├── .cache └── calibration │ ├── left_follower.json │ ├── main_follower.json │ ├── main_leader.json │ ├── right_follower.json │ └── so100 │ ├── left_follower.json │ ├── main_follower.json │ ├── main_leader.json │ └── right_follower.json ├── .dockerignore ├── .gitattributes ├── .github ├── ISSUE_TEMPLATE │ └── bug-report.yml ├── PULL_REQUEST_TEMPLATE.md └── workflows │ ├── build-docker-images.yml │ ├── nightly-tests.yml │ ├── quality.yml │ ├── test-docker-build.yml │ ├── test.yml │ └── trufflehog.yml ├── .gitignore ├── .pre-commit-config.yaml ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── Double_tutorial.md ├── Double_tutorial_en.md ├── LICENSE ├── Makefile ├── README-orin.md ├── README.md ├── README_en.md ├── Single_tutorial.md ├── Single_tutorial_en.md ├── benchmarks └── video │ ├── README.md │ ├── capture_camera_feed.py │ └── run_video_benchmark.py ├── bugs_Q&A.md ├── docker ├── lerobot-cpu │ └── Dockerfile ├── lerobot-gpu-dev │ └── Dockerfile └── lerobot-gpu │ └── Dockerfile ├── examples ├── 10_use_so100.md ├── 11_use_moss.md ├── 1_load_lerobot_dataset.py ├── 2_evaluate_pretrained_policy.py ├── 3_train_policy.py ├── 4_train_policy_with_script.md ├── 5_resume_training.md ├── 6_add_image_transforms.py ├── 7_get_started_with_real_robot.md ├── 8_use_stretch.md ├── 9_use_aloha.md ├── advanced │ ├── 1_train_act_pusht │ │ ├── act_pusht.yaml │ │ └── train_act_pusht.md │ └── 2_calculate_validation_loss.py └── port_datasets │ └── pusht_zarr.py ├── lerobot ├── __init__.py ├── __version__.py ├── common │ ├── datasets │ │ ├── card_template.md │ │ ├── compute_stats.py │ │ ├── factory.py │ │ ├── image_writer.py │ │ ├── lerobot_dataset.py │ │ ├── online_buffer.py │ │ ├── push_dataset_to_hub │ │ │ ├── CODEBASE_VERSION.md │ │ │ ├── _aloha_raw_urls │ │ │ │ ├── mobile_cabinet.txt │ │ │ │ ├── mobile_chair.txt │ │ │ │ ├── mobile_elevator.txt │ │ │ │ ├── mobile_shrimp.txt │ │ │ │ ├── mobile_wash_pan.txt │ │ │ │ ├── mobile_wipe_wine.txt │ │ │ │ ├── sim_insertion_human.txt │ │ │ │ ├── sim_insertion_scripted.txt │ │ │ │ ├── sim_transfer_cube_human.txt │ │ │ │ ├── sim_transfer_cube_scripted.txt │ │ │ │ ├── static_battery.txt │ │ │ │ ├── static_candy.txt │ │ │ │ ├── static_coffee.txt │ │ │ │ ├── static_coffee_new.txt │ │ │ │ ├── static_cups_open.txt │ │ │ │ ├── static_fork_pick_up.txt │ │ │ │ ├── static_pingpong_test.txt │ │ │ │ ├── static_pro_pencil.txt │ │ │ │ ├── static_screw_driver.txt │ │ │ │ ├── static_tape.txt │ │ │ │ ├── static_thread_velcro.txt │ │ │ │ ├── static_towel.txt │ │ │ │ ├── static_vinh_cup.txt │ │ │ │ ├── static_vinh_cup_left.txt │ │ │ │ └── static_ziploc_slide.txt │ │ │ ├── _diffusion_policy_replay_buffer.py │ │ │ ├── _download_raw.py │ │ │ ├── _encode_datasets.py │ │ │ ├── _umi_imagecodecs_numcodecs.py │ │ │ ├── aloha_hdf5_format.py │ │ │ ├── cam_png_format.py │ │ │ ├── dora_parquet_format.py │ │ │ ├── openx_rlds_format.py │ │ │ ├── pusht_zarr_format.py │ │ │ ├── umi_zarr_format.py │ │ │ ├── utils.py │ │ │ └── xarm_pkl_format.py │ │ ├── sampler.py │ │ ├── transforms.py │ │ ├── utils.py │ │ ├── v2 │ │ │ ├── batch_convert_dataset_v1_to_v2.py │ │ │ └── convert_dataset_v1_to_v2.py │ │ └── video_utils.py │ ├── envs │ │ ├── factory.py │ │ └── utils.py │ ├── logger.py │ ├── policies │ │ ├── act │ │ │ ├── configuration_act.py │ │ │ └── modeling_act.py │ │ ├── diffusion │ │ │ ├── CNN_diffusion.py │ │ │ ├── configuration_diffusion.py │ │ │ ├── modeling_diffusion.py │ │ │ └── transformer_diffusion.py │ │ ├── factory.py │ │ ├── normalize.py │ │ ├── policy_protocol.py │ │ ├── tdmpc │ │ │ ├── configuration_tdmpc.py │ │ │ └── modeling_tdmpc.py │ │ ├── utils.py │ │ └── vqbet │ │ │ ├── configuration_vqbet.py │ │ │ ├── modeling_vqbet.py │ │ │ └── vqbet_utils.py │ ├── robot_devices │ │ ├── cameras │ │ │ ├── intelrealsense.py │ │ │ ├── opencv.py │ │ │ └── utils.py │ │ ├── control_utils.py │ │ ├── controllers │ │ │ ├── assets │ │ │ │ ├── Base.stl │ │ │ │ ├── Base_Motor.stl │ │ │ │ ├── Fixed_Jaw.stl │ │ │ │ ├── Fixed_Jaw_Collision_1.stl │ │ │ │ ├── Fixed_Jaw_Collision_2.stl │ │ │ │ ├── Fixed_Jaw_Motor.stl │ │ │ │ ├── Lower_Arm.stl │ │ │ │ ├── Lower_Arm_Motor.stl │ │ │ │ ├── Moving_Jaw.stl │ │ │ │ ├── Moving_Jaw_Collision_1.stl │ │ │ │ ├── Moving_Jaw_Collision_2.stl │ │ │ │ ├── Moving_Jaw_Collision_3.stl │ │ │ │ ├── Rotation_Pitch.stl │ │ │ │ ├── Rotation_Pitch_Motor.stl │ │ │ │ ├── Upper_Arm.stl │ │ │ │ ├── Upper_Arm_Motor.stl │ │ │ │ ├── Wrist_Pitch_Roll.stl │ │ │ │ ├── Wrist_Pitch_Roll_Motor.stl │ │ │ │ └── table │ │ │ │ │ ├── Desk.obj │ │ │ │ │ ├── Top_Texture.jpg │ │ │ │ │ ├── small_meta_table_diffuse.png │ │ │ │ │ ├── tablelegs.obj │ │ │ │ │ └── tabletop.obj │ │ │ ├── joycon_controller.py │ │ │ ├── meshes │ │ │ │ ├── Base.STL │ │ │ │ ├── Fixed_Jaw.STL │ │ │ │ ├── Lower_Arm.STL │ │ │ │ ├── Moving Jaw.STL │ │ │ │ ├── Rotation_Pitch.STL │ │ │ │ ├── Upper_Arm.STL │ │ │ │ └── Wrist_Pitch_Roll.STL │ │ │ ├── scene.xml │ │ │ └── so_100.xml │ │ ├── motors │ │ │ ├── dynamixel.py │ │ │ ├── feetech.py │ │ │ └── utils.py │ │ ├── robots │ │ │ ├── dynamixel_calibration.py │ │ │ ├── factory.py │ │ │ ├── feetech_calibration.py │ │ │ ├── manipulator.py │ │ │ ├── stretch.py │ │ │ └── utils.py │ │ └── utils.py │ └── utils │ │ ├── benchmark.py │ │ ├── import_utils.py │ │ ├── io_utils.py │ │ └── utils.py ├── configs │ ├── default.yaml │ ├── env │ │ ├── aloha.yaml │ │ ├── aloha_real.yaml │ │ ├── dora_aloha_real.yaml │ │ ├── koch_real.yaml │ │ ├── moss_real.yaml │ │ ├── pusht.yaml │ │ ├── so100_real.yaml │ │ ├── so100_real_double.yaml │ │ ├── so100_real_single.yaml │ │ └── xarm.yaml │ ├── policy │ │ ├── act.yaml │ │ ├── act_aloha_real.yaml │ │ ├── act_koch_real.yaml │ │ ├── act_moss_real.yaml │ │ ├── act_so100_real.yaml │ │ ├── act_so100_real_double.yaml │ │ ├── act_so100_real_single.yaml │ │ ├── diffusion.yaml │ │ ├── diffusion_aloha.yaml │ │ ├── diffusion_pusht_keypoints.yaml │ │ ├── tdmpc.yaml │ │ ├── tdmpc_pusht_keypoints.yaml │ │ └── vqbet.yaml │ └── robot │ │ ├── aloha.yaml │ │ ├── koch.yaml │ │ ├── koch_bimanual.yaml │ │ ├── moss.yaml │ │ ├── rules │ │ └── 99-lerobot-serial.rules │ │ ├── so100.yaml │ │ ├── so100_joycon_double.yaml │ │ ├── so100_joycon_single.yaml │ │ ├── so100_single.yaml │ │ └── stretch.yaml ├── scripts │ ├── configure_motor.py │ ├── control_robot.py │ ├── control_sim_robot.py │ ├── display_sys_info.py │ ├── eval.py │ ├── find_motors_bus_port.py │ ├── push_dataset_to_hub.py │ ├── train.py │ ├── visualize_dataset.py │ ├── visualize_dataset_html.py │ └── visualize_image_transforms.py └── templates │ ├── visualize_dataset_homepage.html │ └── visualize_dataset_template.html ├── media ├── aloha │ ├── follower_rest.webp │ ├── follower_rotated.webp │ ├── follower_zero.webp │ ├── leader_rest.webp │ ├── leader_rotated.webp │ └── leader_zero.webp ├── bocon │ ├── bocon_connection.png │ ├── bocon_home.png │ └── bocon_pair.png ├── gym │ ├── aloha_act.gif │ ├── pusht_diffusion.gif │ └── simxarm_tdmpc.gif ├── koch │ ├── follower_rest.webp │ ├── follower_rotated.webp │ ├── follower_zero.webp │ ├── leader_rest.webp │ ├── leader_rotated.webp │ └── leader_zero.webp ├── lerobot-logo-light.png ├── lerobot-logo-thumbnail.png ├── moss │ ├── follower_initial.webp │ ├── follower_rest.webp │ ├── follower_rotated.webp │ ├── follower_zero.webp │ ├── leader_rest.webp │ ├── leader_rotated.webp │ └── leader_zero.webp ├── rerun.png ├── so100 │ ├── follower_initial.webp │ ├── follower_rest.webp │ ├── follower_rotated.webp │ ├── follower_zero.webp │ ├── leader_follower.webp │ ├── leader_rest.webp │ ├── leader_rotated.webp │ └── leader_zero.webp ├── tutorial │ ├── koch_v1_1_leader_follower.webp │ └── visualize_dataset_html.webp └── wandb.png ├── poetry.lock ├── pyproject.toml ├── set_motors_half_encode.py └── tests ├── __init__.py ├── conftest.py ├── fixtures ├── constants.py ├── dataset_factories.py ├── files.py └── hub.py ├── lerobot └── common │ └── datasets │ └── test_utils.py ├── mock_cv2.py ├── mock_dynamixel_sdk.py ├── mock_pyrealsense2.py ├── mock_scservo_sdk.py ├── scripts ├── 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