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feat(inference): note that plugin policies need their package installed #136

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Merged
nicolas-rabault merged 2 commits into from
Oct 29, 2026
Merged

feat(inference): note that plugin policies need their package installed #136

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98d56ea
feat(inference): note that plugin policies need their package installed
ravediamond Oct 8, 2026
b5c42a2
feat(inference): show the plugin note only for policy types LeRobot d…
nicolas-rabault Oct 29, 2026
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12 changes: 12 additions & 0 deletions frontend/src/components/landing/InferenceModal.test.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,18 @@ test("an unsaved camera permits a manual rotation with a training-data reminder"
expect(request.cameras.wrist).toMatchObject({ camera_index: 3, rotation: 90, width: 640, height: 480 });
});

test("the plugin package note shows only for a policy type LeRobot does not register", async () => {
await render();
expect(container.textContent).not.toContain("plugin policy");
act(() => root.unmount()); root = createRoot(container);
const builtin = mocks.fetcher.getMockImplementation()!;
mocks.fetcher.mockImplementation(async (url: string, init?: RequestInit) => url.endsWith("/policy-config")
? new Response(JSON.stringify({ policy_type: "my_plugin", requires_task: true, image_features: {} }))
: builtin(url, init));
await render();
expect(container.textContent).toContain("This is a plugin policy");
});

test("an invalid saved rotation blocks inference and gives a visible correction instruction", async () => {
await render({ ...robot, cameras: [{ ...robot.cameras[0], rotation: 45 as never }] });
expect(container.textContent).toContain("Correct the camera settings in Calibration");
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28 changes: 28 additions & 0 deletions frontend/src/components/landing/InferenceModal.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,28 @@ interface Props {
}

const DEFAULT_FPS = 30;
// Policy types LeRobot (v0.6.1) registers itself; any other type comes from a plugin package.
const BUILTIN_POLICY_TYPES = new Set([
"act",
"diffusion",
"eo1",
"evo1",
"fastwam",
"gaussian_actor",
"groot",
"lingbot_va",
"molmoact2",
"multi_task_dit",
"pi0",
"pi05",
"pi0_fast",
"smolvla",
"tdmpc",
"vla_jepa",
"vqbet",
"wall_x",
"xvla",
]);

const InferenceModal: React.FC<Props> = ({
open,
Expand Down Expand Up @@ -176,6 +198,12 @@ const InferenceModal: React.FC<Props> = ({
Pick a checkpoint and confirm hardware. The selected policy will
drive the follower autonomously for the configured duration.
</DialogDescription>
{policyConfig && !BUILTIN_POLICY_TYPES.has(policyConfig.policy_type ?? "") && (
<p className="text-xs text-gray-500 text-center -mt-3">
This is a plugin policy: its package must be installed alongside
lelab, or the run will fail to load the policy.
</p>
)}

<div className="space-y-4">
<h3 className="text-lg font-semibold text-white border-b border-gray-700 pb-2">
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