- 
-
-
Meet HopeJR – A humanoid robot arm and hand for dexterous manipulation!
@@ -51,20 +47,12 @@
- 
-  |
+  |
+
Meet the updated SO100, the SO-101 – Just €114 per arm!
Train it in minutes with a few simple moves on your laptop.
@@ -76,7 +64,7 @@Want to take it to the next level? Make your SO-101 mobile by building LeKiwi!
Check out the LeKiwi tutorial and bring your robot to life on wheels.
-
+ 
 |
-  |
-  |
+  |
+  |
+  |
| ACT policy on ALOHA env | @@ -110,23 +98,11 @@
Note: For efficiency, during training every checkpoint is evaluated on a low number of episodes. You may use `--eval.n_episodes=500` to evaluate on more episodes than the default. Or, after training, you may want to re-evaluate your best checkpoints on more episodes or change the evaluation settings. See `python -m lerobot.scripts.eval --help` for more instructions.
@@ -305,26 +320,6 @@ reproduces SOTA results for Diffusion Policy on the PushT task.
If you would like to contribute to 🤗 LeRobot, please check out our [contribution guide](https://github.com/huggingface/lerobot/blob/main/CONTRIBUTING.md).
-
-
### Add a pretrained policy
Once you have trained a policy you may upload it to the Hugging Face hub using a hub id that looks like `${hf_user}/${repo_name}` (e.g. [lerobot/diffusion_pusht](https://huggingface.co/lerobot/diffusion_pusht)).
@@ -341,34 +336,16 @@ To upload these to the hub, run the following:
huggingface-cli upload ${hf_user}/${repo_name} path/to/pretrained_model
```
-See [eval.py](https://github.com/huggingface/lerobot/blob/main/lerobot/scripts/eval.py) for an example of how other people may use your policy.
+See [eval.py](https://github.com/huggingface/lerobot/blob/main/src/lerobot/scripts/eval.py) for an example of how other people may use your policy.
-### Improve your code with profiling
+### Acknowledgment
-An example of a code snippet to profile the evaluation of a policy:
-
-
-```python
-from torch.profiler import profile, record_function, ProfilerActivity
-
-def trace_handler(prof):
- prof.export_chrome_trace(f"tmp/trace_schedule_{prof.step_num}.json")
-
-with profile(
- activities=[ProfilerActivity.CPU, ProfilerActivity.CUDA],
- schedule=torch.profiler.schedule(
- wait=2,
- warmup=2,
- active=3,
- ),
- on_trace_ready=trace_handler
-) as prof:
- with record_function("eval_policy"):
- for i in range(num_episodes):
- prof.step()
- # insert code to profile, potentially whole body of eval_policy function
-```
-
+- The LeRobot team 🤗 for building SmolVLA [Paper](https://arxiv.org/abs/2506.01844), [Blog](https://huggingface.co/blog/smolvla).
+- Thanks to Tony Zhao, Zipeng Fu and colleagues for open sourcing ACT policy, ALOHA environments and datasets. Ours are adapted from [ALOHA](https://tonyzhaozh.github.io/aloha) and [Mobile ALOHA](https://mobile-aloha.github.io).
+- Thanks to Cheng Chi, Zhenjia Xu and colleagues for open sourcing Diffusion policy, Pusht environment and datasets, as well as UMI datasets. Ours are adapted from [Diffusion Policy](https://diffusion-policy.cs.columbia.edu) and [UMI Gripper](https://umi-gripper.github.io).
+- Thanks to Nicklas Hansen, Yunhai Feng and colleagues for open sourcing TDMPC policy, Simxarm environments and datasets. Ours are adapted from [TDMPC](https://github.com/nicklashansen/tdmpc) and [FOWM](https://www.yunhaifeng.com/FOWM).
+- Thanks to Antonio Loquercio and Ashish Kumar for their early support.
+- Thanks to [Seungjae (Jay) Lee](https://sjlee.cc/), [Mahi Shafiullah](https://mahis.life/) and colleagues for open sourcing [VQ-BeT](https://sjlee.cc/vq-bet/) policy and helping us adapt the codebase to our repository. The policy is adapted from [VQ-BeT repo](https://github.com/jayLEE0301/vq_bet_official).
## Citation
@@ -376,83 +353,13 @@ If you want, you can cite this work with:
```bibtex
@misc{cadene2024lerobot,
- author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascale, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
+ author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
howpublished = "\url{https://github.com/huggingface/lerobot}",
year = {2024}
}
```
-Additionally, if you are using any of the particular policy architecture, pretrained models, or datasets, it is recommended to cite the original authors of the work as they appear below:
-
-- [SmolVLA](https://arxiv.org/abs/2506.01844)
-
-```bibtex
-@article{shukor2025smolvla,
- title={SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics},
- author={Shukor, Mustafa and Aubakirova, Dana and Capuano, Francesco and Kooijmans, Pepijn and Palma, Steven and Zouitine, Adil and Aractingi, Michel and Pascal, Caroline and Russi, Martino and Marafioti, Andres and Alibert, Simon and Cord, Matthieu and Wolf, Thomas and Cadene, Remi},
- journal={arXiv preprint arXiv:2506.01844},
- year={2025}
-}
-```
-
-- [Diffusion Policy](https://diffusion-policy.cs.columbia.edu)
-
-```bibtex
-@article{chi2024diffusionpolicy,
- author = {Cheng Chi and Zhenjia Xu and Siyuan Feng and Eric Cousineau and Yilun Du and Benjamin Burchfiel and Russ Tedrake and Shuran Song},
- title ={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
- journal = {The International Journal of Robotics Research},
- year = {2024},
-}
-```
-
-- [ACT or ALOHA](https://tonyzhaozh.github.io/aloha)
-
-```bibtex
-@article{zhao2023learning,
- title={Learning fine-grained bimanual manipulation with low-cost hardware},
- author={Zhao, Tony Z and Kumar, Vikash and Levine, Sergey and Finn, Chelsea},
- journal={arXiv preprint arXiv:2304.13705},
- year={2023}
-}
-```
-
-- [TDMPC](https://www.nicklashansen.com/td-mpc/)
-
-```bibtex
-@inproceedings{Hansen2022tdmpc,
- title={Temporal Difference Learning for Model Predictive Control},
- author={Nicklas Hansen and Xiaolong Wang and Hao Su},
- booktitle={ICML},
- year={2022}
-}
-```
-
-- [VQ-BeT](https://sjlee.cc/vq-bet/)
-
-```bibtex
-@article{lee2024behavior,
- title={Behavior generation with latent actions},
- author={Lee, Seungjae and Wang, Yibin and Etukuru, Haritheja and Kim, H Jin and Shafiullah, Nur Muhammad Mahi and Pinto, Lerrel},
- journal={arXiv preprint arXiv:2403.03181},
- year={2024}
-}
-```
-
-- [HIL-SERL](https://hil-serl.github.io/)
-
-```bibtex
-@Article{luo2024hilserl,
-title={Precise and Dexterous Robotic Manipulation via Human-in-the-Loop Reinforcement Learning},
-author={Jianlan Luo and Charles Xu and Jeffrey Wu and Sergey Levine},
-year={2024},
-eprint={2410.21845},
-archivePrefix={arXiv},
-primaryClass={cs.RO}
-}
-```
-
## Star History
[](https://star-history.com/#huggingface/lerobot&Timeline)
diff --git a/docs-requirements.txt b/docs-requirements.txt
new file mode 100644
index 000000000..e286ad2bb
--- /dev/null
+++ b/docs-requirements.txt
@@ -0,0 +1,3 @@
+# docs-requirements.txt
+hf-doc-builder @ git+https://github.com/huggingface/doc-builder.git@main
+watchdog>=6.0.0
diff --git a/docs/README.md b/docs/README.md
index 967de7b84..476eb8dce 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -20,7 +20,7 @@ To generate the documentation, you first have to build it. Several packages are
you can install them with the following command, at the root of the code repository:
```bash
-pip install -e ".[docs]"
+pip install -e . -r docs-requirements.txt
```
You will also need `nodejs`. Please refer to their [installation page](https://nodejs.org/en/download)
diff --git a/docs/source/il_robots.mdx b/docs/source/il_robots.mdx
index 8c075e5b2..ec5491b2a 100644
--- a/docs/source/il_robots.mdx
+++ b/docs/source/il_robots.mdx
@@ -294,7 +294,7 @@ dataset.push_to_hub()
#### Dataset upload
-Locally, your dataset is stored in this folder: `~/.cache/huggingface/lerobot/{repo-id}`. At the end of data recording, your dataset will be uploaded on your Hugging Face page (e.g. https://huggingface.co/datasets/cadene/so101_test) that you can obtain by running:
+Locally, your dataset is stored in this folder: `~/.cache/huggingface/lerobot/{repo-id}`. At the end of data recording, your dataset will be uploaded on your Hugging Face page (e.g. `https://huggingface.co/datasets/${HF_USER}/so101_test`) that you can obtain by running:
```bash
echo https://huggingface.co/datasets/${HF_USER}/so101_test
@@ -428,7 +428,7 @@ Your robot should replicate movements similar to those you recorded. For example
## Train a policy
-To train a policy to control your robot, use the [`python -m lerobot.scripts.train`](../src/lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
+To train a policy to control your robot, use the [`python -m lerobot.scripts.train`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
```bash
python -m lerobot.scripts.train \
@@ -444,7 +444,7 @@ python -m lerobot.scripts.train \
Let's explain the command:
1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/so101_test`.
-2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../src/lerobot/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor states, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
+2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor states, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
3. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
4. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
diff --git a/docs/source/il_sim.mdx b/docs/source/il_sim.mdx
index 193b09b1b..761e24e0f 100644
--- a/docs/source/il_sim.mdx
+++ b/docs/source/il_sim.mdx
@@ -96,7 +96,7 @@ If you uploaded your dataset to the hub you can [visualize your dataset online](
## Train a policy
-To train a policy to control your robot, use the [`python -m lerobot.scripts.train`](../src/lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
+To train a policy to control your robot, use the [`python -m lerobot.scripts.train`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/scripts/train.py) script. A few arguments are required. Here is an example command:
```bash
python -m lerobot.scripts.train \
@@ -111,7 +111,7 @@ python -m lerobot.scripts.train \
Let's explain the command:
1. We provided the dataset as argument with `--dataset.repo_id=${HF_USER}/il_gym`.
-2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](../src/lerobot/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor states, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
+2. We provided the policy with `policy.type=act`. This loads configurations from [`configuration_act.py`](https://github.com/huggingface/lerobot/blob/main/src/lerobot/policies/act/configuration_act.py). Importantly, this policy will automatically adapt to the number of motor states, motor actions and cameras of your robot (e.g. `laptop` and `phone`) which have been saved in your dataset.
3. We provided `policy.device=cuda` since we are training on a Nvidia GPU, but you could use `policy.device=mps` to train on Apple silicon.
4. We provided `wandb.enable=true` to use [Weights and Biases](https://docs.wandb.ai/quickstart) for visualizing training plots. This is optional but if you use it, make sure you are logged in by running `wandb login`.
diff --git a/docs/source/installation.mdx b/docs/source/installation.mdx
index 13c3600b4..93354c2ee 100644
--- a/docs/source/installation.mdx
+++ b/docs/source/installation.mdx
@@ -1,15 +1,6 @@
# Installation
-## Install LeRobot
-
-Currently only available from source.
-
-Download our source code:
-
-```bash
-git clone https://github.com/huggingface/lerobot.git
-cd lerobot
-```
+## Environment Setup
Create a virtual environment with Python 3.10, using [`Miniconda`](https://docs.anaconda.com/miniconda/install/#quick-command-line-install)
@@ -40,12 +31,49 @@ conda install ffmpeg -c conda-forge
>
> - _[On Linux only]_ If you want to bring your own ffmpeg: Install [ffmpeg build dependencies](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#GettheDependencies) and [compile ffmpeg from source with libsvtav1](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#libsvtav1), and make sure you use the corresponding ffmpeg binary to your install with `which ffmpeg`.
-Install 🤗 LeRobot:
+## Install LeRobot 🤗
+
+### From Source
+
+First, clone the repository and navigate into the directory:
+
+```bash
+git clone https://github.com/huggingface/lerobot.git
+cd lerobot
+```
+
+Then, install the library in editable mode. This is useful if you plan to contribute to the code.
```bash
pip install -e .
```
+### Installation from PyPI
+
+**Core Library:**
+Install the base package with:
+
+```bash
+pip install lerobot
+```
+
+_This installs only the default dependencies._
+
+**Extra Features:**
+To install additional functionality, use one of the following:
+
+```bash
+pip install 'lerobot[all]' # All available features
+pip install 'lerobot[aloha,pusht]' # Specific features (Aloha & Pusht)
+pip install 'lerobot[feetech]' # Feetech motor support
+```
+
+_Replace `[...]` with your desired features._
+
+**Available Tags:**
+For a full list of optional dependencies, see:
+https://pypi.org/project/lerobot/
+
### Troubleshooting
If you encounter build errors, you may need to install additional dependencies: `cmake`, `build-essential`, and `ffmpeg libs`.
diff --git a/docs/source/policy_act_README.md b/docs/source/policy_act_README.md
new file mode 100644
index 000000000..371a9136f
--- /dev/null
+++ b/docs/source/policy_act_README.md
@@ -0,0 +1,14 @@
+## Paper
+
+https://tonyzhaozh.github.io/aloha
+
+## Citation
+
+```bibtex
+@article{zhao2023learning,
+ title={Learning fine-grained bimanual manipulation with low-cost hardware},
+ author={Zhao, Tony Z and Kumar, Vikash and Levine, Sergey and Finn, Chelsea},
+ journal={arXiv preprint arXiv:2304.13705},
+ year={2023}
+}
+```
diff --git a/docs/source/policy_diffusion_README.md b/docs/source/policy_diffusion_README.md
new file mode 100644
index 000000000..9ec934add
--- /dev/null
+++ b/docs/source/policy_diffusion_README.md
@@ -0,0 +1,14 @@
+## Paper
+
+https://diffusion-policy.cs.columbia.edu
+
+## Citation
+
+```bibtex
+@article{chi2024diffusionpolicy,
+ author = {Cheng Chi and Zhenjia Xu and Siyuan Feng and Eric Cousineau and Yilun Du and Benjamin Burchfiel and Russ Tedrake and Shuran Song},
+ title ={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
+ journal = {The International Journal of Robotics Research},
+ year = {2024},
+}
+```
diff --git a/docs/source/policy_smolvla_README.md b/docs/source/policy_smolvla_README.md
new file mode 100644
index 000000000..ee567ee83
--- /dev/null
+++ b/docs/source/policy_smolvla_README.md
@@ -0,0 +1,14 @@
+## Paper
+
+https://arxiv.org/abs/2506.01844
+
+## Citation
+
+```bibtex
+@article{shukor2025smolvla,
+ title={SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics},
+ author={Shukor, Mustafa and Aubakirova, Dana and Capuano, Francesco and Kooijmans, Pepijn and Palma, Steven and Zouitine, Adil and Aractingi, Michel and Pascal, Caroline and Russi, Martino and Marafioti, Andres and Alibert, Simon and Cord, Matthieu and Wolf, Thomas and Cadene, Remi},
+ journal={arXiv preprint arXiv:2506.01844},
+ year={2025}
+}
+```
diff --git a/docs/source/policy_tdmpc_README.md b/docs/source/policy_tdmpc_README.md
new file mode 100644
index 000000000..804f166c8
--- /dev/null
+++ b/docs/source/policy_tdmpc_README.md
@@ -0,0 +1,14 @@
+## Paper
+
+https://www.nicklashansen.com/td-mpc/
+
+## Citation
+
+```bibtex
+@inproceedings{Hansen2022tdmpc,
+ title={Temporal Difference Learning for Model Predictive Control},
+ author={Nicklas Hansen and Xiaolong Wang and Hao Su},
+ booktitle={ICML},
+ year={2022}
+}
+```
diff --git a/docs/source/policy_vqbet_README.md b/docs/source/policy_vqbet_README.md
new file mode 100644
index 000000000..02f95b7c2
--- /dev/null
+++ b/docs/source/policy_vqbet_README.md
@@ -0,0 +1,14 @@
+## Paper
+
+https://sjlee.cc/vq-bet/
+
+## Citation
+
+```bibtex
+@article{lee2024behavior,
+ title={Behavior generation with latent actions},
+ author={Lee, Seungjae and Wang, Yibin and Etukuru, Haritheja and Kim, H Jin and Shafiullah, Nur Muhammad Mahi and Pinto, Lerrel},
+ journal={arXiv preprint arXiv:2403.03181},
+ year={2024}
+}
+```
diff --git a/pyproject.toml b/pyproject.toml
index a8680e39f..a1db99c24 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -25,7 +25,7 @@ discord = "https://discord.gg/s3KuuzsPFb"
[project]
name = "lerobot"
-version = "0.2.0"
+version = "0.4.0"
description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
readme = "README.md"
license = { text = "Apache-2.0" }
@@ -125,7 +125,6 @@ hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.9", "lerobot[grpcio-dep]",
async = ["lerobot[grpcio-dep]", "matplotlib>=3.10.3"]
# Development
-docs = ["hf-doc-builder @ git+https://github.com/huggingface/doc-builder.git@main", "watchdog >= 6.0.0"]
dev = ["pre-commit>=3.7.0", "debugpy>=1.8.1", "lerobot[grpcio-dep]", "grpcio-tools==1.73.1"]
test = ["pytest>=8.1.0", "pytest-timeout>=2.4.0", "pytest-cov>=5.0.0", "mock-serial>=0.0.1 ; sys_platform != 'win32'"]
video_benchmark = ["scikit-image>=0.23.2", "pandas>=2.2.2"]
@@ -147,7 +146,6 @@ all = [
"lerobot[smolvla]",
"lerobot[hilserl]",
"lerobot[async]",
- "lerobot[docs]",
"lerobot[dev]",
"lerobot[test]",
"lerobot[video_benchmark]",
diff --git a/requirements-macos.txt b/requirements-macos.txt
new file mode 100644
index 000000000..07e263da5
--- /dev/null
+++ b/requirements-macos.txt
@@ -0,0 +1,625 @@
+# This file is autogenerated by pip-compile with Python 3.10
+# by the following command:
+#
+# pip-compile --output-file=requirements-macos.txt requirements.in
+#
+-e .[all]
+ # via -[all]
+absl-py==2.3.1
+ # via
+ # dm-control
+ # dm-env
+ # dm-tree
+ # labmaze
+ # mujoco
+accelerate==1.9.0
+ # via lerobot
+aiohappyeyeballs==2.6.1
+ # via aiohttp
+aiohttp==3.12.15
+ # via fsspec
+aiosignal==1.4.0
+ # via aiohttp
+annotated-types==0.7.0
+ # via pydantic
+asttokens==3.0.0
+ # via stack-data
+async-timeout==5.0.1
+ # via aiohttp
+attrs==25.3.0
+ # via
+ # aiohttp
+ # dm-tree
+ # jsonlines
+ # rerun-sdk
+av==15.0.0
+ # via lerobot
+blinker==1.9.0
+ # via flask
+certifi==2025.7.14
+ # via
+ # requests
+ # sentry-sdk
+cffi==1.17.1
+ # via pymunk
+cfgv==3.4.0
+ # via pre-commit
+charset-normalizer==3.4.2
+ # via requests
+click==8.2.1
+ # via
+ # flask
+ # wandb
+cloudpickle==3.1.1
+ # via gymnasium
+cmake==4.0.3
+ # via lerobot
+cmeel==0.57.3
+ # via
+ # cmeel-assimp
+ # cmeel-boost
+ # cmeel-console-bridge
+ # cmeel-octomap
+ # cmeel-qhull
+ # cmeel-tinyxml2
+ # cmeel-urdfdom
+ # cmeel-zlib
+ # coal-library
+ # eigenpy
+ # eiquadprog
+ # pin
+ # placo
+ # rhoban-cmeel-jsoncpp
+cmeel-assimp==5.4.3.1
+ # via coal-library
+cmeel-boost==1.87.0.1
+ # via
+ # coal-library
+ # eigenpy
+ # eiquadprog
+ # pin
+cmeel-console-bridge==1.0.2.3
+ # via cmeel-urdfdom
+cmeel-octomap==1.10.0
+ # via coal-library
+cmeel-qhull==8.0.2.1
+ # via coal-library
+cmeel-tinyxml2==10.0.0
+ # via cmeel-urdfdom
+cmeel-urdfdom==4.0.1
+ # via pin
+cmeel-zlib==1.3.1
+ # via cmeel-assimp
+coal-library==3.0.1
+ # via pin
+contourpy==1.3.2
+ # via matplotlib
+coverage[toml]==7.10.1
+ # via pytest-cov
+cycler==0.12.1
+ # via matplotlib
+datasets==3.6.0
+ # via lerobot
+debugpy==1.8.15
+ # via lerobot
+decorator==5.2.1
+ # via ipython
+deepdiff==8.5.0
+ # via lerobot
+diffusers==0.34.0
+ # via lerobot
+dill==0.3.8
+ # via
+ # datasets
+ # multiprocess
+distlib==0.4.0
+ # via virtualenv
+dm-control==1.0.14
+ # via gym-aloha
+dm-env==1.6
+ # via dm-control
+dm-tree==0.1.9
+ # via
+ # dm-control
+ # dm-env
+docopt==0.6.2
+ # via num2words
+draccus==0.10.0
+ # via lerobot
+dynamixel-sdk==3.7.31
+ # via lerobot
+eigenpy==3.10.3
+ # via coal-library
+einops==0.8.1
+ # via lerobot
+eiquadprog==1.2.9
+ # via placo
+exceptiongroup==1.3.0
+ # via
+ # ipython
+ # pytest
+executing==2.2.0
+ # via stack-data
+farama-notifications==0.0.4
+ # via gymnasium
+feetech-servo-sdk==1.0.0
+ # via lerobot
+filelock==3.18.0
+ # via
+ # datasets
+ # diffusers
+ # huggingface-hub
+ # torch
+ # transformers
+ # virtualenv
+flask==3.1.1
+ # via lerobot
+fonttools==4.59.0
+ # via matplotlib
+frozenlist==1.7.0
+ # via
+ # aiohttp
+ # aiosignal
+fsspec[http]==2025.3.0
+ # via
+ # datasets
+ # huggingface-hub
+ # torch
+gitdb==4.0.12
+ # via gitpython
+gitpython==3.1.45
+ # via wandb
+glfw==2.9.0
+ # via
+ # dm-control
+ # mujoco
+grpcio==1.73.1
+ # via
+ # grpcio-tools
+ # lerobot
+grpcio-tools==1.73.1
+ # via lerobot
+gym-aloha==0.1.1
+ # via lerobot
+gym-hil==0.1.10
+ # via lerobot
+gym-pusht==0.1.5
+ # via lerobot
+gym-xarm==0.1.1
+ # via lerobot
+gymnasium==0.29.1
+ # via
+ # gym-aloha
+ # gym-hil
+ # gym-pusht
+ # gym-xarm
+ # gymnasium-robotics
+ # lerobot
+ # pettingzoo
+gymnasium-robotics==1.2.4
+ # via gym-xarm
+hf-transfer==0.1.9
+ # via huggingface-hub
+hf-xet==1.1.5
+ # via huggingface-hub
+hidapi==0.14.0.post4
+ # via
+ # gym-hil
+ # lerobot
+huggingface-hub[cli,hf-transfer]==0.34.3
+ # via
+ # accelerate
+ # datasets
+ # diffusers
+ # lerobot
+ # tokenizers
+ # transformers
+identify==2.6.12
+ # via pre-commit
+idna==3.10
+ # via
+ # requests
+ # yarl
+imageio[ffmpeg]==2.37.0
+ # via
+ # gym-aloha
+ # gym-hil
+ # gymnasium-robotics
+ # lerobot
+ # scikit-image
+imageio-ffmpeg==0.6.0
+ # via imageio
+importlib-metadata==8.7.0
+ # via diffusers
+iniconfig==2.1.0
+ # via pytest
+inquirerpy==0.3.4
+ # via huggingface-hub
+ipython==8.37.0
+ # via meshcat
+ischedule==1.2.7
+ # via placo
+itsdangerous==2.2.0
+ # via flask
+jedi==0.19.2
+ # via ipython
+jinja2==3.1.6
+ # via
+ # flask
+ # gymnasium-robotics
+ # torch
+jsonlines==4.0.0
+ # via lerobot
+kiwisolver==1.4.8
+ # via matplotlib
+labmaze==1.0.6
+ # via dm-control
+lazy-loader==0.4
+ # via scikit-image
+lxml==6.0.0
+ # via dm-control
+markupsafe==3.0.2
+ # via
+ # flask
+ # jinja2
+ # werkzeug
+matplotlib==3.10.5
+ # via lerobot
+matplotlib-inline==0.1.7
+ # via ipython
+mergedeep==1.3.4
+ # via draccus
+meshcat==0.3.2
+ # via placo
+mock-serial==0.0.1
+ # via lerobot
+mpmath==1.3.0
+ # via sympy
+mujoco==2.3.7
+ # via
+ # dm-control
+ # gym-aloha
+ # gym-hil
+ # gym-xarm
+ # gymnasium-robotics
+multidict==6.6.3
+ # via
+ # aiohttp
+ # yarl
+multiprocess==0.70.16
+ # via datasets
+mypy-extensions==1.1.0
+ # via typing-inspect
+networkx==3.4.2
+ # via
+ # scikit-image
+ # torch
+nodeenv==1.9.1
+ # via pre-commit
+num2words==0.5.14
+ # via lerobot
+numpy==2.2.6
+ # via
+ # accelerate
+ # cmeel-boost
+ # contourpy
+ # datasets
+ # diffusers
+ # dm-control
+ # dm-env
+ # dm-tree
+ # gymnasium
+ # gymnasium-robotics
+ # imageio
+ # labmaze
+ # matplotlib
+ # meshcat
+ # mujoco
+ # opencv-python
+ # opencv-python-headless
+ # pandas
+ # pettingzoo
+ # rerun-sdk
+ # scikit-image
+ # scipy
+ # shapely
+ # tifffile
+ # torchvision
+ # transformers
+opencv-python==4.12.0.88
+ # via gym-pusht
+opencv-python-headless==4.12.0.88
+ # via lerobot
+orderly-set==5.5.0
+ # via deepdiff
+packaging==25.0
+ # via
+ # accelerate
+ # datasets
+ # huggingface-hub
+ # lazy-loader
+ # lerobot
+ # matplotlib
+ # pytest
+ # scikit-image
+ # transformers
+ # wandb
+pandas==2.3.1
+ # via
+ # datasets
+ # lerobot
+parso==0.8.4
+ # via jedi
+pettingzoo==1.24.3
+ # via gymnasium-robotics
+pexpect==4.9.0
+ # via ipython
+pfzy==0.3.4
+ # via inquirerpy
+pillow==11.3.0
+ # via
+ # diffusers
+ # imageio
+ # matplotlib
+ # meshcat
+ # rerun-sdk
+ # scikit-image
+ # torchvision
+pin==3.4.0
+ # via placo
+placo==0.9.14
+ # via lerobot
+platformdirs==4.3.8
+ # via
+ # virtualenv
+ # wandb
+pluggy==1.6.0
+ # via
+ # pytest
+ # pytest-cov
+pre-commit==4.2.0
+ # via lerobot
+prompt-toolkit==3.0.51
+ # via
+ # inquirerpy
+ # ipython
+propcache==0.3.2
+ # via
+ # aiohttp
+ # yarl
+protobuf==6.31.0
+ # via
+ # dm-control
+ # grpcio-tools
+ # lerobot
+ # wandb
+psutil==7.0.0
+ # via
+ # accelerate
+ # imageio
+ptyprocess==0.7.0
+ # via pexpect
+pure-eval==0.2.3
+ # via stack-data
+pyarrow==21.0.0
+ # via
+ # datasets
+ # rerun-sdk
+pycparser==2.22
+ # via cffi
+pydantic==2.11.7
+ # via wandb
+pydantic-core==2.33.2
+ # via pydantic
+pygame==2.6.1
+ # via
+ # gym-hil
+ # gym-pusht
+ # lerobot
+pygments==2.19.2
+ # via
+ # ipython
+ # pytest
+pymunk==6.11.1
+ # via
+ # gym-pusht
+ # lerobot
+pyngrok==7.2.12
+ # via meshcat
+pynput==1.8.1
+ # via
+ # gym-hil
+ # lerobot
+pyobjc-core==11.1
+ # via
+ # pyobjc-framework-applicationservices
+ # pyobjc-framework-cocoa
+ # pyobjc-framework-coretext
+ # pyobjc-framework-quartz
+pyobjc-framework-applicationservices==11.1
+ # via pynput
+pyobjc-framework-cocoa==11.1
+ # via
+ # pyobjc-framework-applicationservices
+ # pyobjc-framework-coretext
+ # pyobjc-framework-quartz
+pyobjc-framework-coretext==11.1
+ # via pyobjc-framework-applicationservices
+pyobjc-framework-quartz==11.1
+ # via
+ # pynput
+ # pyobjc-framework-applicationservices
+ # pyobjc-framework-coretext
+pyopengl==3.1.9
+ # via
+ # dm-control
+ # mujoco
+pyparsing==3.2.3
+ # via
+ # dm-control
+ # matplotlib
+pyrealsense2-macosx==2.54.2
+ # via lerobot
+pyserial==3.5
+ # via
+ # dynamixel-sdk
+ # feetech-servo-sdk
+ # lerobot
+pytest==8.4.1
+ # via
+ # lerobot
+ # pytest-cov
+ # pytest-timeout
+pytest-cov==6.2.1
+ # via lerobot
+pytest-timeout==2.4.0
+ # via lerobot
+python-dateutil==2.9.0.post0
+ # via
+ # matplotlib
+ # pandas
+pytz==2025.2
+ # via pandas
+pyyaml==6.0.2
+ # via
+ # accelerate
+ # datasets
+ # draccus
+ # huggingface-hub
+ # pre-commit
+ # pyngrok
+ # pyyaml-include
+ # transformers
+ # wandb
+pyyaml-include==1.4.1
+ # via draccus
+pyzmq==27.0.0
+ # via
+ # lerobot
+ # meshcat
+regex==2025.7.34
+ # via
+ # diffusers
+ # transformers
+requests==2.32.4
+ # via
+ # datasets
+ # diffusers
+ # dm-control
+ # huggingface-hub
+ # transformers
+ # wandb
+rerun-sdk==0.22.1
+ # via lerobot
+rhoban-cmeel-jsoncpp==1.9.4.9
+ # via placo
+safetensors==0.5.3
+ # via
+ # accelerate
+ # diffusers
+ # lerobot
+ # transformers
+scikit-image==0.25.2
+ # via
+ # gym-pusht
+ # lerobot
+scipy==1.15.3
+ # via
+ # dm-control
+ # scikit-image
+sentry-sdk==2.34.1
+ # via wandb
+shapely==2.1.1
+ # via gym-pusht
+six==1.17.0
+ # via
+ # pynput
+ # python-dateutil
+smmap==5.0.2
+ # via gitdb
+stack-data==0.6.3
+ # via ipython
+sympy==1.14.0
+ # via torch
+termcolor==3.1.0
+ # via lerobot
+tifffile==2025.5.10
+ # via scikit-image
+tokenizers==0.21.4
+ # via transformers
+toml==0.10.2
+ # via draccus
+tomli==2.2.1
+ # via
+ # cmeel
+ # coverage
+ # pytest
+torch==2.7.1
+ # via
+ # accelerate
+ # lerobot
+ # torchvision
+torchcodec==0.5
+ # via lerobot
+torchvision==0.22.1
+ # via lerobot
+tornado==6.5.1
+ # via meshcat
+tqdm==4.67.1
+ # via
+ # datasets
+ # dm-control
+ # huggingface-hub
+ # transformers
+traitlets==5.14.3
+ # via
+ # ipython
+ # matplotlib-inline
+transformers==4.51.3
+ # via lerobot
+typing-extensions==4.14.1
+ # via
+ # aiosignal
+ # exceptiongroup
+ # gymnasium
+ # huggingface-hub
+ # ipython
+ # multidict
+ # pydantic
+ # pydantic-core
+ # rerun-sdk
+ # torch
+ # typing-inspect
+ # typing-inspection
+ # wandb
+typing-inspect==0.9.0
+ # via draccus
+typing-inspection==0.4.1
+ # via pydantic
+tzdata==2025.2
+ # via pandas
+u-msgpack-python==2.8.0
+ # via meshcat
+urllib3==2.5.0
+ # via
+ # requests
+ # sentry-sdk
+virtualenv==20.32.0
+ # via pre-commit
+wandb==0.21.0
+ # via lerobot
+wcwidth==0.2.13
+ # via prompt-toolkit
+werkzeug==3.1.3
+ # via flask
+wrapt==1.17.2
+ # via dm-tree
+xxhash==3.5.0
+ # via datasets
+yarl==1.20.1
+ # via aiohttp
+zipp==3.23.0
+ # via importlib-metadata
+
+# The following packages are considered to be unsafe in a requirements file:
+# setuptools
diff --git a/requirements-ubuntu.txt b/requirements-ubuntu.txt
new file mode 100644
index 000000000..af7258d67
--- /dev/null
+++ b/requirements-ubuntu.txt
@@ -0,0 +1,650 @@
+#
+# This file is autogenerated by pip-compile with Python 3.10
+# by the following command:
+#
+# pip-compile --output-file=requirements-ubuntu.txt requirements.in
+#
+-e .[all]
+ # via -[all]
+absl-py==2.3.1
+ # via
+ # dm-control
+ # dm-env
+ # dm-tree
+ # labmaze
+ # mujoco
+accelerate==1.9.0
+ # via lerobot
+aiohappyeyeballs==2.6.1
+ # via aiohttp
+aiohttp==3.12.15
+ # via fsspec
+aiosignal==1.4.0
+ # via aiohttp
+annotated-types==0.7.0
+ # via pydantic
+asttokens==3.0.0
+ # via stack-data
+async-timeout==5.0.1
+ # via aiohttp
+attrs==25.3.0
+ # via
+ # aiohttp
+ # dm-tree
+ # jsonlines
+ # rerun-sdk
+av==15.0.0
+ # via lerobot
+blinker==1.9.0
+ # via flask
+certifi==2025.7.14
+ # via
+ # requests
+ # sentry-sdk
+cffi==1.17.1
+ # via pymunk
+cfgv==3.4.0
+ # via pre-commit
+charset-normalizer==3.4.2
+ # via requests
+click==8.2.1
+ # via
+ # flask
+ # wandb
+cloudpickle==3.1.1
+ # via gymnasium
+cmake==4.0.3
+ # via lerobot
+cmeel==0.57.3
+ # via
+ # cmeel-assimp
+ # cmeel-boost
+ # cmeel-console-bridge
+ # cmeel-octomap
+ # cmeel-qhull
+ # cmeel-tinyxml2
+ # cmeel-urdfdom
+ # cmeel-zlib
+ # coal-library
+ # eigenpy
+ # eiquadprog
+ # pin
+ # placo
+ # rhoban-cmeel-jsoncpp
+cmeel-assimp==5.4.3.1
+ # via coal-library
+cmeel-boost==1.87.0.1
+ # via
+ # coal-library
+ # eigenpy
+ # eiquadprog
+ # pin
+cmeel-console-bridge==1.0.2.3
+ # via cmeel-urdfdom
+cmeel-octomap==1.10.0
+ # via coal-library
+cmeel-qhull==8.0.2.1
+ # via coal-library
+cmeel-tinyxml2==10.0.0
+ # via cmeel-urdfdom
+cmeel-urdfdom==4.0.1
+ # via pin
+cmeel-zlib==1.3.1
+ # via cmeel-assimp
+coal-library==3.0.1
+ # via pin
+contourpy==1.3.2
+ # via matplotlib
+coverage[toml]==7.10.1
+ # via pytest-cov
+cycler==0.12.1
+ # via matplotlib
+datasets==3.6.0
+ # via lerobot
+debugpy==1.8.15
+ # via lerobot
+decorator==5.2.1
+ # via ipython
+deepdiff==8.5.0
+ # via lerobot
+diffusers==0.34.0
+ # via lerobot
+dill==0.3.8
+ # via
+ # datasets
+ # multiprocess
+distlib==0.4.0
+ # via virtualenv
+dm-control==1.0.14
+ # via gym-aloha
+dm-env==1.6
+ # via dm-control
+dm-tree==0.1.9
+ # via
+ # dm-control
+ # dm-env
+docopt==0.6.2
+ # via num2words
+draccus==0.10.0
+ # via lerobot
+dynamixel-sdk==3.7.31
+ # via lerobot
+eigenpy==3.10.3
+ # via coal-library
+einops==0.8.1
+ # via lerobot
+eiquadprog==1.2.9
+ # via placo
+evdev==1.9.2
+ # via pynput
+exceptiongroup==1.3.0
+ # via
+ # ipython
+ # pytest
+executing==2.2.0
+ # via stack-data
+farama-notifications==0.0.4
+ # via gymnasium
+feetech-servo-sdk==1.0.0
+ # via lerobot
+filelock==3.18.0
+ # via
+ # datasets
+ # diffusers
+ # huggingface-hub
+ # torch
+ # transformers
+ # virtualenv
+flask==3.1.1
+ # via lerobot
+fonttools==4.59.0
+ # via matplotlib
+frozenlist==1.7.0
+ # via
+ # aiohttp
+ # aiosignal
+fsspec[http]==2025.3.0
+ # via
+ # datasets
+ # huggingface-hub
+ # torch
+gitdb==4.0.12
+ # via gitpython
+gitpython==3.1.45
+ # via wandb
+glfw==2.9.0
+ # via
+ # dm-control
+ # mujoco
+grpcio==1.73.1
+ # via
+ # grpcio-tools
+ # lerobot
+grpcio-tools==1.73.1
+ # via lerobot
+gym-aloha==0.1.1
+ # via lerobot
+gym-hil==0.1.10
+ # via lerobot
+gym-pusht==0.1.5
+ # via lerobot
+gym-xarm==0.1.1
+ # via lerobot
+gymnasium==0.29.1
+ # via
+ # gym-aloha
+ # gym-hil
+ # gym-pusht
+ # gym-xarm
+ # gymnasium-robotics
+ # lerobot
+ # pettingzoo
+gymnasium-robotics==1.2.4
+ # via gym-xarm
+hf-transfer==0.1.9
+ # via huggingface-hub
+hf-xet==1.1.5
+ # via huggingface-hub
+hidapi==0.14.0.post4
+ # via
+ # gym-hil
+ # lerobot
+huggingface-hub[cli,hf-transfer]==0.34.3
+ # via
+ # accelerate
+ # datasets
+ # diffusers
+ # lerobot
+ # tokenizers
+ # transformers
+identify==2.6.12
+ # via pre-commit
+idna==3.10
+ # via
+ # requests
+ # yarl
+imageio[ffmpeg]==2.37.0
+ # via
+ # gym-aloha
+ # gym-hil
+ # gymnasium-robotics
+ # lerobot
+ # scikit-image
+imageio-ffmpeg==0.6.0
+ # via imageio
+importlib-metadata==8.7.0
+ # via diffusers
+iniconfig==2.1.0
+ # via pytest
+inquirerpy==0.3.4
+ # via huggingface-hub
+ipython==8.37.0
+ # via meshcat
+ischedule==1.2.7
+ # via placo
+itsdangerous==2.2.0
+ # via flask
+jedi==0.19.2
+ # via ipython
+jinja2==3.1.6
+ # via
+ # flask
+ # gymnasium-robotics
+ # torch
+jsonlines==4.0.0
+ # via lerobot
+kiwisolver==1.4.8
+ # via matplotlib
+labmaze==1.0.6
+ # via dm-control
+lazy-loader==0.4
+ # via scikit-image
+lxml==6.0.0
+ # via dm-control
+markupsafe==3.0.2
+ # via
+ # flask
+ # jinja2
+ # werkzeug
+matplotlib==3.10.5
+ # via lerobot
+matplotlib-inline==0.1.7
+ # via ipython
+mergedeep==1.3.4
+ # via draccus
+meshcat==0.3.2
+ # via placo
+mock-serial==0.0.1
+ # via lerobot
+mpmath==1.3.0
+ # via sympy
+mujoco==2.3.7
+ # via
+ # dm-control
+ # gym-aloha
+ # gym-hil
+ # gym-xarm
+ # gymnasium-robotics
+multidict==6.6.3
+ # via
+ # aiohttp
+ # yarl
+multiprocess==0.70.16
+ # via datasets
+mypy-extensions==1.1.0
+ # via typing-inspect
+networkx==3.4.2
+ # via
+ # scikit-image
+ # torch
+nodeenv==1.9.1
+ # via pre-commit
+num2words==0.5.14
+ # via lerobot
+numpy==2.2.6
+ # via
+ # accelerate
+ # cmeel-boost
+ # contourpy
+ # datasets
+ # diffusers
+ # dm-control
+ # dm-env
+ # dm-tree
+ # gymnasium
+ # gymnasium-robotics
+ # imageio
+ # labmaze
+ # matplotlib
+ # meshcat
+ # mujoco
+ # opencv-python
+ # opencv-python-headless
+ # pandas
+ # pettingzoo
+ # rerun-sdk
+ # scikit-image
+ # scipy
+ # shapely
+ # tifffile
+ # torchvision
+ # transformers
+nvidia-cublas-cu12==12.6.4.1
+ # via
+ # nvidia-cudnn-cu12
+ # nvidia-cusolver-cu12
+ # torch
+nvidia-cuda-cupti-cu12==12.6.80
+ # via torch
+nvidia-cuda-nvrtc-cu12==12.6.77
+ # via torch
+nvidia-cuda-runtime-cu12==12.6.77
+ # via torch
+nvidia-cudnn-cu12==9.5.1.17
+ # via torch
+nvidia-cufft-cu12==11.3.0.4
+ # via torch
+nvidia-cufile-cu12==1.11.1.6
+ # via torch
+nvidia-curand-cu12==10.3.7.77
+ # via torch
+nvidia-cusolver-cu12==11.7.1.2
+ # via torch
+nvidia-cusparse-cu12==12.5.4.2
+ # via
+ # nvidia-cusolver-cu12
+ # torch
+nvidia-cusparselt-cu12==0.6.3
+ # via torch
+nvidia-nccl-cu12==2.26.2
+ # via torch
+nvidia-nvjitlink-cu12==12.6.85
+ # via
+ # nvidia-cufft-cu12
+ # nvidia-cusolver-cu12
+ # nvidia-cusparse-cu12
+ # torch
+nvidia-nvtx-cu12==12.6.77
+ # via torch
+opencv-python==4.12.0.88
+ # via gym-pusht
+opencv-python-headless==4.12.0.88
+ # via lerobot
+orderly-set==5.5.0
+ # via deepdiff
+packaging==25.0
+ # via
+ # accelerate
+ # datasets
+ # huggingface-hub
+ # lazy-loader
+ # lerobot
+ # matplotlib
+ # pytest
+ # scikit-image
+ # transformers
+ # wandb
+pandas==2.3.1
+ # via
+ # datasets
+ # lerobot
+parso==0.8.4
+ # via jedi
+pettingzoo==1.24.3
+ # via gymnasium-robotics
+pexpect==4.9.0
+ # via ipython
+pfzy==0.3.4
+ # via inquirerpy
+pillow==11.3.0
+ # via
+ # diffusers
+ # imageio
+ # matplotlib
+ # meshcat
+ # rerun-sdk
+ # scikit-image
+ # torchvision
+pin==3.4.0
+ # via placo
+placo==0.9.14
+ # via lerobot
+platformdirs==4.3.8
+ # via
+ # virtualenv
+ # wandb
+pluggy==1.6.0
+ # via
+ # pytest
+ # pytest-cov
+pre-commit==4.2.0
+ # via lerobot
+prompt-toolkit==3.0.51
+ # via
+ # inquirerpy
+ # ipython
+propcache==0.3.2
+ # via
+ # aiohttp
+ # yarl
+protobuf==6.31.0
+ # via
+ # dm-control
+ # grpcio-tools
+ # lerobot
+ # wandb
+psutil==7.0.0
+ # via
+ # accelerate
+ # imageio
+ptyprocess==0.7.0
+ # via pexpect
+pure-eval==0.2.3
+ # via stack-data
+pyarrow==21.0.0
+ # via
+ # datasets
+ # rerun-sdk
+pycparser==2.22
+ # via cffi
+pydantic==2.11.7
+ # via wandb
+pydantic-core==2.33.2
+ # via pydantic
+pygame==2.6.1
+ # via
+ # gym-hil
+ # gym-pusht
+ # lerobot
+pygments==2.19.2
+ # via
+ # ipython
+ # pytest
+pymunk==6.11.1
+ # via
+ # gym-pusht
+ # lerobot
+pyngrok==7.2.12
+ # via meshcat
+pynput==1.8.1
+ # via
+ # gym-hil
+ # lerobot
+pyopengl==3.1.9
+ # via
+ # dm-control
+ # mujoco
+pyparsing==3.2.3
+ # via
+ # dm-control
+ # matplotlib
+pyrealsense2==2.56.5.9235
+ # via lerobot
+pyserial==3.5
+ # via
+ # dynamixel-sdk
+ # feetech-servo-sdk
+ # lerobot
+pytest==8.4.1
+ # via
+ # lerobot
+ # pytest-cov
+ # pytest-timeout
+pytest-cov==6.2.1
+ # via lerobot
+pytest-timeout==2.4.0
+ # via lerobot
+python-dateutil==2.9.0.post0
+ # via
+ # matplotlib
+ # pandas
+python-xlib==0.33
+ # via pynput
+pytz==2025.2
+ # via pandas
+pyyaml==6.0.2
+ # via
+ # accelerate
+ # datasets
+ # draccus
+ # huggingface-hub
+ # pre-commit
+ # pyngrok
+ # pyyaml-include
+ # transformers
+ # wandb
+pyyaml-include==1.4.1
+ # via draccus
+pyzmq==27.0.0
+ # via
+ # lerobot
+ # meshcat
+regex==2025.7.34
+ # via
+ # diffusers
+ # transformers
+requests==2.32.4
+ # via
+ # datasets
+ # diffusers
+ # dm-control
+ # huggingface-hub
+ # transformers
+ # wandb
+rerun-sdk==0.22.1
+ # via lerobot
+rhoban-cmeel-jsoncpp==1.9.4.9
+ # via placo
+safetensors==0.5.3
+ # via
+ # accelerate
+ # diffusers
+ # lerobot
+ # transformers
+scikit-image==0.25.2
+ # via
+ # gym-pusht
+ # lerobot
+scipy==1.15.3
+ # via
+ # dm-control
+ # scikit-image
+sentry-sdk==2.34.1
+ # via wandb
+shapely==2.1.1
+ # via gym-pusht
+six==1.17.0
+ # via
+ # pynput
+ # python-dateutil
+ # python-xlib
+smmap==5.0.2
+ # via gitdb
+stack-data==0.6.3
+ # via ipython
+sympy==1.14.0
+ # via torch
+termcolor==3.1.0
+ # via lerobot
+tifffile==2025.5.10
+ # via scikit-image
+tokenizers==0.21.4
+ # via transformers
+toml==0.10.2
+ # via draccus
+tomli==2.2.1
+ # via
+ # cmeel
+ # coverage
+ # pytest
+torch==2.7.1
+ # via
+ # accelerate
+ # lerobot
+ # torchvision
+torchcodec==0.5
+ # via lerobot
+torchvision==0.22.1
+ # via lerobot
+tornado==6.5.1
+ # via meshcat
+tqdm==4.67.1
+ # via
+ # datasets
+ # dm-control
+ # huggingface-hub
+ # transformers
+traitlets==5.14.3
+ # via
+ # ipython
+ # matplotlib-inline
+transformers==4.51.3
+ # via lerobot
+triton==3.3.1
+ # via torch
+typing-extensions==4.14.1
+ # via
+ # aiosignal
+ # exceptiongroup
+ # gymnasium
+ # huggingface-hub
+ # ipython
+ # multidict
+ # pydantic
+ # pydantic-core
+ # rerun-sdk
+ # torch
+ # typing-inspect
+ # typing-inspection
+ # wandb
+typing-inspect==0.9.0
+ # via draccus
+typing-inspection==0.4.1
+ # via pydantic
+tzdata==2025.2
+ # via pandas
+u-msgpack-python==2.8.0
+ # via meshcat
+urllib3==2.5.0
+ # via
+ # requests
+ # sentry-sdk
+virtualenv==20.32.0
+ # via pre-commit
+wandb==0.21.0
+ # via lerobot
+wcwidth==0.2.13
+ # via prompt-toolkit
+werkzeug==3.1.3
+ # via flask
+wrapt==1.17.2
+ # via dm-tree
+xxhash==3.5.0
+ # via datasets
+yarl==1.20.1
+ # via aiohttp
+zipp==3.23.0
+ # via importlib-metadata
+
+# The following packages are considered to be unsafe in a requirements file:
+# setuptools
diff --git a/requirements.in b/requirements.in
new file mode 100644
index 000000000..272f7f540
--- /dev/null
+++ b/requirements.in
@@ -0,0 +1,9 @@
+# requirements.in
+
+# requirements-macos.txt was generated on macOS and is platform-specific (macOS 15.5 24F74 arm64).
+# Darwin MacBook-Pro.local 24.5.0 Darwin Kernel Version 24.5.0: Tue Apr 22 19:54:43 PDT 2025; root:xnu-11417.121.6~2/RELEASE_ARM64_T8132 arm64
+
+# requirements-ubuntu.txt was generated on Linux and is platform-specific (Ubuntu 24.04.2 LTS x86_64).
+# Linux mlerobot-linux 6.14.0-27-generic #27~24.04.1-Ubuntu SMP PREEMPT_DYNAMIC Tue Jul 22 17:38:49 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
+
+-e .[all]
diff --git a/src/lerobot/calibrate.py b/src/lerobot/calibrate.py
index 1e8bf4751..0dda80ba2 100644
--- a/src/lerobot/calibrate.py
+++ b/src/lerobot/calibrate.py
@@ -82,5 +82,9 @@ def calibrate(cfg: CalibrateConfig):
device.disconnect()
-if __name__ == "__main__":
+def main():
calibrate()
+
+
+if __name__ == "__main__":
+ main()
diff --git a/src/lerobot/configs/policies.py b/src/lerobot/configs/policies.py
index c5b2fa09e..f5fa727cf 100644
--- a/src/lerobot/configs/policies.py
+++ b/src/lerobot/configs/policies.py
@@ -27,6 +27,7 @@ from huggingface_hub.constants import CONFIG_NAME
from huggingface_hub.errors import HfHubHTTPError
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
+from lerobot.constants import ACTION, OBS_STATE
from lerobot.optim.optimizers import OptimizerConfig
from lerobot.optim.schedulers import LRSchedulerConfig
from lerobot.utils.hub import HubMixin
@@ -119,8 +120,8 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
@property
def robot_state_feature(self) -> PolicyFeature | None:
- for _, ft in self.input_features.items():
- if ft.type is FeatureType.STATE:
+ for ft_name, ft in self.input_features.items():
+ if ft.type is FeatureType.STATE and ft_name == OBS_STATE:
return ft
return None
@@ -137,8 +138,8 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
@property
def action_feature(self) -> PolicyFeature | None:
- for _, ft in self.output_features.items():
- if ft.type is FeatureType.ACTION:
+ for ft_name, ft in self.output_features.items():
+ if ft.type is FeatureType.ACTION and ft_name == ACTION:
return ft
return None
diff --git a/src/lerobot/find_cameras.py b/src/lerobot/find_cameras.py
index be8f272ee..8f88d3107 100644
--- a/src/lerobot/find_cameras.py
+++ b/src/lerobot/find_cameras.py
@@ -286,7 +286,7 @@ def save_images_from_all_cameras(
print(f"Image capture finished. Images saved to {output_dir}")
-if __name__ == "__main__":
+def main():
parser = argparse.ArgumentParser(
description="Unified camera utility script for listing cameras and capturing images."
)
@@ -313,3 +313,7 @@ if __name__ == "__main__":
)
args = parser.parse_args()
save_images_from_all_cameras(**vars(args))
+
+
+if __name__ == "__main__":
+ main()
diff --git a/src/lerobot/find_port.py b/src/lerobot/find_port.py
index cf0282507..babe0288e 100644
--- a/src/lerobot/find_port.py
+++ b/src/lerobot/find_port.py
@@ -61,5 +61,9 @@ def find_port():
raise OSError(f"Could not detect the port. More than one port was found ({ports_diff}).")
-if __name__ == "__main__":
+def main():
find_port()
+
+
+if __name__ == "__main__":
+ main()
diff --git a/src/lerobot/policies/act/README.md b/src/lerobot/policies/act/README.md
new file mode 120000
index 000000000..046020098
--- /dev/null
+++ b/src/lerobot/policies/act/README.md
@@ -0,0 +1 @@
+../../../../docs/source/policy_act_README.md
\ No newline at end of file
diff --git a/src/lerobot/policies/diffusion/README.md b/src/lerobot/policies/diffusion/README.md
new file mode 120000
index 000000000..d332d79c8
--- /dev/null
+++ b/src/lerobot/policies/diffusion/README.md
@@ -0,0 +1 @@
+../../../../docs/source/policy_diffusion_README.md
\ No newline at end of file
diff --git a/src/lerobot/policies/smolvla/README.md b/src/lerobot/policies/smolvla/README.md
new file mode 120000
index 000000000..f8de40269
--- /dev/null
+++ b/src/lerobot/policies/smolvla/README.md
@@ -0,0 +1 @@
+../../../../docs/source/policy_smolvla_README.md
\ No newline at end of file
diff --git a/src/lerobot/policies/tdmpc/README.md b/src/lerobot/policies/tdmpc/README.md
new file mode 120000
index 000000000..413ea87b8
--- /dev/null
+++ b/src/lerobot/policies/tdmpc/README.md
@@ -0,0 +1 @@
+../../../../docs/source/policy_tdmpc_README.md
\ No newline at end of file
diff --git a/src/lerobot/policies/vqbet/README.md b/src/lerobot/policies/vqbet/README.md
new file mode 120000
index 000000000..a4ae9291a
--- /dev/null
+++ b/src/lerobot/policies/vqbet/README.md
@@ -0,0 +1 @@
+../../../../docs/source/policy_vqbet_README.md
\ No newline at end of file
diff --git a/src/lerobot/record.py b/src/lerobot/record.py
index d662efcab..575fcb94d 100644
--- a/src/lerobot/record.py
+++ b/src/lerobot/record.py
@@ -393,5 +393,9 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
return dataset
-if __name__ == "__main__":
+def main():
record()
+
+
+if __name__ == "__main__":
+ main()
diff --git a/src/lerobot/replay.py b/src/lerobot/replay.py
index afe54d90f..a9dceb741 100644
--- a/src/lerobot/replay.py
+++ b/src/lerobot/replay.py
@@ -112,5 +112,9 @@ def replay(cfg: ReplayConfig):
robot.disconnect()
-if __name__ == "__main__":
+def main():
replay()
+
+
+if __name__ == "__main__":
+ main()
diff --git a/src/lerobot/scripts/train.py b/src/lerobot/scripts/train.py
index f09d231a8..235352cd8 100644
--- a/src/lerobot/scripts/train.py
+++ b/src/lerobot/scripts/train.py
@@ -286,6 +286,10 @@ def train(cfg: TrainPipelineConfig):
policy.push_model_to_hub(cfg)
-if __name__ == "__main__":
+def main():
init_logging()
train()
+
+
+if __name__ == "__main__":
+ main()
diff --git a/src/lerobot/setup_motors.py b/src/lerobot/setup_motors.py
index c54582a1d..76cdca56d 100644
--- a/src/lerobot/setup_motors.py
+++ b/src/lerobot/setup_motors.py
@@ -80,5 +80,9 @@ def setup_motors(cfg: SetupConfig):
device.setup_motors()
-if __name__ == "__main__":
+def main():
setup_motors()
+
+
+if __name__ == "__main__":
+ main()
diff --git a/src/lerobot/teleoperate.py b/src/lerobot/teleoperate.py
index 9836f1393..3c72caf79 100644
--- a/src/lerobot/teleoperate.py
+++ b/src/lerobot/teleoperate.py
@@ -153,5 +153,9 @@ def teleoperate(cfg: TeleoperateConfig):
robot.disconnect()
-if __name__ == "__main__":
+def main():
teleoperate()
+
+
+if __name__ == "__main__":
+ main()
diff --git a/tests/policies/test_policies.py b/tests/policies/test_policies.py
index ed37fedd6..da7573d7c 100644
--- a/tests/policies/test_policies.py
+++ b/tests/policies/test_policies.py
@@ -27,11 +27,13 @@ from lerobot import available_policies
from lerobot.configs.default import DatasetConfig
from lerobot.configs.train import TrainPipelineConfig
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
+from lerobot.constants import ACTION, OBS_STATE
from lerobot.datasets.factory import make_dataset
from lerobot.datasets.utils import cycle, dataset_to_policy_features
from lerobot.envs.factory import make_env, make_env_config
from lerobot.envs.utils import preprocess_observation
from lerobot.optim.factory import make_optimizer_and_scheduler
+from lerobot.policies.act.configuration_act import ACTConfig
from lerobot.policies.act.modeling_act import ACTTemporalEnsembler
from lerobot.policies.factory import (
get_policy_class,
@@ -363,6 +365,54 @@ def test_normalize(insert_temporal_dim):
unnormalize(output_batch)
+@pytest.mark.parametrize("multikey", [True, False])
+def test_multikey_construction(multikey: bool):
+ """
+ Asserts that multiple keys with type State/Action are correctly processed by the policy constructor,
+ preventing erroneous creation of the policy object.
+ """
+ input_features = {
+ "observation.state": PolicyFeature(
+ type=FeatureType.STATE,
+ shape=(10,),
+ ),
+ }
+ output_features = {
+ "action": PolicyFeature(
+ type=FeatureType.ACTION,
+ shape=(5,),
+ ),
+ }
+
+ if multikey:
+ """Simulates the complete state/action is constructed from more granular multiple
+ keys, of the same type as the overall state/action"""
+ input_features = {}
+ input_features["observation.state.subset1"] = PolicyFeature(type=FeatureType.STATE, shape=(5,))
+ input_features["observation.state.subset2"] = PolicyFeature(type=FeatureType.STATE, shape=(5,))
+ input_features["observation.state"] = PolicyFeature(type=FeatureType.STATE, shape=(10,))
+
+ output_features = {}
+ output_features["action.first_three_motors"] = PolicyFeature(type=FeatureType.ACTION, shape=(3,))
+ output_features["action.last_two_motors"] = PolicyFeature(type=FeatureType.ACTION, shape=(2,))
+ output_features["action"] = PolicyFeature(
+ type=FeatureType.ACTION,
+ shape=(5,),
+ )
+
+ config = ACTConfig(input_features=input_features, output_features=output_features)
+
+ state_condition = config.robot_state_feature == input_features[OBS_STATE]
+ action_condition = config.action_feature == output_features[ACTION]
+
+ assert state_condition, (
+ f"Discrepancy detected. Robot state feature is {config.robot_state_feature} but policy expects {input_features[OBS_STATE]}"
+ )
+ assert action_condition, (
+ f"Discrepancy detected. Action feature is {config.action_feature} but policy expects {output_features[ACTION]}"
+ )
+
+
@pytest.mark.parametrize(
"ds_repo_id, policy_name, policy_kwargs, file_name_extra",
[