lerobot/common/policies/pi0fast/modeling_pi0fast.py (5 lines):
	- line 407: # TODO: move tokenizers in Policy
	- line 686: # TODO: keep like this or move to the policy .forward
	- line 854: # TODO: keep like this or move to the policy .forward
	- line 903: # TODO: avoid list in python and torch.cat ; prefer pre-allocation with torch.empty
	- line 907: image_embedding_dim = images[0].shape[-1]  # TODO should be from self.config


lerobot/common/policies/pi0/paligemma_with_expert.py (5 lines):
	- line 228: # TODO: break down this huge forward into modules or functions
	- line 241: # TODO this is very inefficient
	- line 294: # TODO here, some optimization can be done - similar to a `StaticCache` we can declare the `max_len` before.
	- line 322: # TODO: first dropout (by default 0.0)
	- line 331: # TODO: second dropout (by default 0.0)


lerobot/scripts/rl/learner_service.py (3 lines):
	- line 55: # TODO: authorize the request
	- line 90: # TODO: authorize the request
	- line 104: # TODO: authorize the request


lerobot/common/policies/smolvla/smolvlm_with_expert.py (3 lines):
	- line 261: # TODO here, some optimization can be done - similar to a `StaticCache` we can declare the `max_len` before.
	- line 334: # TODO here, some optimization can be done - similar to a `StaticCache` we can declare the `max_len` before.
	- line 416: # TODO this is very inefficient


lerobot/scripts/rl/gym_manipulator.py (2 lines):
	- line 736: # TODO (michel-aractingi): Bug in resize, it returns values outside [0, 1]
	- line 1858: # TODO (azouitine)


lerobot/common/policies/normalize.py (2 lines):
	- line 154: # TODO: Remove this shallow copy
	- line 258: # TODO (azouitine): We should replace all normalization on the policies with register_buffer normalization


lerobot/common/utils/buffer.py (2 lines):
	- line 697: # TODO: (azouitine) Handle truncation (using the same value as done for now)
	- line 726: # TODO: (azouitine) Check if it's necessary to convert to tensor


lerobot/common/policies/pi0/configuration_pi0.py (2 lines):
	- line 88: # TODO: Add EMA
	- line 111: # TODO: implement value error


lerobot/scripts/eval.py (2 lines):
	- line 159: # TODO: works with SyncVectorEnv but not AsyncVectorEnv
	- line 327: # FIXME: episode_data is either None or it doesn't exist


lerobot/common/policies/pi0/conversion_scripts/convert_pi0_to_hf_lerobot.py (2 lines):
	- line 140: # TODO verify correctness of layer norm loading
	- line 215: # TODO verify correctness of layer norm loading


lerobot/common/policies/pi0/modeling_pi0.py (2 lines):
	- line 517: # TODO: avoid list in python and torch.cat ; prefer pre-allocation with torch.empty
	- line 522: # TODO: remove for loop


lerobot/scripts/rl/learner.py (2 lines):
	- line 646: # TODO: Check if its useful
	- line 745: # TODO : temporary save replay buffer here, remove later when on the robot


lerobot/common/policies/sac/modeling_sac.py (2 lines):
	- line 269: # TODO: Get indices before forward pass to avoid unnecessary computation
	- line 463: # TODO: (maractingi, azouitine) Compile the discrete critic


lerobot/common/utils/process.py (2 lines):
	- line 35: # TODO: Check if we can use Event from threading since Event from
	- line 68: # TODO: Investigate if we need it later


lerobot/common/robots/stretch3/robot_stretch3.py (1 line):
	- line 66: self.teleop = None  # TODO remove


lerobot/scripts/rl/actor.py (1 line):
	- line 310: truncated=truncated,  # TODO: (azouitine) Handle truncation properly


lerobot/scripts/rl/crop_dataset_roi.py (1 line):
	- line 207: # TODO:  Directly modify the mp4 video + meta info features, instead of recreating a dataset


lerobot/scripts/visualize_dataset_html.py (1 line):
	- line 327: # TODO (michel-aractingi) hack to get the sentence, some strings in openx are badly stored