Merge branch 'main' into feature/add-multitask-dit

.github/ISSUE_TEMPLATE/bug-report.yml

@@ -12,57 +12,92 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-name: "\U0001F41B Bug Report"
-description: Submit a bug report to help us improve LeRobot
+name: "🚀 Issue / Bug / Request"
+description: Report a bug, suggest an improvement, or ask a technical question.
 body:
   - type: markdown
     attributes:
       value: |
-        Thanks for taking the time to submit a bug report! 🐛
-        If this is not a bug related to the LeRobot library directly, but instead a general question about your code or the library specifically please use our [discord](https://discord.gg/s3KuuzsPFb).
+        ### Thanks for contributing to LeRobot! 🙌
+        Please choose the most relevant sections below. If this is a general "how-to" question, consider our [Discord](https://discord.gg/s3KuuzsPFb) for faster community support.
+
+  - type: dropdown
+    id: issue-type
+    attributes:
+      label: Issue Type
+      description: What kind of ticket are you opening?
+      options:
+        - label: "🐛 Bug Report (Something isn't working)"
+        - label: "💡 Feature Request / Improvement"
+        - label: "❓ Technical Question"
+        - label: "🧹 Maintenance / Documentation"
+    validations:
+      required: true
 
   - type: textarea
     id: system-info
     attributes:
-      label: System Info
-      description: Please share your LeRobot configuration by running `lerobot-info` (if installed) or `python -m lerobot.scripts.display_sys_info` (if not installed) and pasting the output below.
+      label: Environment & System Info
+      description: |
+        For bugs or technical questions, please run `lerobot-info` and paste the output.
+        (Optional for feature requests).
       render: Shell
-      placeholder: lerobot version, OS, python version, numpy version, torch version, and lerobot's configuration
-    validations:
-      required: true
-
-  - type: checkboxes
-    id: information-scripts-examples
-    attributes:
-      label: Information
-      description: 'The problem arises when using:'
-      options:
-        - label: "One of the scripts in the examples/ folder of LeRobot"
-        - label: "My own task or dataset (give details below)"
+      placeholder: lerobot version, OS, python version, etc.
 
   - type: textarea
-    id: reproduction
+    id: description
     validations:
       required: true
     attributes:
-      label: Reproduction
+      label: Description
       description: |
-        If needed, provide a simple code sample that reproduces the problem you ran into. It can be a Colab link or just a code snippet.
-        Sharing error messages or stack traces could be useful as well!
-        Important! Use code tags to correctly format your code. See https://help.github.com/en/github/writing-on-github/creating-and-highlighting-code-blocks#syntax-highlighting
-        Try to avoid screenshots, as they are hard to read and don't allow copy-and-pasting.
-
+        Provide a clear summary of the issue or your proposal.
+        - **Bugs:** What is happening?
+        - **Features:** What is the goal/use case?
+        - **Questions:** What are you trying to achieve?
       placeholder: |
-        Steps to reproduce the behavior:
+        A clear and concise description of the issue or suggestion.
 
-          1.
-          2.
-          3.
+  - type: textarea
+    id: context-repro
+    validations:
+      required: true
+    attributes:
+      label: Context & Reproduction
+      description: |
+        Provide a code snippet, steps to reproduce a bug, or technical details about your proposal.
+        Please use code blocks for logs and scripts.
+      placeholder: |
+        Steps to reproduce / Usage example:
+        1.
+        2.
+        3.
 
   - type: textarea
     id: expected-behavior
-    validations:
-      required: true
     attributes:
-      label: Expected behavior
-      description: "A clear and concise description of what you would expect to happen."
+      label: Expected Behavior / Desired Outcome
+      description: "Describe what you expected to happen or what the ideal solution looks like."
+      placeholder: "e.g. The script should finish without OOM, or I would like a new flag --fast-mode."
+
+  - type: textarea
+    id: logs
+    attributes:
+      label: Relevant logs or stack trace
+      description: If applicable, paste relevant error logs here.
+      render: Shell
+
+  - type: checkboxes
+    id: extras
+    attributes:
+      label: Checklist
+      options:
+        - label: I have searched existing issues to ensure this isn't a duplicate.
+        - label: I am using the latest version of the `main` branch.
+        - label: (For bugs) I have verified this is not an environment-specific issue.
+
+  - type: textarea
+    id: workaround
+    attributes:
+      label: Additional Info / Workarounds
+      description: Anything else we should know? If you have a workaround, please share it!

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,41 +1,54 @@
-## What this does
+## Title
 
-Explain what this PR does. Feel free to tag your PR with the appropriate label(s).
+Short, imperative summary (e.g., "fix(robots): handle None in sensor parser"). See [CONTRIBUTING.md](../CONTRIBUTING.md) for PR conventions.
 
-Examples:
-| Title | Label |
-|----------------------|-----------------|
-| Fixes #[issue] | (🐛 Bug) |
-| Adds new dataset | (🗃️ Dataset) |
-| Optimizes something | (⚡️ Performance) |
+## Type / Scope
 
-## How it was tested
+- **Type**: (Bug | Feature | Docs | Performance | Test | CI | Chore)
+- **Scope**: (optional — name of module or package affected)
 
-Explain/show how you tested your changes.
+## Summary / Motivation
 
-Examples:
+- One-paragraph description of what changes and why.
+- Why this change is needed and any trade-offs or design notes.
 
-- Added `test_something` in `tests/test_stuff.py`.
-- Added `new_feature` and checked that training converges with policy X on dataset/environment Y.
-- Optimized `some_function`, it now runs X times faster than previously.
+## Related issues
 
-## How to checkout & try? (for the reviewer)
+- Fixes / Closes: # (if any)
+- Related: # (if any)
 
-Provide a simple way for the reviewer to try out your changes.
+## What changed
 
-Examples:
+- Short, concrete bullets of the modifications (files/behaviour).
+- Short note if this introduces breaking changes and migration steps.
 
-```bash
-pytest -sx tests/test_stuff.py::test_something
-```
+## How was this tested
 
-```bash
-lerobot-train --some.option=true
-```
+- Tests added: list new tests or test files.
+- Manual checks / dataset runs performed.
 
-## SECTION TO REMOVE BEFORE SUBMITTING YOUR PR
+## How to run locally (reviewer)
 
-**Note**: Anyone in the community is free to review the PR once the tests have passed. Feel free to tag
-members/contributors who may be interested in your PR. Try to avoid tagging more than 3 people.
+- Run the relevant tests:
 
-**Note**: Before submitting this PR, please read the [contributor guideline](https://github.com/huggingface/lerobot/blob/main/CONTRIBUTING.md#submitting-a-pull-request-pr).
+  ```bash
+  pytest -q tests/ -k <keyword>
+  ```
+
+- Run a quick example or CLI (if applicable):
+
+  ```bash
+  lerobot-train --some.option=true
+  ```
+
+## Checklist (required before merge)
+
+- [ ] Linting/formatting run (`pre-commit run -a`)
+- [ ] All tests pass locally (`pytest`)
+- [ ] Documentation updated
+- [ ] CI is green
+
+## Reviewer notes
+
+- Anything the reviewer should focus on (performance, edge-cases, specific files) or general notes.
+- Anyone in the community is free to review the PR.

.github/workflows/issue_labeler.yml

@@ -0,0 +1,105 @@
+# 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.
+
+# This workflow automatically labels issues based on their content.
+name: Issue Labeler
+on:
+  # Trigger on new issues and edits to existing issues
+  issues:
+    types: [opened, edited]
+
+permissions:
+  contents: read
+  issues: write
+
+jobs:
+  label-issue:
+    name: Auto Label Issue
+    runs-on: ubuntu-latest
+    if: github.repository == 'huggingface/lerobot'
+    steps:
+      - uses: actions/github-script@v8
+        with:
+          script: |
+            // Setup Input Text (Unified Title + Body)
+            const body = (context.payload.issue.body || '');
+            const title = (context.payload.issue.title || '');
+
+            // We keep a lowercased version for keyword matching
+            const text = `${title}\n${body}`.toLowerCase();
+
+            const labelsToAdd = new Set();
+
+            // Helper: Simple regex test
+            const matches = (re) => re.test(text);
+
+            // Issue Type Detection (Dropdowns & Explicit Headers)
+            if (text.includes('bug report') || /\bissue type:.*bug/.test(text)) {
+              labelsToAdd.add('bug');
+            }
+            if (text.includes('feature request') || /\bissue type:.*feature/.test(text)) {
+              labelsToAdd.add('enhancement');
+            }
+            if (text.includes('technical question') || /\bissue type:.*question/.test(text)) {
+              labelsToAdd.add('question');
+            }
+            if (text.includes('maintenance') || /\bissue type:.*maintenance/.test(text)) {
+              labelsToAdd.add('documentation');
+            }
+
+            // Keyword Heuristic
+
+            // Domain Specific
+            if (matches(/example(s)?\b|script(s)?\b|sample(s)?\b|demo(s)?\b|notebook(s)?\b/i)) labelsToAdd.add('examples');
+            if (matches(/dataset(s)?\b|data loader|data augmentation|data preprocessing/i)) labelsToAdd.add('dataset');
+            if (matches(/mujoco|isaac|\bsimulation\b|\bsim /i)) labelsToAdd.add('simulation');
+            if (matches(/train|loss|optimizer|backward|gradient|wandb|sac\b/i)) labelsToAdd.add('training');
+            if (matches(/rerun|plot|video|render|visualiz|gif/i)) labelsToAdd.add('visualization');
+            if (matches(/camera|realsense|lidar|depth|sensor|imu|microphone|rgbd/i)) labelsToAdd.add('sensors');
+            if (matches(/aloha|koch|so-100|so100|mobile|teleop|manipulator|robot(s)?\b/i)) labelsToAdd.add('robots');
+            if (matches(/teleop|teleoperator|controller|leader|follower|joystick|gamepad/i)) labelsToAdd.add('teleoperators');
+            if (matches(/policy|policies|p0licy/i)) labelsToAdd.add('policies');
+            if (matches(/processor(s)?\b|implement.*processor|processor pipeline/i)) labelsToAdd.add('processor');
+            if (matches(/eval|evaluate|evaluation|metric(s)?\b|score|benchmark/i)) labelsToAdd.add('evaluation');
+
+            // Infrastructure & Code Quality
+            if (matches(/test|pytest|unittest|failing test/i)) labelsToAdd.add('tests');
+            if (matches(/ci|github actions|workflow|gha|action(s)?\b|pipeline/i)) {
+              labelsToAdd.add('CI');
+              labelsToAdd.add('github_actions');
+            }
+            if (matches(/perf|latency|benchmark|throughput|fps|speed|performance|benchmarking/i)) labelsToAdd.add('performance');
+            if (matches(/dependency|requirements|pip|conda|install error|importerror|package not found/i)) labelsToAdd.add('dependencies');
+            if (matches(/python\b|pyproject|requirements(\.txt)?|pip install|typing error/i)) labelsToAdd.add('python');
+
+            // Documentation & Meta
+            if (matches(/doc|documentation|docs|readme|typo|how to/i)) labelsToAdd.add('documentation');
+            if (matches(/refactor|cleanup|restructure|rename|modernize code/i)) labelsToAdd.add('refactor');
+            if (matches(/release|changelog|version bump|cut a release|tag v/i)) labelsToAdd.add('release');
+
+            // Fixed: "BREAKING CHANGE" must be lowercase in regex because 'text' is lowercase
+            if (matches(/breaking change|breaking:|major change/i)) labelsToAdd.add('breaking change');
+
+            // Apply Labels
+            const labels = Array.from(labelsToAdd).filter(Boolean);
+
+            if (labels.length > 0) {
+              console.log(`Adding labels: ${labels.join(', ')}`);
+              await github.rest.issues.addLabels({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                issue_number: context.issue.number,
+                labels,
+              });
+            }

.github/workflows/labeler.yml

@@ -0,0 +1,68 @@
+# 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.
+
+CI:
+  - changed-files:
+      - any-glob-to-any-file:
+        - '.github/**'
+        - 'docker/**'
+
+github_actions:
+  - changed-files:
+      - any-glob-to-any-file: '.github/**'
+
+documentation:
+  - changed-files:
+      - any-glob-to-any-file:
+          - '**/*.md'
+          - 'docs/**'
+
+examples:
+  - changed-files:
+      - any-glob-to-any-file: 'examples/**'
+
+tests:
+  - changed-files:
+      - any-glob-to-any-file: 'tests/**'
+
+sensors:
+  - changed-files:
+      - any-glob-to-any-file: 'src/lerobot/cameras/**'
+
+configuration:
+  - changed-files:
+      - any-glob-to-any-file: 'src/lerobot/configs/**'
+
+dataset:
+  - changed-files:
+      - any-glob-to-any-file: 'src/lerobot/datasets/**'
+
+evaluation:
+  - changed-files:
+      - any-glob-to-any-file: 'src/lerobot/envs/**'
+
+robots:
+  - changed-files:
+      - any-glob-to-any-file:
+          - 'src/lerobot/teleoperators/**'
+          - 'src/lerobot/robots/**'
+          - 'src/lerobot/motors/**'
+
+policies:
+  - changed-files:
+      - any-glob-to-any-file: 'src/lerobot/policies/**'
+
+processor:
+  - changed-files:
+      - any-glob-to-any-file: 'src/lerobot/processor/**'

.github/workflows/pr_labeler.yml

@@ -0,0 +1,39 @@
+# 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.
+
+# This workflow labels pull requests based on the files that were changed.
+name: Pull Request Labeler
+
+on:
+  # Allows labeling pull requests when they are opened or updated
+  pull_request:
+    branches:
+      - main
+    types: [opened, synchronize, reopened, ready_for_review]
+
+permissions:
+  contents: read
+  pull-requests: write
+
+jobs:
+  triage:
+    name: Label PR
+    runs-on: ubuntu-latest
+    if: github.repository == 'huggingface/lerobot'
+    steps:
+      - uses: actions/labeler@v6
+        with:
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          sync-labels: true # Removes labels if files are removed from the PR
+          configuration-path: '.github/workflows/labeler.yml'

CODE_OF_CONDUCT.md

@@ -52,7 +52,7 @@ decisions when appropriate.
 
 This Code of Conduct applies within all community spaces, and also applies when
 an individual is officially representing the community in public spaces.
-Examples of representing our community include using an official email address,
+Examples of representing our community include using an official e-mail address,
 posting via an official social media account, or acting as an appointed
 representative at an online or offline event.
 
@@ -60,7 +60,7 @@ representative at an online or offline event.
 
 Instances of abusive, harassing, or otherwise unacceptable behavior may be
 reported to the community leaders responsible for enforcement at
-[feedback@huggingface.co](mailto:feedback@huggingface.co).
+feedback@huggingface.co.
 All complaints will be reviewed and investigated promptly and fairly.
 
 All community leaders are obligated to respect the privacy and security of the