huggingface/lerobot

Pattern Findings

4561 matches across 14 categories. Click a row to expand file-level details.

Hyper-Verbose Identifiers1984 hits · 1901 pts

Severity	File	Line	Snippet
LOW	tests/conftest.py	53	def _check_component_availability(component_type, available_components, make_component):
LOW	tests/test_available.py	31	def test_require_package_raises_when_missing():
LOW	tests/test_available.py	43	def test_require_package_passes_when_available():
LOW	tests/test_available.py	54	def test_require_package_error_message_includes_uv():
LOW	tests/test_robomme_env.py	67	def test_robomme_env_config_defaults():
LOW	tests/test_robomme_env.py	79	def test_robomme_env_config_type():
LOW	tests/test_robomme_env.py	86	def test_robomme_features_map():
LOW	tests/test_robomme_env.py	97	def test_robomme_features_action_dim_joint_angle():
LOW	tests/test_robomme_env.py	105	def test_robomme_features_action_dim_ee_pose():
LOW	tests/test_robomme_env.py	119	def test_convert_obs_list_format():
LOW	tests/test_robomme_env.py	154	def test_convert_obs_array_format():
LOW	tests/test_robomme_env.py	182	def test_create_robomme_envs_returns_correct_structure():
LOW	tests/test_robomme_env.py	204	def test_create_robomme_envs_multi_task():
LOW	tests/test_robomme_env.py	222	def test_create_robomme_envs_raises_on_invalid_env_cls():
LOW	tests/test_rollout.py	32	def test_rollout_top_level_imports():
LOW	tests/test_rollout.py	39	def test_inference_submodule_imports():
LOW	tests/test_rollout.py	46	def test_strategies_submodule_imports():
LOW	tests/test_rollout.py	58	def test_strategy_config_types():
LOW	tests/test_rollout.py	72	def test_dagger_config_invalid_input_device():
LOW	tests/test_rollout.py	79	def test_dagger_config_defaults():
LOW	tests/test_rollout.py	88	def test_inference_config_types():
LOW	tests/test_rollout.py	99	def test_sentry_config_defaults():
LOW	tests/test_rollout.py	112	def test_ring_buffer_append_and_eviction():
LOW	tests/test_rollout.py	144	def test_ring_buffer_tensor_bytes():
LOW	tests/test_rollout.py	158	def test_thread_safe_robot_delegates():
LOW	tests/test_rollout.py	200	def test_create_strategy_dispatches():
LOW	tests/test_rollout.py	216	def test_create_strategy_unknown_raises():
LOW	tests/test_rollout.py	230	def test_create_inference_engine_sync():
LOW	tests/test_rollout.py	254	def test_estimate_max_episode_seconds_no_video():
LOW	tests/test_rollout.py	260	def test_estimate_max_episode_seconds_with_video():
LOW	tests/test_rollout.py	288	def test_dagger_full_transition_cycle():
LOW	tests/test_rollout.py	341	def test_rollout_context_fields():
LOW	tests/test_rollout.py	178	def test_thread_safe_robot_properties():
LOW	tests/test_rollout.py	315	def test_dagger_invalid_transition_ignored():
LOW	tests/utils.py	143	def skip_if_package_arg_missing(func):
LOW	tests/test_cli_peft.py	27	def resolve_model_id_for_peft_training(policy_type):
LOW	tests/test_cli_peft.py	37	def test_peft_training_push_to_hub_works(policy_type, tmp_path):
LOW	tests/test_cli_peft.py	125	def test_peft_training_params_are_fewer(policy_type, tmp_path):
LOW	tests/test_yaml_policy_path.py	22	def test_extract_path_fields_from_yaml():
LOW	tests/test_yaml_policy_path.py	58	def test_extract_path_fields_from_json():
LOW	tests/test_yaml_policy_path.py	82	def test_extract_no_path_returns_original():
LOW	tests/test_yaml_policy_path.py	101	def test_extract_removes_empty_field():
LOW	tests/test_yaml_policy_path.py	123	def test_get_path_arg_fallback():
LOW	tests/test_yaml_policy_path.py	135	def test_get_path_arg_cli_takes_precedence():
LOW	tests/test_yaml_policy_path.py	146	def test_yaml_overrides_captured():
LOW	tests/test_yaml_policy_path.py	167	def test_yaml_overrides_excludes_type_and_path():
LOW	tests/test_yaml_policy_path.py	189	def test_get_yaml_overrides_empty_when_path_only():
LOW	tests/test_yaml_policy_path.py	218	def test_flatten_none_values_skipped():
LOW	tests/test_yaml_policy_path.py	227	def test_flatten_nested_with_bools():
LOW	tests/test_yaml_policy_path.py	235	def test_extract_removes_field_with_siblings_and_no_type():
LOW	tests/test_yaml_policy_path.py	285	def test_wrap_uses_cleaned_config_for_draccus_parse():
LOW	…age_transforms/save_image_transforms_to_safetensors.py	34	def save_default_config_transform(original_frame: torch.Tensor, output_dir: Path):
LOW	tests/artifacts/datasets/save_dataset_to_safetensors.py	37	def save_dataset_to_safetensors(output_dir, repo_id="lerobot/pusht"):
LOW	tests/artifacts/policies/save_policy_to_safetensors.py	117	def save_policy_to_safetensors(output_dir: Path, ds_repo_id: str, policy_name: str, policy_kwargs: dict):
LOW	tests/transport/test_transport_utils.py	30	def test_bytes_buffer_size_empty_buffer():
LOW	tests/transport/test_transport_utils.py	41	def test_bytes_buffer_size_small_buffer():
LOW	tests/transport/test_transport_utils.py	51	def test_bytes_buffer_size_large_buffer():
LOW	tests/transport/test_transport_utils.py	62	def test_send_bytes_in_chunks_empty_data():
LOW	tests/transport/test_transport_utils.py	72	def test_single_chunk_small_data():
LOW	tests/transport/test_transport_utils.py	98	def test_send_bytes_in_chunks_large_data():
1924 more matches not shown…

Decorative Section Separators299 hits · 1106 pts

Severity	File	Line	Snippet
MEDIUM	pyproject.toml	96	# ── Feature-scoped extras ──────────────────────────────────
MEDIUM	pyproject.toml	129	# ── User-facing composite extras (map to CLI scripts) ─────
MEDIUM	tests/test_robomme_env.py	62	# ---------------------------------------------------------------------------
MEDIUM	tests/test_robomme_env.py	64	# ---------------------------------------------------------------------------
MEDIUM	tests/test_robomme_env.py	114	# ---------------------------------------------------------------------------
MEDIUM	tests/test_robomme_env.py	116	# ---------------------------------------------------------------------------
MEDIUM	tests/test_robomme_env.py	177	# ---------------------------------------------------------------------------
MEDIUM	tests/test_robomme_env.py	179	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	27	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	29	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	53	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	55	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	107	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	109	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	153	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	155	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	195	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	197	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	225	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	227	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	249	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	251	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	283	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	285	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	336	# ---------------------------------------------------------------------------
MEDIUM	tests/test_rollout.py	338	# ---------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_policy_server.py	29	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_policy_server.py	31	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_policy_server.py	91	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_policy_server.py	93	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_policy_server.py	116	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_policy_server.py	118	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_e2e.py	43	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_e2e.py	45	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_e2e.py	87	# ------------------------------------------------------------------
MEDIUM	tests/async_inference/test_e2e.py	89	# ------------------------------------------------------------------
MEDIUM	tests/async_inference/test_e2e.py	134	# ------------------------------------------------------------------
MEDIUM	tests/async_inference/test_e2e.py	136	# ------------------------------------------------------------------
MEDIUM	tests/async_inference/test_e2e.py	171	# ------------------------------------------------------------------
MEDIUM	tests/async_inference/test_e2e.py	173	# ------------------------------------------------------------------
MEDIUM	tests/async_inference/test_e2e.py	180	# ------------------------------------------------------------------
MEDIUM	tests/async_inference/test_e2e.py	182	# ------------------------------------------------------------------
MEDIUM	tests/async_inference/test_helpers.py	39	# ---------------------------------------------------------------------
MEDIUM	tests/async_inference/test_helpers.py	41	# ---------------------------------------------------------------------
MEDIUM	tests/async_inference/test_helpers.py	104	# ---------------------------------------------------------------------
MEDIUM	tests/async_inference/test_helpers.py	106	# ---------------------------------------------------------------------
MEDIUM	tests/async_inference/test_helpers.py	141	# ------------------------------------------------------------------
MEDIUM	tests/async_inference/test_helpers.py	143	# ------------------------------------------------------------------
MEDIUM	tests/async_inference/test_helpers.py	210	# ---------------------------------------------------------------------
MEDIUM	tests/async_inference/test_helpers.py	212	# ---------------------------------------------------------------------
MEDIUM	tests/async_inference/test_helpers.py	156	# ------------------------------------------------------------------
MEDIUM	tests/async_inference/test_helpers.py	158	# ------------------------------------------------------------------
MEDIUM	tests/async_inference/test_helpers.py	172	# ---------------------------------------------------------------------
MEDIUM	tests/async_inference/test_helpers.py	174	# ---------------------------------------------------------------------
MEDIUM	tests/async_inference/test_robot_client.py	33	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_robot_client.py	35	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_robot_client.py	70	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_robot_client.py	72	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_robot_client.py	89	# -----------------------------------------------------------------------------
MEDIUM	tests/async_inference/test_robot_client.py	91	# -----------------------------------------------------------------------------
239 more matches not shown…

Unused Imports791 hits · 726 pts

Severity	File	Line
LOW	tests/test_robomme_env.py	21
LOW	tests/test_rollout.py	17
LOW	tests/async_inference/test_policy_server.py	18
LOW	tests/async_inference/test_e2e.py	30
LOW	tests/async_inference/test_robot_client.py	20
LOW	tests/async_inference/test_robot_client.py	254
LOW	tests/rewards/test_topreward_processor.py	17
LOW	tests/rewards/test_modeling_topreward.py	17
LOW	tests/rewards/test_modeling_robometer.py	17
LOW	tests/rewards/test_robometer_processor.py	27
LOW	tests/policies/test_gaussian_actor_policy.py	32
LOW	tests/policies/molmoact2/test_molmoact2.py	21
LOW	tests/policies/pi0_pi05/utils/openpi_parity.py	17
LOW	tests/policies/eo1/test_eo1.py	19
LOW	tests/envs/test_dispatch.py	3
LOW	tests/envs/test_robotwin.py	23
LOW	examples/dataset/create_progress_videos.py	38
LOW	examples/omx/record_grab.py	30
LOW	examples/omx/record_grab.py	31
LOW	examples/backward_compatibility/replay.py	39
LOW	examples/backward_compatibility/replay.py	39
LOW	examples/backward_compatibility/replay.py	39
LOW	scripts/ci/extract_task_descriptions.py	30
LOW	scripts/ci/parse_eval_metrics.py	36
LOW	src/lerobot/__init__.py	34
LOW	src/lerobot/types.py	17
LOW	src/lerobot/transport/services_pb2_grpc.py	4
LOW	src/lerobot/async_inference/robot_client.py	50
LOW	src/lerobot/async_inference/robot_client.py	51
LOW	src/lerobot/async_inference/robot_client.py	52
LOW	src/lerobot/async_inference/robot_client.py	52
LOW	src/lerobot/async_inference/robot_client.py	52
LOW	src/lerobot/async_inference/robot_client.py	52
LOW	src/lerobot/async_inference/robot_client.py	52
LOW	src/lerobot/async_inference/robot_client.py	52
LOW	src/lerobot/async_inference/helpers.py	28
LOW	src/lerobot/async_inference/helpers.py	28
LOW	src/lerobot/async_inference/helpers.py	28
LOW	src/lerobot/async_inference/helpers.py	28
LOW	src/lerobot/async_inference/helpers.py	28
LOW	src/lerobot/async_inference/helpers.py	28
LOW	src/lerobot/motors/__init__.py	17
LOW	src/lerobot/motors/__init__.py	17
LOW	src/lerobot/motors/__init__.py	17
LOW	src/lerobot/motors/motors_bus.py	22
LOW	src/lerobot/motors/robstride/__init__.py	17
LOW	src/lerobot/motors/robstride/__init__.py	18
LOW	src/lerobot/motors/dynamixel/__init__.py	17
LOW	src/lerobot/motors/dynamixel/__init__.py	17
LOW	src/lerobot/motors/dynamixel/__init__.py	17
LOW	src/lerobot/motors/dynamixel/__init__.py	17
LOW	src/lerobot/motors/dynamixel/__init__.py	18
LOW	src/lerobot/motors/damiao/__init__.py	17
LOW	src/lerobot/motors/damiao/__init__.py	18
LOW	src/lerobot/motors/feetech/__init__.py	17
LOW	src/lerobot/motors/feetech/__init__.py	17
LOW	src/lerobot/motors/feetech/__init__.py	17
LOW	src/lerobot/motors/feetech/__init__.py	17
LOW	src/lerobot/motors/feetech/__init__.py	18
LOW	src/lerobot/processor/hil_processor.py	30
731 more matches not shown…

Over-Commented Block710 hits · 672 pts

Severity	File	Line	Snippet
LOW	requirements-macos.txt	1	#
LOW	requirements-macos.txt	21	# via aiohttp
LOW	requirements-macos.txt	41	# aiohttp
LOW	requirements-macos.txt	61	click==8.3.1
LOW	requirements-macos.txt	81	# eigenpy
LOW	requirements-macos.txt	101	# via cmeel-urdfdom
LOW	requirements-macos.txt	121	# via ipython
LOW	requirements-macos.txt	161	# via
LOW	requirements-macos.txt	181	# via
LOW	requirements-macos.txt	201	# via
LOW	requirements-macos.txt	221	hebi-py==2.11.0
LOW	requirements-macos.txt	241	# diffusers
LOW	requirements-macos.txt	301	meshcat==0.3.2
LOW	requirements-macos.txt	321	mypy==1.19.1
LOW	requirements-macos.txt	341	# diffusers
LOW	requirements-macos.txt	361	# scikit-image
LOW	requirements-macos.txt	381	# huggingface-hub
LOW	requirements-macos.txt	401	# via lerobot
LOW	requirements-macos.txt	421	# virtualenv
LOW	requirements-macos.txt	441	# reachy2-sdk-api
LOW	requirements-macos.txt	461	# wandb
LOW	requirements-macos.txt	481	pynput==1.8.1
LOW	requirements-macos.txt	501	# via
LOW	requirements-macos.txt	521	# lerobot
LOW	requirements-macos.txt	541	pytz==2026.1.post1
LOW	requirements-macos.txt	561	# lerobot
LOW	requirements-macos.txt	581	rerun-sdk==0.26.2
LOW	requirements-macos.txt	601	# lerobot
LOW	requirements-macos.txt	621	sympy==1.14.0
LOW	requirements-macos.txt	641	# via lerobot
LOW	requirements-macos.txt	661	# lerobot
LOW	requirements-macos.txt	681	# rerun-sdk
LOW	requirements-macos.txt	721	yarl==1.23.0
LOW	.pre-commit-config.yaml	1	# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
LOW	.pre-commit-config.yaml	101	# args: ["--docstring-style", "google", "-v", "2"]
LOW	pyproject.toml	1	# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
LOW	pyproject.toml	241	# for the recipe.
LOW	pyproject.toml	341	[tool.ruff]
LOW	pyproject.toml	421	# ignore-init-module = true
LOW	pyproject.toml	501	# ignore_errors = false
LOW	pyproject.toml	521	# module = "lerobot.scripts.*"
LOW	setup.py	1	# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
LOW	requirements-ubuntu.txt	1	#
LOW	requirements-ubuntu.txt	21	aiohappyeyeballs==2.6.1
LOW	requirements-ubuntu.txt	41	# watchfiles
LOW	requirements-ubuntu.txt	61	# httpx
LOW	requirements-ubuntu.txt	81	cmeel==0.59.0
LOW	requirements-ubuntu.txt	101	# coal-library
LOW	requirements-ubuntu.txt	121	# lerobot
LOW	requirements-ubuntu.txt	141	dill==0.4.0
LOW	requirements-ubuntu.txt	161	easydict==1.13
LOW	requirements-ubuntu.txt	181	farama-notifications==0.0.4
LOW	requirements-ubuntu.txt	201	frozenlist==1.8.0
LOW	requirements-ubuntu.txt	221	grpcio==1.73.1
LOW	requirements-ubuntu.txt	241	# gym-hil
LOW	requirements-ubuntu.txt	261	# via
LOW	requirements-ubuntu.txt	281	hydra-core==1.3.2
LOW	requirements-ubuntu.txt	301	# imageio
LOW	requirements-ubuntu.txt	341	markdown-it-py==4.0.0
LOW	requirements-ubuntu.txt	361	# via draccus
650 more matches not shown…

Cross-File Repetition117 hits · 585 pts

Severity	File	Line	Snippet
HIGH	tests/motors/test_feetech.py	0	instantiation should raise an error if the class doesn't implement abstract methods/properties.
HIGH	tests/motors/test_dynamixel.py	0	instantiation should raise an error if the class doesn't implement abstract methods/properties.
HIGH	tests/cameras/test_realsense.py	0	instantiation should raise an error if the class doesn't implement abstract methods/properties.
HIGH	tests/cameras/test_opencv.py	0	instantiation should raise an error if the class doesn't implement abstract methods/properties.
HIGH	tests/processor/test_diffusion_processor.py	0	test: deviceprocessor(bfloat16) + normalizerprocessor(float32) → output bfloat16 via automatic adaptation
HIGH	tests/processor/test_act_processor.py	0	test: deviceprocessor(bfloat16) + normalizerprocessor(float32) → output bfloat16 via automatic adaptation
HIGH	tests/processor/test_smolvla_processor.py	0	test: deviceprocessor(bfloat16) + normalizerprocessor(float32) → output bfloat16 via automatic adaptation
HIGH	tests/processor/test_gaussian_actor_processor.py	0	test: deviceprocessor(bfloat16) + normalizerprocessor(float32) → output bfloat16 via automatic adaptation
HIGH	tests/processor/test_vqbet_processor.py	0	test: deviceprocessor(bfloat16) + normalizerprocessor(float32) → output bfloat16 via automatic adaptation
HIGH	tests/processor/test_tdmpc_processor.py	0	test: deviceprocessor(bfloat16) + normalizerprocessor(float32) → output bfloat16 via automatic adaptation
HIGH	tests/policies/xvla/test_xvla_original_vs_lerobot.py	0	set random seed for all rng sources to ensure reproducibility.
HIGH	tests/policies/groot/test_groot_vs_original.py	0	set random seed for all rng sources to ensure reproducibility.
HIGH	tests/policies/groot/test_groot_lerobot.py	0	set random seed for all rng sources to ensure reproducibility.
HIGH	…policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py	0	set random seed for all rng sources to ensure reproducibility.
HIGH	tests/policies/xvla/test_xvla_original_vs_lerobot.py	0	create dummy data for testing both implementations.
HIGH	tests/policies/groot/test_groot_vs_original.py	0	create dummy data for testing both implementations.
HIGH	…policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py	0	create dummy data for testing both implementations.
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	computes sine-cosine positional embedding vectors for scalar positions.
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	computes sine-cosine positional embedding vectors for scalar positions.
HIGH	src/lerobot/policies/smolvla/modeling_smolvla.py	0	computes sine-cosine positional embedding vectors for scalar positions.
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	computes sine-cosine positional embedding vectors for scalar positions.
HIGH	src/lerobot/policies/eo1/modeling_eo1.py	0	computes sine-cosine positional embedding vectors for scalar positions.
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	copied from big_vision. tokens can attend to valid inputs tokens which have a cumulative mask_ar smaller or equal to the
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	copied from big_vision. tokens can attend to valid inputs tokens which have a cumulative mask_ar smaller or equal to the
HIGH	src/lerobot/policies/smolvla/modeling_smolvla.py	0	copied from big_vision. tokens can attend to valid inputs tokens which have a cumulative mask_ar smaller or equal to the
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	copied from big_vision. tokens can attend to valid inputs tokens which have a cumulative mask_ar smaller or equal to the
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	enable gradient checkpointing for memory optimization.
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	enable gradient checkpointing for memory optimization.
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	enable gradient checkpointing for memory optimization.
HIGH	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	0	enable gradient checkpointing for memory optimization.
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	helper method to apply gradient checkpointing if enabled.
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	helper method to apply gradient checkpointing if enabled.
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	helper method to apply gradient checkpointing if enabled.
HIGH	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	0	helper method to apply gradient checkpointing if enabled.
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	helper method to prepare 4d attention masks for transformer.
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	helper method to prepare 4d attention masks for transformer.
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	helper method to prepare 4d attention masks for transformer.
HIGH	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	0	helper method to prepare 4d attention masks for transformer.
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	embed state, noisy_actions, timestep to prepare for expert gemma processing.
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	embed state, noisy_actions, timestep to prepare for expert gemma processing.
HIGH	src/lerobot/policies/smolvla/modeling_smolvla.py	0	embed state, noisy_actions, timestep to prepare for expert gemma processing.
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	apply one denoising step of the noise `x_t` at a given timestep.
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	apply one denoising step of the noise `x_t` at a given timestep.
HIGH	src/lerobot/policies/smolvla/modeling_smolvla.py	0	apply one denoising step of the noise `x_t` at a given timestep.
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	apply one denoising step of the noise `x_t` at a given timestep.
HIGH	tests/policies/pi0_pi05/openpi_pytorch/image_tools.py	0	pytorch version of resize_with_pad. resizes an image to a target height and width without distortion by padding with bla
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	pytorch version of resize_with_pad. resizes an image to a target height and width without distortion by padding with bla
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	pytorch version of resize_with_pad. resizes an image to a target height and width without distortion by padding with bla
HIGH	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	0	pytorch version of resize_with_pad. resizes an image to a target height and width without distortion by padding with bla
HIGH	src/lerobot/transport/services_pb2_grpc.py	0	learnerservice: the actor calls this to push transitions. the learner implements this service.
HIGH	src/lerobot/transport/services_pb2_grpc.py	0	learnerservice: the actor calls this to push transitions. the learner implements this service.
HIGH	src/lerobot/transport/services_pb2_grpc.py	0	learnerservice: the actor calls this to push transitions. the learner implements this service.
HIGH	src/lerobot/transport/services_pb2_grpc.py	0	missing associated documentation comment in .proto file.
HIGH	src/lerobot/transport/services_pb2_grpc.py	0	missing associated documentation comment in .proto file.
HIGH	src/lerobot/transport/services_pb2_grpc.py	0	missing associated documentation comment in .proto file.
HIGH	src/lerobot/transport/services_pb2_grpc.py	0	missing associated documentation comment in .proto file.
HIGH	src/lerobot/transport/services_pb2_grpc.py	0	missing associated documentation comment in .proto file.
HIGH	src/lerobot/transport/services_pb2_grpc.py	0	missing associated documentation comment in .proto file.
HIGH	src/lerobot/transport/services_pb2_grpc.py	0	asyncinference: from robot perspective robot send observations to & executes action received from a remote policy server
HIGH	src/lerobot/transport/services_pb2_grpc.py	0	asyncinference: from robot perspective robot send observations to & executes action received from a remote policy server
57 more matches not shown…

Docstring Block Structure59 hits · 295 pts

Severity	File	Line	Snippet
HIGH	src/lerobot/processor/normalize_processor.py	305	Core logic to apply a normalization or unnormalization transformation to a tensor. This method selects
HIGH	src/lerobot/processor/env_processor.py	115	Convert batched quaternions to axis-angle format. Only accepts torch tensors of shape (B, 4).
HIGH	src/lerobot/processor/pipeline.py	73	A class decorator to register a ProcessorStep. Args: name: The name to register the class under. If
HIGH	src/lerobot/processor/pipeline.py	104	Retrieves a processor step class from the registry by its name. Args: name: The name of the step to
HIGH	src/lerobot/processor/pipeline.py	468	Loads a pipeline from a local directory, single file, or Hugging Face Hub repository. This method implements a
HIGH	src/lerobot/processor/pipeline.py	594	Load configuration from local file or Hugging Face Hub. This method implements a super-simplified 3-way loading
HIGH	src/lerobot/processor/pipeline.py	719	Build all processor steps with overrides and state loading. This method orchestrates the complete step construc
HIGH	src/lerobot/processor/pipeline.py	792	Resolve step class from registry or import path. This method implements a two-tier resolution strategy:
HIGH	src/lerobot/processor/pipeline.py	863	Instantiate a single processor step with config overrides. This method handles the configuration merging and in
HIGH	src/lerobot/processor/converters.py	37	Convert various data types to PyTorch tensors with configurable options. This is a unified tensor conversion f
HIGH	src/lerobot/processor/converters.py	332	Convert a batch dictionary from a dataset/dataloader into an `EnvTransition`. This function maps recognized ke
HIGH	src/lerobot/processor/observation_processor.py	56	Processes a single NumPy image array into a channel-first, normalized tensor. Args: img: A
HIGH	src/lerobot/rewards/factory.py	34	Retrieves a reward model class by its registered name. This function uses dynamic imports to avoid loading all
HIGH	src/lerobot/rewards/factory.py	74	Instantiates a reward model configuration object based on the reward type. This factory function simplifies th
HIGH	src/lerobot/rewards/factory.py	144	Create pre- and post-processor pipelines for a given reward model. Each reward model type has a dedicated fact
HIGH	src/lerobot/datasets/aggregate.py	95	Validates that all dataset metadata have consistent properties. Ensures all datasets have the same fps, robot_type,
HIGH	src/lerobot/datasets/compute_stats.py	676	Compute normalization statistics for relative actions over the full dataset. Iterates all valid action chunks (wi
HIGH	src/lerobot/datasets/dataset_metadata.py	256	Return the relative parquet file path for the given episode index. Args: ep_index: Zero-based episo
HIGH	src/lerobot/datasets/dataset_metadata.py	280	Return the relative video file path for the given episode and video key. Args: ep_index: Zero-based
HIGH	src/lerobot/datasets/factory.py	69	Handles the logic of setting up delta timestamps and image transforms before creating a dataset. Args: cfg
HIGH	src/lerobot/datasets/utils.py	247	Serialize a dictionary containing tensors or numpy arrays to be JSON-compatible. Converts torch.Tensor, np.ndarray,
HIGH	src/lerobot/datasets/utils.py	346	Return the specified version if available on repo, or the latest compatible one. If the exact version is not found,
HIGH	src/lerobot/datasets/feature_utils.py	44	Convert a LeRobot features dictionary to a `datasets.Features` object. Args: features (dict): A LeRobot-sty
HIGH	src/lerobot/datasets/feature_utils.py	163	Check if delta timestamps are multiples of 1/fps +/- tolerance. This ensures that adding these delta timestamps to
HIGH	src/lerobot/datasets/feature_utils.py	273	Validate the dtype and shape of a single feature's value. Args: name (str): The name of the feature.
HIGH	src/lerobot/datasets/lerobot_dataset.py	453	Return a single frame by index, with all transforms applied. Loads the frame from the underlying HF dataset, ex
HIGH	src/lerobot/teleoperators/phone/phone_processor.py	48	Processes the phone action dictionary to create a robot action dictionary. Args: act: The
HIGH	src/lerobot/teleoperators/homunculus/homunculus_arm.py	145	Interactively record the min/max encoder values of each joint. Move the joints while the method streams live po
HIGH	…c/lerobot/teleoperators/homunculus/homunculus_glove.py	176	Interactively record the min/max encoder values of each joint. Move the joints while the method streams live po
HIGH	src/lerobot/optim/optimizers.py	166	Build AdamW optimizer with differential learning rates. Args: params: Must be a dict[str,
HIGH	src/lerobot/optim/optimizers.py	249	Build multiple Adam optimizers. Args: params: Must be a dict[str, Iterable[Parameter]] mapping para
HIGH	src/lerobot/utils/feature_utils.py	129	Convert dataset features to policy features. This function transforms the dataset's feature specification into a fo
HIGH	src/lerobot/utils/feature_utils.py	175	Merge LeRobot grouped feature dicts. - For 1D numeric specs (dtype not image/video/string) with "names": we merge t
HIGH	src/lerobot/cameras/camera.py	123	Return the most recent new frame. This method retrieves the latest frame captured by the background thread.
HIGH	src/lerobot/cameras/opencv/camera_opencv.py	395	Applies color conversion, dimension validation, and rotation to a raw frame. Args: image (
HIGH	src/lerobot/cameras/opencv/camera_opencv.py	498	Reads the latest available frame asynchronously. This method retrieves the most recent frame captured
HIGH	src/lerobot/cameras/realsense/camera_realsense.py	421	Applies color conversion, dimension validation, and rotation to a raw color frame. Args: i
HIGH	src/lerobot/cameras/realsense/camera_realsense.py	538	Reads the latest available frame data (color) asynchronously. This method retrieves the most recent co
HIGH	src/lerobot/cameras/zmq/camera_zmq.py	306	Reads the latest available frame asynchronously. Args: timeout_ms (float): Maximum time in
HIGH	src/lerobot/policies/factory.py	84	Retrieves a policy class by its registered name. This function uses dynamic imports to avoid loading all polic
HIGH	src/lerobot/policies/factory.py	168	Instantiates a policy configuration object based on the policy type. This factory function simplifies the crea
HIGH	src/lerobot/policies/factory.py	253	Create or load pre- and post-processor pipelines for a given policy. This function acts as a factory. It can e
HIGH	src/lerobot/policies/factory.py	453	Instantiate a policy model. This factory function handles the logic of creating a policy, which requires d
HIGH	src/lerobot/policies/xvla/processor_xvla.py	192	Convert batched rotation matrices (B, 3, 3) into 6D rotation representation (B, 6). Args:
HIGH	src/lerobot/policies/rtc/modeling_rtc.py	126	RTC guidance wrapper around an existing denoiser. This method wraps an original denoising callable that only ta
HIGH	…c/lerobot/policies/wall_x/qwen_model/qwen2_5_vl_moe.py	1640	Calculate the 3D rope index based on image and video's temporal, height and width in LLM. Explanation:
HIGH	src/lerobot/common/train_utils.py	148	Loads the training step, optimizer state, scheduler state, and rng state. This is used to resume a training run
HIGH	src/lerobot/configs/parser.py	130	Load and initialize a plugin from a given Python package path. This function attempts to load a plugin by importing
HIGH	src/lerobot/configs/parser.py	195	Filters command-line arguments related to fields with specific path arguments. Args: fields_to_filter
HIGH	src/lerobot/robots/lekiwi/lekiwi.py	235	Convert desired body-frame velocities into wheel raw commands. Parameters: x_cmd : Line
HIGH	src/lerobot/robots/lekiwi/lekiwi_client.py	308	Command lekiwi to move to a target joint configuration. Translates to motor space + sends over ZMQ Args:
HIGH	…ots/earthrover_mini_plus/robot_earthrover_mini_plus.py	334	Send action to robot via SDK. Args: action: Action dict with keys: - linear_velocit
HIGH	src/lerobot/envs/factory.py	65	Makes a gym vector environment according to the config or Hub reference. Args: cfg (EnvConfig \| str): Eithe
HIGH	src/lerobot/rl/joint_observations_processor.py	53	Computes joint velocities and adds them to the observation state. Args: observation: The i
HIGH	src/lerobot/rl/joint_observations_processor.py	149	Fetches motor currents and adds them to the observation state. Args: observation: The inpu
HIGH	src/lerobot/rl/learner.py	654	Handle the resume logic for training. If resume is True: - Verifies that a checkpoint exists - Loads t
HIGH	src/lerobot/rl/algorithms/factory.py	24	Instantiate an `RLAlgorithmConfig` from its registered type name. Args: algorithm_type: Registry key of the
HIGH	src/lerobot/rl/algorithms/factory.py	47	Retrieves an RL algorithm class by its registered name. This function uses dynamic imports to avoid loading al
HIGH	src/lerobot/rl/algorithms/factory.py	73	Instantiate an RL algorithm. This factory function looks up the :class:`RLAlgorithm` subclass that matches

Self-Referential Comments92 hits · 286 pts

Severity	File	Line	Snippet
MEDIUM	tests/async_inference/test_policy_server.py	155	# Create a new, dissimilar observation.
MEDIUM	tests/async_inference/test_policy_server.py	166	# Create a new, very similar observation.
MEDIUM	tests/async_inference/test_e2e.py	64	# Create a stub policy similar to test_policy_server.py
MEDIUM	tests/async_inference/test_helpers.py	421	# Create an image with a specific pattern
MEDIUM	tests/processor/test_observation_processor.py	33	# Create a mock image (H, W, C) format, uint8
MEDIUM	tests/processor/test_observation_processor.py	82	# Create a batched image (B, H, W, C)
MEDIUM	tests/processor/test_normalize_processor.py	809	# Create a new processor from the config (deserialization)
MEDIUM	tests/processor/test_normalize_processor.py	1164	# # Create an invalid norm_map (this would never happen in practice, but tests error handling)
MEDIUM	tests/processor/test_normalize_processor.py	1771	# Create a normalizer with original stats and save its state
MEDIUM	tests/processor/test_normalize_processor.py	1775	# Create a new normalizer with override stats (simulating from_pretrained with overrides)
MEDIUM	tests/processor/test_normalize_processor.py	1838	# Create a normalizer with original stats and save its state
MEDIUM	tests/processor/test_normalize_processor.py	1842	# Create a new normalizer without stats (simulating normal from_pretrained)
MEDIUM	tests/processor/test_normalize_processor.py	1966	# Create a reference pipeline with override stats for comparison
MEDIUM	tests/processor/test_tokenizer_processor.py	626	# Create a custom mock that tracks calls
MEDIUM	tests/processor/test_tokenizer_processor.py	787	# Create a mock tokenizer that tracks padding_side calls
MEDIUM	…sts/processor/test_pipeline_from_pretrained_helpers.py	40	# Create a config file
MEDIUM	…sts/processor/test_pipeline_from_pretrained_helpers.py	57	# Create a config file
MEDIUM	tests/processor/test_device_processor.py	32	# Create a transition with CPU tensors
MEDIUM	tests/processor/test_device_processor.py	59	# Create a transition with CPU tensors
MEDIUM	tests/processor/test_device_processor.py	290	# Create a pipeline with DeviceProcessorStep
MEDIUM	tests/processor/test_pipeline.py	875	# Create a processor with steps that need overrides
MEDIUM	tests/processor/test_pipeline.py	885	# Create a mock environment for override
MEDIUM	tests/processor/test_pipeline.py	67	# Create a new transition with updated complementary_data
MEDIUM	tests/processor/test_pipeline.py	1626	# Define a transform function
MEDIUM	tests/processor/test_migration_detection.py	189	# Create an invalid JSON file
MEDIUM	tests/processor/test_migration_detection.py	193	# Create a valid non-processor config
MEDIUM	tests/processor/test_migration_detection.py	69	# Create a valid processor config
MEDIUM	tests/processor/test_migration_detection.py	93	# Create an empty processor config
MEDIUM	tests/processor/test_migration_detection.py	112	# Create a model config (like old LeRobot format)
MEDIUM	tests/processor/test_migration_detection.py	234	# Create a model config but no processor
MEDIUM	tests/processor/test_migration_detection.py	256	# Create a valid processor config
MEDIUM	tests/processor/test_migration_detection.py	335	# Create a model config
MEDIUM	tests/datasets/test_datasets.py	776	# Create a dataset with 5 episodes (0-4)
MEDIUM	tests/datasets/test_datasets.py	810	# Create a dataset with only episodes 0, 1, 2
MEDIUM	tests/datasets/test_datasets.py	837	# Create a filtered dataset
MEDIUM	tests/optim/test_optimizers.py	181	# Create a dummy loss and do backward
MEDIUM	tests/utils/test_replay_buffer.py	590	# Create a batch of 2 images with known patterns
MEDIUM	tests/policies/pi0_pi05/openpi_pytorch/gemma_pytorch.py	170	# Define the complete layer computation function for gradient checkpointing
MEDIUM	…icies/pi0_pi05/openpi_pytorch/preprocessing_pytorch.py	165	# Create a simple object with the required attributes instead of using the complex Observation class
MEDIUM	tests/rl/test_learner_service.py	67	# Create a gRPC server and add our servicer to it.
MEDIUM	tests/rl/test_learner_service.py	73	# Create a client channel and stub connected to the server's port.
MEDIUM	tests/rl/test_actor.py	54	# Create a gRPC server and add our servicer to it.
MEDIUM	tests/rl/test_actor.py	60	# Create a client channel and stub connected to the server's port.
MEDIUM	examples/tutorial/act/act_training_example.py	58	# Create the optimizer and dataloader for offline training
MEDIUM	…mples/tutorial/diffusion/diffusion_training_example.py	59	# Create the optimizer and dataloader for offline training
MEDIUM	examples/so100_to_so100_EE/record.py	51	# Create the robot and teleoperator configurations
MEDIUM	examples/so100_to_so100_EE/record.py	117	# Create the dataset, deriving features from the pipelines so the on-disk schema
MEDIUM	examples/so100_to_so100_EE/evaluate.py	60	# Create the robot configuration & robot
MEDIUM	examples/so100_to_so100_EE/evaluate.py	105	# Create the dataset
MEDIUM	examples/training/train_policy.py	29	# Create a directory to store the training checkpoint.
MEDIUM	examples/training/train_with_streaming.py	31	# Create a directory to store the training checkpoint.
MEDIUM	examples/lekiwi/record.py	38	# Create the robot and teleoperator configurations
MEDIUM	examples/lekiwi/record.py	53	# Create the dataset
MEDIUM	examples/lekiwi/evaluate.py	45	# Create the robot configuration & robot
MEDIUM	examples/lekiwi/evaluate.py	58	# Create the dataset
MEDIUM	examples/lekiwi/teleoperate.py	29	# Create the robot and teleoperator configurations
MEDIUM	examples/phone_to_so100/record.py	54	# Create the robot and teleoperator configurations
MEDIUM	examples/phone_to_so100/record.py	122	# Create the dataset, deriving features from the pipelines so the on-disk schema
MEDIUM	examples/phone_to_so100/evaluate.py	60	# Create the robot configuration & robot
MEDIUM	examples/phone_to_so100/evaluate.py	105	# Create the dataset
32 more matches not shown…

Deep Nesting216 hits · 204 pts

Severity	File	Line
LOW	tests/conftest.py	53
LOW	tests/datasets/test_datasets.py	1143
LOW	tests/datasets/test_compute_stats.py	234
LOW	tests/datasets/test_dataset_writer.py	40
LOW	tests/datasets/test_streaming.py	74
LOW	tests/datasets/test_streaming.py	226
LOW	tests/datasets/test_streaming.py	307
LOW	tests/datasets/test_aggregate.py	293
LOW	tests/utils/test_replay_buffer.py	116
LOW	tests/utils/test_replay_buffer.py	365
LOW	tests/policies/pi0_pi05/openpi_pytorch/gemma_pytorch.py	104
LOW	…icies/pi0_pi05/openpi_pytorch/preprocessing_pytorch.py	20
LOW	examples/tutorial/rl/hilserl_example.py	27
LOW	examples/tutorial/rl/hilserl_example.py	115
LOW	examples/so100_to_so100_EE/evaluate.py	56
LOW	examples/dataset/slurm_compute_rabc.py	62
LOW	examples/dataset/use_dataset_image_transforms.py	46
LOW	examples/dataset/use_dataset_image_transforms.py	86
LOW	examples/dataset/use_dataset_image_transforms.py	135
LOW	examples/lekiwi/evaluate.py	41
LOW	examples/port_datasets/slurm_upload.py	108
LOW	examples/phone_to_so100/evaluate.py	56
LOW	scripts/ci/extract_task_descriptions.py	160
LOW	src/lerobot/transport/utils.py	74
LOW	src/lerobot/async_inference/robot_client.py	269
LOW	src/lerobot/motors/calibration_gui.py	98
LOW	src/lerobot/motors/calibration_gui.py	320
LOW	src/lerobot/motors/calibration_gui.py	356
LOW	src/lerobot/motors/motors_bus.py	430
LOW	src/lerobot/motors/motors_bus.py	850
LOW	src/lerobot/motors/motors_bus.py	879
LOW	src/lerobot/motors/robstride/robstride.py	280
LOW	src/lerobot/motors/robstride/robstride.py	381
LOW	src/lerobot/motors/robstride/robstride.py	395
LOW	src/lerobot/motors/robstride/robstride.py	438
LOW	src/lerobot/motors/robstride/robstride.py	481
LOW	src/lerobot/motors/robstride/robstride.py	840
LOW	src/lerobot/motors/robstride/robstride.py	962
LOW	src/lerobot/motors/damiao/damiao.py	296
LOW	src/lerobot/motors/damiao/damiao.py	309
LOW	src/lerobot/motors/damiao/damiao.py	355
LOW	src/lerobot/motors/damiao/damiao.py	395
LOW	src/lerobot/motors/damiao/damiao.py	705
LOW	src/lerobot/motors/damiao/damiao.py	760
LOW	src/lerobot/motors/feetech/feetech.py	187
LOW	src/lerobot/motors/feetech/feetech.py	341
LOW	src/lerobot/processor/migrate_policy_normalization.py	65
LOW	src/lerobot/processor/migrate_policy_normalization.py	125
LOW	src/lerobot/processor/migrate_policy_normalization.py	365
LOW	src/lerobot/processor/env_processor.py	178
LOW	src/lerobot/processor/pipeline.py	341
LOW	src/lerobot/processor/pipeline.py	588
LOW	src/lerobot/processor/observation_processor.py	131
LOW	src/lerobot/rewards/factory.py	33
LOW	src/lerobot/rewards/factory.py	73
LOW	src/lerobot/rewards/factory.py	137
LOW	src/lerobot/rewards/sarm/compute_rabc_weights.py	212
LOW	src/lerobot/rewards/sarm/compute_rabc_weights.py	464
LOW	src/lerobot/rewards/sarm/sarm_utils.py	22
LOW	src/lerobot/datasets/pyav_utils.py	79
156 more matches not shown…

Excessive Try-Catch Wrapping180 hits · 204 pts

Severity	File	Line	Snippet
LOW	tests/conftest.py	66	except Exception as e:
LOW	tests/datasets/test_aggregate.py	236	except Exception as e:
LOW	…policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py	515	except Exception as e:
MEDIUM	tests/policies/rtc/test_action_queue.py	522	def consumer():
MEDIUM	tests/policies/rtc/test_action_queue.py	556	def producer():
MEDIUM	tests/policies/rtc/test_action_queue.py	586	def consumer():
MEDIUM	tests/policies/rtc/test_action_queue.py	596	def producer():
MEDIUM	tests/policies/rtc/test_action_queue.py	634	def reader():
MEDIUM	tests/policies/rtc/test_action_queue.py	647	def consumer():
LOW	tests/policies/rtc/test_action_queue.py	529	except Exception as e:
LOW	tests/policies/rtc/test_action_queue.py	563	except Exception as e:
LOW	tests/policies/rtc/test_action_queue.py	593	except Exception as e:
LOW	tests/policies/rtc/test_action_queue.py	603	except Exception as e:
LOW	tests/policies/rtc/test_action_queue.py	641	except Exception as e:
LOW	tests/policies/rtc/test_action_queue.py	652	except Exception as e:
LOW	tests/policies/pi0_pi05/test_pi05.py	110	except Exception as e:
LOW	tests/policies/pi0_pi05/test_pi05.py	119	except Exception as e:
LOW	tests/policies/pi0_pi05/test_pi05.py	161	except Exception as e:
LOW	tests/policies/pi0_pi05/test_pi0.py	96	except Exception as e:
LOW	tests/policies/pi0_pi05/test_pi0.py	106	except Exception as e:
LOW	tests/policies/pi0_pi05/test_pi0.py	125	except Exception as e:
LOW	tests/policies/wall_x/test_wallx.py	97	except Exception as e:
LOW	tests/policies/wall_x/test_wallx.py	116	except Exception as e:
LOW	tests/policies/wall_x/test_wallx.py	131	except Exception as e:
LOW	examples/dataset/create_progress_videos.py	192	except Exception as exc:
LOW	examples/dataset/slurm_compute_rabc.py	169	except Exception as e:
LOW	examples/dataset/use_dataset_image_transforms.py	82	except Exception as e:
LOW	examples/dataset/use_dataset_image_transforms.py	131	except Exception as e:
LOW	examples/dataset/use_dataset_image_transforms.py	163	except Exception as e:
LOW	examples/port_datasets/slurm_port_shards.py	50	except Exception:
LOW	examples/rtc/eval_dataset.py	414	except Exception as e:
LOW	examples/rtc/eval_dataset.py	376	except Exception as e:
LOW	examples/rtc/eval_dataset.py	530	except Exception as e:
LOW	scripts/ci/extract_task_descriptions.py	196	except Exception as exc:
LOW	src/lerobot/async_inference/robot_client.py	455	except Exception as e:
LOW	src/lerobot/async_inference/policy_server.py	263	except Exception as e:
LOW	src/lerobot/motors/robstride/robstride.py	215	except Exception as e:
LOW	src/lerobot/motors/robstride/robstride.py	296	except Exception as e:
LOW	src/lerobot/motors/robstride/robstride.py	339	except Exception as e:
LOW	src/lerobot/motors/robstride/robstride.py	390	except Exception as e:
LOW	src/lerobot/motors/robstride/robstride.py	403	except Exception as e:
LOW	src/lerobot/motors/robstride/robstride.py	477	except Exception as e:
LOW	src/lerobot/motors/robstride/robstride.py	506	except Exception as e:
LOW	src/lerobot/motors/robstride/robstride.py	800	except Exception as e:
LOW	src/lerobot/motors/damiao/damiao.py	200	except Exception as e:
LOW	src/lerobot/motors/damiao/damiao.py	262	except Exception as e:
LOW	src/lerobot/motors/damiao/damiao.py	304	except Exception as e:
LOW	src/lerobot/motors/damiao/damiao.py	317	except Exception as e:
LOW	src/lerobot/motors/damiao/damiao.py	391	except Exception as e:
LOW	src/lerobot/motors/damiao/damiao.py	424	except Exception as e:
LOW	src/lerobot/motors/damiao/damiao.py	583	except Exception as e:
LOW	src/lerobot/processor/pipeline.py	663	except Exception as e:
LOW	src/lerobot/processor/pipeline.py	906	except Exception as e:
LOW	src/lerobot/rewards/factory.py	69	except Exception as e:
LOW	src/lerobot/rewards/factory.py	103	except Exception as e:
LOW	src/lerobot/rewards/factory.py	200	except Exception as e:
LOW	src/lerobot/rewards/sarm/compute_rabc_weights.py	75	except Exception: # nosec B110
LOW	src/lerobot/rewards/sarm/compute_rabc_weights.py	604	except Exception as e:
LOW	src/lerobot/rewards/robometer/compute_rabc_weights.py	79	except Exception: # nosec B110
LOW	src/lerobot/rewards/topreward/compute_rabc_weights.py	67	except Exception: # nosec B110
120 more matches not shown…

Hallucination Indicators10 hits · 135 pts

Severity	File	Line	Snippet
CRITICAL	src/lerobot/policies/groot/groot_n1.py	99	self.eagle_model.language_model.model.layers.pop(-1)
CRITICAL	src/lerobot/policies/vqbet/modeling_vqbet.py	70	list(self.vqbet.action_head.vqvae_model.encoder.parameters())
CRITICAL	src/lerobot/policies/vqbet/modeling_vqbet.py	71	+ list(self.vqbet.action_head.vqvae_model.decoder.parameters())
CRITICAL	src/lerobot/policies/vqbet/modeling_vqbet.py	72	+ list(self.vqbet.action_head.vqvae_model.vq_layer.parameters())
CRITICAL	src/lerobot/policies/vqbet/modeling_vqbet.py	145	if not self.vqbet.action_head.vqvae_model.discretized.item():
CRITICAL	src/lerobot/policies/vqbet/modeling_vqbet.py	164	if not self.vqbet.action_head.vqvae_model.discretized.item():
CRITICAL	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	336	self.paligemma_with_expert.paligemma.model.language_model.gradient_checkpointing_enable(
CRITICAL	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	339	self.paligemma_with_expert.paligemma.model.vision_tower.gradient_checkpointing_enable(
CRITICAL	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	348	self.paligemma_with_expert.paligemma.model.language_model.gradient_checkpointing_disable()
CRITICAL	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	349	self.paligemma_with_expert.paligemma.model.vision_tower.gradient_checkpointing_disable()

Redundant / Tautological Comments65 hits · 100 pts

Severity	File	Line	Snippet
LOW	tests/datasets/test_image_transforms.py	426	# Check if the combined transforms directory exists and contains the right files
LOW	tests/datasets/test_image_transforms.py	445	# Check if the transformed images exist for each transform type
LOW	tests/policies/pi0_pi05/openpi_pytorch/gemma_pytorch.py	143	# Check if gradient checkpointing is enabled for any of the models
LOW	tests/policies/pi0_pi05/openpi_pytorch/image_tools.py	23	# Check if input is in channels-last format [b, h, w, c] or channels-first [b, c, h, w]
LOW	…icies/pi0_pi05/openpi_pytorch/preprocessing_pytorch.py	42	is_channels_first = image.shape[1] == 3 # Check if channels are in dimension 1
LOW	tests/rl/test_learner_service.py	266	# Check if the time difference is close to the expected push frequency
LOW	examples/rtc/eval_dataset.py	345	# Check if torch.compile is available (PyTorch 2.0+)
LOW	src/lerobot/processor/pipeline.py	1082	# Check if any JSON file is a processor config
LOW	src/lerobot/rewards/sarm/compute_rabc_weights.py	256	# Set preprocessor to eval mode to disable augmentations
LOW	src/lerobot/rewards/sarm/compute_rabc_weights.py	489	# Set preprocessor to eval mode to disable augmentations
LOW	src/lerobot/rewards/sarm/rabc.py	107	# Check if the requested head mode column exists
LOW	src/lerobot/datasets/streaming_dataset.py	229	# Iterate over the dataset
LOW	src/lerobot/datasets/dataset_tools.py	622	# Check if video stream exists.
LOW	src/lerobot/datasets/dataset_tools.py	644	# Set time_base to match the frame rate for proper timestamp handling.
LOW	src/lerobot/datasets/dataset_tools.py	664	# Check if frame is in any of our desired frame ranges.
LOW	src/lerobot/datasets/dataset_tools.py	673	# Check if frame is in current range.
LOW	src/lerobot/teleoperators/gamepad/gamepad_utils.py	432	# Check if RB is pressed then the intervention flag should be set
LOW	src/lerobot/teleoperators/gamepad/gamepad_utils.py	435	# Check if RT is pressed
LOW	src/lerobot/teleoperators/gamepad/gamepad_utils.py	438	# Check if LT is pressed
LOW	src/lerobot/teleoperators/gamepad/gamepad_utils.py	441	# Check if Y/Triangle button (bit 7) is pressed for saving
LOW	src/lerobot/teleoperators/gamepad/gamepad_utils.py	442	# Check if X/Square button (bit 5) is pressed for failure
LOW	src/lerobot/teleoperators/gamepad/gamepad_utils.py	443	# Check if A/Cross button (bit 4) is pressed for rerecording
LOW	src/lerobot/teleoperators/gamepad/teleop_gamepad.py	138	# Check if intervention is active
LOW	src/lerobot/teleoperators/keyboard/teleop_keyboard.py	247	# Check if any movement keys are currently pressed (indicates intervention)
LOW	…data_processing/sarm_annotations/subtask_annotation.py	317	# Check if ffmpeg is available
LOW	src/lerobot/utils/import_utils.py	39	# Check if the module spec exists using the import name
LOW	src/lerobot/utils/import_utils.py	53	# Check if the version contains "dev"
LOW	src/lerobot/policies/pi0/modeling_pi0.py	183	# Check if input is in channels-last format [b, h, w, c] or channels-first [b, c, h, w]
LOW	src/lerobot/policies/pi0/modeling_pi0.py	503	# Check if gradient checkpointing is enabled for any of the models
LOW	src/lerobot/policies/pi0/modeling_pi0.py	1010	# Check if dataset_stats were provided in kwargs
LOW	src/lerobot/policies/pi0/modeling_pi0.py	1105	# Check if the model actually has adaRMS enabled for the expert
LOW	src/lerobot/policies/pi0/modeling_pi0.py	1114	# Check if the model actually has adaRMS enabled for the expert
LOW	src/lerobot/policies/pi0/modeling_pi0.py	1205	is_channels_first = img.shape[1] == 3 # Check if channels are in dimension 1
LOW	src/lerobot/policies/groot/groot_n1.py	116	# Check if any parameters are still trainable. If not, print a warning.
LOW	src/lerobot/policies/groot/modeling_groot.py	152	# Check if this is a fine-tuned LeRobot checkpoint (has model.safetensors)
LOW	…olicies/groot/action_head/flow_matching_action_head.py	228	# Check if any parameters are still trainable. If not, print a warning.
LOW	src/lerobot/policies/pi05/modeling_pi05.py	180	# Check if input is in channels-last format [b, h, w, c] or channels-first [b, c, h, w]
LOW	src/lerobot/policies/pi05/modeling_pi05.py	500	# Check if gradient checkpointing is enabled for any of the models
LOW	src/lerobot/policies/pi05/modeling_pi05.py	983	# Check if dataset_stats were provided in kwargs
LOW	src/lerobot/policies/pi05/modeling_pi05.py	1078	# Check if the model actually has adaRMS enabled for the expert
LOW	src/lerobot/policies/pi05/modeling_pi05.py	1087	# Check if the model actually has adaRMS enabled for the expert
LOW	src/lerobot/policies/pi05/modeling_pi05.py	1183	is_channels_first = img.shape[1] == 3 # Check if channels are in dimension 1
LOW	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	99	# Check if input is in channels-last format [b, h, w, c] or channels-first [b, c, h, w]
LOW	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	906	# Check if dataset_stats were provided in kwargs
LOW	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	1071	is_channels_first = img.shape[1] == 3 # Check if channels are in dimension 1
LOW	src/lerobot/policies/rtc/debug_tracker.py	167	# Check if step with this time already exists
LOW	src/lerobot/policies/wall_x/utils.py	263	# Set labels to None if all are invalid to skip cross entropy loss
LOW	…c/lerobot/policies/wall_x/qwen_model/qwen2_5_vl_moe.py	2666	# Check if we can ignore the causal mask and rely on SDPA's internal handling
LOW	src/lerobot/common/control_utils.py	195	# Check if dataset_name starts with "eval_" but policy is missing
LOW	src/lerobot/common/control_utils.py	201	# Check if dataset_name does not start with "eval_" but policy is provided
LOW	src/lerobot/common/wandb_utils.py	136	# Check if this is a PEFT model (has adapter files instead of model.safetensors)
LOW	src/lerobot/transforms/transforms.py	180	# Set this to True to apply them in a random order.
LOW	src/lerobot/scripts/convert_dataset_v21_to_v30.py	228	# Check if we need to start a new file BEFORE creating metadata
LOW	src/lerobot/scripts/convert_dataset_v21_to_v30.py	327	# Check if adding this episode would exceed the limit
LOW	src/lerobot/robots/hope_jr/config_hope_jr.py	47	# Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
LOW	src/lerobot/robots/reachy2/configuration_reachy2.py	27	# Set this to a positive scalar to have the same value for all motors.
LOW	src/lerobot/robots/lekiwi/config_lekiwi.py	42	# Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
LOW	src/lerobot/robots/lekiwi/lekiwi.py	190	# Set P_Coefficient to lower value to avoid shakiness (Default is 32)
LOW	…c/lerobot/robots/koch_follower/config_koch_follower.py	31	# Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
LOW	src/lerobot/robots/omx_follower/config_omx_follower.py	31	# Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor
5 more matches not shown…

Verbosity Indicators23 hits · 39 pts

Severity	File	Line	Snippet
LOW	tests/processor/test_normalize_processor.py	2005	# Step 1: DeviceProcessor converts to bfloat16 + moves to CUDA
LOW	tests/processor/test_normalize_processor.py	2011	# Step 2: NormalizerProcessor receives bfloat16 input and adapts
LOW	tests/datasets/test_aggregate.py	617	# Step 1: Create datasets A and B
LOW	tests/datasets/test_aggregate.py	631	# Step 2: Merge A+B into AB with small file size to force multiple files
LOW	tests/datasets/test_aggregate.py	652	# Step 3: Create dataset C
LOW	tests/datasets/test_aggregate.py	660	# Step 4: Merge AB+C into final - THIS IS WHERE THE BUG OCCURRED
LOW	tests/datasets/test_aggregate.py	676	# Step 5: Verify all data files referenced in metadata actually exist
LOW	tests/datasets/test_aggregate.py	684	# Step 6: Verify we can iterate through the entire dataset without FileNotFoundError
LOW	tests/rl/test_sac_algorithm.py	245	# Step 0: should update actor
LOW	tests/rl/test_sac_algorithm.py	249	# Step 1: should NOT update actor
LOW	examples/rtc/eval_dataset.py	395	# Step 1: Move policy to CPU to free GPU/MPS memory
LOW	examples/rtc/eval_dataset.py	398	# Step 2: Delete the policy object
LOW	examples/rtc/eval_dataset.py	401	# Step 3: Force garbage collection to reclaim memory immediately
LOW	examples/rtc/eval_dataset.py	404	# Step 4: Clear device-specific caches
LOW	examples/rtc/eval_dataset.py	444	# Step 1: Generate previous chunk using policy_prev_chunk
LOW	examples/rtc/eval_dataset.py	467	# Step 2: Generate actions WITHOUT RTC using policy_no_rtc
LOW	examples/rtc/eval_dataset.py	500	# Step 3: Generate actions WITH RTC using policy_rtc
LOW	src/lerobot/motors/damiao/damiao.py	512	# Step 1: Send all MIT control commands
LOW	src/lerobot/motors/damiao/damiao.py	524	# Step 2: Collect responses and update state cache
LOW	src/lerobot/motors/damiao/damiao.py	716	# Step 1: Send all MIT control commands
LOW	src/lerobot/motors/damiao/damiao.py	737	# Step 2: Collect responses and update state cache
LOW	…lerobot/teleoperators/openarm_leader/openarm_leader.py	144	# Step 1: Set zero position
LOW	src/lerobot/robots/openarm_follower/openarm_follower.py	184	# Step 1: Set zero position

AI Slop Vocabulary13 hits · 26 pts

Severity	File	Line	Snippet
MEDIUM	tests/processor/test_batch_processor.py	801	"""Test task processing with comprehensive string cases and edge cases."""
MEDIUM	tests/processor/test_pipeline.py	1486	# More comprehensive override tests
LOW	examples/training/train_policy.py	51	# we'll just use the defaults and so no arguments other than input/output features need to be passed.
MEDIUM	src/lerobot/async_inference/robot_client.py	440	# Calculate comprehensive FPS metrics
MEDIUM	src/lerobot/rewards/sarm/compute_rabc_weights.py	449	"""Linearly interpolate values to fill in gaps (robust to NaNs / edge cases)."""
MEDIUM	src/lerobot/datasets/compute_stats.py	438	"""Compute comprehensive statistics for array features along specified axes.
MEDIUM	src/lerobot/datasets/compute_stats.py	489	"""Compute comprehensive statistics for all features in an episode.
MEDIUM	src/lerobot/cameras/opencv/camera_opencv.py	242	# Use math.isclose for robust float comparison
MEDIUM	src/lerobot/policies/tdmpc/modeling_tdmpc.py	369	# learned state-action value function in conjunction with the learned policy: Q(z, π(z)), FOWM
MEDIUM	src/lerobot/scripts/lerobot_eval.py	731	# To be robust, accept scalars or lists.
MEDIUM	src/lerobot/scripts/lerobot_eval.py	801	# compute aggregated metrics helper (robust to lists/scalars)
LOW	src/lerobot/envs/utils.py	133	# TODO(jadechoghari, imstevenpmwork): remove this hardcoding of keys and just use the nested keys as is
LOW	src/lerobot/rl/crop_dataset_roi.py	201	# (Here we simply set the shape to be the final resize_size.)

Slop Phrases2 hits · 4 pts

Severity	File	Line	Snippet
MEDIUM	…olicies/gaussian_actor/configuration_gaussian_actor.py	160	# Configuration for concurrency settings (you can use threads or processes for the actor and learner)
LOW	src/lerobot/scripts/lerobot_eval.py	373	# (batch-element-wise). Note the `done_indices + 1` to make sure to keep the data from the done step.

Score History

Severity Breakdown

Pattern Findings