[Feature] Add LeRobot replay dataset adapter

.github/labeler.yml

@@ -105,6 +105,10 @@
   - changed-files:
     - any-glob-to-any-file: ['torchrl/data/datasets/gen_dgrl.py']
 
+"Data/lerobot":
+  - changed-files:
+    - any-glob-to-any-file: ['torchrl/data/datasets/lerobot*.py']
+
 "Data/minari":
   - changed-files:
     - any-glob-to-any-file: ['torchrl/data/datasets/minari_data.py']

.github/labels.yml

@@ -220,6 +220,10 @@
   description: "Triggers gen-dgrl data tests only"
   color: "1D76DB"
 
+- name: Data/lerobot
+  description: "Triggers LeRobot data tests only"
+  color: "1D76DB"
+
 - name: Data/minari
   description: "Triggers minari data tests only"
   color: "1D76DB"

.github/scripts/create_labels.sh

@@ -51,6 +51,7 @@ gh label create "Data" --repo "$REPO" --description "Triggers all data CI tests"
 
 # New granular labels
 gh label create "Data/gendgrl" --repo "$REPO" --description "Triggers gen-dgrl data tests only" --color "$DATA_COLOR" --force
+gh label create "Data/lerobot" --repo "$REPO" --description "Triggers LeRobot data tests only" --color "$DATA_COLOR" --force
 gh label create "Data/minari" --repo "$REPO" --description "Triggers minari data tests only" --color "$DATA_COLOR" --force
 gh label create "Data/openx" --repo "$REPO" --description "Triggers openx data tests only" --color "$DATA_COLOR" --force
 gh label create "Data/roboset" --repo "$REPO" --description "Triggers roboset data tests only" --color "$DATA_COLOR" --force

.github/workflows/test-linux-libs.yml

@@ -23,6 +23,31 @@ permissions:
 
 jobs:
 
+  unittests-lerobot:
+    if: ${{ github.event_name == 'push' || github.event_name == 'workflow_call' || github.event_name == 'workflow_dispatch' || contains(github.event.pull_request.labels.*.name, 'Data') || contains(github.event.pull_request.labels.*.name, 'Data/lerobot') }}
+    runs-on: ubuntu-latest
+    timeout-minutes: 45
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+      - name: Install stable PyTorch and LeRobot dependencies
+        run: |
+          # LeRobot 0.6.1 requires torch < 2.12 and torchvision < 0.27.
+          python -m pip install 'torch==2.11.0+cpu' 'torchvision==0.26.0+cpu' --index-url https://download.pytorch.org/whl/cpu
+          # setuptools_scm 10 pulls vcs-versioning, which requires packaging >= 26.2;
+          # LeRobot 0.6.1 requires packaging < 26.
+          python -m pip install setuptools wheel 'setuptools_scm>=8,<10' 'packaging>=24.2,<26' ninja 'pybind11[global]' cmake pytest pytest-timeout pytest-error-for-skips
+          python -m pip install -e '.[lerobot]' --no-build-isolation
+      - name: Verify PyTorch and TensorDict versions
+        run: |
+          bash .github/unittest/helpers/assert_torch_tensordict_versions.sh stable
+          python -c 'import torch, torchvision; assert torch.__version__ == "2.11.0+cpu", torch.__version__; assert torchvision.__version__ == "0.26.0+cpu", torchvision.__version__; assert torch.version.cuda is None, torch.version.cuda'
+          python -m pip check
+      - name: Run LeRobot adapter tests
+        run: python -m pytest test/libs/test_datasets.py -q -k "LeRobotDatasetAdapter or lerobot_adapter" --error-for-skips
+
   # unittests-atari-dqn:
   #   strategy:
   #     matrix:

docs/source/reference/data_datasets.rst

@@ -70,6 +70,7 @@ are called as ``factory(dataset_id, **kwargs)``.
     datasets.ReplayDatasetImporter
     datasets.ReplayDatasetAdapter
     datasets.HuggingFaceDatasetAdapter
+    datasets.LeRobotDatasetAdapter
     datasets.AtariDQNExperienceReplay
     datasets.D4RLExperienceReplay
     datasets.GenDGRLExperienceReplay

pyproject.toml

@@ -67,6 +67,10 @@ dev = [
 [tool.uv]
 prerelease = "allow"
 conflicts = [
+    [
+        { extra = "lerobot" },
+        { extra = "gym_continuous" },
+    ],
     [
         { extra = "mjlab" },
         { extra = "genesis" },
@@ -99,6 +103,7 @@ notebook = ["jupyterlab"]
 # lerobot requires Python >= 3.12 (and lerobot <= 0.4 cannot resolve against
 # recent torch), so the extra is empty on older interpreters
 vla = ["lerobot>=0.5.0; python_version >= '3.12'", "torchvision>=0.17"]
+lerobot = ["lerobot[dataset]>=0.6.1,<0.7; python_version >= '3.12'"]
 rendering = ["moviepy", "pygame", "pyyaml", "torchcodec>=0.10.0"]
 # Node.js runtime for the MuJoCo WASM viewer on machines without a system Node.
 mujoco_wasm = ["nodejs-wheel"]