diff --git a/README.md b/README.md index 220472d..8140a5d 100644 --- a/README.md +++ b/README.md @@ -46,20 +46,43 @@ A curated collection of utilities for [LeRobot Projects](https://github.com/hugg - [x] [LeRobotv2.0 to LeRobotv2.1](./ds_version_convert/README.md) - [ ] LeRobotv2.1 to LeRobotv2.0 -## 📚 Awesome works supporting LeRobot +## 📚 Awesome 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) -- [lerobotdepot](https://github.com/maximilienroberti/lerobotdepot): a reoi for hardware, components, and 3D-printable projects compatible with the LeRobot library ![GitHub Repo stars](https://img.shields.io/github/stars/maximilienroberti/lerobotdepot) -- [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) -- [unitree_IL_lerobot](https://github.com/unitreerobotics/unitree_IL_lerobot): a training framework enabling the training and testing of data collected using Unitree's G1 robot ![GitHub Repo stars](https://img.shields.io/github/stars/unitreerobotics/unitree_IL_lerobot) -- [LeRobotTutorial-CN](https://github.com/CSCSX/LeRobotTutorial-CN): a tutorial for LeRobot in Chinese ![GitHub Repo stars](https://img.shields.io/github/stars/CSCSX/LeRobotTutorial-CN) +### Model -## 📂 Public Resources +- [SmolVLA](https://huggingface.co/blog/smolvla): Efficient Vision-Language-Action Model trained on Lerobot Community Data [GitHub Repo stars](https://github.com/huggingface/lerobot) +- [SpatialVLA](https://spatialvla.github.io/): a spatial-enhanced vision-language-action model that is trained on 1.1 Million real robot episodes [GitHub Repo stars](https://github.com/SpatialVLA/SpatialVLA) +- [openpi](https://www.physicalintelligence.company/blog/pi0): the official implemenation of $π_0$: A Vision-Language-Action Flow Model for General Robot Control [GitHub Repo stars](https://github.com/Physical-Intelligence/openpi) +- [Isaac-GR00T](https://developer.nvidia.com/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://github.com/NVIDIA/Isaac-GR00T) -- 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) +### Dataset + +- [Official](https://huggingface.co/lerobot): State-of-the-art Machine Learning for real-world robotics. +- [IPEC-COMMUNITY/OpenX](https://huggingface.co/collections/IPEC-COMMUNITY/openx-lerobot-67c29b2ee5911f17dbea635e): Open X-Embodiment datasets in LeRobot format with standard transfomation +- [weijian-sun/agibotworld-lerobot](https://huggingface.co/datasets/weijian-sun/agibotworld-lerobot): AgibotWorld-LeRobot v2.0 + +### Embodiment Extensions + +- [unitree_IL_lerobot](https://github.com/unitreerobotics/unitree_IL_lerobot): a training framework enabling the training and testing of data collected using Unitree's G1 robot [GitHub Repo stars](https://github.com/unitreerobotics/unitree_IL_lerobot) +- [Dora-LeRobot](https://github.com/dora-rs/dora-lerobot): Lerobot boosted with dora [GitHub Repo stars](https://github.com/dora-rs/dora-lerobot) +- [Fourier-Lerobot](https://github.com/FFTAI/fourier-lerobot): A training pipeline with Fourier dataset [GitHub Repo stars](https://github.com/FFTAI/fourier-lerobot) + +### Hardware + +- [LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi): Low-Cost Mobile Manipulator [GitHub Repo stars](https://github.com/SIGRobotics-UIUC/LeKiwi) +- [XLeRobot](https://github.com/Vector-Wangel/XLeRobot): Fully Autonomous Household Dual-Arm Mobile Robot for $998 [GitHub Repo stars](https://github.com/Vector-Wangel/XLeRobot) +- [LeRobot-Kinematics](https://github.com/box2ai-robotics/lerobot-kinematics): Simple and Accurate Forward and Inverse Kinematics Examples for the Lerobot SO100 ARM [GitHub Repo stars](https://github.com/box2ai-robotics/lerobot-kinematics) +- [lerobotdepot](https://github.com/maximilienroberti/lerobotdepot): a reoi for hardware, components, and 3D-printable projects compatible with the LeRobot library [GitHub Repo stars](https://github.com/maximilienroberti/lerobotdepot) + +### Tutorial + +- [Official Docs](https://huggingface.co/docs/lerobot/en/getting_started_real_world_robot): This tutorial will explain how to train a neural network to control a real robot autonomously. +- [YouTube: LeRobot Tutorials](https://www.youtube.com/playlist?list=PLo2EIpI_JMQu5zrDHe4NchRyumF2ynaUN) +- [LeRobot Tutorial with MuJoCo](https://github.com/jeongeun980906/lerobot-mujoco-tutorial): Examples for collecting data and training with MuJoCo [GitHub Repo stars](https://github.com/jeongeun980906/lerobot-mujoco-tutorial) +- [LeRobot Sim2Real](https://github.com/StoneT2000/lerobot-sim2real): Train in fast simulation and deploy visual policies zero shot to the real world [GitHub Repo stars](https://github.com/StoneT2000/lerobot-sim2real) +- [LeRobotTutorial-CN](https://github.com/CSCSX/LeRobotTutorial-CN): a tutorial for LeRobot in Chinese [GitHub Repo stars](https://github.com/CSCSX/LeRobotTutorial-CN) +- [PathOn.AI](https://learn-robotics.pathon.ai/): Learn Robotics at PathOn.AI is a platform for learning robotics and AI +- [NVIDIA Jetson Tutorials](https://www.jetson-ai-lab.com/lerobot.html) ## 👷‍♂️ Contributing