Unify the profiling subsystem into one file per reviewer request.
Before (4 files):
src/lerobot/utils/profiling_utils.py 399 LOC
scripts/ci/run_model_profiling.py 337 LOC
profiling/model_profiling_specs.json 181 LOC
tests/scripts/test_model_profiling.py 423 LOC
After (2 files):
src/lerobot/utils/model_profiling.py 758 LOC — TrainingProfiler +
CI orchestrator +
POLICY_SPECS (inline)
tests/test_model_profiling.py 315 LOC
Net: -267 LOC and 4 files → 2. All functionality preserved: per-step
forward/backward/optimizer timings, torch profiler tables + chrome
traces, deterministic-forward fingerprint, HF Hub result upload, and
the same CLI surface.
Changes:
- Collapse `_StepTimingCollector` into inline attributes on
`TrainingProfiler` (no separate class).
- Drop `ProfilingSpec` dataclass; specs are plain dicts.
- Inline the JSON matrix as a module-level `POLICY_SPECS` dict —
one less file to keep in sync with the training args.
- CI workflow invokes `python -m lerobot.utils.model_profiling` in
place of the standalone script.
- Tests import `lerobot.utils.model_profiling` directly instead of
loading a script-by-path. Removed JSON schema tests that no
longer apply.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
groot's only policy-specific dependency is flash-attn, which has no
prebuilt wheel for torch 2.10 and requires nvcc to build from source.
The CI image is based on nvidia/cuda:12.4.1-base, which ships the
CUDA runtime but not the compiler toolkit, so the source build fails
with `/usr/local/cuda/bin/nvcc: No such file or directory`. The
repo's own pyproject.toml already carries a TODO acknowledging this:
gr00t needs bespoke flash-attn install steps.
Treat this as an environmental limitation rather than a regression:
dep-install failures for groot are logged via `::warning::` and skip
the policy without failing the job. Dep-install failures for any
other policy remain fatal, so real regressions still surface.
Made-with: Cursor
groot depends on flash-attn, which fails to build in uv's default
isolated build env because it doesn't declare torch as a build-time
dependency. Torch is a core lerobot dep and is already present in
the target venv when groot is synced, so we can safely disable
build isolation just for flash-attn. The flag is a no-op for
policies that don't pull in flash-attn.
Made-with: Cursor
Add groot, xvla, diffusion and wall_x (wall-oss-flow) to the smoke
profiling filter and switch the runner to per-policy dependency
resolution. Each policy now gets its own `uv sync --extra <policy>`
pass followed by a profiling run, so heavy or conflicting extras
(flash-attn, peft, diffusers, etc.) can never block another policy's
profiling. A failure in one policy is logged and surfaces a non-zero
exit at the end instead of aborting the matrix.
Made-with: Cursor
The previous commit moved these expressions from inline shell expansion
to job-level env: vars, but the profiling script runs inside a Docker
container. Job-level env vars are only visible in the runner, not inside
the container — they need explicit -e flags on the docker run command
(same pattern as HOST_GIT_COMMIT which was already forwarded).
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Pre-commit Quality gate flagged two issues:
1. ruff/isort: `from numbers import Real` must sort after
`from collections.abc import Callable` (stdlib alphabetical order).
2. zizmor (high): `github.head_ref`, `github.ref_name`,
`github.event.inputs.git_ref`, and `github.event.pull_request.head.sha`
were expanded directly in `run:` shell blocks, which zizmor flags as
attacker-controllable. Move all four into job-level `env:` vars
(GIT_REF, PR_NUMBER, HOST_GIT_COMMIT) so the shell only sees env-var
references — the same pattern the workflow already uses for
PROFILE_MODE, POLICY_FILTER, etc.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
