[pre-commit.ci] pre-commit autoupdate

updates:
- [github.com/astral-sh/ruff-pre-commit: v0.11.11 → v0.11.12](https://github.com/astral-sh/ruff-pre-commit/compare/v0.11.11...v0.11.12)
- [github.com/gitleaks/gitleaks: v8.26.0 → v8.27.0](https://github.com/gitleaks/gitleaks/compare/v8.26.0...v8.27.0)
- [github.com/woodruffw/zizmor-pre-commit: v1.8.0 → v1.9.0](https://github.com/woodruffw/zizmor-pre-commit/compare/v1.8.0...v1.9.0)

.github/workflows/build-docker-images.yml

@@ -40,24 +40,24 @@ jobs:
           git lfs install
 
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
+        uses: docker/setup-buildx-action@b5ca514318bd6ebac0fb2aedd5d36ec1b5c232a2 # v3.10.0
         with:
           cache-binary: false
 
       - name: Check out code
-        uses: actions/checkout@v4
+        uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
         with:
           lfs: true
           persist-credentials: false
 
       - name: Login to DockerHub
-        uses: docker/login-action@v3
+        uses: docker/login-action@74a5d142397b4f367a81961eba4e8cd7edddf772 # v3.4.0
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_PASSWORD }}
 
       - name: Build and Push CPU
-        uses: docker/build-push-action@v5
+        uses: docker/build-push-action@ca052bb54ab0790a636c9b5f226502c73d547a25 # v5.4.0
         with:
           context: .
           file: ./docker/lerobot-cpu/Dockerfile
@@ -78,24 +78,24 @@ jobs:
           git lfs install
 
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
+        uses: docker/setup-buildx-action@b5ca514318bd6ebac0fb2aedd5d36ec1b5c232a2 # v3.10.0
         with:
           cache-binary: false
 
       - name: Check out code
-        uses: actions/checkout@v4
+        uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
         with:
           lfs: true
           persist-credentials: false
 
       - name: Login to DockerHub
-        uses: docker/login-action@v3
+        uses: docker/login-action@74a5d142397b4f367a81961eba4e8cd7edddf772 # v3.4.0
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_PASSWORD }}
 
       - name: Build and Push GPU
-        uses: docker/build-push-action@v5
+        uses: docker/build-push-action@ca052bb54ab0790a636c9b5f226502c73d547a25 # v5.4.0
         with:
           context: .
           file: ./docker/lerobot-gpu/Dockerfile
@@ -110,23 +110,23 @@ jobs:
       group: aws-general-8-plus
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
+        uses: docker/setup-buildx-action@b5ca514318bd6ebac0fb2aedd5d36ec1b5c232a2 # v3.10.0
         with:
           cache-binary: false
 
       - name: Check out code
-        uses: actions/checkout@v4
+        uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
         with:
           persist-credentials: false
 
       - name: Login to DockerHub
-        uses: docker/login-action@v3
+        uses: docker/login-action@74a5d142397b4f367a81961eba4e8cd7edddf772 # v3.4.0
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_PASSWORD }}
 
       - name: Build and Push GPU dev
-        uses: docker/build-push-action@v5
+        uses: docker/build-push-action@ca052bb54ab0790a636c9b5f226502c73d547a25 # v5.4.0
         with:
           context: .
           file: ./docker/lerobot-gpu-dev/Dockerfile

.github/workflows/nightly-tests.yml

@@ -33,7 +33,7 @@ jobs:
     runs-on:
       group: aws-general-8-plus
     container:
-      image: huggingface/lerobot-cpu:latest
+      image: huggingface/lerobot-cpu:latest  # zizmor: ignore[unpinned-images]
       options: --shm-size "16gb"
       credentials:
         username: ${{ secrets.DOCKERHUB_USERNAME }}
@@ -60,7 +60,7 @@ jobs:
       CUDA_VISIBLE_DEVICES: "0"
       TEST_TYPE: "single_gpu"
     container:
-      image: huggingface/lerobot-gpu:latest
+      image: huggingface/lerobot-gpu:latest  # zizmor: ignore[unpinned-images]
       options: --gpus all --shm-size "16gb"
       credentials:
         username: ${{ secrets.DOCKERHUB_USERNAME }}

.github/workflows/quality.yml

@@ -33,12 +33,12 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout Repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
         with:
           persist-credentials: false
 
       - name: Set up Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@7f4fc3e22c37d6ff65e88745f38bd3157c663f7c # v4.9.1
         with:
           python-version: ${{ env.PYTHON_VERSION }}
 
@@ -64,9 +64,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout Repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
         with:
           persist-credentials: false
 
       - name: typos-action
-        uses: crate-ci/typos@v1.29.10
+        uses: crate-ci/typos@db35ee91e80fbb447f33b0e5fbddb24d2a1a884f # v1.29.10

.github/workflows/test-docker-build.yml

@@ -35,7 +35,7 @@ jobs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
     steps:
       - name: Check out code
-        uses: actions/checkout@v4
+        uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
         with:
           persist-credentials: false
 
@@ -64,17 +64,17 @@ jobs:
         docker-file: ${{ fromJson(needs.get_changed_files.outputs.matrix) }}
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
+        uses: docker/setup-buildx-action@b5ca514318bd6ebac0fb2aedd5d36ec1b5c232a2 # v3.10.0
         with:
           cache-binary: false
 
       - name: Check out code
-        uses: actions/checkout@v4
+        uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
         with:
           persist-credentials: false
 
       - name: Build Docker image
-        uses: docker/build-push-action@v5
+        uses: docker/build-push-action@ca052bb54ab0790a636c9b5f226502c73d547a25 # v5.4.0
         with:
           file: ${{ matrix.docker-file }}
           context: .

.github/workflows/test.yml

@@ -50,7 +50,7 @@ jobs:
     env:
       MUJOCO_GL: egl
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
         with:
           lfs: true  # Ensure LFS files are pulled
           persist-credentials: false
@@ -62,7 +62,7 @@ jobs:
           sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev
 
       - name: Install uv and python
-        uses: astral-sh/setup-uv@v5
+        uses: astral-sh/setup-uv@d4b2f3b6ecc6e67c4457f6d3e41ec42d3d0fcb86 # v5.4.2
         with:
           enable-cache: true
           version: ${{ env.UV_VERSION }}
@@ -85,7 +85,7 @@ jobs:
     env:
       MUJOCO_GL: egl
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
         with:
           lfs: true  # Ensure LFS files are pulled
           persist-credentials: false
@@ -94,7 +94,7 @@ jobs:
         run: sudo apt-get update && sudo apt-get install -y ffmpeg
 
       - name: Install uv and python
-        uses: astral-sh/setup-uv@v5
+        uses: astral-sh/setup-uv@d4b2f3b6ecc6e67c4457f6d3e41ec42d3d0fcb86 # v5.4.2
         with:
           enable-cache: true
           version: ${{ env.UV_VERSION }}
@@ -117,7 +117,7 @@ jobs:
     env:
       MUJOCO_GL: egl
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
         with:
           lfs: true  # Ensure LFS files are pulled
           persist-credentials: false
@@ -129,7 +129,7 @@ jobs:
           sudo apt-get install -y libegl1-mesa-dev ffmpeg portaudio19-dev
 
       - name: Install uv and python
-        uses: astral-sh/setup-uv@v5
+        uses: astral-sh/setup-uv@d4b2f3b6ecc6e67c4457f6d3e41ec42d3d0fcb86 # v5.4.2
         with:
           enable-cache: true
           version: ${{ env.UV_VERSION }}

.github/workflows/trufflehog.yml

@@ -24,12 +24,12 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - name: Checkout code
-      uses: actions/checkout@v4
+      uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
       with:
         fetch-depth: 0
         persist-credentials: false
 
     - name: Secret Scanning
-      uses: trufflesecurity/trufflehog@main
+      uses: trufflesecurity/trufflehog@90694bf9af66e7536abc5824e7a87246dbf933cb # v3.88.35
       with:
         extra_args: --only-verified

.pre-commit-config.yaml

@@ -37,18 +37,18 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/adhtruong/mirrors-typos
-    rev: v1.31.1
+    rev: v1.32.0
     hooks:
       - id: typos
         args: [--force-exclude]
 
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.19.1
+    rev: v3.20.0
     hooks:
     -   id: pyupgrade
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.11.5
+    rev: v0.11.12
     hooks:
       - id: ruff
         args: [--fix]
@@ -57,12 +57,12 @@ repos:
 
   ##### Security #####
   - repo: https://github.com/gitleaks/gitleaks
-    rev: v8.24.3
+    rev: v8.27.0
     hooks:
       - id: gitleaks
 
   - repo: https://github.com/woodruffw/zizmor-pre-commit
-    rev: v1.5.2
+    rev: v1.9.0
     hooks:
       - id: zizmor
 

README.md

@@ -360,7 +360,7 @@ with profile(
 If you want, you can cite this work with:
 ```bibtex
 @misc{cadene2024lerobot,
-    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Wolf, Thomas},
+    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascale, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
     title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
     howpublished = "\url{https://github.com/huggingface/lerobot}",
     year = {2024}

docs/source/assemble_so101.mdx

@@ -96,8 +96,8 @@ Reconnect the usb cable.
 #### Update config file
 
 Now that you have your ports, update the **port** default values of [`SO101RobotConfig`](https://github.com/huggingface/lerobot/blob/main/lerobot/common/robot_devices/robots/configs.py).
-You will find something like, update the `port` values with your actual motor ports:
-```python
+You will find a class called `so101` where you can update the `port` values with your actual motor ports:
+```diff
 @RobotConfig.register_subclass("so101")
 @dataclass
 class So101RobotConfig(ManipulatorRobotConfig):
@@ -110,7 +110,8 @@ class So101RobotConfig(ManipulatorRobotConfig):
     leader_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431091",  <-- UPDATE HERE
+-               port="/dev/tty.usbmodem58760431091",
++               port="{ADD YOUR LEADER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -127,7 +128,8 @@ class So101RobotConfig(ManipulatorRobotConfig):
     follower_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",  <-- UPDATE HERE
+-                port="/dev/tty.usbmodem585A0076891",
++                port="{ADD YOUR FOLLOWER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -297,7 +299,7 @@ Remove all support material from the 3D-printed parts, the easiest way to do thi
 ##### Wiring
 
 - Attach the motor controller on the back.
-- Then insert all wires, use the wire guides everywhere to make sure the wires don't unplug themself and stay in place.
+- Then insert all wires, use the wire guides everywhere to make sure the wires don't unplug themselves and stay in place.
 
 <div class="video-container">
   <video controls width="600">

docs/source/getting_started_real_world_robot.mdx

@@ -83,7 +83,7 @@ camera_01_frame_000047.png
 
 Note: Some cameras may take a few seconds to warm up, and the first frame might be black or green.
 
-Now that you have the camera indexes, you should specify the camera's in the config. TODO(pepijn): add more info about setting camera config, rotate etc..
+Now that you have the camera indexes, you should specify the camera's in the config.
 
 ### Use your phone
 <hfoptions id="use phone">
@@ -152,7 +152,7 @@ If everything is set up correctly, you can proceed with the rest of the tutorial
 
 ## Teleoperate with cameras
 
-We can now teleoperate again while at the same time visualizing the camera's and joint positions with `rerun`.
+We can now teleoperate again while at the same time visualizing the cameras and joint positions with `rerun`.
 
 ```bash
 python lerobot/scripts/control_robot.py \

docs/source/installation.mdx

@@ -55,7 +55,7 @@ conda install ffmpeg -c conda-forge
 
 Install 🤗 LeRobot:
 ```bash
-cd lerobot && pip install ".[feetech]"
+cd lerobot && pip install -e ".[feetech]"
 ```
 
 ## Troubleshooting

examples/10_use_so100.md

@@ -128,7 +128,7 @@ sudo chmod 666 /dev/ttyACM1
 #### d. Update config file
 
 IMPORTANTLY: Now that you have your ports, update the **port** default values of [`SO100RobotConfig`](../lerobot/common/robot_devices/robots/configs.py). You will find something like:
-```python
+```diff
 @RobotConfig.register_subclass("so100")
 @dataclass
 class So100RobotConfig(ManipulatorRobotConfig):
@@ -141,7 +141,8 @@ class So100RobotConfig(ManipulatorRobotConfig):
     leader_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431091",  <-- UPDATE HERE
+-                port="/dev/tty.usbmodem58760431091",
++                port="{ADD YOUR LEADER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -158,7 +159,8 @@ class So100RobotConfig(ManipulatorRobotConfig):
     follower_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",  <-- UPDATE HERE
+-                port="/dev/tty.usbmodem585A0076891",
++                port="{ADD YOUR FOLLOWER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],

examples/11_use_moss.md

@@ -141,7 +141,7 @@ python lerobot/scripts/configure_motor.py \
   --ID 1
 ```
 
-Note: These motors are currently limitated. They can take values between 0 and 4096 only, which corresponds to a full turn. They can't turn more than that. 2048 is at the middle of this range, so we can take -2048 steps (180 degrees anticlockwise) and reach the maximum range, or take +2048 steps (180 degrees clockwise) and reach the maximum range. The configuration step also sets the homing offset to 0, so that if you misassembled the arm, you can always update the homing offset to account for a shift up to ± 2048 steps (± 180 degrees).
+Note: These motors are currently limited. They can take values between 0 and 4096 only, which corresponds to a full turn. They can't turn more than that. 2048 is at the middle of this range, so we can take -2048 steps (180 degrees anticlockwise) and reach the maximum range, or take +2048 steps (180 degrees clockwise) and reach the maximum range. The configuration step also sets the homing offset to 0, so that if you misassembled the arm, you can always update the homing offset to account for a shift up to ± 2048 steps (± 180 degrees).
 
 Then unplug your motor and plug the second motor and set its ID to 2.
 ```bash

examples/12_use_so101.md

@@ -61,7 +61,7 @@ conda install ffmpeg -c conda-forge
 
 Install 🤗 LeRobot:
 ```bash
-cd lerobot && pip install ".[feetech]"
+cd lerobot && pip install -e ".[feetech]"
 ```
 
 > [!NOTE]
@@ -145,8 +145,8 @@ Reconnect the usb cable.
 #### Update config file
 
 Now that you have your ports, update the **port** default values of [`SO101RobotConfig`](https://github.com/huggingface/lerobot/blob/main/lerobot/common/robot_devices/robots/configs.py).
-You will find something a class called `so101` where you can update the `port` values with your actual motor ports:
-```python
+You will find a class called `so101` where you can update the `port` values with your actual motor ports:
+```diff
 @RobotConfig.register_subclass("so101")
 @dataclass
 class So101RobotConfig(ManipulatorRobotConfig):
@@ -159,7 +159,8 @@ class So101RobotConfig(ManipulatorRobotConfig):
     leader_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431091",  <-- UPDATE HERE
+-               port="/dev/tty.usbmodem58760431091",
++               port="{ADD YOUR LEADER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -176,7 +177,8 @@ class So101RobotConfig(ManipulatorRobotConfig):
     follower_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",  <-- UPDATE HERE
+-                port="/dev/tty.usbmodem585A0076891",
++                port="{ADD YOUR FOLLOWER PORT}",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -308,7 +310,7 @@ Remove all support material from the 3D-printed parts.
 ##### Wiring
 
 - Attach the motor controller on the back.
-- Then insert all wires, use the wire guides everywhere to make sure the wires don't unplug themself and stay in place.
+- Then insert all wires, use the wire guides everywhere to make sure the wires don't unplug themselves and stay in place.
 
 <video controls width="640" src="https://github.com/user-attachments/assets/4c2cacfd-9276-4ee4-8bf2-ba2492667b78" type="video/mp4"></video>
 
@@ -351,7 +353,7 @@ python lerobot/scripts/control_robot.py \
 ```
 ## Control your robot
 
-Congrats 🎉, your robot is all set to learn a task on its own. Next we will explain you how to train a neural network to autonomously control a real robot.
+Congrats 🎉, your robot is all set to learn a task on its own. Next we will explain to you how to train a neural network to autonomously control a real robot.
 
 **You'll learn to:**
 1. How to record and visualize your dataset.
@@ -515,7 +517,7 @@ If you have an additional camera you can add a wrist camera to the SO101. There
 
 ## Teleoperate with cameras
 
-We can now teleoperate again while at the same time visualizing the camera's and joint positions with `rerun`.
+We can now teleoperate again while at the same time visualizing the cameras and joint positions with `rerun`.
 
 ```bash
 python lerobot/scripts/control_robot.py \
@@ -526,7 +528,7 @@ python lerobot/scripts/control_robot.py \
 
 ## Record a dataset
 
-Once you're familiar with teleoperation, you can record your first dataset with SO-100.
+Once you're familiar with teleoperation, you can record your first dataset with SO-101.
 
 We use the Hugging Face hub features for uploading your dataset. If you haven't previously used the Hub, make sure you can login via the cli using a write-access token, this token can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens).
 

lerobot/common/datasets/image_writer.py

@@ -106,7 +106,7 @@ def worker_process(queue: queue.Queue, num_threads: int):
 class AsyncImageWriter:
     """
     This class abstract away the initialisation of processes or/and threads to
-    save images on disk asynchrounously, which is critical to control a robot and record data
+    save images on disk asynchronously, which is critical to control a robot and record data
     at a high frame rate.
 
     When `num_processes=0`, it creates a threads pool of size `num_threads`.

lerobot/common/datasets/lerobot_dataset.py

@@ -944,7 +944,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
     def stop_image_writer(self) -> None:
         """
         Whenever wrapping this dataset inside a parallelized DataLoader, this needs to be called first to
-        remove the image_writer in order for the LeRobotDataset object to be pickleable and parallelized.
+        remove the image_writer in order for the LeRobotDataset object to be picklable and parallelized.
         """
         if self.image_writer is not None:
             self.image_writer.stop()

lerobot/common/datasets/video_utils.py

@@ -101,7 +101,7 @@ def decode_video_frames_torchvision(
     keyframes_only = False
     torchvision.set_video_backend(backend)
     if backend == "pyav":
-        keyframes_only = True  # pyav doesnt support accuracte seek
+        keyframes_only = True  # pyav doesn't support accurate seek
 
     # set a video stream reader
     # TODO(rcadene): also load audio stream at the same time

lerobot/common/policies/pi0/modeling_pi0.py

@@ -357,7 +357,7 @@ class PI0Policy(PreTrainedPolicy):
             if self.config.resize_imgs_with_padding is not None:
                 img = resize_with_pad(img, *self.config.resize_imgs_with_padding, pad_value=0)
 
-            # Normalize from range [0,1] to [-1,1] as expacted by siglip
+            # Normalize from range [0,1] to [-1,1] as expected by siglip
             img = img * 2.0 - 1.0
 
             bsize = img.shape[0]

lerobot/common/policies/pi0fast/modeling_pi0fast.py

@@ -516,7 +516,7 @@ class PI0FAST(nn.Module):
                         interpolate_like_pi=self.config.interpolate_like_pi,
                     )
 
-                # Normalize from range [0,1] to [-1,1] as expacted by siglip
+                # Normalize from range [0,1] to [-1,1] as expected by siglip
                 img = img * 2.0 - 1.0
 
                 bsize = img.shape[0]

lerobot/common/robot_devices/control_utils.py

@@ -243,6 +243,11 @@ def control_loop(
 
     timestamp = 0
     start_episode_t = time.perf_counter()
+
+    # Controls starts, if policy is given it needs cleaning up
+    if policy is not None:
+        policy.reset()
+
     while timestamp < control_time_s:
         start_loop_t = time.perf_counter()
 
@@ -250,6 +255,7 @@ def control_loop(
             observation, action = robot.teleop_step(record_data=True)
         else:
             observation = robot.capture_observation()
+            action = None
 
             if policy is not None:
                 pred_action = predict_action(
@@ -266,9 +272,10 @@ def control_loop(
 
         # TODO(Steven): This should be more general (for RemoteRobot instead of checking the name, but anyways it will change soon)
         if (display_data and not is_headless()) or (display_data and robot.robot_type.startswith("lekiwi")):
-            for k, v in action.items():
-                for i, vv in enumerate(v):
-                    rr.log(f"sent_{k}_{i}", rr.Scalar(vv.numpy()))
+            if action is not None:
+                for k, v in action.items():
+                    for i, vv in enumerate(v):
+                        rr.log(f"sent_{k}_{i}", rr.Scalar(vv.numpy()))
 
             image_keys = [key for key in observation if "image" in key]
             for key in image_keys:

pyproject.toml

@@ -63,13 +63,13 @@ dependencies = [
     "opencv-python-headless>=4.9.0",
     "packaging>=24.2",
     "av>=14.2.0",
-    "pymunk>=6.6.0",
+    "pymunk>=6.6.0,<7.0.0",
     "pynput>=1.7.7",
     "pyzmq>=26.2.1",
     "rerun-sdk>=0.21.0",
     "termcolor>=2.4.0",
-    "torch>=2.2.1,<2.7",
-    "torchcodec==0.2.1; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')",
+    "torch>=2.2.1",
+    "torchcodec>=0.2.1; sys_platform != 'win32' and (sys_platform != 'linux' or (platform_machine != 'aarch64' and platform_machine != 'arm64' and platform_machine != 'armv7l')) and (sys_platform != 'darwin' or platform_machine != 'x86_64')",
     "torchvision>=0.21.0",
     "wandb>=0.16.3",
     "zarr>=2.17.0",

tests/artifacts/image_transforms/default_transforms.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0389a716d51c1c615fb2a3bfa386d89f00b0deca08c4fa21b23e020a939d0213
+oid sha256:6b1e600768a8771c5fe650e038a1193597e3810f032041b2a0d021e4496381c1
 size 3686488

tests/artifacts/image_transforms/save_image_transforms_to_safetensors.py

@@ -28,7 +28,7 @@ from lerobot.common.datasets.transforms import (
 from lerobot.common.utils.random_utils import seeded_context
 
 ARTIFACT_DIR = Path("tests/artifacts/image_transforms")
-DATASET_REPO_ID = "lerobot/aloha_mobile_shrimp"
+DATASET_REPO_ID = "lerobot/aloha_static_cups_open"
 
 
 def save_default_config_transform(original_frame: torch.Tensor, output_dir: Path):

tests/artifacts/image_transforms/single_transforms.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0dc691503e7d90b2086bb408e89a65f772ce5ee6e3562ef8c127bcb09bd90851
+oid sha256:9d4ebab73eabddc58879a4e770289d19e00a1a4cf2fa5fa33cd3a3246992bc90
 size 40551392

tests/artifacts/policies/aloha_sim_insertion_human_act_/actions.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cc67af1d60f95d84c98d6c9ebd648990e0f0705368bd6b72d2b39533950b0179
+oid sha256:f3e4c8e85e146b043fd4e4984947c2a6f01627f174a19f18b5914cf690579d77
 size 5104

tests/artifacts/policies/aloha_sim_insertion_human_act_/grad_stats.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:64518cf652105d15f5fd2cfc13d0681f66a4ec4797dc5d5dc2f7b0d91fe5dfd6
+oid sha256:1a7a8b1a457149109f843c32bcbb047d09de2201847b9b79f7501b447f77ecf4
 size 31672

tests/artifacts/policies/aloha_sim_insertion_human_act_/output_dict.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:32b6d14fab4244b5140adb345e47f662b6739c04974e04b21c3127caa988abbb
+oid sha256:5e6ce85296b2009e7c2060d336c0429b1c7197d9adb159e7df0ba18003067b36
 size 68

tests/artifacts/policies/aloha_sim_insertion_human_act_/param_stats.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e1904ef0338f7b6efdec70ec235ee931b5751008bf4eb433edb0b3fa0838a4f1
+oid sha256:9b5f557e30aead3731c38cbd85af8c706395d8689a918ad88805b5a886245603
 size 33400

tests/artifacts/policies/aloha_sim_insertion_human_act_1000_steps/actions.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fa544a97f00bf46393a09b006b44c2499bbf7d177782360a8c21cacbf200c07a
+oid sha256:2e6625cabfeb4800abc80252cf9112a9271c154edd01eb291658f143c951610b
 size 515400

tests/artifacts/policies/aloha_sim_insertion_human_act_1000_steps/grad_stats.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:83c7a8ae912300b5cedba31904f7ba22542059fd60dd86548a95e415713f719e
+oid sha256:224b5fa4828aa88171b68c036e8919c1eae563e2113f03b6461eadf5bf8525a6
 size 31672

tests/artifacts/policies/aloha_sim_insertion_human_act_1000_steps/output_dict.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5a010633237b3a1141603c65174c551daa9e7b4c474af5a1376d73e5425bfb5d
+oid sha256:016d2fa8fe5f58017dfd46f4632fdc19dfd751e32a2c7cde2077c6f95546d6bd
 size 68

tests/artifacts/policies/aloha_sim_insertion_human_act_1000_steps/param_stats.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ec8b5c440e9fcec190c9be48b28ebb79f82ae63626afe7c811e4bb0c3dd08842
+oid sha256:021562ee3e4814425e367ed0c144d6fbe2eb28838247085716cf0b58fd69a075
 size 33400

tests/datasets/test_image_transforms.py

@@ -16,6 +16,7 @@
 
 import pytest
 import torch
+from packaging import version
 from safetensors.torch import load_file
 from torchvision.transforms import v2
 from torchvision.transforms.v2 import functional as F  # noqa: N812
@@ -253,7 +254,14 @@ def test_backward_compatibility_single_transforms(
 
 
 @require_x86_64_kernel
+@pytest.mark.skipif(
+    version.parse(torch.__version__) < version.parse("2.7.0"),
+    reason="Test artifacts were generated with PyTorch >= 2.7.0 which has different multinomial behavior",
+)
 def test_backward_compatibility_default_config(img_tensor, default_transforms):
+    # NOTE: PyTorch versions have different randomness, it might break this test.
+    # See this PR: https://github.com/huggingface/lerobot/pull/1127.
+
     cfg = ImageTransformsConfig(enable=True)
     default_tf = ImageTransforms(cfg)
 

tests/optim/test_schedulers.py

@@ -37,7 +37,6 @@ def test_diffuser_scheduler(optimizer):
         "base_lrs": [0.001],
         "last_epoch": 1,
         "lr_lambdas": [None],
-        "verbose": False,
     }
     assert scheduler.state_dict() == expected_state_dict
 
@@ -56,7 +55,6 @@ def test_vqbet_scheduler(optimizer):
         "base_lrs": [0.001],
         "last_epoch": 1,
         "lr_lambdas": [None],
-        "verbose": False,
     }
     assert scheduler.state_dict() == expected_state_dict
 
@@ -77,7 +75,6 @@ def test_cosine_decay_with_warmup_scheduler(optimizer):
         "base_lrs": [0.001],
         "last_epoch": 1,
         "lr_lambdas": [None],
-        "verbose": False,
     }
     assert scheduler.state_dict() == expected_state_dict
 

tests/policies/test_policies.py

@@ -20,6 +20,7 @@ from pathlib import Path
 import einops
 import pytest
 import torch
+from packaging import version
 from safetensors.torch import load_file
 
 from lerobot import available_policies
@@ -408,7 +409,16 @@ def test_backward_compatibility(ds_repo_id: str, policy_name: str, policy_kwargs
         4. Check that this test now passes.
         5. Remember to restore `tests/scripts/save_policy_to_safetensors.py` to its original state.
         6. Remember to stage and commit the resulting changes to `tests/artifacts`.
+
+    NOTE: If the test does not pass, and you don't change the policy, it is likely that the test artifact
+    is out of date. For example, some PyTorch versions have different randomness, see this PR:
+    https://github.com/huggingface/lerobot/pull/1127.
+
     """
+    # NOTE: ACT policy has different randomness, after PyTorch 2.7.0
+    if policy_name == "act" and version.parse(torch.__version__) < version.parse("2.7.0"):
+        pytest.skip(f"Skipping act policy test with PyTorch {torch.__version__}. Requires PyTorch >= 2.7.0")
+
     ds_name = ds_repo_id.split("/")[-1]
     artifact_dir = Path("tests/artifacts/policies") / f"{ds_name}_{policy_name}_{file_name_extra}"
     saved_output_dict = load_file(artifact_dir / "output_dict.safetensors")