From a4b6c5e3b1705cd71c10450c59d986bc1c3b21dc Mon Sep 17 00:00:00 2001
From: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Date: Sat, 27 Apr 2024 14:00:38 +0200
Subject: [PATCH] Add torchaudio (#110)

---
 .github/workflows/test.yml |    2 +
 poetry.lock                | 1325 +++++++++++++++++++-----------------
 pyproject.toml             |    3 +-
 3 files changed, 696 insertions(+), 634 deletions(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 9497b8994..7bc643d15 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -9,6 +9,7 @@ on:
       - "tests/**"
       - "examples/**"
       - ".github/**"
+      - "poetry.lock"
   push:
     branches:
       - main
@@ -17,6 +18,7 @@ on:
       - "tests/**"
       - "examples/**"
       - ".github/**"
+      - "poetry.lock"
 
 jobs:
   tests:
diff --git a/poetry.lock b/poetry.lock
index c41e49b7c..77e1c81e0 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -13,87 +13,87 @@ files = [
 
 [[package]]
 name = "aiohttp"
-version = "3.9.4"
+version = "3.9.5"
 description = "Async http client/server framework (asyncio)"
 optional = false
 python-versions = ">=3.8"
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+    {file = "h5py-3.11.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:f4e025e852754ca833401777c25888acb96889ee2c27e7e629a19aee288833f0"},
+    {file = "h5py-3.11.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:6c4b760082626120031d7902cd983d8c1f424cdba2809f1067511ef283629d4b"},
+    {file = "h5py-3.11.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:67462d0669f8f5459529de179f7771bd697389fcb3faab54d63bf788599a48ea"},
+    {file = "h5py-3.11.0-cp39-cp39-win_amd64.whl", hash = "sha256:d9c944d364688f827dc889cf83f1fca311caf4fa50b19f009d1f2b525edd33a3"},
+    {file = "h5py-3.11.0.tar.gz", hash = "sha256:7b7e8f78072a2edec87c9836f25f34203fd492a4475709a18b417a33cfb21fa9"},
 ]
 
 [package.dependencies]
@@ -1307,13 +1303,13 @@ packaging = "*"
 
 [[package]]
 name = "identify"
-version = "2.5.35"
+version = "2.5.36"
 description = "File identification library for Python"
 optional = true
 python-versions = ">=3.8"
 files = [
-    {file = "identify-2.5.35-py2.py3-none-any.whl", hash = "sha256:c4de0081837b211594f8e877a6b4fad7ca32bbfc1a9307fdd61c28bfe923f13e"},
-    {file = "identify-2.5.35.tar.gz", hash = "sha256:10a7ca245cfcd756a554a7288159f72ff105ad233c7c4b9c6f0f4d108f5f6791"},
+    {file = "identify-2.5.36-py2.py3-none-any.whl", hash = "sha256:37d93f380f4de590500d9dba7db359d0d3da95ffe7f9de1753faa159e71e7dfa"},
+    {file = "identify-2.5.36.tar.gz", hash = "sha256:e5e00f54165f9047fbebeb4a560f9acfb8af4c88232be60a488e9b68d122745d"},
 ]
 
 [package.extras]
@@ -1321,24 +1317,24 @@ license = ["ukkonen"]
 
 [[package]]
 name = "idna"
-version = "3.6"
+version = "3.7"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
 python-versions = ">=3.5"
 files = [
-    {file = "idna-3.6-py3-none-any.whl", hash = "sha256:c05567e9c24a6b9faaa835c4821bad0590fbb9d5779e7caa6e1cc4978e7eb24f"},
-    {file = "idna-3.6.tar.gz", hash = "sha256:9ecdbbd083b06798ae1e86adcbfe8ab1479cf864e4ee30fe4e46a003d12491ca"},
+    {file = "idna-3.7-py3-none-any.whl", hash = "sha256:82fee1fc78add43492d3a1898bfa6d8a904cc97d8427f683ed8e798d07761aa0"},
+    {file = "idna-3.7.tar.gz", hash = "sha256:028ff3aadf0609c1fd278d8ea3089299412a7a8b9bd005dd08b9f8285bcb5cfc"},
 ]
 
 [[package]]
 name = "imageio"
-version = "2.34.0"
+version = "2.34.1"
 description = "Library for reading and writing a wide range of image, video, scientific, and volumetric data formats."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "imageio-2.34.0-py3-none-any.whl", hash = "sha256:08082bf47ccb54843d9c73fe9fc8f3a88c72452ab676b58aca74f36167e8ccba"},
-    {file = "imageio-2.34.0.tar.gz", hash = "sha256:ae9732e10acf807a22c389aef193f42215718e16bd06eed0c5bb57e1034a4d53"},
+    {file = "imageio-2.34.1-py3-none-any.whl", hash = "sha256:408c1d4d62f72c9e8347e7d1ca9bc11d8673328af3913868db3b828e28b40a4c"},
+    {file = "imageio-2.34.1.tar.gz", hash = "sha256:f13eb76e4922f936ac4a7fec77ce8a783e63b93543d4ea3e40793a6cabd9ac7d"},
 ]
 
 [package.dependencies]
@@ -1412,6 +1408,20 @@ files = [
     {file = "iniconfig-2.0.0.tar.gz", hash = "sha256:2d91e135bf72d31a410b17c16da610a82cb55f6b0477d1a902134b24a455b8b3"},
 ]
 
+[[package]]
+name = "intel-openmp"
+version = "2021.4.0"
+description = "Intel OpenMP* Runtime Library"
+optional = false
+python-versions = "*"
+files = [
+    {file = "intel_openmp-2021.4.0-py2.py3-none-macosx_10_15_x86_64.macosx_11_0_x86_64.whl", hash = "sha256:41c01e266a7fdb631a7609191709322da2bbf24b252ba763f125dd651bcc7675"},
+    {file = "intel_openmp-2021.4.0-py2.py3-none-manylinux1_i686.whl", hash = "sha256:3b921236a38384e2016f0f3d65af6732cf2c12918087128a9163225451e776f2"},
+    {file = "intel_openmp-2021.4.0-py2.py3-none-manylinux1_x86_64.whl", hash = "sha256:e2240ab8d01472fed04f3544a878cda5da16c26232b7ea1b59132dbfb48b186e"},
+    {file = "intel_openmp-2021.4.0-py2.py3-none-win32.whl", hash = "sha256:6e863d8fd3d7e8ef389d52cf97a50fe2afe1a19247e8c0d168ce021546f96fc9"},
+    {file = "intel_openmp-2021.4.0-py2.py3-none-win_amd64.whl", hash = "sha256:eef4c8bcc8acefd7f5cd3b9384dbf73d59e2c99fc56545712ded913f43c4a94f"},
+]
+
 [[package]]
 name = "jinja2"
 version = "3.1.3"
@@ -1475,17 +1485,21 @@ setuptools = "!=50.0.0"
 
 [[package]]
 name = "lazy-loader"
-version = "0.3"
-description = "lazy_loader"
+version = "0.4"
+description = "Makes it easy to load subpackages and functions on demand."
 optional = true
 python-versions = ">=3.7"
 files = [
-    {file = "lazy_loader-0.3-py3-none-any.whl", hash = "sha256:1e9e76ee8631e264c62ce10006718e80b2cfc74340d17d1031e0f84af7478554"},
-    {file = "lazy_loader-0.3.tar.gz", hash = "sha256:3b68898e34f5b2a29daaaac172c6555512d0f32074f147e2254e4a6d9d838f37"},
+    {file = "lazy_loader-0.4-py3-none-any.whl", hash = "sha256:342aa8e14d543a154047afb4ba8ef17f5563baad3fc610d7b15b213b0f119efc"},
+    {file = "lazy_loader-0.4.tar.gz", hash = "sha256:47c75182589b91a4e1a85a136c074285a5ad4d9f39c63e0d7fb76391c4574cd1"},
 ]
 
+[package.dependencies]
+packaging = "*"
+
 [package.extras]
-lint = ["pre-commit (>=3.3)"]
+dev = ["changelist (==0.5)"]
+lint = ["pre-commit (==3.7.0)"]
 test = ["pytest (>=7.4)", "pytest-cov (>=4.1)"]
 
 [[package]]
@@ -1773,6 +1787,24 @@ files = [
     {file = "MarkupSafe-2.1.5.tar.gz", hash = "sha256:d283d37a890ba4c1ae73ffadf8046435c76e7bc2247bbb63c00bd1a709c6544b"},
 ]
 
+[[package]]
+name = "mkl"
+version = "2021.4.0"
+description = "Intel® oneAPI Math Kernel Library"
+optional = false
+python-versions = "*"
+files = [
+    {file = "mkl-2021.4.0-py2.py3-none-macosx_10_15_x86_64.macosx_11_0_x86_64.whl", hash = "sha256:67460f5cd7e30e405b54d70d1ed3ca78118370b65f7327d495e9c8847705e2fb"},
+    {file = "mkl-2021.4.0-py2.py3-none-manylinux1_i686.whl", hash = "sha256:636d07d90e68ccc9630c654d47ce9fdeb036bb46e2b193b3a9ac8cfea683cce5"},
+    {file = "mkl-2021.4.0-py2.py3-none-manylinux1_x86_64.whl", hash = "sha256:398dbf2b0d12acaf54117a5210e8f191827f373d362d796091d161f610c1ebfb"},
+    {file = "mkl-2021.4.0-py2.py3-none-win32.whl", hash = "sha256:439c640b269a5668134e3dcbcea4350459c4a8bc46469669b2d67e07e3d330e8"},
+    {file = "mkl-2021.4.0-py2.py3-none-win_amd64.whl", hash = "sha256:ceef3cafce4c009dd25f65d7ad0d833a0fbadc3d8903991ec92351fe5de1e718"},
+]
+
+[package.dependencies]
+intel-openmp = "==2021.*"
+tbb = "==2021.*"
+
 [[package]]
 name = "mpmath"
 version = "1.3.0"
@@ -2215,12 +2247,13 @@ nvidia-nvjitlink-cu12 = "*"
 
 [[package]]
 name = "nvidia-nccl-cu12"
-version = "2.19.3"
+version = "2.20.5"
 description = "NVIDIA Collective Communication Library (NCCL) Runtime"
 optional = false
 python-versions = ">=3"
 files = [
-    {file = "nvidia_nccl_cu12-2.19.3-py3-none-manylinux1_x86_64.whl", hash = "sha256:a9734707a2c96443331c1e48c717024aa6678a0e2a4cb66b2c364d18cee6b48d"},
+    {file = "nvidia_nccl_cu12-2.20.5-py3-none-manylinux2014_aarch64.whl", hash = "sha256:1fc150d5c3250b170b29410ba682384b14581db722b2531b0d8d33c595f33d01"},
+    {file = "nvidia_nccl_cu12-2.20.5-py3-none-manylinux2014_x86_64.whl", hash = "sha256:057f6bf9685f75215d0c53bf3ac4a10b3e6578351de307abad9e18a99182af56"},
 ]
 
 [[package]]
@@ -2481,28 +2514,29 @@ xmp = ["defusedxml"]
 
 [[package]]
 name = "platformdirs"
-version = "4.2.0"
-description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+version = "4.2.1"
+description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 optional = true
 python-versions = ">=3.8"
 files = [
-    {file = "platformdirs-4.2.0-py3-none-any.whl", hash = "sha256:0614df2a2f37e1a662acbd8e2b25b92ccf8632929bc6d43467e17fe89c75e068"},
-    {file = "platformdirs-4.2.0.tar.gz", hash = "sha256:ef0cc731df711022c174543cb70a9b5bd22e5a9337c8624ef2c2ceb8ddad8768"},
+    {file = "platformdirs-4.2.1-py3-none-any.whl", hash = "sha256:17d5a1161b3fd67b390023cb2d3b026bbd40abde6fdb052dfbd3a29c3ba22ee1"},
+    {file = "platformdirs-4.2.1.tar.gz", hash = "sha256:031cd18d4ec63ec53e82dceaac0417d218a6863f7745dfcc9efe7793b7039bdf"},
 ]
 
 [package.extras]
 docs = ["furo (>=2023.9.10)", "proselint (>=0.13)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.25.2)"]
 test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)"]
+type = ["mypy (>=1.8)"]
 
 [[package]]
 name = "pluggy"
-version = "1.4.0"
+version = "1.5.0"
 description = "plugin and hook calling mechanisms for python"
 optional = true
 python-versions = ">=3.8"
 files = [
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+    {file = "pluggy-1.5.0.tar.gz", hash = "sha256:2cffa88e94fdc978c4c574f15f9e59b7f4201d439195c3715ca9e2486f1d0cf1"},
 ]
 
 [package.extras]
@@ -2577,51 +2611,51 @@ test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
 
 [[package]]
 name = "pyarrow"
-version = "15.0.2"
+version = "16.0.0"
 description = "Python library for Apache Arrow"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
@@ -3221,7 +3244,7 @@ paddlepaddle = ["paddlepaddle (>=2.4.1)", "safetensors[numpy]"]
 pinned-tf = ["safetensors[numpy]", "tensorflow (==2.11.0)"]
 quality = ["black (==22.3)", "click (==8.0.4)", "flake8 (>=3.8.3)", "isort (>=5.5.4)"]
 tensorflow = ["safetensors[numpy]", "tensorflow (>=2.11.0)"]
-testing = ["h5py (>=3.7.0)", "huggingface_hub (>=0.12.1)", "hypothesis (>=6.70.2)", "pytest (>=7.2.0)", "pytest-benchmark (>=4.0.0)", "safetensors[numpy]", "setuptools_rust (>=1.5.2)"]
+testing = ["h5py (>=3.7.0)", "huggingface-hub (>=0.12.1)", "hypothesis (>=6.70.2)", "pytest (>=7.2.0)", "pytest-benchmark (>=4.0.0)", "safetensors[numpy]", "setuptools-rust (>=1.5.2)"]
 torch = ["safetensors[numpy]", "torch (>=1.10)"]
 
 [[package]]
@@ -3316,18 +3339,18 @@ test = ["array-api-strict", "asv", "gmpy2", "hypothesis (>=6.30)", "mpmath", "po
 
 [[package]]
 name = "sentry-sdk"
-version = "1.44.1"
+version = "2.0.1"
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 [package.extras]
 aiohttp = ["aiohttp (>=3.5)"]
@@ -3463,72 +3486,72 @@ test = ["pytest"]
 
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 ]
 
 [package.dependencies]
-numpy = ">=1.14,<2"
+numpy = ">=1.14,<3"
 
 [package.extras]
 docs = ["matplotlib", "numpydoc (==1.1.*)", "sphinx", "sphinx-book-theme", "sphinx-remove-toctrees"]
@@ -3581,6 +3604,19 @@ files = [
 [package.dependencies]
 mpmath = ">=0.19"
 
+[[package]]
+name = "tbb"
+version = "2021.12.0"
+description = "Intel® oneAPI Threading Building Blocks (oneTBB)"
+optional = false
+python-versions = "*"
+files = [
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+]
+
 [[package]]
 name = "tensorboard"
 version = "2.16.2"
@@ -3646,13 +3682,13 @@ tests = ["pytest", "pytest-cov"]
 
 [[package]]
 name = "tifffile"
-version = "2024.2.12"
+version = "2024.4.24"
 description = "Read and write TIFF files"
 optional = true
 python-versions = ">=3.9"
 files = [
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 ]
 
 [package.dependencies]
@@ -3674,42 +3710,38 @@ files = [
 
 [[package]]
 name = "torch"
-version = "2.2.2"
+version = "2.3.0"
 description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
 optional = false
 python-versions = ">=3.8.0"
 files = [
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 ]
 
 [package.dependencies]
 filelock = "*"
 fsspec = "*"
 jinja2 = "*"
+mkl = {version = ">=2021.1.1,<=2021.4.0", markers = "platform_system == \"Windows\""}
 networkx = "*"
 nvidia-cublas-cu12 = {version = "12.1.3.1", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cuda-cupti-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
@@ -3720,54 +3752,81 @@ nvidia-cufft-cu12 = {version = "11.0.2.54", markers = "platform_system == \"Linu
 nvidia-curand-cu12 = {version = "10.3.2.106", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cusolver-cu12 = {version = "11.4.5.107", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-cusparse-cu12 = {version = "12.1.0.106", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
-nvidia-nccl-cu12 = {version = "2.19.3", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-nccl-cu12 = {version = "2.20.5", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 nvidia-nvtx-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
 sympy = "*"
-triton = {version = "2.2.0", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\" and python_version < \"3.12\""}
+triton = {version = "2.3.0", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\" and python_version < \"3.12\""}
 typing-extensions = ">=4.8.0"
 
 [package.extras]
 opt-einsum = ["opt-einsum (>=3.3)"]
 optree = ["optree (>=0.9.1)"]
 
+[[package]]
+name = "torchaudio"
+version = "2.3.0"
+description = "An audio package for PyTorch"
+optional = false
+python-versions = "*"
+files = [
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+]
+
+[package.dependencies]
+torch = "2.3.0"
+
 [[package]]
 name = "torchvision"
-version = "0.17.2"
+version = "0.18.0"
 description = "image and video datasets and models for torch deep learning"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
 numpy = "*"
 pillow = ">=5.3.0,<8.3.dev0 || >=8.4.dev0"
-torch = "2.2.2"
+torch = "2.3.0"
 
 [package.extras]
 scipy = ["scipy"]
@@ -3794,17 +3853,17 @@ telegram = ["requests"]
 
 [[package]]
 name = "triton"
-version = "2.2.0"
+version = "2.3.0"
 description = "A language and compiler for custom Deep Learning operations"
 optional = false
 python-versions = "*"
 files = [
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-    {file = "triton-2.2.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0af58716e721460a61886668b205963dc4d1e4ac20508cc3f623aef0d70283d5"},
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 ]
 
 [package.dependencies]
@@ -3856,13 +3915,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.25.1"
+version = "20.26.0"
 description = "Virtual Python Environment builder"
 optional = true
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.25.1-py3-none-any.whl", hash = "sha256:961c026ac520bac5f69acb8ea063e8a4f071bcc9457b9c1f28f6b085c511583a"},
-    {file = "virtualenv-20.25.1.tar.gz", hash = "sha256:e08e13ecdca7a0bd53798f356d5831434afa5b07b93f0abdf0797b7a06ffe197"},
+    {file = "virtualenv-20.26.0-py3-none-any.whl", hash = "sha256:0846377ea76e818daaa3e00a4365c018bc3ac9760cbb3544de542885aad61fb3"},
+    {file = "virtualenv-20.26.0.tar.gz", hash = "sha256:ec25a9671a5102c8d2657f62792a27b48f016664c6873f6beed3800008577210"},
 ]
 
 [package.dependencies]
@@ -3871,7 +3930,7 @@ filelock = ">=3.12.2,<4"
 platformdirs = ">=3.9.1,<5"
 
 [package.extras]
-docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
+docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2,!=7.3)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
 test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8)", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10)"]
 
 [[package]]
@@ -4195,4 +4254,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.10"
-content-hash = "7f5afa48aead953f598e686e767891d3d23f2862b80144f76dc064101ef80b4a"
+content-hash = "03c1d8598e376680c08f997fff37d3c6aa39efce5e3b6f799ea7bbd476a492f9"
diff --git a/pyproject.toml b/pyproject.toml
index 255050484..094735b28 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -40,7 +40,7 @@ numba = "^0.59.0"
 torch = "^2.2.1"
 opencv-python = "^4.9.0.80"
 diffusers = "^0.26.3"
-torchvision = "^0.17.1"
+torchvision = "^0.18.0"
 h5py = "^3.10.0"
 huggingface-hub = "^0.21.4"
 robomimic = "0.2.0"
@@ -54,6 +54,7 @@ debugpy = {version = "^1.8.1", optional = true}
 pytest = {version = "^8.1.0", optional = true}
 pytest-cov = {version = "^5.0.0", optional = true}
 datasets = "^2.19.0"
+torchaudio = "^2.3.0"
 
 
 [tool.poetry.extras]