> ## Documentation Index
> Fetch the complete documentation index at: https://mintlify.com/huggingface/lerobot/llms.txt
> Use this file to discover all available pages before exploring further.

# Installation

> Install LeRobot and set up your development environment

## Quick Installation

LeRobot can be installed directly from PyPI:

```bash theme={null}
pip install lerobot
```

Verify your installation:

```bash theme={null}
lerobot-info
```

<Note>
  LeRobot requires Python 3.12 or higher. Make sure you have a compatible Python version installed.
</Note>

## System Requirements

### Python Version

* **Required**: Python >= 3.12
* **Supported**: Python 3.12, 3.13

### Operating Systems

* **Linux**: Full support (recommended for production)
* **macOS**: Full support with Apple Silicon (MPS) acceleration
* **Windows**: Partial support (some features may have limitations)

### Hardware

<Tabs>
  <Tab title="For Training">
    * **GPU**: CUDA-capable GPU recommended (NVIDIA)
    * **RAM**: Minimum 16GB, 32GB+ recommended for large datasets
    * **Storage**: Varies by dataset size (streaming mode available for large datasets)
  </Tab>

  <Tab title="For Inference">
    * **CPU**: Any modern multi-core CPU
    * **GPU**: Optional but recommended for real-time performance
    * **RAM**: Minimum 8GB
  </Tab>

  <Tab title="For Development">
    * **GPU**: Optional (CPU/MPS works for development)
    * **RAM**: 16GB+
    * **Storage**: 10GB+ for source code and dependencies
  </Tab>
</Tabs>

## Installation Options

### Basic Installation

For general use without robot hardware:

```bash theme={null}
pip install lerobot
```

This installs core dependencies:

* PyTorch (version 2.2.1 or higher, below 2.11.0)
* Hugging Face libraries (datasets, diffusers, huggingface-hub, accelerate)
* Computer vision libraries (opencv-python-headless, torchvision, av)
* Training tools (wandb, gymnasium, rerun-sdk)

### Installation with Specific Hardware

LeRobot provides optional dependencies for specific robot hardware:

<CodeGroup>
  ```bash Dynamixel Motors theme={null}
  pip install lerobot[dynamixel]
  ```

  ```bash Feetech Motors theme={null}
  pip install lerobot[feetech]
  ```

  ```bash Intel RealSense Cameras theme={null}
  pip install lerobot[intelrealsense]
  ```

  ```bash Gamepad Controller theme={null}
  pip install lerobot[gamepad]
  ```

  ```bash Phone Teleoperation theme={null}
  pip install lerobot[phone]
  ```
</CodeGroup>

### Installation for Specific Robots

<CodeGroup>
  ```bash SO100/SO101 Arms theme={null}
  pip install lerobot[damiao]
  ```

  ```bash OpenARM theme={null}
  pip install lerobot[openarms]
  ```

  ```bash Reachy2 Humanoid theme={null}
  pip install lerobot[reachy2]
  ```

  ```bash HopeJR theme={null}
  pip install lerobot[hopejr]
  ```

  ```bash LeKiwi theme={null}
  pip install lerobot[lekiwi]
  ```

  ```bash Unitree G1 theme={null}
  pip install lerobot[unitree_g1]
  ```
</CodeGroup>

### Installation for Specific Policies

Install dependencies for specific policy implementations:

<CodeGroup>
  ```bash Pi0 Policies theme={null}
  pip install lerobot[pi]
  ```

  ```bash SmolVLA theme={null}
  pip install lerobot[smolvla]
  ```

  ```bash Gr00t theme={null}
  pip install lerobot[groot]
  ```

  ```bash XVLA theme={null}
  pip install lerobot[xvla]
  ```

  ```bash WallX theme={null}
  pip install lerobot[wallx]
  ```

  ```bash HIL-SERL theme={null}
  pip install lerobot[hilserl]
  ```
</CodeGroup>

### Installation for Simulation Environments

<CodeGroup>
  ```bash ALOHA Simulation theme={null}
  pip install lerobot[aloha]
  ```

  ```bash PushT Environment theme={null}
  pip install lerobot[pusht]
  ```

  ```bash LIBERO (Linux only) theme={null}
  pip install lerobot[libero]
  ```

  ```bash MetaWorld theme={null}
  pip install lerobot[metaworld]
  ```
</CodeGroup>

### Full Installation

For developers who want all features:

```bash theme={null}
pip install lerobot[all]
```

<Warning>
  The `[all]` installation includes most optional dependencies and can take significant time and disk space. Some packages like `groot` and `unitree_g1` require manual installation steps and are excluded.
</Warning>

### Development Installation

For contributors and developers:

```bash theme={null}
# Clone the repository
git clone https://github.com/huggingface/lerobot.git
cd lerobot

# Install in editable mode with development tools
pip install -e .[dev]

# Set up pre-commit hooks
pre-commit install
```

Development dependencies include:

* `pre-commit`: Code quality checks
* `debugpy`: Python debugging
* `pytest`: Testing framework
* `mypy`: Type checking

## Verifying Installation

### Check Version

```python theme={null}
import lerobot
print(lerobot.__version__)
```

### List Available Resources

```python theme={null}
import lerobot
from pprint import pprint

# Available environments
print("Environments:", lerobot.available_envs)

# Available policies
print("Policies:", lerobot.available_policies)

# Available robots
print("Robots:", lerobot.available_robots)

# Available cameras
print("Cameras:", lerobot.available_cameras)

# Available motors
print("Motors:", lerobot.available_motors)

# Available datasets
print(f"Total datasets: {len(lerobot.available_datasets)}")
```

### Test GPU Availability

```python theme={null}
import torch

print(f"PyTorch version: {torch.__version__}")
print(f"CUDA available: {torch.cuda.is_available()}")
if torch.cuda.is_available():
    print(f"CUDA version: {torch.version.cuda}")
    print(f"GPU: {torch.cuda.get_device_name(0)}")

print(f"MPS (Apple Silicon) available: {torch.backends.mps.is_available()}")
```

## Command-Line Tools

After installation, LeRobot provides several CLI commands:

```bash theme={null}
# System information
lerobot-info

# Hardware utilities
lerobot-find-cameras      # Detect connected cameras
lerobot-find-port         # Find robot serial ports
lerobot-calibrate         # Calibrate robot motors
lerobot-setup-motors      # Configure motor settings
lerobot-find-joint-limits # Determine robot joint limits
lerobot-setup-can         # Configure CAN bus for certain motors

# Data collection
lerobot-teleoperate       # Teleoperate robot
lerobot-record            # Record robot demonstrations
lerobot-replay            # Replay recorded episodes

# Training and evaluation
lerobot-train             # Train a policy
lerobot-eval              # Evaluate a policy

# Dataset tools
lerobot-dataset-viz       # Visualize datasets
lerobot-edit-dataset      # Edit dataset episodes
lerobot-imgtransform-viz  # Visualize image transformations

# Advanced
lerobot-train-tokenizer   # Train custom tokenizers
```

## Troubleshooting

### CUDA Issues

If PyTorch doesn't detect your GPU:

```bash theme={null}
# Check CUDA version compatibility
nvidia-smi

# Install specific PyTorch version for your CUDA
# Visit: https://pytorch.org/get-started/locally/
pip install torch torchvision --index-url https://download.pytorch.org/whl/cu118
```

### Import Errors

If you get import errors for optional dependencies:

```bash theme={null}
# Install the specific extra you need
pip install lerobot[<extra_name>]
```

### Version Conflicts

If you encounter dependency conflicts:

```bash theme={null}
# Create a fresh virtual environment
python -m venv lerobot_env
source lerobot_env/bin/activate  # On Windows: lerobot_env\Scripts\activate
pip install lerobot
```

### Apple Silicon (M1/M2/M3) Notes

<Tip>
  LeRobot works great on Apple Silicon with MPS acceleration. Make sure you have the latest macOS updates for best performance.
</Tip>

```python theme={null}
import torch

# Use MPS device on Apple Silicon
device = torch.device("mps") if torch.backends.mps.is_available() else torch.device("cpu")
print(f"Using device: {device}")
```

### Linux-Specific: RealSense Installation

For Intel RealSense cameras on Linux:

```bash theme={null}
# Install system dependencies
sudo apt-get install librealsense2-dkms librealsense2-utils

# Then install Python package
pip install lerobot[intelrealsense]
```

## Environment Setup

### Using Virtual Environments (Recommended)

<Steps>
  <Step title="Create Virtual Environment">
    ```bash theme={null}
    python -m venv lerobot_env
    ```
  </Step>

  <Step title="Activate Environment">
    ```bash theme={null}
    # Linux/macOS
    source lerobot_env/bin/activate

    # Windows
    lerobot_env\Scripts\activate
    ```
  </Step>

  <Step title="Install LeRobot">
    ```bash theme={null}
    pip install lerobot
    ```
  </Step>

  <Step title="Verify Installation">
    ```bash theme={null}
    lerobot-info
    ```
  </Step>
</Steps>

### Using Conda

```bash theme={null}
# Create conda environment
conda create -n lerobot python=3.12
conda activate lerobot

# Install PyTorch (adjust for your system)
conda install pytorch torchvision pytorch-cuda=11.8 -c pytorch -c nvidia

# Install LeRobot
pip install lerobot
```

## Next Steps

<CardGroup cols={2}>
  <Card title="Quick Start Guide" icon="rocket" href="/quickstart">
    Run your first robot learning example
  </Card>

  <Card title="Hardware Setup" icon="wrench" href="/robots/overview">
    Connect and configure your robot
  </Card>

  <Card title="Dataset Guide" icon="database" href="/datasets/overview">
    Learn to work with robotic datasets
  </Card>

  <Card title="Training Policies" icon="brain" href="/tutorials/train-your-first-policy">
    Train your first robot policy
  </Card>
</CardGroup>

## Getting Help

If you encounter issues:

1. Check the [GitHub Issues](https://github.com/huggingface/lerobot/issues)
2. Join the [Discord community](https://discord.gg/q8Dzzpym3f)
3. Search the [Hugging Face forums](https://discuss.huggingface.co/)

<Note>
  For hardware-specific issues, consult the [Robots](/robots/overview) documentation for detailed setup guides.
</Note>