# LeRobot

## Docs

- [Debug Processor Pipeline](https://mintlify.wiki/huggingface/lerobot/advanced/debug-processor-pipeline.md): Inspect and debug data transformations in processor pipelines
- [Environment Processors](https://mintlify.wiki/huggingface/lerobot/advanced/env-processors.md): Process observations from simulation environments
- [Implement Custom Processor](https://mintlify.wiki/huggingface/lerobot/advanced/implement-processor.md): Create custom data processing steps for your robot
- [Robot Processors](https://mintlify.wiki/huggingface/lerobot/advanced/robot-processors.md): Process robot-specific kinematics and coordinate transformations
- [PyTorch Accelerators](https://mintlify.wiki/huggingface/lerobot/advanced/torch-accelerators.md): Optimize policy inference with torch.compile and hardware acceleration
- [LeRobotDataset](https://mintlify.wiki/huggingface/lerobot/api/dataset.md): PyTorch dataset class for loading and creating robot learning datasets
- [Policy](https://mintlify.wiki/huggingface/lerobot/api/policy.md): Base class and configuration for robot learning policies
- [Processor](https://mintlify.wiki/huggingface/lerobot/api/processor.md): Data processing pipelines for robot observations and actions
- [Robot](https://mintlify.wiki/huggingface/lerobot/api/robot.md): Base class for all LeRobot-compatible robots
- [lerobot-calibrate](https://mintlify.wiki/huggingface/lerobot/api/scripts/calibrate.md): Calibrate robot motors and teleoperation devices
- [lerobot-dataset-viz](https://mintlify.wiki/huggingface/lerobot/api/scripts/dataset-viz.md): Visualize robot learning datasets with Rerun
- [lerobot-edit-dataset](https://mintlify.wiki/huggingface/lerobot/api/scripts/edit-dataset.md): Edit, transform, and manage LeRobot datasets
- [lerobot-eval](https://mintlify.wiki/huggingface/lerobot/api/scripts/eval.md): Evaluate robot learning policies in simulation or real environments
- [lerobot-find-cameras](https://mintlify.wiki/huggingface/lerobot/api/scripts/find-cameras.md): Discover and test cameras connected to your system
- [lerobot-find-joint-limits](https://mintlify.wiki/huggingface/lerobot/api/scripts/find-joint-limits.md): Discover joint position limits and end-effector bounds via teleoperation
- [lerobot-find-port](https://mintlify.wiki/huggingface/lerobot/api/scripts/find-port.md): Identify USB serial ports for robot motor buses
- [lerobot-imgtransform-viz](https://mintlify.wiki/huggingface/lerobot/api/scripts/imgtransform-viz.md): Visualize image transformation effects for dataset augmentation
- [lerobot-info](https://mintlify.wiki/huggingface/lerobot/api/scripts/info.md): Display system and environment information for debugging
- [lerobot-record](https://mintlify.wiki/huggingface/lerobot/api/scripts/record.md): Record robot demonstration datasets with teleoperation or policy control
- [lerobot-replay](https://mintlify.wiki/huggingface/lerobot/api/scripts/replay.md): Replay recorded episodes on a robot
- [lerobot-setup-can](https://mintlify.wiki/huggingface/lerobot/api/scripts/setup-can.md): Configure and test CAN interfaces for Damiao motors
- [lerobot-setup-motors](https://mintlify.wiki/huggingface/lerobot/api/scripts/setup-motors.md): Configure motor IDs and baudrate for robots and teleoperators
- [lerobot-teleoperate](https://mintlify.wiki/huggingface/lerobot/api/scripts/teleoperate.md): Control robots with teleoperation devices
- [lerobot-train](https://mintlify.wiki/huggingface/lerobot/api/scripts/train.md): Train robot learning policies on offline datasets
- [lerobot-train-tokenizer](https://mintlify.wiki/huggingface/lerobot/api/scripts/train-tokenizer.md): Train FAST action tokenizers for efficient action encoding
- [Configuration](https://mintlify.wiki/huggingface/lerobot/api/utils/config.md): Configuration utilities for robot learning pipelines
- [Data Processing](https://mintlify.wiki/huggingface/lerobot/api/utils/data-processing.md): Utilities for processing robot learning data
- [Transport](https://mintlify.wiki/huggingface/lerobot/api/utils/transport.md): gRPC utilities for distributed robot learning
- [LeRobotDataset](https://mintlify.wiki/huggingface/lerobot/concepts/lerobot-dataset.md): Storage format for robot demonstrations and training data
- [Policies](https://mintlify.wiki/huggingface/lerobot/concepts/policies.md): Neural network architectures for robot control
- [Processors](https://mintlify.wiki/huggingface/lerobot/concepts/processors.md): Data transformation pipelines for robot observations and actions
- [Robot Control](https://mintlify.wiki/huggingface/lerobot/concepts/robot-control.md): Unified interface for controlling robots in LeRobot
- [Dataset Manipulation Tools](https://mintlify.wiki/huggingface/lerobot/datasets/dataset-tools.md): Tools for editing, splitting, and merging LeRobot datasets
- [Datasets Overview](https://mintlify.wiki/huggingface/lerobot/datasets/overview.md): Overview of available datasets in LeRobot
- [Porting Large Datasets](https://mintlify.wiki/huggingface/lerobot/datasets/porting-datasets.md): Convert and port large datasets to LeRobotDataset format
- [Video Encoding and Streaming](https://mintlify.wiki/huggingface/lerobot/datasets/streaming-video-encoding.md): Advanced video encoding options and streaming for efficient dataset creation
- [Using Subtasks](https://mintlify.wiki/huggingface/lerobot/datasets/subtasks.md): Working with subtask annotations in LeRobot datasets
- [Using LeRobotDataset](https://mintlify.wiki/huggingface/lerobot/datasets/using-lerobot-dataset.md): Complete guide to loading and using LeRobotDataset
- [Async Inference](https://mintlify.wiki/huggingface/lerobot/inference/async-inference.md): Run policy inference on a separate server for low-latency robot control
- [Real-Time Chunking (RTC)](https://mintlify.wiki/huggingface/lerobot/inference/real-time-chunking.md): Improve action chunking inference with prefix attention and velocity guidance
- [Installation](https://mintlify.wiki/huggingface/lerobot/installation.md): Install LeRobot and set up your development environment
- [Introduction to LeRobot](https://mintlify.wiki/huggingface/lerobot/introduction.md): An open-source library for end-to-end robot learning in PyTorch
- [Damiao Motors](https://mintlify.wiki/huggingface/lerobot/motors/damiao.md): Control Damiao brushless motors via CAN bus with LeRobot
- [Feetech Motors](https://mintlify.wiki/huggingface/lerobot/motors/feetech.md): Control Feetech servo motors with LeRobot using the SCServo protocol
- [ACT (Action Chunking Transformer)](https://mintlify.wiki/huggingface/lerobot/policies/act.md): Learn how to use and configure the ACT policy for bimanual manipulation tasks
- [Diffusion Policy](https://mintlify.wiki/huggingface/lerobot/policies/diffusion.md): Learn how to use and configure Diffusion Policy for visuomotor control tasks
- [Groot](https://mintlify.wiki/huggingface/lerobot/policies/groot.md)
- [Hilserl](https://mintlify.wiki/huggingface/lerobot/policies/hilserl.md)
- [Pi0](https://mintlify.wiki/huggingface/lerobot/policies/pi0.md)
- [Pi0 fast](https://mintlify.wiki/huggingface/lerobot/policies/pi0-fast.md)
- [Pi05](https://mintlify.wiki/huggingface/lerobot/policies/pi05.md)
- [Sarm](https://mintlify.wiki/huggingface/lerobot/policies/sarm.md)
- [Smolvla](https://mintlify.wiki/huggingface/lerobot/policies/smolvla.md)
- [Tdmpc](https://mintlify.wiki/huggingface/lerobot/policies/tdmpc.md)
- [VQ-BeT (Vector-Quantized Behavior Transformer)](https://mintlify.wiki/huggingface/lerobot/policies/vqbet.md): Learn how to use and configure VQ-BeT policy for behavior generation with latent actions
- [Walloss](https://mintlify.wiki/huggingface/lerobot/policies/walloss.md)
- [Xvla](https://mintlify.wiki/huggingface/lerobot/policies/xvla.md)
- [Quick Start](https://mintlify.wiki/huggingface/lerobot/quickstart.md): Get started with LeRobot in minutes
- [Backward Compatibility](https://mintlify.wiki/huggingface/lerobot/resources/backward-compatibility.md): Migration guides for breaking changes in LeRobot
- [Contributing to LeRobot](https://mintlify.wiki/huggingface/lerobot/resources/contributing.md): Learn how to contribute to the LeRobot project
- [Examples and Use Cases](https://mintlify.wiki/huggingface/lerobot/resources/examples.md): Explore example projects and practical use cases for LeRobot
- [Frequently Asked Questions](https://mintlify.wiki/huggingface/lerobot/resources/faq.md): Common questions about LeRobot
- [Jupyter Notebooks](https://mintlify.wiki/huggingface/lerobot/resources/notebooks.md): Interactive notebooks for learning and experimenting with LeRobot
- [Troubleshooting Guide](https://mintlify.wiki/huggingface/lerobot/resources/troubleshooting.md): Solutions to common issues and errors in LeRobot
- [Earth Rover Mini](https://mintlify.wiki/huggingface/lerobot/robots/earthrover-mini.md): Cloud-controlled mobile robot via Frodobots SDK
- [Hope Jr](https://mintlify.wiki/huggingface/lerobot/robots/hope-jr.md): Arm and hand system for dexterous manipulation
- [Koch v1.1](https://mintlify.wiki/huggingface/lerobot/robots/koch.md): Low-cost robotic arm with Dynamixel servos by Tau Robotics
- [LeKiwi](https://mintlify.wiki/huggingface/lerobot/robots/lekiwi.md): Three-wheel omnidirectional mobile manipulator
- [OMX](https://mintlify.wiki/huggingface/lerobot/robots/omx.md): Open Manipulator-X modular robotic arm by ROBOTIS
- [OpenArm](https://mintlify.wiki/huggingface/lerobot/robots/openarm.md): 7-DOF robotic arm with Damiao motors and CAN-FD
- [Robot Overview](https://mintlify.wiki/huggingface/lerobot/robots/overview.md): Overview of all robots supported by LeRobot
- [Reachy 2](https://mintlify.wiki/huggingface/lerobot/robots/reachy2.md): Expressive humanoid robot by Pollen Robotics
- [SO-100](https://mintlify.wiki/huggingface/lerobot/robots/so-100.md): Compact robotic arm in the SO follower series
- [SO-101](https://mintlify.wiki/huggingface/lerobot/robots/so-101.md): Affordable robotic arm with Feetech STS3215 servos
- [Unitree G1](https://mintlify.wiki/huggingface/lerobot/robots/unitree-g1.md): Full-body humanoid robot with advanced locomotion
- [Camera Support](https://mintlify.wiki/huggingface/lerobot/sensors/cameras.md): Connect and use cameras with LeRobot for robot vision and data collection
- [Envhub](https://mintlify.wiki/huggingface/lerobot/simulation/envhub.md)
- [Isaaclab arena](https://mintlify.wiki/huggingface/lerobot/simulation/isaaclab-arena.md)
- [Leisaac](https://mintlify.wiki/huggingface/lerobot/simulation/leisaac.md)
- [Libero](https://mintlify.wiki/huggingface/lerobot/simulation/libero.md)
- [Metaworld](https://mintlify.wiki/huggingface/lerobot/simulation/metaworld.md)
- [Overview](https://mintlify.wiki/huggingface/lerobot/simulation/overview.md)
- [Phone Teleoperation](https://mintlify.wiki/huggingface/lerobot/teleoperators/phone.md): Use your smartphone as a 6-DOF teleoperation device with LeRobot
- [Bring Your Own Hardware](https://mintlify.wiki/huggingface/lerobot/tutorials/bring-your-own-hardware.md): Learn how to integrate custom robots and hardware into LeRobot
- [Bring Your Own Policy](https://mintlify.wiki/huggingface/lerobot/tutorials/bring-your-own-policy.md): Learn how to integrate custom policies into the LeRobot framework
- [Evaluate Policies](https://mintlify.wiki/huggingface/lerobot/tutorials/evaluate-policies.md): Learn how to evaluate trained policies in simulation and on real robots
- [Imitation Learning](https://mintlify.wiki/huggingface/lerobot/tutorials/imitation-learning.md): Learn how imitation learning works in LeRobot and when to use it for robot learning
- [Multi-GPU Training](https://mintlify.wiki/huggingface/lerobot/tutorials/multi-gpu-training.md): Learn how to train policies across multiple GPUs for faster training
- [PEFT Training](https://mintlify.wiki/huggingface/lerobot/tutorials/peft-training.md): Learn how to use Parameter-Efficient Fine-Tuning (PEFT) to adapt large models with minimal parameters
- [Reinforcement Learning](https://mintlify.wiki/huggingface/lerobot/tutorials/reinforcement-learning.md): Learn how reinforcement learning works in LeRobot and how to train policies with environment feedback
- [Train Your First Policy](https://mintlify.wiki/huggingface/lerobot/tutorials/train-your-first-policy.md): Step-by-step guide to training your first robot learning policy with LeRobot