Release v0.4.0

Release Blog

https://huggingface.co/blog/lerobot-release-v040

What's Changed

• chore: Bump to 0.3.4 by @imstevenpmwork in #1691
• chore(docs): prioritize use of entry points in docs + fix nightly badge by @imstevenpmwork in #1692
• fix(busy_wait): fix busy_wait implementation for Windows platforms by @CarolinePascal in #1695
• fix(ci): inverted names by @imstevenpmwork in #1705
• fix(ci): rename libegl1-mesa in deb13 trixie by @imstevenpmwork in #1735
• fix: Add missing dynamixel encoding table entries by @jackvial in #1534
• fix(dataset): Correctly use episode_data parameter in save_episode by @lxk-221 in #1740
• Removed dupicate lines of code by @mgiac-hexagon in #1709
• Add feetech firmware update docs by @pkooij in #1793
• Lower limits by 50% for current and torque for gripper motor by @pkooij in #1809
• Allow max_relative_target to be a float by @jstnhuang in #1837
• 2 add reachy 2 to updated lerobot by @glannuzel in #1767
• fix (koch): Disable motor torque before applying calibration logic by @Gongsta in #1889
• fix(scripts): revert deletion of rs cam config import introduced by #1767 by @imstevenpmwork in #1876
• Dataset v3 by @michel-aractingi in #1412
• Add Streaming Dataset by @fracapuano in #1613
• Update dataset card by default by @michel-aractingi in #1936
• docs(dataset): add dataset v3 documentation by @jadechoghari in #1956
• feat(processors): use pipelines across the codebase by @AdilZouitine in #1452
• small tiny nit by @fracapuano in #1975
• fix (docs): image link for phone by @pkooij in #1977
• bump gym-hil version to be pipeline compatible by @michel-aractingi in #1983
• Add docs for LeRobot Image transforms by @pkooij in #1972
• fix formatting readme by @pkooij in #1987
• bump datasets to 4.0.0 by @michel-aractingi in #1990
• fix(trainer): overrides device to the target device, for the device processor on the preprocessor by @AdilZouitine in #1993
• feat(sim): Add Libero Env by @jadechoghari in #1984
• feat(ci): add stale GH action bot for stalled issues & PRs by @imstevenpmwork in #1996
• chore(ci): update time for stale issue/pr by @imstevenpmwork in #1997
• Updated Readme removed broken link by @complete-dope in #1989
• Fix: Resolve PermissionError and UnicodeDecodeError in Python scripts by @JivinDotL in #1980
• fix(dataset): cast fps to int instead of float by @imstevenpmwork in #2001
• chore(rl): move rl related code to its directory at top level by @imstevenpmwork in #2002
• docs(rl): fix path by @imstevenpmwork in #2004
• refactor(scripts): update system info script by @imstevenpmwork in #2005
• feat(script): add entry point for dataset viz by @imstevenpmwork in #2006
• feat(script): add entry point for image transform viz by @imstevenpmwork in #2007
• chore: move constants to utils by @imstevenpmwork in #2016
• chore: move errors to utils by @imstevenpmwork in #2017
• chore(scripts): move find_cameras to scripts by @imstevenpmwork in #2018
• feat(script): add entry point for find joints limits by @imstevenpmwork in #2010
• chore(scripts): move find_port to scripts by @imstevenpmwork in #2019
• chore(scripts): move teleop to scripts by @imstevenpmwork in #2023
• chore(scripts): move record to scripts by @imstevenpmwork in #2022
• chore(scripts): move calibrate to scripts by @imstevenpmwork in #2024
• chore(scripts): move setup_motors to scripts by @imstevenpmwork in #2020
• chore(scripts): move replay to scripts by @imstevenpmwork in #2021
• chore(async): move async related code to its directory at top level by @imstevenpmwork in #2003
• chore(ci): update stale message by @imstevenpmwork in #2027
• fix(docs): update outdated links by @imstevenpmwork in #2026
• chore(utils): move benchmark and buffer to their respective modules by @imstevenpmwork in #2028
• chore(utils): move encoding utils and process to their respective modules by @imstevenpmwork in #2029
• chore(utils): remove unused utils legacy functions + rename init_rerun by @imstevenpmwork in #2031
• chore(utils): move queue utils and wandb_utils to their respective modules by @imstevenpmwork in #2030
• (docs): small change in dataset name by @jadechoghari in #2032
• chore(scripts): rename eval and train scripts by @imstevenpmwork in #2033
• chore: replace hard-coded obs values with constants throughout all the source code by @imstevenpmwork in #2037
• chore(mypy): add mypy configuration and module overrides for gradual type checking by @AdilZouitine in #2052
• chore: replace hard-coded action values with constants throughout all the source code by @imstevenpmwork in #2055
• Bug in conversion from v2.1 script by @michel-aractingi in #2057
• chore: replace hard-coded next values with constants throughout all the source code by @imstevenpmwork in #2056
• chore(utils): remove unused code by @imstevenpmwork in #2059
• Fix(train): add processor overrides with normalizer and unnormalizer stats by @AdilZouitine in #2038
• docs(fix): libero example command by @jadechoghari in #2060
• Save Cropped Dataset to Hub by @fracapuano in #2071
• Fix video concat path by @Tavish9 in #2076
• chore: remove unused code by @imstevenpmwork in #2062
• Improve V3 aggregate implementation by @Tavish9 in #2077
• chore: enable pyugrade ruff lint by @imstevenpmwork in #2084
• chore: enable simplify in ruff lint by @imstevenpmwork in #2085
• feat(normalization): add validation for empty features in NormalizerProcessorStep and UnnormalizerProcessorStep by @AdilZouitine in #2087
• Revert feat(normalization): add validation for empty features in NormalizerProcessorStep and UnnormalizerProcessorStep (#2087) by @AdilZouitine in #2089
• feat(policies): add noise parameter to action prediction methods by @AdilZouitine in #2063
• feat(train): include input and output features in processor overrides for normalization by @AdilZouitine in #2090
• fix(video_path): setting video_path to None during conversion for images datasets by @CarolinePascal in #2095
• feat(mypy): enable type checking for envs module and configure mypy settings in pyproject.toml by @AdilZouitine in #2099
• feat(mypy): configure mypy settings and add module overrides for gradual typing by @AdilZouitine in #2101
• Making Envs module pass MyPy checks by @iakhil in #2048
• Add OpenPi, Pi0 and Pi0.5 by @pkooij in #1910
• (chore) improve v3 message, allow converting local datasets to V3 by @michel-aractingi in #1948
• fix bug in augment_dataset_quantile_stats.py that was not detecting… by @michel-aractingi in #2106
• Improve docs pi by @pkooij in #2110
• feat(deps): ceil dependency versions by @imstevenpmwork in #2091
• Update README.md to fix broken link to example notebook for visuals by @iuliaferoli in #2117
• Fix pyav time_base error by @michel-aractingi in #2133
• fix(async): Add pre and post processing to async inference and update docs by @pkooij in #2132
• feat(devices): add lazy loading for 3rd party robots cameras and teleoperators by @imstevenpmwork in #2123
• chore(docs): add missing license headers by @imstevenpmwork in #2140
• refactor(datasets): add compress_level parameter to write_image() and set it to 1 by @imstevenpmwork in #2135
• Add act documentation by @pkooij in #2139
• fix(docs): local docs links by @imstevenpmwork in #2149
• Remove validate_robot_cameras_for_policy by @pkooij in #2150
• Dataset tools by @michel-aractingi in #2100
• refactor(envs): add custom-observation-size by @jadechoghari in #2167
• [HIL-SERL] use TeleopEvents.RERECORD_EPISODE in gym_manipulator by @jpizarrom in #2165
• Incremental parquet writing by @michel-aractingi in #1903
• Add missing finalize calls in example by @michel-aractingi in #2175
• fix(pi0): Minor minor minor thing in the warning by @fracapuano in #2168
• fix outdated example in docs by @fracapuano in #2182
• feat(deps): add setuptools dependency by @imstevenpmwork in #2187
• fix(datasets): conversion script function naming by @imstevenpmwork in #2199
• feat(scripts): Introduce build_inference_frame/make_robot_action util to easily allow API-based Inference by @fracapuano in #2143
• chore(policies): deprecate pi0fast by @imstevenpmwork in #2203
• Feat/expand add features by @michel-aractingi in #2202
• feat(sim): add metaworld env by @jadechoghari in #2088
• chore(deps): libero dep pointing to main by @imstevenpmwork in #2201
• Fix homunculus teleoperator serial input lag by @ryanpennings in #2196
• feat(train): add accelerate for multi gpu training by @pkooij in #2154
• chore(ci): relax stale bot for PRs by @imstevenpmwork in #2222
• fix(scripts): warmup in find cameras script by @imstevenpmwork in #2229
• fix(dependencies): bound wandb < 0.22.0 due to protobuf version by @imstevenpmwork in #2230
• fix(docs): eval-related doc errors by @Infinity4B in #2183
• Fix incorrect sign-magnitude handling for STS/SMS series encodings by @nahakiole in #2223
• Optimized episode cache verification by @antoinedandi in #2166
• chore(deps): bump pypa/gh-action-pypi-publish from 1.12.4 to 1.13.0 by @dependabot[bot] in #1870
• chore(robots): deprecate strech, vipex and widowx robots by @imstevenpmwork in #2205
• Docs(fix): corrects minor mix-ups encoder/decoder by @jadechoghari in #2231
• docs: change video file path format in conversion script by @edgarriba in #2113
• Fix: debug policy load pretrained model failure problem by @yfynb1111 in #2073
• fix(docs): markdown formatting in integrate_hardware.mdx by @imstevenpmwork in #2232
• doc: fix deprecated hugginface-cli whoami by @azaracla in #1884
• Fixed wrist flex incorrect calibration for LeKiwi by @IliaLarchenko in #1787
• feat(utils): add support for Intel XPU backend by @imstevenpmwork in #2233
• Fixes: Overriding input and output features from a config (🐛 Bug) by @LiXiling in #1771
• fix(docs): update eval example by @imstevenpmwork in #2236
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci[bot] in #1563
• fix(docs): update example flags for lerobot-dataset-viz by @imstevenpmwork in #2238
• chore(dependencies): upgrade rerun by @imstevenpmwork in #2237
• Fixes failed to delete images because the timing of gc is uncertain by @lycoris1129 in #1710
• feat(tests): Add MockMotorBus to MockRobot by @fracapuano in #2081
• chore(pyproject): cleaning no longer existing files/folders in pyproject exclude_dirs by @CarolinePascal in #2240
• docs(install): use miniforge instead of miniconda by @imstevenpmwork in #2249
• Feat: Support CLI for Launching LeKiwiHost by @zuoxingdong in #1614
• refactor(env): introduce explicit gym ID handling in EnvConfig/factory by @jadechoghari in #2234
• Add affine transforms to dataset augmentations by @brysonjones in #2145
• chore(mypy-compliant): Ensure the model module passes MyPy type checks by @quanghuynt14 in #1782
• Fixed mypy issues (with the exception of import issues) for lerobot cameras module (#1724) by @Jaisree25 in #1788
• Fix typehint and address the mypy errors of src/lerobot/configs by @tetsugo02 in #1746
• Enhance OpenCVCamera with FOURCC for MJPEG support and validation by @forgetwhatuwant in #1558
• chore(style): update mypy config by @imstevenpmwork in #2257
• Bugfix: Handle non-version revision strings in LeRobotDataset by @antoinedandi in #2260
• fix: support cuda:0, cuda:1 in string selection by @jadechoghari in #2256
• fix(scripts): add missing observation overwrite in eval and async by @imstevenpmwork in #2265
• Fix camera FPS set issue by @xuaner233 in #2275
• fix(ci): exclude motor tests in multi-gpu setup by @imstevenpmwork in #2276
• chore(dependencies): bump & ceil gymnasium version + pin metaworld version + bump gym-hil by @imstevenpmwork in #2267
• fix(bug): Device Error on SmolVLA Multi-GPU Training by @nijkah in #2270
• fix(bug): Fix policy renaming ValueError during training by @jadechoghari in #2278
• Fix: Correct frames_in_current_file calculation for multi-episode files by @michel-aractingi in #2280
• fix(cameras): opencv camera index casting by @imstevenpmwork in #2286
• feat(policies): add Nvidia Gr00t N1.5 model by @imstevenpmwork in #2292
• Add API Examples by @fracapuano in #2289
• docs(policies): GR00T updates by @liorbenhorin in #2293
• Fix: check_cached_episodes doesn't check if the requested episode video were downloaded by @michel-aractingi in #2296
• chore(deps): update requirements file by @imstevenpmwork in #2297
• patch(ci): remove pi & libero tags from PyPi release temporary due to their reliance on git dependencies by @imstevenpmwork in #2300
• fix(ci): add fastapi dep + bump to 0.3.5 by @imstevenpmwork in #2301
• chore(dependencies): Bump lerobot to 0.4.0 by @imstevenpmwork in #2298

New Contributors

• @lxk-221 made their first contribution in #1740
• @mgiac-hexagon made their first contribution in #1709
• @jstnhuang made their first contribution in #1837
• @glannuzel made their first contribution in #1767
• @Gongsta made their first contribution in #1889
• @complete-dope made their first contribution in #1989
• @JivinDotL made their first contribution in #1980
• @iakhil made their first contribution in #2048
• @iuliaferoli made their first contribution in #2117
• @ryanpennings made their first contribution in #2196
• @Infinity4B made their first contribution in #2183
• @nahakiole made their first contribution in #2223
• @antoinedandi made their first contribution in #2166
• @dependabot[bot] made their first contribution in #1870
• @edgarriba made their first contribution in #2113
• @yfynb1111 made their first contribution in #2073
• @azaracla made their first contribution in #1884
• @LiXiling made their first contribution in #1771
• @lycoris1129 made their first contribution in #1710
• @brysonjones made their first contribution in #2145
• @quanghuynt14 made their first contribution in #1782
• @Jaisree25 made their first contribution in #1788
• @tetsugo02 made their first contribution in #1746
• @forgetwhatuwant made their first contribution in #1558
• @xuaner233 made their first contribution in #2275
• @nijkah made their first contribution in #2270
• @liorbenhorin made their first contribution in #2293

Full Changelog: v0.3.3...v0.4.0