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feat(dependencies): minimal default tag install (#3362)

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Steven Palma
2026-04-12 20:03:04 +02:00
committed by GitHub
parent 4d2361ef71
commit df0763a2bc
343 changed files with 3248 additions and 1930 deletions
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19
src/lerobot/policies/diffusion/modeling_diffusion.py
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@@ -29,19 +29,18 @@ import numpy as np
import torch
import torch.nn.functional as F # noqa: N812
import torchvision
from diffusers.schedulers.scheduling_ddim import DDIMScheduler
from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
from torch import Tensor, nn
from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
from lerobot.policies.pretrained import PreTrainedPolicy
from lerobot.policies.utils import (
from lerobot.utils.constants import ACTION, OBS_ENV_STATE, OBS_IMAGES, OBS_STATE
from ..pretrained import PreTrainedPolicy
from ..utils import (
get_device_from_parameters,
get_dtype_from_parameters,
get_output_shape,
populate_queues,
)
from lerobot.utils.constants import ACTION, OBS_ENV_STATE, OBS_IMAGES, OBS_STATE
from .configuration_diffusion import DiffusionConfig
class DiffusionPolicy(PreTrainedPolicy):
@@ -151,11 +150,17 @@ class DiffusionPolicy(PreTrainedPolicy):
return loss, None
def _make_noise_scheduler(name: str, **kwargs: dict) -> DDPMScheduler | DDIMScheduler:
def _make_noise_scheduler(name: str, **kwargs: dict):
"""
Factory for noise scheduler instances of the requested type. All kwargs are passed
to the scheduler.
"""
from lerobot.utils.import_utils import require_package
require_package("diffusers", extra="diffusion")
from diffusers.schedulers.scheduling_ddim import DDIMScheduler
from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
if name == "DDPM":
return DDPMScheduler(**kwargs)
elif name == "DDIM":