Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02_25_refactor_robots

lerobot/configs/control.py

@@ -66,7 +66,7 @@ class RecordControlConfig(ControlConfig):
     private: bool = False
     # Add tags to your dataset on the hub.
     tags: list[str] | None = None
-    # Number of subprocesses handling the saving of frames as PNGs. Set to 0 to use threads only;
+    # Number of subprocesses handling the saving of frames as PNG. Set to 0 to use threads only;
     # set to ≥1 to use subprocesses, each using threads to write images. The best number of processes
     # and threads depends on your system. We recommend 4 threads per camera with 0 processes.
     # If fps is unstable, adjust the thread count. If still unstable, try using 1 or more subprocesses.

lerobot/configs/default.py

@@ -27,7 +27,7 @@ class DatasetConfig:
     # You may provide a list of datasets here. `train.py` creates them all and concatenates them. Note: only data
     # keys common between the datasets are kept. Each dataset gets and additional transform that inserts the
     # "dataset_index" into the returned item. The index mapping is made according to the order in which the
-    # datsets are provided.
+    # datasets are provided.
     repo_id: str
     # Root directory where the dataset will be stored (e.g. 'dataset/path').
     root: str | None = None

lerobot/configs/train.py

@@ -102,7 +102,7 @@ class TrainPipelineConfig(HubMixin):
 
         if not self.resume and isinstance(self.output_dir, Path) and self.output_dir.is_dir():
             raise FileExistsError(
-                f"Output directory {self.output_dir} alreay exists and resume is {self.resume}. "
+                f"Output directory {self.output_dir} already exists and resume is {self.resume}. "
                 f"Please change your output directory so that {self.output_dir} is not overwritten."
             )
         elif not self.output_dir: