diff --git a/docs/source/index.mdx b/docs/source/index.mdx index a2f919e7d..9dabaa66f 100644 --- a/docs/source/index.mdx +++ b/docs/source/index.mdx @@ -1,23 +1,177 @@ +# LeRobot +
HuggingFace Expert Acceleration Program
-# LeRobot - **State-of-the-art machine learning for real-world robotics** -🤗 LeRobot aims to provide models, datasets, and tools for real-world robotics in PyTorch. The goal is to lower the barrier for entry to robotics so that everyone can contribute and benefit from sharing datasets and pretrained models. +🤗 LeRobot provides a hardware-agnostic, Python-native interface for controlling real robots - from affordable arms like the SO-ARM101 to full humanoids. Plus the tools to record, store, and share the datasets they generate. Every dataset uses the standardized **LeRobotDataset** format (synchronized video + action/state data) and can be streamed directly from the [Hugging Face Hub](https://huggingface.co/lerobot). -🤗 LeRobot contains state-of-the-art approaches that have been shown to transfer to the real-world with a focus on imitation learning and reinforcement learning. +🤗 On top of that data, LeRobot implements state-of-the-art policies - from lightweight imitation-learning models like ACT to large vision-language-action models like π₀ and SmolVLA - all trainable, shareable, and deployable with the same handful of CLI commands. -🤗 LeRobot already provides a set of pretrained models, datasets with human collected demonstrations, and simulated environments so that everyone can get started. +The goal: lower the barrier to entry for robotics, so that everyone can contribute to, and benefit from, shared datasets and pretrained models. -🤗 LeRobot hosts pretrained models and datasets on the LeRobot HuggingFace page. +
+ + Discord + + + X (Twitter) + + + Hugging Face Hub + +
-Join the LeRobot community on [Discord](https://discord.gg/s3KuuzsPFb) +
+ Reachy 2 Demo +
+ +## How It Works + +**Teleoperate → Record → Train → Deploy** + +1. **Teleoperate** - control the robot yourself (with a leader arm, keyboard, or phone) so it can learn from your movements. +2. **Record** - each demonstration is saved as a dataset: synchronized camera video plus the actions you took. +3. **Train** - a policy (the neural network that will control the robot) learns to imitate your demonstrations. +4. **Deploy** - run the trained policy on the robot and watch it complete the task on its own. + +## Get Started + +New here? [Install LeRobot](./installation), then pick your path: + +
+
+
🔧 I have a robot
+

+ LeRobot supports a wide range of arms and mobile robots. Popular picks: +

+ +

+ Once it's assembled and calibrated, record a dataset and train your first + policy with the imitation learning tutorial - or + skip the CLI entirely with LeLab, a browser GUI for + the same workflow. +

+
+
+
💻 No hardware yet
+

+ You can still train and evaluate policies without owning a robot: +

+ +
+
+
🤝 I want to contribute
+

+ Start with the Contributing guide, then + add a new policy or + bring your own hardware. +

+
+
+ +## Explore the Docs + +
+ +
📋 Cheat Sheet
+

+ Every LeRobot CLI command, copy-paste ready. +

+ + +
🖥️ Compute & Hardware Guide
+

+ Which policy fits your GPU, and how long training takes. +

+ + +
🗂️ LeRobotDataset
+

+ Load, stream, and visualize robot datasets from the Hub. +

+ + +
🖼 LeLab
+

+ A browser GUI for calibrating, recording, and training - no CLI required. +

+ + +
🧠 Policies
+

+ Start with ACT, our recommended first policy - or browse SmolVLA, π₀, and + more in the sidebar. +

+ + +
🎮 Simulation & Benchmarks
+

+ Train and evaluate in simulated environments before touching real + hardware. +

+ +
+ +## Common Problems + +Running into issues? A few of the most frequent ones: + +- **Blurry or unusable camera footage** - lighting matters more than resolution. See the [Cameras](./cameras) guide. +- **Build or install errors** (`cmake`, `ffmpeg`, CUDA) - see the Troubleshooting section of the [Installation guide](./installation#troubleshooting). +- **Not sure which policy fits your GPU** - check the [Compute & Hardware Guide](./hardware_guide). +- **Still stuck?** Ask on [Discord](https://discord.gg/s3KuuzsPFb) - the community (and the LeRobot team) is there to help.