Steven Palma
9ce6633518
N1.5 removal is now explicit and actionable: - Legacy N1.5 checkpoint configs (tokenizer_assets_repo) parse and fail with a single clear error pointing to lerobot==0.5.1 instead of a cryptic draccus DecodingError - Removed N1.5 processor registry names (groot_pack_inputs_v3, groot_eagle_encode_v3, groot_eagle_collate_v3) are stubbed to raise the same guidance; groot_action_unpack_unnormalize_v1 changed semantics, so the step is re-registered as _v2 and _v1 is stubbed - N1.5 detection also recognizes checkpoint config.json content (model_type/architectures/eagle backbone), not just path names; every rejection surface includes the migration guidance - groot.mdx documents the breaking change and migration path Runtime fixes: - use_bf16=False no longer crashes (compute_dtype only set when used) - GrootN17ActionDecodeStep handles the 2-D (B, D) actions delivered by sync select_action (relative eef/non-eef decode was broken in lerobot-eval/record flows) - Postprocessor falls back to dataset stats when a raw checkpoint lacks the configured embodiment tag instead of silently emitting normalized [-1, 1] actions - Hub-hosted finetuned N1.7 checkpoints load: the processor config is resolved via hf_hub_download for non-local paths, with a tolerant retry when inspection fails - Raw-checkpoint processor branch honors caller overrides (device, rename_map) instead of dropping them - Relative-action raw-state cache is per-instance instead of process-global (cross-instance contamination) - Camera/modality-key mismatches warn, including the zero-match fallback; checkpoint revision is no longer forwarded into backbone loading; deprecated Qwen2VLImageProcessorFast replaced with Qwen2VLImageProcessor Config/UX: - GrootConfig defaults are the N1.7 values; explicitly passed legacy N1.5-era values (chunk_size=50, max_state_dim=64, ...) are remapped with a warning instead of silently - Explicit action_decode_transform='none' wins over the libero_sim default (new 'auto' sentinel) and survives save/load round-trips Tests/CI: - pytest.importorskip guards so fast_tests tiers pass without transformers (was 10 failures, now 0) - Regression tests for every fix; from_pretrained rejection tests now actually exercise from_pretrained - Parity test reads the artifact seed, fails on shape mismatch instead of silently truncating, and a new case runs LeRobot's real Qwen3-VL preprocessing on raw observations dumped by the producer - docs: dead huggingface-cli download replaced with hf download Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Generating the documentation
To generate the documentation, you first have to build it. Several packages are necessary to build the doc, you can install them with the following command, at the root of the code repository:
pip install -e . -r docs-requirements.txt
You will also need nodejs. Please refer to their installation page
NOTE
You only need to generate the documentation to inspect it locally (if you're planning changes and want to
check how they look before committing for instance). You don't have to git commit the built documentation.
Building the documentation
Once you have setup the doc-builder and additional packages, you can generate the documentation by
typing the following command:
doc-builder build lerobot docs/source/ --build_dir ~/tmp/test-build
You can adapt the --build_dir to set any temporary folder that you prefer. This command will create it and generate
the MDX files that will be rendered as the documentation on the main website. You can inspect them in your favorite
Markdown editor.
Previewing the documentation
To preview the docs, first install the watchdog module with:
pip install watchdog
Then run the following command:
doc-builder preview lerobot docs/source/
The docs will be viewable at http://localhost:3000. You can also preview the docs once you have opened a PR. You will see a bot add a comment to a link where the documentation with your changes lives.
NOTE
The preview command only works with existing doc files. When you add a completely new file, you need to update _toctree.yml & restart preview command (ctrl-c to stop it & call doc-builder preview ... again).
Adding a new element to the navigation bar
Accepted files are Markdown (.md).
Create a file with its extension and put it in the source directory. You can then link it to the toc-tree by putting
the filename without the extension in the _toctree.yml file.
Renaming section headers and moving sections
It helps to keep the old links working when renaming the section header and/or moving sections from one document to another. This is because the old links are likely to be used in Issues, Forums, and Social media and it'd make for a much more superior user experience if users reading those months later could still easily navigate to the originally intended information.
Therefore, we simply keep a little map of moved sections at the end of the document where the original section was. The key is to preserve the original anchor.
So if you renamed a section from: "Section A" to "Section B", then you can add at the end of the file:
Sections that were moved:
[ <a href="#section-b">Section A</a><a id="section-a"></a> ]
and of course, if you moved it to another file, then:
Sections that were moved:
[ <a href="../new-file#section-b">Section A</a><a id="section-a"></a> ]
Use the relative style to link to the new file so that the versioned docs continue to work.
For an example of a rich moved sections set please see the very end of the transformers Trainer doc.
Adding a new tutorial
Adding a new tutorial or section is done in two steps:
- Add a new file under
./source. This file can either be ReStructuredText (.rst) or Markdown (.md). - Link that file in
./source/_toctree.ymlon the correct toc-tree.
Make sure to put your new file under the proper section. If you have a doubt, feel free to ask in a Github Issue or PR.
Writing source documentation
Values that should be put in code should either be surrounded by backticks: `like so`. Note that argument names
and objects like True, None or any strings should usually be put in code.
Writing a multi-line code block
Multi-line code blocks can be useful for displaying examples. They are done between two lines of three backticks as usual in Markdown:
```
# first line of code
# second line
# etc
```
Adding an image
Due to the rapidly growing repository, it is important to make sure that no files that would significantly weigh down the repository are added. This includes images, videos, and other non-text files. We prefer to leverage a hf.co hosted dataset like
the ones hosted on hf-internal-testing in which to place these files and reference
them by URL. We recommend putting them in the following dataset: huggingface/documentation-images.
If an external contribution, feel free to add the images to your PR and ask a Hugging Face member to migrate your images
to this dataset.