Merge branch 'main' into feat/language-annotation-pipeline

docs/source/_toctree.yml

@@ -9,6 +9,8 @@
 - sections:
   - local: il_robots
     title: Imitation Learning for Robots
+  - local: lelab
+    title: LeLab - Lerobot GUI
   - local: bring_your_own_policies
     title: Adding a Policy
   - local: integrate_hardware

docs/source/lelab.mdx

@@ -0,0 +1,29 @@
+# LeLab - LeRobot Guide
+
+LeLab is a graphical user interface built on top of the LeRobot library, designed to make robotics accessible without needing to memorize CLI commands. From a single app you can configure your robot, teleoperate it, collect datasets, train policies locally or on cloud GPUs via HF Jobs, and deploy trained models back onto your robot. It's the easiest way to go from an unboxed SO-101 to a working policy, and a great companion for anyone learning the LeRobot workflow. Source code and issues live on GitHub: [huggingface/leLab](https://github.com/huggingface/leLab).
+
+> [!TIP]
+> For now LeLab is compatible only with SO-ARM101
+
+<Youtube id="VqyKUuW9V1g" />
+
+### Installation
+
+Requires [`uv`](https://docs.astral.sh/uv/getting-started/installation/). Install and launch in one command:
+
+```
+uv tool install git+https://github.com/huggingface/leLab.git && lelab
+```
+
+After install, run `lelab` from your terminal anytime to start the app.
+
+### Features
+
+- **Add robots** — Select arm type (leader/follower), calibrate each joint from the middle position, and attach cameras.
+- **Teleoperation** — Control the follower arm with the leader and see a live 3D visualization of the arms.
+- **Dataset recording** — Define a task description, number of episodes, and episode/reset durations. Press spacebar to advance between episodes. 30+ episodes recommended.
+- **Local training** — Train a policy directly on your own machine with a selected dataset, policy type, batch size, and step count.
+- **Cloud training with HF Jobs** — Train on powerful GPUs via [HF Jobs](https://huggingface.co/docs/huggingface_hub/en/guides/jobs) with transparent pricing. Run `hf auth login` first. See the [Compute HW Guide](hardware_guide) for hardware/batch size tips.
+- **Training visualization** — Watch progress live in the app, with checkpoints saved automatically.
+- **Run trained policies** — Pick any model from your jobs list and run inference on your robot with one click.
+- **Use community datasets** — Provide any Hugging Face dataset ID to train on datasets you didn't record yourself.

docs/source/lerobot-dataset-v3.mdx

@@ -275,7 +275,7 @@ A converter aggregates per‑episode files into larger shards and writes episode
 pip install "https://github.com/huggingface/lerobot/archive/33cad37054c2b594ceba57463e8f11ee374fa93c.zip"
 
 # Convert an existing v2.1 dataset hosted on the Hub:
-python -m lerobot.datasets.v30.convert_dataset_v21_to_v30 --repo-id=<HF_USER/DATASET_ID>
+python -m lerobot.scripts.convert_dataset_v21_to_v30 --repo-id=<HF_USER/DATASET_ID>
 ```
 
 **What it does**

docs/source/molmoact2.mdx

@@ -238,7 +238,7 @@ your dataset has not been converted with quantile statistics, you can add them
 with:
 
 ```bash
-python src/lerobot/datasets/v30/augment_dataset_quantile_stats.py \
+python src/lerobot/scripts/augment_dataset_quantile_stats.py \
   --repo-id=your_dataset
 ```
 

docs/source/pi05.mdx

@@ -91,7 +91,7 @@ lerobot-train \
 If your dataset is not converted with `quantiles`, you can convert it with the following command:
 
 ```bash
-python src/lerobot/datasets/v30/augment_dataset_quantile_stats.py \
+python src/lerobot/scripts/augment_dataset_quantile_stats.py \
     --repo-id=your_dataset \
 ```
 

docs/source/porting_datasets_v3.mdx

@@ -300,7 +300,7 @@ This replaces the old episode-per-file structure with efficient, optimally-sized
 If you have existing datasets in v2.1 format, use the migration tool:
 
 ```bash
-python src/lerobot/datasets/v30/convert_dataset_v21_to_v30.py \
+python src/lerobot/scripts/convert_dataset_v21_to_v30.py \
     --repo-id your_id/existing_dataset
 ```
 

src/lerobot/configs/dataset.py

@@ -41,8 +41,8 @@ class DatasetRecordConfig:
     video: bool = True
     # Upload dataset to Hugging Face hub.
     push_to_hub: bool = True
-    # Upload on private repository on the Hugging Face hub.
+    # If True, upload as private; if None, defer to the org default on the Hub (only affects orgs).
-    private: bool = False
+    private: bool | None = None
     # Add tags to your dataset on the hub.
     tags: list[str] | None = None
     # Number of subprocesses handling the saving of frames as PNG. Set to 0 to use threads only;

src/lerobot/configs/train.py

@@ -177,6 +177,12 @@ class TrainPipelineConfig(HubMixin):
             )
 
         active_cfg = self.trainable_config
+        if self.rename_map and active_cfg.pretrained_path is None:
+            raise ValueError(
+                "`rename_map` requires a pretrained policy checkpoint. "
+                "Fresh initialization derives feature names from the current dataset, so no rename is applied."
+            )
+
         if not self.job_name:
             if self.env is None:
                 self.job_name = f"{active_cfg.type}"

src/lerobot/datasets/lerobot_dataset.py

@@ -524,7 +524,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
         license: str | None = "apache-2.0",
         tag_version: bool = True,
         push_videos: bool = True,
-        private: bool = False,
+        private: bool | None = None,
         allow_patterns: list[str] | str | None = None,
         upload_large_folder: bool = False,
         **card_kwargs,
@@ -543,7 +543,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
             tag_version: If ``True``, create a Git tag for the current codebase
                 version.
             push_videos: If ``False``, skip uploading the ``videos/`` directory.
-            private: If ``True``, create a private repository.
+            private: If ``True``, create a private repository. If ``None``
+                (default), defer to the org default on the Hub (only affects orgs).
             allow_patterns: Glob pattern(s) restricting which files to upload.
             upload_large_folder: If ``True``, use ``upload_large_folder`` instead
                 of ``upload_folder`` for very large datasets.

src/lerobot/processor/relative_action_processor.py

@@ -81,7 +81,7 @@ def to_absolute_actions(actions: Tensor, state: Tensor, mask: Sequence[bool]) ->
     return actions
 
 
-@ProcessorStepRegistry.register("delta_actions_processor")
+@ProcessorStepRegistry.register("relative_actions_processor")
 @dataclass
 class RelativeActionsProcessorStep(ProcessorStep):
     """Converts absolute actions to relative actions (action -= state) for masked dimensions.

src/lerobot/scripts/lerobot_train.py

@@ -292,19 +292,8 @@ def train(cfg: TrainPipelineConfig, accelerator: "Accelerator | None" = None):
 
     active_cfg = cfg.trainable_config
     processor_pretrained_path = active_cfg.pretrained_path
-    if (
-        getattr(active_cfg, "use_relative_actions", False)
-        and processor_pretrained_path is not None
-        and not cfg.resume
-    ):
-        logging.warning(
-            "use_relative_actions=true with pretrained processors can skip relative transforms if "
-            "the checkpoint processors do not define them. Building processors from current policy config."
-        )
-        processor_pretrained_path = None
 
     processor_kwargs = {}
-    postprocessor_kwargs = {}
     if (processor_pretrained_path and not cfg.resume) or not processor_pretrained_path:
         processor_kwargs["dataset_stats"] = dataset.meta.stats
 
@@ -312,24 +301,31 @@ def train(cfg: TrainPipelineConfig, accelerator: "Accelerator | None" = None):
         processor_kwargs["dataset_meta"] = dataset.meta
 
     if not cfg.is_reward_model_training and processor_pretrained_path is not None:
-        processor_kwargs["preprocessor_overrides"] = {
+        preprocessor_overrides = {
             "device_processor": {"device": device.type},
             "normalizer_processor": {
                 "stats": dataset.meta.stats,
                 "features": {**policy.config.input_features, **policy.config.output_features},
                 "norm_map": policy.config.normalization_mapping,
             },
+            "rename_observations_processor": {"rename_map": cfg.rename_map},
         }
-        processor_kwargs["preprocessor_overrides"]["rename_observations_processor"] = {
+        postprocessor_overrides = {
-            "rename_map": cfg.rename_map
-        }
-        postprocessor_kwargs["postprocessor_overrides"] = {
             "unnormalizer_processor": {
                 "stats": dataset.meta.stats,
                 "features": policy.config.output_features,
                 "norm_map": policy.config.normalization_mapping,
             },
         }
+        if getattr(active_cfg, "use_relative_actions", False):
+            preprocessor_overrides["relative_actions_processor"] = {
+                "enabled": True,
+                "exclude_joints": getattr(active_cfg, "relative_exclude_joints", []),
+                "action_names": getattr(active_cfg, "action_feature_names", None),
+            }
+            postprocessor_overrides["absolute_actions_processor"] = {"enabled": True}
+        processor_kwargs["preprocessor_overrides"] = preprocessor_overrides
+        processor_kwargs["postprocessor_overrides"] = postprocessor_overrides
 
     if cfg.is_reward_model_training:
         preprocessor, postprocessor = make_reward_pre_post_processors(
@@ -341,7 +337,6 @@ def train(cfg: TrainPipelineConfig, accelerator: "Accelerator | None" = None):
             policy_cfg=cfg.policy,
             pretrained_path=processor_pretrained_path,
             **processor_kwargs,
-            **postprocessor_kwargs,
         )
 
     if is_main_process: