feat(policies): add NVIDIA gr00t N1.6 VLA policy

.github/workflows/fast_tests.yml

@@ -44,7 +44,7 @@ permissions:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.12"
+  PYTHON_VERSION: "3.10"
 
 # Ensures that only the latest commit for a PR or branch is built, canceling older runs.
 concurrency:
@@ -61,7 +61,6 @@ jobs:
       MUJOCO_GL: egl
       HF_HOME: /mnt/cache/.cache/huggingface
       HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     steps:
       - uses: actions/checkout@v6
         with:
@@ -90,11 +89,5 @@ jobs:
       - name: Install lerobot with test extras
         run: uv sync --extra "test"
 
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          uv run hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          uv run hf auth whoami
-
       - name: Run pytest
         run: uv run pytest tests -vv --maxfail=10

.github/workflows/full_tests.yml

@@ -37,7 +37,7 @@ permissions:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.12"
+  PYTHON_VERSION: "3.10"
   DOCKER_IMAGE_NAME: huggingface/lerobot-gpu
 
 # Ensures that only the latest action is built, canceling older runs.
@@ -60,7 +60,6 @@ jobs:
       MUJOCO_GL: egl
       HF_HOME: /mnt/cache/.cache/huggingface
       HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     steps:
       - uses: actions/checkout@v6
         with:
@@ -88,12 +87,6 @@ jobs:
       - name: Install lerobot with all extras
         run: uv sync --extra all # TODO(Steven): Make flash-attn optional
 
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          uv run hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          uv run hf auth whoami
-
       - name: Run pytest (all extras)
         run: uv run pytest tests -vv --maxfail=10
 
@@ -169,7 +162,6 @@ jobs:
       HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
       TORCH_HOME: /home/user_lerobot/.cache/torch
       TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     container:
       image: ${{ needs.build-and-push-docker.outputs.image_tag }} # zizmor: ignore[unpinned-images]
       options: --gpus all --shm-size "16gb"
@@ -181,13 +173,8 @@ jobs:
         shell: bash
         working-directory: /lerobot
     steps:
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          hf auth whoami
       - name: Fix ptxas permissions
-        run: chmod +x /lerobot/.venv/lib/python3.12/site-packages/triton/backends/nvidia/bin/ptxas
+        run: chmod +x /lerobot/.venv/lib/python3.10/site-packages/triton/backends/nvidia/bin/ptxas
       - name: Run pytest on GPU
         run: pytest tests -vv --maxfail=10
       - name: Run end-to-end tests

.github/workflows/nightly.yml

@@ -28,7 +28,7 @@ on:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.12"
+  PYTHON_VERSION: "3.10"
   DOCKER_IMAGE_NAME_CPU: huggingface/lerobot-cpu:latest
   DOCKER_IMAGE_NAME_GPU: huggingface/lerobot-gpu:latest
 
@@ -119,7 +119,6 @@ jobs:
       HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
       TORCH_HOME: /home/user_lerobot/.cache/torch
       TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     container:
       image: ${{ needs.build-docker-cpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
       options: --shm-size "16gb"
@@ -131,11 +130,6 @@ jobs:
         shell: bash
         working-directory: /lerobot
     steps:
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          hf auth whoami
       - name: Run pytest on CPU
         run: pytest tests -vv --maxfail=10
       - name: Run end-to-end tests
@@ -152,7 +146,6 @@ jobs:
       HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
       TORCH_HOME: /home/user_lerobot/.cache/torch
       TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     container:
       image: ${{ needs.build-docker-gpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
       options: --gpus all --shm-size "16gb"
@@ -164,11 +157,6 @@ jobs:
         shell: bash
         working-directory: /lerobot
     steps:
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          hf auth whoami
       - name: Run pytest on GPU
         run: pytest tests -vv --maxfail=10
       - name: Run end-to-end tests
@@ -186,7 +174,6 @@ jobs:
       TORCH_HOME: /home/user_lerobot/.cache/torch
       TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
       CUDA_VISIBLE_DEVICES: "0,1,2,3"
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     container:
       image: ${{ needs.build-docker-gpu-nightly.outputs.image_tag }} # zizmor: ignore[unpinned-images]
       options: --gpus all --shm-size "16gb"
@@ -198,15 +185,12 @@ jobs:
         shell: bash
         working-directory: /lerobot
     steps:
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          hf auth whoami
       - name: Verify GPU availability
         run: |
           nvidia-smi
           python -c "import torch; print(f'PyTorch CUDA available: {torch.cuda.is_available()}'); print(f'Number of GPUs: {torch.cuda.device_count()}')"
 
       - name: Run multi-GPU training tests
-        run: pytest -vv tests/training/
+      # TODO(Steven): Investigate why motors tests are failing in multi-GPU setup
+        run: pytest tests -vv --maxfail=10 --ignore=tests/motors/
+        timeout-minutes: 10

.github/workflows/quality.yml

@@ -50,7 +50,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: '3.12'
+          python-version: '3.10'
 
       - name: Run pre-commit hooks
         uses: pre-commit/action@v3.0.1 # zizmor: ignore[unpinned-uses]

.github/workflows/release.yml

@@ -22,7 +22,7 @@ on:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.12"
+  PYTHON_VERSION: "3.10"
 
 jobs:
   # This job builds the Python package and publishes it to PyPI
@@ -45,7 +45,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: '3.12'
+          python-version: '3.10'
 
       - name: Extract Version
         id: extract_info
@@ -83,6 +83,14 @@ jobs:
             exit 1
           fi
 
+      - name: Remove Tags with Git dependencies
+        # TODO(Steven): Temporary patch to remove pi from PyPi 0.4.0 release due to its reliance on git dependencies.
+        run: |
+          echo "::info:: Checking for Git dependencies to remove from pyproject.toml..."
+          grep -E '@ git\+https|lerobot\[pi\]' pyproject.toml | sed 's/^/::warning:: Removing line: /' || true
+          sed -E -i '/@ git\+https|lerobot\[pi\]/d' pyproject.toml
+          echo "::info:: Git dependencies removed. Proceeding with build."
+
       - name: Install build dependencies
         run: python -m pip install build
 

.github/workflows/unbound_deps_tests.yml

@@ -29,7 +29,7 @@ permissions:
 # Sets up the environment variables
 env:
   UV_VERSION: "0.8.0"
-  PYTHON_VERSION: "3.12"
+  PYTHON_VERSION: "3.10"
   DOCKER_IMAGE_NAME: huggingface/lerobot-gpu:unbound
 
 # Ensures that only the latest action is built, canceling older runs.
@@ -48,7 +48,6 @@ jobs:
       MUJOCO_GL: egl
       HF_HOME: /mnt/cache/.cache/huggingface
       HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     steps:
       - uses: actions/checkout@v6
         with:
@@ -80,11 +79,7 @@ jobs:
 
       - name: Install lerobot with all extras
         run: uv sync --extra all # TODO(Steven): Make flash-attn optional
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          uv run hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          uv run hf auth whoami
+
       - name: Run pytest (all extras)
         run: uv run pytest tests -vv
 
@@ -142,7 +137,6 @@ jobs:
       HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
       TORCH_HOME: /home/user_lerobot/.cache/torch
       TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
-      HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     container:
       image: ${{ needs.build-and-push-docker.outputs.image_tag }} # zizmor: ignore[unpinned-images]
       options: --gpus all --shm-size "16gb"
@@ -154,11 +148,6 @@ jobs:
         shell: bash
         working-directory: /lerobot
     steps:
-      - name: Login to Hugging Face
-        if: env.HF_USER_TOKEN != ''
-        run: |
-          hf auth login --token "$HF_USER_TOKEN" --add-to-git-credential
-          hf auth whoami
       - name: Run pytest on GPU
         run: pytest tests -vv
       - name: Run end-to-end tests

.pre-commit-config.yaml

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 default_language_version:
-    python: python3.12
+    python: python3.10
 
 exclude: "tests/artifacts/.*\\.safetensors$"
 
@@ -55,7 +55,7 @@ repos:
     rev: v3.21.0
     hooks:
     -   id: pyupgrade
-        args: [--py312-plus]
+        args: [--py310-plus]
 
   ##### Markdown Quality #####
   - repo: https://github.com/rbubley/mirrors-prettier

docker/Dockerfile.internal

@@ -24,7 +24,7 @@ ARG OS_VERSION=22.04
 FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
 
 # Define Python version argument
-ARG PYTHON_VERSION=3.12
+ARG PYTHON_VERSION=3.10
 
 # Configure environment variables
 ENV DEBIAN_FRONTEND=noninteractive \

docker/Dockerfile.user

@@ -19,7 +19,7 @@
 # docker run -it --rm lerobot-user
 
 # Configure the base image
-ARG PYTHON_VERSION=3.12
+ARG PYTHON_VERSION=3.10
 FROM python:${PYTHON_VERSION}-slim
 
 # Configure environment variables

docs/source/bring_your_own_policies.mdx

@@ -32,7 +32,7 @@ version = "0.1.0"
 dependencies = [
     # your policy-specific dependencies
 ]
-requires-python = ">= 3.12"
+requires-python = ">= 3.11"
 
 [build-system]
 build-backend = # your-build-backend
@@ -82,7 +82,7 @@ Create your policy implementation by inheriting from LeRobot's base `PreTrainedP
 # modeling_my_custom_policy.py
 import torch
 import torch.nn as nn
-from typing import Any
+from typing import Dict, Any
 
 from lerobot.policies.pretrained import PreTrainedPolicy
 from .configuration_my_custom_policy import MyCustomPolicyConfig
@@ -91,7 +91,7 @@ class MyCustomPolicy(PreTrainedPolicy):
     config_class = MyCustomPolicyConfig
     name = "my_custom_policy"
 
-    def __init__(self, config: MyCustomPolicyConfig, dataset_stats: dict[str, Any] = None):
+    def __init__(self, config: MyCustomPolicyConfig, dataset_stats: Dict[str, Any] = None):
         super().__init__(config, dataset_stats)
         ...
 ```
@@ -102,7 +102,7 @@ Create processor functions:
 
 ```python
 # processor_my_custom_policy.py
-from typing import Any
+from typing import Dict, Any
 import torch
 
 

docs/source/earthrover_mini_plus.mdx

@@ -13,7 +13,7 @@ The EarthRover Mini Plus is a fully open source mobile robot that connects throu
 ### Hardware
 
 - EarthRover Mini robot
-- Computer with Python 3.12 or newer
+- Computer with Python 3.10 or newer
 - Internet connection
 
 ### Setting Up the Frodobots SDK