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 - ​**​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) - **Training**: - [ ] MultiLeRobotDataset - **Dataset Preprocess**: - [x] [Dataset Merging](./dataset_merging/README.md) - [ ] Dataset Filtering - [ ] Dataset Sampling - ​[**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) - [**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) - [DoRobot](https://github.com/dora-rs/DoRobot): Lerobot run in Dora [GitHub Repo stars](https://github.com/dora-rs/DoRobot) ### 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) ### 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-on-ascend](https://github.com/hexchip/lerobot-on-ascend): Tutorial of Deploying ACT on Huawei Ascend 310B [GitHub Repo stars](https://github.com/hexchip/lerobot-on-ascend) - [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) ## πŸ‘·β€β™‚οΈ Contributing We appreciate all contributions to improving Any4LeRobot.



## 🀝 Acknowledgements Special thanks to the [LeRobot teams](https://github.com/huggingface/lerobot) for making this great framework. Thanks to everyone for supporting this project. github-stargazers

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