Merge remote-tracking branch 'origin/main' into user/aliberts/2025_02…

…_10_dataset_v2.1

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

@@ -8,6 +8,8 @@ on:
   schedule:
     - cron: "0 1 * * *"
 
+permissions: {}
+
 env:
   PYTHON_VERSION: "3.10"
 
@@ -25,11 +27,14 @@ jobs:
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          cache-binary: false
 
       - name: Check out code
         uses: actions/checkout@v4
         with:
           lfs: true
+          persist-credentials: false
 
       - name: Login to DockerHub
         uses: docker/login-action@v3
@@ -60,11 +65,14 @@ jobs:
 
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          cache-binary: false
 
       - name: Check out code
         uses: actions/checkout@v4
         with:
           lfs: true
+          persist-credentials: false
 
       - name: Login to DockerHub
         uses: docker/login-action@v3
@@ -89,9 +97,13 @@ jobs:
     steps:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          cache-binary: false
 
       - name: Check out code
         uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Login to DockerHub
         uses: docker/login-action@v3

.github/workflows/nightly-tests.yml

@@ -7,6 +7,8 @@ on:
   schedule:
     - cron: "0 2 * * *"
 
+permissions: {}
+
 # env:
   # SLACK_API_TOKEN: ${{ secrets.SLACK_API_TOKEN }}
 jobs:

.github/workflows/quality.yml

@@ -8,6 +8,8 @@ on:
     branches:
       - main
 
+permissions: {}
+
 env:
   PYTHON_VERSION: "3.10"
 
@@ -17,7 +19,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout Repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Set up Python
         uses: actions/setup-python@v4
@@ -45,7 +49,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout Repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Install poetry
         run: pipx install "poetry<2.0.0"
@@ -59,7 +65,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout Repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Install poetry
         run: pipx install "poetry<2.0.0"

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

@@ -8,6 +8,8 @@ on:
       # Run only when DockerFile files are modified
       - "docker/**"
 
+permissions: {}
+
 env:
   PYTHON_VERSION: "3.10"
 
@@ -20,6 +22,8 @@ jobs:
     steps:
       - name: Check out code
         uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Get changed files
         id: changed-files
@@ -34,7 +38,7 @@ jobs:
         env:
           ALL_CHANGED_FILES: ${{ steps.changed-files.outputs.all_changed_files }}
         run: |
-          echo "matrix=${{ steps.changed-files.outputs.all_changed_files}}" >> $GITHUB_OUTPUT
+          echo "matrix=${ALL_CHANGED_FILES}" >> $GITHUB_OUTPUT
 
 
   build_modified_dockerfiles:
@@ -50,9 +54,13 @@ jobs:
     steps:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
+        with:
+          cache-binary: false
 
       - name: Check out code
         uses: actions/checkout@v4
+        with:
+          persist-credentials: false
 
       - name: Build Docker image
         uses: docker/build-push-action@v5

.github/workflows/test.yml

@@ -22,6 +22,8 @@ on:
       - "Makefile"
       - ".cache/**"
 
+permissions: {}
+
 jobs:
   pytest:
     name: Pytest
@@ -32,6 +34,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           lfs: true  # Ensure LFS files are pulled
+          persist-credentials: false
 
       - name: Install apt dependencies
       # portaudio19-dev is needed to install pyaudio
@@ -72,6 +75,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           lfs: true  # Ensure LFS files are pulled
+          persist-credentials: false
 
       - name: Install apt dependencies
         run: sudo apt-get update && sudo apt-get install -y ffmpeg
@@ -108,6 +112,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           lfs: true  # Ensure LFS files are pulled
+          persist-credentials: false
 
       - name: Install apt dependencies
       # portaudio19-dev is needed to install pyaudio

.github/workflows/trufflehog.yml

@@ -3,8 +3,7 @@ on:
 
 name: Secret Leaks
 
-permissions:
-  contents: read
+permissions: {}
 
 jobs:
   trufflehog:
@@ -14,6 +13,8 @@ jobs:
       uses: actions/checkout@v4
       with:
         fetch-depth: 0
+        persist-credentials: false
+
     - name: Secret Scanning
       uses: trufflesecurity/trufflehog@main
       with:

.pre-commit-config.yaml

@@ -14,24 +14,28 @@ repos:
       - id: end-of-file-fixer
       - id: trailing-whitespace
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.19.0
+    rev: v3.19.1
     hooks:
     -   id: pyupgrade
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.8.2
+    rev: v0.9.6
     hooks:
       - id: ruff
         args: [--fix]
       - id: ruff-format
   - repo: https://github.com/python-poetry/poetry
-    rev: 1.8.0
+    rev: 1.8.5
     hooks:
       - id: poetry-check
       - id: poetry-lock
         args:
           - "--check"
           - "--no-update"
   - repo: https://github.com/gitleaks/gitleaks
-    rev: v8.21.2
+    rev: v8.23.3
     hooks:
       - id: gitleaks
+  - repo: https://github.com/woodruffw/zizmor-pre-commit
+    rev: v1.3.1
+    hooks:
+      - id: zizmor

lerobot/common/datasets/factory.py

@@ -104,7 +104,7 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
         )
         logging.info(
             "Multiple datasets were provided. Applied the following index mapping to the provided datasets: "
-            f"{pformat(dataset.repo_id_to_index , indent=2)}"
+            f"{pformat(dataset.repo_id_to_index, indent=2)}"
         )
 
     if cfg.dataset.use_imagenet_stats:

lerobot/common/datasets/push_dataset_to_hub/dora_parquet_format.py

@@ -72,7 +72,7 @@ def load_from_raw(raw_dir: Path, videos_dir: Path, fps: int, video: bool, episod
             # However, note that "nearest" might synchronize the reference camera with other cameras on slightly future timestamps.
             # are too far appart.
             direction="nearest",
-            tolerance=pd.Timedelta(f"{1/fps} seconds"),
+            tolerance=pd.Timedelta(f"{1 / fps} seconds"),
         )
     # Remove rows with episode_index -1 which indicates data that correspond to in-between episodes
     df = df[df["episode_index"] != -1]

lerobot/common/policies/act/modeling_act.py

@@ -409,9 +409,9 @@ def forward(self, batch: dict[str, Tensor]) -> tuple[Tensor, tuple[Tensor, Tenso
             latent dimension.
         """
         if self.config.use_vae and self.training:
-            assert (
-                "action" in batch
-            ), "actions must be provided when using the variational objective in training mode."
+            assert "action" in batch, (
+                "actions must be provided when using the variational objective in training mode."
+            )
 
         batch_size = (
             batch["observation.images"]

lerobot/common/policies/diffusion/configuration_diffusion.py

@@ -221,7 +221,7 @@ def validate_features(self) -> None:
         for key, image_ft in self.image_features.items():
             if image_ft.shape != first_image_ft.shape:
                 raise ValueError(
-                    f"`{key}` does not match `{first_image_key}`, but we " "expect all image shapes to match."
+                    f"`{key}` does not match `{first_image_key}`, but we expect all image shapes to match."
                 )
 
     @property

lerobot/common/policies/pi0/modeling_pi0.py

@@ -300,7 +300,7 @@ def select_action(self, batch: dict[str, Tensor], noise: Tensor | None = None) -
             self._action_queue.extend(actions.transpose(0, 1))
         return self._action_queue.popleft()
 
-    def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> dict[str, Tensor]:
+    def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> tuple[Tensor, dict[str, Tensor]]:
         """Do a full training forward pass to compute the loss"""
         if self.config.adapt_to_pi_aloha:
             batch[OBS_ROBOT] = self._pi_aloha_decode_state(batch[OBS_ROBOT])
@@ -328,12 +328,12 @@ def forward(self, batch: dict[str, Tensor], noise=None, time=None) -> dict[str,
         losses = losses[:, :, : self.config.max_action_dim]
         loss_dict["losses_after_rm_padding"] = losses.clone()
 
-        loss = losses.mean()
         # For backward pass
-        loss_dict["loss"] = loss
+        loss = losses.mean()
         # For logging
         loss_dict["l2_loss"] = loss.item()
-        return loss_dict
+
+        return loss, loss_dict
 
     def prepare_images(self, batch):
         """Apply Pi0 preprocessing to the images, like resizing to 224x224 and padding to keep aspect ratio, and

lerobot/common/policies/tdmpc/modeling_tdmpc.py

@@ -594,9 +594,9 @@ def _apply_fn(m):
 
         self.apply(_apply_fn)
         for m in [self._reward, *self._Qs]:
-            assert isinstance(
-                m[-1], nn.Linear
-            ), "Sanity check. The last linear layer needs 0 initialization on weights."
+            assert isinstance(m[-1], nn.Linear), (
+                "Sanity check. The last linear layer needs 0 initialization on weights."
+            )
             nn.init.zeros_(m[-1].weight)
             nn.init.zeros_(m[-1].bias)  # this has already been done, but keep this line here for good measure
 

lerobot/common/policies/vqbet/configuration_vqbet.py

@@ -184,7 +184,7 @@ def validate_features(self) -> None:
         for key, image_ft in self.image_features.items():
             if image_ft.shape != first_image_ft.shape:
                 raise ValueError(
-                    f"`{key}` does not match `{first_image_key}`, but we " "expect all image shapes to match."
+                    f"`{key}` does not match `{first_image_key}`, but we expect all image shapes to match."
                 )
 
     @property