Any4LeRobot: A tool collection for LeRobot

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> [!IMPORTANT] > > **Star and Contribute**, let's make community of robotics better and better! πŸ”₯ A curated collection of utilities for [LeRobot Projects](https://github.com/huggingface/lerobot), including data conversion scripts, preprocessing tools, training workflow helpers and etc.. ## πŸ“£ What's New - **\[2025.10.04\]** We have collected and updated all Dataset Version Conversion Scripts for LeRobot! πŸ”₯πŸ”₯πŸ”₯ - **\[2025.09.28\]** We have upgraded LeRobotDataset from v2.1 to v3.0! πŸ”₯πŸ”₯πŸ”₯ - **\[2025.06.27\]** We have supported Data Conversion from LIBERO to LeRobot! πŸ”₯πŸ”₯πŸ”₯ - **\[2025.05.16\]** We have supported Data Conversion from LeRobot to RLDS! πŸ”₯πŸ”₯πŸ”₯ - **\[2025.05.12\]** We have supported Data Conversion from RoboMIND to LeRobot! πŸ”₯πŸ”₯πŸ”₯
More News - **\[2025.04.15\]** We add Dataset Merging Tool for merging multi-source lerobot datasets! πŸ”₯πŸ”₯πŸ”₯ - **\[2025.04.14\]** We have supported Data Conversion from AgiBotWorld to LeRobot! πŸ”₯πŸ”₯πŸ”₯ - **\[2025.04.11\]** We change the repo from `openx2lerobot` to `any4lerobot`, making a ​​universal toolbox for LeRobot​​! πŸ”₯πŸ”₯πŸ”₯ - **\[2025.02.19\]** We have supported Data Conversion from Open X-Embodiment to LeRobot! πŸ”₯πŸ”₯πŸ”₯
## ✨ Features - **Dataset Tutorial**: - [ ] Dataset Loading - [ ] Dataset Editing - [ ] Dataset Filtering - [ ] Dataset Sampling - [ ] Dataset Merging - ​**​Data Conversion​**​: - [x] [Open X-Embodiment to LeRobot](./openx2lerobot/README.md) - [x] [AgiBot-World to LeRobot](./agibot2lerobot/README.md) - [x] [RoboMIND to LeRobot](./robomind2lerobot/README.md) - [x] [LeRobot to RLDS](./lerobot2rlds/README.md) - [x] [LIBERO to LeRobot](./libero2lerobot/README.md) - ​[**Version Conversion​**​](./ds_version_convert/README.md): - [x] [LeRobotv1.6 to LeRobotv2.0](./ds_version_convert/v16_to_v20/README.md) - [x] [LeRobotv2.0 to LeRobotv2.1](./ds_version_convert/v20_to_v21/README.md) - [x] [LeRobotv2.1 to LeRobotv2.0](./ds_version_convert/v21_to_v20/README.md) - [x] [LeRobotv2.1 to LeRobotv3.0](./ds_version_convert/v21_to_v30/README.md) - [x] [LeRobotv3.0 to LeRobotv2.1](./ds_version_convert/v30_to_v21/README.md) - **Training**: - [ ] MultiLeRobotDataset - [**Want more features?**](https://github.com/Tavish9/any4lerobot/issues/new?template=feature-request.yml) ## πŸ“š Awesome LeRobot ### Model - [EO1](https://eo-robotics.ai/eo-1): An Open Unified Embodied Foundation Model for General Robot Control Trained on Interleaved Vision-Text-Action Data [GitHub Repo stars](https://github.com/EO-Robotics/EO1) - [Hume](https://hume-vla.github.io): A Dual-System VLA with System2 Thinking [GitHub Repo stars](https://github.com/hume-vla/hume) - [OneTwoVLA](https://one-two-vla.github.io/): A Unified Vision-Language-Action Model with Adaptive Reasoning [GitHub Repo stars](https://github.com/Fanqi-Lin/OneTwoVLA) - [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 $Ο€_0$: 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) ### 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 - [IPEC-COMMUNITY/LIBERO](https://huggingface.co/collections/IPEC-COMMUNITY/libero-benchmark-dataset-684837af28d465aa8b043950): LIBERO datasets in LeRobot format with standard transfomation and filtering - [weijian-sun/agibotworld-lerobot](https://huggingface.co/datasets/weijian-sun/agibotworld-lerobot): AgibotWorld-LeRobot v2.0 - [GR00T-Dateset](https://huggingface.co/GR00T-Dateset): Isaac-GR00T training dataset - [nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim](https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim): Isaac-GR00T training dataset - [RoboCOIN/robocoin](https://huggingface.co/collections/RoboCOIN/robocoin): An open-source bimanual robot manipulation dataset - [behavior-1k/2025-challenge-demos](https://huggingface.co/datasets/behavior-1k/2025-challenge-demos): BEHAVIOR Challenge dataset ### 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) - [Adora-LeRobot](https://github.com/Ryu-Yang/adora-lerobot): a modified version of lerobot, specifically adapted for the Adora robot [GitHub Repo stars](https://github.com/Ryu-Yang/adora-lerobot) - [BiLerobot](https://github.com/LiZhYun/BiLerobot): A bimanual robotics platform combining LeRobot and ManiSkill for advanced dual-arm manipulation tasks using the SO100 robot digital twin [GitHub Repo stars](https://github.com/LiZhYun/BiLerobot) - [lerobot-piper](https://github.com/lykycy123/lerobot-piper): About Use Lerobot to collect piper robot arm data, and perform training and reasoning [GitHub Repo stars](https://github.com/lykycy123/lerobot-piper) - [Lerobot-koch](https://github.com/LilyHuang-HZ/Lerobot-koch): LeRobot Training Notes for Koch Arm [GitHub Repo stars](https://github.com/LilyHuang-HZ/Lerobot-koch) - [LeFranX](https://github.com/wengmister/LeFranX): Franka and XHand Extension for LeRobot [GitHub Repo stars](https://github.com/wengmister/LeFranX) - [U-Arm](https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm): Lerobot-Everything-Cross-Embodiment-Teleoperation [GitHub Repo stars](https://github.com/MINT-SJTU/LeRobot-Anything-U-Arm) - [lerobot-robot-xarm](https://github.com/SpesRobotics/lerobot-robot-xarm): xArm integration for LeRobot [GitHub Repo stars](https://github.com/SpesRobotics/lerobot-robot-xarm) ### 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) - [PingTi-Arm](https://github.com/nomorewzx/PingTi-Arm): A human-scale robotic arm compatible with Lerobot, based on SO100 [GitHub Repo stars](https://github.com/nomorewzx/PingTi-Arm) - [LeDog](https://github.com/wuxiaoqiang12/LeDog): A mobile manipulator with a Weilan AlphaDog and a LeRobot-compatible SO-101 arm, with support for ROS 1/2 (Official: [ledog_ros2](https://gitcode.com/openeuler/ledog_ros2)) [GitHub Repo stars](https://github.com/wuxiaoqiang12/LeDog) ### Tutorial / Utils - [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) - [Robotics Course](https://github.com/huggingface/robotics-course): A course on robotics by Hugging Face using LeRobot [GitHub Repo stars](https://github.com/huggingface/robotics-course) - [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) - [lerobot-hilserl-guide](https://github.com/michel-aractingi/lerobot-hilserl-guide): Guide and tutorial to run the HILSerl implementation of LeRobot [GitHub Repo stars](https://github.com/michel-aractingi/lerobot-hilserl-guide) - [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) - [lerobot_ws](https://github.com/Pavankv92/lerobot_ws): ROS 2 Package for LeRobot SO-ARM101 [GitHub Repo stars](https://github.com/Pavankv92/lerobot_ws) - [lerobot-ros](https://github.com/astroyat/lerobot-ros): Running LeRobot and ROS 2 on custom LIDAR [GitHub Repo stars](https://github.com/astroyat/lerobot-ros) - [Physical AI Tools](https://github.com/ROBOTIS-GIT/physical_ai_tools): Physical AI Development Interface with LeRobot and ROS 2 [GitHub Repo stars](https://github.com/ROBOTIS-GIT/physical_ai_tools) - [LeRobot.js](https://github.com/TimPietrusky/lerobot.js): interact with your robot in JS, inspired by LeRobot [GitHub Repo stars](https://github.com/TimPietrusky/lerobot.js) - [LeLab](https://github.com/nicolas-rabault/leLab): A web UI interface on top of lerobot [GitHub Repo stars](https://github.com/nicolas-rabault/leLab) - [LeRobot Episode Scoring Toolkit](https://github.com/RoboticsData/score_lerobot_episodes): One-click tool to score, filter, and export higher-quality LeRobot datasets [GitHub Repo stars](https://github.com/RoboticsData/score_lerobot_episodes) - [LERO](https://github.com/masato-ka/lero): LeRobot dataset operations toolkit [GitHub Repo stars](https://github.com/masato-ka/lero) - [LeRobot Dataset Visualizer](https://github.com/huggingface/lerobot-dataset-visualizer): Web application for visualizing robotics datasets in LeRobot format [GitHub Repo stars](https://github.com/huggingface/lerobot-dataset-visualizer) - [lerobot_so101_teleop](https://github.com/liorbenhorin/lerobot_so101_teleop): Sample Environment for the LeRobot SO-101 Robot in Isaac Lab to collect demonstrations in a simulation [GitHub Repo stars](https://github.com/liorbenhorin/lerobot_so101_teleop) - [Robot Learning: A Tutorial](https://github.com/fracapuano/robot-learning-tutorial): All the source code for "Robot Learning: A Tutorial". Get involved to be featured in the next iteration [GitHub Repo stars](https://github.com/fracapuano/robot-learning-tutorial) - [LERO](https://github.com/masato-ka/lero): LeRobot dataset Operations toolkit [GitHub Repo stars](https://github.com/masato-ka/lero) - [CRISP](https://utiasdsl.github.io/crisp_controllers/): Record datasets and deploy policies using LeRobot and ROS2-compatible manipulators (Franka Robotics FR3 and more supported) [GitHub Repo stars](https://github.com/utiasdsl/crisp_controllers) ## πŸ‘·β€β™‚οΈ Contributing We appreciate all contributions to improving Any4LeRobot! ## πŸ“ License This project is released under the [MIT License](./LICENSE). ## πŸ“– Citation If you find this repository helpful in your research or projects, please consider citing it: ```bibtex @misc{any4lerobot, title = {Any4LeRobot: A tool collection for LeRobot}, author = {Qizhi Chen}, license = {MIT}, url = {https://github.com/Tavish9/any4lerobot}, year = {2025}, } @article{eo1, title={EO-1: Interleaved Vision-Text-Action Pretraining for General Robot Control}, author={Delin Qu and Haoming Song and Qizhi Chen and Zhaoqing Chen and Xianqiang Gao and Xinyi Ye and Qi Lv and Modi Shi and Guanghui Ren and Cheng Ruan and Maoqing Yao and Haoran Yang and Jiacheng Bao and Bin Zhao and Dong Wang}, journal={arXiv preprint}, year={2025}, url={https://arxiv.org/abs/2508.21112} } ``` ## ⭐ Star History Star History Chart

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