├── .dockerignore ├── .pre-commit-config.yaml ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── LICENSE ├── Makefile ├── Pax ├── audio.py └── utils │ └── record_move.py ├── README.md ├── benchmarks └── video │ ├── README.md │ ├── capture_camera_feed.py │ └── run_video_benchmark.py ├── docker ├── lerobot-cpu │ └── Dockerfile ├── lerobot-gpu-dev │ └── Dockerfile └── lerobot-gpu │ └── Dockerfile ├── docs ├── README.md └── source │ ├── _toctree.yml │ ├── assemble_so101.mdx │ ├── getting_started_real_world_robot.mdx │ ├── index.mdx │ └── installation.mdx ├── examples ├── 10_use_so100.md ├── 11_use_lekiwi.md ├── 11_use_moss.md ├── 12_use_so101.md ├── 1_load_lerobot_dataset.py ├── 2_evaluate_pretrained_policy.py ├── 3_train_policy.py ├── 4_train_policy_with_script.md ├── 7_get_started_with_real_robot.md ├── 8_use_stretch.md ├── 9_use_aloha.md └── advanced │ ├── 1_add_image_transforms.py │ └── 2_calculate_validation_loss.py ├── lerobot ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-310.pyc │ └── __version__.cpython-310.pyc ├── __version__.py ├── common │ ├── __pycache__ │ │ └── constants.cpython-310.pyc │ ├── constants.py │ ├── datasets │ │ ├── __pycache__ │ │ │ ├── backward_compatibility.cpython-310.pyc │ │ │ ├── compute_stats.cpython-310.pyc │ │ │ ├── factory.cpython-310.pyc │ │ │ ├── image_writer.cpython-310.pyc │ │ │ ├── lerobot_dataset.cpython-310.pyc │ │ │ ├── sampler.cpython-310.pyc │ │ │ ├── transforms.cpython-310.pyc │ │ │ ├── utils.cpython-310.pyc │ │ │ └── video_utils.cpython-310.pyc │ │ ├── backward_compatibility.py │ │ ├── card_template.md │ │ ├── compute_stats.py │ │ ├── factory.py │ │ ├── image_writer.py │ │ ├── lerobot_dataset.py │ │ ├── online_buffer.py │ │ ├── push_dataset_to_hub │ │ │ └── utils.py │ │ ├── sampler.py │ │ ├── transforms.py │ │ ├── utils.py │ │ ├── v2 │ │ │ ├── batch_convert_dataset_v1_to_v2.py │ │ │ └── convert_dataset_v1_to_v2.py │ │ ├── v21 │ │ │ ├── _remove_language_instruction.py │ │ │ ├── batch_convert_dataset_v20_to_v21.py │ │ │ ├── convert_dataset_v20_to_v21.py │ │ │ └── convert_stats.py │ │ └── video_utils.py │ ├── envs │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── configs.cpython-310.pyc │ │ │ ├── factory.cpython-310.pyc │ │ │ └── utils.cpython-310.pyc │ │ ├── configs.py │ │ ├── factory.py │ │ └── utils.py │ ├── optim │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── factory.cpython-310.pyc │ │ │ ├── optimizers.cpython-310.pyc │ │ │ └── schedulers.cpython-310.pyc │ │ ├── factory.py │ │ ├── optimizers.py │ │ └── schedulers.py │ ├── policies │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── factory.cpython-310.pyc │ │ │ ├── normalize.cpython-310.pyc │ │ │ ├── pretrained.cpython-310.pyc │ │ │ └── utils.cpython-310.pyc │ │ ├── act │ │ │ ├── __pycache__ │ │ │ │ ├── configuration_act.cpython-310.pyc │ │ │ │ └── modeling_act.cpython-310.pyc │ │ │ ├── configuration_act.py │ │ │ └── modeling_act.py │ │ ├── diffusion │ │ │ ├── __pycache__ │ │ │ │ └── configuration_diffusion.cpython-310.pyc │ │ │ ├── configuration_diffusion.py │ │ │ └── modeling_diffusion.py │ │ ├── factory.py │ │ ├── normalize.py │ │ ├── pi0 │ │ │ ├── __pycache__ │ │ │ │ └── configuration_pi0.cpython-310.pyc │ │ │ ├── configuration_pi0.py │ │ │ ├── conversion_scripts │ │ │ │ ├── benchmark.py │ │ │ │ ├── compare_with_jax.py │ │ │ │ ├── conversion_utils.py │ │ │ │ └── convert_pi0_to_hf_lerobot.py │ │ │ ├── flex_attention.py │ │ │ ├── modeling_pi0.py │ │ │ └── paligemma_with_expert.py │ │ ├── pi0fast │ │ │ ├── __pycache__ │ │ │ │ └── configuration_pi0fast.cpython-310.pyc │ │ │ ├── configuration_pi0fast.py │ │ │ └── modeling_pi0fast.py │ │ ├── pretrained.py │ │ ├── smolvla │ │ │ ├── __pycache__ │ │ │ │ └── configuration_smolvla.cpython-310.pyc │ │ │ ├── configuration_smolvla.py │ │ │ ├── modeling_smolvla.py │ │ │ └── smolvlm_with_expert.py │ │ ├── tdmpc │ │ │ ├── __pycache__ │ │ │ │ └── configuration_tdmpc.cpython-310.pyc │ │ │ ├── configuration_tdmpc.py │ │ │ └── modeling_tdmpc.py │ │ ├── utils.py │ │ └── vqbet │ │ │ ├── __pycache__ │ │ │ └── configuration_vqbet.cpython-310.pyc │ │ │ ├── configuration_vqbet.py │ │ │ ├── modeling_vqbet.py │ │ │ └── vqbet_utils.py │ ├── robot_devices │ │ ├── __pycache__ │ │ │ ├── control_configs.cpython-310.pyc │ │ │ ├── control_utils.cpython-310.pyc │ │ │ └── utils.cpython-310.pyc │ │ ├── cameras │ │ │ ├── __pycache__ │ │ │ │ ├── configs.cpython-310.pyc │ │ │ │ ├── opencv.cpython-310.pyc │ │ │ │ └── utils.cpython-310.pyc │ │ │ ├── configs.py │ │ │ ├── intelrealsense.py │ │ │ ├── opencv.py │ │ │ └── utils.py │ │ ├── control_configs.py │ │ ├── control_utils.py │ │ ├── motors │ │ │ ├── __pycache__ │ │ │ │ ├── configs.cpython-310.pyc │ │ │ │ ├── feetech.cpython-310.pyc │ │ │ │ └── utils.cpython-310.pyc │ │ │ ├── configs.py │ │ │ ├── dynamixel.py │ │ │ ├── feetech.py │ │ │ └── utils.py │ │ ├── robots │ │ │ ├── __pycache__ │ │ │ │ ├── configs.cpython-310.pyc │ │ │ │ ├── feetech_calibration.cpython-310.pyc │ │ │ │ ├── manipulator.cpython-310.pyc │ │ │ │ └── utils.cpython-310.pyc │ │ │ ├── configs.py │ │ │ ├── dynamixel_calibration.py │ │ │ ├── feetech_calibration.py │ │ │ ├── lekiwi_remote.py │ │ │ ├── manipulator.py │ │ │ ├── mobile_manipulator.py │ │ │ ├── stretch.py │ │ │ └── utils.py │ │ └── utils.py │ └── utils │ │ ├── __pycache__ │ │ ├── hub.cpython-310.pyc │ │ ├── io_utils.cpython-310.pyc │ │ ├── logging_utils.cpython-310.pyc │ │ ├── random_utils.cpython-310.pyc │ │ ├── train_utils.cpython-310.pyc │ │ ├── utils.cpython-310.pyc │ │ └── wandb_utils.cpython-310.pyc │ │ ├── benchmark.py │ │ ├── hub.py │ │ ├── import_utils.py │ │ ├── io_utils.py │ │ ├── logging_utils.py │ │ ├── random_utils.py │ │ ├── train_utils.py │ │ ├── utils.py │ │ └── wandb_utils.py ├── configs │ ├── __pycache__ │ │ ├── default.cpython-310.pyc │ │ ├── eval.cpython-310.pyc │ │ ├── parser.cpython-310.pyc │ │ ├── policies.cpython-310.pyc │ │ ├── train.cpython-310.pyc │ │ └── types.cpython-310.pyc │ ├── default.py │ ├── eval.py │ ├── parser.py │ ├── policies.py │ ├── train.py │ └── types.py ├── scripts │ ├── __pycache__ │ │ └── eval.cpython-310.pyc │ ├── configure_motor.py │ ├── control_robot.py │ ├── control_sim_robot.py │ ├── display_sys_info.py │ ├── eval.py │ ├── find_motors_bus_port.py │ ├── push_pretrained.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 ├── 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 ├── lekiwi │ ├── kiwi.webp │ ├── mobile_calib_rest.webp │ ├── mobile_calib_rotated.webp │ ├── mobile_calib_zero.webp │ └── motor_ids.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 ├── 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 ├── so101 │ ├── follower_middle.webp │ ├── follower_rest.webp │ ├── follower_rotated.webp │ ├── follower_zero.webp │ ├── leader_middle.webp │ ├── leader_rest.webp │ ├── leader_rotated.webp │ ├── leader_zero.webp │ ├── so101-leader.webp │ └── so101.webp ├── tutorial │ ├── img1.jpg │ ├── img10.jpg │ ├── img11.jpg │ ├── img12.jpg │ ├── img13.jpg │ ├── img14.jpg │ ├── img15.jpg │ ├── img16.jpg │ ├── img17.jpg │ ├── img18.jpg │ ├── img19.jpg │ ├── img2.jpg │ ├── img20.jpg │ ├── img21.jpg │ ├── img22.jpg │ ├── img23.jpg │ ├── img24.jpg │ ├── img25.jpg │ ├── img26.jpg │ ├── img27.jpg │ ├── img28.jpg │ ├── img29.jpg │ ├── img3.jpg │ ├── img30.jpg │ ├── img31.jpg │ ├── img32.jpg │ ├── img4.jpg │ ├── img5.jpg │ ├── img6.jpg │ ├── img7.jpg │ ├── img8.jpg │ ├── img9.jpg │ ├── koch_v1_1_leader_follower.webp │ └── visualize_dataset_html.webp └── wandb.png ├── pyproject.toml └── tests ├── __init__.py ├── artifacts ├── datasets │ ├── lerobot │ │ ├── aloha_sim_insertion_human │ │ │ ├── frame_0.safetensors │ │ │ ├── frame_1.safetensors │ │ │ ├── frame_250.safetensors │ │ │ ├── frame_251.safetensors │ │ │ ├── frame_498.safetensors │ │ │ └── frame_499.safetensors │ │ ├── pusht │ │ │ ├── frame_0.safetensors │ │ │ ├── frame_1.safetensors │ │ │ ├── frame_159.safetensors │ │ │ ├── frame_160.safetensors │ │ │ ├── frame_80.safetensors │ │ │ └── frame_81.safetensors │ │ └── xarm_lift_medium │ │ │ ├── frame_0.safetensors │ │ │ ├── frame_1.safetensors │ │ │ ├── frame_12.safetensors │ │ │ ├── frame_13.safetensors │ │ │ ├── frame_23.safetensors │ │ │ └── frame_24.safetensors │ └── save_dataset_to_safetensors.py ├── image_transforms │ ├── default_transforms.safetensors │ ├── save_image_transforms_to_safetensors.py │ └── single_transforms.safetensors └── policies │ ├── aloha_sim_insertion_human_act_ │ ├── actions.safetensors │ ├── grad_stats.safetensors │ ├── output_dict.safetensors │ └── param_stats.safetensors │ ├── aloha_sim_insertion_human_act_1000_steps │ ├── actions.safetensors │ ├── grad_stats.safetensors │ ├── output_dict.safetensors │ └── param_stats.safetensors │ ├── pusht_diffusion_ │ ├── actions.safetensors │ ├── grad_stats.safetensors │ ├── output_dict.safetensors │ └── param_stats.safetensors │ ├── save_policy_to_safetensors.py │ ├── xarm_lift_medium_tdmpc_use_mpc │ ├── actions.safetensors │ ├── grad_stats.safetensors │ ├── output_dict.safetensors │ └── param_stats.safetensors │ └── xarm_lift_medium_tdmpc_use_policy │ ├── actions.safetensors │ ├── grad_stats.safetensors │ ├── output_dict.safetensors │ └── param_stats.safetensors ├── cameras ├── mock_cv2.py ├── mock_pyrealsense2.py └── test_cameras.py ├── configs └── test_plugin_loading.py ├── conftest.py ├── datasets ├── test_compute_stats.py ├── test_datasets.py ├── test_delta_timestamps.py ├── test_image_transforms.py ├── test_image_writer.py ├── test_online_buffer.py ├── test_sampler.py ├── test_utils.py └── test_visualize_dataset.py ├── envs └── test_envs.py ├── examples └── test_examples.py ├── fixtures ├── constants.py ├── dataset_factories.py ├── files.py ├── hub.py └── optimizers.py ├── motors ├── mock_dynamixel_sdk.py ├── mock_scservo_sdk.py └── test_motors.py ├── optim ├── test_optimizers.py └── test_schedulers.py ├── policies └── test_policies.py ├── robots ├── test_control_robot.py └── test_robots.py ├── test_available.py ├── utils.py └── utils ├── test_io_utils.py 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