Revert "trying to isolate pi0 side-effect"

This reverts commit ec42dd9973.

src/lerobot/policies/vla_jepa/modeling_vla_jepa.py

@@ -17,6 +17,7 @@ from __future__ import annotations
 import logging
 from collections import deque
 from pathlib import Path
+from typing import TYPE_CHECKING
 
 import numpy as np
 import torch
@@ -27,7 +28,13 @@ from torch import Tensor, nn
 from lerobot.policies.pretrained import PreTrainedPolicy, T
 from lerobot.policies.utils import populate_queues
 from lerobot.utils.constants import ACTION, OBS_STATE
-from lerobot.utils.import_utils import require_package
+from lerobot.utils.import_utils import _transformers_available, require_package
+
+if TYPE_CHECKING or _transformers_available:
+    from transformers import AutoModel, AutoVideoProcessor
+else:
+    AutoModel = None
+    AutoVideoProcessor = None
 
 from .action_head import VLAJEPAActionHead
 from .configuration_vla_jepa import VLAJEPAConfig
@@ -74,8 +81,6 @@ class VLAJEPAModel(nn.Module):
 
         # JEPA world model components
         if config.enable_world_model:
-            from transformers import AutoModel, AutoVideoProcessor
-
             self.video_encoder = AutoModel.from_pretrained(
                 config.jepa_encoder_name,
                 torch_dtype=self.qwen._get_torch_dtype(config.torch_dtype),

src/lerobot/policies/vla_jepa/qwen_interface.py

@@ -15,19 +15,26 @@
 from __future__ import annotations
 
 from collections.abc import Sequence
+from typing import TYPE_CHECKING
 
 import numpy as np
 import torch
 from PIL import Image
 
+from lerobot.utils.import_utils import _transformers_available
+
+if TYPE_CHECKING or _transformers_available:
+    from transformers import AutoProcessor, Qwen3VLForConditionalGeneration
+else:
+    AutoProcessor = None
+    Qwen3VLForConditionalGeneration = None
+
 from .configuration_vla_jepa import VLAJEPAConfig
 
 
 class Qwen3VLInterface(torch.nn.Module):
     def __init__(self, config: VLAJEPAConfig) -> None:
         super().__init__()
-        from transformers import AutoProcessor, Qwen3VLForConditionalGeneration
-
         self.config = config
         self.model = Qwen3VLForConditionalGeneration.from_pretrained(
             config.qwen_model_name,

tests/policies/vla_jepa/conftest.py

@@ -258,10 +258,16 @@ class _FakeVideoProcessor:
 
 @pytest.fixture
 def patch_vla_jepa_external_models(monkeypatch: pytest.MonkeyPatch) -> None:
-    from transformers import AutoModel, AutoVideoProcessor
-
     from lerobot.policies.vla_jepa import modeling_vla_jepa
 
     monkeypatch.setattr(modeling_vla_jepa, "Qwen3VLInterface", _FakeQwenInterface)
-    monkeypatch.setattr(AutoModel, "from_pretrained", lambda *args, **kwargs: _FakeVideoEncoder())
-    monkeypatch.setattr(AutoVideoProcessor, "from_pretrained", lambda *args, **kwargs: _FakeVideoProcessor())
+    monkeypatch.setattr(
+        modeling_vla_jepa.AutoModel,
+        "from_pretrained",
+        lambda *args, **kwargs: _FakeVideoEncoder(),
+    )
+    monkeypatch.setattr(
+        modeling_vla_jepa.AutoVideoProcessor,
+        "from_pretrained",
+        lambda *args, **kwargs: _FakeVideoProcessor(),
+    )