Any4LeRobot: A tool collection for LeRobot

Important

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A curated collection of utilities for LeRobot Projects, 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! 🔥🔥🔥
• [2025.04.20] 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! 🔥🔥🔥
• [2025.04.14] 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​​! 🔥🔥🔥
• [2025.02.19] We have supported Data Conversion from Open X-Embodiment to LeRobot! 🔥🔥🔥

✨ Features

• ​​Data Conversion​​:

  • Open X-Embodiment to LeRobot
  • AgiBot-World to LeRobot
  • RoboMIND to LeRobot
  • LeRobot to RLDS
  • LIBERO to LeRobot

• Training:

  • MultiLeRobotDataset

• Dataset Preprocess:

  • Dataset Merging
  • Dataset Filtering
  • Dataset Sampling

• ​Version Conversion​​:

  • LeRobotv2.0 to LeRobotv2.1
  • LeRobotv2.1 to LeRobotv2.0

• Want more features?

📚 Awesome LeRobot

Model

• Hume: A Dual-System VLA with System2 Thinking
• SmolVLA: Efficient Vision-Language-Action Model trained on Lerobot Community Data
• SpatialVLA: a spatial-enhanced vision-language-action model that is trained on 1.1 Million real robot episodes
• openpi: the official implemenation of π_0: A Vision-Language-Action Flow Model for General Robot Control
• Isaac-GR00T: NVIDIA Isaac GR00T N1 is the world's first open foundation model for generalized humanoid robot reasoning and skills

Dataset

• Official: State-of-the-art Machine Learning for real-world robotics.
• IPEC-COMMUNITY/OpenX: Open X-Embodiment datasets in LeRobot format with standard transfomation
• IPEC-COMMUNITY/LIBERO: LIBERO datasets in LeRobot format with standard transfomation and filtering
• weijian-sun/agibotworld-lerobot: AgibotWorld-LeRobot v2.0

Embodiment Extensions

• unitree_IL_lerobot: a training framework enabling the training and testing of data collected using Unitree's G1 robot
• Dora-LeRobot: Lerobot boosted with dora
• Fourier-Lerobot: A training pipeline with Fourier dataset

Hardware

• LeKiwi: Low-Cost Mobile Manipulator
• XLeRobot: Fully Autonomous Household Dual-Arm Mobile Robot for $998
• LeRobot-Kinematics: Simple and Accurate Forward and Inverse Kinematics Examples for the Lerobot SO100 ARM
• lerobotdepot: a reoi for hardware, components, and 3D-printable projects compatible with the LeRobot library

Tutorial

• Official Docs: This tutorial will explain how to train a neural network to control a real robot autonomously.
• YouTube: LeRobot Tutorials
• LeRobot Tutorial with MuJoCo: Examples for collecting data and training with MuJoCo
• LeRobot Sim2Real: Train in fast simulation and deploy visual policies zero shot to the real world
• LeRobotTutorial-CN: a tutorial for LeRobot in Chinese
• PathOn.AI: Learn Robotics at PathOn.AI is a platform for learning robotics and AI
• NVIDIA Jetson Tutorials

👷‍♂️ 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 for making this great framework.

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