LeRobot aims to provide models, datasets, and tools for real-world robotics in PyTorch. The goal is to lower the barrier to entry so that everyone can contribute to and benefit from shared datasets and pretrained models.
🤗 A hardware-agnostic, Python-native interface that standardizes control across diverse platforms, from low-cost arms (SO-100) to humanoids.
🤗 A standardized, scalable LeRobotDataset format (Parquet + MP4 or images) hosted on the Hugging Face Hub, enabling efficient storage, streaming and visualization of massive robotic datasets.
🤗 State-of-the-art policies that have been shown to transfer to the real-world ready for training and deployment.
🤗 Comprehensive support for the open-source ecosystem to democratize physical AI.
LeRobot provides a unified Robot class interface that decouples control logic from hardware specifics. It supports a wide range of robots and teleoperation devices.
python
1from lerobot.robots.myrobot import MyRobot
23# Connect to a robot4robot = MyRobot(config=...)5robot.connect()67# Read observation and send action8obs = robot.get_observation()9action = model.select_action(obs)10robot.send_action(action)
While these devices are natively integrated into the LeRobot codebase, the library is designed to be extensible. You can easily implement the Robot interface to utilize LeRobot's data collection, training, and visualization tools for your own custom robot.
To solve the data fragmentation problem in robotics, we utilize the LeRobotDataset format.
Structure: Synchronized MP4 videos (or images) for vision and Parquet files for state/action data.
HF Hub Integration: Explore thousands of robotics datasets on the Hugging Face Hub.
Tools: Seamlessly delete episodes, split by indices/fractions, add/remove features, and merge multiple datasets.
python
1from lerobot.datasets.lerobot_dataset import LeRobotDataset
23# Load a dataset from the Hub4dataset = LeRobotDataset("lerobot/aloha_mobile_cabinet")56# Access data (automatically handles video decoding)7episode_index=08print(f"{dataset[episode_index]['action'].shape=}\n")
LeRobot implements state-of-the-art policies in pure PyTorch, covering Imitation Learning, Reinforcement Learning, Vision-Language-Action (VLA) models, World Models, and Reward Models, with more coming soon. It also provides you with the tools to instrument and inspect your training process.
Gr00t Architecture
Training a policy is as simple as running a script configuration:
Similarly to the hardware, you can easily implement your own policy & leverage LeRobot's data collection, training, and visualization tools, and share your model to the HF Hub
Evaluate your policies in simulation or on real hardware using the unified evaluation script. LeRobot supports standard benchmarks like LIBERO, MetaWorld and more to come.
bash
1# Evaluate a policy on the LIBERO benchmark2lerobot-eval \3 --policy.path=lerobot/pi0_libero_finetuned \4 --env.type=libero \5 --env.task=libero_object \6 --eval.n_episodes=10
Learn how to implement your own simulation environment or benchmark and distribute it from the HF Hub by following the EnvHub Documentation
Resources
Documentation: The complete guide to tutorials & API.
LeLab: A web interface for LeRobot — teleoperate, calibrate, record datasets, replay, and train your SO arm from the browser, no CLI required.
Citation
If you use LeRobot in your project, please cite the GitHub repository to acknowledge the ongoing development and contributors:
bibtex
1@misc{cadene2024lerobot,
2 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 Meftah, Khalil and Ellerbach, Maxime and Moss, Jess and Wolf, Thomas},
3 title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
4 howpublished = "\url{https://github.com/huggingface/lerobot}",
5 year = {2024}
6}
If you are referencing our research or the academic paper, please also cite our ICLR publication:
ICLR 2026 Paper
bibtex
1@inproceedings{cadenelerobot,
2 title={LeRobot: An Open-Source Library for End-to-End Robot Learning},
3 author={Cadene, Remi and Alibert, Simon and Capuano, Francesco and Aractingi, Michel and Zouitine, Adil and Kooijmans, Pepijn and Choghari, Jade and Russi, Martino and Pascal, Caroline and Palma, Steven and Shukor, Mustafa and Moss, Jess and Soare, Alexander and Aubakirova, Dana and Lhoest, Quentin and Gallou\'edec, Quentin and Wolf, Thomas},
4 booktitle={The Fourteenth International Conference on Learning Representations},
5 year={2026},
6 url={https://arxiv.org/abs/2602.22818}
7}
Contribute
We welcome contributions from everyone in the community! To get started, please read our CONTRIBUTING.md guide. Whether you're adding a new feature, improving documentation, or fixing a bug, your help and feedback are invaluable. We're incredibly excited about the future of open-source robotics and can't wait to work with you on what's next—thank you for your support!
