feat(policies): Allow users to register 3rd party policies - pip install lerobot_policy_mypolicy (#2308)

* feat: Register external policies

* ruff fix

* move policy util functions to policy factory

* refactor register_third_party_devices -> register_third_party_plugins

* feat: Update docs with bring your own policies

* Improve docs for new policies

* fix: Inconsistent quotation marks

* fix: Remove print statement

* fix: wrong base class name in documentation

* fix: Handle better how the models are parsed

* fix: precommit passing

* Update docs/source/bring_your_own_policies.mdx

Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Signed-off-by: Daniel San José Pro <42489409+danielsanjosepro@users.noreply.github.com>

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Signed-off-by: Daniel San José Pro <42489409+danielsanjosepro@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>

src/lerobot/scripts/lerobot_calibrate.py

@@ -52,7 +52,7 @@ from lerobot.teleoperators import (  # noqa: F401
     so100_leader,
     so101_leader,
 )
-from lerobot.utils.import_utils import register_third_party_devices
+from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.utils import init_logging
 
 
@@ -84,7 +84,7 @@ def calibrate(cfg: CalibrateConfig):
 
 
 def main():
-    register_third_party_devices()
+    register_third_party_plugins()
     calibrate()
 
 

src/lerobot/scripts/lerobot_eval.py

@@ -82,6 +82,7 @@ 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.import_utils import register_third_party_plugins
 from lerobot.utils.io_utils import write_video
 from lerobot.utils.random_utils import set_seed
 from lerobot.utils.utils import (
@@ -792,6 +793,7 @@ def eval_policy_all(
 
 def main():
     init_logging()
+    register_third_party_plugins()
     eval_main()
 
 

src/lerobot/scripts/lerobot_record.py

@@ -118,7 +118,7 @@ from lerobot.utils.control_utils import (
     sanity_check_dataset_name,
     sanity_check_dataset_robot_compatibility,
 )
-from lerobot.utils.import_utils import register_third_party_devices
+from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import (
     get_safe_torch_device,
@@ -512,7 +512,7 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
 
 
 def main():
-    register_third_party_devices()
+    register_third_party_plugins()
     record()
 
 

src/lerobot/scripts/lerobot_replay.py

@@ -61,7 +61,7 @@ from lerobot.robots import (  # noqa: F401
     so101_follower,
 )
 from lerobot.utils.constants import ACTION
-from lerobot.utils.import_utils import register_third_party_devices
+from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import (
     init_logging,
@@ -127,7 +127,7 @@ def replay(cfg: ReplayConfig):
 
 
 def main():
-    register_third_party_devices()
+    register_third_party_plugins()
     replay()
 
 

src/lerobot/scripts/lerobot_teleoperate.py

@@ -88,7 +88,7 @@ from lerobot.teleoperators import (  # noqa: F401
     so100_leader,
     so101_leader,
 )
-from lerobot.utils.import_utils import register_third_party_devices
+from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import init_logging, move_cursor_up
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
@@ -217,7 +217,7 @@ def teleoperate(cfg: TeleoperateConfig):
 
 
 def main():
-    register_third_party_devices()
+    register_third_party_plugins()
     teleoperate()
 
 

src/lerobot/scripts/lerobot_train.py

@@ -36,6 +36,7 @@ from lerobot.policies.factory import make_policy, make_pre_post_processors
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.rl.wandb_utils import WandBLogger
 from lerobot.scripts.lerobot_eval import eval_policy_all
+from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.logging_utils import AverageMeter, MetricsTracker
 from lerobot.utils.random_utils import set_seed
 from lerobot.utils.train_utils import (
@@ -446,6 +447,7 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
 
 
 def main():
+    register_third_party_plugins()
     train()