Move to LeRobot v0.7.0

CLAUDE.md

@@ -16,7 +16,7 @@ Install (editable, requires Python ≥3.10):
 pip install -e .
 ```
 
-`lerobot` is pinned to a release tag on `huggingface/lerobot` (currently `v0.6.1`, see [pyproject.toml](pyproject.toml)) — installed from git rather than PyPI because the published wheels don't expose the `lerobot-rollout` script that [lelab/rollout.py](lelab/rollout.py) shells out to. Bump the tag when you want a newer upstream release; expect import-path drift (e.g. `lerobot.configs.dataset`, `lerobot.utils.feature_utils`, `lerobot.common.control_utils`) and adjust call sites accordingly.
+`lerobot` is pinned to a ref on `huggingface/lerobot` (currently `v0.7.0`, see [pyproject.toml](pyproject.toml)), installed from git rather than PyPI because the published wheels don't expose the `lerobot-rollout` script that [lelab/rollout.py](lelab/rollout.py) shells out to. Bump the ref when you want a newer upstream release; expect import-path drift (e.g. `lerobot.configs.dataset`, `lerobot.utils.feature_utils`, `lerobot.common.control_utils`) and CLI flag renames (v0.7.0 replaced `--wandb.*` with `--trackio.*`). [tests/test_lerobot_cli.py](tests/test_lerobot_cli.py) runs the training and rollout argv LeLab builds through the installed LeRobot's parsers, so run the tests right after a bump. Since v0.7.0 the arms' motors go through LeRobot's rustypot-backed `SerialMotorsBus`: use its public methods (`set_operating_mode`, `set_half_turn_homings`, `disconnect`), not Feetech SDK internals.
 
 Run servers (entry point defined in [pyproject.toml](pyproject.toml)):
 
@@ -35,8 +35,8 @@ Run the Python tests with `pytest` (config in [pyproject.toml](pyproject.toml);
 
 [server.py](lelab/server.py) is a thin FastAPI router. Each feature lives in its own module that owns its global state and exposes `handle_*` functions plus a Pydantic request model:
 
-- [record.py](lelab/record.py) — dataset recording (wraps `lerobot.record.record`); patches `lerobot.common.utils.control_utils` keyboard listener so frontend buttons replace arrow-key controls. The worker is a daemon thread, so the server's shutdown hook calls `stop_recording_and_wait()` to let an active session finalize on Ctrl+C.
-- [teleoperate.py](lelab/teleoperate.py) — leader→follower teleoperation (wraps `lerobot.teleoperate`).
+- [record.py](lelab/record.py): dataset recording around LeRobot's `record_loop`; frontend buttons set the same `events` dict LeRobot's keyboard listener would. The worker is a daemon thread, so the server's shutdown hook calls `stop_recording_and_wait()` to let an active session finalize on Ctrl+C.
+- [teleoperate.py](lelab/teleoperate.py): leader→follower teleoperation loop over LeRobot's SO-101 leader and follower.
 - [replay.py](lelab/replay.py): plays a recorded episode's actions on the follower arm, an in-process take on `lerobot-replay` so the dataset browser can stop it.
 - [calibrate.py](lelab/calibrate.py) — step-by-step web calibration with a `CalibrationManager` singleton and `_step_complete` threading.Event.
 - [train.py](lelab/train.py) — wraps the LeRobot training CLI as a subprocess (psutil for lifecycle, queue for log streaming).

frontend/src/components/jobs/JobsSection.tsx

@@ -104,7 +104,7 @@ const JobsSection: React.FC = () => {
           ...j,
           state: s.state,
           metrics: s.metrics,
-          wandb_run_url: s.wandb_run_url,
+          tracking_url: s.tracking_url,
           checkpoint_count: s.checkpoint_count,
         };
       });

frontend/src/components/training/PolicyExtraDialog.tsx

@@ -18,7 +18,7 @@ interface Props {
   open: boolean;
   onOpenChange: (open: boolean) => void;
   policyType: string;
-  packageName: string; // the probed module, e.g. "transformers"
+  packageName: string; // the requirements still unmet, e.g. "transformers<5.23.0,>=5.22.0"
   installTarget: string; // e.g. "lerobot[smolvla]"
   installHint: string; // e.g. "pip install 'lerobot[smolvla]'"
 }
@@ -63,11 +63,11 @@ const PolicyExtraDialog: React.FC<Props> = ({
             idleTitle={title}
             idleDescription={
               <>
-                Training a <span className="font-semibold">{policyType}</span> policy needs the{" "}
+                Training a <span className="font-semibold">{policyType}</span> policy needs{" "}
                 <code className="px-1 py-0.5 rounded bg-slate-900 text-sky-300">{packageName}</code>{" "}
-                package (installed via{" "}
+                (installed via{" "}
                 <code className="px-1 py-0.5 rounded bg-slate-900 text-sky-300">{installTarget}</code>),
-                which isn't in this environment yet. Install it to train this policy.
+                which this environment doesn't have yet. Install it to train this policy.
               </>
             }
             doneDescription={<RestartInstructions purpose={`${policyType} training`} />}

frontend/src/components/training/config/AdvancedCard.tsx

@@ -251,74 +251,33 @@ const AdvancedCard: React.FC<ConfigComponentProps> = ({ config, updateConfig })
             </div>
           </section>
 
-          {config.wandb_enable && (
+          {config.trackio_enable && (
             <>
               <Separator className="bg-slate-700" />
               <section className="space-y-4">
-                <SectionHeading>Weights & Biases</SectionHeading>
+                <SectionHeading>Trackio</SectionHeading>
                 <div>
-                  <Label htmlFor="wandb_entity" className="text-slate-300">
-                    W&B Entity (optional)
+                  <Label htmlFor="trackio_space_id" className="text-slate-300">
+                    Trackio Space (optional)
                   </Label>
                   <Input
-                    id="wandb_entity"
-                    value={config.wandb_entity || ''}
+                    id="trackio_space_id"
+                    value={config.trackio_space_id || ''}
                     onChange={(e) =>
-                      updateConfig('wandb_entity', e.target.value || undefined)
+                      updateConfig('trackio_space_id', e.target.value || undefined)
                     }
-                    placeholder="your-username"
+                    placeholder="your-username/lelab-trackio"
                     className="bg-slate-900 border-slate-600 text-white rounded-lg"
                   />
-                </div>
-                <div>
-                  <Label htmlFor="wandb_notes" className="text-slate-300">
-                    W&B Notes (optional)
-                  </Label>
-                  <Input
-                    id="wandb_notes"
-                    value={config.wandb_notes || ''}
-                    onChange={(e) =>
-                      updateConfig('wandb_notes', e.target.value || undefined)
-                    }
-                    placeholder="Training run notes..."
-                    className="bg-slate-900 border-slate-600 text-white rounded-lg"
-                  />
-                </div>
-                <div>
-                  <Label htmlFor="wandb_mode" className="text-slate-300">
-                    W&B Mode
-                  </Label>
-                  <Select
-                    value={config.wandb_mode || 'online'}
-                    onValueChange={(value) => updateConfig('wandb_mode', value)}
-                  >
-                    <SelectTrigger id="wandb_mode" className="bg-slate-900 border-slate-600 text-white rounded-lg">
-                      <SelectValue />
-                    </SelectTrigger>
-                    <SelectContent className="bg-slate-800 border-slate-600 text-white">
-                      <SelectItem value="online">Online</SelectItem>
-                      <SelectItem value="offline">Offline</SelectItem>
-                      <SelectItem value="disabled">Disabled</SelectItem>
-                    </SelectContent>
-                  </Select>
-                </div>
-                <div className="flex items-center space-x-3">
-                  <Switch
-                    id="wandb_disable_artifact"
-                    checked={config.wandb_disable_artifact}
-                    onCheckedChange={(checked) =>
-                      updateConfig('wandb_disable_artifact', checked)
-                    }
-                  />
-                  <Label htmlFor="wandb_disable_artifact" className="text-slate-300">
-                    Disable Artifacts
-                  </Label>
+                  <p className="text-xs text-slate-500 mt-1">
+                    Signed in, runs sync to a private lelab-trackio Space on your account by default.
+                  </p>
                 </div>
               </section>
             </>
           )}
 
-          {!config.wandb_enable && <Separator className="bg-slate-700" />}
+          {!config.trackio_enable && <Separator className="bg-slate-700" />}
 
           {/* Misc */}
           <section className="space-y-4">

frontend/src/components/training/config/EssentialsCard.tsx

@@ -1,4 +1,4 @@
-import React, { useState } from 'react';
+import React from 'react';
 import { Card, CardContent, CardHeader, CardTitle } from '@/components/ui/card';
 import { Input } from '@/components/ui/input';
 import { NumberInput } from '@/components/ui/number-input';
@@ -14,44 +14,13 @@ import {
 import { ConfigComponentProps } from '../types';
 import DatasetCombobox from '@/components/replay/DatasetCombobox';
 import { DatasetItem } from '@/lib/replayApi';
-import WandbInstallDialog from '../WandbInstallDialog';
-import { useApi } from '@/contexts/ApiContext';
 
 interface EssentialsCardProps extends ConfigComponentProps {
   datasets: DatasetItem[];
   datasetsLoading: boolean;
 }
 
 const EssentialsCard: React.FC<EssentialsCardProps> = ({ config, updateConfig, datasets, datasetsLoading }) => {
-  const { baseUrl, fetchWithHeaders } = useApi();
-  const [wandbDialogOpen, setWandbDialogOpen] = useState(false);
-  const [wandbInstallHint, setWandbInstallHint] = useState('pip install wandb');
-
-  const handleWandbToggle = async (checked: boolean) => {
-    if (!checked) {
-      updateConfig('wandb_enable', false);
-      return;
-    }
-    // Check availability before flipping the switch on. If wandb isn't
-    // importable in this lelab process, surface the same install flow used
-    // for the training extra (accelerate) instead of letting the user start
-    // a run that will fail.
-    try {
-      const r = await fetchWithHeaders(`${baseUrl}/system/wandb-extra`);
-      const data: { available: boolean; install_hint: string } = await r.json();
-      if (data.available) {
-        updateConfig('wandb_enable', true);
-      } else {
-        setWandbInstallHint(data.install_hint);
-        setWandbDialogOpen(true);
-      }
-    } catch {
-      // Backend unreachable — let the user proceed; training start will
-      // surface the real error if wandb is genuinely missing.
-      updateConfig('wandb_enable', true);
-    }
-  };
-
   return (
     <Card className="bg-slate-800/50 border-slate-700 rounded-xl">
       <CardHeader>
@@ -140,35 +109,29 @@ const EssentialsCard: React.FC<EssentialsCardProps> = ({ config, updateConfig, d
 
           <div className="flex items-center space-x-3 pt-6">
             <Switch
-              id="wandb_enable"
-              checked={config.wandb_enable}
-              onCheckedChange={handleWandbToggle}
+              id="trackio_enable"
+              checked={config.trackio_enable}
+              onCheckedChange={(checked) => updateConfig('trackio_enable', checked)}
               className="data-[state=checked]:bg-green-500"
             />
-            <Label htmlFor="wandb_enable" className="text-slate-300">
-              Enable Weights & Biases
+            <Label htmlFor="trackio_enable" className="text-slate-300">
+              Track with Trackio
             </Label>
           </div>
         </div>
 
-        <WandbInstallDialog
-          open={wandbDialogOpen}
-          onOpenChange={setWandbDialogOpen}
-          installHint={wandbInstallHint}
-        />
-
-        {config.wandb_enable && (
+        {config.trackio_enable && (
           <div>
-            <Label htmlFor="wandb_project" className="text-slate-300">
-              W&B Project Name
+            <Label htmlFor="trackio_project" className="text-slate-300">
+              Trackio Project Name
             </Label>
             <Input
-              id="wandb_project"
-              value={config.wandb_project || ''}
+              id="trackio_project"
+              value={config.trackio_project || ''}
               onChange={(e) =>
-                updateConfig('wandb_project', e.target.value || undefined)
+                updateConfig('trackio_project', e.target.value || undefined)
               }
-              placeholder="my-robotics-project"
+              placeholder="lerobot"
               className="bg-slate-900 border-slate-600 text-white rounded-lg"
             />
           </div>

frontend/src/components/training/types.ts

@@ -21,13 +21,10 @@ export interface TrainingConfig {
   // Output configuration
   resume: boolean;
 
-  // Weights & Biases
-  wandb_enable: boolean;
-  wandb_project?: string;
-  wandb_entity?: string;
-  wandb_notes?: string;
-  wandb_mode?: string;
-  wandb_disable_artifact: boolean;
+  // Trackio
+  trackio_enable: boolean;
+  trackio_project?: string;
+  trackio_space_id?: string;
 
   // Policy-specific parameters
   policy_device?: string;

frontend/src/hooks/useInstallExtra.ts

@@ -26,7 +26,7 @@ export interface UseInstallExtraResult {
 }
 
 /**
- * Drives the backend extra-install flow (`accelerate`, `wandb`, …). Seeds state
+ * Drives the backend extra-install flow (`accelerate`, policy extras, …). Seeds state
  * from `${endpointPrefix}/install-status`, polls while installing, and exposes
  * install/retry handlers. Pass `enabled=false` to gate seeding on dialog open.
  */

frontend/src/lib/jobsApi.ts

@@ -36,12 +36,9 @@ export interface TrainingRequest {
   save_freq: number;
   save_checkpoint: boolean;
   resume: boolean;
-  wandb_enable: boolean;
-  wandb_project?: string;
-  wandb_entity?: string;
-  wandb_notes?: string;
-  wandb_mode?: string;
-  wandb_disable_artifact: boolean;
+  trackio_enable: boolean;
+  trackio_project?: string;
+  trackio_space_id?: string;
   policy_device?: string;
   policy_use_amp: boolean;
   optimizer_type?: string;
@@ -79,7 +76,7 @@ export interface JobRecord {
   hf_flavor: string | null;
   hf_repo_id: string | null;
   hf_job_url: string | null;
-  wandb_run_url: string | null;
+  tracking_url: string | null;
   checkpoint_count: number;
 }
 
@@ -89,7 +86,7 @@ export interface JobProgressSnapshot {
   id: string;
   state: JobState;
   metrics: TrainingMetrics;
-  wandb_run_url: string | null;
+  tracking_url: string | null;
   checkpoint_count: number;
 }