Merge branch 'main' into refactor/lerobot_train_rabc

README.md

@@ -101,10 +101,10 @@ lerobot-train \
 ```
 
 | Category                   | Models                                                                                                                                                                                                       |
-| -------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| -------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
 | **Imitation Learning**     | [ACT](./docs/source/policy_act_README.md), [Diffusion](./docs/source/policy_diffusion_README.md), [VQ-BeT](./docs/source/policy_vqbet_README.md)                                                             |
 | **Reinforcement Learning** | [HIL-SERL](./docs/source/hilserl.mdx), [TDMPC](./docs/source/policy_tdmpc_README.md) & QC-FQL (coming soon)                                                                                                  |
-| **VLAs Models**            | [Pi0.5](./docs/source/pi05.mdx), [GR00T N1.5](./docs/source/policy_groot_README.md), [SmolVLA](./docs/source/policy_smolvla_README.md), [XVLA](./docs/source/xvla.mdx) |
+| **VLAs Models**            | [Pi0Fast](./docs/source/pi0fast.mdx), [Pi0.5](./docs/source/pi05.mdx), [GR00T N1.5](./docs/source/policy_groot_README.md), [SmolVLA](./docs/source/policy_smolvla_README.md), [XVLA](./docs/source/xvla.mdx) |
 
 Similarly to the hardware, you can easily implement your own policy & leverage LeRobot's data collection, training, and visualization tools, and share your model to the HF Hub
 

docs/source/envhub_leisaac.mdx

@@ -138,6 +138,7 @@ from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
     make_teleoperator_from_config,
     so_leader,
+    bi_so_leader,
 )
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import init_logging

docs/source/groot.mdx

@@ -12,6 +12,12 @@ Developers and researchers can post-train GR00T N1.5 with their own real or synt
 
 GR00T N1.5 (specifically the GR00T-N1.5-3B model) is built using pre-trained vision and language encoders. It utilizes a flow matching action transformer to model a chunk of actions, conditioned on vision, language, and proprioception.
 
+<img
+  src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/lerobot-groot-paper1%20(1).png"
+  alt="An overview of GR00T"
+  width="80%"
+/>
+
 Its strong performance comes from being trained on an expansive and diverse humanoid dataset, which includes:
 
 - Real captured data from robots.
@@ -103,7 +109,7 @@ Once you have trained your model using your parameters you can run inference in
 
 ```bash
 lerobot-record \
-  --robot.type=bi_so100_follower \
+  --robot.type=bi_so_follower \
   --robot.left_arm_port=/dev/ttyACM1 \
   --robot.right_arm_port=/dev/ttyACM0 \
   --robot.id=bimanual_follower \

docs/source/pi0.mdx

@@ -6,6 +6,12 @@
 
 π₀ represents a breakthrough in robotics as the first general-purpose robot foundation model developed by [Physical Intelligence](https://www.physicalintelligence.company/blog/pi0). Unlike traditional robot programs that are narrow specialists programmed for repetitive motions, π₀ is designed to be a generalist policy that can understand visual inputs, interpret natural language instructions, and control a variety of different robots across diverse tasks.
 
+<img
+  src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/lerobot-pi0%20(1).png"
+  alt="An overview of Pi0"
+  width="85%"
+/>
+
 ### The Vision for Physical Intelligence
 
 As described by Physical Intelligence, while AI has achieved remarkable success in digital domains, from chess-playing to drug discovery, human intelligence still dramatically outpaces AI in the physical world. To paraphrase Moravec's paradox, winning a game of chess represents an "easy" problem for AI, but folding a shirt or cleaning up a table requires solving some of the most difficult engineering problems ever conceived. π₀ represents a first step toward developing artificial physical intelligence that enables users to simply ask robots to perform any task they want, just like they can with large language models.

docs/source/pi0fast.mdx

@@ -6,6 +6,12 @@
 
 π₀-FAST combines the power of Vision-Language Models with a novel action tokenization approach called **FAST (Frequency-space Action Sequence Tokenization)**. This enables training autoregressive VLAs on highly dexterous tasks that are impossible with standard binning-based discretization, while training **up to 5x faster** than diffusion-based approaches like π₀.
 
+<img
+  src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/lerobot-pifast.png"
+  alt="An overview of Pi0-FAST"
+  width="85%"
+/>
+
 ### Why FAST?
 
 Standard approaches for robot action tokenization use simple per-dimension, per-timestep binning schemes. While passable for simple behaviors, this rapidly breaks down for complex and dexterous skills that require precision and high-frequency control.
@@ -53,7 +59,7 @@ You have two options for the FAST tokenizer:
 ### Training Your Own Tokenizer
 
 ```bash
-python src/lerobot/policies/pi0_fast/train_fast_tokenizer.py \
+lerobot-train-tokenizer \
     --repo_id "user/my-lerobot-dataset" \
     --action_horizon 10 \
     --encoded_dims "0:6" \
@@ -90,7 +96,7 @@ policy.type=pi0_fast
 For training π₀-FAST, you can use the LeRobot training script:
 
 ```bash
-python src/lerobot/scripts/lerobot_train.py \
+lerobot-train \
     --dataset.repo_id=your_dataset \
     --policy.type=pi0_fast \
     --output_dir=./outputs/pi0fast_training \
@@ -171,6 +177,64 @@ The model takes images, text instructions, and robot state as input, and outputs
 | Inference Method      | Iterative Denoising       | Autoregressive Decoding      |
 | KV-Caching            | N/A                       | Supported                    |
 
+## Reproducing π₀Fast results
+
+We reproduce the results of π₀Fast on the LIBERO benchmark using the LeRobot implementation. We take the LeRobot PiFast base model [lerobot/pi0fast-base](https://huggingface.co/lerobot/pi0fast-base) and finetune for an additional 40kk steps in bfloat16, with batch size of 256 on 8 H100 GPUs using the [HuggingFace LIBERO dataset](https://huggingface.co/datasets/HuggingFaceVLA/libero).
+
+The finetuned model can be found here:
+
+- **π₀Fast LIBERO**: [lerobot/pi0fast-libero](https://huggingface.co/lerobot/pi0fast-libero)
+
+With the following training command:
+
+```bash
+lerobot-train \
+  --dataset.repo_id=lerobot/libero \
+  --output_dir=outputs/libero_pi0fast \
+  --job_name=libero_pi0fast \
+  --policy.path=lerobot/pi0fast_base \
+  --policy.dtype=bfloat16 \
+  --steps=100000 \
+  --save_freq=20000 \
+  --batch_size=4 \
+  --policy.device=cuda \
+  --policy.scheduler_warmup_steps=4000 \
+  --policy.scheduler_decay_steps=100000 \
+  --policy.scheduler_decay_lr=1e-5 \
+  --policy.gradient_checkpointing=true \
+  --policy.chunk_size=10 \
+  --policy.n_action_steps=10 \
+  --policy.max_action_tokens=256 \
+  --policy.empty_cameras=1 \
+```
+
+We then evaluate the finetuned model using the LeRobot LIBERO implementation, by running the following command:
+
+```bash
+tasks="libero_object,libero_spatial,libero_goal,libero_10"
+lerobot-eval \
+  --policy.path=lerobot/pi0fast-libero \
+  --policy.max_action_tokens=256 \
+  --env.type=libero \
+  --policy.gradient_checkpointing=false \
+  --env.task=${tasks} \
+  --eval.batch_size=1 \
+  --eval.n_episodes=1 \
+  --rename_map='{"observation.images.image":"observation.images.base_0_rgb","observation.images.image2":"observation.images.left_wrist_0_rgb"}'
+```
+
+**Note:** We set `n_action_steps=10`, similar to the original OpenPI implementation.
+
+### Results
+
+We obtain the following results on the LIBERO benchmark:
+
+| Model       | LIBERO Spatial | LIBERO Object | LIBERO Goal | LIBERO 10 | Average  |
+| ----------- | -------------- | ------------- | ----------- | --------- | -------- |
+| **π₀-fast** | 70.0           | 100.0         | 100.0       | 60.0      | **82.5** |
+
+The full evaluation output folder, including videos, is available [here](https://drive.google.com/drive/folders/1HXpwPTRm4hx6g1sF2P7OOqGG0TwPU7LQ?usp=sharing)
+
 ## License
 
 This model follows the **Apache 2.0 License**, consistent with the original [OpenPI repository](https://github.com/Physical-Intelligence/openpi).

docs/source/sarm.mdx

@@ -4,6 +4,12 @@ SARM (Stage-Aware Reward Modeling) is a video-based reward modeling framework fo
 
 **Paper**: [SARM: Stage-Aware Reward Modeling for Long Horizon Robot Manipulation](https://arxiv.org/abs/2509.25358)
 
+<img
+  src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/lerobot-sarm.png"
+  alt="An overview of SARM"
+  width="80%"
+/>
+
 ## Why Reward Models?
 
 Standard behavior cloning treats all demonstration frames equally, but real-world robot datasets are messy. They contain hesitations, corrections, and variable-quality trajectories. Reward models solve this by learning a generalizable notion of **task progress** from demonstrations: given video frames and a task description, they predict how close the robot is to completing the task (0→1). This learned "progress signal" can be used in multiple ways, two promising applications are: (1) **weighted imitation learning** (RA-BC), where high-progress frames receive more weight during policy training, and (2) **reinforcement learning**, where the reward model provides dense rewards for online or offline policy improvement.

docs/source/walloss.mdx

@@ -8,6 +8,12 @@ X Square Robot’s WALL-OSS is now integrated into Hugging Face’s LeRobot ecos
 
 The WALL-OSS team is building the embodied foundation model to capture and compress the world's most valuable data: the continuous, high-fidelity stream of physical interaction. By creating a direct feedback loop between the model's decisions and the body's lived experience, the emergence of a truly generalizable intelligence is enabled—one that understands not just how the world works, but how to act effectively within it.
 
+<img
+  src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/walloss-lerobot-paper.png"
+  alt="An overview of WALL-OSS"
+  width="85%"
+/>
+
 Technically, WALL-OSS introduces a tightly coupled multimodal architecture (tightly-coupled MoE structure) that integrates both discrete and continuous action modeling strategies. Through a two-stage training pipeline (Inspiration → Integration), the model gradually unifies semantic reasoning and high-frequency action generation. Its core innovations include:
 
 - **Embodied perception–enhanced multimodal pretraining**: Large-scale training on unified vision–language–action data to strengthen spatial, causal, and manipulation understanding.

examples/rtc/eval_with_real_robot.py

@@ -94,6 +94,7 @@ from lerobot.rl.process import ProcessSignalHandler
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
+    bi_so_follower,
     koch_follower,
     so_follower,
 )

examples/so100_to_so100_EE/record.py

@@ -34,8 +34,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
     InverseKinematicsEEToJoints,
 )
 from lerobot.scripts.lerobot_record import record_loop
-from lerobot.teleoperators.so_leader import SO100LeaderConfig
+from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
-from lerobot.teleoperators.so_leader.so100_leader import SO100Leader
 from lerobot.utils.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun

examples/so100_to_so100_EE/teleoperate.py

@@ -29,8 +29,7 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
     ForwardKinematicsJointsToEE,
     InverseKinematicsEEToJoints,
 )
-from lerobot.teleoperators.so_leader import SO100LeaderConfig
+from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
-from lerobot.teleoperators.so_leader.so100_leader import SO100Leader
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
 

pyproject.toml

@@ -197,6 +197,7 @@ lerobot-setup-motors="lerobot.scripts.lerobot_setup_motors:main"
 lerobot-teleoperate="lerobot.scripts.lerobot_teleoperate:main"
 lerobot-eval="lerobot.scripts.lerobot_eval:main"
 lerobot-train="lerobot.scripts.lerobot_train:main"
+lerobot-train-tokenizer="lerobot.scripts.lerobot_train_tokenizer:main"
 lerobot-dataset-viz="lerobot.scripts.lerobot_dataset_viz:main"
 lerobot-info="lerobot.scripts.lerobot_info:main"
 lerobot-find-joint-limits="lerobot.scripts.lerobot_find_joint_limits:main"

src/lerobot/async_inference/constants.py

@@ -26,4 +26,4 @@ DEFAULT_OBS_QUEUE_TIMEOUT = 2
 SUPPORTED_POLICIES = ["act", "smolvla", "diffusion", "tdmpc", "vqbet", "pi0", "pi05"]
 
 # TODO: Add all other robots
-SUPPORTED_ROBOTS = ["so100_follower", "so101_follower", "bi_so100_follower", "omx_follower"]
+SUPPORTED_ROBOTS = ["so100_follower", "so101_follower", "bi_so_follower", "omx_follower"]

src/lerobot/async_inference/robot_client.py

@@ -51,7 +51,7 @@ from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraCon
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
-    bi_so100_follower,
+    bi_so_follower,
     koch_follower,
     make_robot_from_config,
     omx_follower,

src/lerobot/robots/bi_so100_follower/config_bi_so100_follower.py

@@ -1,39 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from dataclasses import dataclass, field
-
-from lerobot.cameras import CameraConfig
-
-from ..config import RobotConfig
-
-
-@RobotConfig.register_subclass("bi_so100_follower")
-@dataclass
-class BiSO100FollowerConfig(RobotConfig):
-    left_arm_port: str
-    right_arm_port: str
-
-    # Optional
-    left_arm_disable_torque_on_disconnect: bool = True
-    left_arm_max_relative_target: float | dict[str, float] | None = None
-    left_arm_use_degrees: bool = False
-    right_arm_disable_torque_on_disconnect: bool = True
-    right_arm_max_relative_target: float | dict[str, float] | None = None
-    right_arm_use_degrees: bool = False
-
-    # cameras (shared between both arms)
-    cameras: dict[str, CameraConfig] = field(default_factory=dict)

src/lerobot/robots/bi_so_follower/__init__.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,5 +14,5 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .bi_so100_leader import BiSO100Leader
+from .bi_so_follower import BiSOFollower
-from .config_bi_so100_leader import BiSO100LeaderConfig
+from .config_bi_so_follower import BiSOFollowerConfig

src/lerobot/robots/bi_so_follower/bi_so_follower.py

@@ -15,66 +15,73 @@
 # limitations under the License.
 
 import logging
-import time
 from functools import cached_property
 from typing import Any
 
-from lerobot.cameras.utils import make_cameras_from_configs
+from lerobot.robots.so_follower import SOFollower, SOFollowerRobotConfig
-from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 
 from ..robot import Robot
-from .config_bi_so100_follower import BiSO100FollowerConfig
+from .config_bi_so_follower import BiSOFollowerConfig
 
 logger = logging.getLogger(__name__)
 
 
-class BiSO100Follower(Robot):
+class BiSOFollower(Robot):
     """
-    [Bimanual SO-100 Follower Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
+    [Bimanual SO Follower Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
-    This bimanual robot can also be easily adapted to use SO-101 follower arms, just replace the SO100Follower class with SO101Follower and SO100FollowerConfig with SO101FollowerConfig.
     """
 
-    config_class = BiSO100FollowerConfig
+    config_class = BiSOFollowerConfig
-    name = "bi_so100_follower"
+    name = "bi_so_follower"
 
-    def __init__(self, config: BiSO100FollowerConfig):
+    def __init__(self, config: BiSOFollowerConfig):
         super().__init__(config)
         self.config = config
 
-        left_arm_config = SO100FollowerConfig(
+        left_arm_config = SOFollowerRobotConfig(
             id=f"{config.id}_left" if config.id else None,
             calibration_dir=config.calibration_dir,
-            port=config.left_arm_port,
+            port=config.left_arm_config.port,
-            disable_torque_on_disconnect=config.left_arm_disable_torque_on_disconnect,
+            disable_torque_on_disconnect=config.left_arm_config.disable_torque_on_disconnect,
-            max_relative_target=config.left_arm_max_relative_target,
+            max_relative_target=config.left_arm_config.max_relative_target,
-            use_degrees=config.left_arm_use_degrees,
+            use_degrees=config.left_arm_config.use_degrees,
-            cameras={},
+            cameras=config.left_arm_config.cameras,
         )
 
-        right_arm_config = SO100FollowerConfig(
+        right_arm_config = SOFollowerRobotConfig(
             id=f"{config.id}_right" if config.id else None,
             calibration_dir=config.calibration_dir,
-            port=config.right_arm_port,
+            port=config.right_arm_config.port,
-            disable_torque_on_disconnect=config.right_arm_disable_torque_on_disconnect,
+            disable_torque_on_disconnect=config.right_arm_config.disable_torque_on_disconnect,
-            max_relative_target=config.right_arm_max_relative_target,
+            max_relative_target=config.right_arm_config.max_relative_target,
-            use_degrees=config.right_arm_use_degrees,
+            use_degrees=config.right_arm_config.use_degrees,
-            cameras={},
+            cameras=config.right_arm_config.cameras,
         )
 
-        self.left_arm = SO100Follower(left_arm_config)
+        self.left_arm = SOFollower(left_arm_config)
-        self.right_arm = SO100Follower(right_arm_config)
+        self.right_arm = SOFollower(right_arm_config)
-        self.cameras = make_cameras_from_configs(config.cameras)
+
+        # Only for compatibility with other parts of the codebase that expect a `robot.cameras` attribute
+        self.cameras = {**self.left_arm.cameras, **self.right_arm.cameras}
 
     @property
     def _motors_ft(self) -> dict[str, type]:
-        return {f"left_{motor}.pos": float for motor in self.left_arm.bus.motors} | {
+        left_arm_motors_ft = self.left_arm._motors_ft
-            f"right_{motor}.pos": float for motor in self.right_arm.bus.motors
+        right_arm_motors_ft = self.right_arm._motors_ft
+
+        return {
+            **{f"left_{k}": v for k, v in left_arm_motors_ft.items()},
+            **{f"right_{k}": v for k, v in right_arm_motors_ft.items()},
         }
 
     @property
     def _cameras_ft(self) -> dict[str, tuple]:
+        left_arm_cameras_ft = self.left_arm._cameras_ft
+        right_arm_cameras_ft = self.right_arm._cameras_ft
+
         return {
-            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
+            **{f"left_{k}": v for k, v in left_arm_cameras_ft.items()},
+            **{f"right_{k}": v for k, v in right_arm_cameras_ft.items()},
         }
 
     @cached_property
@@ -87,19 +94,12 @@ class BiSO100Follower(Robot):
 
     @property
     def is_connected(self) -> bool:
-        return (
+        return self.left_arm.is_connected and self.right_arm.is_connected
-            self.left_arm.bus.is_connected
-            and self.right_arm.bus.is_connected
-            and all(cam.is_connected for cam in self.cameras.values())
-        )
 
     def connect(self, calibrate: bool = True) -> None:
         self.left_arm.connect(calibrate)
         self.right_arm.connect(calibrate)
 
-        for cam in self.cameras.values():
-            cam.connect()
-
     @property
     def is_calibrated(self) -> bool:
         return self.left_arm.is_calibrated and self.right_arm.is_calibrated
@@ -127,12 +127,6 @@ class BiSO100Follower(Robot):
         right_obs = self.right_arm.get_observation()
         obs_dict.update({f"right_{key}": value for key, value in right_obs.items()})
 
-        for cam_key, cam in self.cameras.items():
-            start = time.perf_counter()
-            obs_dict[cam_key] = cam.async_read()
-            dt_ms = (time.perf_counter() - start) * 1e3
-            logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
-
         return obs_dict
 
     def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
@@ -145,18 +139,15 @@ class BiSO100Follower(Robot):
             key.removeprefix("right_"): value for key, value in action.items() if key.startswith("right_")
         }
 
-        send_action_left = self.left_arm.send_action(left_action)
+        sent_action_left = self.left_arm.send_action(left_action)
-        send_action_right = self.right_arm.send_action(right_action)
+        sent_action_right = self.right_arm.send_action(right_action)
 
         # Add prefixes back
-        prefixed_send_action_left = {f"left_{key}": value for key, value in send_action_left.items()}
+        prefixed_sent_action_left = {f"left_{key}": value for key, value in sent_action_left.items()}
-        prefixed_send_action_right = {f"right_{key}": value for key, value in send_action_right.items()}
+        prefixed_sent_action_right = {f"right_{key}": value for key, value in sent_action_right.items()}
 
-        return {**prefixed_send_action_left, **prefixed_send_action_right}
+        return {**prefixed_sent_action_left, **prefixed_sent_action_right}
 
     def disconnect(self):
         self.left_arm.disconnect()
         self.right_arm.disconnect()
-
-        for cam in self.cameras.values():
-            cam.disconnect()

src/lerobot/robots/bi_so_follower/config_bi_so_follower.py

@@ -16,11 +16,15 @@
 
 from dataclasses import dataclass
 
-from ...config import TeleoperatorConfig
+from lerobot.robots.so_follower import SOFollowerConfig
-from ..so_leader_config_base import SOLeaderConfigBase
+
+from ..config import RobotConfig
 
 
-@TeleoperatorConfig.register_subclass("so101_leader")
+@RobotConfig.register_subclass("bi_so_follower")
 @dataclass
-class SO101LeaderConfig(SOLeaderConfigBase):
+class BiSOFollowerConfig(RobotConfig):
-    pass
+    """Configuration class for Bi SO Follower robots."""
+
+    left_arm_config: SOFollowerConfig
+    right_arm_config: SOFollowerConfig

src/lerobot/robots/so_follower/__init__.py

@@ -14,10 +14,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-
+from .config_so_follower import (
-from .so100_follower.config_so100_follower import SO100FollowerConfig
+    SO100FollowerConfig,
-from .so100_follower.so100_follower import SO100Follower
+    SO101FollowerConfig,
-from .so101_follower.config_so101_follower import SO101FollowerConfig
+    SOFollowerConfig,
-from .so101_follower.so101_follower import SO101Follower
+    SOFollowerRobotConfig,
-from .so_follower_base import SOFollowerBase
+)
-from .so_follower_config_base import SOFollowerConfigBase
+from .so_follower import SO100Follower, SO101Follower, SOFollower

src/lerobot/robots/so_follower/config_so_follower.py

@@ -15,6 +15,7 @@
 # limitations under the License.
 
 from dataclasses import dataclass, field
+from typing import TypeAlias
 
 from lerobot.cameras import CameraConfig
 
@@ -22,7 +23,7 @@ from ..config import RobotConfig
 
 
 @dataclass
-class SOFollowerConfigBase(RobotConfig):
+class SOFollowerConfig:
     """Base configuration class for SO Follower robots."""
 
     # Port to connect to the arm
@@ -40,3 +41,14 @@ class SOFollowerConfigBase(RobotConfig):
 
     # Set to `True` for backward compatibility with previous policies/dataset
     use_degrees: bool = False
+
+
+@RobotConfig.register_subclass("so101_follower")
+@RobotConfig.register_subclass("so100_follower")
+@dataclass
+class SOFollowerRobotConfig(RobotConfig, SOFollowerConfig):
+    pass
+
+
+SO100FollowerConfig: TypeAlias = SOFollowerRobotConfig
+SO101FollowerConfig: TypeAlias = SOFollowerRobotConfig

src/lerobot/robots/so_follower/so100.md

@@ -0,0 +1 @@
+../../../../docs/source/so100.mdx

src/lerobot/robots/so_follower/so100_follower/config_so100_follower.py

@@ -1,26 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from dataclasses import dataclass
-
-from ...config import RobotConfig
-from ..so_follower_config_base import SOFollowerConfigBase
-
-
-@RobotConfig.register_subclass("so100_follower")
-@dataclass
-class SO100FollowerConfig(SOFollowerConfigBase):
-    pass

src/lerobot/robots/so_follower/so100_follower/so100.md

@@ -1 +0,0 @@
-../../../../../docs/source/so100.mdx

src/lerobot/robots/so_follower/so100_follower/so100_follower.py

@@ -1,27 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ..so_follower_base import SOFollowerBase
-from .config_so100_follower import SO100FollowerConfig
-
-
-class SO100Follower(SOFollowerBase):
-    """
-    SO-101 follower robot class. [SO-101 Follower Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
-    """
-
-    config_class = SO100FollowerConfig
-    name = "so100_follower"

src/lerobot/robots/so_follower/so101.md

@@ -0,0 +1 @@
+../../../../docs/source/so101.mdx

src/lerobot/robots/so_follower/so101_follower/config_so101_follower.py

@@ -1,26 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from dataclasses import dataclass
-
-from ...config import RobotConfig
-from ..so_follower_config_base import SOFollowerConfigBase
-
-
-@RobotConfig.register_subclass("so101_follower")
-@dataclass
-class SO101FollowerConfig(SOFollowerConfigBase):
-    pass

src/lerobot/robots/so_follower/so101_follower/so101.md

@@ -1 +0,0 @@
-../../../../../docs/source/so101.mdx

src/lerobot/robots/so_follower/so101_follower/so101_follower.py

@@ -1,27 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ..so_follower_base import SOFollowerBase
-from .config_so101_follower import SO101FollowerConfig
-
-
-class SO101Follower(SOFollowerBase):
-    """
-    SO-101 follower robot class. [SO-101 Follower Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
-    """
-
-    config_class = SO101FollowerConfig
-    name = "so101_follower"

src/lerobot/robots/so_follower/so_follower.py

@@ -17,7 +17,7 @@
 import logging
 import time
 from functools import cached_property
-from typing import Any
+from typing import Any, TypeAlias
 
 from lerobot.cameras.utils import make_cameras_from_configs
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
@@ -29,20 +29,21 @@ from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnected
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position
-from .so_follower_config_base import SOFollowerConfigBase
+from .config_so_follower import SOFollowerRobotConfig
 
 logger = logging.getLogger(__name__)
 
 
-class SOFollowerBase(Robot):
+class SOFollower(Robot):
     """
     Generic SO follower base implementing common functionality for SO-100/101/10X.
     Designed to be subclassed with a per-hardware-model `config_class` and `name`.
     """
 
-    # `config_class` and `name` should be set by subclasses
+    config_class = SOFollowerRobotConfig
+    name = "so_follower"
 
-    def __init__(self, config: SOFollowerConfigBase):
+    def __init__(self, config: SOFollowerRobotConfig):
         super().__init__(config)
         self.config = config
         # choose normalization mode depending on config if available
@@ -232,3 +233,7 @@ class SOFollowerBase(Robot):
             cam.disconnect()
 
         logger.info(f"{self} disconnected.")
+
+
+SO100Follower: TypeAlias = SOFollower
+SO101Follower: TypeAlias = SOFollower

src/lerobot/robots/utils.py

@@ -52,10 +52,10 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
         from .hope_jr import HopeJrArm
 
         return HopeJrArm(config)
-    elif config.type == "bi_so100_follower":
+    elif config.type == "bi_so_follower":
-        from .bi_so100_follower import BiSO100Follower
+        from .bi_so_follower import BiSOFollower
 
-        return BiSO100Follower(config)
+        return BiSOFollower(config)
     elif config.type == "reachy2":
         from .reachy2 import Reachy2Robot
 

src/lerobot/scripts/lerobot_calibrate.py

@@ -36,6 +36,7 @@ from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraCon
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
+    bi_so_follower,
     hope_jr,
     koch_follower,
     lekiwi,
@@ -46,6 +47,7 @@ from lerobot.robots import (  # noqa: F401
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
+    bi_so_leader,
     homunculus,
     koch_leader,
     make_teleoperator_from_config,

src/lerobot/scripts/lerobot_find_joint_limits.py

@@ -44,6 +44,7 @@ import numpy as np
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.robots import (  # noqa: F401
     RobotConfig,
+    bi_so_follower,
     koch_follower,
     make_robot_from_config,
     omx_follower,
@@ -51,6 +52,7 @@ from lerobot.robots import (  # noqa: F401
 )
 from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
+    bi_so_leader,
     gamepad,
     koch_leader,
     make_teleoperator_from_config,

src/lerobot/scripts/lerobot_record.py

@@ -40,21 +40,23 @@ lerobot-record \
 Example recording with bimanual so100:
 ```shell
 lerobot-record \
-  --robot.type=bi_so100_follower \
+  --robot.type=bi_so_follower \
-  --robot.left_arm_port=/dev/tty.usbmodem5A460851411 \
+  --robot.left_arm_config.port=/dev/tty.usbmodem5A460822851 \
-  --robot.right_arm_port=/dev/tty.usbmodem5A460812391 \
+  --robot.right_arm_config.port=/dev/tty.usbmodem5A460814411 \
   --robot.id=bimanual_follower \
-  --robot.cameras='{
+  --robot.left_arm_config.cameras='{
-    left: {"type": "opencv", "index_or_path": 0, "width": 640, "height": 480, "fps": 30},
+    wrist: {"type": "opencv", "index_or_path": 1, "width": 640, "height": 480, "fps": 30},
-    top: {"type": "opencv", "index_or_path": 1, "width": 640, "height": 480, "fps": 30},
+    top: {"type": "opencv", "index_or_path": 3, "width": 640, "height": 480, "fps": 30},
-    right: {"type": "opencv", "index_or_path": 2, "width": 640, "height": 480, "fps": 30}
+  }' --robot.right_arm_config.cameras='{
+    wrist: {"type": "opencv", "index_or_path": 2, "width": 640, "height": 480, "fps": 30},
+    front: {"type": "opencv", "index_or_path": 4, "width": 640, "height": 480, "fps": 30},
   }' \
-  --teleop.type=bi_so100_leader \
+  --teleop.type=bi_so_leader \
-  --teleop.left_arm_port=/dev/tty.usbmodem5A460828611 \
+  --teleop.left_arm_config.port=/dev/tty.usbmodem5A460852721 \
-  --teleop.right_arm_port=/dev/tty.usbmodem5A460826981 \
+  --teleop.right_arm_config.port=/dev/tty.usbmodem5A460819811 \
   --teleop.id=bimanual_leader \
   --display_data=true \
-  --dataset.repo_id=${HF_USER}/bimanual-so100-handover-cube \
+  --dataset.repo_id=${HF_USER}/bimanual-so-handover-cube \
   --dataset.num_episodes=25 \
   --dataset.single_task="Grab and handover the red cube to the other arm"
 ```
@@ -94,7 +96,7 @@ from lerobot.processor.rename_processor import rename_stats
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
-    bi_so100_follower,
+    bi_so_follower,
     earthrover_mini_plus,
     hope_jr,
     koch_follower,
@@ -105,7 +107,7 @@ from lerobot.robots import (  # noqa: F401
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
-    bi_so100_leader,
+    bi_so_leader,
     homunculus,
     koch_leader,
     make_teleoperator_from_config,

src/lerobot/scripts/lerobot_replay.py

@@ -29,7 +29,7 @@ lerobot-replay \
 Example replay with bimanual so100:
 ```shell
 lerobot-replay \
-  --robot.type=bi_so100_follower \
+  --robot.type=bi_so_follower \
   --robot.left_arm_port=/dev/tty.usbmodem5A460851411 \
   --robot.right_arm_port=/dev/tty.usbmodem5A460812391 \
   --robot.id=bimanual_follower \
@@ -53,7 +53,7 @@ from lerobot.processor import (
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
-    bi_so100_follower,
+    bi_so_follower,
     earthrover_mini_plus,
     hope_jr,
     koch_follower,

src/lerobot/scripts/lerobot_setup_motors.py

@@ -30,6 +30,7 @@ import draccus
 
 from lerobot.robots import (  # noqa: F401
     RobotConfig,
+    bi_so_follower,
     koch_follower,
     lekiwi,
     make_robot_from_config,
@@ -38,6 +39,7 @@ from lerobot.robots import (  # noqa: F401
 )
 from lerobot.teleoperators import (  # noqa: F401
     TeleoperatorConfig,
+    bi_so_leader,
     koch_leader,
     make_teleoperator_from_config,
     omx_leader,

src/lerobot/scripts/lerobot_teleoperate.py

@@ -33,18 +33,18 @@ Example teleoperation with bimanual so100:
 
 ```shell
 lerobot-teleoperate \
-  --robot.type=bi_so100_follower \
+  --robot.type=bi_so_follower \
-  --robot.left_arm_port=/dev/tty.usbmodem5A460851411 \
+  --robot.left_arm_config.port=/dev/tty.usbmodem5A460822851 \
-  --robot.right_arm_port=/dev/tty.usbmodem5A460812391 \
+  --robot.right_arm_config.port=/dev/tty.usbmodem5A460814411 \
   --robot.id=bimanual_follower \
-  --robot.cameras='{
+  --robot.left_arm_config.cameras='{
-    left: {"type": "opencv", "index_or_path": 0, "width": 1920, "height": 1080, "fps": 30},
+    wrist: {"type": "opencv", "index_or_path": 1, "width": 640, "height": 480, "fps": 30},
-    top: {"type": "opencv", "index_or_path": 1, "width": 1920, "height": 1080, "fps": 30},
+  }' --robot.right_arm_config.cameras='{
-    right: {"type": "opencv", "index_or_path": 2, "width": 1920, "height": 1080, "fps": 30}
+    wrist: {"type": "opencv", "index_or_path": 2, "width": 640, "height": 480, "fps": 30},
   }' \
-  --teleop.type=bi_so100_leader \
+  --teleop.type=bi_so_leader \
-  --teleop.left_arm_port=/dev/tty.usbmodem5A460828611 \
+  --teleop.left_arm_config.port=/dev/tty.usbmodem5A460852721 \
-  --teleop.right_arm_port=/dev/tty.usbmodem5A460826981 \
+  --teleop.right_arm_config.port=/dev/tty.usbmodem5A460819811 \
   --teleop.id=bimanual_leader \
   --display_data=true
 ```
@@ -70,7 +70,7 @@ from lerobot.processor import (
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
-    bi_so100_follower,
+    bi_so_follower,
     earthrover_mini_plus,
     hope_jr,
     koch_follower,
@@ -81,7 +81,7 @@ from lerobot.robots import (  # noqa: F401
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
-    bi_so100_leader,
+    bi_so_leader,
     gamepad,
     homunculus,
     keyboard,

src/lerobot/scripts/lerobot_train.py

@@ -261,7 +261,14 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
         from accelerate.utils import DistributedDataParallelKwargs
 
         ddp_kwargs = DistributedDataParallelKwargs(find_unused_parameters=True)
-        accelerator = Accelerator(step_scheduler_with_optimizer=False, kwargs_handlers=[ddp_kwargs])
+        # Accelerate auto-detects the device based on the available hardware and ignores the policy.device setting.
+        # Force the device to be CPU when policy.device is set to CPU.
+        force_cpu = cfg.policy.device == "cpu"
+        accelerator = Accelerator(
+            step_scheduler_with_optimizer=False,
+            kwargs_handlers=[ddp_kwargs],
+            cpu=force_cpu,
+        )
 
     init_logging(accelerator=accelerator)
 

src/lerobot/scripts/lerobot_train_tokenizer.py

@@ -1,3 +1,16 @@
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 """Train FAST tokenizer for action encoding.
 
 This script:
@@ -6,6 +19,26 @@ This script:
 3. Trains FAST tokenizer on specified action dimensions
 4. Saves tokenizer to assets directory
 5. Reports compression statistics
+
+Example:
+
+```shell
+lerobot-train-tokenizer \
+    --repo_id=user/dataset_name \
+    --action_horizon=10 \
+    --max_episodes=100 \
+    --sample_fraction=0.1 \
+    --encoded_dims="0:6" \
+    --delta_dims="0,1,2,3,4,5" \
+    --use_delta_transform=true \
+    --state_key="observation.state" \
+    --normalization_mode="QUANTILES" \
+    --vocab_size=1024 \
+    --scale=10.0 \
+    --output_dir="./fast_tokenizer_dataset_name" \
+    --push_to_hub=true \
+    --hub_repo_id="user/fast_tokenizer_dataset_name" \
+    --hub_private=false
 """
 
 import json

src/lerobot/teleoperators/bi_so_leader/__init__.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,5 +14,4 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .bi_so100_follower import BiSO100Follower
+from .bi_so_leader import BiSOLeader, BiSOLeaderConfig
-from .config_bi_so100_follower import BiSO100FollowerConfig

src/lerobot/teleoperators/bi_so_leader/bi_so_leader.py

@@ -17,46 +17,50 @@
 import logging
 from functools import cached_property
 
-from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
+from lerobot.teleoperators.so_leader import SOLeaderTeleopConfig
 
+from ..so_leader import SOLeader
 from ..teleoperator import Teleoperator
-from .config_bi_so100_leader import BiSO100LeaderConfig
+from .config_bi_so_leader import BiSOLeaderConfig
 
 logger = logging.getLogger(__name__)
 
 
-class BiSO100Leader(Teleoperator):
+class BiSOLeader(Teleoperator):
     """
-    [Bimanual SO-100 Leader Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
+    [Bimanual SO Leader Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
-    This bimanual leader arm can also be easily adapted to use SO-101 leader arms, just replace the SO100Leader class with SO101Leader and SO100LeaderConfig with SO101LeaderConfig.
     """
 
-    config_class = BiSO100LeaderConfig
+    config_class = BiSOLeaderConfig
-    name = "bi_so100_leader"
+    name = "bi_so_leader"
 
-    def __init__(self, config: BiSO100LeaderConfig):
+    def __init__(self, config: BiSOLeaderConfig):
         super().__init__(config)
         self.config = config
 
-        left_arm_config = SO100LeaderConfig(
+        left_arm_config = SOLeaderTeleopConfig(
             id=f"{config.id}_left" if config.id else None,
             calibration_dir=config.calibration_dir,
-            port=config.left_arm_port,
+            port=config.left_arm_config.port,
         )
 
-        right_arm_config = SO100LeaderConfig(
+        right_arm_config = SOLeaderTeleopConfig(
             id=f"{config.id}_right" if config.id else None,
             calibration_dir=config.calibration_dir,
-            port=config.right_arm_port,
+            port=config.right_arm_config.port,
         )
 
-        self.left_arm = SO100Leader(left_arm_config)
+        self.left_arm = SOLeader(left_arm_config)
-        self.right_arm = SO100Leader(right_arm_config)
+        self.right_arm = SOLeader(right_arm_config)
 
     @cached_property
     def action_features(self) -> dict[str, type]:
-        return {f"left_{motor}.pos": float for motor in self.left_arm.bus.motors} | {
+        left_arm_features = self.left_arm.action_features
-            f"right_{motor}.pos": float for motor in self.right_arm.bus.motors
+        right_arm_features = self.right_arm.action_features
+
+        return {
+            **{f"left_{k}": v for k, v in left_arm_features.items()},
+            **{f"right_{k}": v for k, v in right_arm_features.items()},
         }
 
     @cached_property
@@ -101,19 +105,8 @@ class BiSO100Leader(Teleoperator):
         return action_dict
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        # Remove "left_" prefix
+        # TODO: Implement force feedback
-        left_feedback = {
+        raise NotImplementedError
-            key.removeprefix("left_"): value for key, value in feedback.items() if key.startswith("left_")
-        }
-        # Remove "right_" prefix
-        right_feedback = {
-            key.removeprefix("right_"): value for key, value in feedback.items() if key.startswith("right_")
-        }
-
-        if left_feedback:
-            self.left_arm.send_feedback(left_feedback)
-        if right_feedback:
-            self.right_arm.send_feedback(right_feedback)
 
     def disconnect(self) -> None:
         self.left_arm.disconnect()

src/lerobot/teleoperators/bi_so_leader/config_bi_so_leader.py

@@ -16,11 +16,15 @@
 
 from dataclasses import dataclass
 
+from lerobot.teleoperators.so_leader import SOLeaderConfig
+
 from ..config import TeleoperatorConfig
 
 
-@TeleoperatorConfig.register_subclass("bi_so100_leader")
+@TeleoperatorConfig.register_subclass("bi_so_leader")
 @dataclass
-class BiSO100LeaderConfig(TeleoperatorConfig):
+class BiSOLeaderConfig(TeleoperatorConfig):
-    left_arm_port: str
+    """Configuration class for Bi SO Leader teleoperators."""
-    right_arm_port: str
+
+    left_arm_config: SOLeaderConfig
+    right_arm_config: SOLeaderConfig

src/lerobot/teleoperators/so_leader/__init__.py

@@ -14,9 +14,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .so100_leader.config_so100_leader import SO100LeaderConfig
+from .config_so_leader import (
-from .so100_leader.so100_leader import SO100Leader
+    SO100LeaderConfig,
-from .so101_leader.config_so101_leader import SO101LeaderConfig
+    SO101LeaderConfig,
-from .so101_leader.so101_leader import SO101Leader
+    SOLeaderConfig,
-from .so_leader_base import SOLeaderBase
+    SOLeaderTeleopConfig,
-from .so_leader_config_base import SOLeaderConfigBase
+)
+from .so_leader import SO100Leader, SO101Leader, SOLeader

src/lerobot/teleoperators/so_leader/config_so_leader.py

@@ -15,12 +15,13 @@
 # limitations under the License.
 
 from dataclasses import dataclass
+from typing import TypeAlias
 
 from ..config import TeleoperatorConfig
 
 
 @dataclass
-class SOLeaderConfigBase(TeleoperatorConfig):
+class SOLeaderConfig:
     """Base configuration class for SO Leader teleoperators."""
 
     # Port to connect to the arm
@@ -28,3 +29,14 @@ class SOLeaderConfigBase(TeleoperatorConfig):
 
     # Whether to use degrees for angles
     use_degrees: bool = False
+
+
+@TeleoperatorConfig.register_subclass("so101_leader")
+@TeleoperatorConfig.register_subclass("so100_leader")
+@dataclass
+class SOLeaderTeleopConfig(TeleoperatorConfig, SOLeaderConfig):
+    pass
+
+
+SO100LeaderConfig: TypeAlias = SOLeaderTeleopConfig
+SO101LeaderConfig: TypeAlias = SOLeaderTeleopConfig

src/lerobot/teleoperators/so_leader/so100.md

@@ -0,0 +1 @@
+../../../../docs/source/so100.mdx

src/lerobot/teleoperators/so_leader/so100_leader/config_so100_leader.py

@@ -1,26 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from dataclasses import dataclass
-
-from ...config import TeleoperatorConfig
-from ..so_leader_config_base import SOLeaderConfigBase
-
-
-@TeleoperatorConfig.register_subclass("so100_leader")
-@dataclass
-class SO100LeaderConfig(SOLeaderConfigBase):
-    pass

src/lerobot/teleoperators/so_leader/so100_leader/so100.md

@@ -1 +0,0 @@
-../../../../../docs/source/so100.mdx

src/lerobot/teleoperators/so_leader/so100_leader/so100_leader.py

@@ -1,27 +0,0 @@
-# !/usr/bin/env python
-
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ..so_leader_base import SOLeaderBase
-from .config_so100_leader import SO100LeaderConfig
-
-
-class SO100Leader(SOLeaderBase):
-    """
-    SO-101 leader robot class. [SO-101 Leader Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
-    """
-
-    config_class = SO100LeaderConfig
-    name = "so100_leader"

src/lerobot/teleoperators/so_leader/so101.md

@@ -0,0 +1 @@
+../../../../docs/source/so101.mdx

src/lerobot/teleoperators/so_leader/so101_leader/so101.md

@@ -1 +0,0 @@
-../../../../../docs/source/so101.mdx

src/lerobot/teleoperators/so_leader/so101_leader/so101_leader.py

@@ -1,27 +0,0 @@
-# !/usr/bin/env python
-
-# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ..so_leader_base import SOLeaderBase
-from .config_so101_leader import SO101LeaderConfig
-
-
-class SO101Leader(SOLeaderBase):
-    """
-    SO-101 leader robot class. [SO-101 Leader Arm](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
-    """
-
-    config_class = SO101LeaderConfig
-    name = "so101_leader"

src/lerobot/teleoperators/so_leader/so_leader.py

@@ -16,6 +16,7 @@
 
 import logging
 import time
+from typing import TypeAlias
 
 from lerobot.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.motors.feetech import (
@@ -25,15 +26,18 @@ from lerobot.motors.feetech import (
 from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..teleoperator import Teleoperator
-from .so_leader_config_base import SOLeaderConfigBase
+from .config_so_leader import SOLeaderTeleopConfig
 
 logger = logging.getLogger(__name__)
 
 
-class SOLeaderBase(Teleoperator):
+class SOLeader(Teleoperator):
     """Generic SO leader base for SO-100/101/10X teleoperators."""
 
-    def __init__(self, config: SOLeaderConfigBase):
+    config_class = SOLeaderTeleopConfig
+    name = "so_leader"
+
+    def __init__(self, config: SOLeaderTeleopConfig):
         super().__init__(config)
         self.config = config
         norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
@@ -153,3 +157,7 @@ class SOLeaderBase(Teleoperator):
 
         self.bus.disconnect()
         logger.info(f"{self} disconnected.")
+
+
+SO100Leader: TypeAlias = SOLeader
+SO101Leader: TypeAlias = SOLeader

src/lerobot/teleoperators/utils.py

@@ -73,10 +73,10 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
         from .homunculus import HomunculusArm
 
         return HomunculusArm(config)
-    elif config.type == "bi_so100_leader":
+    elif config.type == "bi_so_leader":
-        from .bi_so100_leader import BiSO100Leader
+        from .bi_so_leader import BiSOLeader
 
-        return BiSO100Leader(config)
+        return BiSOLeader(config)
     elif config.type == "reachy2_teleoperator":
         from .reachy2_teleoperator import Reachy2Teleoperator
 

tests/robots/test_so100_follower.py

@@ -66,7 +66,7 @@ def follower():
 
     with (
         patch(
-            "lerobot.robots.so_follower.so_follower_base.FeetechMotorsBus",
+            "lerobot.robots.so_follower.so_follower.FeetechMotorsBus",
             side_effect=_bus_side_effect,
         ),
         patch.object(SO100Follower, "configure", lambda self: None),