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fix: support lerobot >= 0.6.0 in the hw_to_dataset_features import seam #21

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Merged
aris-zhu merged 1 commit into from
Jul 14, 2026
Merged

fix: support lerobot >= 0.6.0 in the hw_to_dataset_features import seam #21

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12 changes: 8 additions & 4 deletions src/inspect_robots_so101/policy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,13 +58,17 @@ def _import_hw_to_dataset_features() -> Callable[..., dict[str, Any]]:
"""Import lerobot's ``hw_to_dataset_features`` across supported versions.

lerobot moved it from ``lerobot.datasets.utils`` (v0.5.0) to
``lerobot.datasets.feature_utils`` (v0.5.1); the ``lerobot-seam`` CI job
``lerobot.datasets.feature_utils`` (v0.5.1) to
``lerobot.utils.feature_utils`` (v0.6.0); the ``lerobot-seam`` CI job
guards this against further drift.
"""
try:
from lerobot.datasets.feature_utils import hw_to_dataset_features
except ImportError: # lerobot == 0.5.0
from lerobot.datasets.utils import hw_to_dataset_features
from lerobot.utils.feature_utils import hw_to_dataset_features
except ImportError:
try: # lerobot 0.5.1 - 0.5.x
from lerobot.datasets.feature_utils import hw_to_dataset_features
except ImportError: # lerobot == 0.5.0
from lerobot.datasets.utils import hw_to_dataset_features
return hw_to_dataset_features # type: ignore[no-any-return]


Expand Down
43 changes: 38 additions & 5 deletions tests/test_policy.py
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Expand Up @@ -176,9 +176,9 @@ def _install_lerobot_fakes(
*,
chunk: np.ndarray,
image_features: dict[str, Any] | None = None,
feature_utils: bool = True,
feature_layout: str = "v060",
) -> dict[str, Any]:
"""Install fake torch/lerobot modules; return a dict recording every call."""
"""Install fakes for the v0.6.0, v0.5.1, or v0.5.0 feature layout."""
calls: dict[str, Any] = {}
if image_features is None:
image_features = {"observation.images.front": SimpleNamespace(shape=(3, 4, 4))}
Expand Down Expand Up @@ -267,19 +267,37 @@ def _stack(tensors: list[FakeTensor], dim: int = 0) -> FakeTensor:
"lerobot.async_inference.helpers": helpers,
"lerobot.datasets": datasets,
}
if feature_utils:
if feature_layout == "v060":
# lerobot >= 0.6.0: hw_to_dataset_features lives in lerobot.utils.feature_utils.
monkeypatch.delitem(sys.modules, "lerobot.datasets.feature_utils", raising=False)
monkeypatch.delitem(sys.modules, "lerobot.datasets.utils", raising=False)
utils = ModuleType("lerobot.utils")
feature_utils_mod = ModuleType("lerobot.utils.feature_utils")
feature_utils_mod.hw_to_dataset_features = hw_to_dataset_features # type: ignore[attr-defined]
utils.feature_utils = feature_utils_mod # type: ignore[attr-defined]
lerobot.utils = utils # type: ignore[attr-defined]
modules["lerobot.utils"] = utils
modules["lerobot.utils.feature_utils"] = feature_utils_mod
elif feature_layout == "v051":
# lerobot 0.5.1 - 0.5.x: the helper moved to datasets.feature_utils.
monkeypatch.delitem(sys.modules, "lerobot.utils.feature_utils", raising=False)
monkeypatch.delitem(sys.modules, "lerobot.utils", raising=False)
feature_utils_mod = ModuleType("lerobot.datasets.feature_utils")
feature_utils_mod.hw_to_dataset_features = hw_to_dataset_features # type: ignore[attr-defined]
datasets.feature_utils = feature_utils_mod # type: ignore[attr-defined]
modules["lerobot.datasets.feature_utils"] = feature_utils_mod
else:
elif feature_layout == "v050":
# lerobot == 0.5.0 layout: hw_to_dataset_features in lerobot.datasets.utils
# and NO feature_utils module (the import must raise ImportError).
monkeypatch.delitem(sys.modules, "lerobot.utils.feature_utils", raising=False)
monkeypatch.delitem(sys.modules, "lerobot.utils", raising=False)
monkeypatch.delitem(sys.modules, "lerobot.datasets.feature_utils", raising=False)
utils_mod = ModuleType("lerobot.datasets.utils")
utils_mod.hw_to_dataset_features = hw_to_dataset_features # type: ignore[attr-defined]
datasets.utils = utils_mod # type: ignore[attr-defined]
modules["lerobot.datasets.utils"] = utils_mod
else:
raise ValueError(f"unknown feature layout: {feature_layout}")

for name, mod in modules.items():
monkeypatch.setitem(sys.modules, name, mod)
Expand Down Expand Up @@ -370,7 +388,22 @@ def test_default_predict_rejects_camera_feature_mismatch(
def test_default_predict_hw_features_fallback_import(monkeypatch: pytest.MonkeyPatch) -> None:
# lerobot 0.5.0 layout: no lerobot.datasets.feature_utils -> fall back to
# lerobot.datasets.utils.
calls = _install_lerobot_fakes(monkeypatch, chunk=np.ones((1, 2, 6)), feature_utils=False)
calls = _install_lerobot_fakes(monkeypatch, chunk=np.ones((1, 2, 6)), feature_layout="v050")
pol = LeRobotPolicy(_seam_cfg())
pol.reset(Scene(id="s", instruction="x"))
out = pol.act(_obs())
assert len(out) == 2
assert calls["hw_prefix"] == "observation"


def test_default_predict_hw_features_v051_fallback_import(
monkeypatch: pytest.MonkeyPatch,
) -> None:
calls = _install_lerobot_fakes(
monkeypatch,
chunk=np.ones((1, 2, 6)),
feature_layout="v051",
)
pol = LeRobotPolicy(_seam_cfg())
pol.reset(Scene(id="s", instruction="x"))
out = pol.act(_obs())
Expand Down
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