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A curated collection of utilities for [LeRobot Projects](https://github.com/huggingface/lerobot), including data conversion scripts, preprocessing tools, training workflow helpers and etc.. A curated collection of utilities for [LeRobot Projects](https://github.com/huggingface/lerobot), including data conversion scripts, preprocessing tools, training workflow helpers and etc..
## 🚀 What's New <a><img width="35" height="20" src="https://user-images.githubusercontent.com/12782558/212848161-5e783dd6-11e8-4fe0-bbba-39ffb77730be.png"></a> ## 🚀 What's New <a><img width="35" height="20" src="https://user-images.githubusercontent.com/12782558/212848161-5e783dd6-11e8-4fe0-bbba-39ffb77730be.png"></a>
- **\[2025.04.20\]** We add Dataset Version Converter for LeRobotv2.0 to LeRobotv2.1! 🔥🔥🔥 - **\[2025.04.20\]** We add Dataset Version Converter for LeRobotv2.0 to LeRobotv2.1! 🔥🔥🔥
- **\[2025.04.15\]** We add Dataset Merging Tool for merging multi-source lerobot datasets! 🔥🔥🔥 - **\[2025.04.15\]** We add Dataset Merging Tool for merging multi-source lerobot datasets! 🔥🔥🔥
- **\[2025.04.14\]** We have supported Data Conversion from AgiBotWorld to LeRobot! 🔥🔥🔥 - **\[2025.04.14\]** We have supported Data Conversion from AgiBotWorld to LeRobot! 🔥🔥🔥
- **\[2025.04.11\]** We change the repo from `openx2lerobot` to `any4lerobot`, making a ​​universal toolbox for LeRobot​​! 🔥🔥🔥 - **\[2025.04.11\]** 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! 🔥🔥🔥 - **\[2025.02.19\]** We have supported Data Conversion from Open X-Embodiment to LeRobot! 🔥🔥🔥
## ✨ Features ## ✨ Features
- ​**​Data Conversion​**​: - ​**​Data Conversion​**​:
- [x] [Open X-Embodiment to LeRobot](./openx2lerobot/README.md)
- [x] [AgiBot-World to LeRobot](./agibot2lerobot/README.md) - [x] [Open X-Embodiment to LeRobot](./openx2lerobot/README.md)
- [ ] RoboMIND to LeRobot - [x] [AgiBot-World to LeRobot](./agibot2lerobot/README.md)
- [ ] LeRobot to RLDS - [ ] RoboMIND to LeRobot
- [ ] LeRobot to RLDS
- ​**Version Conversion​**​: - ​**Version Conversion​**​:
- [x] [LeRobotv2.0 to LeRobotv2.1](./utils/version_convert/README.md) - [x] [LeRobotv2.0 to LeRobotv2.1](./utils/version_convert/README.md)
- [ ] LeRobotv2.1 to LeRobotv2.0 - [ ] LeRobotv2.1 to LeRobotv2.0
- **Other Utils**: - **Other Utils**:
- [x] [Dataset Merging](./utils/dataset_merging/README.md) - [x] [Dataset Merging](./utils/dataset_merging/README.md)
## 📚 Awesome works supporting LeRobot
- [SpatialVLA](https://github.com/SpatialVLA/SpatialVLA): a spatial-enhanced vision-language-action model that is trained on 1.1 Million real robot episodes ![GitHub Repo stars](https://img.shields.io/github/stars/SpatialVLA/SpatialVLA)
- [openpi](https://github.com/Physical-Intelligence/openpi): the official implemenation of $π_0$: A Vision-Language-Action Flow Model for General Robot Control ![GitHub Repo stars](https://img.shields.io/github/stars/Physical-Intelligence/openpi)
- [Isaac-GR00T](https://github.com/NVIDIA/Isaac-GR00T): NVIDIA Isaac GR00T N1 is the world's first open foundation model for generalized humanoid robot reasoning and skills ![GitHub Repo stars](https://img.shields.io/github/stars/NVIDIA/Isaac-GR00T)
## 📂 Public Resources ## 📂 Public Resources
- Available datasets in LeRobot format:
- [Open X-Embodiment Dataset](https://huggingface.co/IPEC-COMMUNITY)
- [Open X-Embodiment Visualizer](https://huggingface.co/spaces/IPEC-COMMUNITY/openx_dataset_lerobot_v2.0)
- Available datasets in LeRobot format:
- [Open X-Embodiment Dataset](https://huggingface.co/IPEC-COMMUNITY)
- [Open X-Embodiment Visualizer](https://huggingface.co/spaces/IPEC-COMMUNITY/openx_dataset_lerobot_v2.0)
## 👷‍♂️ Contributing ## 👷‍♂️ Contributing
We appreciate all contributions to improving Any4LeRobot. Please refer to the contributing guideline for the best practice. We appreciate all contributions to improving Any4LeRobot. Please refer to the contributing guideline for the best practice.
<a href="https://github.com/Tavish9/any4lerobot/graphs/contributors" target="_blank"> <a href="https://github.com/Tavish9/any4lerobot/graphs/contributors" target="_blank">
@@ -62,7 +67,6 @@ We appreciate all contributions to improving Any4LeRobot. Please refer to the co
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## 🤝 Acknowledgements ## 🤝 Acknowledgements
Special thanks to the [LeRobot teams](https://github.com/huggingface/lerobot) for making this great framework. Special thanks to the [LeRobot teams](https://github.com/huggingface/lerobot) for making this great framework.