Add a `cudnn_deterministic` flag to `TrainPipelineConfig` (default: False)
that sets `torch.backends.cudnn.deterministic = True` and disables benchmark
mode, eliminating CUDA floating-point non-determinism at the cost of ~10-20%
training speed. When False (default) the existing benchmark=True behaviour
is preserved.
* chore(docstrings): updating v2.1-v3.0 conversion script docstrings to match the new task label
* chore(task): renamming the default index label in the tasks DataFrame to task
* Revert "chore(docstrings): updating v2.1-v3.0 conversion script docstrings to match the new task label"
This reverts commit f55de3255278f23f18b5d955565f6768d094951d.
* chore(docstrings): updating docstrings to match dataset v3.0 architecture
* chore(format): formatting code
* Fixing metadata indexing when writing new Parquet file
Summary:
- addressing this issue: https://github.com/huggingface/lerobot/issues/2401
- vibe-coded bugfix by Claude Sonnet 4.5
* Backing out changes to convert_videos_of_camera
* Addressing Ruff pre-commit complaint
Summary:
- addressing "SIM113 Use `enumerate()` for index variable `ep_idx` in `for` loop"
---------
Co-authored-by: Paul <238953601+pac-robotics@users.noreply.github.com>
* fix(root): adding proper support for the root and new_root arguments
* feat(roots): adding a roots agrument for the merge operation
* chore(clean): cleaning up code
* chore(doctrings): updating doctrings with new features
* fix(repo_id): setting repo_id to None when not needed
* fix(roots/repo_ids): making mypy happy by using repo_ids and roots for merge operation
* fix(path): fixing path related issues
* fix(repo_id): fixing issues related to repo_id
* chore(doctrings): updating docstrings + fix typo
* chore(clean): cleaning code
* fix(split new_repo_id): reverting new_repo_id addition for split operation
* docs(dosctrings): completing docstrings
* fix(repo_ids/roots): improving checks for repo_ids/roots lengths
* fix(repo_ids): making repo_ids optional in MergeConfig but raise if not given
* fix(docstrings): fixing docstrings for split operation
* fix(hints): updating get_output_path hints to accept paths as strings too
* fix(y/N prompts): removing y/N prompts in lerobot_edit_dataset
* fix(merge repo_id): fixing merge operation to use new_repo_id instead of repo_id
* fix(typo): fixing typo in doctrings
* fix(frame_index): making rerun's "frame_index" timeline compatible with behaviour1k datasets
* fix(segfault risk): removing segfault risk by calling batch["index"] in the dataloader loop
* feat(async-inference) Try using async inference server with plugins
* Fix import
* Fix import error in Robot Client
---------
Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
* Fix SmolVLA meta tensor error by removing device_map
- Remove device_map parameter from VLM model loading
- Change torch_dtype from string to torch.bfloat16
- Add explicit .to(device) calls after initialization
This resolves NotImplementedError when training SmolVLA policy.
Fixes meta tensor copy issue in factory.py:418.
* fix: remove manual device movement logic and fix dtype handling
---------
Co-authored-by: Highsky7 <albert31115@gmail.com>
* add OpenArm Mini config and module init
* add OpenArm Mini teleoperator implementation
* add OpenArm Mini into factory and setup motors
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Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Replaced assert statements with FrameTimestampError exceptions in
decode_video_frames_torchvision and decode_video_frames_torchcodec.
Assertions are unsuitable for runtime validation because they can be
silently disabled with python -O, and they produce unhelpful
AssertionError tracebacks. The codebase already defines
FrameTimestampError for this exact purpose but it was only used
in one of the three validation sites.
Also removed AssertionError from the except clause in
LeRobotDataset.__init__, which was masking video timestamp errors
by silently triggering a dataset re-download instead of surfacing
the actual problem.
1. Include metaworld_config.json in package distributions by adding it to
both MANIFEST.in (for sdist) and pyproject.toml package-data (for wheels).
Without this, pip-installed lerobot raises FileNotFoundError when
importing the metaworld environment.
2. Fix crash in sanity_check_dataset_name where the error message accesses
policy_cfg.type when policy_cfg is None, raising AttributeError instead
of the intended ValueError.
Fixes#2958
* fix(dataset): Reindex videos based on frame and not on time
Sometimes during split operations the frame timestamp floating
precision leads to frame ending up in the wrong split.
This changes fixes the issues by directly working with frame indices
instead.
* Fix formatting
* feat(motors): add initial implementation of robstride
Co-authored-by: Virgile <virgilebatto@gmail.com>
* chore(motors): solve some linter
* remove kp/kd attribute
* code uniformisation between damiao and robstride
* remove normalization warning
* remove non valid baudrates and small docstring update
* remove all useless files. Only keeping robstride.py and table.py
* typing for mypy
* reduce NameOrId usage
* align signature with damiao
* put the same helper than in the damiao implementation
* bug correction : expect a response after each bus.send
---------
Co-authored-by: Virgile <virgilebatto@gmail.com>
* Add GymHILAdapterProcessorStep for gym-hil environment integration
* Fix action features in control loop for None teleop device with gym-hil
* Finalize dataset before pushing to hub for visualization on the hub
* Fix neutral action for gripper
* fix pre-commit
* Add New featrue to lerobot_edit_datset.py that show dataset information.
* Fix to draccus error when happen give only --operation.type=info
* Updating test and documents regarding lerobot-edit-dataset info function.
* Updating documents regarding lerobot-edit-dataset extract function. option name in document is mistake.
* feat(datasets): Update to align formatting with pre-commit.(#2917)
Update to align formatting by pre-commit.
---------
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
* fix: ensure motors module passes MyPy type checks
This commit fixes 62 mypy type errors in the motors module by:
- Updating Protocol classes (PortHandler, PacketHandler, GroupSyncRead,
GroupSyncWrite) to use class-level attribute declarations instead of
__init__ body declarations
- Adding missing `broadcastPing` method to PacketHandler Protocol
- Fixing return type annotations (e.g., `_get_motor_model` returns str, not int)
- Fixing parameter types to use `Sequence` for covariant list parameters
- Fixing `Mapping` for covariant dict value types in `_normalize`
- Updating method signatures to be consistent across parent and child classes
(disable_torque, enable_torque, _get_half_turn_homings)
- Adding explicit `int()` casts for MotorCalibration arguments
- Adding explicit `return None` for functions returning Optional types
- Adding type annotations for variables like `data_list: dict[int, int]`
- Using `# type: ignore[method-assign]` for intentional monkeypatch
- Fixing variable references (using `self.groups` instead of `groups`)
Fixes#1723🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
* chore(style): pre-commit after main merge
* chore(linter): solve comments
* chore(linter): apply pre-commit fixes to damiao
* chore(linter): more fixes to damiao
---------
Co-authored-by: yurekami <yurekami@users.noreply.github.com>
Co-authored-by: Claude Opus 4.5 <noreply@anthropic.com>
