feat: add support for external plugin config dataclasses #807
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The existing `ChoiceRegistry`-based config classes are limited by requiring that all subclasses be imported in order to be registered. This means that in order to use the LeRobot training scripts, any external library that defines its own configs MUST be imported, which requires modifications of this repos files. In order to make the training scripts usable without modification, this commit introduces CLI argument parsing to load external plugins at runtime. This will import plugins and trigger registration of externally defined config dataclasses with the base choice registry.
imstevenpmwork
added
enhancement
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What this does (✨ Feature)
Currently, the
ChoiceRegistry-based config dataclasses only register config subclasses when they are imported. This means that to use an external environment or policy, you have to modify LeRobot’s repository—either by adding a new config class directly or by importing the external module in the training script. Such modifications limit the use of LeRobot as a library or framework.This PR adds runtime support for loading external plugins/packages through the CLI. Now, by simply passing a CLI argument to load external plugins at runtime, the system automatically imports the plugin and registers its config classes. This decouples external extensions from LeRobot’s internal code, making it much easier to use LeRobot with our own environments or policies without modifying the training scripts! 🚀
How it was tested
See the
test_plugin_loading.pytests added.How to checkout & try? (for the reviewer)
Checkout this branch and run: