any4lerobot/README.md

<h1 align="center">
    <p>Any4LeRobot: A tool collection for LeRobot</p>
</h1>

<div align="center">

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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 <a><img width="35" height="20" src="https://user-images.githubusercontent.com/12782558/212848161-5e783dd6-11e8-4fe0-bbba-39ffb77730be.png"></a>

- **\[2025.06.27\]** 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! 🔥🔥🔥
<details>
<summary>More News</summary>

- **\[2025.04.11\]** 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! 🔥🔥🔥
</details>

## ✨ 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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/hume-vla/hume">](https://github.com/hume-vla/hume)
- [OneTwoVLA](https://one-two-vla.github.io/): A Unified Vision-Language-Action Model with Adaptive Reasoning [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/Fanqi-Lin/OneTwoVLA">](https://github.com/Fanqi-Lin/OneTwoVLA)
- [SmolVLA](https://huggingface.co/blog/smolvla): Efficient Vision-Language-Action Model trained on Lerobot Community Data [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/huggingface/lerobot">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/SpatialVLA/SpatialVLA">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/Physical-Intelligence/openpi">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/NVIDIA/Isaac-GR00T">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/unitreerobotics/unitree_IL_lerobot">](https://github.com/unitreerobotics/unitree_IL_lerobot)
- [Dora-LeRobot](https://github.com/dora-rs/dora-lerobot): Lerobot boosted with dora [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/dora-rs/dora-lerobot">](https://github.com/dora-rs/dora-lerobot)
- [Fourier-Lerobot](https://github.com/FFTAI/fourier-lerobot): A training pipeline with Fourier dataset [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/FFTAI/fourier-lerobot">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/Ryu-Yang/adora-lerobot">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/LiZhYun/BiLerobot">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/lykycy123/lerobot-piper">](https://github.com/lykycy123/lerobot-piper)

### Hardware

- [LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi): Low-Cost Mobile Manipulator [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/SIGRobotics-UIUC/LeKiwi">](https://github.com/SIGRobotics-UIUC/LeKiwi)
- [XLeRobot](https://github.com/Vector-Wangel/XLeRobot): Fully Autonomous Household Dual-Arm Mobile Robot for $998 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/Vector-Wangel/XLeRobot">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/box2ai-robotics/lerobot-kinematics">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/maximilienroberti/lerobotdepot">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/jeongeun980906/lerobot-mujoco-tutorial">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/StoneT2000/lerobot-sim2real">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/michel-aractingi/lerobot-hilserl-guide">](https://github.com/michel-aractingi/lerobot-hilserl-guide)
- [LeRobotTutorial-CN](https://github.com/CSCSX/LeRobotTutorial-CN): a tutorial for LeRobot in Chinese [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/CSCSX/LeRobotTutorial-CN">](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 [<img alt="GitHub Repo stars" src="https://img.shields.io/github/stars/hexchip/lerobot-on-ascend">](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.

<a href="https://github.com/Tavish9/any4lerobot/graphs/contributors" target="_blank">
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        <br><img src="https://contrib.rocks/image?repo=tavish9/any4lerobot"><br><br>
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</a>

## 🤝 Acknowledgements

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

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