huggingface/lerobot

32.2

Adjusted Score

32.2

Raw Score

100%

Time Factor

2026-07-14

Last Push

25.8K

Stars

Python

Language

231.3K

Lines of Code

820

Files

5.5K

Pattern Hits

2026-07-14

Scan Date

0.22

HC Hit Rate

What These Metrics Mean

Adjusted Score: Primary synthetic code indicator. Raw score normalised per 1,000 lines of code and multiplied by the temporal discount factor. This is the definitive comparative metric — use it to rank repositories by AI authorship density.
Raw Score: The unmodified sum of all severity-weighted, context-multiplied pattern match scores before temporal discounting. Reflects the absolute signal strength independent of when the repository was last active.
Time Factor: The temporal discount multiplier (0–100%) applied to the raw score. Repositories last updated before ChatGPT's launch (Nov 2022) receive a 5% factor. Full signal is only assigned to repositories active in the post-adoption era (Jan 2024+).
Pattern Hits: Total count of individual pattern matches across all files and categories. A high hit count with a low score may indicate a very large codebase with isolated AI snippets; a low count with a high score indicates dense, concentrated AI signatures.
HC Hit Rate: High+Critical pattern hits per file, averaged across the repository. This orthogonal signal catches repositories where a few files are densely packed with high-severity AI tells — a strong indicator even when the normalised score appears moderate due to codebase size.
Lines of Code / Files: Total lines and files analysed. The scanner examines 94 file extensions. These denominators are used to normalise the score, enabling fair comparison between repositories of vastly different sizes.

Score History

This chart maps the temporal evolution of the adjusted synthetic code score across successive scan runs. An upward trajectory indicates ongoing incorporation of AI-generated code or expanding LLM-assisted scaffolding; a stable or declining trajectory may reflect active human refactoring, code removal, or the adoption of stricter authorship policies. The dashed secondary line (right axis) independently tracks total raw pattern hit count, which can diverge from the normalised score when codebase size changes significantly between scans.

Severity Breakdown

Classifies detected patterns by their diagnostic confidence and structural impact. CRITICAL patterns (coefficient 10) represent definitive synthetic signatures — hallucinated imports, explicit LLM attribution metadata — virtually never produced by human authors. HIGH (5) indicates strong structural tells such as cross-file repetition or cross-linguistic idioms. MEDIUM (2) covers recognisable conversational padding and AI-specific vocabulary. LOW (1) captures subtle indicators like tautological comments and generic boilerplate that require density to carry independent signal.

CRITICAL 9HIGH 175MEDIUM 492LOW 4857

Directory Score Breakdown

This horizontal bar chart decomposes the repository's raw synthetic code score by top-level directory, allowing you to pinpoint precisely which modules or components carry the highest AI authorship density. Directories with disproportionately high scores relative to their size warrant targeted manual review: concentrated AI signatures often trace back to mass-generated configuration layers, auto-ported test suites, LLM-scaffolded boilerplate classes, or entire subsystems authored under heavy copilot assistance. Use this view to prioritise your human code-review effort.

Pattern Findings

The scanner identified 5533 distinct pattern matches across 21 syntactic categories. Each entry below represents a discrete location in the source code where the engine recorded a statistically significant AI authorship indicator. Expand any category row to inspect the individual file paths, line numbers, code snippets, and the lexical context (CODE, COMMENT, or STRING) in which each match was detected.

Reading the findings table: The Severity column indicates the diagnostic confidence level (CRITICAL / HIGH / MEDIUM / LOW). The Context column identifies whether the match occurred inside executable code, an inline comment, or a string literal — comment-context matches receive a ×1.5 weight because LLMs systematically over-annotate. The ⚡ bolt icon marks clustered matches: three or more patterns within a 10-line window, each receiving an additional ×1.5 density multiplier as dense clusters constitute far stronger evidence of synthetic authorship than isolated hits.

Hyper-Verbose Identifiers2344 hits · 2263 pts

Severity	File	Line	Snippet	Context
LOW	tests/conftest.py	62	def _check_component_availability(component_type, available_components, make_component):	CODE
LOW	tests/test_available.py	31	def test_require_package_raises_when_missing():	CODE
LOW	tests/test_available.py	43	def test_require_package_passes_when_available():	CODE
LOW	tests/test_available.py	54	def test_require_package_error_message_includes_uv():	CODE
LOW⚡	tests/test_robomme_env.py	67	def test_robomme_env_config_defaults():	CODE
LOW	tests/test_robomme_env.py	79	def test_robomme_env_config_type():	CODE
LOW	tests/test_robomme_env.py	86	def test_robomme_features_map():	CODE
LOW⚡	tests/test_robomme_env.py	97	def test_robomme_features_action_dim_joint_angle():	CODE
LOW⚡	tests/test_robomme_env.py	105	def test_robomme_features_action_dim_ee_pose():	CODE
LOW⚡	tests/test_robomme_env.py	119	def test_convert_obs_list_format():	CODE
LOW	tests/test_robomme_env.py	154	def test_convert_obs_array_format():	CODE
LOW⚡	tests/test_robomme_env.py	182	def test_create_robomme_envs_returns_correct_structure():	CODE
LOW	tests/test_robomme_env.py	204	def test_create_robomme_envs_multi_task():	CODE
LOW	tests/test_robomme_env.py	222	def test_create_robomme_envs_raises_on_invalid_env_cls():	CODE
LOW⚡	tests/test_rollout.py	32	def test_rollout_top_level_imports():	CODE
LOW⚡	tests/test_rollout.py	39	def test_inference_submodule_imports():	CODE
LOW⚡	tests/test_rollout.py	46	def test_strategies_submodule_imports():	CODE
LOW⚡	tests/test_rollout.py	58	def test_strategy_config_types():	CODE
LOW⚡	tests/test_rollout.py	74	def test_dagger_config_invalid_input_device():	CODE
LOW⚡	tests/test_rollout.py	81	def test_dagger_config_defaults():	CODE
LOW⚡	tests/test_rollout.py	90	def test_inference_config_types():	CODE
LOW⚡	tests/test_rollout.py	101	def test_sentry_config_defaults():	CODE
LOW⚡	tests/test_rollout.py	114	def test_ring_buffer_append_and_eviction():	CODE
LOW⚡	tests/test_rollout.py	146	def test_ring_buffer_tensor_bytes():	CODE
LOW⚡	tests/test_rollout.py	160	def test_thread_safe_robot_delegates():	CODE
LOW⚡	tests/test_rollout.py	202	def test_create_strategy_dispatches():	CODE
LOW⚡	tests/test_rollout.py	221	def test_create_strategy_unknown_raises():	CODE
LOW⚡	tests/test_rollout.py	235	def test_create_inference_engine_sync():	CODE
LOW⚡	tests/test_rollout.py	259	def test_estimate_max_episode_seconds_no_video():	CODE
LOW⚡	tests/test_rollout.py	265	def test_estimate_max_episode_seconds_with_video():	CODE
LOW⚡	tests/test_rollout.py	293	def test_dagger_full_transition_cycle():	CODE
LOW⚡	tests/test_rollout.py	346	def test_rollout_context_fields():	CODE
LOW	tests/test_rollout.py	180	def test_thread_safe_robot_properties():	CODE
LOW	tests/test_rollout.py	320	def test_dagger_invalid_transition_ignored():	CODE
LOW	tests/utils.py	143	def skip_if_package_arg_missing(func):	CODE
LOW	tests/test_cli_peft.py	27	def resolve_model_id_for_peft_training(policy_type):	CODE
LOW	tests/test_cli_peft.py	37	def test_peft_training_push_to_hub_works(policy_type, tmp_path):	CODE
LOW	tests/test_cli_peft.py	125	def test_peft_training_params_are_fewer(policy_type, tmp_path):	CODE
LOW	tests/test_yaml_policy_path.py	22	def test_extract_path_fields_from_yaml():	CODE
LOW	tests/test_yaml_policy_path.py	58	def test_extract_path_fields_from_json():	CODE
LOW	tests/test_yaml_policy_path.py	82	def test_extract_no_path_returns_original():	CODE
LOW	tests/test_yaml_policy_path.py	101	def test_extract_removes_empty_field():	CODE
LOW	tests/test_yaml_policy_path.py	123	def test_get_path_arg_fallback():	CODE
LOW	tests/test_yaml_policy_path.py	135	def test_get_path_arg_cli_takes_precedence():	CODE
LOW	tests/test_yaml_policy_path.py	146	def test_yaml_overrides_captured():	CODE
LOW	tests/test_yaml_policy_path.py	167	def test_yaml_overrides_excludes_type_and_path():	CODE
LOW	tests/test_yaml_policy_path.py	189	def test_get_yaml_overrides_empty_when_path_only():	CODE
LOW⚡	tests/test_yaml_policy_path.py	218	def test_flatten_none_values_skipped():	CODE
LOW⚡	tests/test_yaml_policy_path.py	227	def test_flatten_nested_with_bools():	CODE
LOW⚡	tests/test_yaml_policy_path.py	235	def test_extract_removes_field_with_siblings_and_no_type():	CODE
LOW	tests/test_yaml_policy_path.py	285	def test_wrap_uses_cleaned_config_for_draccus_parse():	CODE
LOW	…age_transforms/save_image_transforms_to_safetensors.py	34	def save_default_config_transform(original_frame: torch.Tensor, output_dir: Path):	CODE
LOW	tests/artifacts/datasets/save_dataset_to_safetensors.py	37	def save_dataset_to_safetensors(output_dir, repo_id="lerobot/pusht"):	CODE
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):	CODE
LOW	tests/transport/test_transport_utils.py	30	def test_bytes_buffer_size_empty_buffer():	CODE
LOW	tests/transport/test_transport_utils.py	41	def test_bytes_buffer_size_small_buffer():	CODE
LOW	tests/transport/test_transport_utils.py	51	def test_bytes_buffer_size_large_buffer():	CODE
LOW	tests/transport/test_transport_utils.py	62	def test_send_bytes_in_chunks_empty_data():	CODE
LOW	tests/transport/test_transport_utils.py	72	def test_single_chunk_small_data():	CODE
LOW	tests/transport/test_transport_utils.py	98	def test_send_bytes_in_chunks_large_data():	CODE
2284 more matches not shown…

Decorative Section Separators361 hits · 1336 pts

Severity	File	Line	Snippet	Context
MEDIUM	pyproject.toml	96	# ── Feature-scoped extras ──────────────────────────────────	COMMENT
MEDIUM	pyproject.toml	130	# ── User-facing composite extras (map to CLI scripts) ─────	COMMENT
MEDIUM⚡	tests/test_robomme_env.py	62	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_robomme_env.py	64	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_robomme_env.py	114	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_robomme_env.py	116	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_robomme_env.py	177	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_robomme_env.py	179	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	27	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	29	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	53	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	55	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	109	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	111	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	155	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	157	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	197	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	199	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	230	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	232	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	254	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	256	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	288	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	290	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	341	# ---------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/test_rollout.py	343	# ---------------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_policy_server.py	29	# -----------------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_policy_server.py	31	# -----------------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_policy_server.py	91	# -----------------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_policy_server.py	93	# -----------------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_policy_server.py	116	# -----------------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_policy_server.py	118	# -----------------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_e2e.py	43	# -----------------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_e2e.py	45	# -----------------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_e2e.py	87	# ------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_e2e.py	89	# ------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_e2e.py	134	# ------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_e2e.py	136	# ------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_e2e.py	171	# ------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_e2e.py	173	# ------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_e2e.py	180	# ------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_e2e.py	182	# ------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_helpers.py	39	# ---------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_helpers.py	41	# ---------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_helpers.py	104	# ---------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_helpers.py	106	# ---------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_helpers.py	141	# ------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_helpers.py	143	# ------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_helpers.py	210	# ---------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_helpers.py	212	# ---------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_helpers.py	156	# ------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_helpers.py	158	# ------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_helpers.py	172	# ---------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_helpers.py	174	# ---------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_robot_client.py	33	# -----------------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_robot_client.py	35	# -----------------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_robot_client.py	70	# -----------------------------------------------------------------------------	COMMENT
MEDIUM	tests/async_inference/test_robot_client.py	72	# -----------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_robot_client.py	89	# -----------------------------------------------------------------------------	COMMENT
MEDIUM⚡	tests/async_inference/test_robot_client.py	91	# -----------------------------------------------------------------------------	COMMENT
301 more matches not shown…

Unused Imports913 hits · 836 pts

Severity	File	Line	Context
LOW	tests/test_robomme_env.py	21	CODE
LOW	tests/test_rollout.py	17	CODE
LOW	tests/async_inference/test_policy_server.py	18	CODE
LOW	tests/async_inference/test_e2e.py	30	CODE
LOW	tests/async_inference/test_robot_client.py	20	CODE
LOW	tests/async_inference/test_robot_client.py	254	CODE
LOW	tests/rewards/test_topreward_processor.py	17	CODE
LOW	tests/rewards/test_modeling_topreward.py	17	CODE
LOW	tests/rewards/test_modeling_robometer.py	17	CODE
LOW	tests/rewards/test_robometer_processor.py	27	CODE
LOW	tests/policies/test_gaussian_actor_policy.py	32	CODE
LOW	tests/policies/groot/test_groot_vs_original.py	52	CODE
LOW	tests/policies/evo1/test_evo1.py	17	CODE
LOW	tests/policies/vla_jepa/conftest.py	4	CODE
LOW	tests/policies/vla_jepa/test_configuration.py	3	CODE
LOW	tests/policies/vla_jepa/test_vla_jepa.py	3	CODE
LOW	tests/policies/vla_jepa/test_world_model.py	3	CODE
LOW	tests/policies/vla_jepa/test_action_head.py	3	CODE
LOW	tests/policies/molmoact2/test_molmoact2.py	19	CODE
LOW	tests/policies/pi0_pi05/utils/openpi_parity.py	17	CODE
LOW	tests/policies/eo1/test_eo1.py	19	CODE
LOW	…s/policies/lingbot_va/test_configuration_lingbot_va.py	17	CODE
LOW	tests/policies/lingbot_va/test_factory.py	17	CODE
LOW	tests/policies/lingbot_va/test_processor.py	17	CODE
LOW	tests/policies/lingbot_va/test_modules.py	19	CODE
LOW	tests/annotations/conftest.py	23	CODE
LOW	tests/annotations/test_frames.py	30	CODE
LOW	tests/annotations/test_writer.py	18	CODE
LOW	tests/annotations/test_vlm_client.py	18	CODE
LOW	tests/annotations/run_e2e_smoke.py	25	CODE
LOW	tests/annotations/test_validator.py	18	CODE
LOW	tests/annotations/test_modules.py	18	CODE
LOW	tests/annotations/test_pipeline_recipe_render.py	18	CODE
LOW	tests/annotations/_helpers.py	18	CODE
LOW	tests/scripts/test_train_remote_dispatch.py	25	CODE
LOW	tests/jobs/conftest.py	17	CODE
LOW	tests/envs/test_dispatch.py	3	CODE
LOW	tests/envs/test_robotwin.py	23	CODE
LOW	examples/dataset/create_progress_videos.py	38	CODE
LOW	examples/omx/record_grab.py	30	CODE
LOW	examples/omx/record_grab.py	31	CODE
LOW	examples/backward_compatibility/replay.py	39	CODE
LOW	examples/backward_compatibility/replay.py	39	CODE
LOW	examples/backward_compatibility/replay.py	39	CODE
LOW	examples/isaac_teleop_to_so101/common.py	54	CODE
LOW	examples/isaac_teleop_to_so101/record.py	57	CODE
LOW	examples/isaac_teleop_to_so101/record.py	58	CODE
LOW	examples/isaac_teleop_to_so101/record.py	71	CODE
LOW	examples/isaac_teleop_to_so101/teleoperate.py	43	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/clutch.py	24	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/__init__.py	23	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/__init__.py	24	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/__init__.py	25	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/__init__.py	25	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/__init__.py	25	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/__init__.py	26	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/__init__.py	26	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/__init__.py	27	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/__init__.py	28	CODE
LOW	…eleop_to_so101/isaac_teleop/xr_controller_processor.py	24	CODE
853 more matches not shown…

Over-Commented Block738 hits · 718 pts

Severity	File	Line	Snippet	Context
LOW	.pre-commit-config.yaml	1	# Copyright 2024 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	.pre-commit-config.yaml	101	# rev: v1.8.2	COMMENT
LOW	pyproject.toml	1	# Copyright 2024 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	pyproject.toml	261	# Development	COMMENT
LOW	pyproject.toml	281	# via `uv pip install --override` (see docker/Dockerfile.benchmark.robomme).	COMMENT
LOW	pyproject.toml	381		COMMENT
LOW	pyproject.toml	461	# TODO: Uncomment when ready to use	COMMENT
LOW	pyproject.toml	541	# [[tool.mypy.overrides]]	COMMENT
LOW	pyproject.toml	561		COMMENT
LOW	setup.py	1	# Copyright 2025 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/conftest.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/test_available.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/test_robomme_env.py	1	# Copyright 2026 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/__init__.py	1	# Copyright 2024 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/test_control_robot.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/test_rollout.py	1	# Copyright 2025 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/utils.py	1	#!/usr/bin/env python	COMMENT
LOW	…age_transforms/save_image_transforms_to_safetensors.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/artifacts/datasets/save_dataset_to_safetensors.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/artifacts/policies/save_policy_to_safetensors.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/transport/test_transport_utils.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/async_inference/test_policy_server.py	1	# Copyright 2025 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/async_inference/test_e2e.py	1	# Copyright 2025 The HuggingFace Inc. team.	COMMENT
LOW	tests/async_inference/test_helpers.py	1	# Copyright 2025 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/async_inference/test_robot_client.py	1	# Copyright 2025 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/motors/test_feetech.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/motors/test_motors_bus.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/motors/test_dynamixel.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/training/test_visual_validation.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/training/test_multi_gpu.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_observation_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_converters.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_diffusion_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_normalize_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_normalize_processor.py	1161	# """Test that unsupported normalization modes raise appropriate errors."""	COMMENT
LOW	tests/processor/test_act_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_pi05_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_tokenizer_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	…sts/processor/test_pipeline_from_pretrained_helpers.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_smolvla_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_pi0_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_gaussian_actor_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_device_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_batch_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_vqbet_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_libero_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_rename_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_tdmpc_processor.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_batch_conversion.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_pipeline.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_migration_detection.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/processor/test_policy_robot_bridge.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/rewards/test_reward_model_base.py	1	# Copyright 2026 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/rewards/test_modeling_classifier.py	1	# Copyright 2025 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/rewards/test_topreward_processor.py	1	# Copyright 2026 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/rewards/test_modeling_topreward.py	1	# Copyright 2026 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/rewards/test_topreward.py	1	# Copyright 2026 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/rewards/test_modeling_robometer.py	1	# Copyright 2026 The HuggingFace Inc. team. All rights reserved.	COMMENT
LOW	tests/rewards/test_sarm_utils.py	1	#!/usr/bin/env python	COMMENT
LOW	tests/rewards/test_sarm_processor.py	1	#!/usr/bin/env python	COMMENT
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Cross-File Repetition113 hits · 565 pts

Severity	File	Line	Snippet	Context
HIGH	tests/motors/test_feetech.py	0	instantiation should raise an error if the class doesn't implement abstract methods/properties.	STRING
HIGH	tests/motors/test_dynamixel.py	0	instantiation should raise an error if the class doesn't implement abstract methods/properties.	STRING
HIGH	tests/cameras/test_realsense.py	0	instantiation should raise an error if the class doesn't implement abstract methods/properties.	STRING
HIGH	tests/cameras/test_opencv.py	0	instantiation should raise an error if the class doesn't implement abstract methods/properties.	STRING
HIGH	tests/processor/test_diffusion_processor.py	0	test: deviceprocessor(bfloat16) + normalizerprocessor(float32) → output bfloat16 via automatic adaptation	STRING
HIGH	tests/processor/test_act_processor.py	0	test: deviceprocessor(bfloat16) + normalizerprocessor(float32) → output bfloat16 via automatic adaptation	STRING
HIGH	tests/processor/test_smolvla_processor.py	0	test: deviceprocessor(bfloat16) + normalizerprocessor(float32) → output bfloat16 via automatic adaptation	STRING
HIGH	tests/processor/test_gaussian_actor_processor.py	0	test: deviceprocessor(bfloat16) + normalizerprocessor(float32) → output bfloat16 via automatic adaptation	STRING
HIGH	tests/processor/test_vqbet_processor.py	0	test: deviceprocessor(bfloat16) + normalizerprocessor(float32) → output bfloat16 via automatic adaptation	STRING
HIGH	tests/processor/test_tdmpc_processor.py	0	test: deviceprocessor(bfloat16) + normalizerprocessor(float32) → output bfloat16 via automatic adaptation	STRING
HIGH	tests/policies/xvla/test_xvla_original_vs_lerobot.py	0	set random seed for all rng sources to ensure reproducibility.	STRING
HIGH	tests/policies/groot/test_groot_lerobot.py	0	set random seed for all rng sources to ensure reproducibility.	STRING
HIGH	…policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py	0	set random seed for all rng sources to ensure reproducibility.	STRING
HIGH	tests/policies/smolvla/test_smolvla_rtc.py	0	test pi0 policy inference with rtc but no previous chunk (rtc should have no effect).	STRING
HIGH	tests/policies/pi0_pi05/test_pi05_rtc.py	0	test pi0 policy inference with rtc but no previous chunk (rtc should have no effect).	STRING
HIGH	tests/policies/pi0_pi05/test_pi0_rtc.py	0	test pi0 policy inference with rtc but no previous chunk (rtc should have no effect).	STRING
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	computes sine-cosine positional embedding vectors for scalar positions.	STRING
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	computes sine-cosine positional embedding vectors for scalar positions.	STRING
HIGH	src/lerobot/policies/smolvla/modeling_smolvla.py	0	computes sine-cosine positional embedding vectors for scalar positions.	STRING
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	computes sine-cosine positional embedding vectors for scalar positions.	STRING
HIGH	src/lerobot/policies/eo1/modeling_eo1.py	0	computes sine-cosine positional embedding vectors for scalar positions.	STRING
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	STRING
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	STRING
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	STRING
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	STRING
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	enable gradient checkpointing for memory optimization.	STRING
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	enable gradient checkpointing for memory optimization.	STRING
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	enable gradient checkpointing for memory optimization.	STRING
HIGH	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	0	enable gradient checkpointing for memory optimization.	STRING
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	helper method to apply gradient checkpointing if enabled.	STRING
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	helper method to apply gradient checkpointing if enabled.	STRING
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	helper method to apply gradient checkpointing if enabled.	STRING
HIGH	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	0	helper method to apply gradient checkpointing if enabled.	STRING
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	helper method to prepare 4d attention masks for transformer.	STRING
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	helper method to prepare 4d attention masks for transformer.	STRING
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	helper method to prepare 4d attention masks for transformer.	STRING
HIGH	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	0	helper method to prepare 4d attention masks for transformer.	STRING
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	embed noisy_actions, timestep to prepare for expert gemma processing.	STRING
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	embed noisy_actions, timestep to prepare for expert gemma processing.	STRING
HIGH	src/lerobot/policies/smolvla/modeling_smolvla.py	0	embed noisy_actions, timestep to prepare for expert gemma processing.	STRING
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	embed noisy_actions, timestep to prepare for expert gemma processing.	STRING
HIGH	tests/policies/pi0_pi05/openpi_pytorch/pi0_pytorch.py	0	apply one denoising step of the noise `x_t` at a given timestep.	STRING
HIGH	src/lerobot/policies/pi0/modeling_pi0.py	0	apply one denoising step of the noise `x_t` at a given timestep.	STRING
HIGH	src/lerobot/policies/smolvla/modeling_smolvla.py	0	apply one denoising step of the noise `x_t` at a given timestep.	STRING
HIGH	src/lerobot/policies/pi05/modeling_pi05.py	0	apply one denoising step of the noise `x_t` at a given timestep.	STRING
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	STRING
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	STRING
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	STRING
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	STRING
HIGH	src/lerobot/teleoperators/teleoperator.py	0	context manager entry. automatically connects to the camera.	STRING
HIGH	src/lerobot/cameras/camera.py	0	context manager entry. automatically connects to the camera.	STRING
HIGH	src/lerobot/robots/robot.py	0	context manager entry. automatically connects to the camera.	STRING
HIGH	src/lerobot/teleoperators/teleoperator.py	0	context manager exit. automatically disconnects, ensuring resources are released even on error.	STRING
HIGH	src/lerobot/cameras/camera.py	0	context manager exit. automatically disconnects, ensuring resources are released even on error.	STRING
HIGH	src/lerobot/robots/robot.py	0	context manager exit. automatically disconnects, ensuring resources are released even on error.	STRING
HIGH	src/lerobot/teleoperators/teleoperator.py	0	destructor safety net. attempts to disconnect if the object is garbage collected without cleanup.	STRING
HIGH	src/lerobot/cameras/camera.py	0	destructor safety net. attempts to disconnect if the object is garbage collected without cleanup.	STRING
HIGH	src/lerobot/robots/robot.py	0	destructor safety net. attempts to disconnect if the object is garbage collected without cleanup.	STRING
HIGH	src/lerobot/cameras/opencv/camera_opencv.py	0	return the most recent (color) frame captured immediately (peeking). this method is non-blocking and returns whatever is	STRING
HIGH	src/lerobot/cameras/zmq/camera_zmq.py	0	return the most recent (color) frame captured immediately (peeking). this method is non-blocking and returns whatever is	STRING
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Docstring Block Structure61 hits · 305 pts

Severity	File	Line	Snippet	Context
HIGH	src/lerobot/processor/normalize_processor.py	305	Core logic to apply a normalization or unnormalization transformation to a tensor. This method selects	STRING
HIGH	src/lerobot/processor/env_processor.py	115	Convert batched quaternions to axis-angle format. Only accepts torch tensors of shape (B, 4).	STRING
HIGH	src/lerobot/processor/pipeline.py	72	A class decorator to register a ProcessorStep. Args: name: The name to register the class under. If	STRING
HIGH	src/lerobot/processor/pipeline.py	103	Retrieves a processor step class from the registry by its name. Args: name: The name of the step to	STRING
HIGH	src/lerobot/processor/pipeline.py	629	Loads a pipeline from a local directory, single file, or Hugging Face Hub repository. This method implements a	STRING
HIGH	src/lerobot/processor/pipeline.py	797	Load configuration from local file or Hugging Face Hub. This method implements a super-simplified 3-way loading	STRING
HIGH	src/lerobot/processor/pipeline.py	925	Build all processor steps with overrides and state loading. This method orchestrates the complete step construc	STRING
HIGH	src/lerobot/processor/pipeline.py	1013	Resolve step class from registry or import path. This method implements a two-tier resolution strategy:	STRING
HIGH	src/lerobot/processor/pipeline.py	1084	Instantiate a single processor step with config overrides. This method handles the configuration merging and in	STRING
HIGH	src/lerobot/processor/converters.py	37	Convert various data types to PyTorch tensors with configurable options. This is a unified tensor conversion f	STRING
HIGH	src/lerobot/processor/converters.py	332	Convert a batch dictionary from a dataset/dataloader into an `EnvTransition`. This function maps recognized ke	STRING
HIGH	src/lerobot/processor/observation_processor.py	56	Processes a single NumPy image array into a channel-first, normalized tensor. Args: img: A	STRING
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	STRING
HIGH	src/lerobot/rewards/factory.py	74	Instantiates a reward model configuration object based on the reward type. This factory function simplifies th	STRING
HIGH	src/lerobot/rewards/factory.py	145	Create pre- and post-processor pipelines for a given reward model. Each reward model type has a dedicated fact	STRING
HIGH	src/lerobot/datasets/aggregate.py	96	Validates that all dataset metadata have consistent properties. Ensures all datasets have the same fps, robot_type,	STRING
HIGH	src/lerobot/datasets/compute_stats.py	686	Compute normalization statistics for relative actions over the full dataset. Iterates all valid action chunks (wi	STRING
HIGH	src/lerobot/datasets/dataset_metadata.py	259	Return the relative parquet file path for the given episode index. Args: ep_index: Zero-based episo	STRING
HIGH	src/lerobot/datasets/dataset_metadata.py	283	Return the relative video file path for the given episode and video key. Args: ep_index: Zero-based	STRING
HIGH	src/lerobot/datasets/factory.py	70	Handles the logic of setting up delta timestamps and image transforms before creating a dataset. Args: cfg	STRING
HIGH	src/lerobot/datasets/utils.py	250	Serialize a dictionary containing tensors or numpy arrays to be JSON-compatible. Converts torch.Tensor, np.ndarray,	STRING
HIGH	src/lerobot/datasets/utils.py	349	Return the specified version if available on repo, or the latest compatible one. If the exact version is not found,	STRING
HIGH	src/lerobot/datasets/feature_utils.py	44	Convert a LeRobot features dictionary to a `datasets.Features` object. Args: features (dict): A LeRobot-sty	STRING
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	STRING
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.	STRING
HIGH	src/lerobot/datasets/lerobot_dataset.py	482	Return a single frame by index, with all transforms applied. Loads the frame from the underlying HF dataset, ex	STRING
HIGH	src/lerobot/datasets/depth_utils.py	75	Quantize depth to 12-bit codes (``uint16``, values ``0…DEPTH_QMAX``). Depth maps are packed into 12-bit integer fra	STRING
HIGH	src/lerobot/datasets/depth_utils.py	163	Inverse of :func:`quantize_depth`. Decoding inverts the same normalized code mapping as :func:`quantize_depth`	STRING
HIGH	src/lerobot/teleoperators/phone/phone_processor.py	48	Processes the phone action dictionary to create a robot action dictionary. Args: act: The	STRING
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	STRING
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	STRING
HIGH	src/lerobot/optim/optimizers.py	166	Build AdamW optimizer with differential learning rates. Args: params: Must be a dict[str,	STRING
HIGH	src/lerobot/optim/optimizers.py	249	Build multiple Adam optimizers. Args: params: Must be a dict[str, Iterable[Parameter]] mapping para	STRING
HIGH	src/lerobot/utils/feature_utils.py	140	Convert dataset features to policy features. This function transforms the dataset's feature specification into a fo	STRING
HIGH	src/lerobot/utils/feature_utils.py	186	Merge LeRobot grouped feature dicts. - For 1D numeric specs (dtype not image/video/string) with "names": we merge t	STRING
HIGH	src/lerobot/cameras/camera.py	123	Return the most recent new frame. This method retrieves the latest frame captured by the background thread.	STRING
HIGH	src/lerobot/cameras/opencv/camera_opencv.py	395	Applies color conversion, dimension validation, and rotation to a raw frame. Args: image (	STRING
HIGH	src/lerobot/cameras/opencv/camera_opencv.py	501	Reads the latest available frame asynchronously. This method retrieves the most recent frame captured	STRING
HIGH	src/lerobot/cameras/realsense/camera_realsense.py	422	Applies color conversion, dimension validation, and rotation to a raw color frame. Args: i	STRING
HIGH	src/lerobot/cameras/realsense/camera_realsense.py	566	Reads the latest available frame data (color) asynchronously. This method retrieves the most recent co	STRING
HIGH	src/lerobot/cameras/zmq/camera_zmq.py	309	Reads the latest available frame asynchronously. Args: timeout_ms (float): Maximum time in	STRING
HIGH	src/lerobot/policies/factory.py	88	Retrieves a policy class by its registered name. This function uses dynamic imports to avoid loading all polic	STRING
HIGH	src/lerobot/policies/factory.py	188	Instantiates a policy configuration object based on the policy type. This factory function simplifies the crea	STRING
HIGH	src/lerobot/policies/factory.py	282	Create or load pre- and post-processor pipelines for a given policy. This function acts as a factory. It can e	STRING
HIGH	src/lerobot/policies/factory.py	522	Instantiate a policy model. This factory function handles the logic of creating a policy, which requires d	STRING
HIGH	src/lerobot/policies/xvla/processor_xvla.py	192	Convert batched rotation matrices (B, 3, 3) into 6D rotation representation (B, 6). Args:	STRING
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	STRING
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:	STRING
HIGH	src/lerobot/common/train_utils.py	204	Loads the training step, optimizer state, scheduler state, and rng state. This is used to resume a training run	STRING
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	STRING
HIGH	src/lerobot/configs/parser.py	195	Filters command-line arguments related to fields with specific path arguments. Args: fields_to_filter	STRING
HIGH	src/lerobot/robots/lekiwi/lekiwi.py	241	Convert desired body-frame velocities into wheel raw commands. Parameters: x_cmd : Line	STRING
HIGH	src/lerobot/robots/lekiwi/lekiwi_client.py	315	Command lekiwi to move to a target joint configuration. Translates to motor space + sends over ZMQ Args:	STRING
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	STRING
HIGH	src/lerobot/envs/factory.py	65	Makes a gym vector environment according to the config or Hub reference. Args: cfg (EnvConfig \| str): Eithe	STRING
HIGH	src/lerobot/rl/joint_observations_processor.py	53	Computes joint velocities and adds them to the observation state. Args: observation: The i	STRING
HIGH	src/lerobot/rl/joint_observations_processor.py	149	Fetches motor currents and adds them to the observation state. Args: observation: The inpu	STRING
HIGH	src/lerobot/rl/learner.py	654	Handle the resume logic for training. If resume is True: - Verifies that a checkpoint exists - Loads t	STRING
HIGH	src/lerobot/rl/algorithms/factory.py	24	Instantiate an `RLAlgorithmConfig` from its registered type name. Args: algorithm_type: Registry key of the	STRING
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	STRING
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Self-Referential Comments91 hits · 284 pts

Severity	File	Line	Snippet	Context
MEDIUM⚡	tests/async_inference/test_policy_server.py	155	# Create a new, dissimilar observation.	COMMENT
MEDIUM⚡	tests/async_inference/test_policy_server.py	166	# Create a new, very similar observation.	COMMENT
MEDIUM	tests/async_inference/test_e2e.py	64	# Create a stub policy similar to test_policy_server.py	COMMENT
MEDIUM	tests/async_inference/test_helpers.py	421	# Create an image with a specific pattern	COMMENT
MEDIUM	tests/processor/test_observation_processor.py	33	# Create a mock image (H, W, C) format, uint8	COMMENT
MEDIUM	tests/processor/test_observation_processor.py	82	# Create a batched image (B, H, W, C)	COMMENT
MEDIUM	tests/processor/test_normalize_processor.py	809	# Create a new processor from the config (deserialization)	COMMENT
MEDIUM	tests/processor/test_normalize_processor.py	1164	# # Create an invalid norm_map (this would never happen in practice, but tests error handling)	COMMENT
MEDIUM	tests/processor/test_normalize_processor.py	1771	# Create a normalizer with original stats and save its state	COMMENT
MEDIUM	tests/processor/test_normalize_processor.py	1775	# Create a new normalizer with override stats (simulating from_pretrained with overrides)	COMMENT
MEDIUM	tests/processor/test_normalize_processor.py	1838	# Create a normalizer with original stats and save its state	COMMENT
MEDIUM	tests/processor/test_normalize_processor.py	1842	# Create a new normalizer without stats (simulating normal from_pretrained)	COMMENT
MEDIUM	tests/processor/test_normalize_processor.py	1966	# Create a reference pipeline with override stats for comparison	COMMENT
MEDIUM	tests/processor/test_tokenizer_processor.py	626	# Create a custom mock that tracks calls	COMMENT
MEDIUM	tests/processor/test_tokenizer_processor.py	787	# Create a mock tokenizer that tracks padding_side calls	COMMENT
MEDIUM	…sts/processor/test_pipeline_from_pretrained_helpers.py	40	# Create a config file	COMMENT
MEDIUM	…sts/processor/test_pipeline_from_pretrained_helpers.py	57	# Create a config file	COMMENT
MEDIUM	tests/processor/test_device_processor.py	32	# Create a transition with CPU tensors	COMMENT
MEDIUM	tests/processor/test_device_processor.py	59	# Create a transition with CPU tensors	COMMENT
MEDIUM	tests/processor/test_device_processor.py	290	# Create a pipeline with DeviceProcessorStep	COMMENT
MEDIUM⚡	tests/processor/test_pipeline.py	1095	# Create a processor with steps that need overrides	COMMENT
MEDIUM⚡	tests/processor/test_pipeline.py	1105	# Create a mock environment for override	COMMENT
MEDIUM	tests/processor/test_pipeline.py	68	# Create a new transition with updated complementary_data	COMMENT
MEDIUM	tests/processor/test_pipeline.py	1846	# Define a transform function	COMMENT
MEDIUM⚡	tests/processor/test_migration_detection.py	189	# Create an invalid JSON file	COMMENT
MEDIUM⚡	tests/processor/test_migration_detection.py	193	# Create a valid non-processor config	COMMENT
MEDIUM	tests/processor/test_migration_detection.py	69	# Create a valid processor config	COMMENT
MEDIUM	tests/processor/test_migration_detection.py	93	# Create an empty processor config	COMMENT
MEDIUM	tests/processor/test_migration_detection.py	112	# Create a model config (like old LeRobot format)	COMMENT
MEDIUM	tests/processor/test_migration_detection.py	234	# Create a model config but no processor	COMMENT
MEDIUM	tests/processor/test_migration_detection.py	256	# Create a valid processor config	COMMENT
MEDIUM	tests/processor/test_migration_detection.py	335	# Create a model config	COMMENT
MEDIUM	tests/datasets/test_datasets.py	791	# Create a dataset with 5 episodes (0-4)	COMMENT
MEDIUM	tests/datasets/test_datasets.py	825	# Create a dataset with only episodes 0, 1, 2	COMMENT
MEDIUM	tests/datasets/test_datasets.py	852	# Create a filtered dataset	COMMENT
MEDIUM	tests/optim/test_optimizers.py	220	# Create a dummy loss and do backward	COMMENT
MEDIUM	tests/utils/test_replay_buffer.py	590	# Create a batch of 2 images with known patterns	COMMENT
MEDIUM	tests/policies/pi0_pi05/openpi_pytorch/gemma_pytorch.py	170	# Define the complete layer computation function for gradient checkpointing	COMMENT
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	COMMENT
MEDIUM⚡	tests/rl/test_learner_service.py	67	# Create a gRPC server and add our servicer to it.	COMMENT
MEDIUM⚡	tests/rl/test_learner_service.py	73	# Create a client channel and stub connected to the server's port.	COMMENT
MEDIUM	tests/rl/test_actor.py	54	# Create a gRPC server and add our servicer to it.	COMMENT
MEDIUM	tests/rl/test_actor.py	60	# Create a client channel and stub connected to the server's port.	COMMENT
MEDIUM	examples/tutorial/act/act_training_example.py	58	# Create the optimizer and dataloader for offline training	COMMENT
MEDIUM	…mples/tutorial/diffusion/diffusion_training_example.py	59	# Create the optimizer and dataloader for offline training	COMMENT
MEDIUM	examples/so100_to_so100_EE/record.py	51	# Create the robot and teleoperator configurations	COMMENT
MEDIUM	examples/so100_to_so100_EE/record.py	117	# Create the dataset, deriving features from the pipelines so the on-disk schema	COMMENT
MEDIUM	examples/so100_to_so100_EE/evaluate.py	61	# Create the robot configuration & robot	COMMENT
MEDIUM	examples/so100_to_so100_EE/evaluate.py	106	# Create the dataset	COMMENT
MEDIUM	examples/training/train_policy.py	29	# Create a directory to store the training checkpoint.	COMMENT
MEDIUM	examples/training/train_with_streaming.py	31	# Create a directory to store the training checkpoint.	COMMENT
MEDIUM	examples/lekiwi/record.py	38	# Create the robot and teleoperator configurations	COMMENT
MEDIUM	examples/lekiwi/record.py	53	# Create the dataset	COMMENT
MEDIUM	examples/lekiwi/evaluate.py	46	# Create the robot configuration & robot	COMMENT
MEDIUM	examples/lekiwi/evaluate.py	59	# Create the dataset	COMMENT
MEDIUM	examples/lekiwi/teleoperate.py	29	# Create the robot and teleoperator configurations	COMMENT
MEDIUM	examples/phone_to_so100/record.py	54	# Create the robot and teleoperator configurations	COMMENT
MEDIUM	examples/phone_to_so100/record.py	122	# Create the dataset, deriving features from the pipelines so the on-disk schema	COMMENT
MEDIUM	examples/phone_to_so100/evaluate.py	61	# Create the robot configuration & robot	COMMENT
MEDIUM	examples/phone_to_so100/evaluate.py	106	# Create the dataset	COMMENT
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Modern Structural Boilerplate233 hits · 234 pts

Severity	File	Line	Snippet	Context
LOW	tests/datasets/test_lerobot_dataset.py	51	def _set_default_cache_root(monkeypatch: pytest.MonkeyPatch, cache_root: Path) -> None:	CODE
LOW⚡	tests/policies/vla_jepa/conftest.py	39	def set_seed_all(seed: int) -> None:	CODE
LOW	tests/envs/test_dispatch.py	19	logger = logging.getLogger(__name__)	CODE
LOW	examples/omx/record_grab.py	133	logger = logging.getLogger(__name__)	CODE
LOW	examples/omx/reset_environment.py	33	logger = logging.getLogger(__name__)	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/__init__.py	30	__all__ = [	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/base.py	67	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/__init__.py	51	__all__ = ["__version__", "available_extras"]	CODE
LOW	src/lerobot/motors/__init__.py	23	__all__ = ["Motor", "MotorCalibration", "MotorNormMode"]	CODE
LOW	src/lerobot/motors/motors_bus.py	54	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/motors/motors_bus.py	710	def set_baudrate(self, baudrate: int) -> None:	CODE
LOW	src/lerobot/motors/motors_bus.py	1195	def _setup_sync_reader(self, motor_ids: list[int], addr: int, length: int) -> None:	CODE
LOW	src/lerobot/motors/motors_bus.py	1282	def _setup_sync_writer(self, ids_values: dict[int, int], addr: int, length: int) -> None:	CODE
LOW	src/lerobot/motors/robstride/__init__.py	20	__all__ = ["RobstrideMotorsBus"]	CODE
LOW	src/lerobot/motors/robstride/robstride.py	57	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/motors/robstride/robstride.py	426	def set_zero_position(self, motors: str \| list[str] \| None = None) -> None:	CODE
LOW	src/lerobot/motors/dynamixel/dynamixel.py	50	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/motors/dynamixel/__init__.py	20	__all__ = ["DriveMode", "DynamixelMotorsBus", "OperatingMode", "TorqueMode"]	CODE
LOW	src/lerobot/motors/damiao/__init__.py	20	__all__ = ["DamiaoMotorsBus"]	CODE
LOW	src/lerobot/motors/damiao/damiao.py	59	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/motors/damiao/damiao.py	335	def set_zero_position(self, motors: str \| list[str] \| None = None) -> None:	CODE
LOW	src/lerobot/motors/feetech/feetech.py	49	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/motors/feetech/__init__.py	20	__all__ = ["DriveMode", "FeetechMotorsBus", "OperatingMode", "TorqueMode"]	CODE
LOW	src/lerobot/processor/relative_action_processor.py	30	__all__ = [	CODE
LOW	src/lerobot/processor/__init__.py	105	__all__ = [	CODE
LOW	src/lerobot/rewards/__init__.py	27	__all__ = [	CODE
LOW	src/lerobot/rewards/classifier/__init__.py	19	__all__ = ["RewardClassifierConfig", "Classifier", "make_classifier_processor"]	CODE
LOW	src/lerobot/rewards/sarm/__init__.py	19	__all__ = ["SARMConfig", "SARMRewardModel", "make_sarm_pre_post_processors"]	CODE
LOW	src/lerobot/rewards/robometer/modeling_robometer.py	69	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/rewards/robometer/__init__.py	19	__all__ = ["RobometerConfig", "RobometerRewardModel", "make_robometer_pre_post_processors"]	CODE
LOW	src/lerobot/rewards/topreward/modeling_topreward.py	86	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/rewards/topreward/__init__.py	19	__all__ = ["TOPRewardConfig", "TOPRewardModel", "make_topreward_pre_post_processors"]	CODE
LOW	src/lerobot/datasets/pyav_utils.py	29	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/datasets/video_utils.py	53	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/datasets/compute_stats.py	160	def _update_histograms(self, batch: np.ndarray) -> None:	CODE
LOW	src/lerobot/datasets/__init__.py	62	__all__ = [	CODE
LOW	src/lerobot/datasets/image_writer.py	26	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/datasets/dataset_writer.py	70	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/datasets/utils.py	75	logger = logging.getLogger(__name__)	STRING
LOW	src/lerobot/datasets/lerobot_dataset.py	43	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/datasets/lerobot_dataset.py	535	def set_image_transforms(self, image_transforms: Callable \| None) -> None:	CODE
LOW	src/lerobot/datasets/dataset_reader.py	116	def set_image_transforms(self, image_transforms: Callable \| None) -> None:	CODE
LOW	src/lerobot/datasets/sampler.py	23	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/datasets/sampler.py	118	def set_epoch(self, epoch: int) -> None:	CODE
LOW	src/lerobot/datasets/multi_dataset.py	31	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/datasets/multi_dataset.py	100	def set_image_transforms(self, image_transforms: Callable \| None) -> None:	CODE
LOW	src/lerobot/teleoperators/__init__.py	21	__all__ = ["Teleoperator", "TeleoperatorConfig", "TeleopEvents", "make_teleoperator_from_config"]	CODE
LOW	…t/teleoperators/bi_openarm_leader/bi_openarm_leader.py	28	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/teleoperators/bi_openarm_leader/__init__.py	20	__all__ = ["BiOpenArmLeader", "BiOpenArmLeaderConfig"]	CODE
LOW	src/lerobot/teleoperators/so_leader/__init__.py	25	__all__ = [	CODE
LOW	src/lerobot/teleoperators/so_leader/so_leader.py	30	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/teleoperators/bi_so_leader/__init__.py	19	__all__ = ["BiSOLeader", "BiSOLeaderConfig"]	CODE
LOW	src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py	28	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/teleoperators/gamepad/__init__.py	20	__all__ = ["GamepadTeleop", "GamepadTeleopConfig"]	CODE
LOW	…/lerobot/teleoperators/bi_rebot_102_leader/__init__.py	20	__all__ = ["BiRebot102Leader", "BiRebot102LeaderConfig"]	CODE
LOW	…leoperators/bi_rebot_102_leader/bi_rebot_102_leader.py	28	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/teleoperators/omx_leader/__init__.py	20	__all__ = ["OmxLeader", "OmxLeaderConfig"]	CODE
LOW	src/lerobot/teleoperators/omx_leader/omx_leader.py	31	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/teleoperators/phone/teleop_phone.py	45	logger = logging.getLogger(__name__)	CODE
LOW	src/lerobot/teleoperators/phone/__init__.py	20	__all__ = ["Phone", "PhoneConfig"]	CODE
173 more matches not shown…

Deep Nesting236 hits · 220 pts

Severity	File	Line	Context
LOW	tests/conftest.py	62	CODE
LOW	tests/datasets/test_depth.py	256	CODE
LOW	tests/datasets/test_datasets.py	1158	CODE
LOW	tests/datasets/test_compute_stats.py	272	CODE
LOW	tests/datasets/test_dataset_writer.py	40	CODE
LOW	tests/datasets/test_streaming.py	74	CODE
LOW	tests/datasets/test_streaming.py	226	CODE
LOW	tests/datasets/test_streaming.py	307	CODE
LOW	tests/datasets/test_aggregate.py	394	CODE
LOW	tests/utils/test_replay_buffer.py	116	CODE
LOW	tests/utils/test_replay_buffer.py	365	CODE
LOW	tests/policies/groot/test_groot_n1_7_oss_parity.py	140	CODE
LOW	tests/policies/pi0_pi05/openpi_pytorch/gemma_pytorch.py	104	CODE
LOW	…icies/pi0_pi05/openpi_pytorch/preprocessing_pytorch.py	20	CODE
LOW	tests/annotations/run_e2e_smoke.py	44	CODE
LOW	tests/annotations/_helpers.py	26	CODE
LOW	tests/annotations/_helpers.py	37	CODE
LOW	examples/tutorial/rl/hilserl_example.py	27	CODE
LOW	examples/tutorial/rl/hilserl_example.py	115	CODE
LOW	examples/so100_to_so100_EE/evaluate.py	57	CODE
LOW	examples/dataset/slurm_compute_rabc.py	62	CODE
LOW	examples/dataset/use_dataset_image_transforms.py	46	CODE
LOW	examples/dataset/use_dataset_image_transforms.py	86	CODE
LOW	examples/dataset/use_dataset_image_transforms.py	135	CODE
LOW	examples/lekiwi/evaluate.py	42	CODE
LOW	examples/port_datasets/slurm_upload.py	108	CODE
LOW	examples/isaac_teleop_to_so101/common.py	237	CODE
LOW	examples/isaac_teleop_to_so101/record.py	172	CODE
LOW	examples/phone_to_so100/evaluate.py	57	CODE
LOW	scripts/ci/extract_task_descriptions.py	160	CODE
LOW	src/lerobot/transport/utils.py	74	CODE
LOW	src/lerobot/async_inference/robot_client.py	269	CODE
LOW	src/lerobot/motors/calibration_gui.py	98	CODE
LOW	src/lerobot/motors/calibration_gui.py	320	CODE
LOW	src/lerobot/motors/calibration_gui.py	356	CODE
LOW	src/lerobot/motors/motors_bus.py	430	CODE
LOW	src/lerobot/motors/motors_bus.py	850	CODE
LOW	src/lerobot/motors/motors_bus.py	879	CODE
LOW	src/lerobot/motors/robstride/robstride.py	280	CODE
LOW	src/lerobot/motors/robstride/robstride.py	381	CODE
LOW	src/lerobot/motors/robstride/robstride.py	395	CODE
LOW	src/lerobot/motors/robstride/robstride.py	438	CODE
LOW	src/lerobot/motors/robstride/robstride.py	481	CODE
LOW	src/lerobot/motors/robstride/robstride.py	840	CODE
LOW	src/lerobot/motors/robstride/robstride.py	962	CODE
LOW	src/lerobot/motors/damiao/damiao.py	296	CODE
LOW	src/lerobot/motors/damiao/damiao.py	309	CODE
LOW	src/lerobot/motors/damiao/damiao.py	355	CODE
LOW	src/lerobot/motors/damiao/damiao.py	395	CODE
LOW	src/lerobot/motors/damiao/damiao.py	705	CODE
LOW	src/lerobot/motors/damiao/damiao.py	760	CODE
LOW	src/lerobot/motors/feetech/feetech.py	187	CODE
LOW	src/lerobot/motors/feetech/feetech.py	341	CODE
LOW	src/lerobot/processor/migrate_policy_normalization.py	65	CODE
LOW	src/lerobot/processor/migrate_policy_normalization.py	125	CODE
LOW	src/lerobot/processor/migrate_policy_normalization.py	365	CODE
LOW	src/lerobot/processor/env_processor.py	178	CODE
LOW	src/lerobot/processor/pipeline.py	791	CODE
LOW	src/lerobot/processor/observation_processor.py	131	CODE
LOW	src/lerobot/rewards/factory.py	33	CODE
176 more matches not shown…

Excessive Try-Catch Wrapping187 hits · 205 pts

Severity	File	Line	Snippet	Context
LOW	tests/conftest.py	75	except Exception as e:	CODE
LOW	tests/datasets/test_aggregate.py	279	except Exception as e:	CODE
LOW	tests/policies/groot/test_groot_vs_original.py	104	except Exception as exc: # noqa: BLE001	CODE
LOW	tests/policies/groot/utils/dump_original_n1_7.py	202	except Exception as exc: # noqa: BLE001	CODE
LOW	…policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py	515	except Exception as e:	CODE
MEDIUM	tests/policies/rtc/test_action_queue.py	522	def consumer():	CODE
MEDIUM	tests/policies/rtc/test_action_queue.py	556	def producer():	CODE
MEDIUM	tests/policies/rtc/test_action_queue.py	586	def consumer():	CODE
MEDIUM	tests/policies/rtc/test_action_queue.py	596	def producer():	CODE
MEDIUM	tests/policies/rtc/test_action_queue.py	634	def reader():	CODE
MEDIUM	tests/policies/rtc/test_action_queue.py	647	def consumer():	CODE
LOW	tests/policies/rtc/test_action_queue.py	529	except Exception as e:	CODE
LOW	tests/policies/rtc/test_action_queue.py	563	except Exception as e:	CODE
LOW	tests/policies/rtc/test_action_queue.py	593	except Exception as e:	CODE
LOW	tests/policies/rtc/test_action_queue.py	603	except Exception as e:	CODE
LOW	tests/policies/rtc/test_action_queue.py	641	except Exception as e:	CODE
LOW	tests/policies/rtc/test_action_queue.py	652	except Exception as e:	CODE
LOW	tests/policies/pi0_pi05/test_pi05.py	110	except Exception as e:	CODE
LOW	tests/policies/pi0_pi05/test_pi05.py	119	except Exception as e:	CODE
LOW	tests/policies/pi0_pi05/test_pi05.py	161	except Exception as e:	CODE
LOW	tests/policies/pi0_pi05/test_pi0.py	96	except Exception as e:	CODE
LOW	tests/policies/pi0_pi05/test_pi0.py	106	except Exception as e:	CODE
LOW	tests/policies/pi0_pi05/test_pi0.py	125	except Exception as e:	CODE
LOW	tests/policies/wall_x/test_wallx.py	97	except Exception as e:	CODE
LOW	tests/policies/wall_x/test_wallx.py	116	except Exception as e:	CODE
LOW	tests/policies/wall_x/test_wallx.py	131	except Exception as e:	CODE
LOW	examples/dataset/create_progress_videos.py	192	except Exception as exc:	CODE
LOW	examples/dataset/slurm_compute_rabc.py	169	except Exception as e:	CODE
LOW	examples/dataset/use_dataset_image_transforms.py	82	except Exception as e:	CODE
LOW	examples/dataset/use_dataset_image_transforms.py	131	except Exception as e:	CODE
LOW	examples/dataset/use_dataset_image_transforms.py	163	except Exception as e:	CODE
LOW	examples/port_datasets/slurm_port_shards.py	50	except Exception:	CODE
LOW⚡	examples/rtc/eval_dataset.py	414	except Exception as e:	CODE
LOW	examples/rtc/eval_dataset.py	376	except Exception as e:	CODE
LOW	examples/rtc/eval_dataset.py	530	except Exception as e:	CODE
LOW	examples/isaac_teleop_to_so101/common.py	259	except Exception:	CODE
LOW⚡	examples/isaac_teleop_to_so101/record.py	287	except Exception:	CODE
LOW⚡	examples/isaac_teleop_to_so101/record.py	292	except Exception:	CODE
LOW⚡	examples/isaac_teleop_to_so101/record.py	299	except Exception:	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/base.py	147	except Exception:	CODE
LOW	examples/isaac_teleop_to_so101/isaac_teleop/base.py	151	except Exception:	CODE
LOW⚡	…c_teleop_to_so101/isaac_teleop/teleop_xr_controller.py	109	except Exception:	CODE
LOW	scripts/ci/extract_task_descriptions.py	196	except Exception as exc:	CODE
LOW	src/lerobot/async_inference/robot_client.py	455	except Exception as e:	CODE
LOW	src/lerobot/async_inference/policy_server.py	263	except Exception as e:	CODE
LOW	src/lerobot/motors/robstride/robstride.py	215	except Exception as e:	CODE
LOW	src/lerobot/motors/robstride/robstride.py	296	except Exception as e:	CODE
LOW	src/lerobot/motors/robstride/robstride.py	339	except Exception as e:	CODE
LOW	src/lerobot/motors/robstride/robstride.py	390	except Exception as e:	CODE
LOW	src/lerobot/motors/robstride/robstride.py	403	except Exception as e:	CODE
LOW	src/lerobot/motors/robstride/robstride.py	477	except Exception as e:	CODE
LOW	src/lerobot/motors/robstride/robstride.py	506	except Exception as e:	CODE
LOW	src/lerobot/motors/robstride/robstride.py	800	except Exception as e:	CODE
LOW	src/lerobot/motors/damiao/damiao.py	200	except Exception as e:	CODE
LOW	src/lerobot/motors/damiao/damiao.py	262	except Exception as e:	CODE
LOW	src/lerobot/motors/damiao/damiao.py	304	except Exception as e:	CODE
LOW	src/lerobot/motors/damiao/damiao.py	317	except Exception as e:	CODE
LOW	src/lerobot/motors/damiao/damiao.py	391	except Exception as e:	CODE
LOW	src/lerobot/motors/damiao/damiao.py	424	except Exception as e:	CODE
LOW	src/lerobot/motors/damiao/damiao.py	583	except Exception as e:	CODE
127 more matches not shown…

Hallucination Indicators9 hits · 125 pts

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

AI Structural Patterns111 hits · 104 pts

Severity	File	Line	Context
LOW	tests/training/test_multi_gpu.py	139	CODE
LOW	tests/rewards/test_sarm_processor.py	50	CODE
LOW	tests/policies/multi_task_dit/test_multi_task_dit.py	89	CODE
LOW	src/lerobot/transport/services_pb2_grpc.py	128	CODE
LOW	src/lerobot/transport/services_pb2_grpc.py	155	CODE
LOW	src/lerobot/transport/services_pb2_grpc.py	182	CODE
LOW	src/lerobot/transport/services_pb2_grpc.py	209	CODE
LOW	src/lerobot/transport/services_pb2_grpc.py	337	CODE
LOW	src/lerobot/transport/services_pb2_grpc.py	364	CODE
LOW	src/lerobot/transport/services_pb2_grpc.py	391	CODE
LOW	src/lerobot/transport/services_pb2_grpc.py	418	CODE
LOW	src/lerobot/processor/pipeline.py	612	CODE
LOW	src/lerobot/rewards/pretrained.py	70	CODE
LOW	src/lerobot/rewards/sarm/modeling_sarm.py	56	CODE
LOW	src/lerobot/rewards/sarm/modeling_sarm.py	193	CODE
LOW	src/lerobot/rewards/topreward/modeling_topreward.py	150	CODE
LOW	src/lerobot/datasets/streaming_dataset.py	241	CODE
LOW	src/lerobot/datasets/dataset_tools.py	1671	CODE
LOW	src/lerobot/datasets/lerobot_dataset.py	47	CODE
LOW	src/lerobot/datasets/lerobot_dataset.py	548	CODE
LOW	src/lerobot/datasets/lerobot_dataset.py	663	CODE
LOW	src/lerobot/datasets/lerobot_dataset.py	776	CODE
LOW	src/lerobot/datasets/depth_utils.py	152	CODE
LOW	src/lerobot/utils/hub.py	154	CODE
LOW	src/lerobot/policies/pretrained.py	162	CODE
LOW	src/lerobot/policies/pi_gemma.py	212	CODE
LOW	src/lerobot/policies/xvla/configuration_florence2.py	81	CODE
LOW	src/lerobot/policies/xvla/configuration_florence2.py	216	CODE
LOW	src/lerobot/policies/xvla/modeling_xvla.py	428	CODE
LOW	src/lerobot/policies/xvla/soft_transformer.py	299	CODE
LOW	src/lerobot/policies/xvla/modeling_florence2.py	523	CODE
LOW	src/lerobot/policies/xvla/modeling_florence2.py	1341	CODE
LOW	src/lerobot/policies/xvla/modeling_florence2.py	1706	CODE
LOW	src/lerobot/policies/xvla/modeling_florence2.py	1990	CODE
LOW	src/lerobot/policies/xvla/modeling_florence2.py	2133	CODE
LOW	src/lerobot/policies/xvla/modeling_florence2.py	2214	CODE
LOW	src/lerobot/policies/xvla/modeling_florence2.py	2592	CODE
LOW	src/lerobot/policies/xvla/modeling_florence2.py	2717	CODE
LOW	src/lerobot/policies/pi0/modeling_pi0.py	971	CODE
LOW	src/lerobot/policies/groot/modeling_groot.py	153	CODE
LOW	src/lerobot/policies/groot/groot_n1_7.py	256	CODE
LOW	…obot/policies/groot/action_head/cross_attention_dit.py	91	CODE
LOW	…obot/policies/groot/action_head/cross_attention_dit.py	212	CODE
LOW	…obot/policies/groot/action_head/cross_attention_dit.py	394	CODE
LOW	src/lerobot/policies/smolvla/smolvlm_with_expert.py	73	CODE
LOW	src/lerobot/policies/pi05/modeling_pi05.py	944	CODE
LOW	src/lerobot/policies/evo1/modeling_evo1.py	78	CODE
LOW	src/lerobot/policies/evo1/internvl3_embedder.py	106	CODE
LOW	src/lerobot/policies/evo1/evo1_model.py	160	CODE
LOW	src/lerobot/policies/evo1/flow_matching.py	107	CODE
LOW	src/lerobot/policies/evo1/flow_matching.py	174	CODE
LOW	src/lerobot/policies/evo1/flow_matching.py	393	CODE
LOW	src/lerobot/policies/fastwam/wan/video_dit.py	412	CODE
LOW	src/lerobot/policies/fastwam/wan/model.py	179	CODE
LOW	src/lerobot/policies/fastwam/wan/modular.py	831	CODE
LOW	src/lerobot/policies/fastwam/wan/modular.py	918	CODE
LOW	src/lerobot/policies/fastwam/wan/modular.py	1677	CODE
LOW	src/lerobot/policies/fastwam/wan/modular.py	1787	CODE
LOW	src/lerobot/policies/fastwam/wan/modular.py	1874	CODE
LOW	…bot/policies/gaussian_actor/modeling_gaussian_actor.py	604	CODE
51 more matches not shown…

Redundant / Tautological Comments63 hits · 97 pts

Severity	File	Line	Snippet	Context
LOW	tests/datasets/test_image_transforms.py	426	# Check if the combined transforms directory exists and contains the right files	COMMENT
LOW	tests/datasets/test_image_transforms.py	445	# Check if the transformed images exist for each transform type	COMMENT
LOW	tests/policies/pi0_pi05/openpi_pytorch/gemma_pytorch.py	143	# Check if gradient checkpointing is enabled for any of the models	COMMENT
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]	COMMENT
LOW	…icies/pi0_pi05/openpi_pytorch/preprocessing_pytorch.py	42	is_channels_first = image.shape[1] == 3 # Check if channels are in dimension 1	CODE
LOW	tests/rl/test_learner_service.py	266	# Check if the time difference is close to the expected push frequency	COMMENT
LOW	examples/rtc/eval_dataset.py	345	# Check if torch.compile is available (PyTorch 2.0+)	COMMENT
LOW	src/lerobot/processor/pipeline.py	1303	# Check if any JSON file is a processor config	COMMENT
LOW	src/lerobot/rewards/sarm/compute_rabc_weights.py	256	# Set preprocessor to eval mode to disable augmentations	COMMENT
LOW	src/lerobot/rewards/sarm/compute_rabc_weights.py	489	# Set preprocessor to eval mode to disable augmentations	COMMENT
LOW	src/lerobot/rewards/sarm/rabc.py	107	# Check if the requested head mode column exists	COMMENT
LOW	src/lerobot/datasets/streaming_dataset.py	232	# Iterate over the dataset	STRING
LOW	src/lerobot/datasets/dataset_tools.py	639	# Check if video stream exists.	COMMENT
LOW	src/lerobot/datasets/dataset_tools.py	661	# Set time_base to match the frame rate for proper timestamp handling.	COMMENT
LOW	src/lerobot/datasets/dataset_tools.py	681	# Check if frame is in any of our desired frame ranges.	COMMENT
LOW	src/lerobot/datasets/dataset_tools.py	690	# Check if frame is in current range.	COMMENT
LOW⚡	src/lerobot/teleoperators/gamepad/gamepad_utils.py	442	# Check if RB is pressed then the intervention flag should be set	COMMENT
LOW⚡	src/lerobot/teleoperators/gamepad/gamepad_utils.py	445	# Check if RT is pressed	COMMENT
LOW⚡	src/lerobot/teleoperators/gamepad/gamepad_utils.py	448	# Check if LT is pressed	COMMENT
LOW⚡	src/lerobot/teleoperators/gamepad/gamepad_utils.py	451	# Check if Y/Triangle button (bit 7) is pressed for saving	COMMENT
LOW⚡	src/lerobot/teleoperators/gamepad/gamepad_utils.py	452	# Check if X/Square button (bit 5) is pressed for failure	COMMENT
LOW⚡	src/lerobot/teleoperators/gamepad/gamepad_utils.py	453	# Check if A/Cross button (bit 4) is pressed for rerecording	COMMENT
LOW	src/lerobot/teleoperators/gamepad/teleop_gamepad.py	138	# Check if intervention is active	COMMENT
LOW	src/lerobot/teleoperators/keyboard/teleop_keyboard.py	248	# Check if any movement keys are currently pressed (indicates intervention)	COMMENT
LOW	…data_processing/sarm_annotations/subtask_annotation.py	317	# Check if ffmpeg is available	COMMENT
LOW	src/lerobot/utils/import_utils.py	39	# Check if the module spec exists using the import name	COMMENT
LOW	src/lerobot/utils/import_utils.py	53	# Check if the version contains "dev"	COMMENT
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]	COMMENT
LOW	src/lerobot/policies/pi0/modeling_pi0.py	503	# Check if gradient checkpointing is enabled for any of the models	COMMENT
LOW	src/lerobot/policies/pi0/modeling_pi0.py	1010	# Check if dataset_stats were provided in kwargs	COMMENT
LOW	src/lerobot/policies/pi0/modeling_pi0.py	1105	# Check if the model actually has adaRMS enabled for the expert	COMMENT
LOW	src/lerobot/policies/pi0/modeling_pi0.py	1114	# Check if the model actually has adaRMS enabled for the expert	COMMENT
LOW	src/lerobot/policies/pi0/modeling_pi0.py	1205	is_channels_first = img.shape[1] == 3 # Check if channels are in dimension 1	CODE
LOW	src/lerobot/policies/groot/modeling_groot.py	200	# Check if this is a fine-tuned LeRobot checkpoint (has model.safetensors)	COMMENT
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]	COMMENT
LOW	src/lerobot/policies/pi05/modeling_pi05.py	500	# Check if gradient checkpointing is enabled for any of the models	COMMENT
LOW	src/lerobot/policies/pi05/modeling_pi05.py	983	# Check if dataset_stats were provided in kwargs	COMMENT
LOW	src/lerobot/policies/pi05/modeling_pi05.py	1078	# Check if the model actually has adaRMS enabled for the expert	COMMENT
LOW	src/lerobot/policies/pi05/modeling_pi05.py	1087	# Check if the model actually has adaRMS enabled for the expert	COMMENT
LOW	src/lerobot/policies/pi05/modeling_pi05.py	1183	is_channels_first = img.shape[1] == 3 # Check if channels are in dimension 1	CODE
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]	COMMENT
LOW	src/lerobot/policies/pi0_fast/modeling_pi0_fast.py	906	# Check if dataset_stats were provided in kwargs	COMMENT
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	CODE
LOW	src/lerobot/policies/rtc/debug_tracker.py	167	# Check if step with this time already exists	COMMENT
LOW	src/lerobot/policies/wall_x/utils.py	263	# Set labels to None if all are invalid to skip cross entropy loss	COMMENT
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	COMMENT
LOW⚡	src/lerobot/common/control_utils.py	112	# Check if dataset_name starts with "eval_" but policy is missing	COMMENT
LOW⚡	src/lerobot/common/control_utils.py	118	# Check if dataset_name does not start with "eval_" but policy is provided	COMMENT
LOW	src/lerobot/common/wandb_utils.py	136	# Check if this is a PEFT model (has adapter files instead of model.safetensors)	COMMENT
LOW	src/lerobot/transforms/transforms.py	180	# Set this to True to apply them in a random order.	COMMENT
LOW	src/lerobot/scripts/convert_dataset_v21_to_v30.py	228	# Check if we need to start a new file BEFORE creating metadata	COMMENT
LOW	src/lerobot/scripts/convert_dataset_v21_to_v30.py	327	# Check if adding this episode would exceed the limit	COMMENT
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	COMMENT
LOW	src/lerobot/robots/reachy2/configuration_reachy2.py	27	# Set this to a positive scalar to have the same value for all motors.	COMMENT
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	COMMENT
LOW	src/lerobot/robots/lekiwi/lekiwi.py	196	# Set P_Coefficient to lower value to avoid shakiness (Default is 32)	COMMENT
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	COMMENT
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	COMMENT
LOW	src/lerobot/robots/so_follower/so_follower.py	164	# Set P_Coefficient to lower value to avoid shakiness (Default is 32)	COMMENT
LOW	src/lerobot/robots/so_follower/config_so_follower.py	34	# Set this to a positive scalar to have the same value for all motors, or a dictionary that maps motor	COMMENT
3 more matches not shown…

Verbosity Indicators23 hits · 43 pts

Severity	File	Line	Snippet	Context
LOW⚡	tests/processor/test_normalize_processor.py	2005	# Step 1: DeviceProcessor converts to bfloat16 + moves to CUDA	COMMENT
LOW⚡	tests/processor/test_normalize_processor.py	2011	# Step 2: NormalizerProcessor receives bfloat16 input and adapts	COMMENT
LOW⚡	tests/datasets/test_aggregate.py	819	# Step 3: Create dataset C	COMMENT
LOW⚡	tests/datasets/test_aggregate.py	827	# Step 4: Merge AB+C into final - THIS IS WHERE THE BUG OCCURRED	COMMENT
LOW⚡	tests/datasets/test_aggregate.py	843	# Step 5: Verify all data files referenced in metadata actually exist	COMMENT
LOW⚡	tests/datasets/test_aggregate.py	851	# Step 6: Verify we can iterate through the entire dataset without FileNotFoundError	COMMENT
LOW	tests/datasets/test_aggregate.py	784	# Step 1: Create datasets A and B	COMMENT
LOW	tests/datasets/test_aggregate.py	798	# Step 2: Merge A+B into AB with small file size to force multiple files	COMMENT
LOW⚡	tests/rl/test_sac_algorithm.py	245	# Step 0: should update actor	COMMENT
LOW⚡	tests/rl/test_sac_algorithm.py	249	# Step 1: should NOT update actor	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	395	# Step 1: Move policy to CPU to free GPU/MPS memory	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	398	# Step 2: Delete the policy object	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	401	# Step 3: Force garbage collection to reclaim memory immediately	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	404	# Step 4: Clear device-specific caches	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	444	# Step 1: Generate previous chunk using policy_prev_chunk	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	467	# Step 2: Generate actions WITHOUT RTC using policy_no_rtc	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	500	# Step 3: Generate actions WITH RTC using policy_rtc	COMMENT
LOW	src/lerobot/motors/damiao/damiao.py	512	# Step 1: Send all MIT control commands	COMMENT
LOW	src/lerobot/motors/damiao/damiao.py	524	# Step 2: Collect responses and update state cache	COMMENT
LOW	src/lerobot/motors/damiao/damiao.py	716	# Step 1: Send all MIT control commands	COMMENT
LOW	src/lerobot/motors/damiao/damiao.py	737	# Step 2: Collect responses and update state cache	COMMENT
LOW	…lerobot/teleoperators/openarm_leader/openarm_leader.py	144	# Step 1: Set zero position	COMMENT
LOW	src/lerobot/robots/openarm_follower/openarm_follower.py	189	# Step 1: Set zero position	COMMENT

Structural Annotation Overuse23 hits · 43 pts

Severity	File	Line	Snippet	Context
LOW⚡	tests/processor/test_normalize_processor.py	2005	# Step 1: DeviceProcessor converts to bfloat16 + moves to CUDA	COMMENT
LOW⚡	tests/processor/test_normalize_processor.py	2011	# Step 2: NormalizerProcessor receives bfloat16 input and adapts	COMMENT
LOW⚡	tests/datasets/test_aggregate.py	819	# Step 3: Create dataset C	COMMENT
LOW⚡	tests/datasets/test_aggregate.py	827	# Step 4: Merge AB+C into final - THIS IS WHERE THE BUG OCCURRED	COMMENT
LOW⚡	tests/datasets/test_aggregate.py	843	# Step 5: Verify all data files referenced in metadata actually exist	COMMENT
LOW⚡	tests/datasets/test_aggregate.py	851	# Step 6: Verify we can iterate through the entire dataset without FileNotFoundError	COMMENT
LOW	tests/datasets/test_aggregate.py	784	# Step 1: Create datasets A and B	COMMENT
LOW	tests/datasets/test_aggregate.py	798	# Step 2: Merge A+B into AB with small file size to force multiple files	COMMENT
LOW⚡	tests/rl/test_sac_algorithm.py	245	# Step 0: should update actor	COMMENT
LOW⚡	tests/rl/test_sac_algorithm.py	249	# Step 1: should NOT update actor	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	395	# Step 1: Move policy to CPU to free GPU/MPS memory	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	398	# Step 2: Delete the policy object	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	401	# Step 3: Force garbage collection to reclaim memory immediately	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	404	# Step 4: Clear device-specific caches	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	444	# Step 1: Generate previous chunk using policy_prev_chunk	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	467	# Step 2: Generate actions WITHOUT RTC using policy_no_rtc	COMMENT
LOW⚡	examples/rtc/eval_dataset.py	500	# Step 3: Generate actions WITH RTC using policy_rtc	COMMENT
LOW	src/lerobot/motors/damiao/damiao.py	512	# Step 1: Send all MIT control commands	COMMENT
LOW	src/lerobot/motors/damiao/damiao.py	524	# Step 2: Collect responses and update state cache	COMMENT
LOW	src/lerobot/motors/damiao/damiao.py	716	# Step 1: Send all MIT control commands	COMMENT
LOW	src/lerobot/motors/damiao/damiao.py	737	# Step 2: Collect responses and update state cache	COMMENT
LOW	…lerobot/teleoperators/openarm_leader/openarm_leader.py	144	# Step 1: Set zero position	COMMENT
LOW	src/lerobot/robots/openarm_follower/openarm_follower.py	189	# Step 1: Set zero position	COMMENT

AI Slop Vocabulary14 hits · 29 pts

Severity	File	Line	Snippet	Context
MEDIUM	tests/processor/test_batch_processor.py	801	"""Test task processing with comprehensive string cases and edge cases."""	STRING
MEDIUM	tests/processor/test_pipeline.py	1706	# More comprehensive override tests	COMMENT
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.	COMMENT
MEDIUM	src/lerobot/async_inference/robot_client.py	440	# Calculate comprehensive FPS metrics	COMMENT
MEDIUM	src/lerobot/rewards/sarm/compute_rabc_weights.py	449	"""Linearly interpolate values to fill in gaps (robust to NaNs / edge cases)."""	STRING
MEDIUM	src/lerobot/datasets/compute_stats.py	440	"""Compute comprehensive statistics for array features along specified axes.	STRING
MEDIUM	src/lerobot/datasets/compute_stats.py	491	"""Compute comprehensive statistics for all features in an episode.	STRING
MEDIUM	src/lerobot/cameras/opencv/camera_opencv.py	242	# Use math.isclose for robust float comparison	COMMENT
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	COMMENT
MEDIUM	src/lerobot/scripts/lerobot_eval.py	974	# To be robust, accept scalars or lists.	COMMENT
MEDIUM	src/lerobot/scripts/lerobot_eval.py	1048	# compute aggregated metrics helper (robust to lists/scalars)	COMMENT
MEDIUM	src/lerobot/scripts/lerobot_dataset_viz.py	235	# Use the dataset's q01/q99 depth statistics for robust depth range bounds	COMMENT
LOW	src/lerobot/envs/utils.py	153	# TODO(jadechoghari, imstevenpmwork): remove this hardcoding of keys and just use the nested keys as is	COMMENT
LOW	src/lerobot/rl/crop_dataset_roi.py	201	# (Here we simply set the shape to be the final resize_size.)	COMMENT

Modern AI Meta-Vocabulary6 hits · 21 pts

Severity	File	Line	Snippet	Context
MEDIUM⚡	tests/rewards/test_reward_model_base.py	130	# Trainable vs zero-shot (general-purpose) reward models.	COMMENT
MEDIUM⚡	tests/jobs/test_hf.py	185	# `job` is client-only orchestration and must be stripped for the pod.	COMMENT
MEDIUM	…c/lerobot/rewards/topreward/configuration_topreward.py	23	# Default prompt scaffolding from the upstream TOPReward paper / reference	COMMENT
MEDIUM	src/lerobot/policies/molmoact2/README.md	428	### Joint frame transform (SO-100/101 zero-shot)	COMMENT
MEDIUM	src/lerobot/jobs/hf.py	397	# (e.g. an orchestration framework) skip the Ctrl-C-detaches-instead-of-cancels	COMMENT
MEDIUM	src/lerobot/rl/learner.py	596	# Save policy artifacts (pretrained_model/) + Trainer scaffolding (training_state/).	COMMENT

Cross-Language Confusion1 hit · 5 pts

Severity	File	Line	Snippet	Context
HIGH	examples/annotations/run_hf_job.py	46	"apt-get update -qq && apt-get install -y -qq git ffmpeg && "	CODE

Slop Phrases2 hits · 4 pts

Severity	File	Line	Snippet	Context
MEDIUM	…olicies/gaussian_actor/configuration_gaussian_actor.py	160	# Configuration for concurrency settings (you can use threads or processes for the actor and learner)	COMMENT
LOW	src/lerobot/scripts/lerobot_eval.py	546	# (batch-element-wise). Note the `done_indices + 1` to make sure to keep the data from the done step.	COMMENT

TODO Padding3 hits · 4 pts

Severity	File	Line	Snippet	Context
LOW	src/lerobot/robots/hope_jr/hope_jr_arm.py	129	# TODO: add docstring	COMMENT
LOW	src/lerobot/robots/hope_jr/hope_jr_hand.py	159	# TODO: add docstring	COMMENT
LOW	src/lerobot/robots/unitree_g1/unitree_g1.py	290	# TODO: implement g1_29 calibration	COMMENT

Fake / Example Data1 hit · 1 pts

Severity	File	Line	Snippet	Context
LOW	…ons/steerable_pipeline/modules/plan_subtasks_memory.py	188	"placeholder",	CODE

Analysis Overview

What These Metrics Mean

Score History

Severity Breakdown

Directory Score Breakdown

Pattern Findings