any4lerobot/README.md

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

• [2025.05.16] 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

• ​Version Conversion​​:

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

• Other Utils:

  • Dataset Merging

📚 Awesome works supporting LeRobot

• SpatialVLA: a spatial-enhanced vision-language-action model that is trained on 1.1 Million real robot episodes
• lerobotdepot: a reoi for hardware, components, and 3D-printable projects compatible with the LeRobot library
• 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
• unitree_IL_lerobot: a training framework enabling the training and testing of data collected using Unitree's G1 robot
• LeRobotTutorial-CN: a tutorial for LeRobot in Chinese

📂 Public Resources

• Available datasets in LeRobot format:
  • Open X-Embodiment Dataset
  • Open X-Embodiment Visualizer

👷‍♂️ 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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