Any4LeRobot: A tool collection for LeRobot

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A curated collection of utilities for LeRobot Projects, including data conversion scripts, preprocessing tools, training workflow helpers and etc..

🚀 What's New

• [2025.06.27] We have supported Data Conversion from LIBERO to LeRobot! 🔥🔥🔥
• [2025.05.16] We have supported Data Conversion from LeRobot to RLDS! 🔥🔥🔥
• [2025.05.12] We have supported Data Conversion from RoboMIND to LeRobot! 🔥🔥🔥
• [2025.04.15] We add Dataset Merging Tool for merging multi-source lerobot datasets! 🔥🔥🔥
• [2025.04.14] We have supported Data Conversion from AgiBotWorld to LeRobot! 🔥🔥🔥

More News

• [2025.04.11] We change the repo from openx2lerobot to any4lerobot, making a ​​universal toolbox for LeRobot​​! 🔥🔥🔥
• [2025.02.19] We have supported Data Conversion from Open X-Embodiment to LeRobot! 🔥🔥🔥

✨ Features

• ​​Data Conversion​​:

  • Open X-Embodiment to LeRobot
  • AgiBot-World to LeRobot
  • RoboMIND to LeRobot
  • LeRobot to RLDS
  • LIBERO to LeRobot

• Training:

  • MultiLeRobotDataset

• Dataset Preprocess:

  • Dataset Merging
  • Dataset Filtering
  • Dataset Sampling

• ​Version Conversion​​:

  • LeRobotv2.0 to LeRobotv2.1
  • LeRobotv2.1 to LeRobotv2.0

• Want more features?

📚 Awesome LeRobot

Model

• Hume: A Dual-System VLA with System2 Thinking
• OneTwoVLA: A Unified Vision-Language-Action Model with Adaptive Reasoning
• SmolVLA: Efficient Vision-Language-Action Model trained on Lerobot Community Data
• SpatialVLA: a spatial-enhanced vision-language-action model that is trained on 1.1 Million real robot episodes
• openpi: the official implemenation of $π_0$: A Vision-Language-Action Flow Model for General Robot Control
• Isaac-GR00T: NVIDIA Isaac GR00T N1 is the world's first open foundation model for generalized humanoid robot reasoning and skills

Dataset

• Official: State-of-the-art Machine Learning for real-world robotics.
• IPEC-COMMUNITY/OpenX: Open X-Embodiment datasets in LeRobot format with standard transfomation
• IPEC-COMMUNITY/LIBERO: LIBERO datasets in LeRobot format with standard transfomation and filtering
• weijian-sun/agibotworld-lerobot: AgibotWorld-LeRobot v2.0
• GR00T-Dateset: Isaac-GR00T training dataset
• nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim: Isaac-GR00T training dataset

Embodiment Extensions

• unitree_IL_lerobot: a training framework enabling the training and testing of data collected using Unitree's G1 robot
• Dora-LeRobot: Lerobot boosted with dora
• Fourier-Lerobot: A training pipeline with Fourier dataset
• Adora-LeRobot: a modified version of lerobot, specifically adapted for the Adora robot
• BiLerobot: A bimanual robotics platform combining LeRobot and ManiSkill for advanced dual-arm manipulation tasks using the SO100 robot digital twin
• lerobot-piper: About Use Lerobot to collect piper robot arm data, and perform training and reasoning
• Lerobot-koch: LeRobot Training Notes for Koch Arm

Hardware

• LeKiwi: Low-Cost Mobile Manipulator
• XLeRobot: Fully Autonomous Household Dual-Arm Mobile Robot for $998
• LeRobot-Kinematics: Simple and Accurate Forward and Inverse Kinematics Examples for the Lerobot SO100 ARM
• lerobotdepot: a reoi for hardware, components, and 3D-printable projects compatible with the LeRobot library
• PingTi-Arm: A human-scale robotic arm compatible with Lerobot, based on SO100

Tutorial / Utils

• Official Docs: This tutorial will explain how to train a neural network to control a real robot autonomously.
• YouTube: LeRobot Tutorials
• LeRobot Tutorial with MuJoCo: Examples for collecting data and training with MuJoCo
• LeRobot Sim2Real: Train in fast simulation and deploy visual policies zero shot to the real world
• lerobot-hilserl-guide: Guide and tutorial to run the HILSerl implementation of LeRobot
• LeRobotTutorial-CN: a tutorial for LeRobot in Chinese
• PathOn.AI: Learn Robotics at PathOn.AI is a platform for learning robotics and AI
• NVIDIA Jetson Tutorials
• lerobot-on-ascend: Tutorial of Deploying ACT on Huawei Ascend 310B
• lerobot_ws: ROS 2 Package for LeRobot SO-ARM101
• lerobot-ros: Running LeRobot and ROS 2 on custom LIDAR
• Physical AI Tools: Physical AI Development Interface with LeRobot and ROS 2
• LeRobot.js: interact with your robot in JS, inspired by LeRobot
• LeLab: A web UI interface on top of lerobot

👷‍♂️ Contributing

We appreciate all contributions to improving Any4LeRobot.

🤝 Acknowledgements

Special thanks to the LeRobot teams for making this great framework.

Thanks to everyone for supporting this project.

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