feat: add experimental LeRobot policy runtime

[TomCC7]

Contribution path

• Small, safe change that does not need a tracking issue
• Stacked on hardware PR: feat(a1z): add real hardware adapter #3303

Problem

DimOS needs an experimental runtime for executing trained LeRobot policies against live robot observations without coupling generic learning utilities to A1Z hardware or promoting an unstable policy API into a core package.

LeRobot 0.6 also requires Python 3.12+, Transformers 5, Hugging Face Hub 1.x, and NumPy <2.3. Those requirements conflict with the existing DimOS perception and development environments, which use Transformers 4.53 and NumPy 2.3.

Solution

• Add LeRobotPolicyModule under dimos.experimental.robot_policy with named, lazily loaded checkpoints, typed streams, RPC status/control, and background-skill support.
• Convert camera and joint-state observations into LeRobot inference inputs and publish ordered joint targets through the coordinator boundary.
• Reject stale or incomplete observations, invalid actions, non-finite values, and mismatched joint dimensions.
• Pin the optional runtime to LeRobot 0.6.0 on Python 3.12+ with its required Transformers 5 stack.
• Use uv conflict declarations to keep the LeRobot environment separate from the existing Transformers 4 perception, base, Unitree, and development environments. uv now rejects accidental mixed installs.
• Keep LeRobot optional for repository-wide mypy while checking its imported API boundary when the extra is installed.
• Keep A1Z teaching, collection, replay, dataset preparation, camera, and other learning utilities out of this PR for a separate follow-up.

How to Test

Install and smoke-test the actual runtime environment:

uv sync --extra lerobot --no-default-groups --frozen
python -c "import importlib.metadata as m; import dimos.experimental.robot_policy.lerobot; print(m.version('lerobot'), m.version('transformers'))"

Expected versions: LeRobot 0.6.0 and Transformers 5.5.x.

Run the policy tests and CI-equivalent type check:

uv sync --only-group tests --frozen
pytest dimos/experimental/robot_policy/test_lerobot.py -q
uv sync --only-group lint --frozen
UV_NO_SYNC=1 uv run mypy

Validated locally: 16 policy tests passed; mypy passed across 935 source files; changed-file pre-commit hooks and uv lock --check passed.

AI assistance

OpenAI Codex with GPT-5 implemented and validated the change under direct user guidance. The user reviewed and approved the scope, package placement, dependency strategy, and stacked-PR structure.

Checklist

• I have read and approved the CLA.

[codecov]

Codecov Report

❌ Patch coverage is 94.15584% with 36 lines in your changes missing coverage. Please review.
✅ All tests successful. No failed tests found.

Files with missing lines	Patch %	Lines
dimos/experimental/robot_policy/lerobot.py	89.00%	20 Missing and 13 partials ⚠️
dimos/experimental/robot_policy/test_lerobot.py	99.05%	2 Missing and 1 partial ⚠️

@@                      Coverage Diff                      @@
##           feat/galaxea-a1z-hardware    #3315      +/-   ##
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+ Coverage                      75.18%   75.23%   +0.05%     
=============================================================
  Files                           1145     1146       +1     
  Lines                         110038   110632     +594     
  Branches                        9900     9936      +36     
=============================================================
+ Hits                           82728    83237     +509     
- Misses                         24532    24544      +12     
- Partials                        2778     2851      +73     

Flag	Coverage Δ
OS-ubuntu-24.04-arm	69.11% <94.15%> (+0.14%)	⬆️
OS-ubuntu-latest	71.18% <94.15%> (+0.12%)	⬆️
Py-3.10	71.18% <94.15%> (+0.12%)	⬆️
Py-3.11	71.18% <94.15%> (+0.12%)	⬆️
Py-3.12	71.18% <94.15%> (+0.12%)	⬆️
Py-3.13	71.17% <94.15%> (+0.12%)	⬆️
Py-3.14	71.19% <94.15%> (+0.13%)	⬆️
Py-3.14t	71.18% <94.15%> (+0.12%)	⬆️
SelfHosted-Large	29.09% <32.14%> (+0.01%)	⬆️
SelfHosted-Linux	35.86% <32.14%> (-0.02%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dimos/robot/all_blueprints.py	100.00% <ø> (ø)
dimos/experimental/robot_policy/test_lerobot.py	99.05% <99.05%> (ø)
dimos/experimental/robot_policy/lerobot.py	89.00% <89.00%> (ø)

... and 14 files with indirect coverage changes

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