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@@ -41,30 +41,57 @@ New here? [Install LeRobot](./installation), then pick your path:
<div class="grid grid-cols-1 md:grid-cols-3 gap-4 my-6"> <div class="grid grid-cols-1 md:grid-cols-3 gap-4 my-6">
<div class="border dark:border-gray-700 rounded-lg p-4 shadow"> <div class="border dark:border-gray-700 rounded-lg p-4 shadow">
<div class="text-lg font-semibold mb-2">🔧 I have a robot</div> <div class="text-lg font-semibold mb-2">🔧 I have a robot</div>
<p class="text-gray-700 dark:text-gray-300 text-sm">LeRobot supports a wide range of arms and mobile robots. Popular picks:</p> <p class="text-gray-700 dark:text-gray-300 text-sm">
LeRobot supports a wide range of arms and mobile robots. Popular picks:
</p>
<ul class="text-gray-700 dark:text-gray-300 text-sm list-disc pl-5 mb-2"> <ul class="text-gray-700 dark:text-gray-300 text-sm list-disc pl-5 mb-2">
<li><a href="./so101">SO-101</a> - our flagship, low-cost arm</li> <li>
<li><a href="./lekiwi">LeKiwi</a> - a mobile base with an arm on top</li> <a href="./so101">SO-101</a> - our flagship, low-cost arm
<li><a href="./koch">Koch v1.1</a> - a long-time community favorite</li> </li>
<li>or find yours under <strong>Robots</strong> in the sidebar</li> <li>
<a href="./lekiwi">LeKiwi</a> - a mobile base with an arm on top
</li>
<li>
<a href="./koch">Koch v1.1</a> - a long-time community favorite
</li>
<li>
or find yours under <strong>Robots</strong> in the sidebar
</li>
</ul> </ul>
<p class="text-gray-700 dark:text-gray-300 text-sm"> <p class="text-gray-700 dark:text-gray-300 text-sm">
Once it's assembled and calibrated, record a dataset and train your first policy with the <a href="./il_robots">imitation learning tutorial</a>. Once it's assembled and calibrated, record a dataset and train your first
policy with the <a href="./il_robots">imitation learning tutorial</a>.
</p> </p>
</div> </div>
<div class="border dark:border-gray-700 rounded-lg p-4 shadow"> <div class="border dark:border-gray-700 rounded-lg p-4 shadow">
<div class="text-lg font-semibold mb-2">💻 No hardware yet</div> <div class="text-lg font-semibold mb-2">💻 No hardware yet</div>
<p class="text-gray-700 dark:text-gray-300 text-sm">You can still train and evaluate policies without owning a robot:</p> <p class="text-gray-700 dark:text-gray-300 text-sm">
You can still train and evaluate policies without owning a robot:
</p>
<ul class="text-gray-700 dark:text-gray-300 text-sm list-disc pl-5 mb-2"> <ul class="text-gray-700 dark:text-gray-300 text-sm list-disc pl-5 mb-2">
<li>train on an existing <a href="https://huggingface.co/datasets?other=LeRobot">LeRobot dataset</a> from the Hub</li> <li>
<li>evaluate in <a href="./envhub">simulation</a>, against benchmarks like LIBERO or Meta-World</li> train on an existing{" "}
<li>try the free <a href="./notebooks">Colab notebooks</a> - nothing to install</li> <a href="https://huggingface.co/datasets?other=LeRobot">
LeRobot dataset
</a>{" "}
from the Hub
</li>
<li>
evaluate in <a href="./envhub">simulation</a>, against benchmarks like
LIBERO or Meta-World
</li>
<li>
try the free <a href="./notebooks">Colab notebooks</a> - nothing to
install
</li>
</ul> </ul>
</div> </div>
<div class="border dark:border-gray-700 rounded-lg p-4 shadow"> <div class="border dark:border-gray-700 rounded-lg p-4 shadow">
<div class="text-lg font-semibold mb-2">🤝 I want to contribute</div> <div class="text-lg font-semibold mb-2">🤝 I want to contribute</div>
<p class="text-gray-700 dark:text-gray-300 text-sm"> <p class="text-gray-700 dark:text-gray-300 text-sm">
Start with the <a href="./contributing">Contributing guide</a>, then <a href="./bring_your_own_policies">add a new policy</a> or <a href="./integrate_hardware">bring your own hardware</a>. Start with the <a href="./contributing">Contributing guide</a>, then{" "}
<a href="./bring_your_own_policies">add a new policy</a> or{" "}
<a href="./integrate_hardware">bring your own hardware</a>.
</p> </p>
</div> </div>
</div> </div>
@@ -72,29 +99,61 @@ New here? [Install LeRobot](./installation), then pick your path:
## Explore the Docs ## Explore the Docs
<div class="grid grid-cols-1 md:grid-cols-3 gap-4 my-6"> <div class="grid grid-cols-1 md:grid-cols-3 gap-4 my-6">
<a class="!no-underline border dark:border-gray-700 rounded-lg p-4 shadow hover:shadow-lg" href="./cheat-sheet"> <a
class="!no-underline border dark:border-gray-700 rounded-lg p-4 shadow hover:shadow-lg"
href="./cheat-sheet"
>
<div class="font-semibold mb-1">📋 Cheat Sheet</div> <div class="font-semibold mb-1">📋 Cheat Sheet</div>
<p class="text-gray-700 dark:text-gray-300 text-sm">Every LeRobot CLI command, copy-paste ready.</p> <p class="text-gray-700 dark:text-gray-300 text-sm">
Every LeRobot CLI command, copy-paste ready.
</p>
</a> </a>
<a class="!no-underline border dark:border-gray-700 rounded-lg p-4 shadow hover:shadow-lg" href="./hardware_guide"> <a
class="!no-underline border dark:border-gray-700 rounded-lg p-4 shadow hover:shadow-lg"
href="./hardware_guide"
>
<div class="font-semibold mb-1">🖥️ Compute & Hardware Guide</div> <div class="font-semibold mb-1">🖥️ Compute & Hardware Guide</div>
<p class="text-gray-700 dark:text-gray-300 text-sm">Which policy fits your GPU, and how long training takes.</p> <p class="text-gray-700 dark:text-gray-300 text-sm">
Which policy fits your GPU, and how long training takes.
</p>
</a> </a>
<a class="!no-underline border dark:border-gray-700 rounded-lg p-4 shadow hover:shadow-lg" href="./lerobot-dataset-v3"> <a
class="!no-underline border dark:border-gray-700 rounded-lg p-4 shadow hover:shadow-lg"
href="./lerobot-dataset-v3"
>
<div class="font-semibold mb-1">🗂️ LeRobotDataset</div> <div class="font-semibold mb-1">🗂️ LeRobotDataset</div>
<p class="text-gray-700 dark:text-gray-300 text-sm">Load, stream, and visualize robot datasets from the Hub.</p> <p class="text-gray-700 dark:text-gray-300 text-sm">
Load, stream, and visualize robot datasets from the Hub.
</p>
</a> </a>
<a class="!no-underline border dark:border-gray-700 rounded-lg p-4 shadow hover:shadow-lg" href="./lelab"> <a
class="!no-underline border dark:border-gray-700 rounded-lg p-4 shadow hover:shadow-lg"
href="./lelab"
>
<div class="font-semibold mb-1">🖱️ LeLab</div> <div class="font-semibold mb-1">🖱️ LeLab</div>
<p class="text-gray-700 dark:text-gray-300 text-sm">A browser GUI for calibrating, recording, and training - no CLI required.</p> <p class="text-gray-700 dark:text-gray-300 text-sm">
A browser GUI for calibrating, recording, and training - no CLI required.
</p>
</a> </a>
<a class="!no-underline border dark:border-gray-700 rounded-lg p-4 shadow hover:shadow-lg" href="./act"> <a
class="!no-underline border dark:border-gray-700 rounded-lg p-4 shadow hover:shadow-lg"
href="./act"
>
<div class="font-semibold mb-1">🧠 Policies</div> <div class="font-semibold mb-1">🧠 Policies</div>
<p class="text-gray-700 dark:text-gray-300 text-sm">Start with ACT, our recommended first policy - or browse SmolVLA, π₀, and more in the sidebar.</p> <p class="text-gray-700 dark:text-gray-300 text-sm">
Start with ACT, our recommended first policy - or browse SmolVLA, π₀, and
more in the sidebar.
</p>
</a> </a>
<a class="!no-underline border dark:border-gray-700 rounded-lg p-4 shadow hover:shadow-lg" href="./envhub"> <a
class="!no-underline border dark:border-gray-700 rounded-lg p-4 shadow hover:shadow-lg"
href="./envhub"
>
<div class="font-semibold mb-1">🎮 Simulation & Benchmarks</div> <div class="font-semibold mb-1">🎮 Simulation & Benchmarks</div>
<p class="text-gray-700 dark:text-gray-300 text-sm">Train and evaluate in simulated environments before touching real hardware.</p> <p class="text-gray-700 dark:text-gray-300 text-sm">
Train and evaluate in simulated environments before touching real
hardware.
</p>
</a> </a>
</div> </div>