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    <img alt="LeRobot, Hugging Face Robotics Library" src="media/lerobot-logo-thumbnail.png" style="max-width: 100%;">
  </picture>
  <br/>
  <br/>
</p>

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<h3 align="center">
    <p>State-of-the-art Machine Learning for real-world robotics</p>
</h3>

---


🤗 LeRobot aims to provide models, datasets, and tools for real-world robotics in PyTorch. The goal is to lower the barrier to entry to robotics so that everyone can contribute and benefit from sharing datasets and pretrained models.

🤗 LeRobot contains state-of-the-art approaches that have been shown to transfer to the real-world with a focus on imitation learning and reinforcement learning.

🤗 LeRobot already provides a set of pretrained models, datasets with human collected demonstrations, and simulation environments to get started without assembling a robot. In the coming weeks, the plan is to add more and more support for real-world robotics on the most affordable and capable robots out there.

🤗 LeRobot hosts pretrained models and datasets on this Hugging Face community page: [huggingface.co/lerobot](https://huggingface.co/lerobot)

#### Examples of pretrained models on simulation environments

<table>
  <tr>
    <td><img src="http://remicadene.com/assets/gif/aloha_act.gif" width="100%" alt="ACT policy on ALOHA env"/></td>
    <td><img src="http://remicadene.com/assets/gif/simxarm_tdmpc.gif" width="100%" alt="TDMPC policy on SimXArm env"/></td>
    <td><img src="http://remicadene.com/assets/gif/pusht_diffusion.gif" width="100%" alt="Diffusion policy on PushT env"/></td>
  </tr>
  <tr>
    <td align="center">ACT policy on ALOHA env</td>
    <td align="center">TDMPC policy on SimXArm env</td>
    <td align="center">Diffusion policy on PushT env</td>
  </tr>
</table>

### Acknowledgment

- Thanks to Tony Zaho, 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.


## Installation

Download our source code:
```bash
git clone https://github.com/huggingface/lerobot.git && cd lerobot
```

Create a virtual environment with Python 3.10 and activate it, e.g. with [`miniconda`](https://docs.anaconda.com/free/miniconda/index.html):
```bash
conda create -y -n lerobot python=3.10 && conda activate lerobot
```

Install 🤗 LeRobot:
```bash
pip install .
```

> **NOTE:** Depending on your platform, If you encounter any build errors during this step
you may need to install `cmake` and `build-essential` for building some of our dependencies.
On linux: `sudo apt-get install cmake build-essential`

For simulations, 🤗 LeRobot comes with gymnasium environments that can be installed as extras:
- [aloha](https://github.com/huggingface/gym-aloha)
- [xarm](https://github.com/huggingface/gym-xarm)
- [pusht](https://github.com/huggingface/gym-pusht)

For instance, to install 🤗 LeRobot with aloha and pusht, use:
```bash
pip install ".[aloha, pusht]"
```

To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with
```bash
wandb login
```

(note: you will also need to enable WandB in the configuration. See below.)

## Walkthrough

```
.
├── examples             # contains demonstration examples, start here to learn about LeRobot
|   └── advanced         # contains even more examples for those who have mastered the basics
├── lerobot
|   ├── configs          # contains hydra yaml files with all options that you can override in the command line
|   |   ├── default.yaml   # selected by default, it loads pusht environment and diffusion policy
|   |   ├── env            # various sim environments and their datasets: aloha.yaml, pusht.yaml, xarm.yaml
|   |   └── policy         # various policies: act.yaml, diffusion.yaml, tdmpc.yaml
|   ├── common           # contains classes and utilities
|   |   ├── datasets       # various datasets of human demonstrations: aloha, pusht, xarm
|   |   ├── envs           # various sim environments: aloha, pusht, xarm
|   |   ├── policies       # various policies: act, diffusion, tdmpc
|   |   └── utils          # various utilities
|   └── scripts          # contains functions to execute via command line
|       ├── eval.py                 # load policy and evaluate it on an environment
|       ├── train.py                # train a policy via imitation learning and/or reinforcement learning
|       ├── push_dataset_to_hub.py  # convert your dataset into LeRobot dataset format and upload it to the Hugging Face hub
|       └── visualize_dataset.py    # load a dataset and render its demonstrations
├── outputs               # contains results of scripts execution: logs, videos, model checkpoints
└── tests                 # contains pytest utilities for continuous integration
```

### Visualize datasets

Check out [example 1](./examples/1_load_lerobot_dataset.py) that illustrates how to use our dataset class which automatically download data from the Hugging Face hub.

You can also locally visualize episodes from a dataset by executing our script from the command line:
```bash
python lerobot/scripts/visualize_dataset.py \
    --repo-id lerobot/pusht \
    --episode-index 0
```

It will open `rerun.io` and display the camera streams, robot states and actions, like this:

https://github-production-user-asset-6210df.s3.amazonaws.com/4681518/328035972-fd46b787-b532-47e2-bb6f-fd536a55a7ed.mov?X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Credential=AKIAVCODYLSA53PQK4ZA%2F20240505%2Fus-east-1%2Fs3%2Faws4_request&X-Amz-Date=20240505T172924Z&X-Amz-Expires=300&X-Amz-Signature=d680b26c532eeaf80740f08af3320d22ad0b8a4e4da1bcc4f33142c15b509eda&X-Amz-SignedHeaders=host&actor_id=24889239&key_id=0&repo_id=748713144


Our script can also visualize datasets stored on a distant server. See `python lerobot/scripts/visualize_dataset.py --help` for more instructions.

### Evaluate a pretrained policy

Check out [example 2](./examples/2_evaluate_pretrained_policy.py) that illustrates how to download a pretrained policy from Hugging Face hub, and run an evaluation on its corresponding environment.

We also provide a more capable script to parallelize the evaluation over multiple environments during the same rollout. Here is an example with a pretrained model hosted on [lerobot/diffusion_pusht](https://huggingface.co/lerobot/diffusion_pusht):
```bash
python lerobot/scripts/eval.py \
    -p lerobot/diffusion_pusht \
    eval.n_episodes=10 \
    eval.batch_size=10
```

Note: After training your own policy, you can re-evaluate the checkpoints with:
```bash
python lerobot/scripts/eval.py \
    -p PATH/TO/TRAIN/OUTPUT/FOLDER
```

See `python lerobot/scripts/eval.py --help` for more instructions.

### Train your own policy

Check out [example 3](./examples/3_train_policy.py) that illustrates how to train a model using our core library in python, and [example 4](./examples/4_train_policy_with_script.md) that shows how to use our training script from command line.

In general, you can use our training script to easily train any policy. Here is an example of training the ACT policy on trajectories collected by humans on the Aloha simulation environment for the insertion task:

```bash
python lerobot/scripts/train.py \
    policy=act \
    env=aloha \
    env.task=AlohaInsertion-v0 \
    dataset_repo_id=lerobot/aloha_sim_insertion_human \
```

The experiment directory is automatically generated and will show up in yellow in your terminal. It looks like `outputs/train/2024-05-05/20-21-12_aloha_act_default`. You can manually specify an experiment directory by adding this argument to the `train.py` python command:
```bash
    hydra.run.dir=your/new/experiment/dir
```

To use wandb for logging training and evaluation curves, make sure you've run `wandb login` as a one-time setup step. Then, when running the training command above, enable WandB in the configuration by adding:

```bash
    wandb.enable=true
```

A link to the wandb logs for the run will also show up in yellow in your terminal. Here is an example of what they look like in your browser:

![](media/wandb.png)

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 lerobot/scripts/eval.py --help` for more instructions.

#### Reproduce state-of-the-art (SOTA)

We have organized our configuration files (found under [`lerobot/configs`](./lerobot/configs)) such that they reproduce SOTA results from a given model variant in their respective original works. Simply running:

```bash
python lerobot/scripts/train.py policy=diffusion env=pusht
```

reproduces SOTA results for Diffusion Policy on the PushT task.

Pretrained policies, along with reproduction details, can be found under the "Models" section of https://huggingface.co/lerobot.

## Contribute

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 new dataset

To add a dataset to the hub, you need to login using a write-access token, which can be generated from the [Hugging Face settings](https://huggingface.co/settings/tokens):
```bash
huggingface-cli login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
```

Then move your dataset folder in `data` directory (e.g. `data/aloha_static_pingpong_test`), and push your dataset to the hub with:
```bash
python lerobot/scripts/push_dataset_to_hub.py \
--data-dir data \
--dataset-id aloha_static_pingpong_test \
--raw-format aloha_hdf5 \
--community-id lerobot
```

See `python lerobot/scripts/push_dataset_to_hub.py --help` for more instructions.

If your dataset format is not supported, implement your own in `lerobot/common/datasets/push_dataset_to_hub/${raw_format}_format.py` by copying examples like [pusht_zarr](https://github.com/huggingface/lerobot/blob/main/lerobot/common/datasets/push_dataset_to_hub/pusht_zarr_format.py), [umi_zarr](https://github.com/huggingface/lerobot/blob/main/lerobot/common/datasets/push_dataset_to_hub/umi_zarr_format.py), [aloha_hdf5](https://github.com/huggingface/lerobot/blob/main/lerobot/common/datasets/push_dataset_to_hub/aloha_hdf5_format.py), or [xarm_pkl](https://github.com/huggingface/lerobot/blob/main/lerobot/common/datasets/push_dataset_to_hub/xarm_pkl_format.py).


### 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)).

You first need to find the checkpoint located inside your experiment directory (e.g. `outputs/train/2024-05-05/20-21-12_aloha_act_default/checkpoints/002500`). It should contain:
- `config.json`: A serialized version of the policy configuration (following the policy's dataclass config).
- `model.safetensors`: A set of `torch.nn.Module` parameters, saved in [Hugging Face Safetensors](https://huggingface.co/docs/safetensors/index) format.
- `config.yaml`: A consolidated Hydra training configuration containing the policy, environment, and dataset configs. The policy configuration should match `config.json` exactly. The environment config is useful for anyone who wants to evaluate your policy. The dataset config just serves as a paper trail for reproducibility.

To upload these to the hub, run the following:
```bash
huggingface-cli upload ${hf_user}/${repo_name} path/to/checkpoint/dir
```

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.


### Improve your code with profiling

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
```

## Citation

If you want, you can cite this work with:
```
@misc{cadene2024lerobot,
    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil 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}
}
```
