Move to LeRobot v0.7.0 by nicolas-rabault · Pull Request #154 · huggingface/leLab

nicolas-rabault · 2026-11-05T15:25:35Z

Moves LeLab onto LeRobot v0.7.0.

All 393 existing tests passed against v0.7.0 while three flows were broken, so most fixes come with a test that fails without them.

Broken on v0.7.0

Training: every run died at argument parsing on --wandb.enable. LeRobot replaced W&B with Trackio (refactor(utils): replace wandb with trackio lerobot#4954). The form now has a Trackio switch with a project field, and an optional Space under Advanced. Signed-in runs sync to a private <user>/lelab-trackio Space by default, which LeRobot requires on HF Jobs. Trackio also creates a private <user>/lelab-trackio-bucket to hold logs until the Space is up. The W&B install gate is gone, since Trackio ships with lerobot[training].
Calibration: homing raised a TypeError. The motors now go through a rustypot-backed SerialMotorsBus (refactor(motors): one rustypot-backed SerialMotorsBus for Feetech and Dynamixel lerobot#4672), whose _get_half_turn_homings() changed signature. It now uses set_half_turn_homings() and set_operating_mode("position").
Policy extras: WALL-OSS showed as missing even once installed, because its probe module (torchdiffeq) left the extra. The check now reads what lerobot[extra] requires from LeRobot's metadata, versions included.

Wrong without crashing

The forced serial-port release on a failed disconnect reached into the Feetech SDK's port_handler, which no longer exists. It now calls bus.disconnect(), which always releases the port.
Calibration is written with the torque off, as LeRobot now does, so Feetech motors store it (refactor(motors): share the hand calibration and the motor setup of serial-bus devices lerobot#4867).
The AMP switch now sends --accelerator.mixed_precision fp16 on CUDA and HF Jobs. Training no longer reads use_amp (feat(train): parallel training framework — FSDP2, HSDP, gradient accumulation, and DCP checkpoints lerobot#4010). fp16 is what v0.6.1 trained with and what evaluation still runs under.
The rollout --task is JSON-quoted. draccus decodes it as YAML, so step 1: grab the cube reached the policy as a dict.
Stop waits up to 60s while rollout setup runs. LeRobot now connects the arm after loading the policy, and killing it mid-connect left the arm powered.

Cleanups

logger.exception instead of folding tracebacks into the message (fix(utils): preserve exc_info/stack_info in init_logging formatter lerobot#4215).
CLAUDE.md: describes the pin, the motor bus and the new CLI test, and fixes two stale module descriptions.

Tests

tests/test_lerobot_cli.py runs the training argv (local, HF Jobs, GR00T flags) and the rollout argv through the installed LeRobot's parsers. It also checks that every policy in the training form is a registered LeRobot policy type. Against the old train.py it fails on --wandb.enable.

I also ran short ACT trainings on lerobot/svla_so101_pickplace through JobRegistry, once per Trackio mode:

Signed out: the run stays in the local Trackio database.
Signed in: LeLab picked the default Space. Trackio created the Space and the bucket as private. LeLab captured the Space URL, and the run's metrics read back from the Space once it was running.

Hardware run

On SO-101 arms, against v0.7.0:

calibrate leader and follower, including stopping a calibration midway
teleoperate, and restart right after Stop, so the port is released
record a few episodes
replay an episode

The rollout did not run on the arms. tests/test_lerobot_cli.py covers its argv.

LeRobot replaced the Feetech SDK bus with a rustypot-backed SerialMotorsBus (huggingface/lerobot#4672). Its _get_half_turn_homings() now takes the homing offset sign of each motor, so the homing step raised a TypeError before the range recording started. set_half_turn_homings() does the reset, the read and the offset writes in one call, and also clamps the offsets the Feetech register cannot hold (huggingface/lerobot#4940). The operating mode is set by name, since the OperatingMode enum is deprecated. rustypot serializes access to the port behind a mutex, so the "Port is in use" error the retries matched on no longer exists.

The forced release reached into the Feetech SDK's port_handler, which SerialMotorsBus does not have, so it silently did nothing. The new bus closes the port in disconnect() even when disabling the torque fails, which is the guarantee the fallback needs.

LeRobot now disables the torque before writing a kept calibration file, so that Feetech motors store it (huggingface/lerobot#4867): with SerialMotorsBus, disabling the torque also opens the Feetech EEPROM lock. Recording, teleoperation and replay wrote the calibration right after connecting, assuming the torque was already off.

LeRobot dropped its W&B integration for Trackio (huggingface/lerobot#4954), so every training run died at argument parsing on the `--wandb.enable` flag LeLab always sent. - Send `--trackio.enable`, `--trackio.project` and `--trackio.space_id`. Entity, notes, run id and mode have no Trackio counterpart. - Default the Space to a private `<user>/lelab-trackio` for a signed-in user: it gives the run a dashboard link, and LeRobot refuses HF Jobs without one. Signed out, a local run stays in this machine's Trackio database. - Capture the Space URL from LeRobot's "Track this run -->" line. Jobs saved with a W&B link keep it. - Stop sending `disable_artifact`: Trackio now skips checkpoint artifacts by default (huggingface/lerobot#5123), where LeLab's default would have copied every checkpoint into the Space. - Drop the W&B install gate: Trackio ships with `lerobot[training]`.

Copilot

🟡 Changes recommended

Precision selection can use unsupported or inefficient BF16 on pre-Ampere GPUs and omit mixed precision for indexed CUDA devices, silently disabling AMP.

2 open issues

What changed in this PR

Updates LeLab’s FastAPI backend and React interface for LeRobot v0.7.0, adapting training, motor control, and rollout behavior to upstream changes.

Changes:

Replaces W&B integration with Trackio configuration and dashboard links.
Updates motor-bus calls, calibration writes, mixed precision, rollout arguments, and shutdown timing.
Adds regression tests, including validation against LeRobot’s CLI parsers.

File	Description
tests/test_utils_system.py	Tests metadata-based policy dependency checks.
tests/test_train.py	Tests Trackio flags and mixed precision.
tests/test_rollout.py	Tests task quoting and setup-stop timing.
tests/test_lerobot_cli.py	Adds upstream CLI parser compatibility tests.
tests/test_jobs.py	Tests tracking links and default Spaces.
tests/test_devices.py	Tests serial-bus cleanup after disconnect failures.
tests/test_calibrate.py	Tests public motor-bus API usage.
pyproject.toml	Pins LeRobot to v0.7.0.
lelab/utils/system.py	Checks policy extras through dependency metadata; removes W&B installation support.
lelab/utils/devices.py	Uses bus disconnect for fallback cleanup.
lelab/train.py	Generates Trackio and mixed-precision arguments.
lelab/teleoperate.py	Disables torque before writing calibration.
lelab/server.py	Removes W&B installation endpoints.
lelab/rollout.py	Quotes task strings and extends setup-stop grace.
lelab/replay.py	Disables torque before writing calibration.
lelab/record.py	Updates calibration writes and exception logging.
lelab/jobs.py	Captures tracking links and defaults Trackio Spaces.
lelab/calibrate.py	Uses public homing APIs and simplifies error handling.
frontend/src/pages/Training.tsx	Submits Trackio settings and displays metrics links.
frontend/src/lib/jobsApi.ts	Updates training and job API types.
frontend/src/hooks/useInstallExtra.ts	Updates documentation examples only.
frontend/src/components/training/WandbInstallDialog.tsx	Deletes the W&B installation dialog.
frontend/src/components/training/types.ts	Replaces W&B configuration fields with Trackio fields.
frontend/src/components/training/PolicyExtraDialog.tsx	Describes unmet package requirements.
frontend/src/components/training/config/EssentialsCard.tsx	Adds Trackio controls and removes the install gate.
frontend/src/components/training/config/AdvancedCard.tsx	Adds optional Trackio Space configuration.
frontend/src/components/jobs/JobsSection.tsx	Consumes tracking links from progress updates.
CLAUDE.md	Documents migration practices and corrects module descriptions.

_{Review effort: Balanced}

nicolas-rabault · 2026-11-06T09:05:05Z

+    # Training takes mixed precision from accelerate alone (huggingface/lerobot#4010); use_amp
+    # above stays for the saved config, which evaluation and inference read. HF Jobs pods are
+    # GPUs; bf16 needs no loss scaling.
+    if request.policy_use_amp and (is_cloud or device == "cuda"):


The form only sends cpu or the auto-selected device type, so the device is never indexed.

nicolas-rabault · 2026-11-06T09:05:07Z

+    if request.policy_use_amp and (is_cloud or device == "cuda"):
+        cmd.extend(["--accelerator.mixed_precision", "bf16"])


Switched to fp16: it is what use_amp trained with on CUDA in v0.6.1 (the torch.autocast default), what lerobot-eval still runs under, and it works on the T4.

LeRobot's parallel training framework (huggingface/lerobot#4010) takes mixed precision from `--accelerator.mixed_precision` alone; `--policy.use_amp` is only read by evaluation and inference now, so the switch no longer changed how a run trained. Send fp16 on CUDA and on HF Jobs pods, the torch.autocast default that v0.6.1 trained with and that evaluation still runs under, and keep use_amp so the saved config still runs inference in AMP.

The check probed one module per policy, which no longer matches LeRobot: the `wallx` extra dropped torchdiffeq (huggingface/lerobot#4077), so WALL-OSS stayed "missing" even once installed. A probe also passes an environment upgraded from an older LeRobot, where transformers 5.5 still imports though the extras now pin 5.22. Read what `lerobot[extra]` requires from LeRobot's own metadata, through the extras it is built from, and report each package that is missing or out of range. New extras need no hand-picked probe, and a test fails when LeRobot renames or drops an extra LeLab offers.

draccus decodes a string flag as YAML, so a task like "step 1: grab the cube" reached the policy as a dict, "yes" as True, and "null" as None since the draccus bump in LeRobot main. A language-conditioned policy then ran on the wrong instruction without any error. JSON-quote the task, which draccus decodes back to the exact string.

LeRobot now connects the arm only after the policy has loaded (huggingface/lerobot#4866), and a stop signal during setup is only noted until the control loop starts. Killing the process 5s after Stop could land in the middle of connecting the arm and leave it powered. Wait up to 60s while setup runs; the 5s grace still applies once the loop has started.

The argv-shape tests all passed while every training run died on the removed `--wandb.enable` flag. Parse the real training argv (local, HF Jobs, and GR00T's own flags) and the real rollout argv with the installed LeRobot, and check every policy the training form offers is a policy type LeRobot registers, so the next rename fails here instead of on a user's run.

LeRobot's init_logging() now installs a real logging.Formatter that keeps exc_info (huggingface/lerobot#4215), so the tracebacks folded into the message by hand are no longer needed.

…DE.md Also fix two module descriptions that no longer matched the code: recording drives record_loop with its own events dict rather than patching LeRobot's keyboard listener, and teleoperation runs its own loop.

nicolas-rabault added 5 commits November 6, 2026 09:54

build(deps): pin lerobot to v0.7.0

e4dd50a

nicolas-rabault force-pushed the chore/lerobot-0.7 branch from 97f6d59 to d3d88e3 Compare November 6, 2026 08:55

nicolas-rabault marked this pull request as ready for review November 6, 2026 08:55

Copilot AI balanced review requested due to automatic review settings November 6, 2026 08:55

Copilot started reviewing on behalf of nicolas-rabault November 6, 2026 08:55

View session

Copilot AI reviewed Nov 6, 2026

View reviewed changes

nicolas-rabault added 7 commits November 6, 2026 10:04

refactor: log tracebacks through logger.exception

954d569

LeRobot's init_logging() now installs a real logging.Formatter that keeps exc_info (huggingface/lerobot#4215), so the tracebacks folded into the message by hand are no longer needed.

nicolas-rabault force-pushed the chore/lerobot-0.7 branch from d3d88e3 to f69ba57 Compare November 6, 2026 09:04

nicolas-rabault merged commit 1894ab5 into main Nov 6, 2026
6 checks passed

nicolas-rabault deleted the chore/lerobot-0.7 branch November 6, 2026 09:08

Navigation Menu

Repository navigation

Move to LeRobot v0.7.0 - #154

Move to LeRobot v0.7.0#154
nicolas-rabault merged 12 commits into
mainfrom
chore/lerobot-0.7

nicolas-rabault commented Nov 5, 2026 •

edited

Loading

Uh oh!

Copilot AI left a comment

Uh oh!

nicolas-rabault Nov 6, 2026

Uh oh!

nicolas-rabault Nov 6, 2026

Uh oh!

Uh oh!

Reviewers

Uh oh!

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

		if request.policy_use_amp and (is_cloud or device == "cuda"):
		cmd.extend(["--accelerator.mixed_precision", "bf16"])

Conversation

nicolas-rabault commented Nov 5, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Broken on v0.7.0

Wrong without crashing

Cleanups

Tests

Hardware run

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

🟡 Changes recommended

Uh oh!

nicolas-rabault Nov 6, 2026

Choose a reason for hiding this comment

Uh oh!

nicolas-rabault Nov 6, 2026

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Reviewers

Uh oh!

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

nicolas-rabault commented Nov 5, 2026 •

edited

Loading