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LeRobot for robot demonstrations and policy training
Record robot demonstrations and train policies using reusable data and control tools.
Key Takeaways
- LeRobot provides dataset conventions, policy implementations and integrations for supported hardware.
- Start with a supported dataset and policy and match observation and action definitions.
- Begin with a supported dataset or simulation before moving hardware.
- A policy can behave poorly when camera placement or joint calibration changes.
How it works
LeRobot provides dataset conventions, policy implementations and integrations for supported hardware. Recorded observations and actions become inputs to imitation learning.
What you need
Start with a supported dataset and policy and match observation and action definitions. For hardware, verify calibration and workspace limits before enabling a policy.
What to try first
Begin with a supported dataset or simulation before moving hardware. Inspect timestamps, action units and camera views, then evaluate a policy on a short controlled task.
Inspect one episode after dropping a camera frame. Check whether the loader preserves time alignment between images, state and action labels.
Where to look for failures
A policy can behave poorly when camera placement or joint calibration changes. Use workspace limits and a stop mechanism during physical evaluation.
Related Franklin pages
Start with saved data or a simulator before deploying a policy on hardware. Verify observation layout, action conventions and task success using a known reference episode.
- Run and adapt published robot policy examples and checkpoints. OpenPI for experimenting with vision-language-action policies
- Train and evaluate manipulation policies in simulated tasks with visual and state observations. ManiSkill for robot manipulation experiments
Franklin’s robotics coverage gives examples of where simulation, training and hardware meet. Franklin’s robotics coverage
Project documentation
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Explore the project’s documentation for setup and usage, or save this page to a collection for later.
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