Any4LeRobot: A tool collection for LeRobot

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> [!IMPORTANT] > > **Star and Contribute**, let's make community of robotics better and better! 🔥 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

- **\[2025.06.27\]** 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**: - [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**: - [x] [LeRobotv2.0 to LeRobotv2.1](./ds_version_convert/README.md) - [ ] LeRobotv2.1 to LeRobotv2.0 - [**Want more features?**](https://github.com/Tavish9/any4lerobot/issues/new?template=feature-request.yml) ## 📚 Awesome LeRobot ### Model - [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 $π_0$: 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) ### 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 ### 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) ### 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) - [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) ## 👷‍♂️ Contributing We appreciate all contributions to improving Any4LeRobot. Please refer to the contributing guideline for the best practice.

## 🤝 Acknowledgements Special thanks to the [LeRobot teams](https://github.com/huggingface/lerobot) for making this great framework.

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