update close gripper button

* add blog/guide

* add to tree

* chore(docs): rephrase rename_map docs for clarity and simplicity

---------

Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>

docs/source/_toctree.yml

@@ -19,6 +19,8 @@
     title: Multi GPU training
   - local: peft_training
     title: Training with PEFT (e.g., LoRA)
+  - local: rename_map
+    title: Using Rename Map and Empty Cameras
   title: "Tutorials"
 - sections:
   - local: lerobot-dataset-v3

docs/source/async.mdx

@@ -310,4 +310,4 @@ Asynchronous inference represents a significant advancement in real-time robotic
 - **Universal Compatibility**: Works with all LeRobot-supported policies, from lightweight ACT models to vision-language models like SmolVLA
 
 Start experimenting with the default parameters, monitor your action queue sizes, and iteratively refine your setup to achieve optimal performance for your specific use case.
-If you want to discuss this further, hop into our [Discord community](https://discord.gg/s3KuuzsPFb), or open an issue on our [GitHub repository](https://github.com/lerobot/lerobot/issues).
+If you want to discuss this further, hop into our [Discord community](https://discord.gg/s3KuuzsPFb), or open an issue on our [GitHub repository](https://github.com/huggingface/lerobot/issues).

docs/source/rename_map.mdx

@@ -0,0 +1,114 @@
+# Rename Map and Empty Cameras
+
+When you train, evaluate, or record with a robot policy, your **dataset** or **environment** provides observations under one set of keys (e.g. `observation.images.front`, `observation.images.eagle`), while your **policy** expects another (e.g. `observation.images.image`, `observation.images.image2`). The **rename map** bridges that gap without changing the policy or data source.
+
+> **Scope:** The rename map only renames **observation** keys (images and state). Action keys are not affected.
+
+## Why observation keys don't always match
+
+Policies have a fixed set of **input feature names** baked into their pretrained config. For example:
+
+- [pi0fast-libero](https://huggingface.co/lerobot/pi0fast-libero) expects `observation.images.base_0_rgb` and `observation.images.left_wrist_0_rgb`.
+- [xvla-base](https://huggingface.co/lerobot/xvla-base) expects `observation.images.image`, `observation.images.image2`, and `observation.images.image3`.
+
+Your dataset might use different names entirely (e.g. `observation.images.front`, `observation.images.eagle`, `observation.images.glove`), and your eval environment might use yet another set. Rather than editing the policy config or renaming columns in the dataset, you pass a **rename map**: a JSON dictionary that maps source keys to the keys the policy expects. Renaming happens inside the preprocessor pipeline, so the policy always sees its expected keys.
+
+## Using the rename map
+
+Pass the mapping as a JSON string on the command line. The convention is always:
+
+```
+--rename_map='{"source_key": "policy_key", ...}'
+```
+
+where **source_key** is what the dataset or environment provides, and **policy_key** is what the policy expects.
+
+Only listed keys are renamed; everything else passes through unchanged. Order of entries doesn't matter.
+
+Supported policies: **PI0**, **PI05**, **PI0Fast**, **SmolVLA**, and **XVLA**.
+
+### Training
+
+Suppose you fine-tune [lerobot/xvla-base](https://huggingface.co/lerobot/xvla-base) on a dataset with images under `observation.images.front`, `observation.images.eagle`, and `observation.images.glove`. XVLA expects `observation.images.image`, `observation.images.image2`, and `observation.images.image3`:
+
+```bash
+lerobot-train \
+  --dataset.repo_id=YOUR_DATASET \
+  --output_dir=./outputs/xvla_training \
+  --job_name=xvla_training \
+  --policy.path="lerobot/xvla-base" \
+  --policy.repo_id="HF_USER/xvla-your-robot" \
+  --policy.dtype=bfloat16 \
+  --policy.action_mode=auto \
+  --steps=20000 \
+  --policy.device=cuda \
+  --policy.freeze_vision_encoder=false \
+  --policy.freeze_language_encoder=false \
+  --policy.train_policy_transformer=true \
+  --policy.train_soft_prompts=true \
+  --rename_map='{"observation.images.front": "observation.images.image", "observation.images.eagle": "observation.images.image2", "observation.images.glove": "observation.images.image3"}'
+```
+
+### Evaluation
+
+A policy that expects `observation.images.base_0_rgb` and `observation.images.left_wrist_0_rgb` (e.g. [pi0fast-libero](https://huggingface.co/lerobot/pi0fast-libero)), but the LIBERO environment returns `observation.images.image` and `observation.images.image2`:
+
+```bash
+lerobot-eval \
+  --policy.path=lerobot/pi0fast-libero \
+  --env.type=libero \
+  ... \
+  --rename_map='{"observation.images.image": "observation.images.base_0_rgb", "observation.images.image2": "observation.images.left_wrist_0_rgb"}'
+```
+
+### Recording
+
+`lerobot-record` also supports rename maps, nested under the dataset config:
+
+```bash
+lerobot-record \ # When running inference
+  --policy.path="<user>/smolVLA_finetuned" \
+  ... \
+  --dataset.rename_map='{"observation.images.glove2": "observation.images.image"}'
+```
+
+## Alternative: edit the policy config directly
+
+If you always use the same dataset or environment, you can **edit the policy's `config.json`** so its observation keys match your data source. Then no rename map is needed.
+
+The tradeoff: modifying the policy config ties it to one data source. A rename map keeps one policy usable across many datasets and environments.
+
+## Empty cameras: fewer views than the policy expects
+
+Some policies are built for a fixed number of image inputs. If your dataset has fewer cameras, you can set **`empty_cameras`** in the policy config instead of modifying the model architecture.
+
+### How it works
+
+Setting `empty_cameras=N` adds N placeholder image features to the policy config, named:
+
+```
+observation.images.empty_camera_0
+observation.images.empty_camera_1
+...
+```
+
+At runtime, these keys have no corresponding data in the batch. The policy fills them with masked dummy tensors (padded with `-1` for SigLIP-based vision encoders, with a zero attention mask), so the extra image slots are effectively ignored during training and inference.
+
+### Example
+
+XVLA-base has three visual inputs and `empty_cameras=0` by default. Your dataset only has two cameras:
+
+1. Set `--policy.empty_cameras=1`.
+2. The config adds a third key: `observation.images.empty_camera_0`.
+3. Use the rename map for your two real cameras as usual.
+4. The third slot is masked out — no fake images needed in your dataset.
+
+## Quick reference
+
+| Goal                                      | What to do                                                                  |
+| ----------------------------------------- | --------------------------------------------------------------------------- |
+| Dataset keys ≠ policy keys                | `--rename_map='{"dataset_key": "policy_key", ...}'`                         |
+| Env keys ≠ policy keys (eval)             | `--rename_map='{"env_key": "policy_key", ...}'`                             |
+| Recording with different keys (inference) | `--dataset.rename_map='{"source_key": "policy_key", ...}'`.                 |
+| Fewer cameras than policy expects         | `--policy.empty_cameras=N` (supported by PI0, PI05, PI0Fast, SmolVLA, XVLA) |
+| Avoid passing a rename map                | Edit the policy's `config.json` so its keys match your data source          |

src/lerobot/processor/normalize_processor.py

@@ -131,6 +131,15 @@ class _NormalizationMixin:
         if self.dtype is None:
             self.dtype = torch.float32
         self._tensor_stats = to_tensor(self.stats, device=self.device, dtype=self.dtype)
+        self._reshape_visual_stats()
+
+    def _reshape_visual_stats(self) -> None:
+        """Reshape visual stats from ``[C]`` to ``[C, 1, 1]`` for image broadcasting."""
+        for key, feature in self.features.items():
+            if feature.type == FeatureType.VISUAL and key in self._tensor_stats:
+                for stat_name, stat_tensor in self._tensor_stats[key].items():
+                    if isinstance(stat_tensor, Tensor) and stat_tensor.ndim == 1:
+                        self._tensor_stats[key][stat_name] = stat_tensor.reshape(-1, 1, 1)
 
     def to(
         self, device: torch.device | str | None = None, dtype: torch.dtype | None = None
@@ -149,6 +158,7 @@ class _NormalizationMixin:
         if dtype is not None:
             self.dtype = dtype
         self._tensor_stats = to_tensor(self.stats, device=self.device, dtype=self.dtype)
+        self._reshape_visual_stats()
         return self
 
     def state_dict(self) -> dict[str, Tensor]:
@@ -198,6 +208,7 @@ class _NormalizationMixin:
             # Don't load from state_dict, keep the explicitly provided stats
             # But ensure _tensor_stats is properly initialized
             self._tensor_stats = to_tensor(self.stats, device=self.device, dtype=self.dtype)  # type: ignore[assignment]
+            self._reshape_visual_stats()
             return
 
         # Normal behavior: load stats from state_dict
@@ -209,6 +220,8 @@ class _NormalizationMixin:
                 dtype=torch.float32, device=self.device
             )
 
+        self._reshape_visual_stats()
+
         # Reconstruct the original stats dict from tensor stats for compatibility with to() method
         # and other functions that rely on self.stats
         self.stats = {}

src/lerobot/rl/actor.py

@@ -62,6 +62,7 @@ from lerobot.configs import parser
 from lerobot.configs.train import TrainRLServerPipelineConfig
 from lerobot.policies.factory import make_policy
 from lerobot.policies.sac.modeling_sac import SACPolicy
+from lerobot.policies.sac.processor_sac import make_sac_pre_post_processors
 from lerobot.rl.process import ProcessSignalHandler
 from lerobot.rl.queue import get_last_item_from_queue
 from lerobot.robots import so_follower  # noqa: F401
@@ -258,6 +259,11 @@ def act_with_policy(
     policy = policy.eval()
     assert isinstance(policy, nn.Module)
 
+    preprocessor, postprocessor = make_sac_pre_post_processors(
+        config=cfg.policy,
+        dataset_stats=cfg.policy.dataset_stats,
+    )
+
     obs, info = online_env.reset()
     env_processor.reset()
     action_processor.reset()
@@ -289,7 +295,9 @@ def act_with_policy(
         # Time policy inference and check if it meets FPS requirement
         with policy_timer:
             # Extract observation from transition for policy
-            action = policy.select_action(batch=observation)
+            normalized_observation = preprocessor.process_observation(observation)
+            action = policy.select_action(batch=normalized_observation)
+            # action = postprocessor.process_action(action)
         policy_fps = policy_timer.fps_last
 
         log_policy_frequency_issue(policy_fps=policy_fps, cfg=cfg, interaction_step=interaction_step)

src/lerobot/rl/learner.py

@@ -66,6 +66,7 @@ from lerobot.datasets.factory import make_dataset
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.policies.factory import make_policy
 from lerobot.policies.sac.modeling_sac import SACPolicy
+from lerobot.policies.sac.processor_sac import make_sac_pre_post_processors
 from lerobot.rl.buffer import ReplayBuffer, concatenate_batch_transitions
 from lerobot.rl.process import ProcessSignalHandler
 from lerobot.rl.wandb_utils import WandBLogger
@@ -313,6 +314,11 @@ def add_actor_information_and_train(
 
     assert isinstance(policy, nn.Module)
 
+    preprocessor, _ = make_sac_pre_post_processors(
+        config=cfg.policy,
+        dataset_stats=cfg.policy.dataset_stats,
+    )
+
     policy.train()
 
     push_actor_policy_to_queue(parameters_queue=parameters_queue, policy=policy)
@@ -408,6 +414,9 @@ def add_actor_information_and_train(
             done = batch["done"]
             check_nan_in_transition(observations=observations, actions=actions, next_state=next_observations)
 
+            observations = preprocessor.process_observation(observations)
+            next_observations = preprocessor.process_observation(next_observations)
+
             observation_features, next_observation_features = get_observation_features(
                 policy=policy, observations=observations, next_observations=next_observations
             )
@@ -467,6 +476,9 @@ def add_actor_information_and_train(
 
         check_nan_in_transition(observations=observations, actions=actions, next_state=next_observations)
 
+        observations = preprocessor.process_observation(observations)
+        next_observations = preprocessor.process_observation(next_observations)
+
         observation_features, next_observation_features = get_observation_features(
             policy=policy, observations=observations, next_observations=next_observations
         )

src/lerobot/teleoperators/gamepad/gamepad_utils.py

@@ -23,65 +23,46 @@ class InputController:
     """Base class for input controllers that generate motion deltas."""
 
     def __init__(self, x_step_size=1.0, y_step_size=1.0, z_step_size=1.0):
-        """
-        Initialize the controller.
-
-        Args:
-            x_step_size: Base movement step size in meters
-            y_step_size: Base movement step size in meters
-            z_step_size: Base movement step size in meters
-        """
         self.x_step_size = x_step_size
         self.y_step_size = y_step_size
         self.z_step_size = z_step_size
         self.running = True
-        self.episode_end_status = None  # None, "success", or "failure"
+        self.episode_end_status = None
         self.intervention_flag = False
         self.open_gripper_command = False
         self.close_gripper_command = False
 
     def start(self):
-        """Start the controller and initialize resources."""
         pass
 
     def stop(self):
-        """Stop the controller and release resources."""
+        pass
+
+    def reset(self):
         pass
 
     def get_deltas(self):
-        """Get the current movement deltas (dx, dy, dz) in meters."""
         return 0.0, 0.0, 0.0
 
     def update(self):
-        """Update controller state - call this once per frame."""
         pass
 
     def __enter__(self):
-        """Support for use in 'with' statements."""
         self.start()
         return self
 
     def __exit__(self, exc_type, exc_val, exc_tb):
-        """Ensure resources are released when exiting 'with' block."""
         self.stop()
 
     def get_episode_end_status(self):
-        """
-        Get the current episode end status.
-
-        Returns:
-            None if episode should continue, "success" or "failure" otherwise
-        """
         status = self.episode_end_status
-        self.episode_end_status = None  # Reset after reading
+        self.episode_end_status = None
         return status
 
     def should_intervene(self):
-        """Return True if intervention flag was set."""
         return self.intervention_flag
 
     def gripper_command(self):
-        """Return the current gripper command."""
         if self.open_gripper_command == self.close_gripper_command:
             return "stay"
         elif self.open_gripper_command:
@@ -102,14 +83,14 @@ class KeyboardController(InputController):
             "backward_y": False,
             "forward_z": False,
             "backward_z": False,
-            "quit": False,
             "success": False,
             "failure": False,
+            "intervention": False,
+            "rerecord": False,
         }
         self.listener = None
 
     def start(self):
-        """Start the keyboard listener."""
         from pynput import keyboard
 
         def on_press(key):
@@ -126,16 +107,21 @@ class KeyboardController(InputController):
                     self.key_states["backward_z"] = True
                 elif key == keyboard.Key.shift_r:
                     self.key_states["forward_z"] = True
-                elif key == keyboard.Key.esc:
-                    self.key_states["quit"] = True
-                    self.running = False
-                    return False
+                elif key == keyboard.Key.ctrl_r:
+                    self.open_gripper_command = True
+                elif key == keyboard.Key.ctrl_l:
+                    self.close_gripper_command = True
                 elif key == keyboard.Key.enter:
                     self.key_states["success"] = True
                     self.episode_end_status = TeleopEvents.SUCCESS
-                elif key == keyboard.Key.backspace:
+                elif key == keyboard.Key.esc:
                     self.key_states["failure"] = True
                     self.episode_end_status = TeleopEvents.FAILURE
+                elif key == keyboard.Key.space:
+                    self.key_states["intervention"] = not self.key_states["intervention"]
+                elif hasattr(key, "char") and key.char == "r":
+                    self.key_states["rerecord"] = True
+                    self.episode_end_status = TeleopEvents.RERECORD_EPISODE
             except AttributeError:
                 pass
 
@@ -153,10 +139,10 @@ class KeyboardController(InputController):
                     self.key_states["backward_z"] = False
                 elif key == keyboard.Key.shift_r:
                     self.key_states["forward_z"] = False
-                elif key == keyboard.Key.enter:
-                    self.key_states["success"] = False
-                elif key == keyboard.Key.backspace:
-                    self.key_states["failure"] = False
+                elif key == keyboard.Key.ctrl_r:
+                    self.open_gripper_command = False
+                elif key == keyboard.Key.ctrl_l:
+                    self.close_gripper_command = False
             except AttributeError:
                 pass
 
@@ -165,18 +151,18 @@ class KeyboardController(InputController):
 
         print("Keyboard controls:")
         print("  Arrow keys: Move in X-Y plane")
-        print("  Shift and Shift_R: Move in Z axis")
+        print("  Shift / Shift_R: Move in Z axis")
+        print("  Ctrl_R / Ctrl_L: Open / Close gripper")
+        print("  Space: Toggle intervention")
         print("  Enter: End episode with SUCCESS")
-        print("  Backspace: End episode with FAILURE")
-        print("  ESC: Exit")
+        print("  Esc: End episode with FAILURE")
+        print("  R: Rerecord episode")
 
     def stop(self):
-        """Stop the keyboard listener."""
         if self.listener and self.listener.is_alive():
             self.listener.stop()
 
     def get_deltas(self):
-        """Get the current movement deltas from keyboard state."""
         delta_x = delta_y = delta_z = 0.0
 
         if self.key_states["forward_x"]:
@@ -194,18 +180,58 @@ class KeyboardController(InputController):
 
         return delta_x, delta_y, delta_z
 
+    def should_intervene(self):
+        return self.key_states["intervention"]
+
+    def reset(self):
+        for key in self.key_states:
+            self.key_states[key] = False
+
 
 class GamepadController(InputController):
-    """Generate motion deltas from gamepad input."""
+    """Generate motion deltas from gamepad input using pygame.
+
+    Matches gym-hil button/axis conventions for Linux gamepads, including
+    Xbox mappings.
+    """
+
+    # Face buttons (same across most controllers on Linux)
+    BUTTON_A = 0
+    BUTTON_B = 1
+    BUTTON_X = 2
+    BUTTON_Y = 3
+    BUTTON_LB = 4
+    BUTTON_RB = 5
+    # Stick axes
+    AXIS_LEFT_X = 0
+    AXIS_LEFT_Y = 1
+    AXIS_RIGHT_X = 2
+    AXIS_RIGHT_Y = 3
+
+    # Default trigger buttons
+    BUTTON_LT = 6
+    BUTTON_RT = 7
+
+    # Xbox (gym-hil mapping on Linux)
+    XBOX_BUTTON_LT = 9
+    XBOX_BUTTON_RT = 10
 
     def __init__(self, x_step_size=1.0, y_step_size=1.0, z_step_size=1.0, deadzone=0.1):
         super().__init__(x_step_size, y_step_size, z_step_size)
         self.deadzone = deadzone
         self.joystick = None
         self.intervention_flag = False
+        self.is_xbox = False
+        self._xbox360_profile = False
+        self._invert_left_x = False
+        self._invert_left_y = True
+        self._invert_right_y = True
+
+    def _detect_xbox(self, name):
+        name_lower = name.lower()
+        return any(tag in name_lower for tag in ["xbox", "microsoft", "x-box"])
 
     def start(self):
-        """Initialize pygame and the gamepad."""
         import pygame
 
         pygame.init()
@@ -218,18 +244,35 @@ class GamepadController(InputController):
 
         self.joystick = pygame.joystick.Joystick(0)
         self.joystick.init()
-        logging.info(f"Initialized gamepad: {self.joystick.get_name()}")
+        joystick_name = self.joystick.get_name()
+        self.is_xbox = self._detect_xbox(joystick_name)
+        self._xbox360_profile = joystick_name == "Xbox 360 Controller"
+        if self._xbox360_profile:
+            # gym-hil "Xbox 360 Controller" profile
+            self.AXIS_RIGHT_X = 3
+            self.AXIS_RIGHT_Y = 4
+            self.BUTTON_LT = self.XBOX_BUTTON_LT
+            self.BUTTON_RT = self.XBOX_BUTTON_RT
+            self._invert_left_x = True
+        else:
+            # gym-hil default profile
+            self.AXIS_RIGHT_X = 2
+            self.AXIS_RIGHT_Y = 3
+            self.BUTTON_LT = 6
+            self.BUTTON_RT = 7
+            self._invert_left_x = False
+        logging.info(f"Initialized gamepad: {joystick_name} (xbox={self.is_xbox})")
 
         print("Gamepad controls:")
         print("  Left analog stick: Move in X-Y plane")
         print("  Right analog stick (vertical): Move in Z axis")
-        print("  B/Circle button: Exit")
-        print("  Y/Triangle button: End episode with SUCCESS")
-        print("  A/Cross button: End episode with FAILURE")
-        print("  X/Square button: Rerecord episode")
+        print("  RB: Intervention toggle")
+        print("  LT / RT: Close / Open gripper")
+        print("  Y: End episode with SUCCESS")
+        print("  A: End episode with FAILURE")
+        print("  X: Rerecord episode")
 
     def stop(self):
-        """Clean up pygame resources."""
         import pygame
 
         if pygame.joystick.get_init():
@@ -239,67 +282,56 @@ class GamepadController(InputController):
         pygame.quit()
 
     def update(self):
-        """Process pygame events to get fresh gamepad readings."""
         import pygame
 
         for event in pygame.event.get():
             if event.type == pygame.JOYBUTTONDOWN:
-                if event.button == 3:
+                if event.button == self.BUTTON_Y:
                     self.episode_end_status = TeleopEvents.SUCCESS
-                # A button (1) for failure
-                elif event.button == 1:
+                elif event.button == self.BUTTON_A:
                     self.episode_end_status = TeleopEvents.FAILURE
-                # X button (0) for rerecord
-                elif event.button == 0:
+                elif event.button == self.BUTTON_X:
                     self.episode_end_status = TeleopEvents.RERECORD_EPISODE
-
-                # RB button (6) for closing gripper
-                elif event.button == 6:
+                elif event.button == self.BUTTON_LT:
                     self.close_gripper_command = True
-
-                # LT button (7) for opening gripper
-                elif event.button == 7:
+                elif event.button == self.BUTTON_RT:
                     self.open_gripper_command = True
 
-            # Reset episode status on button release
             elif event.type == pygame.JOYBUTTONUP:
-                if event.button in [0, 2, 3]:
+                if event.button in [self.BUTTON_Y, self.BUTTON_A, self.BUTTON_X]:
                     self.episode_end_status = None
-
-                elif event.button == 6:
+                elif event.button == self.BUTTON_LT:
                     self.close_gripper_command = False
-
-                elif event.button == 7:
+                elif event.button == self.BUTTON_RT:
                     self.open_gripper_command = False
 
-            # Check for RB button (typically button 5) for intervention flag
-            if self.joystick.get_button(5):
+            if self.joystick.get_button(self.BUTTON_RB):
                 self.intervention_flag = True
             else:
                 self.intervention_flag = False
 
     def get_deltas(self):
-        """Get the current movement deltas from gamepad state."""
         import pygame
 
         try:
-            # Read joystick axes
-            # Left stick X and Y (typically axes 0 and 1)
-            y_input = self.joystick.get_axis(0)  # Up/Down (often inverted)
-            x_input = self.joystick.get_axis(1)  # Left/Right
+            x_input = self.joystick.get_axis(self.AXIS_LEFT_X)
+            y_input = self.joystick.get_axis(self.AXIS_LEFT_Y)
+            z_input = self.joystick.get_axis(self.AXIS_RIGHT_Y)
 
-            # Right stick Y (typically axis 3 or 4)
-            z_input = self.joystick.get_axis(3)  # Up/Down for Z
-
-            # Apply deadzone to avoid drift
             x_input = 0 if abs(x_input) < self.deadzone else x_input
             y_input = 0 if abs(y_input) < self.deadzone else y_input
             z_input = 0 if abs(z_input) < self.deadzone else z_input
 
-            # Calculate deltas (note: may need to invert axes depending on controller)
-            delta_x = -x_input * self.x_step_size  # Forward/backward
-            delta_y = -y_input * self.y_step_size  # Left/right
-            delta_z = -z_input * self.z_step_size  # Up/down
+            if self._invert_left_x:
+                x_input = -x_input
+            if self._invert_left_y:
+                y_input = -y_input
+            if self._invert_right_y:
+                z_input = -z_input
+
+            delta_x = y_input * self.y_step_size
+            delta_y = x_input * self.x_step_size
+            delta_z = z_input * self.z_step_size
 
             return delta_x, delta_y, delta_z
 
@@ -309,7 +341,15 @@ class GamepadController(InputController):
 
 
 class GamepadControllerHID(InputController):
-    """Generate motion deltas from gamepad input using HIDAPI."""
+    """Generate motion deltas from gamepad input using HIDAPI.
+
+    Supports auto-detection of controller type for correct HID report parsing.
+    Currently supported: Logitech RumblePad 2, 8BitDo Ultimate 2C Wireless.
+    """
+
+    CONTROLLER_LOGITECH = "logitech"
+    CONTROLLER_8BITDO = "8bitdo"
+    CONTROLLER_UNKNOWN = "unknown"
 
     def __init__(
         self,
@@ -318,36 +358,26 @@ class GamepadControllerHID(InputController):
         z_step_size=1.0,
         deadzone=0.1,
     ):
-        """
-        Initialize the HID gamepad controller.
-
-        Args:
-            step_size: Base movement step size in meters
-            z_scale: Scaling factor for Z-axis movement
-            deadzone: Joystick deadzone to prevent drift
-        """
         super().__init__(x_step_size, y_step_size, z_step_size)
         self.deadzone = deadzone
         self.device = None
         self.device_info = None
+        self.controller_type = self.CONTROLLER_UNKNOWN
 
-        # Movement values (normalized from -1.0 to 1.0)
         self.left_x = 0.0
         self.left_y = 0.0
         self.right_x = 0.0
         self.right_y = 0.0
 
-        # Button states
         self.buttons = {}
 
     def find_device(self):
-        """Look for the gamepad device by vendor and product ID."""
         import hid
 
         devices = hid.enumerate()
         for device in devices:
             device_name = device["product_string"]
-            if any(controller in device_name for controller in ["Logitech", "Xbox", "PS4", "PS5"]):
+            if any(controller in device_name for controller in ["Logitech", "Xbox", "PS4", "PS5", "8BitDo"]):
                 return device
 
         logging.error(
@@ -355,8 +385,15 @@ class GamepadControllerHID(InputController):
         )
         return None
 
+    def _detect_controller_type(self, product_string):
+        product = product_string.lower() if product_string else ""
+        if "8bitdo" in product:
+            return self.CONTROLLER_8BITDO
+        elif "logitech" in product:
+            return self.CONTROLLER_LOGITECH
+        return self.CONTROLLER_UNKNOWN
+
     def start(self):
-        """Connect to the gamepad using HIDAPI."""
         import hid
 
         self.device_info = self.find_device()
@@ -374,12 +411,22 @@ class GamepadControllerHID(InputController):
             product = self.device.get_product_string()
             logging.info(f"Connected to {manufacturer} {product}")
 
-            logging.info("Gamepad controls (HID mode):")
-            logging.info("  Left analog stick: Move in X-Y plane")
-            logging.info("  Right analog stick: Move in Z axis (vertical)")
-            logging.info("  Button 1/B/Circle: Exit")
-            logging.info("  Button 2/A/Cross: End episode with SUCCESS")
-            logging.info("  Button 3/X/Square: End episode with FAILURE")
+            self.controller_type = self._detect_controller_type(product)
+            logging.info(f"Detected controller type: {self.controller_type}")
+
+            print("Gamepad controls (HID mode):")
+            print("  Left analog stick: Move in X-Y plane")
+            print("  Right analog stick: Move in Z axis (vertical)")
+            print("  RB: Intervention toggle")
+            if self.controller_type == self.CONTROLLER_8BITDO:
+                print("  L3 (left stick click): Close gripper")
+                print("  R3 (right stick click): Open gripper")
+            else:
+                print("  LT: Close gripper")
+                print("  RT: Open gripper")
+            print("  Y: End episode with SUCCESS")
+            print("  X: End episode with FAILURE")
+            print("  A: Rerecord episode")
 
         except OSError as e:
             logging.error(f"Error opening gamepad: {e}")
@@ -387,74 +434,124 @@ class GamepadControllerHID(InputController):
             self.running = False
 
     def stop(self):
-        """Close the HID device connection."""
         if self.device:
             self.device.close()
             self.device = None
 
     def update(self):
-        """
-        Read and process the latest gamepad data.
-        Due to an issue with the HIDAPI, we need to read the read the device several times in order to get a stable reading
-        """
+        """Read the device several times to drain the HID buffer and get a stable reading."""
         for _ in range(10):
             self._update()
 
     def _update(self):
-        """Read and process the latest gamepad data."""
         if not self.device or not self.running:
             return
 
         try:
-            # Read data from the gamepad
             data = self.device.read(64)
-            # Interpret gamepad data - this will vary by controller model
-            # These offsets are for the Logitech RumblePad 2
-            if data and len(data) >= 8:
-                # Normalize joystick values from 0-255 to -1.0-1.0
-                self.left_y = (data[1] - 128) / 128.0
-                self.left_x = (data[2] - 128) / 128.0
-                self.right_x = (data[3] - 128) / 128.0
-                self.right_y = (data[4] - 128) / 128.0
+            if not data:
+                return
 
-                # Apply deadzone
-                self.left_y = 0 if abs(self.left_y) < self.deadzone else self.left_y
-                self.left_x = 0 if abs(self.left_x) < self.deadzone else self.left_x
-                self.right_x = 0 if abs(self.right_x) < self.deadzone else self.right_x
-                self.right_y = 0 if abs(self.right_y) < self.deadzone else self.right_y
-
-                # Parse button states (byte 5 in the Logitech RumblePad 2)
-                buttons = data[5]
-
-                # Check if RB is pressed then the intervention flag should be set
-                self.intervention_flag = data[6] in [2, 6, 10, 14]
-
-                # Check if RT is pressed
-                self.open_gripper_command = data[6] in [8, 10, 12]
-
-                # Check if LT is pressed
-                self.close_gripper_command = data[6] in [4, 6, 12]
-
-                # Check if Y/Triangle button (bit 7) is pressed for saving
-                # Check if X/Square button (bit 5) is pressed for failure
-                # Check if A/Cross button (bit 4) is pressed for rerecording
-                if buttons & 1 << 7:
-                    self.episode_end_status = TeleopEvents.SUCCESS
-                elif buttons & 1 << 5:
-                    self.episode_end_status = TeleopEvents.FAILURE
-                elif buttons & 1 << 4:
-                    self.episode_end_status = TeleopEvents.RERECORD_EPISODE
-                else:
-                    self.episode_end_status = None
+            if self.controller_type == self.CONTROLLER_8BITDO:
+                self._parse_8bitdo(data)
+            else:
+                self._parse_logitech(data)
 
         except OSError as e:
             logging.error(f"Error reading from gamepad: {e}")
 
+    def _apply_deadzone(self):
+        self.left_x = 0 if abs(self.left_x) < self.deadzone else self.left_x
+        self.left_y = 0 if abs(self.left_y) < self.deadzone else self.left_y
+        self.right_x = 0 if abs(self.right_x) < self.deadzone else self.right_x
+        self.right_y = 0 if abs(self.right_y) < self.deadzone else self.right_y
+
+    def _parse_8bitdo(self, data):
+        """Parse HID report from 8BitDo Ultimate 2C Wireless (Bluetooth on macOS).
+
+        11-byte report layout:
+            byte[0]:  Report ID (0x01)
+            byte[1]:  D-pad hat switch (0=N, 2=E, 5=S, 6=W, 15=neutral)
+            byte[2]:  Left Stick X  (0=left, 127=center, 255=right)
+            byte[3]:  Left Stick Y  (0=up, 127=center, 255=down)
+            byte[4]:  Right Stick X (inverted: 255=left, 0=right)
+            byte[5]:  Right Stick Y (0=up, 127=center, 255=down)
+            byte[6]:  RT analog trigger (0-255)
+            byte[7]:  LT analog trigger (0-255)
+            byte[8]:  Buttons -- bit0=A, bit1=B, bit3=X, bit4=Y, bit6=LB, bit7=RB
+            byte[9]:  System  -- bit0=LT(digital), bit1=RT(digital), bit3=Select,
+                                bit4=Start, bit5=L3, bit6=R3
+            byte[10]: Unused
+        """
+        if len(data) < 11:
+            return
+
+        self.left_x = (data[2] - 127) / 128.0
+        self.left_y = (data[3] - 127) / 128.0
+        self.right_x = -(data[4] - 127) / 128.0
+        self.right_y = (data[5] - 127) / 128.0
+
+        self._apply_deadzone()
+
+        buttons = data[8]
+
+        # RB (bit 7) = intervention
+        self.intervention_flag = bool(buttons & 0x80)
+
+        # Stick clicks for gripper: R3 (byte[9] bit6) = open, L3 (byte[9] bit5) = close
+        system = data[9]
+        self.open_gripper_command = bool(system & 0x40)  # R3
+        self.close_gripper_command = bool(system & 0x20)  # L3
+
+        # Y (bit 4) = success, X (bit 3) = failure, A (bit 0) = rerecord
+        if buttons & 0x10:
+            self.episode_end_status = TeleopEvents.SUCCESS
+        elif buttons & 0x08:
+            self.episode_end_status = TeleopEvents.FAILURE
+        elif buttons & 0x01:
+            self.episode_end_status = TeleopEvents.RERECORD_EPISODE
+        else:
+            self.episode_end_status = None
+
+    def _parse_logitech(self, data):
+        """Parse HID report from Logitech RumblePad 2 (and similar Logitech gamepads).
+
+        Report layout (8+ bytes):
+            byte[1]: Left Stick X  (0-255, center=128)
+            byte[2]: Left Stick Y  (0-255, center=128)
+            byte[3]: Right Stick X (0-255, center=128)
+            byte[4]: Right Stick Y (0-255, center=128)
+            byte[5]: Face buttons bitmask
+            byte[6]: Shoulder/trigger buttons bitmask
+        """
+        if len(data) < 8:
+            return
+
+        self.left_x = (data[1] - 128) / 128.0
+        self.left_y = (data[2] - 128) / 128.0
+        self.right_x = (data[3] - 128) / 128.0
+        self.right_y = (data[4] - 128) / 128.0
+
+        self._apply_deadzone()
+
+        buttons = data[5]
+
+        self.intervention_flag = data[6] in [2, 6, 10, 14]
+        self.open_gripper_command = data[6] in [8, 10, 12]
+        self.close_gripper_command = data[6] in [4, 6, 12]
+
+        if buttons & 1 << 7:
+            self.episode_end_status = TeleopEvents.SUCCESS
+        elif buttons & 1 << 5:
+            self.episode_end_status = TeleopEvents.FAILURE
+        elif buttons & 1 << 4:
+            self.episode_end_status = TeleopEvents.RERECORD_EPISODE
+        else:
+            self.episode_end_status = None
+
     def get_deltas(self):
-        """Get the current movement deltas from gamepad state."""
-        # Calculate deltas - invert as needed based on controller orientation
-        delta_x = -self.left_x * self.x_step_size  # Forward/backward
-        delta_y = -self.left_y * self.y_step_size  # Left/right
-        delta_z = -self.right_y * self.z_step_size  # Up/down
+        delta_x = -self.left_y * self.x_step_size
+        delta_y = -self.left_x * self.y_step_size
+        delta_z = -self.right_y * self.z_step_size
 
         return delta_x, delta_y, delta_z