-$b bash docker/smoke_test_benchmark.sh
+#   done
+
+set -euo pipefail
+
+BENCHMARK="${BENCHMARK:-libero}"
+PASS=0
+FAIL=0
+
+ok()   { echo "[PASS] $*"; PASS=$((PASS + 1)); }
+fail() { echo "[FAIL] $*"; FAIL=$((FAIL + 1)); }
+
+python_import() {
+    local module="$1"
+    if python -c "import ${module}" 2>/dev/null; then
+        ok "import ${module}"
+    else
+        fail "import ${module}"
+    fi
+}
+
+cli_help() {
+    local cmd="$1"
+    if "${cmd}" --help > /dev/null 2>&1; then
+        ok "${cmd} --help"
+    else
+        fail "${cmd} --help"
+    fi
+}
+
+echo "=== Smoke test: benchmark=${BENCHMARK} ==="
+
+# ── lerobot core ──────────────────────────────────────────────────────────────
+python_import "lerobot"
+python_import "lerobot.envs"
+python_import "lerobot.configs.eval"
+cli_help "lerobot-eval"
+
+# ── Benchmark-specific env import ─────────────────────────────────────────────
+case "${BENCHMARK}" in
+    libero)
+        python_import "lerobot.envs.libero"
+        python -c "
+from lerobot.envs.configs import LiberoEnv
+cfg = LiberoEnv(task='libero_spatial/KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet')
+print('  LiberoEnv config OK:', cfg.type)
+" && ok "LiberoEnv config instantiation" || fail "LiberoEnv config instantiation"
+        ;;
+
+    libero_plus)
+        python_import "lerobot.envs.libero"
+        python -c "
+from lerobot.envs.configs import LiberoPlusEnv
+cfg = LiberoPlusEnv()
+print('  LiberoPlusEnv config OK:', cfg.type)
+" && ok "LiberoPlusEnv config instantiation" || fail "LiberoPlusEnv config instantiation"
+        # Verify the LIBERO-plus package itself is importable
+        python_import "libero"
+        python_import "robosuite"
+        ;;
+
+    robomme)
+        python_import "lerobot.envs.robomme"
+        python -c "
+from lerobot.envs.robomme import ROBOMME_TASKS, RoboMMEGymEnv
+assert len(ROBOMME_TASKS) == 16, f'Expected 16 tasks, got {len(ROBOMME_TASKS)}'
+print('  ROBOMME_TASKS OK:', ROBOMME_TASKS[:3], '...')
+" && ok "RoboMME task list" || fail "RoboMME task list"
+        python -c "
+from lerobot.envs.configs import RoboMMEEnv
+cfg = RoboMMEEnv(task='PickXtimes')
+print('  RoboMMEEnv config OK:', cfg.type)
+" && ok "RoboMMEEnv config instantiation" || fail "RoboMMEEnv config instantiation"
+        python_import "robomme"
+        ;;
+
+    robocasa)
+        python_import "lerobot.envs.robocasa"
+        python -c "
+from lerobot.envs.robocasa import ACTION_DIM, STATE_DIM
+assert ACTION_DIM == 12, f'Expected ACTION_DIM=12, got {ACTION_DIM}'
+assert STATE_DIM == 16, f'Expected STATE_DIM=16, got {STATE_DIM}'
+print('  ACTION_DIM:', ACTION_DIM, '  STATE_DIM:', STATE_DIM)
+" && ok "RoboCasa constants" || fail "RoboCasa constants"
+        python -c "
+from lerobot.envs.configs import RoboCasaEnv
+cfg = RoboCasaEnv(task='PickPlaceCounterToCabinet')
+print('  RoboCasaEnv config OK:', cfg.type)
+" && ok "RoboCasaEnv config instantiation" || fail "RoboCasaEnv config instantiation"
+        python_import "robocasa"
+        python_import "robosuite"
+        ;;
+
+    *)
+        echo "Unknown BENCHMARK='${BENCHMARK}'. Valid values: libero, libero_plus, robomme, robocasa"
+        exit 1
+        ;;
+esac
+
+# ── Summary ───────────────────────────────────────────────────────────────────
+echo ""
+echo "=== Results: ${PASS} passed, ${FAIL} failed ==="
+if [ "${FAIL}" -gt 0 ]; then
+    exit 1
+fi

docs/source/_toctree.yml

@@ -19,6 +19,8 @@
     title: Multi GPU training
   - local: peft_training
     title: Training with PEFT (e.g., LoRA)
+  - local: benchmark_training
+    title: Benchmark Training & Evaluation
   title: "Tutorials"
 - sections:
   - local: lerobot-dataset-v3

docs/source/benchmark_training.mdx

@@ -0,0 +1,398 @@
+# Benchmark Training & Evaluation
+
+This guide explains how to train and evaluate policies on the simulation benchmarks
+integrated in LeRobot: **LIBERO**, **LIBERO-plus**, **MetaWorld**, **RoboCasa**, and **RoboMME**.
+
+The workflow is:
+
+1. Pick one or more benchmarks.
+2. For each benchmark, train a policy on its combined dataset (multi-GPU).
+3. Upload the trained policy to the Hugging Face Hub.
+4. Evaluate the policy on every task suite within that benchmark.
+
+## Prerequisites
+
+Install the benchmark-specific dependencies for the environments you want to evaluate on:
+
+```bash
+# LIBERO (original)
+pip install -e ".[libero]"
+
+# LIBERO-plus
+pip install -e ".[libero_plus]"
+
+# MetaWorld
+pip install -e ".[metaworld]"
+
+# RoboCasa
+pip install -e ".[robocasa]"
+
+# RoboMME
+pip install -e ".[robomme]"
+```
+
+`libero_plus` includes the same EGL probe dependencies as `libero` so headless
+renderer setup is consistent between both installs.
+
+If your environment has CMake build-isolation issues, use the same fallback as
+standard LIBERO installs:
+
+```bash
+PATH=/usr/bin:/bin:$PATH pip install --no-build-isolation -e ".[libero-plus]"
+```
+
+For multi-GPU training you also need [Accelerate](https://huggingface.co/docs/accelerate):
+
+```bash
+pip install accelerate
+```
+
+## Docker-isolated evaluation (EnvHub)
+
+LeRobot eval now supports running the full eval worker in a Docker container
+while keeping policy loading compatible with local checkpoints and local code changes.
+
+Use `lerobot-eval` with `--eval.runtime=docker`:
+
+```bash
+lerobot-eval \
+  --policy.path=outputs/train/my_policy/checkpoints/050000/pretrained_model \
+  --env.type=libero_plus \
+  --eval.runtime=docker \
+  --eval.docker.envhub_ref=envhub://lerobot/libero_plus@v1 \
+  --eval.n_episodes=10 \
+  --eval.batch_size=10
+```
+
+`eval.docker.envhub_ref` is optional. If omitted, LeRobot resolves a default
+image from `env.type`. You can also override the image directly:
+
+```bash
+--eval.docker.image=docker://ghcr.io/huggingface/lerobot-eval-libero-plus:latest
+```
+
+By default (`eval.docker.use_local_code=true`), the local repository is mounted
+in the container and added to `PYTHONPATH`, so edited policy/env code and local
+checkpoints continue to work without rebuilding the image for each change.
+
+Common Docker runtime options:
+
+```bash
+--eval.docker.pull=true \
+--eval.docker.gpus=all \
+--eval.docker.shm_size=8g \
+--eval.docker.use_local_code=true
+```
+
+The benchmark runner supports the same Docker eval path (extra args are
+forwarded to each generated `lerobot-eval` call):
+
+```bash
+lerobot-benchmark eval \
+    --benchmarks libero_plus,robocasa \
+    --hub-user $HF_USER \
+    --n-episodes 50 \
+    --eval.runtime=docker \
+    --eval.docker.pull=true
+```
+
+Build benchmark images locally:
+
+```bash
+make build-eval-images
+```
+
+## Fast single-machine eval tuning
+
+`lerobot-eval` now has two orthogonal throughput knobs:
+
+- `eval.batch_size`: number of sub-envs per task (inside one vector env).
+- `env.max_parallel_tasks`: number of tasks scheduled concurrently.
+- `eval.instance_count`: number of full eval instances (process-level sharding).
+
+Use them in this order:
+
+1. Increase `eval.batch_size` first for per-task throughput.
+2. Then increase `env.max_parallel_tasks` to overlap tasks, while monitoring RAM/VRAM.
+3. Optionally increase `eval.instance_count` for process-level parallelism (best with enough CPU/RAM and small models).
+
+The eval logs print the active scheduler mode (`sequential`, `threaded`, or `batched_lazy`) so you can verify the effective concurrency path.
+
+### Suggested starting points
+
+| Benchmark | Conservative | Faster (single GPU) | Notes |
+|---|---|---|---|
+| `libero` / `libero_plus` | `eval.batch_size=1`, `env.max_parallel_tasks=4` | `eval.batch_size=1`, `env.max_parallel_tasks=16` | For large suite sweeps, increase `max_parallel_tasks` before `batch_size` to avoid MuJoCo memory spikes. |
+| `metaworld` | `eval.batch_size=8`, `env.max_parallel_tasks=1` | `eval.batch_size=16`, `env.max_parallel_tasks=2` | Prefer larger per-task vectorization first. |
+| `robocasa` | `eval.batch_size=4`, `env.max_parallel_tasks=1` | `eval.batch_size=8`, `env.max_parallel_tasks=2` | Rendering/memory can dominate at high image resolution. |
+| `robomme` | `eval.batch_size=4`, `env.max_parallel_tasks=1` | `eval.batch_size=8`, `env.max_parallel_tasks=2` | Start small and scale gradually with task count. |
+
+### Local fast eval recipe
+
+```bash
+lerobot-eval \
+  --policy.path=$HF_USER/smolvla_libero_plus \
+  --env.type=libero_plus \
+  --eval.n_episodes=1 \
+  --eval.batch_size=1 \
+  --env.max_parallel_tasks=16 \
+  --eval.instance_count=2 \
+  --rename_map='{"observation.images.image":"observation.images.camera1","observation.images.image2":"observation.images.camera2"}' \
+  --output_dir=outputs/eval/smolvla_libero_plus \
+  --push_to_hub=true
+```
+
+### Docker fast eval recipe
+
+```bash
+lerobot-eval \
+  --policy.path=$HF_USER/smolvla_libero_plus \
+  --env.type=libero_plus \
+  --eval.runtime=docker \
+  --eval.docker.envhub_ref=envhub://lerobot/libero_plus@v1 \
+  --eval.docker.gpus=all \
+  --eval.docker.shm_size=16g \
+  --eval.n_episodes=1 \
+  --eval.batch_size=1 \
+  --env.max_parallel_tasks=16
+```
+
+## Quick start — single benchmark
+
+Train SmolVLA on LIBERO-plus with 4 GPUs for 50 000 steps:
+
+```bash
+lerobot-benchmark train \
+    --benchmarks libero_plus \
+    --policy-path lerobot/smolvla_base \
+    --hub-user $HF_USER \
+    --num-gpus 4 \
+    --steps 50000 \
+    --batch-size 32 \
+    --wandb
+```
+
+This trains on the combined LIBERO-plus dataset and pushes the checkpoint to
+`$HF_USER/smolvla_libero_plus` on the Hub.
+
+Then evaluate on **all four** LIBERO suites (spatial, object, goal, 10):
+
+```bash
+lerobot-benchmark eval \
+    --benchmarks libero_plus \
+    --hub-user $HF_USER \
+    --n-episodes 50
+```
+
+This automatically runs a separate `lerobot-eval` for each suite.
+
+## Full sweep — multiple benchmarks
+
+Run training **and** evaluation across all benchmarks:
+
+```bash
+lerobot-benchmark all \
+    --benchmarks libero,libero_plus,metaworld,robocasa,robomme \
+    --policy-path lerobot/smolvla_base \
+    --hub-user $HF_USER \
+    --num-gpus 4 \
+    --steps 50000 \
+    --batch-size 32 \
+    --wandb \
+    --push-eval-to-hub
+```
+
+For each benchmark the runner:
+1. Trains a policy on its dataset.
+2. Evaluates on every eval task in the benchmark (e.g. 4 suites for LIBERO).
+3. Pushes HF-native `.eval_results` rows (and optional artifacts) to the Hub.
+
+<Tip>
+
+Use `--dry-run` to print the exact `lerobot-train` / `lerobot-eval` commands without executing them, so you can inspect or modify them before running.
+
+</Tip>
+
+## Using the CLI directly (without the benchmark runner)
+
+You can also compose the commands yourself. The benchmark runner is a thin wrapper; here is what it does under the hood.
+
+### Training
+
+```bash
+accelerate launch \
+    --multi_gpu \
+    --num_processes=4 \
+    $(which lerobot-train) \
+    --policy.path=lerobot/smolvla_base \
+    --dataset.repo_id=$HF_USER/libero_plus \
+    --policy.repo_id=$HF_USER/smolvla_libero_plus \
+    --env.type=libero_plus \
+    --env.task=libero_spatial \
+    --steps=50000 \
+    --batch_size=32 \
+    --eval_freq=10000 \
+    --save_freq=10000 \
+    --output_dir=outputs/train/smolvla_libero_plus \
+    --job_name=smolvla_libero_plus \
+    --policy.push_to_hub=true \
+    --wandb.enable=true
+```
+
+### Evaluation (run once per suite)
+
+```bash
+for SUITE in libero_spatial libero_object libero_goal libero_10; do
+    lerobot-eval \
+        --policy.path=$HF_USER/smolvla_libero_plus \
+        --env.type=libero_plus \
+        --env.task=$SUITE \
+        --eval.n_episodes=50 \
+        --eval.batch_size=10 \
+        --output_dir=outputs/eval/smolvla_libero_plus/$SUITE \
+        --policy.device=cuda \
+        --push_to_hub=true \
+        --benchmark_dataset_id=lerobot/sim-benchmarks
+done
+```
+
+## Available benchmarks
+
+| Benchmark | Env type | Dataset | Eval tasks | Action dim |
+|---|---|---|---|---|
+| `libero` | `libero` | `{hub_user}/libero` | spatial, object, goal, 10 | 7 |
+| `libero_plus` | `libero_plus` | `{hub_user}/libero_plus` | spatial, object, goal, 10 | 7 |
+| `metaworld` | `metaworld` | `{hub_user}/metaworld` | push-v2 | 4 |
+| `robocasa` | `robocasa` | `{hub_user}/robocasa` | PickPlaceCounterToCabinet | 12 |
+| `robomme` | `robomme` | `{hub_user}/robomme` | PickXtimes | 8 |
+
+Run `lerobot-benchmark list` to see the full registry with all eval tasks.
+
+## Policy naming convention
+
+The benchmark runner stores trained policies under:
+
+```
+{hub_user}/{policy_name}_{benchmark}
+```
+
+The default `--policy-name` is `smolvla`. So training on `libero_plus` as user `alice` produces `alice/smolvla_libero_plus`.
+
+You can override this, e.g. `--policy-name pi05` if training π₀.₅ instead.
+
+## Multi-GPU considerations
+
+The effective batch size is `batch_size × num_gpus`. With `--batch-size=32` and
+`--num-gpus=4`, you train with an effective batch of 128 per step. LeRobot does **not**
+auto-scale the learning rate; see the [Multi-GPU Training guide](./multi_gpu_training) for
+details on when and how to adjust it.
+
+## Custom benchmarks
+
+To add a new benchmark, edit the `BENCHMARK_REGISTRY` in
+`src/lerobot/scripts/lerobot_benchmark.py`:
+
+```python
+from lerobot.scripts.lerobot_benchmark import BenchmarkEntry, BENCHMARK_REGISTRY
+
+BENCHMARK_REGISTRY["my_benchmark"] = BenchmarkEntry(
+    dataset_repo_id="{hub_user}/my_dataset",
+    env_type="my_env",
+    env_task="MyDefaultTask",
+    eval_tasks=["TaskA", "TaskB", "TaskC"],
+)
+```
+
+Then use `--benchmarks my_benchmark` as usual. The runner will train once and
+evaluate separately on TaskA, TaskB, and TaskC.
+
+## Outputs
+
+After training and evaluation, your outputs directory looks like:
+
+```
+outputs/
+├── train/
+│   ├── smolvla_libero/
+│   │   ├── checkpoints/
+│   │   └── ...
+│   ├── smolvla_libero_plus/
+│   ├── smolvla_robocasa/
+│   └── smolvla_robomme/
+└── eval/
+    ├── smolvla_libero/
+    │   ├── libero_spatial/
+    │   │   ├── eval_info.json
+    │   │   └── videos/
+    │   ├── libero_object/
+    │   ├── libero_goal/
+    │   └── libero_10/
+    ├── smolvla_libero_plus/
+    │   ├── libero_spatial/
+    │   ├── libero_object/
+    │   ├── libero_goal/
+    │   └── libero_10/
+    ├── smolvla_robocasa/
+    └── smolvla_robomme/
+```
+
+Each `eval_info.json` contains per-episode rewards, success rates, and aggregate metrics.
+
+## HF Eval Results + Leaderboard
+
+LeRobot publishes benchmark scores using Hugging Face's native
+`/.eval_results/*.yaml` format, which powers model-page eval cards and
+benchmark leaderboards.
+
+Add `--push-eval-to-hub` to push results after each eval run:
+
+```bash
+lerobot-benchmark eval \
+    --benchmarks libero_plus,robocasa \
+    --hub-user $HF_USER \
+    --benchmark-dataset-id lerobot/sim-benchmarks \
+    --push-eval-to-hub
+```
+
+This writes one or more files under `.eval_results/` in the model repo, for example:
+
+```yaml
+- dataset:
+    id: lerobot/sim-benchmarks
+    task_id: libero_plus/spatial
+  value: 82.4
+  notes: lerobot-eval
+```
+
+Notes:
+- `--benchmark-dataset-id` points to your consolidated benchmark dataset repo.
+- `task_id` values are derived from `env.type` and evaluated suite/task names.
+- Eval artifacts (`eval_info.json`, `eval_config.json`, videos) are still uploaded
+  for provenance, but leaderboard ranking comes from `.eval_results`.
+
+## Passing extra arguments
+
+Any arguments after the recognized flags are forwarded to `lerobot-train` or
+`lerobot-eval`.
+
+Example (training): use PEFT/LoRA during training.
+
+```bash
+lerobot-benchmark train \
+    --benchmarks libero_plus \
+    --policy-path lerobot/smolvla_base \
+    --hub-user $HF_USER \
+    --num-gpus 4 \
+    --steps 50000 \
+    --peft.method_type=LORA --peft.r=16
+```
+
+Example (evaluation): forward Docker runtime flags to each `lerobot-eval` call.
+
+```bash
+lerobot-benchmark eval \
+    --benchmarks libero_plus \
+    --hub-user $HF_USER \
+    --eval.runtime=docker \
+    --eval.docker.envhub_ref=envhub://lerobot/libero_plus@v1
+```

docs/source/bring_your_own_policies.mdx

@@ -32,7 +32,7 @@ version = "0.1.0"
 dependencies = [
     # your policy-specific dependencies
 ]
-requires-python = ">= 3.11"
+requires-python = ">= 3.12"
 
 [build-system]
 build-backend = # your-build-backend
@@ -82,7 +82,7 @@ Create your policy implementation by inheriting from LeRobot's base `PreTrainedP
 # modeling_my_custom_policy.py
 import torch
 import torch.nn as nn
-from typing import Dict, Any
+from typing import Any
 
 from lerobot.policies.pretrained import PreTrainedPolicy
 from .configuration_my_custom_policy import MyCustomPolicyConfig
@@ -91,7 +91,7 @@ class MyCustomPolicy(PreTrainedPolicy):
     config_class = MyCustomPolicyConfig
     name = "my_custom_policy"
 
-    def __init__(self, config: MyCustomPolicyConfig, dataset_stats: Dict[str, Any] = None):
+    def __init__(self, config: MyCustomPolicyConfig, dataset_stats: dict[str, Any] = None):
         super().__init__(config, dataset_stats)
         ...
 ```
@@ -102,7 +102,7 @@ Create processor functions:
 
 ```python
 # processor_my_custom_policy.py
-from typing import Dict, Any
+from typing import Any
 import torch
 
 

docs/source/earthrover_mini_plus.mdx

@@ -13,7 +13,7 @@ The EarthRover Mini Plus is a fully open source mobile robot that connects throu
 ### Hardware
 
 - EarthRover Mini robot
-- Computer with Python 3.10 or newer
+- Computer with Python 3.12 or newer
 - Internet connection
 
 ### Setting Up the Frodobots SDK

docs/source/installation.mdx

@@ -1,8 +1,8 @@
 # Installation
 
-This guide uses conda (via miniforge) to manage environments. If you prefer another environment manager (e.g. `uv`, `venv`), ensure you have Python >=3.10 and ffmpeg installed with the `libsvtav1` encoder, then skip ahead to [Install LeRobot](#step-3-install-lerobot-).
+This guide uses `conda` (via miniforge) to manage environments (recommended). If you prefer another environment manager (e.g. `uv`, `venv`), ensure you have Python >=3.12 and `ffmpeg` installed with the `libsvtav1` encoder, then skip ahead to [Environment Setup](#step-2-environment-setup).
 
-## Step 1: Install [`miniforge`](https://conda-forge.org/download/)
+## Step 1 (`conda` only): Install [`miniforge`](https://conda-forge.org/download/)
 
 ```bash
 wget "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-$(uname)-$(uname -m).sh"
@@ -11,22 +11,47 @@ bash Miniforge3-$(uname)-$(uname -m).sh
 
 ## Step 2: Environment Setup
 
-Create a virtual environment with Python 3.10, using conda:
+Create a virtual environment with Python 3.12:
 
+<!-- prettier-ignore-start -->
+<hfoptions id="create_venv">
+<hfoption id="conda">
 ```bash
-conda create -y -n lerobot python=3.10
+conda create -y -n lerobot python=3.12
 ```
-
-Then activate your conda environment, you have to do this each time you open a shell to use lerobot:
-
+</hfoption>
+<hfoption id="uv">
 ```bash
+uv python install 3.12
+uv venv --python 3.12
+```
+</hfoption>
+</hfoptions>
+<!-- prettier-ignore-end -->
+
+Then activate your virtual environment, you have to do this each time you open a shell to use lerobot:
+
+<!-- prettier-ignore-start -->
+<hfoptions id="activate_venv">
+<hfoption id="conda">```bash
 conda activate lerobot
+```</hfoption>
+<hfoption id="uv">
+```bash
+# Linux/macOSsource
+source .venv/bin/activate
+# Windows PowerShell
+source .venv\Scripts\Activate.ps1
 ```
+</hfoption>
+</hfoptions>
+<!-- prettier-ignore-end -->
 
 When using `conda`, install `ffmpeg` in your environment:
 
 ```bash
 conda install ffmpeg -c conda-forge
+ffmpeg -version  # ffmpeg 8.X is not yet supported !
 ```
 
 > [!TIP]
@@ -47,6 +72,9 @@ conda install ffmpeg -c conda-forge
 > conda install evdev -c conda-forge
 > ```
 
+> [!IMPORTANT]
+> If you are using `uv` you will have to install `ffmpeg` system-wide (outside of the virtual environment). You rely on `uv` and `torchcodec` ability to dynamically link to the system `ffmpeg`.
+
 ## Step 3: Install LeRobot 🤗
 
 ### From Source
@@ -60,23 +88,45 @@ cd lerobot
 
 Then, install the library in editable mode. This is useful if you plan to contribute to the code.
 
+<!-- prettier-ignore-start -->
+<hfoptions id="install_lerobot_src">
+<hfoption id="conda">
 ```bash
 pip install -e .
 ```
+</hfoption>
+<hfoption id="uv">
+```bash
+uv pip install -e .
+```
+</hfoption>
+</hfoptions>
+<!-- prettier-ignore-end -->
 
 ### Installation from PyPI
 
 **Core Library:**
 Install the base package with:
 
+<!-- prettier-ignore-start -->
+<hfoptions id="install_lerobot_pypi">
+<hfoption id="conda">
 ```bash
 pip install lerobot
 ```
+</hfoption>
+<hfoption id="uv">
+```bash
+uv pip install lerobot
+```
+</hfoption>
+</hfoptions>
+<!-- prettier-ignore-end -->
 
 _This installs only the default dependencies._
 
 **Extra Features:**
-To install additional functionality, use one of the following:
+To install additional functionality, use one of the following (If you are using `uv`, replace `pip install` with `uv pip install` in the commands below.):
 
 ```bash
 pip install 'lerobot[all]'          # All available features
@@ -90,13 +140,10 @@ _Replace `[...]` with your desired features._
 For a full list of optional dependencies, see:
 https://pypi.org/project/lerobot/
 
-> [!NOTE]
-> For lerobot 0.4.0, if you want to install pi, you will have to do: `pip install "lerobot[pi]@git+https://github.com/huggingface/lerobot.git"`
-
 ### Troubleshooting
 
 If you encounter build errors, you may need to install additional dependencies: `cmake`, `build-essential`, and `ffmpeg libs`.
-To install these for linux run:
+To install these for Linux run:
 
 ```bash
 sudo apt-get install cmake build-essential python3-dev pkg-config libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libswresample-dev libavfilter-dev
@@ -106,7 +153,7 @@ For other systems, see: [Compiling PyAV](https://pyav.org/docs/develop/overview/
 
 ## Optional dependencies
 
-LeRobot provides optional extras for specific functionalities. Multiple extras can be combined (e.g., `.[aloha,feetech]`). For all available extras, refer to `pyproject.toml`.
+LeRobot provides optional extras for specific functionalities. Multiple extras can be combined (e.g., `.[aloha,feetech]`). For all available extras, refer to `pyproject.toml`. If you are using `uv`, replace `pip install` with `uv pip install` in the commands below.
 
 ### Simulations
 

docs/source/pi0.mdx

@@ -34,11 +34,6 @@ As described by Physical Intelligence, while AI has achieved remarkable success
    pip install -e ".[pi]"
    ```
 
-   > [!NOTE]
-   > For lerobot 0.4.0, if you want to install pi tag, you will have to do: `pip install "lerobot[pi]@git+https://github.com/huggingface/lerobot.git"`.
-   >
-   > This will be solved in the next patch release
-
 ## Training Data and Capabilities
 
 π₀ is trained on the largest robot interaction dataset to date, combining three key data sources:

docs/source/pi05.mdx

@@ -36,11 +36,6 @@ This diverse training mixture creates a "curriculum" that enables generalization
    pip install -e ".[pi]"
    ```
 
-   > [!NOTE]
-   > For lerobot 0.4.0, if you want to install pi tag, you will have to do: `pip install "lerobot[pi]@git+https://github.com/huggingface/lerobot.git"`.
-   >
-   > This will be solved in the next patch release
-
 ## Usage
 
 To use π₀.₅ in your LeRobot configuration, specify the policy type as:

docs/source/pi0fast.mdx

@@ -43,11 +43,6 @@ This approach can transform **any existing VLM** into a VLA by training it to pr
    pip install -e ".[pi]"
    ```
 
-   > [!NOTE]
-   > For lerobot 0.4.0, if you want to install the pi tag, you will have to do: `pip install "lerobot[pi]@git+https://github.com/huggingface/lerobot.git"`.
-   >
-   > This will be solved in the next patch release
-
 ## Training a Custom FAST Tokenizer
 
 You have two options for the FAST tokenizer:

docs/source/unitree_g1.mdx

@@ -1,23 +1,49 @@
 # Unitree G1
 
-This guide covers the complete setup process for the Unitree G1 humanoid, from initial connection to running gr00t_wbc locomotion.
+<img
+  src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/unitree_thumbnail.jpg"
+  alt="Unitree G1 locomanipulation demo"
+  style={{ width: "100%" }}
+/>
 
-## About
-
-We support both 29 and 23 DOF G1 EDU version. We introduce:
-
-- **`unitree g1` robot class, handling low level read/write from/to the humanoid**
-- **ZMQ socket bridge** for remote communication and camera streaming, allowing for remote policy deployment over wlan, eth or directly on the robot
-- **Locomotion policies** from NVIDIA gr00t and Amazon FAR Holosoma
-- **Simulation mode** for testing policies without the physical robot in mujoco
+The Unitree G1 humanoid is now supported in LeRobot! You can teleoperate, train locomanipulation policies, test in sim, and more. Both 29 and 23 DoF variants are supported.
 
 ---
 
-## Connection guide
+## Part 1: Getting Started
 
-### Step 1: Configure Ethernet Interface
+### Install LeRobot on Your Machine
 
-Set a static IP on the same subnet as the robot:
+```bash
+conda create -y -n lerobot python=3.12
+conda activate lerobot
+git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
+cd unitree_sdk2_python && pip install -e .
+git clone https://github.com/huggingface/lerobot.git
+cd lerobot
+pip install -e '.[unitree_g1]'
+```
+
+### Test the Installation (Simulation)
+
+```bash
+lerobot-teleoperate \
+  --robot.type=unitree_g1 \
+  --robot.is_simulation=true \
+  --teleop.type=unitree_g1 \
+  --teleop.id=wbc_unitree \
+  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
+  --display_data=true
+```
+
+This will launch a [MuJoCo sim instance](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main) for the G1.
+
+- Press `9` to release the robot
+- Press `7` / `8` to increase / decrease waist height
+
+### Connect to the Robot
+
+The G1's Ethernet IP is fixed at `192.168.123.164`. Your machine must have a static IP on the same subnet: `192.168.123.x` where `x ≠ 164`.
 
 ```bash
 # Replace 'enp131s0' with your ethernet interface name (check with `ip a`)
@@ -26,272 +52,200 @@ sudo ip addr add 192.168.123.200/24 dev enp131s0
 sudo ip link set enp131s0 up
 ```
 
-**Note**: The G1's Ethernet IP is fixed at `192.168.123.164`. Your computer must use `192.168.123.x` with x ≠ 164.
-
-### Step 2: SSH into the Robot
+### SSH into the Robot
 
 ```bash
 ssh unitree@192.168.123.164
 # Password: 123
 ```
 
-You should now be connected to the G1's Orin.
+### Install LeRobot on the G1
+
+From the robot:
+
+```bash
+conda create -y -n lerobot python=3.12
+conda activate lerobot
+git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
+cd unitree_sdk2_python && pip install -e .
+git clone https://github.com/huggingface/lerobot.git
+cd lerobot
+pip install -e '.[unitree_g1]'
+```
+
+> **Note:** The Unitree SDK requires CycloneDDS v0.10.2. See the [Unitree SDK docs](https://github.com/unitreerobotics/unitree_sdk2_python) for details.
 
 ---
 
 ## Part 2: Enable WiFi on the Robot
 
-Wlan0 is disabled by default on the G1. To enable it:
-
-### Step 1: Enable WiFi Hardware
+Wi-Fi connectivity is blocked by default on the G1. To activate:
 
 ```bash
-sudo rfkill unblock wifi
 sudo rfkill unblock all
-
-# Bring up wlan0
 sudo ip link set wlan0 up
-
-# Enable NetworkManager control of wlan0
 sudo nmcli radio wifi on
 sudo nmcli device set wlan0 managed yes
 sudo systemctl restart NetworkManager
 ```
 
-### Step 2: Enable Internet Forwarding
-
-**On your laptop:**
+**On your laptop** (share internet via Ethernet):
 
 ```bash
-# Enable IP forwarding
 sudo sysctl -w net.ipv4.ip_forward=1
 
-# Set up NAT (replace wlp132s0f0 with your WiFi interface)
+# Replace wlp132s0f0 with your WiFi interface name
 sudo iptables -t nat -A POSTROUTING -o wlp132s0f0 -s 192.168.123.0/24 -j MASQUERADE
 sudo iptables -A FORWARD -i wlp132s0f0 -o enp131s0 -m state --state RELATED,ESTABLISHED -j ACCEPT
 sudo iptables -A FORWARD -i enp131s0 -o wlp132s0f0 -j ACCEPT
 ```
 
-**On the G1:**
+**On the G1** (set default route through your laptop):
 
 ```bash
-# Add laptop as default gateway
 sudo ip route del default 2>/dev/null || true
 sudo ip route add default via 192.168.123.200 dev eth0
 echo "nameserver 8.8.8.8" | sudo tee /etc/resolv.conf
 
-# Test connection
+# Verify
 ping -c 3 8.8.8.8
 ```
 
-### Step 3: Connect to WiFi Network
+**Connect to a WiFi network:**
 
 ```bash
-# List available networks
 nmcli device wifi list
 
-# Connect to your WiFi (example)
 sudo nmcli connection add type wifi ifname wlan0 con-name "YourNetwork" ssid "YourNetwork"
 sudo nmcli connection modify "YourNetwork" wifi-sec.key-mgmt wpa-psk
 sudo nmcli connection modify "YourNetwork" wifi-sec.psk "YourPassword"
 sudo nmcli connection modify "YourNetwork" connection.autoconnect yes
 sudo nmcli connection up "YourNetwork"
 
-# Check WiFi IP address
 ip a show wlan0
 ```
 
-### Step 4: SSH Over WiFi
-
-Once connected to WiFi, note the robot's IP address and disconnect the Ethernet cable. You can now SSH over WiFi:
+You can now SSH over WiFi:
 
 ```bash
-ssh unitree@<YOUR_ROBOT_IP>
+ssh unitree@<ROBOT_WIFI_IP>
 # Password: 123
 ```
 
-Replace `<YOUR_ROBOT_IP>` with your robot's actual WiFi IP address.
-
 ---
 
-## Part 3: Robot Server Setup
+## Part 3: Teleoperation & Locomotion
 
-### Step 1: Install LeRobot on the Orin
-
-SSH into the robot and install LeRobot:
-
-```bash
-ssh unitree@<YOUR_ROBOT_IP>
-
-conda create -y -n lerobot python=3.10
-conda activate lerobot
-git clone https://github.com/huggingface/lerobot.git
-cd lerobot
-pip install -e '.[unitree_g1]'
-git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
-cd unitree_sdk2_python  && pip install -e .
-```
-
-**Note**: The Unitree SDK requires CycloneDDS v0.10.2 to be installed. See the [Unitree SDK documentation](https://github.com/unitreerobotics/unitree_sdk2_python) for details.
-
-### Step 2: Run the Robot Server
+### Run the Robot Server
 
 On the robot:
 
 ```bash
-python src/lerobot/robots/unitree_g1/run_g1_server.py
+python src/lerobot/robots/unitree_g1/run_g1_server.py --camera
 ```
 
-**Important**: Keep this terminal running. The server must be active for remote control.
+### Run the Locomotion Policy
+
+```bash
+lerobot-teleoperate \
+  --robot.type=unitree_g1 \
+  --robot.is_simulation=false \
+  --robot.robot_ip=<ROBOT_IP> \
+  --teleop.type=unitree_g1 \
+  --teleop.id=wbc_unitree \
+  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "<ROBOT_IP>", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
+  --display_data=true \
+  --robot.controller=HolosomaLocomotionController
+```
+
+We support both [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) and [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl).
 
 ---
 
-## Part 4: Controlling the robot
+## Part 4: Loco-Manipulation with the Homunculus Exoskeleton
 
-With the robot server running, you can now control the robot remotely. Let's launch a locomotion policy
+We provide a loco-manipulation solution via the Homunculus Exoskeleton — an open-source 7 DoF exoskeleton for whole-body control. Assembly instructions [here](https://github.com/nepyope/hmc_exo).
 
-### Step 1: Install LeRobot on your machine
-
-```bash
-conda create -y -n lerobot python=3.10
-conda activate lerobot
-git clone https://github.com/huggingface/lerobot.git
-cd lerobot
-pip install -e '.[unitree_g1]'
-git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
-cd unitree_sdk2_python  && pip install -e .
-```
-
-### Step 2: Update Robot IP in Config
-
-Edit the config file to match your robot's WiFi IP:
-
-```python
-# In src/lerobot/robots/unitree_g1/config_unitree_g1.py
-robot_ip: str = "<YOUR_ROBOT_IP>"  # Replace with your robot's WiFi IP.
-```
-
-### Step 3: Run the Locomotion Policy
-
-```bash
-# Run GR00T locomotion controller
-python examples/unitree_g1/gr00t_locomotion.py --repo-id "nepyope/GR00T-WholeBodyControl_g1"
-
-# Run Holosoma locomotion controller
-python examples/unitree_g1/holosoma_locomotion.py
-
-```
-
-Press `Ctrl+C` to stop the policy.
-
----
-
-## Running in Simulation Mode (MuJoCo)
-
-You can test policies before deploying on the physical robot using MuJoCo simulation. Set `is_simulation=True` in config or pass `--robot.is_simulation=true` via CLI.
-
-### Calibrate Exoskeleton Teleoperator
+### Calibrate
 
 ```bash
 lerobot-calibrate \
-    --teleop.type=unitree_g1 \
-    --teleop.left_arm_config.port=/dev/ttyACM1 \
-    --teleop.right_arm_config.port=/dev/ttyACM0 \
-    --teleop.id=exo
+  --teleop.type=unitree_g1 \
+  --teleop.left_arm_config.port=/dev/ttyACM1 \
+  --teleop.right_arm_config.port=/dev/ttyACM0 \
+  --teleop.id=exo
 ```
 
-### Teleoperate in Simulation
+During calibration move each joint through its entire range. After fitting, move the joint in a neutral position and press `n` to advance.
 
-```bash
-lerobot-teleoperate \
-    --robot.type=unitree_g1 \
-    --robot.is_simulation=true \
-    --teleop.type=unitree_g1 \
-    --teleop.left_arm_config.port=/dev/ttyACM1 \
-    --teleop.right_arm_config.port=/dev/ttyACM0 \
-    --teleop.id=exo \
-    --fps=100
-```
-
-### Record Dataset in Simulation
+### Record a Dataset
 
 ```bash
 lerobot-record \
-    --robot.type=unitree_g1 \
-    --robot.is_simulation=true \
-    --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
-    --teleop.type=unitree_g1 \
-    --teleop.left_arm_config.port=/dev/ttyACM1 \
-    --teleop.right_arm_config.port=/dev/ttyACM0 \
-    --teleop.id=exo \
-    --dataset.repo_id=your-username/dataset-name \
-    --dataset.single_task="Test" \
-    --dataset.num_episodes=2 \
-    --dataset.episode_time_s=5 \
-    --dataset.reset_time_s=5 \
-    --dataset.push_to_hub=true \
-    --dataset.streaming_encoding=true \
-    # --dataset.vcodec=auto \
-    --dataset.encoder_threads=2
+  --robot.type=unitree_g1 \
+  --robot.is_simulation=true \
+  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
+  --teleop.type=unitree_g1 \
+  --teleop.left_arm_config.port=/dev/ttyACM1 \
+  --teleop.right_arm_config.port=/dev/ttyACM0 \
+  --teleop.id=exo \
+  --dataset.repo_id=your-username/dataset-name \
+  --dataset.single_task="Test" \
+  --dataset.num_episodes=2 \
+  --dataset.episode_time_s=5 \
+  --dataset.reset_time_s=5 \
+  --dataset.push_to_hub=true \
+  --dataset.streaming_encoding=true \
+  --dataset.encoder_threads=2
 ```
 
-Example simulation dataset: [nepyope/teleop_test_sim](https://huggingface.co/datasets/nepyope/teleop_test_sim)
+> **Note:** Omit `--teleop.left_arm_config.port` and `--teleop.right_arm_config.port` if you're only using the joystick.
+
+Example dataset: [nepyope/unitree_box_move_blue_full](https://huggingface.co/datasets/nepyope/unitree_box_move_blue_full)
 
 ---
 
-## Running on Real Robot
+## Part 5: Training & Inference
 
-Once the robot server is running on the G1 (see Part 3), you can teleoperate and record on the real robot.
-
-### Start the Camera Server
-
-On the robot, start the ZMQ image server:
+### Train
 
 ```bash
-python src/lerobot/cameras/zmq/image_server.py
+python src/lerobot/scripts/lerobot_train.py \
+  --dataset.repo_id=your-username/dataset-name  \
+  --policy.type=pi05 \
+  --output_dir=./outputs/pi05_training \
+  --job_name=pi05_training \
+  --policy.repo_id=your-username/your-repo-id \
+  --policy.pretrained_path=lerobot/pi05_base \
+  --policy.compile_model=true \
+  --policy.gradient_checkpointing=true \
+  --wandb.enable=true \
+  --policy.dtype=bfloat16 \
+  --policy.freeze_vision_encoder=false \
+  --policy.train_expert_only=false \
+  --steps=3000 \
+  --policy.device=cuda \
+  --batch_size=32
 ```
 
-Keep this running in a separate terminal for camera streaming during recording.
+### Inference with RTC
 
-### Teleoperate Real Robot
+Once trained, we recommend deploying policies using inference-time RTC:
 
 ```bash
-lerobot-teleoperate \
-    --robot.type=unitree_g1 \
-    --robot.is_simulation=false \
-    --teleop.type=unitree_g1 \
-    --teleop.left_arm_config.port=/dev/ttyACM1 \
-    --teleop.right_arm_config.port=/dev/ttyACM0 \
-    --teleop.id=exo \
-    --fps=100
+python examples/rtc/eval_with_real_robot.py \
+  --policy.path=your-username/your-repo-id \
+  --policy.device=cuda \
+  --robot.type=unitree_g1 \
+  --robot.is_simulation=false \
+  --robot.controller=HolosomaLocomotionController \
+  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "<ROBOT_IP>", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
+  --task="task_description" \
+  --duration=1000 \
+  --fps=30 \
+  --rtc.enabled=true
 ```
 
-### Record Dataset on Real Robot
-
-```bash
-lerobot-record \
-    --robot.type=unitree_g1 \
-    --robot.is_simulation=false \
-    --robot.cameras='{"global_view": {"type": "zmq", "server_address": "172.18.129.215", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
-    --teleop.type=unitree_g1 \
-    --teleop.left_arm_config.port=/dev/ttyACM1 \
-    --teleop.right_arm_config.port=/dev/ttyACM0 \
-    --teleop.id=exo \
-    --dataset.repo_id=your-username/dataset-name \
-    --dataset.single_task="Test" \
-    --dataset.num_episodes=2 \
-    --dataset.episode_time_s=5 \
-    --dataset.reset_time_s=5 \
-    --dataset.push_to_hub=true \
-    --dataset.streaming_encoding=true \
-    # --dataset.vcodec=auto \
-    --dataset.encoder_threads=2
-```
-
-**Note**: Update `server_address` to match your robot's camera server IP.
-
-Example real robot dataset: [nepyope/teleop_test_real](https://huggingface.co/datasets/nepyope/teleop_test_real)
-
 ---
 
 ## Additional Resources
@@ -300,8 +254,8 @@ Example real robot dataset: [nepyope/teleop_test_real](https://huggingface.co/da
 - [GR00T-WholeBodyControl](https://github.com/NVlabs/GR00T-WholeBodyControl)
 - [Holosoma](https://github.com/amazon-far/holosoma)
 - [LeRobot Documentation](https://github.com/huggingface/lerobot)
-- [Unitree_IL_Lerobot](https://github.com/unitreerobotics/unitree_IL_lerobot)
+- [Unitree IL LeRobot](https://github.com/unitreerobotics/unitree_IL_lerobot)
 
 ---
 
-_Last updated: December 2025_
+_Last updated: March 2026_

examples/dataset/slurm_compute_rabc.py

@@ -0,0 +1,490 @@
+#!/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.
+
+"""
+SLURM-distributed SARM RA-BC annotation pipeline.
+
+Computes SARM progress values for all frames in a dataset, distributed across
+SLURM workers, then merges the shards into a single sarm_progress.parquet.
+
+Two subcommands, each a separate SLURM submission:
+
+  compute    – N workers, each computes progress for a subset of episodes
+  aggregate  – 1 worker, merges N shards into sarm_progress.parquet, pushes to hub
+
+Usage:
+    python slurm_compute_rabc.py compute \\
+        --repo-id user/dataset --reward-model-path user/sarm_model \\
+        --stride 10 --device cpu --workers 50 --partition cpu
+
+    python slurm_compute_rabc.py aggregate \\
+        --repo-id user/dataset --reward-model-path user/sarm_model \\
+        --partition cpu --push-to-hub
+"""
+
+import argparse
+from pathlib import Path
+
+from datatrove.executor import LocalPipelineExecutor
+from datatrove.executor.slurm import SlurmPipelineExecutor
+from datatrove.pipeline.base import PipelineStep
+
+
+class ComputeProgressShards(PipelineStep):
+    """Each worker computes SARM progress for its assigned episodes."""
+
+    def __init__(
+        self, repo_id, reward_model_path, stride=1, head_mode="sparse", device="cpu", shard_dir="rabc_shards"
+    ):
+        super().__init__()
+        if stride < 1:
+            raise ValueError(f"stride must be >= 1, got {stride}")
+        self.repo_id = repo_id
+        self.reward_model_path = reward_model_path
+        self.stride = stride
+        self.head_mode = head_mode
+        self.device = device
+        self.shard_dir = shard_dir
+
+    def run(self, data=None, rank: int = 0, world_size: int = 1):
+        import logging
+        from pathlib import Path
+
+        import numpy as np
+        import pyarrow as pa
+        import pyarrow.parquet as pq
+        import torch
+        from tqdm import tqdm
+
+        from lerobot.policies.sarm.compute_rabc_weights import (
+            generate_all_frame_indices,
+            interpolate_progress,
+            load_sarm_resources,
+        )
+        from lerobot.utils.utils import init_logging
+
+        init_logging()
+
+        dataset, reward_model, preprocess = load_sarm_resources(
+            self.repo_id,
+            self.reward_model_path,
+            self.device,
+        )
+
+        if hasattr(preprocess, "eval"):
+            preprocess.eval()
+        for step in preprocess.steps:
+            if hasattr(step, "eval"):
+                step.eval()
+
+        image_key = reward_model.config.image_key
+        state_key = reward_model.config.state_key
+        frame_gap = reward_model.config.frame_gap
+        center_idx = reward_model.config.n_obs_steps // 2
+
+        dual_mode = reward_model.config.uses_dual_heads
+        compute_sparse = self.head_mode in ("sparse", "both") or not dual_mode
+        compute_dense = self.head_mode in ("dense", "both") and dual_mode
+
+        my_episodes = list(range(dataset.num_episodes))[rank::world_size]
+        if not my_episodes:
+            logging.info(f"Rank {rank}: no episodes assigned")
+            return
+        logging.info(f"Rank {rank}: {len(my_episodes)} / {dataset.num_episodes} episodes")
+
+        all_rows = []
+
+        for ep_idx in tqdm(my_episodes, desc=f"Rank {rank}"):
+            ep = dataset.meta.episodes[ep_idx]
+            ep_start, ep_end = ep["dataset_from_index"], ep["dataset_to_index"]
+            task = dataset[ep_start].get("task", "perform the task")
+
+            all_ep_indices = generate_all_frame_indices(ep_start, ep_end, frame_gap)
+            if self.stride > 1:
+                compute_indices = [i for i in all_ep_indices if (i - ep_start) % self.stride == 0]
+                if (ep_end - 1) not in compute_indices:
+                    compute_indices.append(ep_end - 1)
+                compute_indices = sorted(set(compute_indices))
+            else:
+                compute_indices = all_ep_indices
+
+            frame_results = {}
+            for qi in tqdm(compute_indices, desc=f"  Ep {ep_idx}", leave=False):
+                try:
+                    sample = dataset[qi]
+                    batch = {
+                        image_key: sample[image_key],
+                        "task": task,
+                        "index": qi,
+                        "episode_index": ep_idx,
+                    }
+                    if state_key in sample:
+                        batch[state_key] = sample[state_key]
+
+                    with torch.no_grad():
+                        processed = preprocess(batch)
+                        vf = processed["video_features"].to(self.device)
+                        tf = processed["text_features"].to(self.device)
+                        sf = processed.get("state_features")
+                        if sf is not None:
+                            sf = sf.to(self.device)
+                        lengths = processed.get("lengths")
+
+                        sparse_val = dense_val = np.nan
+                        if compute_sparse:
+                            r = reward_model.calculate_rewards(
+                                text_embeddings=tf,
+                                video_embeddings=vf,
+                                state_features=sf,
+                                lengths=lengths,
+                                return_all_frames=True,
+                                head_mode="sparse",
+                            )
+                            sparse_val = float(r[0, center_idx] if r.ndim == 2 else r[center_idx])
+                        if compute_dense:
+                            r = reward_model.calculate_rewards(
+                                text_embeddings=tf,
+                                video_embeddings=vf,
+                                state_features=sf,
+                                lengths=lengths,
+                                return_all_frames=True,
+                                head_mode="dense",
+                            )
+                            dense_val = float(r[0, center_idx] if r.ndim == 2 else r[center_idx])
+
+                        frame_results[qi] = (sparse_val, dense_val)
+                except Exception as e:
+                    logging.warning(f"Failed frame {qi}: {e}")
+
+            if not frame_results:
+                logging.warning(f"Episode {ep_idx}: all frames failed, skipping")
+                continue
+
+            # Interpolate to all frames in this episode
+            computed_idx = np.array(sorted(frame_results.keys()))
+            all_frame_arr = np.arange(ep_start, ep_end)
+
+            sparse_vals = np.array([frame_results[i][0] for i in computed_idx]) if compute_sparse else None
+            dense_vals = np.array([frame_results[i][1] for i in computed_idx]) if compute_dense else None
+
+            if self.stride > 1 and len(computed_idx) > 1:
+                if compute_sparse:
+                    sparse_vals = interpolate_progress(computed_idx, sparse_vals, all_frame_arr)
+                if compute_dense:
+                    dense_vals = interpolate_progress(computed_idx, dense_vals, all_frame_arr)
+                output_frames = all_frame_arr
+            else:
+                # Use only successfully computed frames to avoid indexing mismatch on failures
+                output_frames = computed_idx
+
+            for i, fi in enumerate(output_frames):
+                row = {"index": int(fi), "episode_index": ep_idx, "frame_index": int(fi - ep_start)}
+                if compute_sparse:
+                    row["progress_sparse"] = float(sparse_vals[i])
+                if compute_dense:
+                    row["progress_dense"] = float(dense_vals[i])
+                all_rows.append(row)
+
+        if all_rows:
+            import pandas as pd
+
+            df = pd.DataFrame(all_rows).sort_values("index").reset_index(drop=True)
+            table = pa.Table.from_pandas(df, preserve_index=False)
+            table = table.replace_schema_metadata({b"reward_model_path": self.reward_model_path.encode()})
+            shard_dir = Path(self.shard_dir)
+            shard_dir.mkdir(parents=True, exist_ok=True)
+            out = shard_dir / f"shard_{rank:05d}.parquet"
+            pq.write_table(table, out)
+            logging.info(f"Rank {rank}: saved {len(df)} rows to {out}")
+
+
+class AggregateProgress(PipelineStep):
+    """Merge all shard parquets into final sarm_progress.parquet."""
+
+    def __init__(self, repo_id, reward_model_path, shard_dir="rabc_shards", push_to_hub=False):
+        super().__init__()
+        self.repo_id = repo_id
+        self.reward_model_path = reward_model_path
+        self.shard_dir = shard_dir
+        self.push_to_hub = push_to_hub
+
+    def run(self, data=None, rank: int = 0, world_size: int = 1):
+        import datetime
+        import logging
+        import os
+        from pathlib import Path
+
+        import pandas as pd
+        import pyarrow as pa
+        import pyarrow.parquet as pq
+
+        from lerobot.datasets.lerobot_dataset import LeRobotDataset
+        from lerobot.utils.utils import init_logging
+
+        init_logging()
+        if rank != 0:
+            return
+
+        shard_dir = Path(self.shard_dir)
+        shards = sorted(shard_dir.glob("shard_*.parquet"))
+        if not shards:
+            raise FileNotFoundError(f"No shards found in {shard_dir}")
+
+        # Log shard modification time range to help detect stale files
+        mtimes = [os.path.getmtime(s) for s in shards]
+        oldest = datetime.datetime.fromtimestamp(min(mtimes)).isoformat(timespec="seconds")
+        newest = datetime.datetime.fromtimestamp(max(mtimes)).isoformat(timespec="seconds")
+        logging.info(f"Aggregating {len(shards)} shards (oldest: {oldest}, newest: {newest})")
+
+        df = pd.concat([pd.read_parquet(s) for s in shards], ignore_index=True)
+        df = df.sort_values("index").reset_index(drop=True)
+
+        table = pa.Table.from_pandas(df, preserve_index=False)
+        table = table.replace_schema_metadata({b"reward_model_path": self.reward_model_path.encode()})
+
+        temp_ds = LeRobotDataset(self.repo_id, download_videos=False)
+        out_path = Path(temp_ds.root) / "sarm_progress.parquet"
+        out_path.parent.mkdir(parents=True, exist_ok=True)
+        pq.write_table(table, out_path)
+        logging.info(f"Saved {len(df)} rows to {out_path}")
+
+        for col in ["progress_sparse", "progress_dense"]:
+            if col in df.columns:
+                v = df[col].dropna()
+                logging.info(
+                    f"{col}: mean={v.mean():.4f} std={v.std():.4f} min={v.min():.4f} max={v.max():.4f}"
+                )
+
+        if self.push_to_hub:
+            from huggingface_hub import HfApi
+
+            api = HfApi()
+            hub_path = "sarm_progress.parquet"
+            logging.info(f"Uploading to {self.repo_id}/{hub_path}")
+            api.upload_file(
+                path_or_fileobj=str(out_path),
+                path_in_repo=hub_path,
+                repo_id=self.repo_id,
+                repo_type="dataset",
+            )
+            logging.info(f"Uploaded: https://huggingface.co/datasets/{self.repo_id}/blob/main/{hub_path}")
+
+
+def make_compute_executor(
+    repo_id,
+    reward_model_path,
+    stride,
+    head_mode,
+    device,
+    shard_dir,
+    logs_dir,
+    job_name,
+    slurm,
+    workers,
+    partition,
+    cpus_per_task,
+    mem_per_cpu,
+):
+    kwargs = {
+        "pipeline": [
+            ComputeProgressShards(repo_id, reward_model_path, stride, head_mode, device, str(shard_dir)),
+        ],
+        "logging_dir": str(logs_dir / job_name),
+    }
+
+    if slurm:
+        kwargs.update(
+            {
+                "job_name": job_name,
+                "tasks": workers,
+                "workers": workers,
+                "time": "24:00:00",
+                "partition": partition,
+                "cpus_per_task": cpus_per_task,
+                "sbatch_args": {"mem-per-cpu": mem_per_cpu},
+            }
+        )
+        return SlurmPipelineExecutor(**kwargs)
+
+    kwargs.update({"tasks": workers, "workers": 1})
+    return LocalPipelineExecutor(**kwargs)
+
+
+def make_aggregate_executor(
+    repo_id,
+    reward_model_path,
+    shard_dir,
+    logs_dir,
+    job_name,
+    slurm,
+    partition,
+    cpus_per_task,
+    mem_per_cpu,
+    push_to_hub,
+):
+    kwargs = {
+        "pipeline": [
+            AggregateProgress(repo_id, reward_model_path, str(shard_dir), push_to_hub),
+        ],
+        "logging_dir": str(logs_dir / job_name),
+    }
+
+    if slurm:
+        kwargs.update(
+            {
+                "job_name": job_name,
+                "tasks": 1,
+                "workers": 1,
+                "time": "02:00:00",
+                "partition": partition,
+                "cpus_per_task": cpus_per_task,
+                "sbatch_args": {"mem-per-cpu": mem_per_cpu},
+            }
+        )
+        return SlurmPipelineExecutor(**kwargs)
+
+    kwargs.update({"tasks": 1, "workers": 1})
+    return LocalPipelineExecutor(**kwargs)
+
+
+def _add_shared_args(p):
+    p.add_argument(
+        "--repo-id",
+        type=str,
+        required=True,
+        help="Hugging Face repository identifier, e.g. 'user/dataset'.",
+    )
+    p.add_argument(
+        "--shard-dir",
+        type=Path,
+        default=Path("rabc_shards"),
+        help="Directory to read/write per-rank parquet shards.",
+    )
+    p.add_argument(
+        "--logs-dir",
+        type=Path,
+        default=Path("logs"),
+        help="Directory for datatrove logs.",
+    )
+    p.add_argument(
+        "--job-name",
+        type=str,
+        default=None,
+        help="SLURM job name (defaults to rabc_<subcommand>).",
+    )
+    p.add_argument(
+        "--slurm",
+        type=int,
+        default=1,
+        help="1 = submit via SLURM; 0 = run locally (useful for debugging).",
+    )
+    p.add_argument(
+        "--partition",
+        type=str,
+        default=None,
+        help="SLURM partition to submit to.",
+    )
+    p.add_argument(
+        "--cpus-per-task",
+        type=int,
+        default=4,
+        help="Number of CPUs per SLURM task.",
+    )
+    p.add_argument(
+        "--mem-per-cpu",
+        type=str,
+        default="4G",
+        help="Memory per CPU, e.g. '4G' or '1950M'.",
+    )
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="SLURM-distributed SARM RA-BC annotation pipeline",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+    )
+    sub = parser.add_subparsers(dest="command", required=True)
+
+    # compute subcommand
+    cp = sub.add_parser(
+        "compute",
+        help="Distribute progress computation across SLURM workers.",
+    )
+    _add_shared_args(cp)
+    cp.add_argument(
+        "--reward-model-path",
+        type=str,
+        required=True,
+        help="Path or HF repo id of the SARM reward model.",
+    )
+    cp.add_argument(
+        "--stride",
+        type=int,
+        default=1,
+        help="Compute every Nth frame; intermediate frames are interpolated (must be >= 1).",
+    )
+    cp.add_argument(
+        "--head-mode",
+        type=str,
+        default="sparse",
+        choices=["sparse", "dense", "both"],
+        help="Which reward head(s) to compute.",
+    )
+    cp.add_argument(
+        "--device",
+        type=str,
+        default="cpu",
+        help="Device for reward model inference, e.g. 'cpu' or 'cuda'.",
+    )
+    cp.add_argument(
+        "--workers",
+        type=int,
+        default=50,
+        help="Number of parallel SLURM tasks (one shard per worker).",
+    )
+
+    # aggregate subcommand
+    ap = sub.add_parser(
+        "aggregate",
+        help="Merge per-rank shards into a single sarm_progress.parquet.",
+    )
+    _add_shared_args(ap)
+    ap.add_argument(
+        "--reward-model-path",
+        type=str,
+        required=True,
+        help="Path or HF repo id of the SARM reward model (stored in parquet metadata).",
+    )
+    ap.add_argument(
+        "--push-to-hub",
+        action="store_true",
+        help="Upload sarm_progress.parquet to the Hugging Face Hub after aggregation.",
+    )
+
+    args = parser.parse_args()
+    job_name = args.job_name or f"rabc_{args.command}"
+    kwargs = vars(args)
+    kwargs["slurm"] = kwargs.pop("slurm") == 1
+    kwargs["job_name"] = job_name
+    command = kwargs.pop("command")
+
+    executor = make_compute_executor(**kwargs) if command == "compute" else make_aggregate_executor(**kwargs)
+
+    executor.run()
+
+
+if __name__ == "__main__":
+    main()

examples/rtc/eval_with_real_robot.py

@@ -78,6 +78,7 @@ from torch import Tensor
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
+from lerobot.cameras.zmq.configuration_zmq import ZMQCameraConfig  # noqa: F401
 from lerobot.configs import parser
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import RTCAttentionSchedule
@@ -97,6 +98,7 @@ from lerobot.robots import (  # noqa: F401
     bi_so_follower,
     koch_follower,
     so_follower,
+    unitree_g1,
 )
 from lerobot.robots.utils import make_robot_from_config
 from lerobot.utils.constants import OBS_IMAGES

pyproject.toml

@@ -25,11 +25,11 @@ discord = "https://discord.gg/s3KuuzsPFb"
 
 [project]
 name = "lerobot"
-version = "0.4.5"
+version = "0.5.1"
 description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
 dynamic = ["readme"]
 license = { text = "Apache-2.0" }
-requires-python = ">=3.10"
+requires-python = ">=3.12"
 authors = [
     { name = "Rémi Cadène", email = "re.cadene@gmail.com" },
     { name = "Simon Alibert", email = "alibert.sim@gmail.com" },
@@ -50,7 +50,8 @@ classifiers = [
     "Intended Audience :: Education",
     "Intended Audience :: Science/Research",
     "License :: OSI Approved :: Apache Software License",
-    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
     "Topic :: Software Development :: Build Tools",
     "Topic :: Scientific/Engineering :: Artificial Intelligence",
 ]
@@ -61,26 +62,28 @@ dependencies = [
     # Hugging Face dependencies
     "datasets>=4.0.0,<5.0.0",
     "diffusers>=0.27.2,<0.36.0",
-    "huggingface-hub[cli]>=1.0.0,<2.0.0",
+    "huggingface-hub>=1.0.0,<2.0.0",
     "accelerate>=1.10.0,<2.0.0",
 
     # Core dependencies
+    "numpy>=2.0.0,<2.3.0", # NOTE: Explicitly listing numpy helps the resolver converge faster. Upper bound imposed by opencv-python-headless.
     "setuptools>=71.0.0,<81.0.0",
     "cmake>=3.29.0.1,<4.2.0",
+    "packaging>=24.2,<26.0",
+
+    "torch>=2.2.1,<2.11.0",
+    "torchcodec>=0.2.1,<0.11.0; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')",
+    "torchvision>=0.21.0,<0.26.0",
+
     "einops>=0.8.0,<0.9.0",
     "opencv-python-headless>=4.9.0,<4.13.0",
     "av>=15.0.0,<16.0.0",
     "jsonlines>=4.0.0,<5.0.0",
-    "packaging>=24.2,<26.0",
-    "pynput>=1.7.7,<1.9.0",
+    "pynput>=1.7.8,<1.9.0",
     "pyserial>=3.5,<4.0",
+
     "wandb>=0.24.0,<0.25.0",
-
-    "torch>=2.2.1,<2.11.0", # TODO: Bump dependency
-    "torchcodec>=0.2.1,<0.11.0; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')", # TODO: Bump dependency
-    "torchvision>=0.21.0,<0.26.0", # TODO: Bump dependency
-
-    "draccus==0.10.0", # TODO: Remove ==
+    "draccus==0.10.0", # TODO: Relax version constraint
     "gymnasium>=1.1.1,<2.0.0",
     "rerun-sdk>=0.24.0,<0.27.0",
 
@@ -95,13 +98,14 @@ dependencies = [
 
 # Common
 pygame-dep = ["pygame>=2.5.1,<2.7.0"]
-placo-dep = ["placo>=0.9.6,<0.10.0"]
+placo-dep = ["placo>=0.9.6,<0.9.17"]
 transformers-dep = ["transformers>=5.3.0,<6.0.0"]
 grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
 can-dep = ["python-can>=4.2.0,<5.0.0"]
 peft-dep = ["peft>=0.18.0,<1.0.0"]
 scipy-dep = ["scipy>=1.14.0,<2.0.0"]
 qwen-vl-utils-dep = ["qwen-vl-utils>=0.0.11,<0.1.0"]
+matplotlib-dep = ["matplotlib>=3.10.3,<4.0.0", "contourpy>=1.3.0,<2.0.0"] # NOTE: Explicitly listing contourpy helps the resolver converge faster.
 
 # Motors
 feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0"]
@@ -115,20 +119,22 @@ gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0,<0.15.0"]
 hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
 lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1,<28.0.0"]
 unitree_g1 = [
+    "unitree-sdk2==1.0.1",
     "pyzmq>=26.2.1,<28.0.0",
     "onnxruntime>=1.16.0,<2.0.0",
     "pin>=3.0.0,<4.0.0",
     "meshcat>=0.3.0,<0.4.0",
-    "matplotlib>=3.9.0,<4.0.0",
+    "lerobot[matplotlib-dep]",
+    "lerobot[pygame-dep]",
     "casadi>=3.6.0,<4.0.0",
 ]
 reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
 kinematics = ["lerobot[placo-dep]"]
 intelrealsense = [
     "pyrealsense2>=2.55.1.6486,<2.57.0 ; sys_platform != 'darwin'",
-    "pyrealsense2-macosx>=2.54,<2.55.0 ; sys_platform == 'darwin'",
+    "pyrealsense2-macosx>=2.54,<2.57.0 ; sys_platform == 'darwin'",
 ]
-phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0", "fastapi<1.0"]
+phone = ["hebi-py>=2.8.0,<2.12.0", "teleop>=0.1.0,<0.2.0", "fastapi<1.0", "lerobot[scipy-dep]"]
 
 # Policies
 wallx = [
@@ -151,12 +157,12 @@ groot = [
     "ninja>=1.11.1,<2.0.0",
     "flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
 ]
-sarm = ["lerobot[transformers-dep]", "faker>=33.0.0,<35.0.0", "matplotlib>=3.10.3,<4.0.0", "lerobot[qwen-vl-utils-dep]"]
+sarm = ["lerobot[transformers-dep]", "faker>=33.0.0,<35.0.0", "lerobot[matplotlib-dep]", "lerobot[qwen-vl-utils-dep]"]
 xvla = ["lerobot[transformers-dep]"]
 hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
 
 # Features
-async = ["lerobot[grpcio-dep]", "matplotlib>=3.10.3,<4.0.0"]
+async = ["lerobot[grpcio-dep]", "lerobot[matplotlib-dep]"]
 peft = ["lerobot[transformers-dep]", "lerobot[peft-dep]"]
 
 # Development
@@ -165,13 +171,53 @@ test = ["pytest>=8.1.0,<9.0.0", "pytest-timeout>=2.4.0,<3.0.0", "pytest-cov>=5.0
 video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
 
 # Simulation
-aloha = ["gym-aloha>=0.1.2,<0.2.0"]
+# NOTE: Explicitly listing scipy helps flatten the dependecy tree.
+aloha = ["gym-aloha>=0.1.2,<0.2.0", "lerobot[scipy-dep]"]
 pusht = ["gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
-libero = ["lerobot[transformers-dep]", "hf-libero>=0.1.3,<0.2.0"]
-metaworld = ["metaworld==3.0.0"]
+libero = [
+    "lerobot[transformers-dep]",
+    "hf-libero>=0.1.3,<0.2.0; sys_platform == 'linux'",
+    # hf-egl-probe is the fixed fork of egl-probe (robomimic transitive dep).
+    # egl-probe's CMakeLists.txt requires cmake_minimum_required < 3.5 which
+    # modern cmake rejects. Installing hf-egl-probe first satisfies the egl_probe
+    # import without source compilation.
+    "hf-egl-probe>=1.0.1; sys_platform == 'linux'",
+    "lerobot[scipy-dep]",
+]
+libero_plus = [
+    # Inherit all of libero's deps (hf-libero → robosuite/robomimic/egl-probe/scipy/transformers).
+    # LIBERO-plus extends LIBERO with extra task suites; its Python module is installed
+    # from the git clone in Dockerfile.eval-libero-plus (overrides hf-libero via .pth).
+    "lerobot[libero]",
+    # Additional runtime deps declared by LIBERO-plus but absent from its setup.py:
+    "bddl>=1.0.1,<2.0.0; sys_platform == 'linux'",
+    "future; sys_platform == 'linux'",  # bddl transitive dep not declared in its metadata
+    "easydict>=1.9; sys_platform == 'linux'",
+    "wand; sys_platform == 'linux'",
+    "scikit-image>=0.20.0; sys_platform == 'linux'",
+    "gym>=0.25.0,<0.27.0; sys_platform == 'linux'",
+]
+libero-plus = ["lerobot[libero_plus]"]
+robomme = [
+    "robomme @ git+https://github.com/RoboMME/robomme_benchmark.git@main ; sys_platform == 'linux'",
+]
+robocasa = [
+    # robocasa and its robosuite fork are not on PyPI; both installed from source
+    # in Dockerfile.eval-robocasa (requires ARISE-Initiative/robosuite@robocasa_v1.4.1
+    # for PandaOmron and other robocasa-specific robots).
+    "easydict>=1.9; sys_platform == 'linux'",
+    "scikit-image>=0.20.0; sys_platform == 'linux'",
+    "lerobot[scipy-dep]",
+]
+metaworld = ["metaworld==3.0.0", "lerobot[scipy-dep]"]
 
 # All
 all = [
+    # NOTE(resolver hint): scipy is pulled in transitively via lerobot[scipy-dep] through
+    # multiple extras (aloha, metaworld, pi, wallx, phone). Listing it explicitly
+    # helps pip's resolver converge by constraining scipy early, before it encounters
+    # the loose scipy requirements from transitive deps like dm-control and metaworld.
+    "scipy>=1.14.0,<2.0.0",
     "lerobot[dynamixel]",
     "lerobot[gamepad]",
     "lerobot[hopejr]",
@@ -192,10 +238,11 @@ all = [
     "lerobot[aloha]",
     "lerobot[pusht]",
     "lerobot[phone]",
-    "lerobot[libero]",
+    "lerobot[libero]; sys_platform == 'linux'",
     "lerobot[metaworld]",
     "lerobot[sarm]",
     "lerobot[peft]",
+    # "lerobot[unitree_g1]", TODO: Unitree requires specific installation instructions for unitree_sdk2
 ]
 
 [project.scripts]
@@ -207,6 +254,7 @@ lerobot-replay="lerobot.scripts.lerobot_replay:main"
 lerobot-setup-motors="lerobot.scripts.lerobot_setup_motors:main"
 lerobot-teleoperate="lerobot.scripts.lerobot_teleoperate:main"
 lerobot-eval="lerobot.scripts.lerobot_eval:main"
+lerobot-eval-worker="lerobot.scripts.lerobot_eval_worker:main"
 lerobot-train="lerobot.scripts.lerobot_train:main"
 lerobot-train-tokenizer="lerobot.scripts.lerobot_train_tokenizer:main"
 lerobot-dataset-viz="lerobot.scripts.lerobot_dataset_viz:main"
@@ -214,7 +262,9 @@ lerobot-info="lerobot.scripts.lerobot_info:main"
 lerobot-find-joint-limits="lerobot.scripts.lerobot_find_joint_limits:main"
 lerobot-imgtransform-viz="lerobot.scripts.lerobot_imgtransform_viz:main"
 lerobot-edit-dataset="lerobot.scripts.lerobot_edit_dataset:main"
+lerobot-leaderboard="lerobot.scripts.lerobot_leaderboard:main"
 lerobot-setup-can="lerobot.scripts.lerobot_setup_can:main"
+lerobot-benchmark="lerobot.scripts.lerobot_benchmark:main"
 
 # ---------------- Tool Configurations ----------------
 [tool.setuptools.package-data]
@@ -224,7 +274,7 @@ lerobot = ["envs/*.json"]
 where = ["src"]
 
 [tool.ruff]
-target-version = "py310"
+target-version = "py312"
 line-length = 110
 exclude = ["tests/artifacts/**/*.safetensors", "*_pb2.py", "*_pb2_grpc.py"]
 
@@ -316,7 +366,7 @@ default.extend-ignore-identifiers-re = [
 # Uncomment [tool.mypy] first, then uncomment individual module overrides as they get proper type annotations
 
 [tool.mypy]
-python_version = "3.10"
+python_version = "3.12"
 ignore_missing_imports = true
 follow_imports = "skip"
 # warn_return_any = true

requirements-macos.txt

@@ -1,76 +1,73 @@
 #
-# This file is autogenerated by pip-compile with Python 3.10
+# This file is autogenerated by pip-compile with Python 3.12
 # by the following command:
 #
 #    pip-compile --output-file=requirements-macos.txt requirements.in
 #
 -e .[all]
     # via -[all]
-absl-py==2.3.1
+absl-py==2.4.0
     # via
     #   dm-control
     #   dm-env
     #   dm-tree
     #   labmaze
     #   mujoco
-    #   tensorboard
-accelerate==1.11.0
+accelerate==1.13.0
     # via
     #   lerobot
     #   peft
 aiohappyeyeballs==2.6.1
     # via aiohttp
-aiohttp==3.13.1
+aiohttp==3.13.3
     # via fsspec
 aiosignal==1.4.0
     # via aiohttp
+annotated-doc==0.0.4
+    # via
+    #   fastapi
+    #   typer
 annotated-types==0.7.0
     # via pydantic
-antlr4-python3-runtime==4.9.3
-    # via
-    #   hydra-core
-    #   omegaconf
-anyio==4.11.0
+anyio==4.12.1
     # via
+    #   httpx
     #   starlette
     #   watchfiles
-asttokens==3.0.0
+asttokens==3.0.1
     # via stack-data
-async-timeout==5.0.1
-    # via aiohttp
 attrs==25.4.0
     # via
     #   aiohttp
     #   dm-tree
     #   jsonlines
-    #   jsonschema
-    #   referencing
     #   rerun-sdk
 av==15.1.0
-    # via lerobot
-bddl==1.0.1
-    # via libero
-certifi==2025.10.5
     # via
+    #   lerobot
+    #   qwen-vl-utils
+certifi==2026.2.25
+    # via
+    #   httpcore
+    #   httpx
     #   requests
     #   sentry-sdk
 cffi==2.0.0
     # via pymunk
-cfgv==3.4.0
+cfgv==3.5.0
     # via pre-commit
-charset-normalizer==3.4.4
+charset-normalizer==3.4.5
     # via requests
-click==8.3.0
+click==8.3.1
     # via
+    #   typer
     #   uvicorn
     #   wandb
-cloudpickle==3.1.1
-    # via
-    #   gymnasium
-    #   libero
-cmake==4.1.0
+cloudpickle==3.1.2
+    # via gymnasium
+cmake==4.1.3
     # via lerobot
-cmeel==0.57.3
+cmeel==0.59.0
     # via
     #   cmeel-assimp
     #   cmeel-boost
@@ -108,15 +105,17 @@ cmeel-zlib==1.3.1
     # via cmeel-assimp
 coal-library==3.0.1
     # via pin
-contourpy==1.3.2
-    # via matplotlib
-coverage[toml]==7.11.0
+contourpy==1.3.3
+    # via
+    #   lerobot
+    #   matplotlib
+coverage[toml]==7.13.4
     # via pytest-cov
 cycler==0.12.1
     # via matplotlib
-datasets==4.1.1
+datasets==4.6.1
     # via lerobot
-debugpy==1.8.17
+debugpy==1.8.20
     # via lerobot
 decorator==5.2.1
     # via ipython
@@ -130,7 +129,7 @@ dill==0.4.0
     #   multiprocess
 distlib==0.4.0
     # via virtualenv
-dm-control==1.0.34
+dm-control==1.0.37
     # via gym-aloha
 dm-env==1.6
     # via dm-control
@@ -138,69 +137,55 @@ dm-tree==0.1.9
     # via
     #   dm-control
     #   dm-env
-    #   lerobot
 docopt==0.6.2
     # via num2words
 draccus==0.10.0
     # via lerobot
 dynamixel-sdk==3.8.4
     # via lerobot
-easydict==1.13
-    # via libero
-egl-probe @ git+https://github.com/huggingface/egl_probe.git
-    # via
-    #   libero
-    #   robomimic
 eigenpy==3.10.3
     # via coal-library
-einops==0.8.1
-    # via
-    #   lerobot
-    #   libero
+einops==0.8.2
+    # via lerobot
 eiquadprog==1.2.9
     # via placo
-etils[epath,epy]==1.13.0
+etils[epath,epy]==1.14.0
     # via mujoco
-exceptiongroup==1.3.0
-    # via
-    #   anyio
-    #   ipython
-    #   pytest
 executing==2.2.1
     # via stack-data
+faker==34.0.2
+    # via lerobot
 farama-notifications==0.0.4
     # via gymnasium
-fastapi==0.119.1
-    # via teleop
-fastjsonschema==2.21.2
-    # via nbformat
+fastapi==0.135.1
+    # via
+    #   lerobot
+    #   teleop
 feetech-servo-sdk==1.0.0
     # via lerobot
-filelock==3.20.0
+filelock==3.25.0
     # via
     #   datasets
     #   diffusers
     #   huggingface-hub
+    #   python-discovery
     #   torch
-    #   transformers
     #   virtualenv
-fonttools==4.60.1
+fonttools==4.61.1
     # via matplotlib
 frozenlist==1.8.0
     # via
     #   aiohttp
     #   aiosignal
-fsspec[http]==2025.9.0
+fsspec[http]==2026.2.0
     # via
     #   datasets
     #   etils
     #   huggingface-hub
     #   torch
-future==1.0.0
-    # via libero
 gitdb==4.0.12
     # via gitpython
-gitpython==3.1.45
+gitpython==3.1.46
     # via wandb
 glfw==2.10.0
     # via
@@ -212,7 +197,6 @@ grpcio==1.73.1
     #   lerobot
     #   reachy2-sdk
     #   reachy2-sdk-api
-    #   tensorboard
 grpcio-tools==1.73.1
     # via
     #   lerobot
@@ -223,71 +207,67 @@ gym-hil==0.1.13
     # via lerobot
 gym-pusht==0.1.6
     # via lerobot
-gymnasium==1.2.1
+gymnasium==1.2.3
     # via
     #   gym-aloha
     #   gym-hil
     #   gym-pusht
     #   lerobot
-    #   libero
     #   metaworld
 h11==0.16.0
-    # via uvicorn
-h5py==3.15.1
-    # via robomimic
+    # via
+    #   httpcore
+    #   uvicorn
 hebi-py==2.11.0
     # via lerobot
-hf-transfer==0.1.9
-    # via huggingface-hub
-hf-xet==1.1.10
+hf-xet==1.3.2
     # via huggingface-hub
 hidapi==0.14.0.post4
     # via
     #   gym-hil
     #   lerobot
+httpcore==1.0.9
+    # via httpx
 httptools==0.7.1
     # via uvicorn
-huggingface-hub[cli,hf-transfer]==0.35.3
+httpx==0.28.1
+    # via
+    #   datasets
+    #   huggingface-hub
+huggingface-hub==1.6.0
     # via
     #   accelerate
     #   datasets
     #   diffusers
     #   lerobot
     #   peft
-    #   timm
     #   tokenizers
     #   transformers
-hydra-core==1.3.2
-    # via libero
-identify==2.6.15
+identify==2.6.17
     # via pre-commit
 idna==3.11
     # via
     #   anyio
+    #   httpx
     #   requests
     #   yarl
-imageio[ffmpeg]==2.37.0
+imageio[ffmpeg]==2.37.2
     # via
     #   gym-aloha
     #   gym-hil
     #   lerobot
     #   metaworld
-    #   robomimic
     #   scikit-image
 imageio-ffmpeg==0.6.0
-    # via
-    #   imageio
-    #   robomimic
-importlib-metadata==8.7.0
+    # via imageio
+importlib-metadata==8.7.1
     # via diffusers
-importlib-resources==6.5.2
-    # via etils
 iniconfig==2.3.0
     # via pytest
-inquirerpy==0.3.4
-    # via huggingface-hub
-ipython==8.37.0
+ipython==9.11.0
     # via meshcat
+ipython-pygments-lexers==1.1.1
+    # via ipython
 ischedule==1.2.7
     # via placo
 jedi==0.19.2
@@ -296,44 +276,24 @@ jinja2==3.1.6
     # via torch
 jsonlines==4.0.0
     # via lerobot
-jsonschema==4.25.1
-    # via nbformat
-jsonschema-specifications==2025.9.1
-    # via jsonschema
-jupyter-core==5.9.1
-    # via nbformat
-jupytext==1.18.1
-    # via bddl
 kiwisolver==1.4.9
     # via matplotlib
 labmaze==1.0.6
     # via dm-control
-lazy-loader==0.4
+lazy-loader==0.5
     # via scikit-image
-libero @ git+https://github.com/huggingface/lerobot-libero.git@main
-    # via lerobot
-llvmlite==0.45.1
-    # via numba
+librt==0.8.1
+    # via mypy
 lxml==6.0.2
     # via dm-control
-markdown==3.9
-    # via tensorboard
 markdown-it-py==4.0.0
-    # via
-    #   jupytext
-    #   mdit-py-plugins
+    # via rich
 markupsafe==3.0.3
-    # via
-    #   jinja2
-    #   werkzeug
-matplotlib==3.10.7
-    # via
-    #   lerobot
-    #   libero
+    # via jinja2
+matplotlib==3.10.8
+    # via lerobot
 matplotlib-inline==0.2.1
     # via ipython
-mdit-py-plugins==0.5.0
-    # via jupytext
 mdurl==0.1.2
     # via markdown-it-py
 mergedeep==1.3.4
@@ -346,41 +306,35 @@ mock-serial==0.0.1
     # via lerobot
 mpmath==1.3.0
     # via sympy
-mujoco==3.3.7
+mujoco==3.5.0
     # via
     #   dm-control
     #   gym-aloha
     #   gym-hil
-    #   libero
     #   metaworld
-    #   robosuite
-multidict==6.7.0
+multidict==6.7.1
     # via
     #   aiohttp
     #   yarl
-multiprocess==0.70.16
+multiprocess==0.70.18
     # via datasets
+mypy==1.19.1
+    # via lerobot
 mypy-extensions==1.1.0
-    # via typing-inspect
-nbformat==5.10.4
-    # via jupytext
-networkx==3.4.2
     # via
-    #   bddl
+    #   mypy
+    #   typing-inspect
+networkx==3.6.1
+    # via
     #   scikit-image
     #   torch
-ninja==1.13.0
-    # via lerobot
-nodeenv==1.9.1
+nodeenv==1.10.0
     # via pre-commit
 num2words==0.5.14
     # via lerobot
-numba==0.62.1
-    # via robosuite
 numpy==2.2.6
     # via
     #   accelerate
-    #   bddl
     #   cmeel-boost
     #   contourpy
     #   datasets
@@ -389,16 +343,14 @@ numpy==2.2.6
     #   dm-env
     #   dm-tree
     #   gymnasium
-    #   h5py
     #   hebi-py
     #   imageio
     #   labmaze
-    #   libero
+    #   lerobot
     #   matplotlib
     #   meshcat
     #   metaworld
     #   mujoco
-    #   numba
     #   opencv-python
     #   opencv-python-headless
     #   pandas
@@ -406,26 +358,18 @@ numpy==2.2.6
     #   pyquaternion
     #   reachy2-sdk
     #   rerun-sdk
-    #   robomimic
-    #   robosuite
     #   scikit-image
     #   scipy
     #   shapely
     #   teleop
-    #   tensorboard
-    #   tensorboardx
     #   tifffile
     #   torchvision
     #   transformers
     #   transforms3d
-omegaconf==2.3.0
-    # via hydra-core
-opencv-python==4.12.0.88
+opencv-python==4.13.0.92
     # via
     #   gym-pusht
-    #   libero
     #   reachy2-sdk
-    #   robosuite
 opencv-python-headless==4.12.0.88
     # via lerobot
 orderly-set==5.5.0
@@ -435,97 +379,87 @@ packaging==25.0
     #   accelerate
     #   datasets
     #   huggingface-hub
-    #   hydra-core
-    #   jupytext
     #   lazy-loader
     #   lerobot
     #   matplotlib
     #   peft
     #   pytest
+    #   qwen-vl-utils
     #   reachy2-sdk
     #   scikit-image
-    #   tensorboard
-    #   tensorboardx
     #   transformers
     #   wandb
 pandas==2.3.3
     # via
     #   datasets
     #   lerobot
-parso==0.8.5
+parso==0.8.6
     # via jedi
-peft==0.17.1
+pathspec==1.0.4
+    # via mypy
+peft==0.18.1
     # via lerobot
 pexpect==4.9.0
     # via ipython
-pfzy==0.3.4
-    # via inquirerpy
-pillow==12.0.0
+pillow==12.1.1
     # via
     #   diffusers
     #   imageio
-    #   lerobot
     #   matplotlib
     #   meshcat
+    #   qwen-vl-utils
     #   rerun-sdk
-    #   robosuite
     #   scikit-image
-    #   tensorboard
     #   torchvision
 pin==3.4.0
     # via placo
-placo==0.9.14
+placo==0.9.16
     # via lerobot
-platformdirs==4.5.0
+platformdirs==4.9.4
     # via
-    #   jupyter-core
+    #   python-discovery
     #   virtualenv
     #   wandb
 pluggy==1.6.0
     # via
     #   pytest
     #   pytest-cov
-pre-commit==4.3.0
+pre-commit==4.5.1
     # via lerobot
 prompt-toolkit==3.0.52
-    # via
-    #   inquirerpy
-    #   ipython
+    # via ipython
 propcache==0.4.1
     # via
     #   aiohttp
     #   yarl
-protobuf==6.31.0
+protobuf==6.31.1
     # via
     #   dm-control
     #   grpcio-tools
     #   lerobot
     #   reachy2-sdk
     #   reachy2-sdk-api
-    #   tensorboard
-    #   tensorboardx
     #   wandb
-psutil==7.1.1
+psutil==7.2.2
     # via
     #   accelerate
     #   imageio
     #   peft
-    #   robomimic
 ptyprocess==0.7.0
     # via pexpect
 pure-eval==0.2.3
     # via stack-data
-pyarrow==21.0.0
+pyarrow==23.0.1
     # via
     #   datasets
     #   rerun-sdk
-pycparser==2.23
+pycparser==3.0
     # via cffi
-pydantic==2.12.3
+pydantic==2.12.5
     # via
     #   fastapi
     #   wandb
-pydantic-core==2.41.4
+pydantic-core==2.41.5
     # via pydantic
 pygame==2.6.1
     # via
@@ -535,33 +469,35 @@ pygame==2.6.1
 pygments==2.19.2
     # via
     #   ipython
+    #   ipython-pygments-lexers
     #   pytest
+    #   rich
 pymunk==6.11.1
     # via
     #   gym-pusht
     #   lerobot
-pyngrok==7.4.1
+pyngrok==7.5.1
     # via meshcat
 pynput==1.8.1
     # via
     #   gym-hil
     #   lerobot
-pyobjc-core==12.0
+pyobjc-core==12.1
     # via
     #   pyobjc-framework-applicationservices
     #   pyobjc-framework-cocoa
     #   pyobjc-framework-coretext
     #   pyobjc-framework-quartz
-pyobjc-framework-applicationservices==12.0
+pyobjc-framework-applicationservices==12.1
     # via pynput
-pyobjc-framework-cocoa==12.0
+pyobjc-framework-cocoa==12.1
     # via
     #   pyobjc-framework-applicationservices
     #   pyobjc-framework-coretext
     #   pyobjc-framework-quartz
-pyobjc-framework-coretext==12.0
+pyobjc-framework-coretext==12.1
     # via pyobjc-framework-applicationservices
-pyobjc-framework-quartz==12.0
+pyobjc-framework-quartz==12.1
     # via
     #   pynput
     #   pyobjc-framework-applicationservices
@@ -570,13 +506,13 @@ pyopengl==3.1.10
     # via
     #   dm-control
     #   mujoco
-pyparsing==3.2.5
+pyparsing==3.3.2
     # via
     #   dm-control
     #   matplotlib
 pyquaternion==0.9.9
     # via reachy2-sdk
-pyrealsense2-macosx==2.54.2
+pyrealsense2-macosx==2.56.5
     # via lerobot
 pyserial==3.5
     # via
@@ -585,7 +521,6 @@ pyserial==3.5
     #   lerobot
 pytest==8.4.2
     # via
-    #   bddl
     #   lerobot
     #   pytest-cov
     #   pytest-timeout
@@ -596,11 +531,14 @@ pytest-timeout==2.4.0
     # via lerobot
 python-dateutil==2.9.0.post0
     # via
+    #   faker
     #   matplotlib
     #   pandas
-python-dotenv==1.1.1
+python-discovery==1.1.1
+    # via virtualenv
+python-dotenv==1.2.2
     # via uvicorn
-pytz==2025.2
+pytz==2026.1.post1
     # via pandas
 pyyaml==6.0.3
     # via
@@ -609,13 +547,10 @@ pyyaml==6.0.3
     #   draccus
     #   hebi-py
     #   huggingface-hub
-    #   jupytext
-    #   omegaconf
     #   peft
     #   pre-commit
     #   pyngrok
     #   pyyaml-include
-    #   timm
     #   transformers
     #   uvicorn
     #   wandb
@@ -625,15 +560,13 @@ pyzmq==27.1.0
     # via
     #   lerobot
     #   meshcat
-reachy2-sdk==1.0.14
+qwen-vl-utils==0.0.14
+    # via lerobot
+reachy2-sdk==1.0.15
     # via lerobot
 reachy2-sdk-api==1.0.21
     # via reachy2-sdk
-referencing==0.37.0
-    # via
-    #   jsonschema
-    #   jsonschema-specifications
-regex==2025.10.23
+regex==2026.2.28
     # via
     #   diffusers
     #   transformers
@@ -642,184 +575,150 @@ requests==2.32.5
     #   datasets
     #   diffusers
     #   dm-control
-    #   huggingface-hub
+    #   qwen-vl-utils
     #   teleop
-    #   transformers
     #   wandb
-rerun-sdk==0.26.1
+rerun-sdk==0.26.2
     # via lerobot
 rhoban-cmeel-jsoncpp==1.9.4.9
     # via placo
-robomimic==0.2.0
-    # via libero
-robosuite==1.4.0
-    # via libero
-rpds-py==0.28.0
-    # via
-    #   jsonschema
-    #   referencing
-safetensors==0.6.2
+rich==14.3.3
+    # via typer
+safetensors==0.7.0
     # via
     #   accelerate
     #   diffusers
     #   lerobot
     #   peft
-    #   timm
     #   transformers
 scikit-image==0.25.2
     # via
     #   gym-pusht
     #   lerobot
-scipy==1.15.3
+scipy==1.17.1
     # via
     #   dm-control
+    #   lerobot
     #   metaworld
-    #   robosuite
     #   scikit-image
-sentry-sdk==2.42.1
+    #   torchdiffeq
+sentry-sdk==2.54.0
     # via wandb
 shapely==2.1.2
     # via gym-pusht
+shellingham==1.5.4
+    # via typer
 six==1.17.0
     # via
     #   pynput
     #   python-dateutil
-smmap==5.0.2
+smmap==5.0.3
     # via gitdb
-sniffio==1.3.1
-    # via anyio
 stack-data==0.6.3
     # via ipython
-starlette==0.48.0
+starlette==0.52.1
     # via fastapi
 sympy==1.14.0
     # via torch
-teleop==0.1.2
+teleop==0.1.4
     # via lerobot
-tensorboard==2.20.0
-    # via robomimic
-tensorboard-data-server==0.7.2
-    # via tensorboard
-tensorboardx==2.6.4
-    # via robomimic
-termcolor==3.1.0
-    # via
-    #   lerobot
-    #   robomimic
-thop==0.1.1.post2209072238
-    # via libero
-tifffile==2025.5.10
+termcolor==3.3.0
+    # via lerobot
+tifffile==2026.3.3
     # via scikit-image
-timm==1.0.20
-    # via lerobot
-tokenizers==0.22.1
+tokenizers==0.22.2
     # via transformers
 toml==0.10.2
     # via draccus
-tomli==2.3.0
-    # via
-    #   cmeel
-    #   coverage
-    #   jupytext
-    #   pytest
-torch==2.7.1
+torch==2.10.0
     # via
     #   accelerate
     #   lerobot
     #   peft
-    #   robomimic
-    #   thop
-    #   timm
+    #   torchdiffeq
     #   torchvision
-torchcodec==0.5
+torchcodec==0.10.0
     # via lerobot
-torchvision==0.22.1
-    # via
-    #   lerobot
-    #   robomimic
-    #   timm
-tornado==6.5.2
+torchdiffeq==0.2.5
+    # via lerobot
+torchvision==0.25.0
+    # via lerobot
+tornado==6.5.4
     # via meshcat
-tqdm==4.67.1
+tqdm==4.67.3
     # via
     #   datasets
     #   dm-control
     #   huggingface-hub
     #   peft
-    #   robomimic
     #   transformers
 traitlets==5.14.3
     # via
     #   ipython
-    #   jupyter-core
     #   matplotlib-inline
-    #   nbformat
-transformers==4.57.1
+transformers==5.3.0
     # via
     #   lerobot
-    #   libero
     #   peft
 transforms3d==0.4.2
     # via teleop
+typer==0.24.1
+    # via
+    #   huggingface-hub
+    #   transformers
 typing-extensions==4.15.0
     # via
     #   aiosignal
     #   anyio
     #   etils
-    #   exceptiongroup
+    #   faker
     #   fastapi
     #   gymnasium
     #   huggingface-hub
-    #   ipython
-    #   multidict
+    #   mypy
     #   pydantic
     #   pydantic-core
-    #   referencing
     #   rerun-sdk
     #   starlette
     #   torch
     #   typing-inspect
     #   typing-inspection
-    #   uvicorn
-    #   virtualenv
     #   wandb
 typing-inspect==0.9.0
     # via draccus
 typing-inspection==0.4.2
-    # via pydantic
-tzdata==2025.2
+    # via
+    #   fastapi
+    #   pydantic
+tzdata==2025.3
     # via pandas
 u-msgpack-python==2.8.0
     # via meshcat
-urllib3==2.5.0
+urllib3==2.6.3
     # via
     #   requests
     #   sentry-sdk
-uvicorn[standard]==0.38.0
+uvicorn[standard]==0.41.0
     # via teleop
 uvloop==0.22.1
     # via uvicorn
-virtualenv==20.35.3
+virtualenv==21.1.0
     # via pre-commit
-wandb==0.21.4
-    # via
-    #   lerobot
-    #   libero
+wandb==0.24.2
+    # via lerobot
 watchfiles==1.1.1
     # via uvicorn
-wcwidth==0.2.14
+wcwidth==0.6.0
     # via prompt-toolkit
 websocket-client==1.9.0
     # via teleop
-websockets==15.0.1
+websockets==16.0
     # via uvicorn
-werkzeug==3.1.3
-    # via tensorboard
-wrapt==2.0.0
+wrapt==2.1.2
     # via dm-tree
 xxhash==3.6.0
     # via datasets
-yarl==1.22.0
+yarl==1.23.0
     # via aiohttp
 zipp==3.23.0
     # via

requirements-ubuntu.txt

@@ -1,12 +1,12 @@
 #
-# This file is autogenerated by pip-compile with Python 3.10
+# This file is autogenerated by pip-compile with Python 3.12
 # by the following command:
 #
 #    pip-compile --output-file=requirements-ubuntu.txt requirements.in
 #
 -e .[all]
     # via -[all]
-absl-py==2.3.1
+absl-py==2.4.0
     # via
     #   dm-control
     #   dm-env
@@ -14,30 +14,33 @@ absl-py==2.3.1
     #   labmaze
     #   mujoco
     #   tensorboard
-accelerate==1.11.0
+accelerate==1.13.0
     # via
     #   lerobot
     #   peft
 aiohappyeyeballs==2.6.1
     # via aiohttp
-aiohttp==3.13.1
+aiohttp==3.13.3
     # via fsspec
 aiosignal==1.4.0
     # via aiohttp
+annotated-doc==0.0.4
+    # via
+    #   fastapi
+    #   typer
 annotated-types==0.7.0
     # via pydantic
 antlr4-python3-runtime==4.9.3
     # via
     #   hydra-core
     #   omegaconf
-anyio==4.11.0
+anyio==4.12.1
     # via
+    #   httpx
     #   starlette
     #   watchfiles
-asttokens==3.0.0
+asttokens==3.0.1
     # via stack-data
-async-timeout==5.0.1
-    # via aiohttp
 attrs==25.4.0
     # via
     #   aiohttp
@@ -47,30 +50,35 @@ attrs==25.4.0
     #   referencing
     #   rerun-sdk
 av==15.1.0
-    # via lerobot
-bddl==1.0.1
-    # via libero
-certifi==2025.10.5
     # via
+    #   lerobot
+    #   qwen-vl-utils
+bddl==1.0.1
+    # via hf-libero
+certifi==2026.2.25
+    # via
+    #   httpcore
+    #   httpx
     #   requests
     #   sentry-sdk
 cffi==2.0.0
     # via pymunk
-cfgv==3.4.0
+cfgv==3.5.0
     # via pre-commit
-charset-normalizer==3.4.4
+charset-normalizer==3.4.5
     # via requests
-click==8.3.0
+click==8.3.1
     # via
+    #   typer
     #   uvicorn
     #   wandb
-cloudpickle==3.1.1
+cloudpickle==3.1.2
     # via
     #   gymnasium
-    #   libero
-cmake==4.1.0
+    #   hf-libero
+cmake==4.1.3
     # via lerobot
-cmeel==0.57.3
+cmeel==0.59.0
     # via
     #   cmeel-assimp
     #   cmeel-boost
@@ -108,20 +116,24 @@ cmeel-zlib==1.3.1
     # via cmeel-assimp
 coal-library==3.0.1
     # via pin
-contourpy==1.3.2
-    # via matplotlib
-coverage[toml]==7.11.0
+contourpy==1.3.3
+    # via
+    #   lerobot
+    #   matplotlib
+coverage[toml]==7.13.4
     # via pytest-cov
+cuda-bindings==12.9.4
+    # via torch
+cuda-pathfinder==1.4.1
+    # via cuda-bindings
 cycler==0.12.1
     # via matplotlib
-datasets==4.1.1
+datasets==4.6.1
     # via lerobot
-debugpy==1.8.17
+debugpy==1.8.20
     # via lerobot
 decorator==5.2.1
     # via ipython
-decord==0.6.0
-    # via lerobot
 deepdiff==8.6.1
     # via lerobot
 diffusers==0.35.2
@@ -132,7 +144,7 @@ dill==0.4.0
     #   multiprocess
 distlib==0.4.0
     # via virtualenv
-dm-control==1.0.34
+dm-control==1.0.37
     # via gym-aloha
 dm-env==1.6
     # via dm-control
@@ -140,7 +152,6 @@ dm-tree==0.1.9
     # via
     #   dm-control
     #   dm-env
-    #   lerobot
 docopt==0.6.2
     # via num2words
 draccus==0.10.0
@@ -148,66 +159,60 @@ draccus==0.10.0
 dynamixel-sdk==3.8.4
     # via lerobot
 easydict==1.13
-    # via libero
-egl-probe @ git+https://github.com/huggingface/egl_probe.git
-    # via
-    #   libero
-    #   robomimic
+    # via hf-libero
+egl-probe==1.0.2
+    # via robomimic
 eigenpy==3.10.3
     # via coal-library
-einops==0.8.1
+einops==0.8.2
     # via
-    #   flash-attn
+    #   hf-libero
     #   lerobot
-    #   libero
 eiquadprog==1.2.9
     # via placo
-etils[epath,epy]==1.13.0
+etils[epath,epy]==1.14.0
     # via mujoco
-evdev==1.9.2
+evdev==1.9.3
     # via pynput
-exceptiongroup==1.3.0
-    # via
-    #   anyio
-    #   ipython
-    #   pytest
 executing==2.2.1
     # via stack-data
+faker==34.0.2
+    # via lerobot
 farama-notifications==0.0.4
     # via gymnasium
-fastapi==0.119.1
-    # via teleop
+fastapi==0.135.1
+    # via
+    #   lerobot
+    #   teleop
 fastjsonschema==2.21.2
     # via nbformat
 feetech-servo-sdk==1.0.0
     # via lerobot
-filelock==3.20.0
+filelock==3.25.0
     # via
     #   datasets
     #   diffusers
     #   huggingface-hub
+    #   python-discovery
     #   torch
-    #   transformers
     #   virtualenv
-flash-attn==2.8.3
-    # via lerobot
-fonttools==4.60.1
+fonttools==4.61.1
     # via matplotlib
 frozenlist==1.8.0
     # via
     #   aiohttp
     #   aiosignal
-fsspec[http]==2025.9.0
+fsspec[http]==2026.2.0
     # via
     #   datasets
     #   etils
     #   huggingface-hub
     #   torch
 future==1.0.0
-    # via libero
+    # via hf-libero
 gitdb==4.0.12
     # via gitpython
-gitpython==3.1.45
+gitpython==3.1.46
     # via wandb
 glfw==2.10.0
     # via
@@ -230,50 +235,60 @@ gym-hil==0.1.13
     # via lerobot
 gym-pusht==0.1.6
     # via lerobot
-gymnasium==1.2.1
+gymnasium==1.2.3
     # via
     #   gym-aloha
     #   gym-hil
     #   gym-pusht
+    #   hf-libero
     #   lerobot
-    #   libero
     #   metaworld
 h11==0.16.0
-    # via uvicorn
-h5py==3.15.1
+    # via
+    #   httpcore
+    #   uvicorn
+h5py==3.16.0
     # via robomimic
 hebi-py==2.11.0
     # via lerobot
-hf-transfer==0.1.9
-    # via huggingface-hub
-hf-xet==1.1.10
+hf-egl-probe==1.0.2
+    # via hf-libero
+hf-libero==0.1.3
+    # via lerobot
+hf-xet==1.3.2
     # via huggingface-hub
 hidapi==0.14.0.post4
     # via
     #   gym-hil
     #   lerobot
+httpcore==1.0.9
+    # via httpx
 httptools==0.7.1
     # via uvicorn
-huggingface-hub[cli,hf-transfer]==0.35.3
+httpx==0.28.1
+    # via
+    #   datasets
+    #   huggingface-hub
+huggingface-hub==1.6.0
     # via
     #   accelerate
     #   datasets
     #   diffusers
     #   lerobot
     #   peft
-    #   timm
     #   tokenizers
     #   transformers
 hydra-core==1.3.2
-    # via libero
-identify==2.6.15
+    # via hf-libero
+identify==2.6.17
     # via pre-commit
 idna==3.11
     # via
     #   anyio
+    #   httpx
     #   requests
     #   yarl
-imageio[ffmpeg]==2.37.0
+imageio[ffmpeg]==2.37.2
     # via
     #   gym-aloha
     #   gym-hil
@@ -285,16 +300,14 @@ imageio-ffmpeg==0.6.0
     # via
     #   imageio
     #   robomimic
-importlib-metadata==8.7.0
+importlib-metadata==8.7.1
     # via diffusers
-importlib-resources==6.5.2
-    # via etils
 iniconfig==2.3.0
     # via pytest
-inquirerpy==0.3.4
-    # via huggingface-hub
-ipython==8.37.0
+ipython==9.11.0
     # via meshcat
+ipython-pygments-lexers==1.1.1
+    # via ipython
 ischedule==1.2.7
     # via placo
 jedi==0.19.2
@@ -303,40 +316,41 @@ jinja2==3.1.6
     # via torch
 jsonlines==4.0.0
     # via lerobot
-jsonschema==4.25.1
+jsonschema==4.26.0
     # via nbformat
 jsonschema-specifications==2025.9.1
     # via jsonschema
 jupyter-core==5.9.1
     # via nbformat
-jupytext==1.18.1
+jupytext==1.19.1
     # via bddl
 kiwisolver==1.4.9
     # via matplotlib
 labmaze==1.0.6
     # via dm-control
-lazy-loader==0.4
+lazy-loader==0.5
     # via scikit-image
-libero @ git+https://github.com/huggingface/lerobot-libero.git@main
-    # via lerobot
-llvmlite==0.45.1
+librt==0.8.1
+    # via mypy
+llvmlite==0.46.0
     # via numba
 lxml==6.0.2
     # via dm-control
-markdown==3.9
+markdown==3.10.2
     # via tensorboard
 markdown-it-py==4.0.0
     # via
     #   jupytext
     #   mdit-py-plugins
+    #   rich
 markupsafe==3.0.3
     # via
     #   jinja2
     #   werkzeug
-matplotlib==3.10.7
+matplotlib==3.10.8
     # via
+    #   hf-libero
     #   lerobot
-    #   libero
 matplotlib-inline==0.2.1
     # via ipython
 mdit-py-plugins==0.5.0
@@ -353,36 +367,38 @@ mock-serial==0.0.1
     # via lerobot
 mpmath==1.3.0
     # via sympy
-mujoco==3.3.7
+mujoco==3.5.0
     # via
     #   dm-control
     #   gym-aloha
     #   gym-hil
-    #   libero
+    #   hf-libero
     #   metaworld
     #   robosuite
-multidict==6.7.0
+multidict==6.7.1
     # via
     #   aiohttp
     #   yarl
-multiprocess==0.70.16
+multiprocess==0.70.18
     # via datasets
+mypy==1.19.1
+    # via lerobot
 mypy-extensions==1.1.0
-    # via typing-inspect
+    # via
+    #   mypy
+    #   typing-inspect
 nbformat==5.10.4
     # via jupytext
-networkx==3.4.2
+networkx==3.6.1
     # via
     #   bddl
     #   scikit-image
     #   torch
-ninja==1.13.0
-    # via lerobot
-nodeenv==1.9.1
+nodeenv==1.10.0
     # via pre-commit
 num2words==0.5.14
     # via lerobot
-numba==0.62.1
+numba==0.64.0
     # via robosuite
 numpy==2.2.6
     # via
@@ -391,7 +407,6 @@ numpy==2.2.6
     #   cmeel-boost
     #   contourpy
     #   datasets
-    #   decord
     #   diffusers
     #   dm-control
     #   dm-env
@@ -399,9 +414,10 @@ numpy==2.2.6
     #   gymnasium
     #   h5py
     #   hebi-py
+    #   hf-libero
     #   imageio
     #   labmaze
-    #   libero
+    #   lerobot
     #   matplotlib
     #   meshcat
     #   metaworld
@@ -426,49 +442,51 @@ numpy==2.2.6
     #   torchvision
     #   transformers
     #   transforms3d
-nvidia-cublas-cu12==12.6.4.1
+nvidia-cublas-cu12==12.8.4.1
     # via
     #   nvidia-cudnn-cu12
     #   nvidia-cusolver-cu12
     #   torch
-nvidia-cuda-cupti-cu12==12.6.80
+nvidia-cuda-cupti-cu12==12.8.90
     # via torch
-nvidia-cuda-nvrtc-cu12==12.6.77
+nvidia-cuda-nvrtc-cu12==12.8.93
     # via torch
-nvidia-cuda-runtime-cu12==12.6.77
+nvidia-cuda-runtime-cu12==12.8.90
     # via torch
-nvidia-cudnn-cu12==9.5.1.17
+nvidia-cudnn-cu12==9.10.2.21
     # via torch
-nvidia-cufft-cu12==11.3.0.4
+nvidia-cufft-cu12==11.3.3.83
     # via torch
-nvidia-cufile-cu12==1.11.1.6
+nvidia-cufile-cu12==1.13.1.3
     # via torch
-nvidia-curand-cu12==10.3.7.77
+nvidia-curand-cu12==10.3.9.90
     # via torch
-nvidia-cusolver-cu12==11.7.1.2
+nvidia-cusolver-cu12==11.7.3.90
     # via torch
-nvidia-cusparse-cu12==12.5.4.2
+nvidia-cusparse-cu12==12.5.8.93
     # via
     #   nvidia-cusolver-cu12
     #   torch
-nvidia-cusparselt-cu12==0.6.3
+nvidia-cusparselt-cu12==0.7.1
     # via torch
-nvidia-nccl-cu12==2.26.2
+nvidia-nccl-cu12==2.27.5
     # via torch
-nvidia-nvjitlink-cu12==12.6.85
+nvidia-nvjitlink-cu12==12.8.93
     # via
     #   nvidia-cufft-cu12
     #   nvidia-cusolver-cu12
     #   nvidia-cusparse-cu12
     #   torch
-nvidia-nvtx-cu12==12.6.77
+nvidia-nvshmem-cu12==3.4.5
+    # via torch
+nvidia-nvtx-cu12==12.8.90
     # via torch
 omegaconf==2.3.0
     # via hydra-core
-opencv-python==4.12.0.88
+opencv-python==4.13.0.92
     # via
     #   gym-pusht
-    #   libero
+    #   hf-libero
     #   reachy2-sdk
     #   robosuite
 opencv-python-headless==4.12.0.88
@@ -487,6 +505,7 @@ packaging==25.0
     #   matplotlib
     #   peft
     #   pytest
+    #   qwen-vl-utils
     #   reachy2-sdk
     #   scikit-image
     #   tensorboard
@@ -497,21 +516,21 @@ pandas==2.3.3
     # via
     #   datasets
     #   lerobot
-parso==0.8.5
+parso==0.8.6
     # via jedi
-peft==0.17.1
+pathspec==1.0.4
+    # via mypy
+peft==0.18.1
     # via lerobot
 pexpect==4.9.0
     # via ipython
-pfzy==0.3.4
-    # via inquirerpy
-pillow==12.0.0
+pillow==12.1.1
     # via
     #   diffusers
     #   imageio
-    #   lerobot
     #   matplotlib
     #   meshcat
+    #   qwen-vl-utils
     #   rerun-sdk
     #   robosuite
     #   scikit-image
@@ -519,28 +538,27 @@ pillow==12.0.0
     #   torchvision
 pin==3.4.0
     # via placo
-placo==0.9.14
+placo==0.9.16
     # via lerobot
-platformdirs==4.5.0
+platformdirs==4.9.4
     # via
     #   jupyter-core
+    #   python-discovery
     #   virtualenv
     #   wandb
 pluggy==1.6.0
     # via
     #   pytest
     #   pytest-cov
-pre-commit==4.3.0
+pre-commit==4.5.1
     # via lerobot
 prompt-toolkit==3.0.52
-    # via
-    #   inquirerpy
-    #   ipython
+    # via ipython
 propcache==0.4.1
     # via
     #   aiohttp
     #   yarl
-protobuf==6.31.0
+protobuf==6.31.1
     # via
     #   dm-control
     #   grpcio-tools
@@ -550,7 +568,7 @@ protobuf==6.31.0
     #   tensorboard
     #   tensorboardx
     #   wandb
-psutil==7.1.1
+psutil==7.2.2
     # via
     #   accelerate
     #   imageio
@@ -560,17 +578,17 @@ ptyprocess==0.7.0
     # via pexpect
 pure-eval==0.2.3
     # via stack-data
-pyarrow==21.0.0
+pyarrow==23.0.1
     # via
     #   datasets
     #   rerun-sdk
-pycparser==2.23
+pycparser==3.0
     # via cffi
-pydantic==2.12.3
+pydantic==2.12.5
     # via
     #   fastapi
     #   wandb
-pydantic-core==2.41.4
+pydantic-core==2.41.5
     # via pydantic
 pygame==2.6.1
     # via
@@ -580,12 +598,14 @@ pygame==2.6.1
 pygments==2.19.2
     # via
     #   ipython
+    #   ipython-pygments-lexers
     #   pytest
+    #   rich
 pymunk==6.11.1
     # via
     #   gym-pusht
     #   lerobot
-pyngrok==7.4.1
+pyngrok==7.5.1
     # via meshcat
 pynput==1.8.1
     # via
@@ -595,7 +615,7 @@ pyopengl==3.1.10
     # via
     #   dm-control
     #   mujoco
-pyparsing==3.2.5
+pyparsing==3.3.2
     # via
     #   dm-control
     #   matplotlib
@@ -621,13 +641,16 @@ pytest-timeout==2.4.0
     # via lerobot
 python-dateutil==2.9.0.post0
     # via
+    #   faker
     #   matplotlib
     #   pandas
-python-dotenv==1.1.1
+python-discovery==1.1.1
+    # via virtualenv
+python-dotenv==1.2.2
     # via uvicorn
 python-xlib==0.33
     # via pynput
-pytz==2025.2
+pytz==2026.1.post1
     # via pandas
 pyyaml==6.0.3
     # via
@@ -642,7 +665,6 @@ pyyaml==6.0.3
     #   pre-commit
     #   pyngrok
     #   pyyaml-include
-    #   timm
     #   transformers
     #   uvicorn
     #   wandb
@@ -652,7 +674,9 @@ pyzmq==27.1.0
     # via
     #   lerobot
     #   meshcat
-reachy2-sdk==1.0.14
+qwen-vl-utils==0.0.14
+    # via lerobot
+reachy2-sdk==1.0.15
     # via lerobot
 reachy2-sdk-api==1.0.21
     # via reachy2-sdk
@@ -660,7 +684,7 @@ referencing==0.37.0
     # via
     #   jsonschema
     #   jsonschema-specifications
-regex==2025.10.23
+regex==2026.2.28
     # via
     #   diffusers
     #   transformers
@@ -669,60 +693,62 @@ requests==2.32.5
     #   datasets
     #   diffusers
     #   dm-control
-    #   huggingface-hub
+    #   qwen-vl-utils
     #   teleop
-    #   transformers
     #   wandb
-rerun-sdk==0.26.1
+rerun-sdk==0.26.2
     # via lerobot
 rhoban-cmeel-jsoncpp==1.9.4.9
     # via placo
+rich==14.3.3
+    # via typer
 robomimic==0.2.0
-    # via libero
+    # via hf-libero
 robosuite==1.4.0
-    # via libero
-rpds-py==0.28.0
+    # via hf-libero
+rpds-py==0.30.0
     # via
     #   jsonschema
     #   referencing
-safetensors==0.6.2
+safetensors==0.7.0
     # via
     #   accelerate
     #   diffusers
     #   lerobot
     #   peft
-    #   timm
     #   transformers
 scikit-image==0.25.2
     # via
     #   gym-pusht
     #   lerobot
-scipy==1.15.3
+scipy==1.17.1
     # via
     #   dm-control
+    #   lerobot
     #   metaworld
     #   robosuite
     #   scikit-image
-sentry-sdk==2.42.1
+    #   torchdiffeq
+sentry-sdk==2.54.0
     # via wandb
 shapely==2.1.2
     # via gym-pusht
+shellingham==1.5.4
+    # via typer
 six==1.17.0
     # via
     #   pynput
     #   python-dateutil
     #   python-xlib
-smmap==5.0.2
+smmap==5.0.3
     # via gitdb
-sniffio==1.3.1
-    # via anyio
 stack-data==0.6.3
     # via ipython
-starlette==0.48.0
+starlette==0.52.1
     # via fastapi
 sympy==1.14.0
     # via torch
-teleop==0.1.2
+teleop==0.1.4
     # via lerobot
 tensorboard==2.20.0
     # via robomimic
@@ -730,46 +756,38 @@ tensorboard-data-server==0.7.2
     # via tensorboard
 tensorboardx==2.6.4
     # via robomimic
-termcolor==3.1.0
+termcolor==3.3.0
     # via
     #   lerobot
     #   robomimic
 thop==0.1.1.post2209072238
-    # via libero
-tifffile==2025.5.10
+    # via hf-libero
+tifffile==2026.3.3
     # via scikit-image
-timm==1.0.20
-    # via lerobot
-tokenizers==0.22.1
+tokenizers==0.22.2
     # via transformers
 toml==0.10.2
     # via draccus
-tomli==2.3.0
-    # via
-    #   cmeel
-    #   coverage
-    #   jupytext
-    #   pytest
-torch==2.7.1
+torch==2.10.0
     # via
     #   accelerate
-    #   flash-attn
     #   lerobot
     #   peft
     #   robomimic
     #   thop
-    #   timm
+    #   torchdiffeq
     #   torchvision
-torchcodec==0.5
+torchcodec==0.10.0
     # via lerobot
-torchvision==0.22.1
+torchdiffeq==0.2.5
+    # via lerobot
+torchvision==0.25.0
     # via
     #   lerobot
     #   robomimic
-    #   timm
-tornado==6.5.2
+tornado==6.5.4
     # via meshcat
-tqdm==4.67.1
+tqdm==4.67.3
     # via
     #   datasets
     #   dm-control
@@ -783,26 +801,29 @@ traitlets==5.14.3
     #   jupyter-core
     #   matplotlib-inline
     #   nbformat
-transformers==4.57.1
+transformers==5.3.0
     # via
+    #   hf-libero
     #   lerobot
-    #   libero
     #   peft
 transforms3d==0.4.2
     # via teleop
-triton==3.3.1
+triton==3.6.0
     # via torch
+typer==0.24.1
+    # via
+    #   huggingface-hub
+    #   transformers
 typing-extensions==4.15.0
     # via
     #   aiosignal
     #   anyio
     #   etils
-    #   exceptiongroup
+    #   faker
     #   fastapi
     #   gymnasium
     #   huggingface-hub
-    #   ipython
-    #   multidict
+    #   mypy
     #   pydantic
     #   pydantic-core
     #   referencing
@@ -811,46 +832,46 @@ typing-extensions==4.15.0
     #   torch
     #   typing-inspect
     #   typing-inspection
-    #   uvicorn
-    #   virtualenv
     #   wandb
 typing-inspect==0.9.0
     # via draccus
 typing-inspection==0.4.2
-    # via pydantic
-tzdata==2025.2
+    # via
+    #   fastapi
+    #   pydantic
+tzdata==2025.3
     # via pandas
 u-msgpack-python==2.8.0
     # via meshcat
-urllib3==2.5.0
+urllib3==2.6.3
     # via
     #   requests
     #   sentry-sdk
-uvicorn[standard]==0.38.0
+uvicorn[standard]==0.41.0
     # via teleop
 uvloop==0.22.1
     # via uvicorn
-virtualenv==20.35.3
+virtualenv==21.1.0
     # via pre-commit
-wandb==0.21.4
+wandb==0.24.2
     # via
+    #   hf-libero
     #   lerobot
-    #   libero
 watchfiles==1.1.1
     # via uvicorn
-wcwidth==0.2.14
+wcwidth==0.6.0
     # via prompt-toolkit
 websocket-client==1.9.0
     # via teleop
-websockets==15.0.1
+websockets==16.0
     # via uvicorn
-werkzeug==3.1.3
+werkzeug==3.1.6
     # via tensorboard
-wrapt==2.0.0
+wrapt==2.1.2
     # via dm-tree
 xxhash==3.6.0
     # via datasets
-yarl==1.22.0
+yarl==1.23.0
     # via aiohttp
 zipp==3.23.0
     # via

requirements.in

@@ -1,9 +1,9 @@
 # requirements.in
 
-# requirements-macos.txt was generated on macOS and is platform-specific (macOS 26.0.1 25A362 arm64).
-# Darwin MacBook-Pro.local 25.0.0 Darwin Kernel Version 25.0.0: Wed Sep 17 21:42:08 PDT 2025; root:xnu-12377.1.9~141/RELEASE_ARM64_T8132 arm64
+# requirements-macos.txt was generated on macOS and is platform-specific (macOS 26.3.1 25D2128 arm64).
+# Darwin MacBook-Pro.local 25.3.0 Darwin Kernel Version 25.3.0: Wed Jan 28 20:54:55 PST 2026; root:xnu-12377.91.3~2/RELEASE_ARM64_T8132 arm64
 
-# requirements-ubuntu.txt was generated on Linux and is platform-specific (Ubuntu 24.04.3 LTS x86_64).
-# Linux mlerobot-linux 6.14.0-33-generic #33~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Fri Sep 19 17:02:30 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
+# requirements-ubuntu.txt was generated on Linux and is platform-specific (Ubuntu 24.04.4 LTS x86_64).
+# Linux lerobot-linux 6.17.0-14-generic #14~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Thu Jan 15 15:52:10 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
 
 -e .[all]

scripts/multimodal_analysis.py

@@ -0,0 +1,689 @@
+#!/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.
+
+"""
+Chunk-level multi-modality analysis for comparing full/mixed vs curated datasets.
+
+Treats each action chunk (sliding window of CHUNK_SIZE consecutive frames) as the
+atomic unit, tagged by the SARM progress score at its start frame. For each
+progress band, compares the full vs HQ dataset on:
+
+  1. Intra-band action variance
+  2. Progress delta per chunk
+  3. GMM + BIC optimal K (number of distinct strategies)
+  4. PCA embedding (visual cluster inspection)
+
+Usage:
+    python chunk_multimodality_analysis.py \\
+        --full-dataset lerobot-data-collection/level12_rac_2_2026-02-08_1 \\
+        --hq-dataset   lerobot-data-collection/level2_final_quality3 \\
+        --output-dir   ./chunk_analysis
+"""
+
+from __future__ import annotations
+
+import argparse
+import logging
+from collections import defaultdict
+from pathlib import Path
+
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+from huggingface_hub import hf_hub_download
+from scipy.stats import gaussian_kde
+from sklearn.decomposition import PCA
+from sklearn.mixture import GaussianMixture
+from sklearn.preprocessing import StandardScaler
+
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s %(message)s")
+logger = logging.getLogger(__name__)
+
+# ── Visual style ──────────────────────────────────────────────────────────
+
+BG = "#0e1117"
+CARD = "#1a1d27"
+BORDER = "#2a2d3a"
+SUB = "#8b8fa8"
+TEXT = "#e8eaf0"
+C_FULL = "#f7934f"
+C_HQ = "#4dc98a"
+
+
+def _style_ax(ax: plt.Axes) -> None:
+    ax.set_facecolor(CARD)
+    ax.tick_params(colors=SUB, labelsize=8)
+    for spine in ax.spines.values():
+        spine.set_color(BORDER)
+
+
+def _save(fig: plt.Figure, path: Path) -> None:
+    fig.savefig(path, dpi=150, bbox_inches="tight", facecolor=BG)
+    plt.close(fig)
+    logger.info("Saved %s", path)
+
+
+# ── Step 0: Load episodes ────────────────────────────────────────────────
+
+def _load_sarm_progress(repo_id: str) -> pd.DataFrame | None:
+    """Try to download sarm_progress.parquet from the Hub."""
+    try:
+        path = hf_hub_download(
+            repo_id=repo_id, filename="sarm_progress.parquet",
+            repo_type="dataset",
+        )
+        df = pd.read_parquet(path)
+        col = "progress_sparse" if "progress_sparse" in df.columns else "progress_dense"
+        if col not in df.columns:
+            logger.warning("sarm_progress.parquet has no progress columns — ignoring")
+            return None
+        logger.info("Loaded SARM progress (%s) for %s (%d rows)", col, repo_id, len(df))
+        return df.rename(columns={col: "progress"})[["episode_index", "frame_index", "progress"]]
+    except Exception as exc:
+        logger.warning("Could not load sarm_progress.parquet for %s: %s", repo_id, exc)
+        return None
+
+
+def load_episodes(
+    repo_id: str,
+    n_joints: int = 16,
+    max_episodes: int | None = None,
+) -> list[dict]:
+    dataset = LeRobotDataset(repo_id, download_videos=False)
+    raw = dataset.hf_dataset
+
+    sarm_df = _load_sarm_progress(repo_id)
+    # Build per-episode progress arrays from SARM parquet (indexed by frame_index)
+    sarm_by_ep: dict[int, dict[int, float]] = {}
+    if sarm_df is not None:
+        if max_episodes is not None:
+            sarm_df = sarm_df[sarm_df["episode_index"] < max_episodes]
+        for ep_id, grp in sarm_df.groupby("episode_index"):
+            sarm_by_ep[int(ep_id)] = dict(
+                zip(grp["frame_index"].astype(int), grp["progress"].astype(float))
+            )
+
+    episodes: dict[int, dict] = defaultdict(lambda: {"actions": [], "progress": []})
+    for row in raw:
+        ep = int(row["episode_index"])
+        if max_episodes is not None and ep >= max_episodes:
+            continue
+        action = np.array(row["action"], dtype=np.float32)[:n_joints]
+        episodes[ep]["actions"].append(action)
+        fi = int(row["frame_index"])
+        ep_prog = sarm_by_ep.get(ep, {})
+        episodes[ep]["progress"].append(ep_prog.get(fi, float("nan")))
+
+    has_sarm = len(sarm_lookup) > 0
+    result = []
+    for ep_id, d in sorted(episodes.items()):
+        actions = np.stack(d["actions"])
+        T = len(actions)
+        if has_sarm:
+            prog = np.array(d["progress"], dtype=np.float32)
+            prog = np.clip(np.nan_to_num(prog, nan=0.0), 0.0, 1.0)
+            prog = np.maximum.accumulate(prog)
+        else:
+            prog = np.linspace(0.0, 1.0, T, dtype=np.float32)
+        result.append({"episode": ep_id, "actions": actions, "progress": prog})
+
+    src = "SARM" if has_sarm else "time-based"
+    logger.info("Progress source: %s", src)
+    return result
+
+
+# ── Step 1: Filter short episodes ────────────────────────────────────────
+
+def auto_length_threshold(
+    episodes_full: list[dict], episodes_hq: list[dict]
+) -> int:
+    all_lengths = np.array(
+        [e["actions"].shape[0] for e in episodes_full + episodes_hq]
+    )
+    kde = gaussian_kde(all_lengths, bw_method=0.25)
+    xs = np.linspace(all_lengths.min(), np.percentile(all_lengths, 40), 300)
+    return int(xs[np.argmin(kde(xs))])
+
+
+def plot_length_distribution(
+    episodes_full: list[dict],
+    episodes_hq: list[dict],
+    threshold: int,
+    out_path: Path,
+) -> None:
+    lens_full = np.array([e["actions"].shape[0] for e in episodes_full])
+    lens_hq = np.array([e["actions"].shape[0] for e in episodes_hq])
+    all_lens = np.concatenate([lens_full, lens_hq])
+
+    fig, ax = plt.subplots(figsize=(10, 5))
+    fig.patch.set_facecolor(BG)
+    _style_ax(ax)
+
+    bins = np.linspace(all_lens.min(), all_lens.max(), 50)
+    ax.hist(lens_full, bins=bins, alpha=0.5, color=C_FULL, label="Full/Mixed")
+    ax.hist(lens_hq, bins=bins, alpha=0.5, color=C_HQ, label="HQ")
+
+    xs = np.linspace(all_lens.min(), all_lens.max(), 300)
+    kde = gaussian_kde(all_lens, bw_method=0.25)
+    ax.plot(xs, kde(xs) * len(all_lens) * (bins[1] - bins[0]), color=TEXT, lw=1.5, label="KDE (combined)")
+
+    ax.axvline(threshold, color="#ff4b4b", ls="--", lw=1.5, label=f"Threshold = {threshold}")
+    ax.set_xlabel("Episode length (frames)", color=SUB)
+    ax.set_ylabel("Count", color=SUB)
+    ax.set_title("Episode Length Distribution", color=TEXT, fontsize=13)
+    ax.legend(facecolor=CARD, edgecolor=BORDER, labelcolor=TEXT, fontsize=8)
+    _save(fig, out_path)
+
+
+def filter_episodes(episodes: list[dict], min_length: int) -> list[dict]:
+    kept = [e for e in episodes if e["actions"].shape[0] >= min_length]
+    logger.info("Kept %d / %d episodes (min_length=%d)", len(kept), len(episodes), min_length)
+    return kept
+
+
+# ── Step 2: Extract chunks ───────────────────────────────────────────────
+
+def extract_chunks(
+    episodes: list[dict],
+    chunk_size: int = 30,
+    chunk_stride: int = 15,
+) -> list[dict]:
+    chunks = []
+    for ep in episodes:
+        actions = ep["actions"]
+        T = len(actions)
+        prog = ep["progress"]
+
+        for t in range(0, T - chunk_size, chunk_stride):
+            chunk = actions[t : t + chunk_size]
+            p_start = float(prog[t])
+            p_end = float(prog[min(t + chunk_size, T - 1)])
+
+            chunks.append({
+                "action_mean": chunk.mean(axis=0).astype(np.float32),
+                "action_flat": chunk.flatten().astype(np.float32),
+                "progress_start": p_start,
+                "progress_delta": p_end - p_start,
+                "episode": ep["episode"],
+            })
+    return chunks
+
+
+# ── Step 3: Adaptive progress bands ─────────────────────────────────────
+
+def make_bands(n_bands: int = 5) -> list[tuple[float, float]]:
+    edges = np.linspace(0.0, 1.0, n_bands + 1)
+    return [(float(edges[i]), float(edges[i + 1])) for i in range(n_bands)]
+
+
+def assign_bands(
+    chunks: list[dict], band_edges: list[tuple[float, float]]
+) -> list[dict]:
+    n = len(band_edges)
+    for c in chunks:
+        p = c["progress_start"]
+        c["band"] = next(
+            (bi for bi, (lo, hi) in enumerate(band_edges) if p < hi),
+            n - 1,
+        )
+    return chunks
+
+
+def split_by_band(chunks: list[dict], n_bands: int) -> dict[int, list[dict]]:
+    out: dict[int, list[dict]] = {b: [] for b in range(n_bands)}
+    for c in chunks:
+        out[c["band"]].append(c)
+    return out
+
+
+# ── Step 4: Intra-band action variance ──────────────────────────────────
+
+def band_variance_matrix(
+    bands: dict[int, list[dict]], n_bands: int, n_joints: int
+) -> np.ndarray:
+    var_mat = np.full((n_bands, n_joints), np.nan)
+    for b, clist in bands.items():
+        if len(clist) < 3:
+            continue
+        means = np.stack([c["action_mean"] for c in clist])
+        var_mat[b] = np.var(means, axis=0)
+    return var_mat
+
+
+def plot_variance_heatmap(
+    var_full: np.ndarray,
+    var_hq: np.ndarray,
+    band_edges: list[tuple[float, float]],
+    out_path: Path,
+) -> None:
+    n_bands = var_full.shape[0]
+    vmin = 0.0
+    vmax = max(np.nanmax(var_full), np.nanmax(var_hq))
+
+    band_labels = [f"{lo:.0%}–{hi:.0%}" for lo, hi in band_edges]
+    joint_labels = [f"J{j}" for j in range(var_full.shape[1])]
+
+    fig, axes = plt.subplots(3, 1, figsize=(12, 10), gridspec_kw={"height_ratios": [3, 3, 2]})
+    fig.patch.set_facecolor(BG)
+    fig.suptitle("Intra-Band Action Variance", color=TEXT, fontsize=14, y=0.98)
+
+    for ax_idx, (mat, label) in enumerate([(var_full, "Full/Mixed"), (var_hq, "HQ")]):
+        ax = axes[ax_idx]
+        _style_ax(ax)
+        im = ax.imshow(mat, aspect="auto", cmap="YlOrRd", vmin=vmin, vmax=vmax)
+        ax.set_yticks(range(n_bands))
+        ax.set_yticklabels(band_labels, fontsize=7, color=SUB)
+        ax.set_xticks(range(var_full.shape[1]))
+        ax.set_xticklabels(joint_labels, fontsize=7, color=SUB)
+        ax.set_title(f"Panel {'A' if ax_idx == 0 else 'B'}: {label}", color=TEXT, fontsize=11)
+        fig.colorbar(im, ax=ax, fraction=0.02, pad=0.02)
+
+    with np.errstate(invalid="ignore"):
+        mean_full = np.nanmean(var_full, axis=1)
+        mean_hq = np.nanmean(var_hq, axis=1)
+    ratio = np.where(np.isnan(mean_full) | np.isnan(mean_hq), np.nan,
+                     mean_full / (mean_hq + 1e-8))
+    ax_bar = axes[2]
+    _style_ax(ax_bar)
+    colors = [
+        "#ff4b4b" if r > 2.0 else "#ffaa33" if r > 1.2 else C_HQ
+        for r in ratio
+    ]
+    ax_bar.bar(range(n_bands), ratio, color=colors, edgecolor=BORDER)
+    ax_bar.axhline(1.0, color=SUB, ls="--", lw=0.8)
+    ax_bar.set_xticks(range(n_bands))
+    ax_bar.set_xticklabels(band_labels, fontsize=7, color=SUB)
+    ax_bar.set_ylabel("Variance ratio\n(Full / HQ)", color=SUB, fontsize=9)
+    ax_bar.set_title("Panel C: Variance Ratio per Band", color=TEXT, fontsize=11)
+
+    fig.tight_layout(rect=[0, 0, 1, 0.96])
+    _save(fig, out_path)
+
+
+# ── Step 5: Progress delta per band ──────────────────────────────────────
+
+def plot_progress_delta(
+    bands_full: dict[int, list[dict]],
+    bands_hq: dict[int, list[dict]],
+    band_edges: list[tuple[float, float]],
+    out_path: Path,
+) -> None:
+    n_bands = len(band_edges)
+    band_labels = [f"{lo:.0%}–{hi:.0%}" for lo, hi in band_edges]
+    x = np.arange(n_bands)
+    w = 0.35
+
+    means_full, stds_full = [], []
+    means_hq, stds_hq = [], []
+    all_deltas_full, all_deltas_hq = [], []
+
+    for b in range(n_bands):
+        df = np.array([c["progress_delta"] for c in bands_full.get(b, [])])
+        dh = np.array([c["progress_delta"] for c in bands_hq.get(b, [])])
+        means_full.append(np.mean(df) if len(df) > 0 else 0)
+        stds_full.append(np.std(df) if len(df) > 0 else 0)
+        means_hq.append(np.mean(dh) if len(dh) > 0 else 0)
+        stds_hq.append(np.std(dh) if len(dh) > 0 else 0)
+        all_deltas_full.extend(df.tolist())
+        all_deltas_hq.extend(dh.tolist())
+
+    fig, (ax_bar, ax_viol) = plt.subplots(1, 2, figsize=(14, 5), gridspec_kw={"width_ratios": [3, 1]})
+    fig.patch.set_facecolor(BG)
+    fig.suptitle("Progress Delta per Chunk", color=TEXT, fontsize=14)
+
+    _style_ax(ax_bar)
+    ax_bar.bar(x - w / 2, means_full, w, yerr=stds_full, color=C_FULL, edgecolor=BORDER,
+               capsize=3, label="Full/Mixed", error_kw={"ecolor": SUB})
+    ax_bar.bar(x + w / 2, means_hq, w, yerr=stds_hq, color=C_HQ, edgecolor=BORDER,
+               capsize=3, label="HQ", error_kw={"ecolor": SUB})
+    ax_bar.set_xticks(x)
+    ax_bar.set_xticklabels(band_labels, fontsize=7, color=SUB, rotation=30)
+    ax_bar.set_ylabel("Mean progress Δ", color=SUB)
+    ax_bar.legend(facecolor=CARD, edgecolor=BORDER, labelcolor=TEXT, fontsize=8)
+
+    _style_ax(ax_viol)
+    data_viol = [np.array(all_deltas_full), np.array(all_deltas_hq)]
+    if all(len(d) > 0 for d in data_viol):
+        parts = ax_viol.violinplot(data_viol, positions=[0, 1], showmeans=True, showmedians=True)
+        for pc, c in zip(parts["bodies"], [C_FULL, C_HQ]):
+            pc.set_facecolor(c)
+            pc.set_alpha(0.7)
+        for key in ("cmeans", "cmedians", "cbars", "cmins", "cmaxes"):
+            if key in parts:
+                parts[key].set_color(SUB)
+    ax_viol.set_xticks([0, 1])
+    ax_viol.set_xticklabels(["Full", "HQ"], color=SUB)
+    ax_viol.set_ylabel("Progress Δ", color=SUB)
+    ax_viol.set_title("Overall Distribution", color=TEXT, fontsize=10)
+
+    fig.tight_layout()
+    _save(fig, out_path)
+
+
+# ── Step 6: GMM + BIC per band ──────────────────────────────────────────
+
+def gmm_optimal_k(
+    band_chunks: list[dict],
+    pca_components: int = 15,
+    max_k: int = 12,
+    seed: int = 42,
+) -> int | None:
+    if len(band_chunks) < 20:
+        return None
+    X = np.stack([c["action_flat"] for c in band_chunks])
+    X = StandardScaler().fit_transform(X)
+    n = min(pca_components, X.shape[1], X.shape[0] - 1)
+    X_r = PCA(n_components=n, random_state=seed).fit_transform(X)
+    bics = []
+    for k in range(1, min(max_k + 1, len(X_r) // 6)):
+        gmm = GaussianMixture(
+            n_components=k, covariance_type="full",
+            n_init=5, max_iter=300, random_state=seed,
+        )
+        gmm.fit(X_r)
+        bics.append((k, gmm.bic(X_r)))
+    if not bics:
+        return None
+    return min(bics, key=lambda x: x[1])[0]
+
+
+def plot_gmm_bic(
+    bands_full: dict[int, list[dict]],
+    bands_hq: dict[int, list[dict]],
+    band_edges: list[tuple[float, float]],
+    seed: int,
+    out_path: Path,
+) -> tuple[list[int | None], list[int | None]]:
+    n_bands = len(band_edges)
+    ks_full = [gmm_optimal_k(bands_full.get(b, []), seed=seed) for b in range(n_bands)]
+    ks_hq = [gmm_optimal_k(bands_hq.get(b, []), seed=seed) for b in range(n_bands)]
+
+    band_labels = [f"{lo:.0%}–{hi:.0%}" for lo, hi in band_edges]
+
+    fig, ax = plt.subplots(figsize=(10, 5))
+    fig.patch.set_facecolor(BG)
+    _style_ax(ax)
+
+    xs = np.arange(n_bands)
+    valid_full = [(i, k) for i, k in enumerate(ks_full) if k is not None]
+    valid_hq = [(i, k) for i, k in enumerate(ks_hq) if k is not None]
+
+    if valid_full:
+        xi, yi = zip(*valid_full)
+        ax.plot(xi, yi, "o-", color=C_FULL, label="Full/Mixed", lw=2, markersize=7)
+    if valid_hq:
+        xi, yi = zip(*valid_hq)
+        ax.plot(xi, yi, "o-", color=C_HQ, label="HQ", lw=2, markersize=7)
+
+    if valid_full and valid_hq:
+        all_x = sorted(set([i for i, _ in valid_full]) & set([i for i, _ in valid_hq]))
+        if len(all_x) >= 2:
+            kf_interp = {i: k for i, k in valid_full}
+            kh_interp = {i: k for i, k in valid_hq}
+            shared_x = [i for i in all_x if i in kf_interp and i in kh_interp]
+            yf = [kf_interp[i] for i in shared_x]
+            yh = [kh_interp[i] for i in shared_x]
+            ax.fill_between(shared_x, yf, yh, alpha=0.15, color=TEXT)
+
+    ax.set_xticks(xs)
+    ax.set_xticklabels(band_labels, fontsize=7, color=SUB, rotation=30)
+    ax.set_ylabel("Optimal K (GMM-BIC)", color=SUB)
+    ax.set_title("Number of Distinct Strategies per Band", color=TEXT, fontsize=13)
+    ax.legend(facecolor=CARD, edgecolor=BORDER, labelcolor=TEXT, fontsize=9)
+    ax.yaxis.set_major_locator(plt.MaxNLocator(integer=True))
+    fig.tight_layout()
+    _save(fig, out_path)
+    return ks_full, ks_hq
+
+
+# ── Step 7: PCA scatter per band ────────────────────────────────────────
+
+def plot_pca_scatter(
+    bands_full: dict[int, list[dict]],
+    bands_hq: dict[int, list[dict]],
+    band_edges: list[tuple[float, float]],
+    out_path: Path,
+) -> None:
+    n_plot = min(4, len(band_edges))
+    fig, axes = plt.subplots(2, n_plot, figsize=(4 * n_plot, 7))
+    fig.patch.set_facecolor(BG)
+    fig.suptitle("PCA of Action Chunks per Band", color=TEXT, fontsize=14)
+
+    if n_plot == 1:
+        axes = axes.reshape(2, 1)
+
+    for col, b in enumerate(range(n_plot)):
+        cf = bands_full.get(b, [])
+        ch = bands_hq.get(b, [])
+        lo, hi = band_edges[b]
+
+        for row, (clist, color, label) in enumerate([
+            (cf, C_FULL, "Full/Mixed"), (ch, C_HQ, "HQ")
+        ]):
+            ax = axes[row, col]
+            _style_ax(ax)
+            if row == 0:
+                ax.set_title(f"{lo:.0%}–{hi:.0%}", color=TEXT, fontsize=10)
+            if col == 0:
+                ax.set_ylabel(label, color=SUB, fontsize=9)
+
+            if len(cf) < 3 or len(ch) < 3:
+                ax.text(0.5, 0.5, "Too few\nchunks", transform=ax.transAxes,
+                        ha="center", va="center", color=SUB, fontsize=9)
+                continue
+
+            X_full_b = np.stack([c["action_flat"] for c in cf])
+            X_hq_b = np.stack([c["action_flat"] for c in ch])
+            X_all = np.vstack([X_full_b, X_hq_b])
+            X_all = StandardScaler().fit_transform(X_all)
+            X_2d = PCA(n_components=2, random_state=42).fit_transform(X_all)
+
+            X_2d_full = X_2d[: len(cf)]
+            X_2d_hq = X_2d[len(cf) :]
+
+            pts = X_2d_full if row == 0 else X_2d_hq
+            ax.scatter(pts[:, 0], pts[:, 1], s=8, alpha=0.5, color=color, edgecolors="none")
+
+    fig.tight_layout(rect=[0, 0, 1, 0.95])
+    _save(fig, out_path)
+
+
+# ── Plot 1: Chunk counts per band ───────────────────────────────────────
+
+def plot_chunk_counts(
+    bands_full: dict[int, list[dict]],
+    bands_hq: dict[int, list[dict]],
+    band_edges: list[tuple[float, float]],
+    out_path: Path,
+) -> None:
+    n_bands = len(band_edges)
+    band_labels = [f"{lo:.0%}–{hi:.0%}" for lo, hi in band_edges]
+    x = np.arange(n_bands)
+    w = 0.35
+
+    counts_full = [len(bands_full.get(b, [])) for b in range(n_bands)]
+    counts_hq = [len(bands_hq.get(b, [])) for b in range(n_bands)]
+
+    fig, ax = plt.subplots(figsize=(10, 5))
+    fig.patch.set_facecolor(BG)
+    _style_ax(ax)
+
+    ax.bar(x - w / 2, counts_full, w, color=C_FULL, edgecolor=BORDER, label="Full/Mixed")
+    ax.bar(x + w / 2, counts_hq, w, color=C_HQ, edgecolor=BORDER, label="HQ")
+    ax.set_xticks(x)
+    ax.set_xticklabels(band_labels, fontsize=7, color=SUB, rotation=30)
+    ax.set_ylabel("Chunk count", color=SUB)
+    ax.set_title("Chunk Counts per Progress Band", color=TEXT, fontsize=13)
+    ax.legend(facecolor=CARD, edgecolor=BORDER, labelcolor=TEXT, fontsize=8)
+    fig.tight_layout()
+    _save(fig, out_path)
+
+
+# ── Summary figure ───────────────────────────────────────────────────────
+
+def plot_summary(
+    var_full: np.ndarray,
+    var_hq: np.ndarray,
+    band_edges: list[tuple[float, float]],
+    ks_full: list[int | None],
+    ks_hq: list[int | None],
+    bands_full: dict[int, list[dict]],
+    bands_hq: dict[int, list[dict]],
+    out_path: Path,
+) -> None:
+    with np.errstate(invalid="ignore"):
+        mean_full = np.nanmean(var_full, axis=1)
+        mean_hq = np.nanmean(var_hq, axis=1)
+    ratio = np.where(np.isnan(mean_full) | np.isnan(mean_hq), np.nan,
+                     mean_full / (mean_hq + 1e-8))
+    valid_ratio = ratio[~np.isnan(ratio)]
+    mean_ratio = float(np.mean(valid_ratio)) if len(valid_ratio) > 0 else float("nan")
+    peak_idx = int(np.argmax(valid_ratio)) if len(valid_ratio) > 0 else 0
+    peak_ratio = float(valid_ratio[peak_idx]) if len(valid_ratio) > 0 else float("nan")
+    lo, hi = band_edges[peak_idx]
+    peak_band = f"{lo:.0%}–{hi:.0%}"
+
+    valid_kf = [k for k in ks_full if k is not None]
+    valid_kh = [k for k in ks_hq if k is not None]
+    mean_k_full = np.mean(valid_kf) if valid_kf else float("nan")
+    mean_k_hq = np.mean(valid_kh) if valid_kh else float("nan")
+
+    n_bands = len(band_edges)
+    deltas_full = [c["progress_delta"] for b in range(n_bands) for c in bands_full.get(b, [])]
+    deltas_hq = [c["progress_delta"] for b in range(n_bands) for c in bands_hq.get(b, [])]
+    mean_delta_full = float(np.mean(deltas_full)) if deltas_full else float("nan")
+    mean_delta_hq = float(np.mean(deltas_hq)) if deltas_hq else float("nan")
+
+    rows = [
+        ("Mean variance ratio (Full / HQ)", f"{mean_ratio:.2f}x"),
+        ("Peak variance ratio", f"{peak_ratio:.2f}x at {peak_band}"),
+        ("Mean GMM K — Full", f"{mean_k_full:.1f}"),
+        ("Mean GMM K — HQ", f"{mean_k_hq:.1f}"),
+        ("Mean progress Δ — Full", f"{mean_delta_full:.4f}"),
+        ("Mean progress Δ — HQ", f"{mean_delta_hq:.4f}"),
+    ]
+
+    fig, ax = plt.subplots(figsize=(8, 3))
+    fig.patch.set_facecolor(BG)
+    ax.set_facecolor(CARD)
+    ax.axis("off")
+
+    table = ax.table(
+        cellText=[[m, v] for m, v in rows],
+        colLabels=["Metric", "Value"],
+        loc="center",
+        cellLoc="left",
+    )
+    table.auto_set_font_size(False)
+    table.set_fontsize(10)
+    for key, cell in table.get_celld().items():
+        cell.set_edgecolor(BORDER)
+        cell.set_facecolor(CARD)
+        cell.set_text_props(color=TEXT)
+        if key[0] == 0:
+            cell.set_text_props(color=TEXT, fontweight="bold")
+    table.scale(1, 1.6)
+    ax.set_title("Summary Statistics", color=TEXT, fontsize=13, pad=15)
+    fig.tight_layout()
+    _save(fig, out_path)
+
+    for metric, value in rows:
+        logger.info("  %s: %s", metric, value)
+
+
+# ── Main ─────────────────────────────────────────────────────────────────
+
+def main(args: argparse.Namespace) -> None:
+    out = Path(args.output_dir)
+    out.mkdir(parents=True, exist_ok=True)
+
+    logger.info("Loading FULL dataset: %s", args.full_dataset)
+    episodes_full = load_episodes(args.full_dataset, args.n_joints, args.max_episodes)
+    logger.info("Loading HQ dataset: %s", args.hq_dataset)
+    episodes_hq = load_episodes(args.hq_dataset, args.n_joints, args.max_episodes)
+    logger.info("Loaded %d full episodes, %d HQ episodes", len(episodes_full), len(episodes_hq))
+
+    # Step 1: length threshold + filter
+    if args.min_episode_length is not None:
+        threshold = args.min_episode_length
+    else:
+        threshold = auto_length_threshold(episodes_full, episodes_hq)
+    logger.info("Episode length threshold: %d", threshold)
+
+    plot_length_distribution(episodes_full, episodes_hq, threshold, out / "0_length_distribution.png")
+    episodes_full = filter_episodes(episodes_full, threshold)
+    episodes_hq = filter_episodes(episodes_hq, threshold)
+
+    # Step 2: extract chunks
+    chunks_full = extract_chunks(episodes_full, args.chunk_size, args.chunk_stride)
+    chunks_hq = extract_chunks(episodes_hq, args.chunk_size, args.chunk_stride)
+    logger.info("Extracted %d full chunks, %d HQ chunks", len(chunks_full), len(chunks_hq))
+
+    # Step 3: fixed equal-width bands over episode-relative progress
+    band_edges = make_bands(args.n_bands)
+    n_bands = len(band_edges)
+    logger.info("Progress bands (%d): %s", n_bands,
+                [f"{lo:.0%}–{hi:.0%}" for lo, hi in band_edges])
+
+    chunks_full = assign_bands(chunks_full, band_edges)
+    chunks_hq = assign_bands(chunks_hq, band_edges)
+    bands_full = split_by_band(chunks_full, n_bands)
+    bands_hq = split_by_band(chunks_hq, n_bands)
+
+    # Plot 1: chunk counts
+    plot_chunk_counts(bands_full, bands_hq, band_edges, out / "1_chunk_counts_per_band.png")
+
+    # Step 4: variance heatmap
+    var_full = band_variance_matrix(bands_full, n_bands, args.n_joints)
+    var_hq = band_variance_matrix(bands_hq, n_bands, args.n_joints)
+    plot_variance_heatmap(var_full, var_hq, band_edges, out / "2_variance_heatmap.png")
+
+    # Step 5: progress delta
+    plot_progress_delta(bands_full, bands_hq, band_edges, out / "3_progress_delta_per_band.png")
+
+    # Step 6: GMM BIC
+    ks_full, ks_hq = plot_gmm_bic(bands_full, bands_hq, band_edges, args.seed, out / "4_gmm_bic_per_band.png")
+
+    # Step 7: PCA scatter
+    plot_pca_scatter(bands_full, bands_hq, band_edges, out / "5_pca_per_band.png")
+
+    # Summary
+    plot_summary(var_full, var_hq, band_edges, ks_full, ks_hq,
+                 bands_full, bands_hq, out / "6_summary.png")
+
+    logger.info("All figures saved to %s", out)
+
+
+if __name__ == "__main__":
+    p = argparse.ArgumentParser(
+        description="Chunk-level multi-modality analysis: Full/Mixed vs HQ dataset.",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+    )
+    p.add_argument("--full-dataset", default="lerobot-data-collection/level12_rac_2_2026-02-08_1")
+    p.add_argument("--hq-dataset", default="lerobot-data-collection/level2_final_quality3_trim_0_hil_data")
+    p.add_argument("--output-dir", default="./chunk_analysis")
+    p.add_argument("--chunk-size", type=int, default=30)
+    p.add_argument("--chunk-stride", type=int, default=15)
+    p.add_argument("--n-bands", type=int, default=5, help="Number of equal-width progress bands")
+    p.add_argument("--max-episodes", type=int, default=500)
+    p.add_argument("--n-joints", type=int, default=16)
+    p.add_argument("--min-episode-length", type=int, default=None,
+                   help="Override auto-detected length filter threshold")
+    p.add_argument("--seed", type=int, default=42)
+    args = p.parse_args()
+    main(args)

scripts/train_smolvla_libero_plus.slurm

@@ -0,0 +1,29 @@
+#!/bin/bash
+#SBATCH --job-name=smolvla_libero_plus
+#SBATCH --partition=hopper-prod
+#SBATCH --nodes=1
+#SBATCH --ntasks-per-node=1
+#SBATCH --gpus-per-node=4
+#SBATCH --cpus-per-task=48
+#SBATCH --mem=200G
+#SBATCH --time=12:00:00
+#SBATCH --output=logs/smolvla_libero_plus_%j.out
+#SBATCH --error=logs/smolvla_libero_plus_%j.err
+
+set -euo pipefail
+
+eval "$(conda shell.bash hook 2>/dev/null)"
+conda activate lerobot312
+
+cd /admin/home/pepijn/lerobot_wt_robocasa
+
+lerobot-benchmark train \
+    --benchmarks libero_plus \
+    --policy-path lerobot/smolvla_base \
+    --hub-user pepijn223 \
+    --num-gpus 4 \
+    --steps 30000 \
+    --batch-size 32 \
+    --eval-freq 0 \
+    --wandb \
+    --dataset.repo_id=pepijn223/libero_plus_lerobot

src/lerobot/async_inference/robot_client.py

@@ -49,9 +49,14 @@ import torch
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
-from lerobot.robots import (
-    RobotConfig,  # noqa: F401
+from lerobot.robots import (  # noqa: F401
+    Robot,
+    RobotConfig,
+    bi_so_follower,
+    koch_follower,
     make_robot_from_config,
+    omx_follower,
+    so_follower,
 )
 from lerobot.transport import (
     services_pb2,  # type: ignore

src/lerobot/cameras/zmq/camera_zmq.py

@@ -181,7 +181,7 @@ class ZMQCamera(Camera):
         try:
             message = self.socket.recv_string()
         except Exception as e:
-            # Check for ZMQ timeout (EAGAIN/Again) without requiring global zmq import
+            # zmq is lazy-imported in connect(), so check by name to avoid a top-level import
             if type(e).__name__ == "Again":
                 raise TimeoutError(f"{self} timeout after {self.timeout_ms}ms") from e
             raise

src/lerobot/cameras/zmq/image_server.py

@@ -23,6 +23,7 @@ import base64
 import contextlib
 import json
 import logging
+import threading
 import time
 from collections import deque
 
@@ -42,10 +43,57 @@ def encode_image(image: np.ndarray, quality: int = 80) -> str:
     return base64.b64encode(buffer).decode("utf-8")
 
 
+class CameraCaptureThread:
+    """Background thread that continuously captures and encodes frames from a camera."""
+
+    def __init__(self, camera: OpenCVCamera, name: str):
+        self.camera = camera
+        self.name = name
+        self.latest_encoded: str | None = None  # Pre-encoded JPEG as base64
+        self.latest_timestamp: float = 0.0
+        self.frame_lock = threading.Lock()
+        self.running = False
+        self.thread: threading.Thread | None = None
+
+    def start(self):
+        """Start the capture thread."""
+        self.running = True
+        self.thread = threading.Thread(target=self._capture_loop, daemon=True)
+        self.thread.start()
+
+    def stop(self):
+        """Stop the capture thread."""
+        self.running = False
+        if self.thread:
+            self.thread.join(timeout=1.0)
+
+    def _capture_loop(self):
+        """Continuously capture and encode frames at the camera's native rate."""
+        while self.running:
+            try:
+                frame = self.camera.read()  # Blocks at camera's native rate
+                timestamp = time.time()
+                # Encode immediately in capture thread (this is the slow part)
+                encoded = encode_image(frame)
+                with self.frame_lock:
+                    self.latest_encoded = encoded
+                    self.latest_timestamp = timestamp
+            except Exception as e:
+                logger.warning(f"Camera {self.name} capture error: {e}")
+                time.sleep(0.01)
+
+    def get_latest(self) -> tuple[str | None, float]:
+        """Get the latest encoded frame and its timestamp."""
+        with self.frame_lock:
+            return self.latest_encoded, self.latest_timestamp
+
+
 class ImageServer:
     def __init__(self, config: dict, port: int = 5555):
+        # fps controls the publish loop rate (how often frames are sent over ZMQ), not the camera capture rate
         self.fps = config.get("fps", 30)
         self.cameras: dict[str, OpenCVCamera] = {}
+        self.capture_threads: dict[str, CameraCaptureThread] = {}
 
         for name, cfg in config.get("cameras", {}).items():
             shape = cfg.get("shape", [480, 640])
@@ -61,6 +109,10 @@ class ImageServer:
             self.cameras[name] = camera
             logger.info(f"Camera {name}: {shape[1]}x{shape[0]}")
 
+            # Create capture thread for this camera
+            capture_thread = CameraCaptureThread(camera, name)
+            self.capture_threads[name] = capture_thread
+
         # ZMQ PUB socket
         self.context = zmq.Context()
         self.socket = self.context.socket(zmq.PUB)
@@ -73,6 +125,18 @@ class ImageServer:
     def run(self):
         frame_count = 0
         frame_times = deque(maxlen=60)
+        last_published_ts: dict[str, float] = {}
+
+        # Start all capture threads
+        for capture_thread in self.capture_threads.values():
+            capture_thread.start()
+
+        # Wait for first frames to be captured and encoded
+        logger.info("Waiting for cameras to start capturing...")
+        for name, capture_thread in self.capture_threads.items():
+            while capture_thread.get_latest()[0] is None:
+                time.sleep(0.01)
+            logger.info(f"Camera {name} ready (capture + encode in background)")
 
         try:
             while True:
@@ -80,10 +144,12 @@ class ImageServer:
 
                 # Build message
                 message = {"timestamps": {}, "images": {}}
-                for name, cam in self.cameras.items():
-                    frame = cam.read()  # Returns RGB
-                    message["timestamps"][name] = time.time()
-                    message["images"][name] = encode_image(frame)
+                for name, capture_thread in self.capture_threads.items():
+                    encoded, timestamp = capture_thread.get_latest()
+                    if encoded is not None and timestamp > last_published_ts.get(name, 0.0):
+                        message["timestamps"][name] = timestamp
+                        message["images"][name] = encoded
+                        last_published_ts[name] = timestamp
 
                 # Send as JSON string (suppress if buffer full)
                 with contextlib.suppress(zmq.Again):
@@ -102,6 +168,8 @@ class ImageServer:
         except KeyboardInterrupt:
             pass
         finally:
+            for capture_thread in self.capture_threads.values():
+                capture_thread.stop()
             for cam in self.cameras.values():
                 cam.disconnect()
             self.socket.close()

src/lerobot/configs/default.py

@@ -49,15 +49,64 @@ class WandBConfig:
     mode: str | None = None  # Allowed values: 'online', 'offline' 'disabled'. Defaults to 'online'
 
 
+@dataclass
+class EvalDockerConfig:
+    # Docker image to use for evaluation (e.g., "ghcr.io/org/lerobot-eval-libero:latest").
+    # Takes precedence over eval.envhub_ref.
+    image: str | None = None
+    # Optional EnvHub reference to resolve an image, e.g. "envhub://lerobot/libero_plus@v1".
+    envhub_ref: str | None = None
+    # If true, mount the local repository and prefer local source code in the container.
+    use_local_code: bool = True
+    # Pull the image before running.
+    pull: bool = True
+    # Docker --gpus value. Set to None to disable GPU flags and run CPU-only.
+    gpus: str | None = "all"
+    # Docker --shm-size value (increase when using larger eval.batch_size values).
+    shm_size: str = "8g"
+    # Port on which the host HTTP policy inference server listens.
+    port: int = 50051
+
+
 @dataclass
 class EvalConfig:
     n_episodes: int = 50
-    # `batch_size` specifies the number of environments to use in a gym.vector.VectorEnv.
+    # Number of sub-envs per task inside one VectorEnv. Increase to improve per-task
+    # inference throughput until GPU or simulator memory saturates.
     batch_size: int = 50
-    # `use_async_envs` specifies whether to use asynchronous environments (multiprocessing).
+    # Use AsyncVectorEnv (multiprocessing). Prefer SyncVectorEnv unless your environment
+    # spends significant time in Python-side stepping and can benefit from process parallelism.
     use_async_envs: bool = False
+    # Runtime where evaluation executes: "local", "docker", or "multiprocess".
+    # "multiprocess" spawns local worker processes + policy servers.
+    runtime: str = "local"
+    docker: EvalDockerConfig = field(default_factory=EvalDockerConfig)
+    # Number of parallel eval script instances to launch for one run.
+    # instance_count > 1 enables multi-instance task sharding.
+    instance_count: int = 1
+    # 0-indexed shard id for this process. Users usually leave this at 0.
+    # Additional shards are launched automatically by `lerobot-eval` when instance_count > 1.
+    instance_id: int = 0
+    # Number of policy inference servers to run in parallel (docker/multiprocess runtimes).
+    # Each server loads a copy of the model and listens on consecutive ports
+    # starting from eval.docker.port. Workers are round-robin assigned.
+    policy_servers: int = 1
+    # Base port for policy servers in multiprocess mode.
+    port: int = 50051
 
     def __post_init__(self) -> None:
+        if self.runtime not in {"local", "docker", "multiprocess"}:
+            raise ValueError(
+                f"Unsupported eval.runtime '{self.runtime}'. Expected one of: local, docker, multiprocess."
+            )
+        if self.instance_count < 1:
+            raise ValueError("eval.instance_count must be >= 1.")
+        if self.instance_id < 0 or self.instance_id >= self.instance_count:
+            raise ValueError(
+                f"eval.instance_id must be in [0, {self.instance_count - 1}] (got {self.instance_id})."
+            )
+        if self.policy_servers < 1:
+            raise ValueError("eval.policy_servers must be >= 1.")
         if self.batch_size > self.n_episodes:
             raise ValueError(
                 "The eval batch size is greater than the number of eval episodes "

src/lerobot/configs/eval.py

@@ -40,6 +40,8 @@ class EvalPipelineConfig:
     rename_map: dict[str, str] = field(default_factory=dict)
     # Explicit consent to execute remote code from the Hub (required for hub environments).
     trust_remote_code: bool = False
+    # Push eval results (metrics JSON, rollout videos, model card update) to the model's Hub repo.
+    push_to_hub: bool = False
 
     def __post_init__(self) -> None:
         # HACK: We parse again the cli args here to get the pretrained path if there was one.

src/lerobot/configs/train.py

@@ -50,6 +50,9 @@ class TrainPipelineConfig(HubMixin):
     # `seed` is used for training (eg: model initialization, dataset shuffling)
     # AND for the evaluation environments.
     seed: int | None = 1000
+    # Set to True to use deterministic cuDNN algorithms for reproducibility.
+    # This disables cudnn.benchmark and may reduce training speed by ~10-20%.
+    cudnn_deterministic: bool = False
     # Number of workers for the dataloader.
     num_workers: int = 4
     batch_size: int = 8

src/lerobot/datasets/factory.py

@@ -126,7 +126,11 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
         )
 
     if cfg.dataset.use_imagenet_stats:
+        if dataset.meta.stats is None:
+            dataset.meta.stats = {}
         for key in dataset.meta.camera_keys:
+            if key not in dataset.meta.stats:
+                dataset.meta.stats[key] = {}
             for stats_type, stats in IMAGENET_STATS.items():
                 dataset.meta.stats[key][stats_type] = torch.tensor(stats, dtype=torch.float32)
 

src/lerobot/datasets/utils.py

@@ -21,7 +21,7 @@ from collections import deque
 from collections.abc import Iterable, Iterator
 from pathlib import Path
 from pprint import pformat
-from typing import Any, Generic, TypeVar
+from typing import Any
 
 import datasets
 import numpy as np
@@ -78,8 +78,6 @@ DEFAULT_FEATURES = {
     "task_index": {"dtype": "int64", "shape": (1,), "names": None},
 }
 
-T = TypeVar("T")
-
 
 def get_parquet_file_size_in_mb(parquet_path: str | Path) -> float:
     metadata = pq.read_metadata(parquet_path)
@@ -1234,7 +1232,7 @@ class LookAheadError(Exception):
     pass
 
 
-class Backtrackable(Generic[T]):
+class Backtrackable[T]:
     """
     Wrap any iterator/iterable so you can step back up to `history` items
     and look ahead up to `lookahead` items.

src/lerobot/envs/configs.py

@@ -45,6 +45,10 @@ class EnvConfig(draccus.ChoiceRegistry, abc.ABC):
     fps: int = 30
     features: dict[str, PolicyFeature] = field(default_factory=dict)
     features_map: dict[str, str] = field(default_factory=dict)
+    # Upper bound on concurrent task evaluation in `lerobot-eval`.
+    # - For lazy wrappers (e.g. LIBERO/LIBERO-plus), values >1 can enable chunked
+    #   task batching with one policy forward pass over multiple tasks.
+    # - For other envs, values >1 use a threaded task scheduler fallback.
     max_parallel_tasks: int = 1
     disable_env_checker: bool = True
 
@@ -346,6 +350,105 @@ class LiberoEnv(EnvConfig):
         return kwargs
 
 
+@EnvConfig.register_subclass("libero_plus")
+@dataclass
+class LiberoPlusEnv(LiberoEnv):
+    """Alias config for LIBERO-plus benchmarks.
+
+    LIBERO-plus keeps the same Python package/module names as LIBERO, so this
+    config reuses the existing LIBERO env implementation while making intent explicit
+    in experiment configs (`env.type=libero_plus`).
+    """
+
+    task: str = "libero_spatial,libero_object,libero_goal,libero_10"
+
+
+@EnvConfig.register_subclass("robocasa")
+@dataclass
+class RoboCasaEnv(EnvConfig):
+    """RoboCasa kitchen composite-task environments.
+
+    Wraps ``robocasa.wrappers.gym_wrapper.RoboCasaGymEnv`` with a flat 12-D Box
+    action space and a structured pixel + state observation dict.
+
+    Selected benchmark tasks (3 short + 2 long):
+        Short:  PickPlaceCounterToCabinet, PrepareToast, CoffeeSetupMug
+        Long:   PrepareCoffee, RestockPantry
+    """
+
+    task: str = "PickPlaceCounterToCabinet"
+    tasks: list[str] | None = None  # multi-task: list of task names (without robocasa/ prefix)
+    fps: int = 20
+    episode_length: int = 500
+    image_size: int = 128
+    split: str = "target"  # "pretrain" or "target"
+    features: dict[str, PolicyFeature] = field(
+        default_factory=lambda: {
+            ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(12,)),
+        }
+    )
+    features_map: dict[str, str] = field(
+        default_factory=lambda: {
+            ACTION: ACTION,
+            "agentview_left":  f"{OBS_IMAGES}.agentview_left",
+            "agentview_right": f"{OBS_IMAGES}.agentview_right",
+            "eye_in_hand":     f"{OBS_IMAGES}.eye_in_hand",
+            "robot_state":     OBS_STATE,
+        }
+    )
+
+    def __post_init__(self):
+        for cam in ("agentview_left", "agentview_right", "eye_in_hand"):
+            self.features[cam] = PolicyFeature(
+                type=FeatureType.VISUAL, shape=(self.image_size, self.image_size, 3)
+            )
+        self.features["robot_state"] = PolicyFeature(type=FeatureType.STATE, shape=(16,))
+
+    @property
+    def gym_kwargs(self) -> dict:
+        return {"split": self.split}
+
+
+@EnvConfig.register_subclass("robomme")
+@dataclass
+class RoboMMEEnv(EnvConfig):
+    """RoboMME memory-augmented manipulation benchmark (ManiSkill/SAPIEN).
+
+    16 tasks across 4 suites: Counting, Permanence, Reference, Imitation.
+    Uses BenchmarkEnvBuilder from the robomme package.
+    """
+
+    task: str = "PickXtimes"
+    fps: int = 10
+    episode_length: int = 300
+    action_space: str = "joint_angle"
+    dataset_split: str = "test"
+    task_ids: list[int] | None = None
+    features: dict[str, PolicyFeature] = field(
+        default_factory=lambda: {
+            ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(8,)),
+            "front_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(256, 256, 3)),
+            "wrist_rgb": PolicyFeature(type=FeatureType.VISUAL, shape=(256, 256, 3)),
+            OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(8,)),
+        }
+    )
+    features_map: dict[str, str] = field(
+        default_factory=lambda: {
+            ACTION: ACTION,
+            "front_rgb": f"{OBS_IMAGES}.front",
+            "wrist_rgb": f"{OBS_IMAGES}.wrist",
+            OBS_STATE: OBS_STATE,
+        }
+    )
+
+    @property
+    def gym_kwargs(self) -> dict:
+        return {
+            "action_space": self.action_space,
+            "dataset": self.dataset_split,
+        }
+
+
 @EnvConfig.register_subclass("metaworld")
 @dataclass
 class MetaworldEnv(EnvConfig):

src/lerobot/envs/docker_runtime.py

@@ -0,0 +1,442 @@
+#!/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.
+
+"""Docker runtime for lerobot-eval.
+
+The policy stays on the host GPU; gym environments run inside Docker containers.
+Each container runs `lerobot-eval-worker`, which calls back to a host HTTP inference
+server for action chunks.
+
+Architecture:
+    host (GPU):
+        1. Load policy + preprocessors from EvalPipelineConfig.
+        2. Start ``policy_servers`` HTTP inference servers on consecutive ports.
+        3. Spawn ``instance_count`` Docker containers, round-robin assigned to servers.
+        4. Wait; collect per-task JSON written to the mounted output volume.
+        5. Merge shards → aggregate → write eval_info.json.
+
+    container (CPU only):
+        1. make_env(cfg.env) → shard tasks by (instance_id, instance_count).
+        2. For each task: run n_episodes, POST obs to /predict_chunk, step env.
+        3. Write per-task JSON to /results/worker_{instance_id}.json.
+"""
+
+from __future__ import annotations
+
+import json
+import logging
+import pickle  # nosec B403 — internal serialisation only
+import platform
+import subprocess  # nosec B404
+import sys
+import threading
+import time
+from http.server import BaseHTTPRequestHandler, HTTPServer
+from pathlib import Path
+from typing import TYPE_CHECKING, Any
+
+import numpy as np
+import torch
+
+from lerobot.envs.factory import make_env_pre_post_processors
+from lerobot.policies.factory import make_policy, make_pre_post_processors
+from lerobot.utils.utils import get_safe_torch_device
+
+if TYPE_CHECKING:
+    from lerobot.configs.eval import EvalPipelineConfig
+
+logger = logging.getLogger(__name__)
+
+
+# ---------------------------------------------------------------------------
+# HTTP inference server (host side)
+# ---------------------------------------------------------------------------
+
+
+class _PolicyInferenceHandler(BaseHTTPRequestHandler):
+    """POST /predict_chunk → pickled numpy action chunk."""
+
+    server: _InferenceServer
+
+    def do_POST(self) -> None:
+        if self.path != "/predict_chunk":
+            self.send_error(404)
+            return
+        length = int(self.headers["Content-Length"])
+        body = self.rfile.read(length)
+        payload: dict = pickle.loads(body)  # nosec B301
+        obs_t: dict = payload["obs_t"]
+
+        with self.server._lock:
+            chunk_np = self.server._predict(obs_t)
+
+        resp = pickle.dumps(chunk_np)  # nosec B301
+        self.send_response(200)
+        self.send_header("Content-Type", "application/octet-stream")
+        self.send_header("Content-Length", str(len(resp)))
+        self.end_headers()
+        self.wfile.write(resp)
+
+    def log_message(self, fmt: str, *args: Any) -> None:  # noqa: ANN401
+        pass  # suppress per-request logs
+
+
+class _InferenceServer(HTTPServer):
+    """Wraps the loaded policy behind a trivial HTTP interface."""
+
+    def __init__(
+        self,
+        addr: tuple[str, int],
+        policy: Any,
+        env_preprocessor: Any,
+        preprocessor: Any,
+        postprocessor: Any,
+    ) -> None:
+        super().__init__(addr, _PolicyInferenceHandler)
+        self._policy = policy
+        self._env_preprocessor = env_preprocessor
+        self._preprocessor = preprocessor
+        self._postprocessor = postprocessor
+        self._lock = threading.Lock()
+        self._device = torch.device(str(policy.config.device))
+
+    def _predict(self, obs_t: dict) -> np.ndarray:
+        """Apply full preprocessing pipeline and return (n_action_steps, A) numpy chunk."""
+        obs = self._env_preprocessor(obs_t)
+        obs = self._preprocessor(obs)
+        obs_gpu: dict = {k: v.to(self._device) if isinstance(v, torch.Tensor) else v for k, v in obs.items()}
+        with torch.no_grad():
+            chunk: torch.Tensor = self._policy.predict_action_chunk(obs_gpu)  # (B, T, A)
+
+        n_action_steps = getattr(self._policy.config, "n_action_steps", chunk.shape[1])
+        batch, n_steps, action_dim = chunk.shape
+        chunk_2d = chunk.reshape(batch * n_steps, action_dim)  # (B*T, A)
+        chunk_2d = self._postprocessor(chunk_2d)  # (B*T, A)
+        return chunk_2d[:n_action_steps].cpu().numpy()  # (n_action_steps, A)
+
+
+# ---------------------------------------------------------------------------
+# Helpers
+# ---------------------------------------------------------------------------
+
+
+def _get_host_ip() -> str:
+    """Return the IP that containers can use to reach the host."""
+    if platform.system() in ("Darwin", "Windows"):
+        return "host.docker.internal"
+    return "172.17.0.1"  # Linux Docker bridge default gateway
+
+
+def _resolve_image(cfg: EvalPipelineConfig) -> str:
+    """Return the Docker image name to use for the env containers."""
+    if cfg.eval.docker.image:
+        return cfg.eval.docker.image
+    return f"lerobot-benchmark-{cfg.env.type}"
+
+
+def _env_argv() -> list[str]:
+    """Extract --env.* args from sys.argv to forward verbatim to the worker."""
+    return [arg for arg in sys.argv[1:] if arg.startswith("--env.")]
+
+
+def _spawn_container(
+    *,
+    image: str,
+    instance_id: int,
+    instance_count: int,
+    server_address: str,
+    n_episodes: int,
+    seed: int,
+    output_dir: Path,
+    docker_cfg: Any,
+    env_argv: list[str],
+) -> subprocess.Popen:
+    output_dir.mkdir(parents=True, exist_ok=True)
+    container_results = "/results"
+
+    cmd: list[str] = ["docker", "run", "--rm"]
+    if docker_cfg.gpus:
+        cmd += [f"--gpus={docker_cfg.gpus}"]
+    cmd += [f"--shm-size={docker_cfg.shm_size}"]
+    cmd += ["-v", f"{output_dir.resolve()}:{container_results}"]
+    # Allow containers on Linux to resolve host.docker.internal.
+    cmd += ["--add-host=host.docker.internal:host-gateway"]
+    cmd.append(image)
+
+    cmd += [
+        "lerobot-eval-worker",
+        *env_argv,
+        f"--server_address={server_address}",
+        f"--n_episodes={n_episodes}",
+        f"--seed={seed}",
+        f"--instance_id={instance_id}",
+        f"--instance_count={instance_count}",
+        f"--output_path={container_results}/worker_{instance_id}.json",
+    ]
+
+    logger.info(
+        "Spawning container %d/%d: %s",
+        instance_id + 1,
+        instance_count,
+        " ".join(cmd),
+    )
+    return subprocess.Popen(cmd)  # nosec B603 B607
+
+
+# ---------------------------------------------------------------------------
+# Public entry point
+# ---------------------------------------------------------------------------
+
+
+def run_eval_in_docker(cfg: EvalPipelineConfig) -> None:
+    """Run eval with env in Docker containers and policy on the host GPU.
+
+    Writes ``eval_info.json`` to ``cfg.output_dir``.  Called by
+    ``lerobot_eval._run_eval_worker`` when ``eval.runtime == "docker"``.
+    """
+    # Import here to avoid circular import at module level.
+    from lerobot.scripts.lerobot_eval import _aggregate_eval_from_per_task
+
+    start_t = time.time()
+    output_dir = Path(cfg.output_dir)
+    output_dir.mkdir(parents=True, exist_ok=True)
+    docker_cfg = cfg.eval.docker
+
+    # Optionally pull the image before starting.
+    image = _resolve_image(cfg)
+    if docker_cfg.pull:
+        logger.info("Pulling Docker image: %s", image)
+        subprocess.run(["docker", "pull", image], check=True)  # nosec B603 B607
+
+    # ── Load policy + all preprocessors on the host GPU ──────────────────
+    device = get_safe_torch_device(cfg.policy.device, log=True)
+    torch.backends.cudnn.benchmark = True
+    torch.backends.cuda.matmul.allow_tf32 = True
+
+    policy = make_policy(cfg=cfg.policy, env_cfg=cfg.env, rename_map=cfg.rename_map)
+    policy.eval()
+
+    preprocessor_overrides: dict = {
+        "device_processor": {"device": str(device)},
+        "rename_observations_processor": {"rename_map": cfg.rename_map},
+    }
+    preprocessor, postprocessor = make_pre_post_processors(
+        policy_cfg=cfg.policy,
+        pretrained_path=cfg.policy.pretrained_path,
+        preprocessor_overrides=preprocessor_overrides,
+    )
+    env_preprocessor, _env_postprocessor = make_env_pre_post_processors(
+        env_cfg=cfg.env,
+        policy_cfg=cfg.policy,
+    )
+
+    # ── Start HTTP inference server(s) ────────────────────────────────────
+    n_policy_servers = cfg.eval.policy_servers
+    base_port = docker_cfg.port
+    host_ip = _get_host_ip()
+    instance_count = cfg.eval.instance_count
+    env_argv = _env_argv()
+
+    servers: list[_InferenceServer] = []
+    for s_idx in range(n_policy_servers):
+        port = base_port + s_idx
+        if s_idx > 0:
+            policy = make_policy(cfg=cfg.policy, env_cfg=cfg.env, rename_map=cfg.rename_map)
+            policy.eval()
+            preprocessor, postprocessor = make_pre_post_processors(
+                policy_cfg=cfg.policy,
+                pretrained_path=cfg.policy.pretrained_path,
+                preprocessor_overrides=preprocessor_overrides,
+            )
+            env_preprocessor, _ = make_env_pre_post_processors(
+                env_cfg=cfg.env, policy_cfg=cfg.policy,
+            )
+        srv = _InferenceServer(
+            ("0.0.0.0", port),  # nosec B104
+            policy=policy,
+            env_preprocessor=env_preprocessor,
+            preprocessor=preprocessor,
+            postprocessor=postprocessor,
+        )
+        t = threading.Thread(target=srv.serve_forever, daemon=True)
+        t.start()
+        servers.append(srv)
+        logger.info("Policy inference server %d/%d running on port %d", s_idx + 1, n_policy_servers, port)
+
+    # ── Spawn containers (round-robin across policy servers) ──────────────
+    container_dirs: list[Path] = []
+    procs: list[subprocess.Popen] = []
+    try:
+        for i in range(instance_count):
+            assigned_port = base_port + (i % n_policy_servers)
+            server_address = f"{host_ip}:{assigned_port}"
+            shard_dir = output_dir / "shards" / str(i)
+            container_dirs.append(shard_dir)
+            proc = _spawn_container(
+                image=image,
+                instance_id=i,
+                instance_count=instance_count,
+                server_address=server_address,
+                n_episodes=cfg.eval.n_episodes,
+                seed=cfg.seed,
+                output_dir=shard_dir,
+                docker_cfg=docker_cfg,
+                env_argv=env_argv,
+            )
+            procs.append(proc)
+
+        failed: list[tuple[int, int]] = []
+        for i, proc in enumerate(procs):
+            rc = proc.wait()
+            if rc != 0:
+                failed.append((i, rc))
+                logger.error("Container %d/%d exited with code %d", i + 1, instance_count, rc)
+        if failed:
+            raise RuntimeError(f"Docker eval containers failed (instance_id, exit_code): {failed}")
+
+    finally:
+        for srv in servers:
+            srv.shutdown()
+
+    # ── Collect and merge per-task results ───────────────────────────────
+    per_task: list[dict] = []
+    for i, shard_dir in enumerate(container_dirs):
+        result_file = shard_dir / f"worker_{i}.json"
+        with open(result_file) as f:
+            shard_data: dict = json.load(f)
+        per_task.extend(shard_data.get("per_task", []))
+
+    per_task.sort(key=lambda x: (x["task_group"], x["task_id"]))
+
+    info = _aggregate_eval_from_per_task(per_task, total_eval_s=time.time() - start_t)
+    with open(output_dir / "eval_info.json", "w") as f:
+        json.dump(info, f, indent=2)
+
+    logger.info("Docker eval complete. Results: %s/eval_info.json", output_dir)
+
+
+def run_eval_multiprocess(cfg: EvalPipelineConfig) -> None:
+    """Run eval with multiple local worker processes and policy servers (no Docker).
+
+    Same architecture as Docker runtime but spawns `lerobot-eval-worker` as local
+    subprocesses. Works on SLURM clusters and anywhere Docker is unavailable.
+    """
+    from lerobot.scripts.lerobot_eval import _aggregate_eval_from_per_task
+
+    start_t = time.time()
+    output_dir = Path(cfg.output_dir)
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    device = get_safe_torch_device(cfg.policy.device, log=True)
+    torch.backends.cudnn.benchmark = True
+    torch.backends.cuda.matmul.allow_tf32 = True
+
+    policy = make_policy(cfg=cfg.policy, env_cfg=cfg.env, rename_map=cfg.rename_map)
+    policy.eval()
+
+    preprocessor_overrides: dict = {
+        "device_processor": {"device": str(device)},
+        "rename_observations_processor": {"rename_map": cfg.rename_map},
+    }
+    preprocessor, postprocessor = make_pre_post_processors(
+        policy_cfg=cfg.policy,
+        pretrained_path=cfg.policy.pretrained_path,
+        preprocessor_overrides=preprocessor_overrides,
+    )
+    env_preprocessor, _env_postprocessor = make_env_pre_post_processors(
+        env_cfg=cfg.env, policy_cfg=cfg.policy,
+    )
+
+    n_policy_servers = cfg.eval.policy_servers
+    base_port = cfg.eval.port
+    instance_count = cfg.eval.instance_count
+    env_argv = _env_argv()
+
+    servers: list[_InferenceServer] = []
+    for s_idx in range(n_policy_servers):
+        port = base_port + s_idx
+        if s_idx > 0:
+            policy = make_policy(cfg=cfg.policy, env_cfg=cfg.env, rename_map=cfg.rename_map)
+            policy.eval()
+            preprocessor, postprocessor = make_pre_post_processors(
+                policy_cfg=cfg.policy,
+                pretrained_path=cfg.policy.pretrained_path,
+                preprocessor_overrides=preprocessor_overrides,
+            )
+            env_preprocessor, _ = make_env_pre_post_processors(
+                env_cfg=cfg.env, policy_cfg=cfg.policy,
+            )
+        srv = _InferenceServer(
+            ("0.0.0.0", port),  # nosec B104
+            policy=policy,
+            env_preprocessor=env_preprocessor,
+            preprocessor=preprocessor,
+            postprocessor=postprocessor,
+        )
+        t = threading.Thread(target=srv.serve_forever, daemon=True)
+        t.start()
+        servers.append(srv)
+        logger.info("Policy server %d/%d on port %d", s_idx + 1, n_policy_servers, port)
+
+    worker_dirs: list[Path] = []
+    procs: list[subprocess.Popen] = []
+    try:
+        for i in range(instance_count):
+            assigned_port = base_port + (i % n_policy_servers)
+            shard_dir = output_dir / "shards" / str(i)
+            shard_dir.mkdir(parents=True, exist_ok=True)
+            worker_dirs.append(shard_dir)
+
+            cmd = [
+                sys.executable, "-m", "lerobot.scripts.lerobot_eval_worker",
+                *env_argv,
+                f"--server_address=127.0.0.1:{assigned_port}",
+                f"--n_episodes={cfg.eval.n_episodes}",
+                f"--seed={cfg.seed}",
+                f"--instance_id={i}",
+                f"--instance_count={instance_count}",
+                f"--output_path={shard_dir / f'worker_{i}.json'}",
+            ]
+            logger.info("Spawning worker %d/%d → port %d", i + 1, instance_count, assigned_port)
+            procs.append(subprocess.Popen(cmd))  # nosec B603
+
+        failed: list[tuple[int, int]] = []
+        for i, proc in enumerate(procs):
+            rc = proc.wait()
+            if rc != 0:
+                failed.append((i, rc))
+                logger.error("Worker %d/%d exited with code %d", i + 1, instance_count, rc)
+        if failed:
+            raise RuntimeError(f"Multiprocess eval workers failed (id, exit_code): {failed}")
+
+    finally:
+        for srv in servers:
+            srv.shutdown()
+
+    per_task: list[dict] = []
+    for i, shard_dir in enumerate(worker_dirs):
+        result_file = shard_dir / f"worker_{i}.json"
+        with open(result_file) as f:
+            shard_data: dict = json.load(f)
+        per_task.extend(shard_data.get("per_task", []))
+
+    per_task.sort(key=lambda x: (x["task_group"], x["task_id"]))
+
+    info = _aggregate_eval_from_per_task(per_task, total_eval_s=time.time() - start_t)
+    with open(output_dir / "eval_info.json", "w") as f:
+        json.dump(info, f, indent=2)
+
+    logger.info("Multiprocess eval complete. Results: %s/eval_info.json", output_dir)

src/lerobot/envs/factory.py

@@ -20,11 +20,21 @@ import gymnasium as gym
 from gymnasium.envs.registration import registry as gym_registry
 
 from lerobot.configs.policies import PreTrainedConfig
-from lerobot.envs.configs import AlohaEnv, EnvConfig, HubEnvConfig, IsaaclabArenaEnv, LiberoEnv, PushtEnv
+from lerobot.envs.configs import (
+    AlohaEnv,
+    EnvConfig,
+    HubEnvConfig,
+    IsaaclabArenaEnv,
+    LiberoEnv,
+    LiberoPlusEnv,
+    PushtEnv,
+    RoboCasaEnv,
+    RoboMMEEnv,
+)
 from lerobot.envs.utils import _call_make_env, _download_hub_file, _import_hub_module, _normalize_hub_result
 from lerobot.policies.xvla.configuration_xvla import XVLAConfig
 from lerobot.processor import ProcessorStep
-from lerobot.processor.env_processor import IsaaclabArenaProcessorStep, LiberoProcessorStep
+from lerobot.processor.env_processor import IsaaclabArenaProcessorStep, LiberoProcessorStep, RoboCasaProcessorStep
 from lerobot.processor.pipeline import PolicyProcessorPipeline
 
 
@@ -35,6 +45,12 @@ def make_env_config(env_type: str, **kwargs) -> EnvConfig:
         return PushtEnv(**kwargs)
     elif env_type == "libero":
         return LiberoEnv(**kwargs)
+    elif env_type == "libero_plus":
+        return LiberoPlusEnv(**kwargs)
+    elif env_type == "robocasa":
+        return RoboCasaEnv(**kwargs)
+    elif env_type == "robomme":
+        return RoboMMEEnv(**kwargs)
     else:
         raise ValueError(f"Policy type '{env_type}' is not available.")
 
@@ -70,9 +86,13 @@ def make_env_pre_post_processors(
         return make_xvla_libero_pre_post_processors()
 
     # For LIBERO environments, add the LiberoProcessorStep to preprocessor
-    if isinstance(env_cfg, LiberoEnv) or "libero" in env_cfg.type:
+    if isinstance(env_cfg, (LiberoEnv, LiberoPlusEnv)) or "libero" in env_cfg.type:
         preprocessor_steps.append(LiberoProcessorStep())
 
+    # For RoboCasa environments, add the RoboCasaProcessorStep to preprocessor
+    if isinstance(env_cfg, RoboCasaEnv) or "robocasa" in env_cfg.type:
+        preprocessor_steps.append(RoboCasaProcessorStep())
+
     # For Isaaclab Arena environments, add the IsaaclabArenaProcessorStep
     if isinstance(env_cfg, IsaaclabArenaEnv) or "isaaclab_arena" in env_cfg.type:
         # Parse comma-separated keys (handle None for state-based policies)
@@ -105,7 +125,7 @@ def make_env(
     use_async_envs: bool = False,
     hub_cache_dir: str | None = None,
     trust_remote_code: bool = False,
-) -> dict[str, dict[int, gym.vector.VectorEnv]]:
+) -> dict[str, dict[int, Any]]:
     """Makes a gym vector environment according to the config or Hub reference.
 
     Args:
@@ -123,8 +143,9 @@ def make_env(
         ModuleNotFoundError: If the requested env package is not installed
 
     Returns:
-        dict[str, dict[int, gym.vector.VectorEnv]]:
-            A mapping from suite name to indexed vectorized environments.
+        dict[str, dict[int, Any]]:
+            A mapping from suite name to indexed environments. Values are either
+            materialized vector envs or lazy wrappers that materialize on first use.
             - For multi-task benchmarks (e.g., LIBERO): one entry per suite, and one vec env per task_id.
             - For single-task environments: a single suite entry (cfg.type) with task_id=0.
 
@@ -171,6 +192,11 @@ def make_env(
         if cfg.task is None:
             raise ValueError("LiberoEnv requires a task to be specified")
 
+        if cfg.type == "libero_plus":
+            from lerobot.envs.libero import _check_libero_plus_assets
+
+            _check_libero_plus_assets()
+
         return create_libero_envs(
             task=cfg.task,
             n_envs=n_envs,
@@ -181,6 +207,33 @@ def make_env(
             control_mode=cfg.control_mode,
             episode_length=cfg.episode_length,
         )
+    elif "robocasa" in cfg.type:
+        from lerobot.envs.robocasa import create_robocasa_envs
+
+        tasks = cfg.tasks if cfg.tasks else [cfg.task]
+        return create_robocasa_envs(
+            tasks=tasks,
+            n_envs=n_envs,
+            image_size=cfg.image_size,
+            split=cfg.split,
+            episode_length=cfg.episode_length,
+            gym_kwargs=cfg.gym_kwargs,
+            env_cls=env_cls,
+        )
+
+    elif "robomme" in cfg.type:
+        from lerobot.envs.robomme import create_robomme_envs
+
+        return create_robomme_envs(
+            task=cfg.task,
+            n_envs=n_envs,
+            action_space_type=cfg.action_space,
+            dataset=cfg.dataset_split,
+            episode_length=cfg.episode_length,
+            task_ids=cfg.task_ids,
+            env_cls=env_cls,
+        )
+
     elif "metaworld" in cfg.type:
         from lerobot.envs.metaworld import create_metaworld_envs
 

src/lerobot/envs/lazy_vec_env.py

@@ -0,0 +1,58 @@
+#!/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.
+from __future__ import annotations
+
+from collections.abc import Callable, Sequence
+from typing import Any
+
+
+class LazyVectorEnv:
+    """Defer vector-env construction until first usage.
+
+    This is useful for benchmarks with many tasks: we can register one env object
+    per task without eagerly allocating all simulator/rendering resources.
+    """
+
+    def __init__(self, env_cls: Callable[[Sequence[Callable[[], Any]]], Any], factory_fns: list[Callable]):
+        self._env_cls = env_cls
+        self._factory_fns = factory_fns
+        self._env = None
+
+    @property
+    def env_cls(self) -> Callable[[Sequence[Callable[[], Any]]], Any]:
+        return self._env_cls
+
+    @property
+    def factory_fns(self) -> list[Callable]:
+        return self._factory_fns
+
+    @property
+    def num_factory_fns(self) -> int:
+        return len(self._factory_fns)
+
+    def materialize(self):
+        if self._env is None:
+            self._env = self._env_cls(self._factory_fns)
+        return self._env
+
+    def close(self):
+        if self._env is not None:
+            self._env.close()
+            self._env = None
+
+    def __getattr__(self, name):
+        return getattr(self.materialize(), name)
+

src/lerobot/envs/libero.py

@@ -16,6 +16,7 @@
 from __future__ import annotations
 
 import os
+import re
 from collections import defaultdict
 from collections.abc import Callable, Iterable, Mapping, Sequence
 from functools import partial
@@ -26,11 +27,222 @@ import gymnasium as gym
 import numpy as np
 import torch
 from gymnasium import spaces
+
+try:
+    import libero as _libero_pkg  # noqa: F401
+except ImportError:
+    raise ImportError(
+        "Could not import libero. Install benchmark dependencies with one of:\n"
+        "  pip install -e \".[libero]\"\n"
+        "  pip install -e \".[libero_plus]\"  (alias: \".[libero-plus]\")"
+    )
+
+# LIBERO's env_wrapper unconditionally imports wand (ImageMagick Python binding)
+# which requires the system-level libMagickWand library. The wand features are only
+# used for visual noise perturbations and are not needed for standard evaluation.
+# Pre-install a stub so the import succeeds even without ImageMagick.
+import sys
+import types
+
+if "wand" not in sys.modules:
+    try:
+        import wand.api  # noqa: F401
+    except (ImportError, OSError):
+
+        class _AttrSink:
+            """Accepts any attribute get/set without error."""
+
+            def __getattr__(self, _name):
+                return self
+
+            def __setattr__(self, _name, _value):
+                pass
+
+            def __call__(self, *a, **kw):
+                pass
+
+        _wand = types.ModuleType("wand")
+        _wand_api = types.ModuleType("wand.api")
+        _wand_api.library = _AttrSink()
+        _wand_image = types.ModuleType("wand.image")
+        _wand_image.Image = type("Image", (), {})
+        _wand.api = _wand_api
+        _wand.image = _wand_image
+        sys.modules["wand"] = _wand
+        sys.modules["wand.api"] = _wand_api
+        sys.modules["wand.image"] = _wand_image
+
 from libero.libero import benchmark, get_libero_path
 from libero.libero.envs import OffScreenRenderEnv
 
+from lerobot.envs.lazy_vec_env import LazyVectorEnv
 from lerobot.processor import RobotObservation
 
+_ASSET_DOWNLOAD_INSTRUCTIONS = """\
+LIBERO-plus assets not found at: {assets_dir}
+
+The LIBERO-plus benchmark requires ~6 GB of scene/texture/object assets that
+are hosted separately on Hugging Face.  To download and install them:
+
+    python -c "
+from huggingface_hub import hf_hub_download
+hf_hub_download('Sylvest/LIBERO-plus', 'assets.zip',
+                repo_type='dataset', local_dir='/tmp/libero-plus-assets')
+"
+    unzip /tmp/libero-plus-assets/assets.zip -d /tmp/libero-plus-assets-unzipped
+    # The zip contains a deeply nested path; move the assets directory:
+    mv /tmp/libero-plus-assets-unzipped/inspire/*/assets {assets_dir}
+    rm -rf /tmp/libero-plus-assets /tmp/libero-plus-assets-unzipped
+
+See https://huggingface.co/datasets/Sylvest/LIBERO-plus for details.
+"""
+
+
+def _check_libero_plus_assets() -> None:
+    """Validate that LIBERO-plus scene assets are present."""
+    assets_dir = Path(get_libero_path("benchmark_root")) / "assets"
+    if not (assets_dir / "scenes").is_dir():
+        raise FileNotFoundError(_ASSET_DOWNLOAD_INSTRUCTIONS.format(assets_dir=assets_dir))
+
+
+# ---- Perturbation support for LIBERO-Plus -----------------------------------
+
+PERTURBATION_DIMENSIONS = (
+    "Camera Viewpoints",
+    "Robot Initial States",
+    "Language Instructions",
+    "Light Conditions",
+    "Background Textures",
+    "Sensor Noise",
+    "Objects Layout",
+)
+
+PERTURBATION_SHORT_KEYS = {
+    "Camera Viewpoints": "camera",
+    "Robot Initial States": "robot",
+    "Language Instructions": "language",
+    "Light Conditions": "light",
+    "Background Textures": "background",
+    "Sensor Noise": "noise",
+    "Objects Layout": "layout",
+}
+
+
+def load_task_classification() -> dict:
+    """Load task_classification.json shipped with LIBERO-Plus."""
+    import json
+
+    benchmark_root = Path(get_libero_path("benchmark_root"))
+    candidates = [
+        benchmark_root / "benchmark" / "task_classification.json",
+        benchmark_root / "task_classification.json",
+        benchmark_root.parent / "benchmark" / "task_classification.json",
+    ]
+    for p in candidates:
+        if p.exists():
+            with open(p) as f:
+                return json.load(f)
+    raise FileNotFoundError(
+        f"task_classification.json not found. Tried: {[str(c) for c in candidates]}"
+    )
+
+
+def build_perturbation_index(suite_name: str) -> dict[int, str]:
+    """Return {0-indexed task_id: perturbation_dimension} for *suite_name*."""
+    tc = load_task_classification()
+    suite_data = tc.get(suite_name, {})
+    index: dict[int, str] = {}
+
+    # LIBERO-Plus task_classification.json has appeared in two shapes:
+    # 1) dict[suite][task_id_str] -> meta
+    # 2) dict[suite] -> list[{id, category, ...}]
+    if isinstance(suite_data, list):
+        for item in suite_data:
+            if not isinstance(item, dict):
+                continue
+            raw_id = item.get("id")
+            if raw_id is None:
+                continue
+            try:
+                # list-form ids are 1-indexed in current LIBERO-Plus release.
+                tid = int(raw_id) - 1
+            except (TypeError, ValueError):
+                continue
+            if tid < 0:
+                continue
+            dim = item.get("perturbation_type") or item.get("category", "unknown")
+            index[tid] = dim
+        return index
+
+    if isinstance(suite_data, dict):
+        # Handle both 0-indexed and 1-indexed key conventions.
+        numeric_keys: list[int] = []
+        for k in suite_data:
+            try:
+                numeric_keys.append(int(k))
+            except (TypeError, ValueError):
+                continue
+        one_indexed = bool(numeric_keys) and 0 not in numeric_keys and min(numeric_keys) >= 1
+
+        for task_id_str, meta in suite_data.items():
+            try:
+                tid = int(task_id_str)
+            except (TypeError, ValueError):
+                continue
+            if one_indexed:
+                tid -= 1
+            if tid < 0:
+                continue
+            if isinstance(meta, dict):
+                dim = meta.get("perturbation_type") or meta.get("category", "unknown")
+            else:
+                dim = "unknown"
+            index[tid] = dim
+        return index
+
+    return index
+
+
+def aggregate_by_perturbation(
+    per_task: list[dict], suite_indices: dict[str, dict[int, str]]
+) -> dict[str, dict]:
+    """Aggregate per-task eval results by perturbation dimension.
+
+    Args:
+        per_task: list of {"task_group": str, "task_id": int, "metrics": {...}}
+        suite_indices: {suite_name: {task_id: dimension_name}} from build_perturbation_index
+
+    Returns:
+        {short_key: {"pc_success": float, "n_episodes": int}} for each perturbation dimension
+    """
+    dim_successes: dict[str, list] = defaultdict(list)
+    for entry in per_task:
+        suite = entry["task_group"]
+        tid = entry["task_id"]
+        idx = suite_indices.get(suite, {})
+        dim = idx.get(tid, "unknown")
+        short = PERTURBATION_SHORT_KEYS.get(dim, dim.lower().replace(" ", "_"))
+        successes = entry["metrics"].get("successes", [])
+        dim_successes[short].extend(successes)
+
+    results: dict[str, dict] = {}
+    all_successes: list = []
+    for short_key in list(PERTURBATION_SHORT_KEYS.values()) + ["unknown"]:
+        if short_key not in dim_successes:
+            continue
+        s = dim_successes[short_key]
+        all_successes.extend(s)
+        results[short_key] = {
+            "pc_success": float(np.nanmean(s) * 100) if s else float("nan"),
+            "n_episodes": len(s),
+        }
+    if all_successes:
+        results["total"] = {
+            "pc_success": float(np.nanmean(all_successes) * 100),
+            "n_episodes": len(all_successes),
+        }
+    return results
+
 
 def _parse_camera_names(camera_name: str | Sequence[str]) -> list[str]:
     """Normalize camera_name into a non-empty list of strings."""
@@ -68,13 +280,35 @@ def _select_task_ids(total_tasks: int, task_ids: Iterable[int] | None) -> list[i
 
 
 def get_task_init_states(task_suite: Any, i: int) -> np.ndarray:
-    init_states_path = (
-        Path(get_libero_path("init_states"))
-        / task_suite.tasks[i].problem_folder
-        / task_suite.tasks[i].init_states_file
+    init_states_dir = Path(get_libero_path("init_states")) / task_suite.tasks[i].problem_folder
+    init_states_file = task_suite.tasks[i].init_states_file
+
+    # 1. Direct match
+    direct = init_states_dir / init_states_file
+    if direct.exists():
+        return torch.load(direct, weights_only=False)  # nosec B614
+
+    # 2. LIBERO-Plus perturbation filenames append suffixes like
+    #    _view_0_0_100_0_0_initstate_1, _language_19, _noise_45, _table_1, _tb_9, _add_16
+    #    to the base task name.  Instead of regex-matching every variant, find the
+    #    longest existing base file whose stem is a prefix of the perturbation stem.
+    stem, ext = os.path.splitext(init_states_file)
+    best_match: Path | None = None
+    best_len = 0
+    for candidate in init_states_dir.glob(f"*{ext}"):
+        cstem = candidate.stem
+        if stem == cstem or (stem.startswith(cstem) and stem[len(cstem)] == "_"):
+            if len(cstem) > best_len:
+                best_len = len(cstem)
+                best_match = candidate
+
+    if best_match is not None:
+        return torch.load(best_match, weights_only=False)  # nosec B614
+
+    raise FileNotFoundError(
+        f"Could not find init states for task {i}. "
+        f"Tried '{init_states_file}' and prefix matching in '{init_states_dir}'."
     )
-    init_states = torch.load(init_states_path, weights_only=False)  # nosec B614
-    return init_states
 
 
 def get_libero_dummy_action():
@@ -94,6 +328,29 @@ TASK_SUITE_MAX_STEPS: dict[str, int] = {
 }
 
 
+def _make_offscreen_env_with_renderer_fallback(env_args: dict[str, Any]) -> Any:
+    """Create OffScreenRenderEnv and fallback to OSMesa if EGL is unavailable."""
+    try:
+        return OffScreenRenderEnv(**env_args)
+    except ImportError as exc:
+        msg = str(exc)
+        if "EGL" not in msg and "PLATFORM_DEVICE" not in msg:
+            raise
+
+        # Headless clusters often miss EGL PLATFORM_DEVICE support. Retry with
+        # software rendering to keep evaluation working.
+        os.environ["MUJOCO_GL"] = "osmesa"
+        os.environ["PYOPENGL_PLATFORM"] = "osmesa"
+        try:
+            return OffScreenRenderEnv(**env_args)
+        except Exception as fallback_exc:
+            raise ImportError(
+                "Failed to initialize robosuite offscreen renderer with both EGL and "
+                "OSMesa backends. Set up EGL-capable drivers or install OSMesa (e.g. "
+                "`conda install -c conda-forge mesalib`) and retry."
+            ) from fallback_exc
+
+
 class LiberoEnv(gym.Env):
     metadata = {"render_modes": ["rgb_array"], "render_fps": 80}
 
@@ -147,6 +404,7 @@ class LiberoEnv(gym.Env):
         # Load once and keep
         self._init_states = get_task_init_states(task_suite, self.task_id) if self.init_states else None
         self._reset_stride = n_envs  # when performing a reset, append `_reset_stride` to `init_state_id`.
+        self._init_state_error_warned = False
 
         self.init_state_id = self.episode_index  # tie each sub-env to a fixed init state
 
@@ -238,7 +496,7 @@ class LiberoEnv(gym.Env):
             "camera_heights": self.observation_height,
             "camera_widths": self.observation_width,
         }
-        env = OffScreenRenderEnv(**env_args)
+        env = _make_offscreen_env_with_renderer_fallback(env_args)
         env.reset()
         return env
 
@@ -298,8 +556,21 @@ class LiberoEnv(gym.Env):
         self._env.seed(seed)
         raw_obs = self._env.reset()
         if self.init_states and self._init_states is not None:
-            raw_obs = self._env.set_init_state(self._init_states[self.init_state_id % len(self._init_states)])
-            self.init_state_id += self._reset_stride  # Change init_state_id when reset
+            try:
+                raw_obs = self._env.set_init_state(self._init_states[self.init_state_id % len(self._init_states)])
+                self.init_state_id += self._reset_stride  # Change init_state_id when reset
+            except Exception as exc:
+                # Some LIBERO-Plus perturbation tasks (notably object-layout variants)
+                # can have different simulator state dimensions than their base init files.
+                # Fall back to plain env.reset() instead of aborting the whole evaluation.
+                self.init_states = False
+                if not self._init_state_error_warned:
+                    print(
+                        "WARNING: Failed to apply init state for "
+                        f"task_id={self.task_id} ({self.task}). "
+                        f"Falling back to plain reset. Error: {exc}"
+                    )
+                    self._init_state_error_warned = True
 
         # After reset, objects may be unstable (slightly floating, intersecting, etc.).
         # Step the simulator with a no-op action for a few frames so everything settles.
@@ -325,7 +596,17 @@ class LiberoEnv(gym.Env):
                 f"Expected action to be 1-D (shape (action_dim,)), "
                 f"but got shape {action.shape} with ndim={action.ndim}"
             )
-        raw_obs, reward, done, info = self._env.step(action)
+
+        try:
+            raw_obs, reward, done, info = self._env.step(action)
+        except ValueError as e:
+            if "terminated episode" not in str(e):
+                raise
+            # Robosuite's internal done flag is stale (e.g. from a previous
+            # termination that wasn't properly cleared by SyncVectorEnv).
+            # Signal termination so the caller resets us.
+            obs, reset_info = self.reset()
+            return obs, 0.0, True, False, {"is_success": False, **reset_info}
 
         is_success = self._env.check_success()
         terminated = done or is_success
@@ -345,7 +626,6 @@ class LiberoEnv(gym.Env):
                 "done": bool(done),
                 "is_success": bool(is_success),
             }
-            self.reset()
         truncated = False
         return observation, reward, terminated, truncated, info
 
@@ -388,6 +668,9 @@ def _make_env_fns(
     return fns
 
 
+_LazyVecEnv = LazyVectorEnv
+
+
 # ---- Main API ----------------------------------------------------------------
 
 
@@ -431,12 +714,23 @@ def create_libero_envs(
         print(f"Restricting to task_ids={task_ids_filter}")
 
     out: dict[str, dict[int, Any]] = defaultdict(dict)
+    total_tasks = 0
     for suite_name in suite_names:
         suite = _get_suite(suite_name)
         total = len(suite.tasks)
         selected = _select_task_ids(total, task_ids_filter)
         if not selected:
             raise ValueError(f"No tasks selected for suite '{suite_name}' (available: {total}).")
+        total_tasks += len(selected)
+
+    lazy = total_tasks > 1
+    if lazy:
+        print(f"Using lazy env creation for {total_tasks} tasks (envs created on demand)")
+
+    for suite_name in suite_names:
+        suite = _get_suite(suite_name)
+        total = len(suite.tasks)
+        selected = _select_task_ids(total, task_ids_filter)
 
         for tid in selected:
             fns = _make_env_fns(
@@ -450,8 +744,11 @@ def create_libero_envs(
                 gym_kwargs=gym_kwargs,
                 control_mode=control_mode,
             )
-            out[suite_name][tid] = env_cls(fns)
-            print(f"Built vec env | suite={suite_name} | task_id={tid} | n_envs={n_envs}")
+            if lazy:
+                out[suite_name][tid] = LazyVectorEnv(env_cls, fns)
+            else:
+                out[suite_name][tid] = env_cls(fns)
+                print(f"Built vec env | suite={suite_name} | task_id={tid} | n_envs={n_envs}")
 
     # return plain dicts for predictability
     return {suite: dict(task_map) for suite, task_map in out.items()}

src/lerobot/envs/metaworld.py

@@ -25,6 +25,7 @@ import metaworld.policies as policies
 import numpy as np
 from gymnasium import spaces
 
+from lerobot.envs.lazy_vec_env import LazyVectorEnv
 from lerobot.processor import RobotObservation
 
 # ---- Load configuration data from the external JSON file ----
@@ -297,19 +298,24 @@ def create_metaworld_envs(
 
     print(f"Creating Meta-World envs | task_groups={task_groups} | n_envs(per task)={n_envs}")
 
+    group_to_tasks = {group: DIFFICULTY_TO_TASKS.get(group, [group]) for group in task_groups}
+    total_tasks = sum(len(tasks) for tasks in group_to_tasks.values())
+    lazy = total_tasks > 50
+    if lazy:
+        print(f"Using lazy env creation for {total_tasks} tasks (envs created on demand)")
+
     out: dict[str, dict[int, Any]] = defaultdict(dict)
 
     for group in task_groups:
-        # if not in difficulty presets, treat it as a single custom task
-        tasks = DIFFICULTY_TO_TASKS.get(group, [group])
+        tasks = group_to_tasks[group]
 
         for tid, task_name in enumerate(tasks):
-            print(f"Building vec env | group={group} | task_id={tid} | task={task_name}")
+            if not lazy:
+                print(f"Building vec env | group={group} | task_id={tid} | task={task_name}")
 
             # build n_envs factories
             fns = [(lambda tn=task_name: MetaworldEnv(task=tn, **gym_kwargs)) for _ in range(n_envs)]
-
-            out[group][tid] = env_cls(fns)
+            out[group][tid] = LazyVectorEnv(env_cls, fns) if lazy else env_cls(fns)
 
     # return a plain dict for consistency
     return {group: dict(task_map) for group, task_map in out.items()}

src/lerobot/envs/robocasa.py

@@ -0,0 +1,279 @@
+#!/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.
+from __future__ import annotations
+
+from collections import defaultdict
+from collections.abc import Callable, Sequence
+from functools import partial
+from typing import Any
+
+import gymnasium as gym
+import numpy as np
+from gymnasium import spaces
+
+from lerobot.envs.lazy_vec_env import LazyVectorEnv
+
+# Action layout (flat 12D, normalized to [-1, 1]):
+#   [0:3]   end_effector_position  (delta x, y, z)
+#   [3:6]   end_effector_rotation  (delta roll, pitch, yaw)
+#   [6:7]   gripper_close          (open=-1, close=+1)
+#   [7:11]  base_motion            (x, y, theta, torso_height)
+#   [11:12] control_mode           (arm=-1, base=+1)
+ACTION_DIM = 12
+ACTION_LOW = -1.0
+ACTION_HIGH = 1.0
+
+# Proprioceptive state layout (flat 16D):
+#   [0:2]   gripper_qpos
+#   [2:5]   base_position
+#   [5:9]   base_rotation (quaternion)
+#   [9:12]  end_effector_position_relative
+#   [12:16] end_effector_rotation_relative (quaternion)
+STATE_DIM = 16
+
+# Obs dict keys from RoboCasaGymEnv.get_observation()
+_CAM_KEYS = (
+    "video.robot0_agentview_left",
+    "video.robot0_agentview_right",
+    "video.robot0_eye_in_hand",
+)
+_STATE_KEYS_ORDERED = (
+    "state.gripper_qpos",           # (2,)
+    "state.base_position",          # (3,)
+    "state.base_rotation",          # (4,)
+    "state.end_effector_position_relative",   # (3,)
+    "state.end_effector_rotation_relative",   # (4,)
+)
+
+# Mapping from video.* key → short image name used in features_map
+CAM_KEY_TO_NAME = {
+    "video.robot0_agentview_left":  "agentview_left",
+    "video.robot0_agentview_right": "agentview_right",
+    "video.robot0_eye_in_hand":     "eye_in_hand",
+}
+
+
+def _flat_to_action_dict(flat: np.ndarray) -> dict[str, np.ndarray]:
+    """Convert a 12D flat action array to the Dict format expected by RoboCasaGymEnv."""
+    return {
+        "action.end_effector_position": flat[0:3],
+        "action.end_effector_rotation": flat[3:6],
+        "action.gripper_close":         flat[6:7],
+        "action.base_motion":           flat[7:11],
+        "action.control_mode":          flat[11:12],
+    }
+
+
+class RoboCasaEnv(gym.Env):
+    """Thin wrapper around RoboCasaGymEnv that provides a flat Box action space
+    and a structured observation dict compatible with LeRobot policies.
+
+    Observations returned by step/reset:
+        {
+            "pixels": {
+                "agentview_left":  (H, W, 3) uint8,
+                "agentview_right": (H, W, 3) uint8,
+                "eye_in_hand":     (H, W, 3) uint8,
+            },
+            "robot_state": (16,) float32,
+        }
+
+    Actions: flat float32 ndarray of shape (12,), normalized to [-1, 1].
+    """
+
+    metadata = {"render_modes": ["rgb_array"], "render_fps": 20}
+
+    def __init__(
+        self,
+        task: str,
+        split: str = "target",
+        image_size: int = 128,
+        render_mode: str = "rgb_array",
+        episode_length: int = 500,
+        **gym_kwargs: Any,
+    ):
+        super().__init__()
+        # Lazy import — robocasa is optional
+        import robocasa.environments  # noqa: F401 — registers all gym envs
+
+        self.task = task
+        self.render_mode = render_mode
+        self.image_size = image_size
+        self._max_episode_steps = episode_length
+        self._step_count = 0
+
+        self._env = gym.make(
+            f"robocasa/{task}",
+            split=split,
+            camera_widths=image_size,
+            camera_heights=image_size,
+            **gym_kwargs,
+        )
+
+        # Flat 12D Box action space
+        self.action_space = spaces.Box(
+            low=ACTION_LOW,
+            high=ACTION_HIGH,
+            shape=(ACTION_DIM,),
+            dtype=np.float32,
+        )
+
+        images = {
+            name: spaces.Box(low=0, high=255, shape=(image_size, image_size, 3), dtype=np.uint8)
+            for name in CAM_KEY_TO_NAME.values()
+        }
+        self.observation_space = spaces.Dict(
+            {
+                "pixels": spaces.Dict(images),
+                "robot_state": spaces.Box(
+                    low=-np.inf, high=np.inf, shape=(STATE_DIM,), dtype=np.float32
+                ),
+            }
+        )
+
+    def _format_obs(self, raw_obs: dict) -> dict:
+        pixels = {
+            CAM_KEY_TO_NAME[k]: raw_obs[k]
+            for k in _CAM_KEYS
+            if k in raw_obs
+        }
+        state_parts = [
+            np.asarray(raw_obs[k], dtype=np.float32)
+            for k in _STATE_KEYS_ORDERED
+            if k in raw_obs
+        ]
+        robot_state = np.concatenate(state_parts) if state_parts else np.zeros(STATE_DIM, dtype=np.float32)
+        return {"pixels": pixels, "robot_state": robot_state}
+
+    def reset(self, seed: int | None = None, **kwargs) -> tuple[dict, dict]:
+        super().reset(seed=seed)
+        self._step_count = 0
+        raw_obs, info = self._env.reset(seed=seed)
+        info.setdefault("is_success", False)
+        info["task"] = self.task
+        return self._format_obs(raw_obs), info
+
+    def step(self, action: np.ndarray) -> tuple[dict, float, bool, bool, dict]:
+        if action.ndim != 1 or action.shape[0] != ACTION_DIM:
+            raise ValueError(
+                f"Expected 1-D action of shape ({ACTION_DIM},), got {action.shape}"
+            )
+        action_dict = _flat_to_action_dict(action)
+        raw_obs, reward, terminated, truncated, info = self._env.step(action_dict)
+        self._step_count += 1
+
+        is_success = bool(info.get("success", False))
+        terminated = terminated or is_success
+        if self._step_count >= self._max_episode_steps:
+            truncated = True
+
+        info.update({"task": self.task, "is_success": is_success})
+        obs = self._format_obs(raw_obs)
+
+        if terminated or truncated:
+            info["final_info"] = {"task": self.task, "is_success": is_success}
+
+        return obs, reward, terminated, truncated, info
+
+    def render(self) -> np.ndarray | None:
+        if self.render_mode == "rgb_array":
+            return self._env.render()
+        return None
+
+    def close(self) -> None:
+        self._env.close()
+
+
+def _make_env_fns(
+    *,
+    task: str,
+    n_envs: int,
+    image_size: int,
+    split: str,
+    episode_length: int,
+    gym_kwargs: dict[str, Any],
+) -> list[Callable[[], RoboCasaEnv]]:
+    """Build n_envs factory callables for a single task."""
+    def _make(episode_index: int) -> RoboCasaEnv:  # noqa: ARG001
+        return RoboCasaEnv(
+            task=task,
+            split=split,
+            image_size=image_size,
+            episode_length=episode_length,
+            **gym_kwargs,
+        )
+
+    return [partial(_make, i) for i in range(n_envs)]
+
+
+def create_robocasa_envs(
+    tasks: str | Sequence[str],
+    n_envs: int,
+    image_size: int = 128,
+    split: str = "target",
+    episode_length: int = 500,
+    gym_kwargs: dict[str, Any] | None = None,
+    env_cls: Callable[[Sequence[Callable[[], Any]]], Any] | None = None,
+) -> dict[str, dict[int, Any]]:
+    """Create vectorized RoboCasa environments.
+
+    Args:
+        tasks: A single task name or list of task names (without "robocasa/" prefix).
+            E.g. "PickPlaceCounterToCabinet" or ["BoilPot", "PrepareCoffee"].
+        n_envs: Number of parallel envs per task.
+        image_size: Square image resolution for all cameras.
+        split: RoboCasa dataset split — "pretrain" or "target".
+        episode_length: Max steps per episode before truncation.
+        gym_kwargs: Extra kwargs forwarded to each RoboCasaEnv.
+        env_cls: Callable to wrap list of factory fns (SyncVectorEnv or AsyncVectorEnv).
+
+    Returns:
+        dict[task_name][task_id=0] -> vec_env
+    """
+    if env_cls is None or not callable(env_cls):
+        raise ValueError("env_cls must be a callable wrapping a list of env factory callables.")
+    if not isinstance(n_envs, int) or n_envs <= 0:
+        raise ValueError(f"n_envs must be a positive int; got {n_envs}.")
+
+    if isinstance(tasks, str):
+        task_list = [t.strip() for t in tasks.split(",") if t.strip()]
+    else:
+        task_list = [str(t).strip() for t in tasks if str(t).strip()]
+    if not task_list:
+        raise ValueError("`tasks` must contain at least one task name.")
+
+    gym_kwargs = dict(gym_kwargs or {})
+    out: dict[str, dict[int, Any]] = defaultdict(dict)
+    total_tasks = len(task_list)
+    lazy = total_tasks > 50
+
+    print(f"Creating RoboCasa envs | tasks={task_list} | n_envs(per task)={n_envs} | split={split}")
+    if lazy:
+        print(f"Using lazy env creation for {total_tasks} tasks (envs created on demand)")
+    for task in task_list:
+        fns = _make_env_fns(
+            task=task,
+            n_envs=n_envs,
+            image_size=image_size,
+            split=split,
+            episode_length=episode_length,
+            gym_kwargs=gym_kwargs,
+        )
+        out["robocasa"][len(out["robocasa"])] = LazyVectorEnv(env_cls, fns) if lazy else env_cls(fns)
+        if not lazy:
+            print(f"  Built vec env | task={task} | n_envs={n_envs}")
+
+    return {suite: dict(task_map) for suite, task_map in out.items()}

src/lerobot/envs/robomme.py

@@ -0,0 +1,181 @@
+"""RoboMME environment wrapper for LeRobot evaluation.
+
+Wraps the RoboMME ``BenchmarkEnvBuilder`` into a Gymnasium-compatible
+``VectorEnv`` suitable for ``lerobot_eval``.
+
+RoboMME tasks:
+  Counting:    BinFill, PickXtimes, SwingXtimes, StopCube
+  Permanence:  VideoUnmask, VideoUnmaskSwap, ButtonUnmask, ButtonUnmaskSwap
+  Reference:   PickHighlight, VideoRepick, VideoPlaceButton, VideoPlaceOrder
+  Imitation:   MoveCube, InsertPeg, PatternLock, RouteStick
+
+Install: pip install robomme  (or from source: https://github.com/RoboMME/robomme_benchmark)
+"""
+
+from __future__ import annotations
+
+from collections.abc import Callable, Sequence
+from functools import partial
+from typing import Any
+
+import gymnasium as gym
+import numpy as np
+from gymnasium import spaces
+
+from lerobot.envs.lazy_vec_env import LazyVectorEnv
+
+ROBOMME_TASKS = [
+    "BinFill", "PickXtimes", "SwingXtimes", "StopCube",
+    "VideoUnmask", "VideoUnmaskSwap", "ButtonUnmask", "ButtonUnmaskSwap",
+    "PickHighlight", "VideoRepick", "VideoPlaceButton", "VideoPlaceOrder",
+    "MoveCube", "InsertPeg", "PatternLock", "RouteStick",
+]
+
+
+class RoboMMEGymEnv(gym.Env):
+    """Thin Gymnasium wrapper around a single RoboMME episode env."""
+
+    metadata = {"render_modes": ["rgb_array"]}
+
+    def __init__(
+        self,
+        task: str = "PickXtimes",
+        action_space_type: str = "joint_angle",
+        dataset: str = "test",
+        episode_idx: int = 0,
+        max_steps: int = 300,
+    ):
+        super().__init__()
+        from robomme.env_record_wrapper import BenchmarkEnvBuilder
+
+        self._task = task
+        self._action_space_type = action_space_type
+        self._dataset = dataset
+        self._episode_idx = episode_idx
+        self._max_steps = max_steps
+
+        self._builder = BenchmarkEnvBuilder(
+            env_id=task,
+            dataset=dataset,
+            action_space=action_space_type,
+            gui_render=False,
+            max_steps=max_steps,
+        )
+        self._env = None
+
+        action_dim = 8 if action_space_type == "joint_angle" else 7
+        self.action_space = spaces.Box(low=-1.0, high=1.0, shape=(action_dim,), dtype=np.float32)
+        self.observation_space = spaces.Dict({
+            "front_rgb": spaces.Box(0, 255, shape=(256, 256, 3), dtype=np.uint8),
+            "wrist_rgb": spaces.Box(0, 255, shape=(256, 256, 3), dtype=np.uint8),
+            "state": spaces.Box(-np.inf, np.inf, shape=(8,), dtype=np.float32),
+        })
+
+    def reset(self, *, seed=None, options=None):
+        super().reset(seed=seed)
+        self._env = self._builder.make_env_for_episode(
+            episode_idx=self._episode_idx, max_steps=self._max_steps,
+        )
+        obs, info = self._env.reset()
+        return self._convert_obs(obs), self._convert_info(info)
+
+    def step(self, action):
+        obs, reward, terminated, truncated, info = self._env.step(action)
+
+        terminated_bool = bool(terminated.item()) if hasattr(terminated, "item") else bool(terminated)
+        truncated_bool = bool(truncated.item()) if hasattr(truncated, "item") else bool(truncated)
+
+        status = info.get("status", "ongoing")
+        is_success = status == "success"
+        conv_info = self._convert_info(info)
+        conv_info["is_success"] = is_success
+
+        return self._convert_obs(obs), float(reward), terminated_bool, truncated_bool, conv_info
+
+    def _convert_obs(self, obs: dict) -> dict:
+        front_rgb = obs["front_rgb_list"][-1] if isinstance(obs["front_rgb_list"], list) else obs["front_rgb_list"]
+        wrist_rgb = obs["wrist_rgb_list"][-1] if isinstance(obs["wrist_rgb_list"], list) else obs["wrist_rgb_list"]
+        joint_state = obs["joint_state_list"][-1] if isinstance(obs["joint_state_list"], list) else obs["joint_state_list"]
+        gripper_state = obs["gripper_state_list"][-1] if isinstance(obs["gripper_state_list"], list) else obs["gripper_state_list"]
+
+        front_rgb = np.asarray(front_rgb, dtype=np.uint8)
+        wrist_rgb = np.asarray(wrist_rgb, dtype=np.uint8)
+        joint = np.asarray(joint_state, dtype=np.float32).flatten()[:7]
+        gripper = np.asarray(gripper_state, dtype=np.float32).flatten()[:1]
+        state = np.concatenate([joint, gripper])
+
+        return {
+            "front_rgb": front_rgb,
+            "wrist_rgb": wrist_rgb,
+            "state": state,
+        }
+
+    def _convert_info(self, info: dict) -> dict:
+        return {
+            "status": info.get("status", "ongoing"),
+            "task_goal": info.get("task_goal", ""),
+        }
+
+
+def _make_env_fns(
+    *,
+    task: str,
+    n_envs: int,
+    action_space_type: str,
+    dataset: str,
+    episode_length: int,
+    task_id: int,
+) -> list[Callable[[], RoboMMEGymEnv]]:
+    """Build n_envs factory callables for one RoboMME task id."""
+
+    def _make_one(episode_index: int) -> RoboMMEGymEnv:
+        return RoboMMEGymEnv(
+            task=task,
+            action_space_type=action_space_type,
+            dataset=dataset,
+            episode_idx=episode_index,
+            max_steps=episode_length,
+        )
+
+    return [partial(_make_one, task_id + i) for i in range(n_envs)]
+
+
+def create_robomme_envs(
+    task: str,
+    n_envs: int = 1,
+    action_space_type: str = "joint_angle",
+    dataset: str = "test",
+    episode_length: int = 300,
+    task_ids: list[int] | None = None,
+    env_cls: Callable[[Sequence[Callable[[], Any]]], Any] | None = None,
+) -> dict[str, dict[int, gym.vector.VectorEnv]]:
+    """Create vectorized RoboMME environments for evaluation.
+
+    Returns {suite_name: {task_id: VectorEnv}} matching lerobot's expected format.
+    """
+    if env_cls is None or not callable(env_cls):
+        raise ValueError("env_cls must be a callable that wraps a list of env factory callables.")
+    if not isinstance(n_envs, int) or n_envs <= 0:
+        raise ValueError(f"n_envs must be a positive int; got {n_envs}.")
+
+    if task_ids is None:
+        task_ids = [0]
+
+    suite_name = "robomme"
+    envs_by_task = {}
+    lazy = len(task_ids) > 50
+    if lazy:
+        print(f"Using lazy env creation for {len(task_ids)} tasks (envs created on demand)")
+
+    for task_id in task_ids:
+        fns = _make_env_fns(
+            task=task,
+            n_envs=n_envs,
+            action_space_type=action_space_type,
+            dataset=dataset,
+            episode_length=episode_length,
+            task_id=task_id,
+        )
+        envs_by_task[task_id] = LazyVectorEnv(env_cls, fns) if lazy else env_cls(fns)
+
+    return {suite_name: envs_by_task}

src/lerobot/motors/motors_bus.py

@@ -29,7 +29,7 @@ from dataclasses import dataclass
 from enum import Enum
 from functools import cached_property
 from pprint import pformat
-from typing import Protocol, TypeAlias
+from typing import Protocol
 
 import serial
 from deepdiff import DeepDiff
@@ -38,8 +38,8 @@ from tqdm import tqdm
 from lerobot.utils.decorators import check_if_already_connected, check_if_not_connected
 from lerobot.utils.utils import enter_pressed, move_cursor_up
 
-NameOrID: TypeAlias = str | int
-Value: TypeAlias = int | float
+type NameOrID = str | int
+type Value = int | float
 
 logger = logging.getLogger(__name__)
 
@@ -1277,4 +1277,4 @@ class SerialMotorsBus(MotorsBusBase):
 
 
 # Backward compatibility alias
-MotorsBus: TypeAlias = SerialMotorsBus
+MotorsBus = SerialMotorsBus

src/lerobot/policies/factory.py

@@ -18,10 +18,9 @@ from __future__ import annotations
 
 import importlib
 import logging
-from typing import Any, TypedDict
+from typing import Any, TypedDict, Unpack
 
 import torch
-from typing_extensions import Unpack
 
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import FeatureType

src/lerobot/policies/groot/eagle2_hg_model/image_processing_eagle2_5_vl_fast.py

@@ -4,10 +4,9 @@
 # Licensed under The MIT License [see LICENSE for details]
 # --------------------------------------------------------
 
+from __future__ import annotations
 
 # copy from https://github.com/huggingface/transformers/blob/main/src/transformers/models/llava_onevision/image_processing_llava_onevision_fast.py
-from typing import Optional
-
 from transformers.image_processing_utils import (
     BatchFeature,
     get_patch_output_size,
@@ -165,11 +164,11 @@ class Eagle25VLImageProcessorFast(BaseImageProcessorFast):
 
     def _resize_for_patching(
         self,
-        image: "torch.Tensor",
+        image: torch.Tensor,
         target_resolution: tuple,
-        interpolation: "F.InterpolationMode",
+        interpolation: F.InterpolationMode,
         input_data_format: ChannelDimension,
-    ) -> "torch.Tensor":
+    ) -> torch.Tensor:
         """
         Resizes an image to a target resolution while maintaining aspect ratio.
 
@@ -219,8 +218,8 @@ class Eagle25VLImageProcessorFast(BaseImageProcessorFast):
         return best_ratio
 
     def _pad_for_patching(
-        self, image: "torch.Tensor", target_resolution: tuple, input_data_format: ChannelDimension
-    ) -> "torch.Tensor":
+        self, image: torch.Tensor, target_resolution: tuple, input_data_format: ChannelDimension
+    ) -> torch.Tensor:
         """
         Pad an image to a target resolution while maintaining aspect ratio.
         """
@@ -236,15 +235,15 @@ class Eagle25VLImageProcessorFast(BaseImageProcessorFast):
 
     def _get_image_patches(
         self,
-        image: "torch.Tensor",
+        image: torch.Tensor,
         min_num: int,
         max_num: int,
         size: tuple,
         tile_size: int,
         use_thumbnail: bool,
-        interpolation: "F.InterpolationMode",
+        interpolation: F.InterpolationMode,
         pad_during_tiling: bool,
-    ) -> list["torch.Tensor"]:
+    ) -> list[torch.Tensor]:
         image_size = get_image_size(image, channel_dim=ChannelDimension.FIRST)
         orig_height, orig_width = image_size
         aspect_ratio = orig_width / orig_height
@@ -305,8 +304,8 @@ class Eagle25VLImageProcessorFast(BaseImageProcessorFast):
 
     def _pad_for_batching(
         self,
-        pixel_values: list["torch.Tensor"],
-    ) -> list["torch.Tensor"]:
+        pixel_values: list[torch.Tensor],
+    ) -> list[torch.Tensor]:
         """
         Pads images on the `num_of_patches` dimension with zeros to form a batch of same number of patches.
 
@@ -327,14 +326,14 @@ class Eagle25VLImageProcessorFast(BaseImageProcessorFast):
 
     def _preprocess(
         self,
-        images: list["torch.Tensor"],
+        images: list[torch.Tensor],
         do_resize: bool,
         size: SizeDict,
         max_dynamic_tiles: int,
         min_dynamic_tiles: int,
         use_thumbnail: bool,
         pad_during_tiling: bool,
-        interpolation: Optional["F.InterpolationMode"],
+        interpolation: F.InterpolationMode | None,
         do_center_crop: bool,
         crop_size: SizeDict,
         do_rescale: bool,

src/lerobot/policies/pi0/modeling_pi0.py

@@ -20,12 +20,11 @@ import logging
 import math
 from collections import deque
 from pathlib import Path
-from typing import TYPE_CHECKING, Literal, TypedDict
+from typing import TYPE_CHECKING, Literal, TypedDict, Unpack
 
 import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
-from typing_extensions import Unpack
 
 from lerobot.utils.import_utils import _transformers_available
 

src/lerobot/policies/pi05/modeling_pi05.py

@@ -20,12 +20,11 @@ import logging
 import math
 from collections import deque
 from pathlib import Path
-from typing import TYPE_CHECKING, Literal, TypedDict
+from typing import TYPE_CHECKING, Literal, TypedDict, Unpack
 
 import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
-from typing_extensions import Unpack
 
 from lerobot.utils.import_utils import _transformers_available
 

src/lerobot/policies/pi0_fast/modeling_pi0_fast.py

@@ -19,13 +19,12 @@ import logging
 import math
 from collections import deque
 from pathlib import Path
-from typing import TYPE_CHECKING, Literal, TypedDict
+from typing import TYPE_CHECKING, Literal, TypedDict, Unpack
 
 import numpy as np
 import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
-from typing_extensions import Unpack
 
 from lerobot.utils.import_utils import _scipy_available, _transformers_available
 

src/lerobot/policies/pretrained.py

@@ -19,7 +19,7 @@ import os
 from importlib.resources import files
 from pathlib import Path
 from tempfile import TemporaryDirectory
-from typing import TypedDict, TypeVar
+from typing import TypedDict, TypeVar, Unpack
 
 import packaging
 import safetensors
@@ -28,7 +28,6 @@ from huggingface_hub.constants import SAFETENSORS_SINGLE_FILE
 from huggingface_hub.errors import HfHubHTTPError
 from safetensors.torch import load_model as load_model_as_safetensor, save_model as save_model_as_safetensor
 from torch import Tensor, nn
-from typing_extensions import Unpack
 
 from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.train import TrainPipelineConfig

src/lerobot/policies/smolvla/modeling_smolvla.py

@@ -54,12 +54,11 @@ policy = SmolVLAPolicy.from_pretrained("lerobot/smolvla_base")
 
 import math
 from collections import deque
-from typing import TypedDict
+from typing import TypedDict, Unpack
 
 import torch
 import torch.nn.functional as F  # noqa: N812
 from torch import Tensor, nn
-from typing_extensions import Unpack
 
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.rtc.modeling_rtc import RTCProcessor

src/lerobot/processor/core.py

@@ -17,7 +17,7 @@
 from __future__ import annotations
 
 from enum import Enum
-from typing import Any, TypeAlias, TypedDict
+from typing import Any, TypedDict
 
 import numpy as np
 import torch
@@ -36,10 +36,10 @@ class TransitionKey(str, Enum):
     COMPLEMENTARY_DATA = "complementary_data"
 
 
-PolicyAction: TypeAlias = torch.Tensor
-RobotAction: TypeAlias = dict[str, Any]
-EnvAction: TypeAlias = np.ndarray
-RobotObservation: TypeAlias = dict[str, Any]
+PolicyAction = torch.Tensor
+RobotAction = dict[str, Any]
+EnvAction = np.ndarray
+RobotObservation = dict[str, Any]
 
 
 EnvTransition = TypedDict(

src/lerobot/processor/env_processor.py

@@ -153,6 +153,44 @@ class LiberoProcessorStep(ObservationProcessorStep):
         return result
 
 
+@dataclass
+@ProcessorStepRegistry.register(name="robocasa_processor")
+class RoboCasaProcessorStep(ObservationProcessorStep):
+    """
+    Processes RoboCasa observations into LeRobot format.
+
+    The RoboCasaEnv wrapper returns:
+        - ``pixels.<cam_name>``: (B, C, H, W) float32 images (already converted by vectorenv)
+        - ``observation.robot_state``: (B, 16) float32 proprioception
+
+    This step remaps them to:
+        - ``observation.images.<cam_name>``   (unchanged tensor)
+        - ``observation.state``               (robot_state renamed)
+    """
+
+    def _process_observation(self, observation: dict) -> dict:
+        processed = {}
+        obs_prefix = OBS_PREFIX  # "observation."
+
+        for key, value in observation.items():
+            if key.startswith(f"{OBS_IMAGES}."):
+                # Already in the right place; pass through
+                processed[key] = value
+            elif key == OBS_STATE or key == f"{obs_prefix}robot_state":
+                # Rename robot_state → observation.state
+                processed[OBS_STATE] = value.float() if hasattr(value, "float") else value
+
+        return processed
+
+    def transform_features(
+        self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
+    ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
+        return features
+
+    def observation(self, observation: dict) -> dict:
+        return self._process_observation(observation)
+
+
 @dataclass
 @ProcessorStepRegistry.register(name="isaaclab_arena_processor")
 class IsaaclabArenaProcessorStep(ObservationProcessorStep):

src/lerobot/processor/pipeline.py

@@ -39,7 +39,7 @@ from collections.abc import Callable, Iterable, Sequence
 from copy import deepcopy
 from dataclasses import dataclass, field
 from pathlib import Path
-from typing import Any, Generic, TypeAlias, TypedDict, TypeVar, cast
+from typing import Any, TypedDict, TypeVar, cast
 
 import torch
 from huggingface_hub import hf_hub_download
@@ -251,7 +251,7 @@ class ProcessorMigrationError(Exception):
 
 
 @dataclass
-class DataProcessorPipeline(HubMixin, Generic[TInput, TOutput]):
+class DataProcessorPipeline[TInput, TOutput](HubMixin):
     """A sequential pipeline for processing data, integrated with the Hugging Face Hub.
 
     This class chains together multiple `ProcessorStep` instances to form a complete
@@ -1432,8 +1432,8 @@ class DataProcessorPipeline(HubMixin, Generic[TInput, TOutput]):
 
 
 # Type aliases for semantic clarity.
-RobotProcessorPipeline: TypeAlias = DataProcessorPipeline[TInput, TOutput]
-PolicyProcessorPipeline: TypeAlias = DataProcessorPipeline[TInput, TOutput]
+RobotProcessorPipeline = DataProcessorPipeline[TInput, TOutput]
+PolicyProcessorPipeline = DataProcessorPipeline[TInput, TOutput]
 
 
 class ObservationProcessorStep(ProcessorStep, ABC):

src/lerobot/robots/so_follower/config_so_follower.py

@@ -15,7 +15,6 @@
 # limitations under the License.
 
 from dataclasses import dataclass, field
-from typing import TypeAlias
 
 from lerobot.cameras import CameraConfig
 
@@ -50,5 +49,5 @@ class SOFollowerRobotConfig(RobotConfig, SOFollowerConfig):
     pass
 
 
-SO100FollowerConfig: TypeAlias = SOFollowerRobotConfig
-SO101FollowerConfig: TypeAlias = SOFollowerRobotConfig
+SO100FollowerConfig = SOFollowerRobotConfig
+SO101FollowerConfig = SOFollowerRobotConfig

src/lerobot/robots/so_follower/so_follower.py

@@ -17,7 +17,6 @@
 import logging
 import time
 from functools import cached_property
-from typing import TypeAlias
 
 from lerobot.cameras.utils import make_cameras_from_configs
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
@@ -230,5 +229,5 @@ class SOFollower(Robot):
         logger.info(f"{self} disconnected.")
 
 
-SO100Follower: TypeAlias = SOFollower
-SO101Follower: TypeAlias = SOFollower
+SO100Follower = SOFollower
+SO101Follower = SOFollower

src/lerobot/robots/unitree_g1/__init__.py

@@ -16,3 +16,5 @@
 
 from .config_unitree_g1 import UnitreeG1Config
 from .unitree_g1 import UnitreeG1
+
+__all__ = ["UnitreeG1", "UnitreeG1Config"]

src/lerobot/robots/unitree_g1/config_unitree_g1.py

@@ -27,11 +27,10 @@ _GAINS: dict[str, dict[str, list[float]]] = {
     },  # pitch, roll, yaw, knee, ankle_pitch, ankle_roll
     "right_leg": {"kp": [150, 150, 150, 300, 40, 40], "kd": [2, 2, 2, 4, 2, 2]},
     "waist": {"kp": [250, 250, 250], "kd": [5, 5, 5]},  # yaw, roll, pitch
-    "left_arm": {"kp": [80, 80, 80, 80], "kd": [3, 3, 3, 3]},  # shoulder_pitch/roll/yaw, elbow
+    "left_arm": {"kp": [50, 50, 80, 80], "kd": [3, 3, 3, 3]},  # shoulder_pitch/roll/yaw, elbow
     "left_wrist": {"kp": [40, 40, 40], "kd": [1.5, 1.5, 1.5]},  # roll, pitch, yaw
-    "right_arm": {"kp": [80, 80, 80, 80], "kd": [3, 3, 3, 3]},
+    "right_arm": {"kp": [50, 50, 80, 80], "kd": [3, 3, 3, 3]},
     "right_wrist": {"kp": [40, 40, 40], "kd": [1.5, 1.5, 1.5]},
-    "other": {"kp": [80, 80, 80, 80, 80, 80], "kd": [3, 3, 3, 3, 3, 3]},
 }
 
 
@@ -68,3 +67,7 @@ class UnitreeG1Config(RobotConfig):
 
     # Compensates for gravity on the unitree's arms using the arm ik solver
     gravity_compensation: bool = False
+
+    # Lower-body controller class name, e.g. "GrootLocomotionController" or
+    # "HolosomaLocomotionController". None disables it.
+    controller: str | None = None

src/lerobot/robots/unitree_g1/g1_kinematics.py

@@ -16,13 +16,11 @@
 
 import logging
 import os
-import sys
+from collections import deque
 
 import numpy as np
 
 logger = logging.getLogger(__name__)
-parent2_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-sys.path.append(parent2_dir)
 
 
 class WeightedMovingFilter:
@@ -31,18 +29,14 @@ class WeightedMovingFilter:
         self._weights = np.array(weights)
         self._data_size = data_size
         self._filtered_data = np.zeros(self._data_size)
-        self._data_queue = []
+        self._data_queue = deque(maxlen=self._window_size)
 
     def _apply_filter(self):
         if len(self._data_queue) < self._window_size:
             return self._data_queue[-1]
 
         data_array = np.array(self._data_queue)
-        temp_filtered_data = np.zeros(self._data_size)
-        for i in range(self._data_size):
-            temp_filtered_data[i] = np.convolve(data_array[:, i], self._weights, mode="valid")[-1]
-
-        return temp_filtered_data
+        return data_array.T @ self._weights
 
     def add_data(self, new_data):
         assert len(new_data) == self._data_size
@@ -52,9 +46,6 @@ class WeightedMovingFilter:
         ):  # skip duplicate data
             return
 
-        if len(self._data_queue) >= self._window_size:
-            self._data_queue.pop(0)
-
         self._data_queue.append(new_data)
         self._filtered_data = self._apply_filter()
 
@@ -71,8 +62,6 @@ class G1_29_ArmIK:  # noqa: N801
         from pinocchio import casadi as cpin
 
         self._pin = pin
-        np.set_printoptions(precision=5, suppress=True, linewidth=200)
-
         self.unit_test = unit_test
 
         self.repo_path = snapshot_download("lerobot/unitree-g1-mujoco")
@@ -249,50 +238,35 @@ class G1_29_ArmIK:  # noqa: N801
         self.opti.set_value(self.param_tf_r, right_wrist)
         self.opti.set_value(self.var_q_last, self.init_data)  # for smooth
 
+        converged = True
         try:
             self.opti.solve()
-
             sol_q = self.opti.value(self.var_q)
-            self.smooth_filter.add_data(sol_q)
-            sol_q = self.smooth_filter.filtered_data
-
-            if current_lr_arm_motor_dq is not None:
-                v = current_lr_arm_motor_dq * 0.0
-            else:
-                v = (sol_q - self.init_data) * 0.0
-
-            self.init_data = sol_q
-
-            sol_tauff = self._pin.rnea(
-                self.reduced_robot.model,
-                self.reduced_robot.data,
-                sol_q,
-                v,
-                np.zeros(self.reduced_robot.model.nv),
-            )
-
-            return sol_q, sol_tauff
-
         except Exception as e:
-            logger.error(f"ERROR in convergence, plotting debug info.{e}")
-
+            converged = False
+            logger.error(f"IK convergence error: {e}")
             sol_q = self.opti.debug.value(self.var_q)
-            self.smooth_filter.add_data(sol_q)
-            sol_q = self.smooth_filter.filtered_data
 
-            if current_lr_arm_motor_dq is not None:
-                v = current_lr_arm_motor_dq * 0.0
-            else:
-                v = (sol_q - self.init_data) * 0.0
-
-            self.init_data = sol_q
+        self.smooth_filter.add_data(sol_q)
+        sol_q = self.smooth_filter.filtered_data
+        self.init_data = sol_q
 
+        if not converged:
             logger.error(
                 f"sol_q:{sol_q} \nmotorstate: \n{current_lr_arm_motor_q} \nleft_pose: \n{left_wrist} \nright_pose: \n{right_wrist}"
             )
-
             return current_lr_arm_motor_q, np.zeros(self.reduced_robot.model.nv)
 
+        sol_tauff = self._pin.rnea(
+            self.reduced_robot.model,
+            self.reduced_robot.data,
+            sol_q,
+            np.zeros(self.reduced_robot.model.nv),
+            np.zeros(self.reduced_robot.model.nv),
+        )
+
+        return sol_q, sol_tauff
+
     def solve_tau(self, current_lr_arm_motor_q=None, current_lr_arm_motor_dq=None):
         try:
             q_g1 = np.array(current_lr_arm_motor_q, dtype=float)

src/lerobot/robots/unitree_g1/g1_utils.py

@@ -14,12 +14,34 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import importlib
 from enum import IntEnum
 
+import numpy as np
+
 # ruff: noqa: N801, N815
 
 NUM_MOTORS = 29
 
+REMOTE_AXES = ("remote.lx", "remote.ly", "remote.rx", "remote.ry")
+REMOTE_BUTTONS = tuple(f"remote.button.{i}" for i in range(16))
+REMOTE_KEYS = REMOTE_AXES + REMOTE_BUTTONS
+
+
+def default_remote_input() -> dict[str, float]:
+    """Return a zeroed-out remote input dict (axes + buttons)."""
+    return dict.fromkeys(REMOTE_KEYS, 0.0)
+
+
+def get_gravity_orientation(quaternion: list[float] | np.ndarray) -> np.ndarray:
+    """Get gravity orientation from quaternion [w, x, y, z]."""
+    qw, qx, qy, qz = quaternion
+    gravity_orientation = np.zeros(3, dtype=np.float32)
+    gravity_orientation[0] = 2 * (-qz * qx + qw * qy)
+    gravity_orientation[1] = -2 * (qz * qy + qw * qx)
+    gravity_orientation[2] = 1 - 2 * (qw * qw + qz * qz)
+    return gravity_orientation
+
 
 class G1_29_JointArmIndex(IntEnum):
     # Left arm
@@ -29,7 +51,7 @@ class G1_29_JointArmIndex(IntEnum):
     kLeftElbow = 18
     kLeftWristRoll = 19
     kLeftWristPitch = 20
-    kLeftWristyaw = 21
+    kLeftWristYaw = 21
 
     # Right arm
     kRightShoulderPitch = 22
@@ -41,6 +63,21 @@ class G1_29_JointArmIndex(IntEnum):
     kRightWristYaw = 28
 
 
+def make_locomotion_controller(name: str | None):
+    """Instantiate a locomotion controller by class name. Returns None if name is None."""
+    if name is None:
+        return None
+    controllers = {
+        "GrootLocomotionController": "lerobot.robots.unitree_g1.gr00t_locomotion",
+        "HolosomaLocomotionController": "lerobot.robots.unitree_g1.holosoma_locomotion",
+    }
+    module_path = controllers.get(name)
+    if module_path is None:
+        raise ValueError(f"Unknown controller: {name!r}. Available: {list(controllers)}")
+    module = importlib.import_module(module_path)
+    return getattr(module, name)()
+
+
 class G1_29_JointIndex(IntEnum):
     # Left leg
     kLeftHipPitch = 0
@@ -69,7 +106,7 @@ class G1_29_JointIndex(IntEnum):
     kLeftElbow = 18
     kLeftWristRoll = 19
     kLeftWristPitch = 20
-    kLeftWristyaw = 21
+    kLeftWristYaw = 21
 
     # Right arm
     kRightShoulderPitch = 22

src/lerobot/robots/unitree_g1/gr00t_locomotion.py

@@ -14,20 +14,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import argparse
 import logging
-import time
 from collections import deque
 
 import numpy as np
 import onnxruntime as ort
 from huggingface_hub import hf_hub_download
 
-from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
-from lerobot.robots.unitree_g1.g1_utils import G1_29_JointIndex
-from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
+from lerobot.robots.unitree_g1.g1_utils import (
+    REMOTE_AXES,
+    REMOTE_BUTTONS,
+    G1_29_JointIndex,
+    get_gravity_orientation,
+)
 
-logging.basicConfig(level=logging.INFO)
 logger = logging.getLogger(__name__)
 
 
@@ -36,18 +36,13 @@ GROOT_DEFAULT_ANGLES[[0, 6]] = -0.1  # Hip pitch
 GROOT_DEFAULT_ANGLES[[3, 9]] = 0.3  # Knee
 GROOT_DEFAULT_ANGLES[[4, 10]] = -0.2  # Ankle pitch
 
-MISSING_JOINTS = []
-G1_MODEL = "g1_23"  # Or "g1_29"
-if G1_MODEL == "g1_23":
-    MISSING_JOINTS = [12, 14, 20, 21, 27, 28]  # Waist yaw/pitch, wrist pitch/yaw
-
 # Control parameters
 ACTION_SCALE = 0.25
 CONTROL_DT = 0.02  # 50Hz
 ANG_VEL_SCALE: float = 0.25
 DOF_POS_SCALE: float = 1.0
 DOF_VEL_SCALE: float = 0.05
-CMD_SCALE: list = [2.0, 2.0, 0.25]
+CMD_SCALE: list[float] = [2.0, 2.0, 0.25]
 
 
 DEFAULT_GROOT_REPO_ID = "nepyope/GR00T-WholeBodyControl_g1"
@@ -85,11 +80,11 @@ def load_groot_policies(
 class GrootLocomotionController:
     """GR00T lower-body locomotion controller for the Unitree G1."""
 
-    def __init__(self, policy_balance, policy_walk, robot, config):
-        self.policy_balance = policy_balance
-        self.policy_walk = policy_walk
-        self.robot = robot
-        self.config = config
+    control_dt = CONTROL_DT  # Expose for unitree_g1.py
+
+    def __init__(self):
+        # Load policies
+        self.policy_balance, self.policy_walk = load_groot_policies()
 
         self.cmd = np.array([0.0, 0.0, 0.0], dtype=np.float32)  # vx, vy, theta_dot
 
@@ -109,45 +104,60 @@ class GrootLocomotionController:
 
         logger.info("GrootLocomotionController initialized")
 
-    def run_step(self):
-        # Get current observation
-        obs = self.robot.get_observation()
+    def reset(self) -> None:
+        """Reset internal state for a new episode."""
+        self.cmd[:] = 0.0
+        self.groot_qj_all[:] = 0.0
+        self.groot_dqj_all[:] = 0.0
+        self.groot_action[:] = 0.0
+        self.groot_obs_single[:] = 0.0
+        self.groot_obs_stacked[:] = 0.0
+        self.groot_height_cmd = 0.74
+        self.groot_orientation_cmd[:] = 0.0
+        self.groot_obs_history.clear()
+        for _ in range(6):
+            self.groot_obs_history.append(np.zeros(86, dtype=np.float32))
 
-        if not obs:
-            return
+    def run_step(self, action: dict, lowstate) -> dict:
+        """Run one step of the locomotion controller.
 
-        # Get command from remote controller
-        if obs["remote.buttons"][0]:  # R1 - raise waist
+        Args:
+            action: Action dict containing remote.lx/ly/rx/ry and buttons
+            lowstate: Robot lowstate containing motor positions/velocities and IMU
+
+        Returns:
+            Action dict for lower body joints (0-14)
+        """
+        if lowstate is None:
+            return {}
+
+        buttons = [int(action.get(k, 0)) for k in REMOTE_BUTTONS]
+        if buttons[0]:  # R1 - raise waist
             self.groot_height_cmd += 0.001
             self.groot_height_cmd = np.clip(self.groot_height_cmd, 0.50, 1.00)
-        if obs["remote.buttons"][4]:  # R2 - lower waist
+        if buttons[4]:  # R2 - lower waist
             self.groot_height_cmd -= 0.001
             self.groot_height_cmd = np.clip(self.groot_height_cmd, 0.50, 1.00)
 
-        self.cmd[0] = obs["remote.ly"]  # Forward/backward
-        self.cmd[1] = obs["remote.lx"] * -1  # Left/right
-        self.cmd[2] = obs["remote.rx"] * -1  # Rotation rate
+        lx, ly, rx, _ry = (action.get(k, 0.0) for k in REMOTE_AXES)
+        self.cmd[0] = ly  # Forward/backward
+        self.cmd[1] = -lx  # Left/right (negated)
+        self.cmd[2] = -rx  # Rotation rate (negated)
 
-        # Get joint positions and velocities from flat dict
+        # Get joint positions and velocities from lowstate
         for motor in G1_29_JointIndex:
-            name = motor.name
             idx = motor.value
-            self.groot_qj_all[idx] = obs[f"{name}.q"]
-            self.groot_dqj_all[idx] = obs[f"{name}.dq"]
-
-        # Adapt observation for g1_23dof
-        for idx in MISSING_JOINTS:
-            self.groot_qj_all[idx] = 0.0
-            self.groot_dqj_all[idx] = 0.0
+            self.groot_qj_all[idx] = lowstate.motor_state[idx].q
+            self.groot_dqj_all[idx] = lowstate.motor_state[idx].dq
 
         # Scale joint positions and velocities
         qj_obs = self.groot_qj_all.copy()
         dqj_obs = self.groot_dqj_all.copy()
 
         # Express IMU data in gravity frame of reference
-        quat = [obs["imu.quat.w"], obs["imu.quat.x"], obs["imu.quat.y"], obs["imu.quat.z"]]
-        ang_vel = np.array([obs["imu.gyro.x"], obs["imu.gyro.y"], obs["imu.gyro.z"]], dtype=np.float32)
-        gravity_orientation = self.robot.get_gravity_orientation(quat)
+        quat = lowstate.imu_state.quaternion
+        ang_vel = np.array(lowstate.imu_state.gyroscope, dtype=np.float32)
+        gravity_orientation = get_gravity_orientation(quat)
 
         # Scale joint positions and velocities before policy inference
         qj_obs = (qj_obs - GROOT_DEFAULT_ANGLES) * DOF_POS_SCALE
@@ -186,73 +196,10 @@ class GrootLocomotionController:
         # Transform action back to target joint positions
         target_dof_pos_15 = GROOT_DEFAULT_ANGLES[:15] + self.groot_action * ACTION_SCALE
 
-        # Build action dict (only first 15 joints for GR00T)
+        # Build action dict
         action_dict = {}
         for i in range(15):
             motor_name = G1_29_JointIndex(i).name
             action_dict[f"{motor_name}.q"] = float(target_dof_pos_15[i])
 
-        # Zero out missing joints for g1_23dof
-        for joint_idx in MISSING_JOINTS:
-            motor_name = G1_29_JointIndex(joint_idx).name
-            action_dict[f"{motor_name}.q"] = 0.0
-
-        # Send action to robot
-        self.robot.send_action(action_dict)
-
-
-def run(repo_id: str = DEFAULT_GROOT_REPO_ID) -> None:
-    """Main function to run the GR00T locomotion controller.
-
-    Args:
-        repo_id: Hugging Face Hub repository ID for GR00T policies.
-    """
-    # Load policies
-    policy_balance, policy_walk = load_groot_policies(repo_id=repo_id)
-
-    # Initialize robot
-    config = UnitreeG1Config()
-    robot = UnitreeG1(config)
-
-    robot.connect()
-
-    # Initialize gr00T locomotion controller
-    groot_controller = GrootLocomotionController(
-        policy_balance=policy_balance,
-        policy_walk=policy_walk,
-        robot=robot,
-        config=config,
-    )
-
-    try:
-        robot.reset(CONTROL_DT, GROOT_DEFAULT_ANGLES)
-
-        logger.info("Use joystick: LY=fwd/back, LX=left/right, RX=rotate, R1=raise waist, R2=lower waist")
-        logger.info("Press Ctrl+C to stop")
-
-        # Run step
-        while not robot._shutdown_event.is_set():
-            start_time = time.time()
-            groot_controller.run_step()
-            elapsed = time.time() - start_time
-            sleep_time = max(0, CONTROL_DT - elapsed)
-            time.sleep(sleep_time)
-    except KeyboardInterrupt:
-        logger.info("Stopping locomotion...")
-    finally:
-        if robot.is_connected:
-            robot.disconnect()
-        logger.info("Done!")
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser(description="GR00T Locomotion Controller for Unitree G1")
-    parser.add_argument(
-        "--repo-id",
-        type=str,
-        default=DEFAULT_GROOT_REPO_ID,
-        help=f"Hugging Face Hub repo ID for GR00T policies (default: {DEFAULT_GROOT_REPO_ID})",
-    )
-    args = parser.parse_args()
-
-    run(repo_id=args.repo_id)
+        return action_dict

src/lerobot/robots/unitree_g1/holosoma_locomotion.py

@@ -14,21 +14,21 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import argparse
 import json
 import logging
-import time
 
 import numpy as np
 import onnx
 import onnxruntime as ort
 from huggingface_hub import hf_hub_download
 
-from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
-from lerobot.robots.unitree_g1.g1_utils import G1_29_JointIndex
-from lerobot.robots.unitree_g1.unitree_g1 import UnitreeG1
+from lerobot.robots.unitree_g1.g1_utils import (
+    REMOTE_AXES,
+    G1_29_JointArmIndex,
+    G1_29_JointIndex,
+    get_gravity_orientation,
+)
 
-logging.basicConfig(level=logging.INFO)
 logger = logging.getLogger(__name__)
 
 DEFAULT_ANGLES = np.zeros(29, dtype=np.float32)
@@ -40,18 +40,13 @@ DEFAULT_ANGLES[16] = 0.2  # Left shoulder roll
 DEFAULT_ANGLES[23] = -0.2  # Right shoulder roll
 DEFAULT_ANGLES[[18, 25]] = 0.6  # Elbow
 
-MISSING_JOINTS = []
-G1_MODEL = "g1_23"  # Or "g1_29"
-if G1_MODEL == "g1_23":
-    MISSING_JOINTS = [12, 14, 20, 21, 27, 28]  # Waist yaw/pitch, wrist pitch/yaw
-
 # Control parameters
 ACTION_SCALE = 0.25
-CONTROL_DT = 0.02  # 50Hz
+CONTROL_DT = 0.005  # 200Hz
 ANG_VEL_SCALE = 0.25
 DOF_POS_SCALE = 1.0
 DOF_VEL_SCALE = 0.05
-GAIT_PERIOD = 1.0
+GAIT_PERIOD = 0.5
 
 
 DEFAULT_HOLOSOMA_REPO_ID = "nepyope/holosoma_locomotion"
@@ -87,7 +82,7 @@ def load_policy(
     logger.info(f"Policy loaded: {policy.get_inputs()[0].shape} → {policy.get_outputs()[0].shape}")
 
     # Extract KP/KD from ONNX metadata
-    model = onnx.load(policy_path)
+    model = onnx.load(policy_path, load_external_data=False)
     metadata = {prop.key: prop.value for prop in model.metadata_props}
 
     if "kp" not in metadata or "kd" not in metadata:
@@ -101,15 +96,13 @@ def load_policy(
 
 
 class HolosomaLocomotionController:
-    """Holosoma whole-body locomotion controller for Unitree G1."""
+    """Holosoma lower-body locomotion controller for Unitree G1."""
 
-    def __init__(self, policy, robot, kp: np.ndarray, kd: np.ndarray):
-        self.policy = policy
-        self.robot = robot
+    control_dt = CONTROL_DT  # Expose for unitree_g1.py
 
-        # Override robot's PD gains with policy gains
-        self.robot.kp = kp
-        self.robot.kd = kd
+    def __init__(self):
+        # Load policy and gains
+        self.policy, self.kp, self.kd = load_policy()
 
         self.cmd = np.zeros(3, dtype=np.float32)
 
@@ -124,35 +117,55 @@ class HolosomaLocomotionController:
         self.phase_dt = 2 * np.pi / ((1.0 / CONTROL_DT) * GAIT_PERIOD)
         self.is_standing = True
 
-    def run_step(self):
-        # Get current observation
-        obs = self.robot.get_observation()
+        logger.info("HolosomaLocomotionController initialized")
 
-        if not obs:
-            return
+    def reset(self) -> None:
+        """Reset internal state for a new episode."""
+        self.cmd[:] = 0.0
+        self.qj[:] = 0.0
+        self.dqj[:] = 0.0
+        self.obs[:] = 0.0
+        self.last_action[:] = 0.0
+        self.phase = np.array([[0.0, np.pi]], dtype=np.float32)
+        self.is_standing = True
 
-        # Get command from remote controller
-        ly = obs["remote.ly"] if abs(obs["remote.ly"]) > 0.1 else 0.0
-        lx = obs["remote.lx"] if abs(obs["remote.lx"]) > 0.1 else 0.0
-        rx = obs["remote.rx"] if abs(obs["remote.rx"]) > 0.1 else 0.0
+    def run_step(self, action: dict, lowstate) -> dict:
+        """Run one step of the locomotion controller.
+
+        Args:
+            action: Action dict containing remote.lx/ly/rx/ry
+            lowstate: Robot lowstate containing motor positions/velocities and IMU
+
+        Returns:
+            Action dict for lower body joints (0-14)
+        """
+        if lowstate is None:
+            return {}
+
+        lx, ly, rx, _ry = (action.get(k, 0.0) for k in REMOTE_AXES)
+        ly = ly if abs(ly) > 0.1 else 0.0
+        lx = lx if abs(lx) > 0.1 else 0.0
+        rx = rx if abs(rx) > 0.1 else 0.0
+        ly = np.clip(ly, -0.3, 0.3)
+        lx = np.clip(lx, -0.3, 0.3)
         self.cmd[:] = [ly, -lx, -rx]
 
-        # Get joint positions and velocities
+        # Get joint positions and velocities from lowstate
         for motor in G1_29_JointIndex:
-            name = motor.name
             idx = motor.value
-            self.qj[idx] = obs[f"{name}.q"]
-            self.dqj[idx] = obs[f"{name}.dq"]
+            self.qj[idx] = lowstate.motor_state[idx].q
+            self.dqj[idx] = lowstate.motor_state[idx].dq
 
-        # Adapt observation for g1_23dof
-        for idx in MISSING_JOINTS:
-            self.qj[idx] = 0.0
-            self.dqj[idx] = 0.0
+        # Hide arm positions from policy (show DEFAULT_ANGLES instead)
+        # This prevents policy from reacting to teleop arm movements
+        for arm_joint in G1_29_JointArmIndex:
+            self.qj[arm_joint.value] = DEFAULT_ANGLES[arm_joint.value]
+            self.dqj[arm_joint.value] = 0.0
 
         # Express IMU data in gravity frame of reference
-        quat = [obs["imu.quat.w"], obs["imu.quat.x"], obs["imu.quat.y"], obs["imu.quat.z"]]
-        ang_vel = np.array([obs["imu.gyro.x"], obs["imu.gyro.y"], obs["imu.gyro.z"]], dtype=np.float32)
-        gravity = self.robot.get_gravity_orientation(quat)
+        quat = lowstate.imu_state.quaternion
+        ang_vel = np.array(lowstate.imu_state.gyroscope, dtype=np.float32)
+        gravity = get_gravity_orientation(quat)
 
         # Scale joint positions and velocities before policy inference
         qj_obs = (self.qj - DEFAULT_ANGLES) * DOF_POS_SCALE
@@ -186,79 +199,16 @@ class HolosomaLocomotionController:
         # Run policy inference
         ort_in = {self.policy.get_inputs()[0].name: self.obs.reshape(1, -1).astype(np.float32)}
         raw_action = self.policy.run(None, ort_in)[0].squeeze()
-        action = np.clip(raw_action, -100.0, 100.0)
-        self.last_action = action.copy()
+        policy_action = np.clip(raw_action, -100.0, 100.0)
+        self.last_action = policy_action.copy()
 
         # Transform action back to target joint positions
-        target = DEFAULT_ANGLES + action * ACTION_SCALE
+        target = DEFAULT_ANGLES + policy_action * ACTION_SCALE
 
-        # Build action dict
+        # Build action dict (first 15 joints only)
         action_dict = {}
-        for motor in G1_29_JointIndex:
-            action_dict[f"{motor.name}.q"] = float(target[motor.value])
+        for i in range(15):
+            motor_name = G1_29_JointIndex(i).name
+            action_dict[f"{motor_name}.q"] = float(target[i])
 
-        # Zero out missing joints for g1_23dof
-        for joint_idx in MISSING_JOINTS:
-            motor_name = G1_29_JointIndex(joint_idx).name
-            action_dict[f"{motor_name}.q"] = 0.0
-
-        # Send action to robot
-        self.robot.send_action(action_dict)
-
-
-def run(repo_id: str = DEFAULT_HOLOSOMA_REPO_ID, policy_type: str = "fastsac") -> None:
-    """Main function to run the Holosoma locomotion controller.
-
-    Args:
-        repo_id: Hugging Face Hub repository ID for Holosoma policies.
-        policy_type: Policy type to use ('fastsac' or 'ppo').
-    """
-    # Load policy and gains
-    policy, kp, kd = load_policy(repo_id=repo_id, policy_type=policy_type)
-
-    # Initialize robot
-    config = UnitreeG1Config()
-    robot = UnitreeG1(config)
-    robot.connect()
-
-    holosoma_controller = HolosomaLocomotionController(policy, robot, kp, kd)
-
-    try:
-        robot.reset(CONTROL_DT, DEFAULT_ANGLES)
-
-        logger.info("Use joystick: LY=fwd/back, LX=left/right, RX=rotate")
-        logger.info("Press Ctrl+C to stop")
-
-        # Run step
-        while not robot._shutdown_event.is_set():
-            start_time = time.time()
-            holosoma_controller.run_step()
-            elapsed = time.time() - start_time
-            sleep_time = max(0, CONTROL_DT - elapsed)
-            time.sleep(sleep_time)
-    except KeyboardInterrupt:
-        logger.info("Stopping locomotion...")
-    finally:
-        if robot.is_connected:
-            robot.disconnect()
-        logger.info("Done!")
-
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser(description="Holosoma Locomotion Controller for Unitree G1")
-    parser.add_argument(
-        "--repo-id",
-        type=str,
-        default=DEFAULT_HOLOSOMA_REPO_ID,
-        help=f"Hugging Face Hub repo ID for Holosoma policies (default: {DEFAULT_HOLOSOMA_REPO_ID})",
-    )
-    parser.add_argument(
-        "--policy",
-        type=str,
-        choices=["fastsac", "ppo"],
-        default="fastsac",
-        help="Policy type to use: 'fastsac' (default) or 'ppo'",
-    )
-    args = parser.parse_args()
-
-    run(repo_id=args.repo_id, policy_type=args.policy)
+        return action_dict

src/lerobot/robots/unitree_g1/run_g1_server.py

@@ -24,6 +24,7 @@ This server runs on the robot and forwards:
 Uses JSON for secure serialization instead of pickle.
 """
 
+import argparse
 import base64
 import contextlib
 import json
@@ -38,6 +39,8 @@ from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
 from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ as hg_LowCmd, LowState_ as hg_LowState
 from unitree_sdk2py.utils.crc import CRC
 
+from lerobot.cameras.zmq.image_server import ImageServer
+
 # DDS topic names follow Unitree SDK naming conventions
 # ruff: noqa: N816
 kTopicLowCommand_Debug = "rt/lowcmd"  # action to robot
@@ -150,6 +153,32 @@ def cmd_forward_loop(
 
 def main() -> None:
     """Main entry point for the robot server bridge."""
+    parser = argparse.ArgumentParser(description="DDS-to-ZMQ bridge server for Unitree G1")
+    parser.add_argument("--camera", action="store_true", help="Also launch camera server")
+    parser.add_argument("--camera-device", type=int, default=4, help="Camera device ID (default: 4)")
+    parser.add_argument("--camera-fps", type=int, default=30, help="Camera FPS (default: 30)")
+    parser.add_argument("--camera-width", type=int, default=640, help="Camera width (default: 640)")
+    parser.add_argument("--camera-height", type=int, default=480, help="Camera height (default: 480)")
+    parser.add_argument("--camera-port", type=int, default=5555, help="Camera ZMQ port (default: 5555)")
+    args = parser.parse_args()
+
+    # Optionally start camera server in background thread
+    camera_thread = None
+    if args.camera:
+        camera_config = {
+            "fps": args.camera_fps,
+            "cameras": {
+                "head_camera": {
+                    "device_id": args.camera_device,
+                    "shape": [args.camera_height, args.camera_width],
+                }
+            },
+        }
+        camera_server = ImageServer(camera_config, port=args.camera_port)
+        camera_thread = threading.Thread(target=camera_server.run, daemon=True)
+        camera_thread.start()
+        print(f"Camera server started on port {args.camera_port} (device {args.camera_device})")
+
     # initialize DDS
     ChannelFactoryInitialize(0)
 
@@ -206,6 +235,8 @@ def main() -> None:
         shutdown_event.set()
         ctx.term()  # terminates blocking zmq.recv() calls
         t_state.join(timeout=2.0)
+        if camera_thread is not None:
+            camera_thread.join(timeout=2.0)
 
 
 if __name__ == "__main__":

src/lerobot/robots/unitree_g1/unitree_g1.py

@@ -14,27 +14,67 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 import logging
-import struct
 import threading
 import time
 from dataclasses import dataclass, field
 from functools import cached_property
-from typing import Any
+from typing import TYPE_CHECKING, Protocol, runtime_checkable
 
 import numpy as np
 
 from lerobot.cameras.utils import make_cameras_from_configs
 from lerobot.envs.factory import make_env
 from lerobot.processor import RobotAction, RobotObservation
-from lerobot.robots.unitree_g1.g1_utils import G1_29_JointArmIndex, G1_29_JointIndex
-from lerobot.robots.unitree_g1.robot_kinematic_processor import G1_29_ArmIK
+from lerobot.robots.unitree_g1.g1_kinematics import G1_29_ArmIK
+from lerobot.robots.unitree_g1.g1_utils import (
+    REMOTE_AXES,
+    REMOTE_KEYS,
+    G1_29_JointArmIndex,
+    G1_29_JointIndex,
+    default_remote_input,
+    make_locomotion_controller,
+)
+from lerobot.utils.import_utils import _unitree_sdk_available
 
 from ..robot import Robot
 from .config_unitree_g1 import UnitreeG1Config
 
+if TYPE_CHECKING or _unitree_sdk_available:
+    from unitree_sdk2py.core.channel import (
+        ChannelFactoryInitialize as _SDKChannelFactoryInitialize,
+        ChannelPublisher as _SDKChannelPublisher,
+        ChannelSubscriber as _SDKChannelSubscriber,
+    )
+    from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
+    from unitree_sdk2py.idl.unitree_hg.msg.dds_ import (
+        LowCmd_ as hg_LowCmd,
+        LowState_ as hg_LowState,
+    )
+    from unitree_sdk2py.utils.crc import CRC
+else:
+    _SDKChannelFactoryInitialize = None
+    _SDKChannelPublisher = None
+    _SDKChannelSubscriber = None
+    unitree_hg_msg_dds__LowCmd_ = None
+    hg_LowCmd = None
+    hg_LowState = None
+    CRC = None
+
 logger = logging.getLogger(__name__)
 
+
+@runtime_checkable
+class LocomotionController(Protocol):
+    control_dt: float
+
+    def run_step(self, action: dict, lowstate) -> dict: ...
+
+    def reset(self) -> None: ...
+
+
 # DDS topic names follow Unitree SDK naming conventions
 # ruff: noqa: N816
 kTopicLowCommand_Debug = "rt/lowcmd"
@@ -63,7 +103,7 @@ class IMUState:
 class G1_29_LowState:  # noqa: N801
     motor_state: list[MotorState] = field(default_factory=lambda: [MotorState() for _ in G1_29_JointIndex])
     imu_state: IMUState = field(default_factory=IMUState)
-    wireless_remote: Any = None  # Raw wireless remote data
+    wireless_remote: bytes | None = None  # Raw wireless remote data
     mode_machine: int = 0  # Robot mode
 
 
@@ -71,25 +111,6 @@ class UnitreeG1(Robot):
     config_class = UnitreeG1Config
     name = "unitree_g1"
 
-    # unitree remote controller
-    class RemoteController:
-        def __init__(self):
-            self.lx = 0
-            self.ly = 0
-            self.rx = 0
-            self.ry = 0
-            self.button = [0] * 16
-
-        def set(self, data):
-            # wireless_remote
-            keys = struct.unpack("H", data[2:4])[0]
-            for i in range(16):
-                self.button[i] = (keys & (1 << i)) >> i
-            self.lx = struct.unpack("f", data[4:8])[0]
-            self.rx = struct.unpack("f", data[8:12])[0]
-            self.ry = struct.unpack("f", data[12:16])[0]
-            self.ly = struct.unpack("f", data[20:24])[0]
-
     def __init__(self, config: UnitreeG1Config):
         super().__init__(config)
 
@@ -103,11 +124,9 @@ class UnitreeG1(Robot):
 
         # Import channel classes based on mode
         if config.is_simulation:
-            from unitree_sdk2py.core.channel import (
-                ChannelFactoryInitialize,
-                ChannelPublisher,
-                ChannelSubscriber,
-            )
+            self._ChannelFactoryInitialize = _SDKChannelFactoryInitialize
+            self._ChannelPublisher = _SDKChannelPublisher
+            self._ChannelSubscriber = _SDKChannelSubscriber
         else:
             from lerobot.robots.unitree_g1.unitree_sdk2_socket import (
                 ChannelFactoryInitialize,
@@ -115,22 +134,30 @@ class UnitreeG1(Robot):
                 ChannelSubscriber,
             )
 
-        # Store for use in connect()
-        self._ChannelFactoryInitialize = ChannelFactoryInitialize
-        self._ChannelPublisher = ChannelPublisher
-        self._ChannelSubscriber = ChannelSubscriber
+            self._ChannelFactoryInitialize = ChannelFactoryInitialize
+            self._ChannelPublisher = ChannelPublisher
+            self._ChannelSubscriber = ChannelSubscriber
 
         # Initialize state variables
         self.sim_env = None
         self._env_wrapper = None
         self._lowstate = None
+        self._lowstate_lock = threading.Lock()
         self._shutdown_event = threading.Event()
         self.subscribe_thread = None
-        self.remote_controller = self.RemoteController()
 
-        self.arm_ik = G1_29_ArmIK()
+        self.arm_ik = G1_29_ArmIK() if config.gravity_compensation else None
 
-    def _subscribe_motor_state(self):  # polls robot state @ 250Hz
+        # Lower-body controller loaded dynamically
+        self.controller: LocomotionController | None = make_locomotion_controller(config.controller)
+
+        # Controller thread state
+        self._controller_thread = None
+        self._controller_action_lock = threading.Lock()
+        self.controller_input = default_remote_input()
+        self.controller_output = {}
+
+    def _subscribe_lowstate(self):  # polls robot state @ 250Hz
         while not self._shutdown_event.is_set():
             start_time = time.time()
 
@@ -143,11 +170,11 @@ class UnitreeG1(Robot):
                 lowstate = G1_29_LowState()
 
                 # Capture motor states using jointindex
-                for id in G1_29_JointIndex:
-                    lowstate.motor_state[id].q = msg.motor_state[id].q
-                    lowstate.motor_state[id].dq = msg.motor_state[id].dq
-                    lowstate.motor_state[id].tau_est = msg.motor_state[id].tau_est
-                    lowstate.motor_state[id].temperature = msg.motor_state[id].temperature
+                for joint in G1_29_JointIndex:
+                    lowstate.motor_state[joint].q = msg.motor_state[joint].q
+                    lowstate.motor_state[joint].dq = msg.motor_state[joint].dq
+                    lowstate.motor_state[joint].tau_est = msg.motor_state[joint].tau_est
+                    lowstate.motor_state[joint].temperature = msg.motor_state[joint].temperature
 
                 # Capture IMU state
                 lowstate.imu_state.quaternion = list(msg.imu_state.quaternion)
@@ -162,31 +189,106 @@ class UnitreeG1(Robot):
                 # Capture mode_machine
                 lowstate.mode_machine = msg.mode_machine
 
-                self._lowstate = lowstate
+                with self._lowstate_lock:
+                    self._lowstate = lowstate
 
             current_time = time.time()
             all_t_elapsed = current_time - start_time
             sleep_time = max(0, (self.control_dt - all_t_elapsed))  # maintain constant control dt
             time.sleep(sleep_time)
 
+    def publish_lowcmd(
+        self,
+        action: RobotAction,
+        kp: np.ndarray | list[float] | None = None,
+        kd: np.ndarray | list[float] | None = None,
+        tau: np.ndarray | list[float] | None = None,
+    ) -> None:  # writes robot command whenever requested
+        for motor in G1_29_JointIndex:
+            key = f"{motor.name}.q"
+            if key in action:
+                self.msg.motor_cmd[motor.value].q = action[key]
+                self.msg.motor_cmd[motor.value].qd = 0
+                self.msg.motor_cmd[motor.value].kp = (
+                    kp[motor.value] if kp is not None else self.kp[motor.value]
+                )
+                self.msg.motor_cmd[motor.value].kd = (
+                    kd[motor.value] if kd is not None else self.kd[motor.value]
+                )
+                self.msg.motor_cmd[motor.value].tau = tau[motor.value] if tau is not None else 0.0
+
+        self.msg.crc = self.crc.Crc(self.msg)
+        self.lowcmd_publisher.Write(self.msg)
+
+    @property
+    def _cameras_ft(self) -> dict[str, tuple]:
+        return {
+            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
+        }
+
+    @cached_property
+    def observation_features(self) -> dict[str, type | tuple]:
+        return {**self._motors_ft, **self._cameras_ft}
+
     @cached_property
     def action_features(self) -> dict[str, type]:
-        return {f"{G1_29_JointIndex(motor).name}.q": float for motor in G1_29_JointIndex}
+        if self.controller is None:
+            return {f"{G1_29_JointIndex(motor).name}.q": float for motor in G1_29_JointIndex}
 
-    def calibrate(self) -> None:  # robot is already calibrated
+        arm_features = {f"{G1_29_JointArmIndex(motor).name}.q": float for motor in G1_29_JointArmIndex}
+        remote_features = dict.fromkeys(REMOTE_AXES, float)
+        return {**arm_features, **remote_features}
+
+    def _controller_loop(self):
+        """Background thread that runs controller at policy's control_dt."""
+        control_dt = self.controller.control_dt
+        logger.info(f"Controller loop starting with control_dt={control_dt} ({1.0 / control_dt:.1f}Hz)")
+
+        loop_count = 0
+        last_log_time = time.time()
+
+        while not self._shutdown_event.is_set():
+            start_time = time.time()
+
+            with self._lowstate_lock:
+                lowstate = self._lowstate
+
+            if lowstate is not None and self.controller is not None:
+                loop_count += 1
+                if time.time() - last_log_time >= 5.0:  # Log every 5 seconds
+                    actual_hz = loop_count / (time.time() - last_log_time)
+                    logger.info(
+                        f"Controller actual rate: {actual_hz:.1f}Hz (target: {1.0 / control_dt:.1f}Hz)"
+                    )
+                    loop_count = 0
+                    last_log_time = time.time()
+                # Read controller input snapshot
+                with self._controller_action_lock:
+                    controller_input = dict(self.controller_input)
+
+                # Run controller step
+                controller_action = self.controller.run_step(controller_input, lowstate)
+
+                # Write controller output snapshot
+                with self._controller_action_lock:
+                    self.controller_output = dict(controller_action)
+
+                ctrl_kp = self.controller.kp if hasattr(self.controller, "kp") else None
+                ctrl_kd = self.controller.kd if hasattr(self.controller, "kd") else None
+                self.publish_lowcmd(controller_action, kp=ctrl_kp, kd=ctrl_kd)
+
+            elapsed = time.time() - start_time
+            sleep_time = max(0, control_dt - elapsed)
+            time.sleep(sleep_time)
+
+    def calibrate(self) -> None:
+        # TODO: implement g1_29 calibration
         pass
 
     def configure(self) -> None:
         pass
 
     def connect(self, calibrate: bool = True) -> None:  # connect to DDS
-        from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
-        from unitree_sdk2py.idl.unitree_hg.msg.dds_ import (
-            LowCmd_ as hg_LowCmd,
-            LowState_ as hg_LowState,
-        )
-        from unitree_sdk2py.utils.crc import CRC
-
         # Initialize DDS channel and simulation environment
         if self.config.is_simulation:
             self._ChannelFactoryInitialize(0, "lo")
@@ -194,7 +296,7 @@ class UnitreeG1(Robot):
             # Extract the actual gym env from the dict structure
             self.sim_env = self._env_wrapper["hub_env"][0].envs[0]
         else:
-            self._ChannelFactoryInitialize(0)
+            self._ChannelFactoryInitialize(0, config=self.config)
 
         # Initialize direct motor control interface
         self.lowcmd_publisher = self._ChannelPublisher(kTopicLowCommand_Debug, hg_LowCmd)
@@ -203,7 +305,7 @@ class UnitreeG1(Robot):
         self.lowstate_subscriber.Init()
 
         # Start subscribe thread to read robot state
-        self.subscribe_thread = threading.Thread(target=self._subscribe_motor_state)
+        self.subscribe_thread = threading.Thread(target=self._subscribe_lowstate)
         self.subscribe_thread.start()
 
         # Connect cameras
@@ -220,25 +322,53 @@ class UnitreeG1(Robot):
 
         # Wait for first state message to arrive
         lowstate = None
+        deadline = time.time() + 10.0
         while lowstate is None:
-            lowstate = self._lowstate
+            with self._lowstate_lock:
+                lowstate = self._lowstate
             if lowstate is None:
+                if time.time() > deadline:
+                    raise TimeoutError("Timed out waiting for robot state (10s)")
+                logger.warning("[UnitreeG1] Waiting for robot state...")
                 time.sleep(0.01)
-            logger.warning("[UnitreeG1] Waiting for robot state...")
-        logger.warning("[UnitreeG1] Connected to robot.")
+        logger.info("[UnitreeG1] Connected to robot.")
         self.msg.mode_machine = lowstate.mode_machine
 
-        # Initialize all motors with unified kp/kd from config
         self.kp = np.array(self.config.kp, dtype=np.float32)
         self.kd = np.array(self.config.kd, dtype=np.float32)
 
-        for id in G1_29_JointIndex:
-            self.msg.motor_cmd[id].mode = 1
-            self.msg.motor_cmd[id].kp = self.kp[id.value]
-            self.msg.motor_cmd[id].kd = self.kd[id.value]
-            self.msg.motor_cmd[id].q = lowstate.motor_state[id.value].q
+        for joint in G1_29_JointIndex:
+            self.msg.motor_cmd[joint].mode = 1
+            self.msg.motor_cmd[joint].kp = self.kp[joint.value]
+            self.msg.motor_cmd[joint].kd = self.kd[joint.value]
+            self.msg.motor_cmd[joint].q = lowstate.motor_state[joint.value].q
+
+        # Start controller thread if enabled
+        if self.controller is not None:
+            self._controller_thread = threading.Thread(target=self._controller_loop, daemon=True)
+            self._controller_thread.start()
+            fps = int(1.0 / self.controller.control_dt)
+            logger.info(f"Controller thread started ({fps}Hz)")
+
+    def _send_zero_torque(self) -> None:
+        """Send a zero-gain command to make joints passive before shutting down."""
+        try:
+            with self._lowstate_lock:
+                lowstate = self._lowstate
+            if lowstate is None:
+                return
+            action = {f"{motor.name}.q": lowstate.motor_state[motor.value].q for motor in G1_29_JointIndex}
+            zero_gains = np.zeros(29, dtype=np.float32)
+            self.publish_lowcmd(action, kp=zero_gains, kd=zero_gains, tau=zero_gains)
+            logger.info("Sent zero-torque command for safe shutdown")
+        except Exception as e:
+            logger.warning(f"Failed to send zero-torque on disconnect: {e}")
 
     def disconnect(self):
+        # Put robot in passive mode before stopping threads
+        if not self.config.is_simulation:
+            self._send_zero_torque()
+
         # Signal thread to stop and unblock any waits
         self._shutdown_event.set()
 
@@ -248,6 +378,12 @@ class UnitreeG1(Robot):
             if self.subscribe_thread.is_alive():
                 logger.warning("Subscribe thread did not stop cleanly")
 
+        # Wait for controller thread to finish
+        if self._controller_thread is not None:
+            self._controller_thread.join(timeout=2.0)
+            if self._controller_thread.is_alive():
+                logger.warning("Controller thread did not stop cleanly")
+
         # Close simulation environment
         if self.config.is_simulation and self.sim_env is not None:
             try:
@@ -274,7 +410,8 @@ class UnitreeG1(Robot):
             cam.disconnect()
 
     def get_observation(self) -> RobotObservation:
-        lowstate = self._lowstate
+        with self._lowstate_lock:
+            lowstate = self._lowstate
         if lowstate is None:
             return {}
 
@@ -313,14 +450,9 @@ class UnitreeG1(Robot):
             obs["imu.rpy.pitch"] = lowstate.imu_state.rpy[1]
             obs["imu.rpy.yaw"] = lowstate.imu_state.rpy[2]
 
-        # Controller - parse wireless_remote and add to obs
-        if lowstate.wireless_remote and len(lowstate.wireless_remote) >= 24:
-            self.remote_controller.set(lowstate.wireless_remote)
-        obs["remote.buttons"] = self.remote_controller.button.copy()
-        obs["remote.lx"] = self.remote_controller.lx
-        obs["remote.ly"] = self.remote_controller.ly
-        obs["remote.rx"] = self.remote_controller.rx
-        obs["remote.ry"] = self.remote_controller.ry
+        # Wireless remote (raw bytes for teleoperator)
+        if lowstate.wireless_remote:
+            obs["wireless_remote"] = lowstate.wireless_remote
 
         # Cameras - read images from ZMQ cameras
         for cam_name, cam in self._cameras.items():
@@ -328,73 +460,63 @@ class UnitreeG1(Robot):
 
         return obs
 
+    def send_action(self, action: RobotAction) -> RobotAction:
+        action_to_publish = action
+        if self.controller is not None:
+            # Controller thread owns legs/waist. Here we only update joystick inputs
+            # and publish arm targets from the teleoperator.
+            self._update_controller_action(action)
+            arm_prefixes = tuple(j.name for j in G1_29_JointArmIndex)
+            action_to_publish = {
+                key: value
+                for key, value in action.items()
+                if key.endswith(".q") and key.startswith(arm_prefixes)
+            }
+
+        tau = None
+        if self.config.gravity_compensation and self.arm_ik is not None:
+            tau = np.zeros(29, dtype=np.float32)
+            action_np = np.array(
+                [
+                    action_to_publish.get(f"{joint.name}.q", self.msg.motor_cmd[joint.value].q)
+                    for joint in G1_29_JointArmIndex
+                ],
+                dtype=np.float32,
+            )
+            arm_tau = self.arm_ik.solve_tau(action_np)
+            arm_start_idx = G1_29_JointArmIndex.kLeftShoulderPitch.value
+            for joint in G1_29_JointArmIndex:
+                local_idx = joint.value - arm_start_idx
+                tau[joint.value] = arm_tau[local_idx]
+
+        self.publish_lowcmd(action_to_publish, tau=tau)
+        return action
+
+    def _update_controller_action(self, action: RobotAction) -> None:
+        """Update controller input state from incoming teleop action."""
+        with self._controller_action_lock:
+            for key in REMOTE_KEYS:
+                if key in action:
+                    self.controller_input[key] = action[key]
+
     @property
     def is_calibrated(self) -> bool:
         return True
 
     @property
     def is_connected(self) -> bool:
-        return self._lowstate is not None
+        with self._lowstate_lock:
+            return self._lowstate is not None
 
     @property
     def _motors_ft(self) -> dict[str, type]:
+        """Joint positions for all 29 joints."""
         return {f"{G1_29_JointIndex(motor).name}.q": float for motor in G1_29_JointIndex}
 
     @property
     def cameras(self) -> dict:
         return self._cameras
 
-    @property
-    def _cameras_ft(self) -> dict[str, tuple]:
-        return {
-            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
-        }
-
-    @cached_property
-    def observation_features(self) -> dict[str, type | tuple]:
-        return {**self._motors_ft, **self._cameras_ft}
-
-    def send_action(self, action: RobotAction) -> RobotAction:
-        for motor in G1_29_JointIndex:
-            key = f"{motor.name}.q"
-            if key in action:
-                self.msg.motor_cmd[motor.value].q = action[key]
-                self.msg.motor_cmd[motor.value].qd = 0
-                self.msg.motor_cmd[motor.value].kp = self.kp[motor.value]
-                self.msg.motor_cmd[motor.value].kd = self.kd[motor.value]
-                self.msg.motor_cmd[motor.value].tau = 0
-
-        if self.config.gravity_compensation:
-            # Build action_np from motor commands (arm joints are indices 15-28, local indices 0-13)
-            action_np = np.zeros(14)
-            arm_start_idx = G1_29_JointArmIndex.kLeftShoulderPitch.value  # 15
-            for joint in G1_29_JointArmIndex:
-                local_idx = joint.value - arm_start_idx
-                action_np[local_idx] = self.msg.motor_cmd[joint.value].q
-            tau = self.arm_ik.solve_tau(action_np)
-
-            # Apply tau back to motor commands
-            for joint in G1_29_JointArmIndex:
-                local_idx = joint.value - arm_start_idx
-                self.msg.motor_cmd[joint.value].tau = tau[local_idx]
-
-        self.msg.crc = self.crc.Crc(self.msg)
-        self.lowcmd_publisher.Write(self.msg)
-        return action
-
-    def get_gravity_orientation(self, quaternion):  # get gravity orientation from quaternion
-        """Get gravity orientation from quaternion."""
-        qw = quaternion[0]
-        qx = quaternion[1]
-        qy = quaternion[2]
-        qz = quaternion[3]
-
-        gravity_orientation = np.zeros(3)
-        gravity_orientation[0] = 2 * (-qz * qx + qw * qy)
-        gravity_orientation[1] = -2 * (qz * qy + qw * qx)
-        gravity_orientation[2] = 1 - 2 * (qw * qw + qz * qz)
-        return gravity_orientation
-
     def reset(
         self,
         control_dt: float | None = None,
@@ -407,15 +529,9 @@ class UnitreeG1(Robot):
 
         if self.config.is_simulation and self.sim_env is not None:
             self.sim_env.reset()
-
-            for motor in G1_29_JointIndex:
-                self.msg.motor_cmd[motor.value].q = default_positions[motor.value]
-                self.msg.motor_cmd[motor.value].qd = 0
-                self.msg.motor_cmd[motor.value].kp = self.kp[motor.value]
-                self.msg.motor_cmd[motor.value].kd = self.kd[motor.value]
-                self.msg.motor_cmd[motor.value].tau = 0
-            self.msg.crc = self.crc.Crc(self.msg)
-            self.lowcmd_publisher.Write(self.msg)
+            self.publish_lowcmd(
+                {f"{motor.name}.q": float(default_positions[motor.value]) for motor in G1_29_JointIndex}
+            )
         else:
             total_time = 3.0
             num_steps = int(total_time / control_dt)
@@ -446,4 +562,8 @@ class UnitreeG1(Robot):
                 sleep_time = max(0, control_dt - elapsed)
                 time.sleep(sleep_time)
 
+        # Reset controller internal state (gait phase, obs history, etc.)
+        if self.controller is not None and hasattr(self.controller, "reset"):
+            self.controller.reset()
+
         logger.info("Reached default position")

src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py

@@ -22,6 +22,8 @@ import zmq
 
 from lerobot.robots.unitree_g1.config_unitree_g1 import UnitreeG1Config
 
+# Module-level ZMQ state mirrors the Unitree SDK's global ChannelFactory Singleton.
+# Only one robot connection per process is supported.
 _ctx: zmq.Context | None = None
 _lowcmd_sock: zmq.Socket | None = None
 _lowstate_sock: zmq.Socket | None = None
@@ -97,17 +99,22 @@ def lowcmd_to_dict(topic: str, msg: Any) -> dict[str, Any]:
     }
 
 
-def ChannelFactoryInitialize(*args: Any, **kwargs: Any) -> None:  # noqa: N802
+def ChannelFactoryInitialize(domain_id: int = 0, config: Any = None) -> None:  # noqa: N802
     """
     Initialize ZMQ sockets for robot communication.
 
     This function mimics the Unitree SDK's ChannelFactoryInitialize but uses
     ZMQ sockets to connect to the robot server bridge instead of DDS.
+
+    Args:
+        domain_id: Ignored (for API compatibility with Unitree SDK)
+        config: UnitreeG1Config instance with robot_ip
     """
     global _ctx, _lowcmd_sock, _lowstate_sock
 
     # read socket config
-    config = UnitreeG1Config()
+    if config is None:
+        config = UnitreeG1Config()
     robot_ip = config.robot_ip
 
     ctx = zmq.Context.instance()

src/lerobot/scripts/lerobot_benchmark.py

@@ -0,0 +1,462 @@
+#!/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.
+"""Benchmark runner: train and evaluate policies across simulation benchmarks.
+
+Orchestrates per-benchmark training and evaluation using the existing
+``lerobot-train`` and ``lerobot-eval`` CLI tools.
+
+Typical usage::
+
+    # Train SmolVLA on LIBERO-plus (4 GPUs, 50k steps):
+    lerobot-benchmark train \\
+        --benchmarks libero_plus \\
+        --policy-path lerobot/smolvla_base \\
+        --hub-user $HF_USER \\
+        --num-gpus 4 --steps 50000
+
+    # Evaluate the trained policies:
+    lerobot-benchmark eval \\
+        --benchmarks libero_plus \\
+        --hub-user $HF_USER
+
+    # Full pipeline (train → upload → eval) for multiple benchmarks:
+    lerobot-benchmark all \\
+        --benchmarks libero_plus,robocasa,robomme \\
+        --policy-path lerobot/smolvla_base \\
+        --hub-user $HF_USER \\
+        --num-gpus 4 --steps 50000
+"""
+
+from __future__ import annotations
+
+import argparse
+import logging
+import shutil
+import subprocess
+import sys
+from dataclasses import dataclass, field
+from pathlib import Path
+
+logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s %(message)s")
+log = logging.getLogger(__name__)
+
+
+@dataclass
+class BenchmarkEntry:
+    """Training + evaluation settings for a single benchmark.
+
+    When ``eval_tasks`` is set, evaluation runs once per task in the list
+    (e.g. libero_spatial, libero_object, …).  ``env_task`` is still used as
+    the task for mid-training evaluation during ``lerobot-train``.
+    """
+
+    dataset_repo_id: str
+    env_type: str
+    env_task: str
+    eval_tasks: list[str] | None = None
+    train_overrides: dict[str, str] = field(default_factory=dict)
+    eval_overrides: dict[str, str] = field(default_factory=dict)
+
+
+LIBERO_SUITES = ["libero_spatial", "libero_object", "libero_goal", "libero_10"]
+
+# Each benchmark maps a human-readable name to its dataset and eval env.
+# ``dataset_repo_id`` can contain ``{hub_user}`` which is interpolated at
+# runtime from ``--hub-user``.
+BENCHMARK_REGISTRY: dict[str, BenchmarkEntry] = {
+    "libero": BenchmarkEntry(
+        dataset_repo_id="{hub_user}/libero",
+        env_type="libero",
+        env_task="libero_spatial",
+        eval_tasks=LIBERO_SUITES,
+    ),
+    "libero_plus": BenchmarkEntry(
+        dataset_repo_id="{hub_user}/libero_plus",
+        env_type="libero_plus",
+        env_task="libero_spatial",
+        eval_tasks=LIBERO_SUITES,
+    ),
+    "metaworld": BenchmarkEntry(
+        dataset_repo_id="{hub_user}/metaworld",
+        env_type="metaworld",
+        env_task="metaworld-push-v2",
+    ),
+    "robocasa": BenchmarkEntry(
+        dataset_repo_id="{hub_user}/robocasa",
+        env_type="robocasa",
+        env_task="PickPlaceCounterToCabinet",
+    ),
+    "robomme": BenchmarkEntry(
+        dataset_repo_id="{hub_user}/robomme",
+        env_type="robomme",
+        env_task="PickXtimes",
+    ),
+}
+
+
+def _policy_repo_id(hub_user: str, policy_name: str, benchmark: str) -> str:
+    return f"{hub_user}/{policy_name}_{benchmark}"
+
+
+def _extra_keys(extra_args: list[str]) -> set[str]:
+    """Extract ``--key`` prefixes from extra CLI args for override detection."""
+    keys: set[str] = set()
+    for arg in extra_args:
+        if arg.startswith("--") and "=" in arg:
+            keys.add(arg.split("=", 1)[0])
+    return keys
+
+
+def _build_train_cmd(
+    benchmark: BenchmarkEntry,
+    *,
+    policy_path: str,
+    hub_user: str,
+    policy_name: str,
+    benchmark_name: str,
+    num_gpus: int,
+    steps: int,
+    batch_size: int,
+    eval_freq: int,
+    save_freq: int,
+    wandb: bool,
+    extra_args: list[str],
+) -> list[str]:
+    """Build the ``accelerate launch lerobot-train`` command list."""
+    lerobot_train = shutil.which("lerobot-train")
+    if lerobot_train is None:
+        raise RuntimeError("lerobot-train not found on PATH. Is lerobot installed?")
+
+    # Strip bare "--" separators that argparse may pass through
+    cleaned_extra = [a for a in extra_args if a != "--"]
+    overridden = _extra_keys(cleaned_extra)
+
+    repo_id = _policy_repo_id(hub_user, policy_name, benchmark_name)
+    dataset_id = benchmark.dataset_repo_id.format(hub_user=hub_user)
+
+    defaults: list[tuple[str, str]] = [
+        ("--policy.path", policy_path),
+        ("--dataset.repo_id", dataset_id),
+        ("--policy.repo_id", repo_id),
+        ("--env.type", benchmark.env_type),
+        ("--env.task", benchmark.env_task),
+        ("--steps", str(steps)),
+        ("--batch_size", str(batch_size)),
+        ("--eval_freq", str(eval_freq)),
+        ("--save_freq", str(save_freq)),
+        ("--output_dir", f"outputs/train/{policy_name}_{benchmark_name}"),
+        ("--job_name", f"{policy_name}_{benchmark_name}"),
+        ("--policy.push_to_hub", "true"),
+    ]
+    if wandb:
+        defaults.append(("--wandb.enable", "true"))
+    for k, v in benchmark.train_overrides.items():
+        defaults.append((f"--{k}", v))
+
+    cmd: list[str] = [
+        "accelerate", "launch",
+        "--multi_gpu",
+        f"--num_processes={num_gpus}",
+        lerobot_train,
+    ]
+    for key, val in defaults:
+        if key not in overridden:
+            cmd.append(f"{key}={val}")
+    cmd.extend(cleaned_extra)
+    return cmd
+
+
+def _build_eval_cmd(
+    benchmark: BenchmarkEntry,
+    *,
+    hub_user: str,
+    policy_name: str,
+    benchmark_name: str,
+    eval_task: str | None = None,
+    n_episodes: int,
+    batch_size_eval: int,
+    extra_args: list[str],
+) -> list[str]:
+    """Build the ``lerobot-eval`` command list.
+
+    ``eval_task`` overrides the benchmark's ``env_task`` so the same
+    benchmark can be evaluated on multiple suites (e.g. LIBERO).
+    """
+    lerobot_eval = shutil.which("lerobot-eval")
+    if lerobot_eval is None:
+        raise RuntimeError("lerobot-eval not found on PATH. Is lerobot installed?")
+
+    task = eval_task or benchmark.env_task
+    repo_id = _policy_repo_id(hub_user, policy_name, benchmark_name)
+    out_dir = _eval_output_dir(policy_name, benchmark_name, eval_task=task)
+
+    cleaned_extra = [a for a in extra_args if a != "--"]
+    overridden = _extra_keys(cleaned_extra)
+
+    defaults: list[tuple[str, str]] = [
+        ("--policy.path", repo_id),
+        ("--env.type", benchmark.env_type),
+        ("--env.task", task),
+        ("--eval.n_episodes", str(n_episodes)),
+        ("--eval.batch_size", str(batch_size_eval)),
+        ("--output_dir", out_dir),
+        ("--policy.device", "cuda"),
+    ]
+    for k, v in benchmark.eval_overrides.items():
+        defaults.append((f"--{k}", v))
+
+    cmd: list[str] = [lerobot_eval]
+    for key, val in defaults:
+        if key not in overridden:
+            cmd.append(f"{key}={val}")
+    cmd.extend(cleaned_extra)
+    return cmd
+
+
+def _eval_output_dir(policy_name: str, benchmark_name: str, eval_task: str | None = None) -> Path:
+    if eval_task:
+        return Path(f"outputs/eval/{policy_name}_{benchmark_name}/{eval_task}")
+    return Path(f"outputs/eval/{policy_name}_{benchmark_name}")
+
+
+def _run(cmd: list[str], *, dry_run: bool) -> None:
+    log.info("Command: %s", " \\\n    ".join(cmd))
+    if dry_run:
+        log.info("[dry-run] Skipping execution.")
+        return
+    result = subprocess.run(cmd, check=False)
+    if result.returncode != 0:
+        log.error("Command failed with exit code %d", result.returncode)
+        sys.exit(result.returncode)
+
+
+def _push_eval_to_hub(
+    *,
+    hub_user: str,
+    policy_name: str,
+    benchmark_name: str,
+    eval_task: str | None = None,
+    dry_run: bool,
+) -> None:
+    """Upload eval results (metrics + videos) to the policy repo on the Hub."""
+    from huggingface_hub import HfApi
+
+    repo_id = _policy_repo_id(hub_user, policy_name, benchmark_name)
+    local_dir = _eval_output_dir(policy_name, benchmark_name, eval_task=eval_task)
+    hub_path = f"eval/{eval_task}" if eval_task else f"eval/{benchmark_name}"
+
+    if not local_dir.exists():
+        log.warning("Eval output dir %s does not exist, skipping hub upload.", local_dir)
+        return
+
+    log.info("Uploading eval results from %s to %s (path_in_repo=%s)", local_dir, repo_id, hub_path)
+    if dry_run:
+        log.info("[dry-run] Skipping upload.")
+        return
+
+    api = HfApi()
+    api.upload_folder(
+        folder_path=str(local_dir),
+        repo_id=repo_id,
+        path_in_repo=hub_path,
+        repo_type="model",
+        commit_message=f"Upload eval results for {eval_task or benchmark_name}",
+    )
+
+
+def _resolve_benchmarks(names: str) -> list[tuple[str, BenchmarkEntry]]:
+    out = []
+    for name in names.split(","):
+        name = name.strip()
+        if name not in BENCHMARK_REGISTRY:
+            available = ", ".join(BENCHMARK_REGISTRY)
+            raise ValueError(f"Unknown benchmark '{name}'. Available: {available}")
+        out.append((name, BENCHMARK_REGISTRY[name]))
+    return out
+
+
+def cmd_train(args: argparse.Namespace) -> None:
+    benchmarks = _resolve_benchmarks(args.benchmarks)
+    for bname, bentry in benchmarks:
+        log.info("=== Training on benchmark: %s ===", bname)
+        cmd = _build_train_cmd(
+            bentry,
+            policy_path=args.policy_path,
+            hub_user=args.hub_user,
+            policy_name=args.policy_name,
+            benchmark_name=bname,
+            num_gpus=args.num_gpus,
+            steps=args.steps,
+            batch_size=args.batch_size,
+            eval_freq=args.eval_freq,
+            save_freq=args.save_freq,
+            wandb=args.wandb,
+            extra_args=args.extra,
+        )
+        _run(cmd, dry_run=args.dry_run)
+
+
+def _run_eval_for_benchmark(
+    bname: str,
+    bentry: BenchmarkEntry,
+    args: argparse.Namespace,
+) -> None:
+    """Run evaluation for a single benchmark, iterating over all its eval_tasks."""
+    tasks = bentry.eval_tasks or [bentry.env_task]
+    for task in tasks:
+        log.info("=== Evaluating %s / %s ===", bname, task)
+        cmd = _build_eval_cmd(
+            bentry,
+            hub_user=args.hub_user,
+            policy_name=args.policy_name,
+            benchmark_name=bname,
+            eval_task=task if bentry.eval_tasks else None,
+            n_episodes=args.n_episodes,
+            batch_size_eval=args.batch_size_eval,
+            extra_args=args.extra,
+        )
+        _run(cmd, dry_run=args.dry_run)
+        if args.push_eval_to_hub:
+            _push_eval_to_hub(
+                hub_user=args.hub_user,
+                policy_name=args.policy_name,
+                benchmark_name=bname,
+                eval_task=task if bentry.eval_tasks else None,
+                dry_run=args.dry_run,
+            )
+
+
+def cmd_eval(args: argparse.Namespace) -> None:
+    benchmarks = _resolve_benchmarks(args.benchmarks)
+    for bname, bentry in benchmarks:
+        _run_eval_for_benchmark(bname, bentry, args)
+
+
+def cmd_all(args: argparse.Namespace) -> None:
+    """Train on each benchmark, then evaluate each."""
+    benchmarks = _resolve_benchmarks(args.benchmarks)
+
+    log.info("Phase 1: Training on %d benchmark(s)", len(benchmarks))
+    for bname, bentry in benchmarks:
+        log.info("=== Training on benchmark: %s ===", bname)
+        cmd = _build_train_cmd(
+            bentry,
+            policy_path=args.policy_path,
+            hub_user=args.hub_user,
+            policy_name=args.policy_name,
+            benchmark_name=bname,
+            num_gpus=args.num_gpus,
+            steps=args.steps,
+            batch_size=args.batch_size,
+            eval_freq=args.eval_freq,
+            save_freq=args.save_freq,
+            wandb=args.wandb,
+            extra_args=args.extra,
+        )
+        _run(cmd, dry_run=args.dry_run)
+
+    log.info("Phase 2: Evaluating %d benchmark(s)", len(benchmarks))
+    for bname, bentry in benchmarks:
+        _run_eval_for_benchmark(bname, bentry, args)
+
+
+def _add_common_args(p: argparse.ArgumentParser) -> None:
+    p.add_argument(
+        "--benchmarks", required=True,
+        help="Comma-separated benchmark names (e.g. libero_plus,robocasa,robomme).",
+    )
+    p.add_argument("--hub-user", required=True, help="HuggingFace Hub username.")
+    p.add_argument(
+        "--policy-name", default="smolvla",
+        help="Short policy name used in repo IDs and output dirs (default: smolvla).",
+    )
+    p.add_argument("--dry-run", action="store_true", help="Print commands without executing.")
+
+
+def _add_train_args(p: argparse.ArgumentParser) -> None:
+    p.add_argument("--policy-path", default="lerobot/smolvla_base", help="Pretrained policy path.")
+    p.add_argument("--num-gpus", type=int, default=4, help="Number of GPUs.")
+    p.add_argument("--steps", type=int, default=50_000, help="Total training steps.")
+    p.add_argument("--batch-size", type=int, default=32, help="Per-GPU batch size.")
+    p.add_argument("--eval-freq", type=int, default=10_000, help="Eval every N steps (0 to disable).")
+    p.add_argument("--save-freq", type=int, default=10_000, help="Save checkpoint every N steps.")
+    p.add_argument("--wandb", action="store_true", help="Enable Weights & Biases logging.")
+
+
+def _add_eval_args(p: argparse.ArgumentParser) -> None:
+    p.add_argument("--n-episodes", type=int, default=50, help="Number of eval episodes.")
+    p.add_argument("--batch-size-eval", type=int, default=10, help="Eval batch size (parallel envs).")
+    p.add_argument(
+        "--push-eval-to-hub", action="store_true",
+        help="Upload eval results (metrics + videos) to the policy repo on the Hub.",
+    )
+
+
+def build_parser() -> argparse.ArgumentParser:
+    parser = argparse.ArgumentParser(
+        prog="lerobot-benchmark",
+        description="Train and evaluate policies across simulation benchmarks.",
+    )
+    sub = parser.add_subparsers(dest="command", required=True)
+
+    # train
+    p_train = sub.add_parser("train", help="Train a policy on each selected benchmark.")
+    _add_common_args(p_train)
+    _add_train_args(p_train)
+    p_train.set_defaults(func=cmd_train)
+
+    # eval
+    p_eval = sub.add_parser("eval", help="Evaluate trained policies on each benchmark.")
+    _add_common_args(p_eval)
+    _add_eval_args(p_eval)
+    p_eval.set_defaults(func=cmd_eval)
+
+    # all (train + eval)
+    p_all = sub.add_parser("all", help="Train then evaluate on each benchmark.")
+    _add_common_args(p_all)
+    _add_train_args(p_all)
+    _add_eval_args(p_all)
+    p_all.set_defaults(func=cmd_all)
+
+    # list
+    p_list = sub.add_parser("list", help="List available benchmarks.")
+    p_list.set_defaults(func=lambda _args: _list_benchmarks())
+
+    return parser
+
+
+def _list_benchmarks() -> None:
+    print("Available benchmarks:\n")
+    for name, entry in BENCHMARK_REGISTRY.items():
+        print(f"  {name}")
+        print(f"    dataset:  {entry.dataset_repo_id}")
+        print(f"    env:      {entry.env_type}")
+        if entry.eval_tasks:
+            print(f"    eval on:  {', '.join(entry.eval_tasks)}")
+        else:
+            print(f"    eval on:  {entry.env_task}")
+        print()
+
+
+def main() -> None:
+    parser = build_parser()
+    args, extra = parser.parse_known_args()
+    args.extra = extra
+    args.func(args)
+
+
+if __name__ == "__main__":
+    main()

src/lerobot/scripts/lerobot_eval.py

@@ -49,6 +49,9 @@ You can learn about the CLI options for this script in the `EvalPipelineConfig`
 import concurrent.futures as cf
 import json
 import logging
+import shutil
+import subprocess
+import sys
 import threading
 import time
 from collections import defaultdict
@@ -71,7 +74,9 @@ from tqdm import trange
 
 from lerobot.configs import parser
 from lerobot.configs.eval import EvalPipelineConfig
+
 from lerobot.envs.factory import make_env, make_env_pre_post_processors
+from lerobot.envs.lazy_vec_env import LazyVectorEnv
 from lerobot.envs.utils import (
     add_envs_task,
     check_env_attributes_and_types,
@@ -82,6 +87,11 @@ from lerobot.policies.factory import make_policy, make_pre_post_processors
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.processor import PolicyAction, PolicyProcessorPipeline
 from lerobot.utils.constants import ACTION, DONE, OBS_STR, REWARD
+from lerobot.utils.hf_eval_results import (
+    build_eval_results_rows,
+    default_eval_date,
+    upload_eval_results_yaml,
+)
 from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.io_utils import write_video
 from lerobot.utils.random_utils import set_seed
@@ -502,9 +512,178 @@ def _compile_episode_data(
     return data_dict
 
 
+def _serializable_config(obj: Any) -> Any:
+    """Recursively convert a config dict so it is JSON-serializable."""
+    if isinstance(obj, dict):
+        return {k: _serializable_config(v) for k, v in obj.items()}
+    if isinstance(obj, (list, tuple)):
+        return [_serializable_config(v) for v in obj]
+    if isinstance(obj, Path):
+        return str(obj)
+    if isinstance(obj, (int, float, str, bool, type(None))):
+        return obj
+    return str(obj)
+
+
+def push_eval_to_hub(
+    repo_id: str,
+    output_dir: Path,
+    info: dict,
+    env_type: str,
+    env_task: str | None,
+    benchmark_dataset_id: str,
+    source_url: str | None = None,
+    notes: str | None = None,
+) -> str:
+    """Upload eval artifacts and `.eval_results` rows to the Hub.
+
+    Args:
+        repo_id: HF model repo (e.g. "user/my_policy").
+        output_dir: Local directory containing eval_info.json and videos/.
+        info: The eval results dict (as returned by eval_policy_all).
+        env_type: Environment type string (e.g. "libero_plus", "pusht").
+        env_task: The env task string from eval config.
+        benchmark_dataset_id: HF dataset id of the consolidated benchmark dataset.
+        source_url: Optional source URL for `.eval_results` attribution.
+        notes: Optional setup notes to include in `.eval_results`.
+
+    Returns:
+        URL of the last Hub commit.
+    """
+    from huggingface_hub import HfApi
+
+    api = HfApi()
+    api.create_repo(repo_id=repo_id, exist_ok=True)
+
+    commit_url = ""
+
+    # 1. Upload eval_info.json
+    eval_json_path = output_dir / "eval_info.json"
+    if eval_json_path.exists():
+        commit_url = api.upload_file(
+            path_or_fileobj=str(eval_json_path),
+            path_in_repo=f"eval/{env_type}/eval_info.json",
+            repo_id=repo_id,
+            commit_message=f"Upload eval results for {env_type}",
+        )
+
+    # 2. Upload eval_config.json (policy, env, and eval settings used)
+    eval_config_path = output_dir / "eval_config.json"
+    if eval_config_path.exists():
+        api.upload_file(
+            path_or_fileobj=str(eval_config_path),
+            path_in_repo=f"eval/{env_type}/eval_config.json",
+            repo_id=repo_id,
+            commit_message=f"Upload eval config for {env_type}",
+        )
+
+    # 3. Upload rollout videos
+    videos_dir = output_dir / "videos"
+    if videos_dir.is_dir():
+        api.upload_folder(
+            folder_path=str(videos_dir),
+            path_in_repo=f"eval/{env_type}/videos",
+            repo_id=repo_id,
+            commit_message=f"Upload eval rollout videos for {env_type}",
+        )
+
+    # 4. Upload HF-native `.eval_results` rows (canonical leaderboard surface).
+    rows = build_eval_results_rows(
+        info=info,
+        env_type=env_type,
+        env_task=env_task,
+        benchmark_dataset_id=benchmark_dataset_id,
+        source_url=source_url,
+        notes=notes,
+        eval_date=default_eval_date(),
+    )
+    commit_url = upload_eval_results_yaml(
+        api=api,
+        repo_id=repo_id,
+        rows=rows,
+        env_type=env_type,
+        env_task=env_task,
+        output_dir=output_dir,
+    )
+
+    logging.info(f"Eval results pushed to https://huggingface.co/{repo_id}")
+    return commit_url
+
+
 @parser.wrap()
 def eval_main(cfg: EvalPipelineConfig):
     logging.info(pformat(asdict(cfg)))
+    # Multi-instance orchestration only applies to local runtime.
+    # For docker runtime, instance_count controls the number of env containers
+    # spawned directly by run_eval_in_docker — no extra lerobot-eval processes needed.
+    if cfg.eval.runtime == "local" and cfg.eval.instance_count > 1 and cfg.eval.instance_id == 0:
+        _orchestrate_multi_instance_eval(cfg)
+    else:
+        _run_eval_worker(cfg)
+
+
+def _maybe_add_libero_plus_perturbation(info: dict, cfg: EvalPipelineConfig) -> None:
+    if cfg.env.type != "libero_plus":
+        return
+    try:
+        from lerobot.envs.libero import aggregate_by_perturbation, build_perturbation_index
+
+        suite_names = [s.strip() for s in cfg.env.task.split(",") if s.strip()]
+        suite_indices = {s: build_perturbation_index(s) for s in suite_names}
+        perturbation_results = aggregate_by_perturbation(info["per_task"], suite_indices)
+        info["perturbation_results"] = perturbation_results
+        print("\n=== Perturbation Results ===")
+        for dim, stats in perturbation_results.items():
+            print(f"  {dim}: {stats['pc_success']:.1f}% ({stats['n_episodes']} episodes)")
+    except Exception as exc:
+        # Never fail a finished long-running eval on post-processing.
+        print(f"WARNING: Failed to compute LIBERO-Plus perturbation breakdown: {exc}")
+        print("Continuing with per-suite + overall metrics only.")
+
+
+def _save_eval_outputs(cfg: EvalPipelineConfig, info: dict) -> None:
+    output_dir = Path(cfg.output_dir)
+    output_dir.mkdir(parents=True, exist_ok=True)
+    with open(output_dir / "eval_info.json", "w") as f:
+        json.dump(info, f, indent=2)
+
+    eval_cfg_dict = _serializable_config(asdict(cfg))
+    with open(output_dir / "eval_config.json", "w") as f:
+        json.dump(eval_cfg_dict, f, indent=2)
+
+
+def _maybe_push_eval_outputs(cfg: EvalPipelineConfig, info: dict) -> None:
+    if not cfg.push_to_hub:
+        return
+    repo_id = str(cfg.policy.pretrained_path)
+    try:
+        push_eval_to_hub(
+            repo_id=repo_id,
+            output_dir=Path(cfg.output_dir),
+            info=info,
+            env_type=cfg.env.type,
+            env_task=cfg.env.task,
+            benchmark_dataset_id=cfg.benchmark_dataset_id,
+            source_url=cfg.eval_result_source_url,
+            notes=cfg.eval_result_notes,
+        )
+    except Exception as exc:
+        logging.warning("Failed to push eval artifacts/results to Hub: %s", exc)
+
+
+def _run_eval_worker(cfg: EvalPipelineConfig) -> dict:
+    logging.info(pformat(asdict(cfg)))
+
+    if cfg.eval.runtime in ("docker", "multiprocess"):
+        from lerobot.envs.docker_runtime import run_eval_in_docker, run_eval_multiprocess
+
+        if cfg.eval.runtime == "docker":
+            run_eval_in_docker(cfg)
+        else:
+            run_eval_multiprocess(cfg)
+        output_dir = Path(cfg.output_dir)
+        with open(output_dir / "eval_info.json") as f:
+            return json.load(f)
 
     # Check device is available
     device = get_safe_torch_device(cfg.policy.device, log=True)
@@ -548,34 +727,123 @@ def eval_main(cfg: EvalPipelineConfig):
     # Create environment-specific preprocessor and postprocessor (e.g., for LIBERO environments)
     env_preprocessor, env_postprocessor = make_env_pre_post_processors(env_cfg=cfg.env, policy_cfg=cfg.policy)
 
-    with torch.no_grad(), torch.autocast(device_type=device.type) if cfg.policy.use_amp else nullcontext():
-        info = eval_policy_all(
-            envs=envs,
-            policy=policy,
-            env_preprocessor=env_preprocessor,
-            env_postprocessor=env_postprocessor,
-            preprocessor=preprocessor,
-            postprocessor=postprocessor,
-            n_episodes=cfg.eval.n_episodes,
-            max_episodes_rendered=10,
-            videos_dir=Path(cfg.output_dir) / "videos",
-            start_seed=cfg.seed,
-            max_parallel_tasks=cfg.env.max_parallel_tasks,
-        )
-        print("Overall Aggregated Metrics:")
-        print(info["overall"])
+    try:
+        with (
+            torch.no_grad(),
+            torch.autocast(device_type=device.type) if cfg.policy.use_amp else nullcontext(),
+        ):
+            info = eval_policy_all(
+                envs=envs,
+                policy=policy,
+                env_preprocessor=env_preprocessor,
+                env_postprocessor=env_postprocessor,
+                preprocessor=preprocessor,
+                postprocessor=postprocessor,
+                n_episodes=cfg.eval.n_episodes,
+                max_episodes_rendered=10,
+                videos_dir=Path(cfg.output_dir) / "videos",
+                start_seed=cfg.seed,
+                max_parallel_tasks=cfg.env.max_parallel_tasks,
+                instance_count=cfg.eval.instance_count,
+                instance_id=cfg.eval.instance_id,
+            )
+            print("Overall Aggregated Metrics:")
+            print(info["overall"])
 
-        # Print per-suite stats
-        for task_group, task_group_info in info.items():
-            print(f"\nAggregated Metrics for {task_group}:")
-            print(task_group_info)
-    # Close all vec envs
-    close_envs(envs)
+            for key, val in info.get("per_group", {}).items():
+                print(f"\nAggregated Metrics for {key}:")
+                print(val)
 
-    # Save info
-    with open(Path(cfg.output_dir) / "eval_info.json", "w") as f:
-        json.dump(info, f, indent=2)
+            _maybe_add_libero_plus_perturbation(info, cfg)
+    finally:
+        close_envs(envs)
 
+    _save_eval_outputs(cfg, info)
+    _maybe_push_eval_outputs(cfg, info)
+
+    logging.info("End of eval")
+    return info
+
+
+def _orchestrate_multi_instance_eval(cfg: EvalPipelineConfig) -> None:
+    start_t = time.time()
+    root_output_dir = Path(cfg.output_dir)
+    instances_root = root_output_dir / "instances"
+    instances_root.mkdir(parents=True, exist_ok=True)
+
+    n_instances = cfg.eval.instance_count
+    logging.info(f"Launching multi-instance eval with {n_instances} workers.")
+
+    # Spawn workers for shard 1..N-1, run shard 0 in-process.
+    child_procs: list[tuple[int, subprocess.Popen]] = []
+    argv = [
+        arg
+        for arg in sys.argv[1:]
+        if not arg.startswith("--eval.instance_id=")
+        and not arg.startswith("--output_dir=")
+        and not arg.startswith("--push_to_hub=")
+    ]
+    for i in range(1, n_instances):
+        child_output_dir = instances_root / str(i)
+        cmd = [
+            sys.executable,
+            "-m",
+            "lerobot.scripts.lerobot_eval",
+            *argv,
+            f"--eval.instance_id={i}",
+            f"--output_dir={child_output_dir}",
+            "--push_to_hub=false",
+        ]
+        logging.info("Starting eval worker %s/%s", i + 1, n_instances)
+        child_procs.append((i, subprocess.Popen(cmd)))
+
+    cfg0 = deepcopy(cfg)
+    cfg0.eval.instance_id = 0
+    cfg0.push_to_hub = False
+    cfg0.output_dir = instances_root / "0"
+    _run_eval_worker(cfg0)
+
+    failed = []
+    for idx, proc in child_procs:
+        rc = proc.wait()
+        if rc != 0:
+            failed.append((idx, rc))
+    if failed:
+        raise RuntimeError(f"Multi-instance eval failed for workers: {failed}")
+
+    partial_infos: list[dict] = []
+    for i in range(n_instances):
+        info_path = instances_root / str(i) / "eval_info.json"
+        with open(info_path) as f:
+            partial_infos.append(json.load(f))
+
+    merged_per_task = []
+    for info in partial_infos:
+        merged_per_task.extend(info.get("per_task", []))
+    merged_per_task.sort(key=lambda x: (x["task_group"], x["task_id"]))
+
+    # Merge videos from each shard into final output dir.
+    merged_videos_dir = root_output_dir / "videos"
+    for i in range(n_instances):
+        shard_dir = instances_root / str(i)
+        shard_videos = shard_dir / "videos"
+        if shard_videos.is_dir():
+            shutil.copytree(shard_videos, merged_videos_dir, dirs_exist_ok=True)
+            old_prefix = str(shard_videos)
+            new_prefix = str(merged_videos_dir)
+            for entry in merged_per_task:
+                paths = entry.get("metrics", {}).get("video_paths", [])
+                entry["metrics"]["video_paths"] = [
+                    p.replace(old_prefix, new_prefix, 1) if p.startswith(old_prefix) else p for p in paths
+                ]
+
+    merged_info = _aggregate_eval_from_per_task(merged_per_task, total_eval_s=time.time() - start_t)
+    _maybe_add_libero_plus_perturbation(merged_info, cfg)
+    print("Overall Aggregated Metrics:")
+    print(merged_info["overall"])
+
+    _save_eval_outputs(cfg, merged_info)
+    _maybe_push_eval_outputs(cfg, merged_info)
     logging.info("End of eval")
 
 
@@ -590,6 +858,179 @@ class TaskMetrics(TypedDict):
 ACC_KEYS = ("sum_rewards", "max_rewards", "successes", "video_paths")
 
 
+def _aggregate_eval_from_per_task(per_task_infos: list[dict], total_eval_s: float) -> dict:
+    """Aggregate eval metrics from per-task payloads."""
+    group_acc: dict[str, dict[str, list]] = defaultdict(lambda: {k: [] for k in ACC_KEYS})
+    overall: dict[str, list] = {k: [] for k in ACC_KEYS}
+
+    def _append(group: str, key: str, value: Any):
+        if value is None:
+            return
+        if isinstance(value, list):
+            group_acc[group][key].extend(value)
+            overall[key].extend(value)
+        else:
+            group_acc[group][key].append(value)
+            overall[key].append(value)
+
+    for entry in per_task_infos:
+        group = entry["task_group"]
+        metrics = entry["metrics"]
+        _append(group, "sum_rewards", metrics.get("sum_rewards"))
+        _append(group, "max_rewards", metrics.get("max_rewards"))
+        _append(group, "successes", metrics.get("successes"))
+        paths = metrics.get("video_paths", [])
+        if paths:
+            group_acc[group]["video_paths"].extend(paths)
+            overall["video_paths"].extend(paths)
+
+    def _agg_from_list(xs: list[float]) -> float:
+        if not xs:
+            return float("nan")
+        arr = np.array(xs, dtype=float)
+        return float(np.nanmean(arr))
+
+    groups_aggregated = {}
+    for group, acc in group_acc.items():
+        groups_aggregated[group] = {
+            "avg_sum_reward": _agg_from_list(acc["sum_rewards"]),
+            "avg_max_reward": _agg_from_list(acc["max_rewards"]),
+            "pc_success": _agg_from_list(acc["successes"]) * 100 if acc["successes"] else float("nan"),
+            "n_episodes": len(acc["sum_rewards"]),
+            "video_paths": list(acc["video_paths"]),
+        }
+
+    overall_agg = {
+        "avg_sum_reward": _agg_from_list(overall["sum_rewards"]),
+        "avg_max_reward": _agg_from_list(overall["max_rewards"]),
+        "pc_success": _agg_from_list(overall["successes"]) * 100 if overall["successes"] else float("nan"),
+        "n_episodes": len(overall["sum_rewards"]),
+        "eval_s": total_eval_s,
+        "eval_ep_s": total_eval_s / max(1, len(overall["sum_rewards"])),
+        "video_paths": list(overall["video_paths"]),
+    }
+
+    return {"per_task": per_task_infos, "per_group": groups_aggregated, "overall": overall_agg}
+
+
+def _eval_task_batch(
+    batch: list[tuple[str, int, LazyVectorEnv]],
+    policy,
+    env_preprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+    env_postprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+    preprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
+    postprocessor: PolicyProcessorPipeline[PolicyAction, PolicyAction],
+    start_seed: int | None,
+    max_episodes_rendered: int = 0,
+    videos_dir: Path | None = None,
+) -> list[tuple[str, int, TaskMetrics]]:
+    """Evaluate N tasks in a single batched rollout for GPU efficiency.
+
+    Each task contributes one sub-env to a combined SyncVectorEnv so the policy
+    processes all N observations in one forward pass per step.
+    """
+    all_fns: list[Callable] = []
+    task_slices: list[tuple[str, int, int, int]] = []
+    offset = 0
+    for task_group, task_id, lazy_env in batch:
+        fns = lazy_env.factory_fns
+        if not fns:
+            continue
+        start = offset
+        offset += len(fns)
+        all_fns.extend(fns)
+        task_slices.append((task_group, task_id, start, offset))
+
+    if not all_fns:
+        return []
+
+    env_cls = batch[0][2].env_cls
+    combined_env = env_cls(all_fns)
+
+    try:
+        seeds = None
+        if start_seed is not None:
+            seeds = list(range(start_seed, start_seed + combined_env.num_envs))
+
+        ep_frames: list[np.ndarray] = []
+
+        def render_frame(env: gym.vector.VectorEnv):
+            if max_episodes_rendered <= 0:
+                return
+            n = min(max_episodes_rendered, env.num_envs)
+            if isinstance(env, gym.vector.SyncVectorEnv):
+                ep_frames.append(np.stack([env.envs[i].render() for i in range(n)]))
+            elif isinstance(env, gym.vector.AsyncVectorEnv):
+                ep_frames.append(np.stack(env.call("render")[:n]))
+
+        rollout_data = rollout(
+            env=combined_env,
+            policy=policy,
+            env_preprocessor=env_preprocessor,
+            env_postprocessor=env_postprocessor,
+            preprocessor=preprocessor,
+            postprocessor=postprocessor,
+            seeds=seeds,
+            render_callback=render_frame if max_episodes_rendered > 0 else None,
+        )
+
+        n_steps = rollout_data["done"].shape[1]
+        done_indices = torch.argmax(rollout_data["done"].to(int), dim=1)
+        mask = (torch.arange(n_steps) <= einops.repeat(done_indices + 1, "b -> b s", s=n_steps)).int()
+        batch_sum_rewards = einops.reduce((rollout_data["reward"] * mask), "b n -> b", "sum")
+        batch_max_rewards = einops.reduce((rollout_data["reward"] * mask), "b n -> b", "max")
+        batch_successes = einops.reduce((rollout_data["success"] * mask), "b n -> b", "any")
+
+        video_paths_per_task: dict[tuple[str, int], list[str]] = defaultdict(list)
+        if max_episodes_rendered > 0 and ep_frames and videos_dir:
+            stacked = np.stack(ep_frames, axis=1)  # (batch, time, h, w, c)
+            rendered = 0
+            threads = []
+            for tg, tid, start_i, end_i in task_slices:
+                if rendered >= max_episodes_rendered:
+                    break
+                task_dir = videos_dir / f"{tg}_{tid}"
+                task_dir.mkdir(parents=True, exist_ok=True)
+                for env_idx in range(start_i, end_i):
+                    if rendered >= max_episodes_rendered:
+                        break
+                    episode_index = env_idx - start_i
+                    video_path = task_dir / f"eval_episode_{episode_index}.mp4"
+                    video_paths_per_task[(tg, tid)].append(str(video_path))
+                    di = done_indices[env_idx].item()
+                    thread = threading.Thread(
+                        target=write_video,
+                        args=(
+                            str(video_path),
+                            stacked[env_idx, : di + 1],
+                            combined_env.unwrapped.metadata["render_fps"],
+                        ),
+                    )
+                    thread.start()
+                    threads.append(thread)
+                    rendered += 1
+            for t in threads:
+                t.join()
+
+        results: list[tuple[str, int, TaskMetrics]] = []
+        for tg, tid, start_i, end_i in task_slices:
+            results.append(
+                (
+                    tg,
+                    tid,
+                    TaskMetrics(
+                        sum_rewards=batch_sum_rewards[start_i:end_i].tolist(),
+                        max_rewards=batch_max_rewards[start_i:end_i].tolist(),
+                        successes=batch_successes[start_i:end_i].tolist(),
+                        video_paths=video_paths_per_task.get((tg, tid), []),
+                    ),
+                )
+            )
+        return results
+    finally:
+        combined_env.close()
+
+
 def eval_one(
     env: gym.vector.VectorEnv,
     *,
@@ -634,7 +1075,7 @@ def eval_one(
 def run_one(
     task_group: str,
     task_id: int,
-    env,
+    env: Any,
     *,
     policy,
     env_preprocessor,
@@ -678,7 +1119,7 @@ def run_one(
 
 
 def eval_policy_all(
-    envs: dict[str, dict[int, gym.vector.VectorEnv]],
+    envs: dict[str, dict[int, Any]],
     policy,
     env_preprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
     env_postprocessor: PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
@@ -691,6 +1132,8 @@ def eval_policy_all(
     return_episode_data: bool = False,
     start_seed: int | None = None,
     max_parallel_tasks: int = 1,
+    instance_count: int = 1,
+    instance_id: int = 0,
 ) -> dict:
     """
     Evaluate a nested `envs` dict: {task_group: {task_id: vec_env}}.
@@ -703,6 +1146,12 @@ def eval_policy_all(
 
     # Flatten envs into list of (task_group, task_id, env)
     tasks = [(tg, tid, vec) for tg, group in envs.items() for tid, vec in group.items()]
+    if instance_count > 1:
+        total_tasks = len(tasks)
+        tasks = [task for idx, task in enumerate(tasks) if idx % instance_count == instance_id]
+        logging.info(
+            f"Instance shard {instance_id + 1}/{instance_count}: {len(tasks)}/{total_tasks} tasks assigned."
+        )
 
     # accumulators: track metrics at both per-group level and across all groups
     group_acc: dict[str, dict[str, list]] = defaultdict(lambda: {k: [] for k in ACC_KEYS})
@@ -748,59 +1197,77 @@ def eval_policy_all(
         start_seed=start_seed,
     )
 
-    if max_parallel_tasks <= 1:
-        # sequential path (single accumulator path on the main thread)
-        # NOTE: keeping a single-threaded accumulator avoids concurrent list appends or locks
-        for task_group, task_id, env in tasks:
-            tg, tid, metrics = task_runner(task_group, task_id, env)
-            _accumulate_to(tg, metrics)
-            per_task_infos.append({"task_group": tg, "task_id": tid, "metrics": metrics})
-    else:
-        # threaded path: submit all tasks, consume completions on main thread and accumulate there
-        with cf.ThreadPoolExecutor(max_workers=max_parallel_tasks) as executor:
-            fut2meta = {}
-            for task_group, task_id, env in tasks:
-                fut = executor.submit(task_runner, task_group, task_id, env)
-                fut2meta[fut] = (task_group, task_id)
-            for fut in cf.as_completed(fut2meta):
-                tg, tid, metrics = fut.result()
+    all_lazy = all(isinstance(env, LazyVectorEnv) for _, _, env in tasks)
+    single_factory_per_task = all(
+        not isinstance(env, LazyVectorEnv) or env.num_factory_fns == 1 for _, _, env in tasks
+    )
+    can_batch = max_parallel_tasks > 1 and all_lazy and single_factory_per_task and n_episodes == 1
+
+    if can_batch:
+        # Multi-task batched path: combine N tasks into one SyncVectorEnv per chunk
+        # so the policy processes all N observations in a single forward pass per step.
+        chunk_size = max_parallel_tasks
+        logging.info(f"Task scheduler mode: batched_lazy (chunk_size={chunk_size})")
+        n_chunks = (len(tasks) + chunk_size - 1) // chunk_size
+        rendered_so_far = 0
+        for chunk_idx in range(n_chunks):
+            chunk = tasks[chunk_idx * chunk_size : (chunk_idx + 1) * chunk_size]
+            render_budget = max(0, max_episodes_rendered - rendered_so_far)
+            logging.info(
+                f"Batch {chunk_idx + 1}/{n_chunks}: evaluating {len(chunk)} tasks "
+                f"({chunk_idx * chunk_size + 1}–{chunk_idx * chunk_size + len(chunk)}/{len(tasks)})"
+            )
+            batch_results = _eval_task_batch(
+                chunk,
+                policy=policy,
+                env_preprocessor=env_preprocessor,
+                env_postprocessor=env_postprocessor,
+                preprocessor=preprocessor,
+                postprocessor=postprocessor,
+                start_seed=start_seed,
+                max_episodes_rendered=render_budget,
+                videos_dir=videos_dir,
+            )
+            for tg, tid, metrics in batch_results:
                 _accumulate_to(tg, metrics)
                 per_task_infos.append({"task_group": tg, "task_id": tid, "metrics": metrics})
+                rendered_so_far += len(metrics.get("video_paths", []))
 
-    # compute aggregated metrics helper (robust to lists/scalars)
-    def _agg_from_list(xs):
-        if not xs:
-            return float("nan")
-        arr = np.array(xs, dtype=float)
-        return float(np.nanmean(arr))
+            if overall["successes"]:
+                sr = np.nanmean(overall["successes"]) * 100
+                logging.info(f"  running success rate: {sr:.1f}%")
+    elif max_parallel_tasks <= 1:
+        logging.info("Task scheduler mode: sequential")
+        for task_group, task_id, env in tasks:
+            try:
+                tg, tid, metrics = task_runner(task_group, task_id, env)
+                _accumulate_to(tg, metrics)
+                per_task_infos.append({"task_group": tg, "task_id": tid, "metrics": metrics})
+            finally:
+                env.close()
+    else:
+        # Threaded fallback for cases where batched lazy mode cannot be used.
+        if all_lazy and n_episodes != 1:
+            logging.info("Task scheduler mode: threaded (lazy batching disabled because n_episodes != 1)")
+        elif all_lazy and not single_factory_per_task:
+            logging.info("Task scheduler mode: threaded (lazy batching disabled because eval.batch_size > 1)")
+        else:
+            logging.info(f"Task scheduler mode: threaded (max_workers={max_parallel_tasks})")
+        with cf.ThreadPoolExecutor(max_workers=max_parallel_tasks) as executor:
+            fut2meta: dict[cf.Future, tuple[str, int, Any]] = {}
+            for task_group, task_id, env in tasks:
+                fut = executor.submit(task_runner, task_group, task_id, env)
+                fut2meta[fut] = (task_group, task_id, env)
+            for fut in cf.as_completed(fut2meta):
+                tg, tid, env = fut2meta[fut]
+                try:
+                    _, _, metrics = fut.result()
+                    _accumulate_to(tg, metrics)
+                    per_task_infos.append({"task_group": tg, "task_id": tid, "metrics": metrics})
+                finally:
+                    env.close()
 
-    # compute per-group aggregates
-    groups_aggregated = {}
-    for group, acc in group_acc.items():
-        groups_aggregated[group] = {
-            "avg_sum_reward": _agg_from_list(acc["sum_rewards"]),
-            "avg_max_reward": _agg_from_list(acc["max_rewards"]),
-            "pc_success": _agg_from_list(acc["successes"]) * 100 if acc["successes"] else float("nan"),
-            "n_episodes": len(acc["sum_rewards"]),
-            "video_paths": list(acc["video_paths"]),
-        }
-
-    # overall aggregates
-    overall_agg = {
-        "avg_sum_reward": _agg_from_list(overall["sum_rewards"]),
-        "avg_max_reward": _agg_from_list(overall["max_rewards"]),
-        "pc_success": _agg_from_list(overall["successes"]) * 100 if overall["successes"] else float("nan"),
-        "n_episodes": len(overall["sum_rewards"]),
-        "eval_s": time.time() - start_t,
-        "eval_ep_s": (time.time() - start_t) / max(1, len(overall["sum_rewards"])),
-        "video_paths": list(overall["video_paths"]),
-    }
-
-    return {
-        "per_task": per_task_infos,
-        "per_group": groups_aggregated,
-        "overall": overall_agg,
-    }
+    return _aggregate_eval_from_per_task(per_task_infos, total_eval_s=time.time() - start_t)
 
 
 def main():

src/lerobot/scripts/lerobot_eval_worker.py

@@ -0,0 +1,218 @@
+#!/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.
+
+"""Docker eval worker — runs inside a benchmark container.
+
+Runs gym episodes for a sharded subset of the configured env's tasks, calling
+a remote HTTP policy inference server (running on the host GPU) for action chunks.
+
+Usage (normally invoked by docker_runtime.run_eval_in_docker, not directly):
+    lerobot-eval-worker \\
+        --env.type=libero_plus \\
+        --server_address=host.docker.internal:50051 \\
+        --n_episodes=5 \\
+        --seed=1000 \\
+        --instance_id=0 \\
+        --instance_count=2 \\
+        --output_path=/results/worker_0.json
+"""
+
+from __future__ import annotations
+
+import json
+import logging
+import pickle  # nosec B403 — internal serialisation only
+import time
+import urllib.request
+from dataclasses import dataclass, field
+from pathlib import Path
+
+import draccus
+import numpy as np
+
+from lerobot import envs  # noqa: F401 — registers all env subclasses
+from lerobot.envs.configs import EnvConfig
+from lerobot.envs.factory import make_env
+from lerobot.envs.utils import add_envs_task, preprocess_observation
+from lerobot.utils.utils import init_logging
+
+logger = logging.getLogger(__name__)
+
+
+@dataclass
+class EvalWorkerConfig:
+    env: EnvConfig
+    # Address of the policy inference HTTP server on the host.
+    server_address: str = "host.docker.internal:50051"
+    # Number of episodes to run per task.
+    n_episodes: int = 1
+    # Starting random seed; episode i of a task uses seed + i.
+    seed: int = 0
+    # 0-indexed shard id for this worker.
+    instance_id: int = 0
+    # Total number of shards (workers).
+    instance_count: int = 1
+    # Path (inside the container) to write the JSON per-task results.
+    output_path: Path = field(default_factory=lambda: Path("/results/worker.json"))
+    # Timeout in seconds for each HTTP request to the policy server.
+    server_timeout: float = 120.0
+
+
+def _call_server(server_address: str, obs_t: dict, timeout: float) -> np.ndarray:
+    """POST pickled obs to /predict_chunk, return numpy chunk (T, action_dim)."""
+    body = pickle.dumps({"obs_t": obs_t})  # nosec B301
+    req = urllib.request.Request(
+        f"http://{server_address}/predict_chunk",
+        data=body,
+        method="POST",
+        headers={"Content-Type": "application/octet-stream"},
+    )
+    with urllib.request.urlopen(req, timeout=timeout) as resp:  # nosec B310
+        return pickle.loads(resp.read())  # nosec B301
+
+
+def run_worker(cfg: EvalWorkerConfig) -> dict:
+    """Run cfg.n_episodes episodes per assigned task. Returns per-task results dict."""
+    # Build envs: {task_group: {task_id: vec_env}}
+    envs_dict = make_env(cfg.env, n_envs=1)
+
+    # Flatten to list of (task_group, task_id, env)
+    tasks = [
+        (task_group, task_id, vec)
+        for task_group, group in envs_dict.items()
+        for task_id, vec in group.items()
+    ]
+
+    # Shard: this worker handles tasks where index % instance_count == instance_id
+    if cfg.instance_count > 1:
+        total = len(tasks)
+        assigned = {i for i in range(total) if i % cfg.instance_count == cfg.instance_id}
+        for i, (_, _, env) in enumerate(tasks):
+            if i not in assigned:
+                try:
+                    env.close()
+                except Exception:
+                    pass
+        tasks = [t for i, t in enumerate(tasks) if i in assigned]
+        logger.info(
+            "Shard %d/%d: %d/%d tasks assigned.",
+            cfg.instance_id + 1,
+            cfg.instance_count,
+            len(tasks),
+            total,
+        )
+
+    per_task: list[dict] = []
+
+    for task_group, task_id, env in tasks:
+        sum_rewards: list[float] = []
+        max_rewards: list[float] = []
+        successes: list[bool] = []
+
+        for ep_idx in range(cfg.n_episodes):
+            obs, _info = env.reset(seed=[cfg.seed + ep_idx])
+            obs_t = preprocess_observation(obs)
+            obs_t = add_envs_task(env, obs_t)
+
+            action_buffer: list[np.ndarray] = []  # each element: (1, action_dim)
+            ep_rewards: list[float] = []
+            ep_success = False
+            done = np.zeros(1, dtype=bool)
+            ep_steps = 0
+            ep_infer_time = 0.0
+            ep_env_time = 0.0
+            ep_infer_calls = 0
+
+            while not np.all(done):
+                if not action_buffer:
+                    t0 = time.monotonic()
+                    chunk_np = _call_server(cfg.server_address, obs_t, cfg.server_timeout)
+                    ep_infer_time += time.monotonic() - t0
+                    ep_infer_calls += 1
+                    action_buffer = [chunk_np[i : i + 1] for i in range(chunk_np.shape[0])]
+
+                action_np = action_buffer.pop(0)
+                t0 = time.monotonic()
+                obs, reward, terminated, truncated, info = env.step(action_np)
+                ep_env_time += time.monotonic() - t0
+                ep_steps += 1
+
+                done = terminated | truncated | done
+                ep_rewards.append(float(np.mean(reward)))
+
+                if "final_info" in info:
+                    final_info = info["final_info"]
+                    if isinstance(final_info, dict) and "is_success" in final_info:
+                        ep_success = bool(final_info["is_success"][0])
+
+                if not np.all(done):
+                    obs_t = preprocess_observation(obs)
+                    obs_t = add_envs_task(env, obs_t)
+
+            sum_rewards.append(float(np.sum(ep_rewards)))
+            max_rewards.append(float(np.max(ep_rewards)) if ep_rewards else 0.0)
+            successes.append(ep_success)
+            avg_env_ms = (ep_env_time / ep_steps * 1000) if ep_steps else 0
+            avg_infer_ms = (ep_infer_time / ep_infer_calls * 1000) if ep_infer_calls else 0
+            logger.info(
+                "Task %s[%d] ep %d/%d — success=%s | %d steps, %d infer calls | "
+                "env %.0fms/step, infer %.0fms/call (env %.1fs, infer %.1fs total)",
+                task_group,
+                task_id,
+                ep_idx + 1,
+                cfg.n_episodes,
+                ep_success,
+                ep_steps,
+                ep_infer_calls,
+                avg_env_ms,
+                avg_infer_ms,
+                ep_env_time,
+                ep_infer_time,
+            )
+
+        per_task.append(
+            {
+                "task_group": task_group,
+                "task_id": task_id,
+                "metrics": {
+                    "sum_rewards": sum_rewards,
+                    "max_rewards": max_rewards,
+                    "successes": successes,
+                    "video_paths": [],
+                },
+            }
+        )
+        env.close()
+
+    return {"per_task": per_task}
+
+
+def worker_main(cfg: EvalWorkerConfig) -> None:
+    results = run_worker(cfg)
+    output = Path(cfg.output_path)
+    output.parent.mkdir(parents=True, exist_ok=True)
+    output.write_text(json.dumps(results, indent=2))
+    logger.info("Worker %d wrote results to %s", cfg.instance_id, output)
+
+
+def main() -> None:
+    init_logging()
+    cfg = draccus.parse(config_class=EvalWorkerConfig)
+    worker_main(cfg)
+
+
+if __name__ == "__main__":
+    main()

src/lerobot/scripts/lerobot_leaderboard.py

@@ -0,0 +1,588 @@
+#!/usr/bin/env python
+
+# Copyright 2024 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.
+"""Generate an interactive eval leaderboard from Hub model repos.
+
+Reads eval results (as pushed by ``lerobot-eval --push_to_hub``) from one or
+more Hugging Face model repos and produces a self-contained HTML page with a
+sortable, filterable leaderboard table.
+
+Usage::
+
+    # models.txt contains one HF repo ID per line (lines starting with # are ignored)
+    lerobot-leaderboard models.txt --output leaderboard.html
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import logging
+import sys
+from dataclasses import dataclass, field
+from pathlib import Path
+
+logging.basicConfig(level=logging.INFO, format="%(levelname)s: %(message)s")
+logger = logging.getLogger(__name__)
+
+
+@dataclass
+class ModelEntry:
+    repo_id: str
+    policy_type: str = "—"
+    dataset: str = "—"
+    training_steps: str = "—"
+    batch_size: str = "—"
+    # env_type -> {group_name -> pc_success}
+    eval_results: dict[str, dict[str, float]] = field(default_factory=dict)
+    # env_type -> overall pc_success
+    eval_overall: dict[str, float] = field(default_factory=dict)
+    # env_type -> n_episodes
+    eval_n_episodes: dict[str, int] = field(default_factory=dict)
+
+
+def _try_download(repo_id: str, filename: str) -> dict | None:
+    """Download a JSON file from a Hub repo, return parsed dict or None."""
+    from huggingface_hub import hf_hub_download
+    from huggingface_hub.utils import EntryNotFoundError, RepositoryNotFoundError
+
+    try:
+        path = hf_hub_download(repo_id, filename, repo_type="model")
+        with open(path) as f:
+            return json.load(f)
+    except (EntryNotFoundError, RepositoryNotFoundError, OSError):
+        return None
+
+
+def _list_eval_dirs(repo_id: str) -> list[str]:
+    """List env_type subdirectories under eval/ in a Hub repo."""
+    from huggingface_hub import HfApi
+    from huggingface_hub.utils import RepositoryNotFoundError
+
+    api = HfApi()
+    try:
+        files = api.list_repo_files(repo_id, repo_type="model")
+    except RepositoryNotFoundError:
+        return []
+
+    env_types = set()
+    for f in files:
+        if f.startswith("eval/") and f.count("/") >= 2:
+            env_types.add(f.split("/")[1])
+    return sorted(env_types)
+
+
+def fetch_model_entry(repo_id: str) -> ModelEntry:
+    """Fetch all available metadata and eval results for a single model."""
+    entry = ModelEntry(repo_id=repo_id)
+
+    # Policy config
+    policy_cfg = _try_download(repo_id, "config.json")
+    if policy_cfg:
+        entry.policy_type = policy_cfg.get("type", "—")
+
+    # Training config
+    train_cfg = _try_download(repo_id, "train_config.json")
+    if train_cfg:
+        ds = train_cfg.get("dataset", {})
+        entry.dataset = ds.get("repo_id", "—") if isinstance(ds, dict) else str(ds)
+        entry.training_steps = str(train_cfg.get("steps", "—"))
+        entry.batch_size = str(train_cfg.get("batch_size", "—"))
+
+    # Eval results per env_type
+    for env_type in _list_eval_dirs(repo_id):
+        eval_info = _try_download(repo_id, f"eval/{env_type}/eval_info.json")
+        if not eval_info:
+            continue
+
+        per_group = eval_info.get("per_group", {})
+        group_results = {}
+        for group_name, stats in per_group.items():
+            group_results[group_name] = stats.get("pc_success", float("nan"))
+
+        entry.eval_results[env_type] = group_results
+
+        overall = eval_info.get("overall", {})
+        entry.eval_overall[env_type] = overall.get("pc_success", float("nan"))
+        entry.eval_n_episodes[env_type] = overall.get("n_episodes", 0)
+
+    return entry
+
+
+def fetch_all(repo_ids: list[str]) -> list[ModelEntry]:
+    entries = []
+    for repo_id in repo_ids:
+        logger.info(f"Fetching {repo_id}...")
+        try:
+            entries.append(fetch_model_entry(repo_id))
+        except Exception as e:
+            logger.warning(f"Failed to fetch {repo_id}: {e}")
+    return entries
+
+
+def collect_all_env_types(entries: list[ModelEntry]) -> list[str]:
+    """Collect all unique env_types across all entries, sorted."""
+    env_types: set[str] = set()
+    for e in entries:
+        env_types.update(e.eval_overall.keys())
+    return sorted(env_types)
+
+
+def collect_all_groups(entries: list[ModelEntry]) -> dict[str, list[str]]:
+    """Collect all unique group names per env_type."""
+    groups: dict[str, set[str]] = {}
+    for e in entries:
+        for env_type, group_results in e.eval_results.items():
+            groups.setdefault(env_type, set()).update(group_results.keys())
+    return {k: sorted(v) for k, v in groups.items()}
+
+
+def build_html(entries: list[ModelEntry], title: str = "LeRobot Eval Leaderboard") -> str:
+    env_types = collect_all_env_types(entries)
+    all_groups = collect_all_groups(entries)
+
+    # Build column structure: fixed cols + per env_type (overall + per-group sub-columns)
+    # We'll build the data as JSON and let JS handle rendering
+    table_data = []
+    for e in entries:
+        row = {
+            "repo_id": e.repo_id,
+            "policy_type": e.policy_type,
+            "dataset": e.dataset,
+            "training_steps": e.training_steps,
+            "batch_size": e.batch_size,
+        }
+        for env_type in env_types:
+            overall = e.eval_overall.get(env_type)
+            row[f"{env_type}__overall"] = round(overall, 1) if overall is not None else None
+            n_ep = e.eval_n_episodes.get(env_type)
+            row[f"{env_type}__n_episodes"] = n_ep if n_ep else None
+            for group in all_groups.get(env_type, []):
+                val = e.eval_results.get(env_type, {}).get(group)
+                row[f"{env_type}__{group}"] = round(val, 1) if val is not None else None
+        table_data.append(row)
+
+    # Build column definitions for the JS table
+    columns_json = json.dumps(_build_column_defs(env_types, all_groups))
+    data_json = json.dumps(table_data)
+
+    return _HTML_TEMPLATE.format(
+        title=title,
+        columns_json=columns_json,
+        data_json=data_json,
+    )
+
+
+def _build_column_defs(env_types: list[str], all_groups: dict[str, list[str]]) -> list[dict]:
+    cols = [
+        {"key": "repo_id", "label": "Model", "group": "Model Info", "sortable": True, "type": "link"},
+        {"key": "policy_type", "label": "Policy", "group": "Model Info", "sortable": True, "type": "text"},
+        {"key": "dataset", "label": "Dataset", "group": "Model Info", "sortable": True, "type": "text"},
+        {
+            "key": "training_steps",
+            "label": "Steps",
+            "group": "Training",
+            "sortable": True,
+            "type": "number",
+        },
+        {
+            "key": "batch_size",
+            "label": "Batch",
+            "group": "Training",
+            "sortable": True,
+            "type": "number",
+        },
+    ]
+    for env_type in env_types:
+        cols.append(
+            {
+                "key": f"{env_type}__overall",
+                "label": "Overall %",
+                "group": env_type,
+                "sortable": True,
+                "type": "pct",
+            }
+        )
+        for group in all_groups.get(env_type, []):
+            cols.append(
+                {
+                    "key": f"{env_type}__{group}",
+                    "label": f"{group} %",
+                    "group": env_type,
+                    "sortable": True,
+                    "type": "pct",
+                }
+            )
+        cols.append(
+            {
+                "key": f"{env_type}__n_episodes",
+                "label": "Episodes",
+                "group": env_type,
+                "sortable": True,
+                "type": "number",
+            }
+        )
+    return cols
+
+
+_HTML_TEMPLATE = """\
+<!DOCTYPE html>
+<html lang="en">
+<head>
+<meta charset="utf-8" />
+<meta name="viewport" content="width=device-width, initial-scale=1" />
+<title>{title}</title>
+<style>
+  :root {{
+    --bg: #0d1117;
+    --surface: #161b22;
+    --border: #30363d;
+    --text: #e6edf3;
+    --text-muted: #8b949e;
+    --accent: #58a6ff;
+    --green: #3fb950;
+    --yellow: #d29922;
+    --red: #f85149;
+    --header-bg: #1c2128;
+  }}
+  * {{ box-sizing: border-box; margin: 0; padding: 0; }}
+  body {{
+    font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Helvetica, Arial, sans-serif;
+    background: var(--bg);
+    color: var(--text);
+    padding: 24px;
+    line-height: 1.5;
+  }}
+  h1 {{
+    font-size: 1.75rem;
+    font-weight: 600;
+    margin-bottom: 8px;
+  }}
+  .subtitle {{
+    color: var(--text-muted);
+    font-size: 0.9rem;
+    margin-bottom: 20px;
+  }}
+  .controls {{
+    display: flex;
+    gap: 12px;
+    margin-bottom: 16px;
+    flex-wrap: wrap;
+    align-items: center;
+  }}
+  .controls input {{
+    background: var(--surface);
+    border: 1px solid var(--border);
+    color: var(--text);
+    padding: 8px 14px;
+    border-radius: 6px;
+    font-size: 0.875rem;
+    width: 280px;
+    outline: none;
+  }}
+  .controls input:focus {{ border-color: var(--accent); }}
+  .controls label {{
+    color: var(--text-muted);
+    font-size: 0.8rem;
+    display: flex;
+    align-items: center;
+    gap: 6px;
+    cursor: pointer;
+  }}
+  .controls input[type="checkbox"] {{
+    width: auto;
+    accent-color: var(--accent);
+  }}
+  .table-wrap {{
+    overflow-x: auto;
+    border: 1px solid var(--border);
+    border-radius: 8px;
+  }}
+  table {{
+    border-collapse: collapse;
+    width: 100%;
+    font-size: 0.85rem;
+    white-space: nowrap;
+  }}
+  thead th {{
+    background: var(--header-bg);
+    color: var(--text-muted);
+    font-weight: 600;
+    text-transform: uppercase;
+    font-size: 0.7rem;
+    letter-spacing: 0.05em;
+    padding: 10px 14px;
+    border-bottom: 1px solid var(--border);
+    cursor: pointer;
+    user-select: none;
+    position: sticky;
+    top: 0;
+    z-index: 2;
+  }}
+  thead th:hover {{ color: var(--text); }}
+  thead th .arrow {{ margin-left: 4px; opacity: 0.4; }}
+  thead th.sorted .arrow {{ opacity: 1; color: var(--accent); }}
+  thead tr.group-header th {{
+    text-align: center;
+    font-size: 0.75rem;
+    letter-spacing: 0.08em;
+    border-right: 1px solid var(--border);
+    cursor: default;
+  }}
+  tbody tr {{ border-bottom: 1px solid var(--border); }}
+  tbody tr:hover {{ background: rgba(88,166,255,0.06); }}
+  td {{
+    padding: 10px 14px;
+    vertical-align: middle;
+  }}
+  td.model-cell a {{
+    color: var(--accent);
+    text-decoration: none;
+    font-weight: 500;
+  }}
+  td.model-cell a:hover {{ text-decoration: underline; }}
+  td.pct {{
+    font-weight: 600;
+    font-variant-numeric: tabular-nums;
+    text-align: right;
+  }}
+  td.number {{
+    text-align: right;
+    font-variant-numeric: tabular-nums;
+  }}
+  .pct-high {{ color: var(--green); }}
+  .pct-mid  {{ color: var(--yellow); }}
+  .pct-low  {{ color: var(--red); }}
+  .pct-na   {{ color: var(--text-muted); font-weight: 400; }}
+  .best-in-col {{ background: rgba(63,185,80,0.12); }}
+  footer {{
+    margin-top: 20px;
+    color: var(--text-muted);
+    font-size: 0.75rem;
+  }}
+  footer a {{ color: var(--accent); text-decoration: none; }}
+</style>
+</head>
+<body>
+
+<h1>&#129302; {title}</h1>
+<p class="subtitle">Click any column header to sort. Filter by typing below.</p>
+
+<div class="controls">
+  <input type="text" id="filter" placeholder="Filter models..." />
+  <label><input type="checkbox" id="toggleGroups" checked /> Show sub-suite columns</label>
+</div>
+
+<div class="table-wrap">
+  <table id="leaderboard">
+    <thead></thead>
+    <tbody></tbody>
+  </table>
+</div>
+
+<footer>
+  Generated by <a href="https://github.com/huggingface/lerobot">LeRobot</a> &middot;
+  Eval results from <a href="https://huggingface.co">Hugging Face Hub</a>
+</footer>
+
+<script>
+const COLUMNS = {columns_json};
+const DATA    = {data_json};
+
+let sortKey = null, sortAsc = true, showGroups = true;
+
+function pctClass(v) {{
+  if (v == null) return 'pct-na';
+  if (v >= 70)   return 'pct-high';
+  if (v >= 40)   return 'pct-mid';
+  return 'pct-low';
+}}
+
+function visibleCols() {{
+  if (showGroups) return COLUMNS;
+  return COLUMNS.filter(c => !c.key.includes('__') || c.key.endsWith('__overall') || c.key.endsWith('__n_episodes'));
+}}
+
+function bestPerCol(rows) {{
+  const best = {{}};
+  for (const c of visibleCols()) {{
+    if (c.type !== 'pct') continue;
+    let max = -Infinity;
+    for (const r of rows) {{
+      const v = r[c.key];
+      if (v != null && v > max) max = v;
+    }}
+    best[c.key] = max === -Infinity ? null : max;
+  }}
+  return best;
+}}
+
+function render() {{
+  const filter = document.getElementById('filter').value.toLowerCase();
+  let rows = DATA.filter(r => r.repo_id.toLowerCase().includes(filter)
+    || (r.policy_type||'').toLowerCase().includes(filter)
+    || (r.dataset||'').toLowerCase().includes(filter));
+
+  if (sortKey) {{
+    rows.sort((a, b) => {{
+      let va = a[sortKey], vb = b[sortKey];
+      if (va == null && vb == null) return 0;
+      if (va == null) return 1;
+      if (vb == null) return -1;
+      if (typeof va === 'string') va = va.toLowerCase();
+      if (typeof vb === 'string') vb = vb.toLowerCase();
+      return sortAsc ? (va < vb ? -1 : va > vb ? 1 : 0) : (va > vb ? -1 : va < vb ? 1 : 0);
+    }});
+  }}
+
+  const cols = visibleCols();
+  const best = bestPerCol(rows);
+
+  // Group header row
+  const groups = [];
+  let lastGroup = null;
+  for (const c of cols) {{
+    if (c.group !== lastGroup) {{
+      groups.push({{ label: c.group, span: 1 }});
+      lastGroup = c.group;
+    }} else {{
+      groups[groups.length - 1].span++;
+    }}
+  }}
+
+  const thead = document.querySelector('#leaderboard thead');
+  thead.innerHTML = '';
+
+  // Group header
+  const gtr = document.createElement('tr');
+  gtr.className = 'group-header';
+  for (const g of groups) {{
+    const th = document.createElement('th');
+    th.colSpan = g.span;
+    th.textContent = g.label;
+    gtr.appendChild(th);
+  }}
+  thead.appendChild(gtr);
+
+  // Column headers
+  const htr = document.createElement('tr');
+  for (const c of cols) {{
+    const th = document.createElement('th');
+    th.innerHTML = c.label + ' <span class="arrow">' + (sortKey === c.key ? (sortAsc ? '&#9650;' : '&#9660;') : '&#8693;') + '</span>';
+    if (sortKey === c.key) th.classList.add('sorted');
+    th.addEventListener('click', () => {{
+      if (sortKey === c.key) {{ sortAsc = !sortAsc; }}
+      else {{ sortKey = c.key; sortAsc = c.type === 'pct' ? false : true; }}
+      render();
+    }});
+    htr.appendChild(th);
+  }}
+  thead.appendChild(htr);
+
+  // Body
+  const tbody = document.querySelector('#leaderboard tbody');
+  tbody.innerHTML = '';
+  for (const r of rows) {{
+    const tr = document.createElement('tr');
+    for (const c of cols) {{
+      const td = document.createElement('td');
+      const v = r[c.key];
+      if (c.type === 'link') {{
+        td.className = 'model-cell';
+        const a = document.createElement('a');
+        a.href = 'https://huggingface.co/' + v;
+        a.target = '_blank';
+        a.textContent = v;
+        td.appendChild(a);
+      }} else if (c.type === 'pct') {{
+        td.className = 'pct ' + pctClass(v);
+        td.textContent = v != null ? v.toFixed(1) : '—';
+        if (v != null && best[c.key] != null && v === best[c.key] && rows.length > 1) {{
+          td.classList.add('best-in-col');
+        }}
+      }} else if (c.type === 'number') {{
+        td.className = 'number';
+        td.textContent = v != null ? v : '—';
+      }} else {{
+        td.textContent = v || '—';
+      }}
+      tr.appendChild(td);
+    }}
+    tbody.appendChild(tr);
+  }}
+}}
+
+document.getElementById('filter').addEventListener('input', render);
+document.getElementById('toggleGroups').addEventListener('change', (e) => {{
+  showGroups = e.target.checked;
+  render();
+}});
+
+render();
+</script>
+</body>
+</html>
+"""
+
+
+def parse_args(argv: list[str] | None = None) -> argparse.Namespace:
+    p = argparse.ArgumentParser(
+        description="Generate an interactive eval leaderboard from Hub model repos.",
+    )
+    p.add_argument(
+        "repo_ids_file",
+        type=str,
+        help="Path to a text file with one repo ID per line.",
+    )
+    p.add_argument(
+        "--output",
+        type=str,
+        default="leaderboard.html",
+        help="Output HTML file path (default: leaderboard.html).",
+    )
+    p.add_argument(
+        "--title",
+        type=str,
+        default="LeRobot Eval Leaderboard",
+        help="Title shown in the leaderboard page.",
+    )
+    return p.parse_args(argv)
+
+
+def main(argv: list[str] | None = None):
+    args = parse_args(argv)
+
+    path = Path(args.repo_ids_file)
+    if not path.exists():
+        logger.error(f"File not found: {path}")
+        sys.exit(1)
+    repo_ids = [line.strip() for line in path.read_text().splitlines() if line.strip() and not line.startswith("#")]
+    if not repo_ids:
+        logger.error(f"No repo IDs found in {path}")
+        sys.exit(1)
+
+    entries = fetch_all(repo_ids)
+    if not entries:
+        logger.error("No valid entries found.")
+        sys.exit(1)
+
+    html = build_html(entries, title=args.title)
+    out = Path(args.output)
+    out.write_text(html)
+    logger.info(f"Leaderboard written to {out.resolve()}")
+
+
+if __name__ == "__main__":
+    main()

src/lerobot/scripts/lerobot_record.py

@@ -369,6 +369,8 @@ def record_loop(
             act_processed_policy: RobotAction = make_robot_action(action_values, dataset.features)
 
         elif policy is None and isinstance(teleop, Teleoperator):
+            if robot.name == "unitree_g1":
+                teleop.send_feedback(obs)
             act = teleop.get_action()
 
             # Applies a pipeline to the raw teleop action, default is IdentityProcessor
@@ -556,10 +558,6 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
                 ):
                     log_say("Reset the environment", cfg.play_sounds)
 
-                    # reset g1 robot
-                    if robot.name == "unitree_g1":
-                        robot.reset()
-
                     record_loop(
                         robot=robot,
                         events=events,

src/lerobot/scripts/lerobot_teleoperate.py

@@ -60,6 +60,7 @@ import rerun as rr
 
 from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
 from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
+from lerobot.cameras.zmq.configuration_zmq import ZMQCameraConfig  # noqa: F401
 from lerobot.configs import parser
 from lerobot.processor import (
     RobotAction,
@@ -153,7 +154,6 @@ def teleop_loop(
 
     display_len = max(len(key) for key in robot.action_features)
     start = time.perf_counter()
-
     while True:
         loop_start = time.perf_counter()
 
@@ -163,6 +163,9 @@ def teleop_loop(
         # given that it is the identity processor as default
         obs = robot.get_observation()
 
+        if robot.name == "unitree_g1":
+            teleop.send_feedback(obs)
+
         # Get teleop action
         raw_action = teleop.get_action()
 

src/lerobot/scripts/lerobot_train.py

@@ -209,7 +209,11 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
 
     # Use accelerator's device
     device = accelerator.device
-    torch.backends.cudnn.benchmark = True
+    if cfg.cudnn_deterministic:
+        torch.backends.cudnn.deterministic = True
+        torch.backends.cudnn.benchmark = False
+    else:
+        torch.backends.cudnn.benchmark = True
     torch.backends.cuda.matmul.allow_tf32 = True
 
     # Dataset loading synchronization: main process downloads first to avoid race conditions

src/lerobot/teleoperators/so_leader/config_so_leader.py

@@ -15,7 +15,6 @@
 # limitations under the License.
 
 from dataclasses import dataclass
-from typing import TypeAlias
 
 from ..config import TeleoperatorConfig
 
@@ -38,5 +37,5 @@ class SOLeaderTeleopConfig(TeleoperatorConfig, SOLeaderConfig):
     pass
 
 
-SO100LeaderConfig: TypeAlias = SOLeaderTeleopConfig
-SO101LeaderConfig: TypeAlias = SOLeaderTeleopConfig
+SO100LeaderConfig = SOLeaderTeleopConfig
+SO101LeaderConfig = SOLeaderTeleopConfig

src/lerobot/teleoperators/so_leader/so_leader.py

@@ -16,7 +16,6 @@
 
 import logging
 import time
-from typing import TypeAlias
 
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.feetech import (
@@ -156,5 +155,5 @@ class SOLeader(Teleoperator):
         logger.info(f"{self} disconnected.")
 
 
-SO100Leader: TypeAlias = SOLeader
-SO101Leader: TypeAlias = SOLeader
+SO100Leader = SOLeader
+SO101Leader = SOLeader

src/lerobot/teleoperators/unitree_g1/__init__.py

@@ -19,3 +19,13 @@ from .exo_calib import ExoskeletonCalibration, ExoskeletonJointCalibration
 from .exo_ik import ExoskeletonIKHelper
 from .exo_serial import ExoskeletonArm
 from .unitree_g1 import UnitreeG1Teleoperator
+
+__all__ = [
+    "ExoskeletonArmPortConfig",
+    "ExoskeletonCalibration",
+    "ExoskeletonIKHelper",
+    "ExoskeletonJointCalibration",
+    "ExoskeletonArm",
+    "UnitreeG1Teleoperator",
+    "UnitreeG1TeleoperatorConfig",
+]

src/lerobot/teleoperators/unitree_g1/exo_calib.py

@@ -35,6 +35,9 @@ import serial
 logger = logging.getLogger(__name__)
 
 
+ADC_MAX = 2**12 - 1
+ADC_HALF = ADC_MAX / 2
+
 # exoskeleton joint names -> ADC channel pairs. TODO: add wrist pitch and wrist yaw
 JOINTS = {
     "shoulder_pitch": (0, 1),
@@ -59,7 +62,7 @@ class ExoskeletonCalibration:
 
     version: int = 2
     side: str = ""
-    adc_max: int = 2**12 - 1
+    adc_max: int = ADC_MAX
     joints: list[ExoskeletonJointCalibration] = field(default_factory=list)
 
     def to_dict(self) -> dict:
@@ -92,7 +95,7 @@ class ExoskeletonCalibration:
         return cls(
             version=data.get("version", 2),
             side=data.get("side", ""),
-            adc_max=data.get("adc_max", 2**12 - 1),
+            adc_max=data.get("adc_max", ADC_MAX),
             joints=joints,
         )
 
@@ -112,11 +115,8 @@ class CalibParams:
 
 
 def normalize_angle(angle: float) -> float:
-    while angle > np.pi:
-        angle -= 2 * np.pi
-    while angle < -np.pi:
-        angle += 2 * np.pi
-    return angle
+    """Normalize angle to [-pi, pi]."""
+    return float(np.arctan2(np.sin(angle), np.cos(angle)))
 
 
 def joint_z_and_angle(raw16: list[int], j: ExoskeletonJointCalibration) -> tuple[np.ndarray, float]:
@@ -125,7 +125,7 @@ def joint_z_and_angle(raw16: list[int], j: ExoskeletonJointCalibration) -> tuple
     """
     pair = JOINTS[j.name]
     s, c = raw16[pair[0]], raw16[pair[1]]  # get sin and cos
-    p = np.array([float(c) - (2**12 - 1) / 2, float(s) - (2**12 - 1) / 2])  # center the raw values
+    p = np.array([float(c) - ADC_HALF, float(s) - ADC_HALF])  # center the raw values
     z = np.asarray(j.T) @ (
         p - np.asarray(j.center_fit)
     )  # center the ellipse and invert the transformation matrix to get unit circle coords
@@ -167,7 +167,7 @@ def run_exo_calibration(
 
     def read_joint_point(raw16: list[int], pair: tuple[int, int]):
         s, c = raw16[pair[0]], raw16[pair[1]]
-        return float(c) - (2**12 - 1) / 2, float(s) - (2**12 - 1) / 2, float(s), float(c)
+        return float(c) - ADC_HALF, float(s) - ADC_HALF, float(s), float(c)
 
     def select_fit_subset(xs, ys):
         """Select and filter points for ellipse fitting. Trims outliers by radius and downsamples."""
@@ -317,7 +317,7 @@ def run_exo_calibration(
                         calib = ExoskeletonCalibration(
                             version=2,
                             side=side,
-                            adc_max=2**12 - 1,
+                            adc_max=ADC_MAX,
                             joints=[
                                 ExoskeletonJointCalibration(
                                     name=j["name"],
@@ -367,8 +367,8 @@ def run_exo_calibration(
                     state["win_s"].append(s_raw)
                     state["win_c"].append(c_raw)
                     if len(state["win_s"]) >= max(3, params.median_window):
-                        state["ys"].append(running_median(state["win_s"]) - (2**12 - 1) / 2)
-                        state["xs"].append(running_median(state["win_c"]) - (2**12 - 1) / 2)
+                        state["ys"].append(running_median(state["win_s"]) - ADC_HALF)
+                        state["xs"].append(running_median(state["win_c"]) - ADC_HALF)
                 else:
                     jdata = joints_out[-1]
                     z = np.array(jdata["T"]) @ (np.array([x_raw, y_raw]) - np.array(jdata["center_fit"]))

src/lerobot/teleoperators/unitree_g1/exo_ik.py

@@ -25,8 +25,8 @@ from dataclasses import dataclass
 
 import numpy as np
 
+from lerobot.robots.unitree_g1.g1_kinematics import G1_29_ArmIK
 from lerobot.robots.unitree_g1.g1_utils import G1_29_JointArmIndex
-from lerobot.robots.unitree_g1.robot_kinematic_processor import G1_29_ArmIK
 
 from .exo_calib import JOINTS
 

src/lerobot/teleoperators/unitree_g1/exo_serial.py

@@ -32,25 +32,29 @@ def parse_raw16(line: bytes) -> list[int] | None:
         if len(parts) < 16:
             return None
         return [int(x) for x in parts[:16]]
-    except Exception:
+    except (ValueError, IndexError):
         return None
 
 
 def read_raw_from_serial(ser) -> list[int] | None:
     """Read latest sample from serial; if buffer is backed up, keep only the newest."""
-    last = None
-    while ser.in_waiting > 0:
-        b = ser.readline()
-        if not b:
-            break
-        raw16 = parse_raw16(b)
-        if raw16 is not None:
-            last = raw16
-    if last is None:
-        b = ser.readline()
-        if b:
-            last = parse_raw16(b)
-    return last
+    try:
+        last = None
+        while ser.in_waiting > 0:
+            b = ser.readline()
+            if not b:
+                break
+            raw16 = parse_raw16(b)
+            if raw16 is not None:
+                last = raw16
+        if last is None:
+            b = ser.readline()
+            if b:
+                last = parse_raw16(b)
+        return last
+    except serial.SerialException as e:
+        logger.warning(f"Serial read error: {e}")
+        return None
 
 
 @dataclass
@@ -115,5 +119,6 @@ class ExoskeletonArm:
         return {} if raw is None else exo_raw_to_angles(raw, self.calibration)
 
     def calibrate(self) -> None:
-        ser = self._ser
-        self.calibration = run_exo_calibration(ser, self.side, self.calibration_fpath)
+        if not self.is_connected:
+            raise RuntimeError("Cannot calibrate: exoskeleton not connected")
+        self.calibration = run_exo_calibration(self._ser, self.side, self.calibration_fpath)

src/lerobot/teleoperators/unitree_g1/unitree_g1.py

@@ -17,9 +17,22 @@
 import logging
 import time
 from functools import cached_property
+from typing import TYPE_CHECKING, Any
 
-from lerobot.robots.unitree_g1.g1_utils import G1_29_JointIndex
+from lerobot.robots.unitree_g1.g1_utils import REMOTE_AXES, G1_29_JointArmIndex
 from lerobot.utils.constants import HF_LEROBOT_CALIBRATION, TELEOPERATORS
+from lerobot.utils.import_utils import _unitree_sdk_available
+
+if TYPE_CHECKING or _unitree_sdk_available:
+    from unitree_sdk2py.utils.joystick import Joystick
+else:
+
+    class Joystick:
+        def __init__(self):
+            raise ImportError(
+                "unitree_sdk2py is required for RemoteController. Install with: pip install unitree_sdk2py"
+            )
+
 
 from ..teleoperator import Teleoperator
 from .config_unitree_g1 import UnitreeG1TeleoperatorConfig
@@ -29,6 +42,120 @@ from .exo_serial import ExoskeletonArm
 logger = logging.getLogger(__name__)
 
 
+class RemoteController:
+    """Unitree remote controller data parser for joystick and button state."""
+
+    # ADC parameters for exoskeleton joystick (12-bit ADC)
+    ADC_MAX = 4095
+    ADC_HALF = ADC_MAX / 2
+    JOYSTICK_X_IDX = 11  # X axis in raw ADC array
+    JOYSTICK_BTN_IDX = 12  # Button in raw ADC array
+    JOYSTICK_Y_IDX = 13  # Y axis in raw ADC array
+
+    # Map SDK named buttons to positional indices matching the wireless_remote
+    # byte layout (little-endian uint16 from bytes 2-3).
+    _BUTTON_MAP: list[str] = [
+        "RB",
+        "LB",
+        "start",
+        "back",
+        "RT",
+        "LT",
+        "",
+        "",
+        "A",
+        "B",
+        "X",
+        "Y",
+        "up",
+        "right",
+        "down",
+        "left",
+    ]
+
+    def __init__(self):
+        self.lx = 0.0
+        self.ly = 0.0
+        self.rx = 0.0
+        self.ry = 0.0
+        self.button = [0] * 16
+        self.remote_action = dict.fromkeys(REMOTE_AXES, 0.0)
+
+        # SDK joystick parser for wireless remote bytes
+        self._joystick = Joystick()
+        # Disable axis smoothing and deadzone to preserve raw values
+        for axis in (self._joystick.lx, self._joystick.ly, self._joystick.rx, self._joystick.ry):
+            axis.smooth = 1.0
+            axis.deadzone = 0.0
+
+        # Joystick center calibration (read at connect time)
+        self.left_center_x = self.ADC_HALF
+        self.left_center_y = self.ADC_HALF
+        self.right_center_x = self.ADC_HALF
+        self.right_center_y = self.ADC_HALF
+
+        # Whether to use exo joystick (detected at connect time)
+        self.use_left_exo_joystick = False
+        self.use_right_exo_joystick = False
+
+    def _sync_remote_action(self) -> None:
+        self.remote_action.update(zip(REMOTE_AXES, (self.lx, self.ly, self.rx, self.ry), strict=True))
+
+    def calibrate_center(self, raw16: list[int] | None, side: str) -> None:
+        if raw16 is None or len(raw16) < 16:
+            logger.info(f"{side.capitalize()} exo joystick: no data available")
+            return
+
+        btn_val = raw16[self.JOYSTICK_BTN_IDX]
+        logger.info(f"{side.capitalize()} exo joystick button ADC: {btn_val} (threshold: {self.ADC_HALF})")
+        if btn_val <= self.ADC_HALF:
+            logger.info(f"{side.capitalize()} exo joystick not detected (button below threshold)")
+            return
+
+        x = raw16[self.JOYSTICK_X_IDX]
+        y = raw16[self.JOYSTICK_Y_IDX]
+        if side == "left":
+            self.use_left_exo_joystick = True
+            self.left_center_x, self.left_center_y = x, y
+        else:
+            self.use_right_exo_joystick = True
+            self.right_center_x, self.right_center_y = x, y
+        logger.info(f"{side.capitalize()} exo joystick enabled, center: x={x}, y={y}")
+
+    def set_from_exo(self, raw16: list[int] | None, side: str) -> None:
+        if raw16 is None or len(raw16) < 16:
+            return
+
+        if side == "left":
+            if not self.use_left_exo_joystick:
+                return
+            self.lx = (raw16[self.JOYSTICK_X_IDX] - self.left_center_x) / self.ADC_HALF
+            self.ly = (raw16[self.JOYSTICK_Y_IDX] - self.left_center_y) / self.ADC_HALF
+            self.button[4] = 1 if raw16[self.JOYSTICK_BTN_IDX] < self.ADC_HALF else 0
+            return
+
+        if not self.use_right_exo_joystick:
+            return
+        self.rx = (raw16[self.JOYSTICK_X_IDX] - self.right_center_x) / self.ADC_HALF
+        self.ry = (raw16[self.JOYSTICK_Y_IDX] - self.right_center_y) / self.ADC_HALF
+        self.button[0] = 1 if raw16[self.JOYSTICK_BTN_IDX] < self.ADC_HALF else 0
+
+    def set_from_wireless(self, wireless_remote: bytes) -> None:
+        """Parse Unitree wireless remote raw bytes into joystick + button state."""
+        if len(wireless_remote) < 24:
+            return
+        self._joystick.extract(wireless_remote)
+
+        self.lx = self._joystick.lx.data
+        self.ly = self._joystick.ly.data
+        self.rx = self._joystick.rx.data
+        self.ry = self._joystick.ry.data
+
+        for i, name in enumerate(self._BUTTON_MAP):
+            if name:
+                self.button[i] = getattr(self._joystick, name).data
+
+
 class UnitreeG1Teleoperator(Teleoperator):
     """
     Bimanual exoskeleton arms teleoperator for Unitree G1 arms.
@@ -43,6 +170,13 @@ class UnitreeG1Teleoperator(Teleoperator):
     def __init__(self, config: UnitreeG1TeleoperatorConfig):
         super().__init__(config)
         self.config = config
+        left_exo_enabled = bool(config.left_arm_config.port.strip())
+        right_exo_enabled = bool(config.right_arm_config.port.strip())
+        if left_exo_enabled != right_exo_enabled:
+            raise ValueError(
+                "Invalid exo config: set both left/right exo ports, or leave both empty for remote-only mode."
+            )
+        self._arm_control_enabled = left_exo_enabled and right_exo_enabled
 
         # Setup calibration directory
         self.calibration_dir = (
@@ -70,24 +204,37 @@ class UnitreeG1Teleoperator(Teleoperator):
         )
 
         self.ik_helper: ExoskeletonIKHelper | None = None
+        self.remote_controller = RemoteController()
 
     @cached_property
     def action_features(self) -> dict[str, type]:
-        return {f"{name}.q": float for name in self._g1_joint_names}
+        remote_features = dict.fromkeys(self.remote_controller.remote_action, float)
+        if not self._arm_control_enabled:
+            return remote_features
+        joint_features = {f"{name}.q": float for name in self._g1_arm_joint_names}
+        return {**joint_features, **remote_features}
 
     @cached_property
     def feedback_features(self) -> dict[str, type]:
-        return {}
+        return {"wireless_remote": bytes}
 
     @property
     def is_connected(self) -> bool:
+        if not self._arm_control_enabled:
+            return True
         return self.left_arm.is_connected and self.right_arm.is_connected
 
     @property
     def is_calibrated(self) -> bool:
+        if not self._arm_control_enabled:
+            return True
         return self.left_arm.is_calibrated and self.right_arm.is_calibrated
 
     def connect(self, calibrate: bool = True) -> None:
+        if not self._arm_control_enabled:
+            logger.warning("Exo ports not fully configured; teleop will send joystick only (no arm actions)")
+            return
+
         self.left_arm.connect(calibrate)
         self.right_arm.connect(calibrate)
 
@@ -95,6 +242,13 @@ class UnitreeG1Teleoperator(Teleoperator):
         self.ik_helper = ExoskeletonIKHelper(frozen_joints=frozen_joints)
         logger.info("IK helper initialized")
 
+        time.sleep(0.1)  # Give serial time to populate buffer
+
+        left_raw = self.left_arm.read_raw()
+        right_raw = self.right_arm.read_raw()
+        self.remote_controller.calibrate_center(left_raw, "left")
+        self.remote_controller.calibrate_center(right_raw, "right")
+
     def calibrate(self) -> None:
         if not self.left_arm.is_calibrated:
             logger.info("Starting calibration for left arm...")
@@ -115,12 +269,33 @@ class UnitreeG1Teleoperator(Teleoperator):
         pass
 
     def get_action(self) -> dict[str, float]:
-        left_angles = self.left_arm.get_angles()
-        right_angles = self.right_arm.get_angles()
-        return self.ik_helper.compute_g1_joints_from_exo(left_angles, right_angles)
+        joint_action = {}
+        left_raw = None
+        right_raw = None
+        if self._arm_control_enabled:
+            left_raw = self.left_arm.read_raw()
+            right_raw = self.right_arm.read_raw()
 
-    def send_feedback(self, feedback: dict[str, float]) -> None:
-        raise NotImplementedError("Exoskeleton arms do not support feedback")
+            left_angles = self.left_arm.get_angles()
+            right_angles = self.right_arm.get_angles()
+            joint_action = self.ik_helper.compute_g1_joints_from_exo(left_angles, right_angles)
+
+        # Wireless remote has priority when non-zero; otherwise, use exo joystick.
+        rc = self.remote_controller
+        wireless_active = (
+            abs(rc.lx) > 1e-3 or abs(rc.ly) > 1e-3 or abs(rc.rx) > 1e-3 or abs(rc.ry) > 1e-3
+        ) or any(rc.button)
+        if self._arm_control_enabled and not wireless_active:
+            rc.set_from_exo(left_raw, "left")
+            rc.set_from_exo(right_raw, "right")
+
+        rc._sync_remote_action()
+        return {**joint_action, **rc.remote_action}
+
+    def send_feedback(self, feedback: dict[str, Any]) -> None:
+        wireless_remote = feedback.get("wireless_remote")
+        if wireless_remote is not None:
+            self.remote_controller.set_from_wireless(wireless_remote)
 
     def disconnect(self) -> None:
         self.left_arm.disconnect()
@@ -153,5 +328,5 @@ class UnitreeG1Teleoperator(Teleoperator):
             print("\n\nVisualization stopped.")
 
     @cached_property
-    def _g1_joint_names(self) -> list[str]:
-        return [joint.name for joint in G1_29_JointIndex]
+    def _g1_arm_joint_names(self) -> list[str]:
+        return [joint.name for joint in G1_29_JointArmIndex]

src/lerobot/utils/hf_eval_results.py

@@ -0,0 +1,161 @@
+#!/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.
+
+"""Helpers for building and uploading HF-native `.eval_results` YAML rows.
+
+The `.eval_results` format is consumed by the HuggingFace leaderboard surface.
+See https://huggingface.co/docs/evaluate/en/evaluation-on-hub for the spec.
+"""
+
+from __future__ import annotations
+
+import math
+from datetime import date
+from pathlib import Path
+from typing import Any
+
+import yaml
+
+
+def default_eval_date() -> str:
+    """Return today's UTC date as an ISO-8601 string (YYYY-MM-DD)."""
+    return date.today().isoformat()
+
+
+def build_eval_results_rows(
+    *,
+    info: dict,
+    env_type: str,
+    env_task: str | None,
+    benchmark_dataset_id: str,
+    eval_date: str,
+    source_url: str | None = None,
+    notes: str | None = None,
+) -> list[dict[str, Any]]:
+    """Build a list of `.eval_results` rows from an eval info dict.
+
+    Each row represents one (task_group, metric) combination.  When no
+    per-group breakdown is available a single overall row is emitted.
+
+    Args:
+        info: The dict returned by ``_aggregate_eval_from_per_task`` / ``eval_policy_all``.
+            Expected keys: ``overall``, optionally ``per_group``.
+        env_type: Environment type string (e.g. ``"libero_plus"``).
+        env_task: The env task string from eval config (may be ``None``).
+        benchmark_dataset_id: HF dataset repo-id of the consolidated benchmark dataset.
+        eval_date: ISO-8601 date string (use ``default_eval_date()``).
+        source_url: Optional URL to the evaluation run / report.
+        notes: Optional free-text notes about the evaluation setup.
+
+    Returns:
+        A list of row dicts ready for serialisation with ``upload_eval_results_yaml``.
+    """
+    rows: list[dict[str, Any]] = []
+    task_name = env_task or env_type
+
+    def _safe(v: float) -> float:
+        return 0.0 if (v is None or (isinstance(v, float) and math.isnan(v))) else float(v)
+
+    def _make_row(config_name: str, pc_success: float, n_episodes: int) -> dict[str, Any]:
+        row: dict[str, Any] = {
+            "task": {
+                "type": "robotics",
+                "name": task_name,
+            },
+            "dataset": {
+                "name": benchmark_dataset_id,
+                "type": benchmark_dataset_id,
+                "config": config_name,
+                "split": "test",
+            },
+            "metrics": [
+                {
+                    "type": "success_rate",
+                    "value": _safe(pc_success),
+                    "name": "Success Rate (%)",
+                },
+                {
+                    "type": "n_episodes",
+                    "value": n_episodes,
+                    "name": "Number of Episodes",
+                },
+            ],
+            "evaluated_at": eval_date,
+        }
+        if source_url:
+            row["source_url"] = source_url
+        if notes:
+            row["notes"] = notes
+        return row
+
+    per_group: dict = info.get("per_group", {})
+    if per_group:
+        for group_name, group_metrics in per_group.items():
+            rows.append(
+                _make_row(
+                    config_name=group_name,
+                    pc_success=group_metrics.get("pc_success", float("nan")),
+                    n_episodes=group_metrics.get("n_episodes", 0),
+                )
+            )
+    else:
+        overall = info.get("overall", {})
+        rows.append(
+            _make_row(
+                config_name=env_type,
+                pc_success=overall.get("pc_success", float("nan")),
+                n_episodes=overall.get("n_episodes", 0),
+            )
+        )
+
+    return rows
+
+
+def upload_eval_results_yaml(
+    *,
+    api: Any,
+    repo_id: str,
+    rows: list[dict[str, Any]],
+    env_type: str,
+    env_task: str | None,
+    output_dir: Path,
+) -> str:
+    """Serialise ``rows`` to YAML and upload to the Hub model repo.
+
+    The file is written locally to ``output_dir/eval_results.yaml`` and
+    then uploaded to ``eval/{env_type}/eval_results.yaml`` in ``repo_id``.
+
+    Args:
+        api: An instantiated ``huggingface_hub.HfApi`` object.
+        repo_id: HF model repo (e.g. ``"user/my_policy"``).
+        rows: Rows produced by ``build_eval_results_rows``.
+        env_type: Environment type string (used for the Hub path prefix).
+        env_task: The env task string (unused, kept for API symmetry).
+        output_dir: Local directory to write the YAML before uploading.
+
+    Returns:
+        URL of the Hub commit containing the uploaded file.
+    """
+    yaml_path = Path(output_dir) / "eval_results.yaml"
+    yaml_path.write_text(yaml.dump({"eval_results": rows}, sort_keys=False, allow_unicode=True))
+
+    commit_url = api.upload_file(
+        path_or_fileobj=str(yaml_path),
+        path_in_repo=f"eval/{env_type}/eval_results.yaml",
+        repo_id=repo_id,
+        commit_message=f"Upload eval results YAML for {env_type}",
+    )
+    return str(commit_url)

src/lerobot/utils/import_utils.py

@@ -74,6 +74,8 @@ _peft_available = is_package_available("peft")
 _scipy_available = is_package_available("scipy")
 _reachy2_sdk_available = is_package_available("reachy2_sdk")
 _can_available = is_package_available("python-can", "can")
+_unitree_sdk_available = is_package_available("unitree-sdk2", "unitree_sdk2py")
+_pygame_available = is_package_available("pygame")
 
 
 def make_device_from_device_class(config: ChoiceRegistry) -> Any:

src/lerobot/utils/io_utils.py

@@ -16,12 +16,10 @@
 import json
 import warnings
 from pathlib import Path
-from typing import TypeVar
 
 import imageio
 
 JsonLike = str | int | float | bool | None | list["JsonLike"] | dict[str, "JsonLike"] | tuple["JsonLike", ...]
-T = TypeVar("T", bound=JsonLike)
 
 
 def write_video(video_path, stacked_frames, fps):
@@ -33,7 +31,7 @@ def write_video(video_path, stacked_frames, fps):
         imageio.mimsave(video_path, stacked_frames, fps=fps)
 
 
-def deserialize_json_into_object(fpath: Path, obj: T) -> T:
+def deserialize_json_into_object[T: JsonLike](fpath: Path, obj: T) -> T:
     """
     Loads the JSON data from `fpath` and recursively fills `obj` with the
     corresponding values (strictly matching structure and types).

tests/async_inference/test_robot_client.py

@@ -231,3 +231,39 @@ def test_ready_to_send_observation_with_varying_threshold(robot_client, g_thresh
         robot_client.action_queue.put(act)
 
     assert robot_client._ready_to_send_observation() is expected
+
+
+# -----------------------------------------------------------------------------
+# Regression test: robot type registry populated by robot_client imports
+# -----------------------------------------------------------------------------
+
+
+def test_robot_client_registers_builtin_robot_types():
+    """Importing robot_client must populate RobotConfig's ChoiceRegistry.
+
+    This is a regression test for a bug introduced in #2425, where removing
+    robot module imports from robot_client.py caused RobotConfig's registry to
+    be empty, breaking CLI argument parsing with:
+      error: argument --robot.type: invalid choice: 'so101_follower' (choose from )
+
+    Robot types are registered via @RobotConfig.register_subclass() decorators
+    at import time, so all supported modules must be explicitly imported.
+    """
+    import lerobot.async_inference.robot_client  # noqa: F401
+    from lerobot.robots.config import RobotConfig
+
+    known_choices = RobotConfig.get_known_choices()
+
+    expected_robot_types = [
+        "so100_follower",
+        "so101_follower",
+        "koch_follower",
+        "omx_follower",
+        "bi_so_follower",
+    ]
+    for robot_type in expected_robot_types:
+        assert robot_type in known_choices, (
+            f"Robot type '{robot_type}' is not registered in RobotConfig's ChoiceRegistry. "
+            f"Ensure the corresponding module is imported in robot_client.py. "
+            f"Known choices: {sorted(known_choices)}"
+        )

tests/cameras/test_opencv.py

@@ -170,6 +170,7 @@ def test_async_read(index_or_path):
         assert isinstance(img, np.ndarray)
 
 
+@pytest.mark.skip("Skipping test: async_read  0 timeout behavior may be flaky/non-deterministic.")
 def test_async_read_timeout():
     config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH, warmup_s=0)
 

tests/envs/test_lazy_vec_env.py

@@ -0,0 +1,62 @@
+#!/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.
+
+from lerobot.envs.lazy_vec_env import LazyVectorEnv
+
+
+class _DummyVectorEnv:
+    def __init__(self):
+        self.marker = "ok"
+        self.closed = False
+
+    def close(self):
+        self.closed = True
+
+
+def test_lazy_vec_env_materializes_only_on_access():
+    created = []
+
+    def _make_env(fns):
+        created.append(len(fns))
+        return _DummyVectorEnv()
+
+    lazy = LazyVectorEnv(_make_env, [lambda: None, lambda: None])
+    assert created == []
+    assert lazy.num_factory_fns == 2
+
+    assert lazy.marker == "ok"
+    assert created == [2]
+
+    # Second access should re-use the same materialized env.
+    assert lazy.marker == "ok"
+    assert created == [2]
+
+
+def test_lazy_vec_env_can_rematerialize_after_close():
+    created = []
+
+    def _make_env(fns):
+        created.append(len(fns))
+        return _DummyVectorEnv()
+
+    lazy = LazyVectorEnv(_make_env, [lambda: None])
+    lazy.materialize()
+    assert created == [1]
+
+    lazy.close()
+    lazy.materialize()
+    assert created == [1, 1]
+

tests/policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py

@@ -40,7 +40,7 @@ from lerobot.utils.constants import (
     OBS_LANGUAGE_TOKENS,
     OBS_STATE,
 )  # noqa: E402
-from tests.utils import require_cuda  # noqa: E402
+from tests.utils import require_cuda, require_hf_token  # noqa: E402
 
 # Constants
 DUMMY_ACTION_DIM = 7
@@ -65,6 +65,7 @@ EXPECTED_ACTIONS_FIRST_5 = torch.tensor([0.0000, 0.3536, 0.0707, 0.0000, 0.0000]
 
 
 @require_cuda
+@require_hf_token
 def set_seed_all(seed: int):
     """Set random seed for all RNG sources to ensure reproducibility."""
     random.seed(seed)
@@ -82,6 +83,7 @@ def set_seed_all(seed: int):
 
 
 @require_cuda
+@require_hf_token
 def instantiate_lerobot_pi0_fast(
     from_pretrained: bool = False,
     model_path: str = MODEL_PATH_LEROBOT,
@@ -125,6 +127,7 @@ def instantiate_lerobot_pi0_fast(
 
 
 @require_cuda
+@require_hf_token
 def create_dummy_data(device=DEVICE):
     """Create dummy data for testing both implementations."""
     batch_size = 1
@@ -157,6 +160,7 @@ def create_dummy_data(device=DEVICE):
 # Pytest fixtures
 @pytest.fixture(scope="module")
 @require_cuda
+@require_hf_token
 def pi0_fast_components():
     """Fixture to instantiate and provide all PI0Fast components for tests."""
     print(f"\nTesting with DEVICE='{DEVICE}'")
@@ -168,6 +172,7 @@ def pi0_fast_components():
 
 @pytest.fixture(scope="module")
 @require_cuda
+@require_hf_token
 def policy(pi0_fast_components):
     """Fixture to provide the PI0Fast policy for tests."""
     return pi0_fast_components[0]
@@ -175,12 +180,14 @@ def policy(pi0_fast_components):
 
 @pytest.fixture(scope="module")
 @require_cuda
+@require_hf_token
 def preprocessor(pi0_fast_components):
     """Fixture to provide the PI0Fast preprocessor for tests."""
     return pi0_fast_components[1]
 
 
 @require_cuda
+@require_hf_token
 def test_pi0_fast_preprocessor_alignment(policy, preprocessor):
     """Test that LeRobot PI0Fast preprocessor produces expected outputs."""
     print("\n" + "=" * 80)
@@ -228,6 +235,7 @@ def test_pi0_fast_preprocessor_alignment(policy, preprocessor):
 
 
 @require_cuda
+@require_hf_token
 def test_pi0_fast_action_generation(policy, preprocessor):
     """Test PI0Fast LeRobot implementation generates expected actions."""
     print("\n" + "=" * 80)
@@ -306,6 +314,7 @@ def test_pi0_fast_action_generation(policy, preprocessor):
 
 
 @require_cuda
+@require_hf_token
 def test_pi0_fast_inference_reproducibility(policy, preprocessor):
     """Test that PI0Fast inference is reproducible with the same seed."""
     print("\n" + "=" * 80)
@@ -347,6 +356,7 @@ def test_pi0_fast_inference_reproducibility(policy, preprocessor):
 
 
 @require_cuda
+@require_hf_token
 def test_pi0_fast_forward_pass_logits(policy, preprocessor):
     """Test PI0Fast forward pass and compare logits against expected values."""
     print("\n" + "=" * 80)
@@ -396,6 +406,7 @@ def test_pi0_fast_forward_pass_logits(policy, preprocessor):
 
 
 @require_cuda
+@require_hf_token
 def test_pi0_fast_action_token_sampling(policy, preprocessor):
     """Test PI0Fast action token sampling (autoregressive decoding)."""
     print("\n" + "=" * 80)
@@ -452,6 +463,7 @@ def test_pi0_fast_action_token_sampling(policy, preprocessor):
 
 
 @require_cuda
+@require_hf_token
 def test_pi0_fast_detokenization(policy, preprocessor):
     """Test PI0Fast action detokenization (FAST decoding)."""
     print("\n" + "=" * 80)

tests/policies/pi0_pi05/test_pi0.py

@@ -14,10 +14,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Test script to verify PI0 policy integration with LeRobot, only meant to be run locally!"""
+"""Test script to verify PI0 policy integration with LeRobot"""
 
+import pytest
 import torch
 
+pytest.importorskip("transformers")
+
 from lerobot.policies.factory import make_policy_config  # noqa: E402
 from lerobot.policies.pi0 import (  # noqa: E402
     PI0Config,
@@ -25,10 +28,11 @@ from lerobot.policies.pi0 import (  # noqa: E402
     make_pi0_pre_post_processors,  # noqa: E402
 )
 from lerobot.utils.random_utils import set_seed  # noqa: E402
-from tests.utils import require_cuda  # noqa: E402
+from tests.utils import require_cuda, require_hf_token  # noqa: E402
 
 
 @require_cuda
+@require_hf_token
 def test_policy_instantiation():
     # Create config
     set_seed(42)
@@ -105,6 +109,7 @@ def test_policy_instantiation():
 
 
 @require_cuda
+@require_hf_token
 def test_config_creation():
     """Test policy config creation through factory."""
     try:

tests/policies/pi0_pi05/test_pi05.py

@@ -14,10 +14,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Test script to verify PI0.5 (pi05) support in PI0 policy, only meant to be run locally!"""
+"""Test script to verify PI0.5 (pi05) support in PI0 policy"""
 
+import pytest
 import torch
 
+pytest.importorskip("transformers")
+
 from lerobot.policies.factory import make_policy_config  # noqa: E402
 from lerobot.policies.pi05 import (  # noqa: E402
     PI05Config,
@@ -25,10 +28,11 @@ from lerobot.policies.pi05 import (  # noqa: E402
     make_pi05_pre_post_processors,  # noqa: E402
 )
 from lerobot.utils.random_utils import set_seed
-from tests.utils import require_cuda  # noqa: E402
+from tests.utils import require_cuda, require_hf_token  # noqa: E402
 
 
 @require_cuda
+@require_hf_token
 def test_policy_instantiation():
     # Create config
     set_seed(42)
@@ -141,6 +145,7 @@ def test_policy_instantiation():
 
 
 @require_cuda
+@require_hf_token
 def test_config_creation():
     """Test policy config creation through factory."""
     try:

tests/policies/pi0_pi05/test_pi05_original_vs_lerobot.py

@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Test script to verify PI0OpenPI policy integration with LeRobot vs the original implementation, only meant to be run locally!"""
+"""Test script to verify PI0OpenPI policy integration with LeRobot vs the original implementation"""
 
 import os
 from copy import deepcopy

tests/policies/pi0_pi05/test_pi0_original_vs_lerobot.py

@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Test script to verify PI0 policy integration with LeRobot vs the original implementation, only meant to be run locally!"""
+"""Test script to verify PI0 policy integration with LeRobot vs the original implementation"""
 
 import os
 from copy import deepcopy